version: 66.07
glider: 513
mission: 7
dive: 473
start: 9 16 111 22 49 41
data:
$ID,513
$MISSION,7
$DIVE,473
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-432773.97
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,472
$AR_SAMPLENUM,4
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,160911,223706,1934.628,-15621.315,56,1.2,56,9.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,5
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.4
$GPS2,160911,224844,1934.438,-15621.417,10,1.8,10,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.202
$KALMAN_X,-74334.2,828.3,-66.6,129805.5,1769.1
$KALMAN_Y,-592918.4,1286.2,601.0,544239.5,-10332.8
$MHEAD_RNG_PITCHd_Wd,11.9,75945,-15.7,-8.571
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.80,-136.7,0.0,0.0,0,84,0.00,0.00,-51.35,0.000,2,0.000,0.000,39,2168,3570,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.6,-5.8,8,110,9.98,2.28,-4.90,0.000,4,0.244,0.054,2326,693,3855,0,0,0,0,0,0
$GC,196,-0.80,-136.7,43.9,-29.8,22,200,0.00,2.17,0.00,0.000,6,0.000,0.044,2318,2098,3858,0,0,0,0,0,0
$GC,464,-0.80,-136.7,123.4,-23.4,47,468,0.00,2.25,0.00,0.000,4,0.000,0.051,2307,3511,3860,0,0,0,0,0,0
$GC,487,-0.80,-136.7,129.0,-22.3,48,495,0.08,2.20,0.00,0.000,6,0.160,0.031,2329,2088,3861,0,0,0,0,0,0
$GC,752,-0.80,-136.7,180.5,-16.4,73,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2083,3862,0,0,0,0,0,0
$GC,1010,-0.80,-136.7,226.3,-17.4,91,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2080,3863,0,0,0,0,0,0
$GC,1256,-0.80,-136.7,268.8,-17.0,103,1260,0.00,2.08,0.00,0.000,4,0.000,0.040,2329,695,3863,0,0,0,0,0,0
$GC,1300,-0.80,-136.7,277.0,-17.8,105,1304,0.00,2.12,0.00,0.000,6,0.000,0.041,2320,2100,3865,0,0,0,0,0,0
$GC,1579,-0.80,-136.7,320.1,-15.2,116,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2100,3865,0,0,0,0,0,0
$GC,1821,-0.80,-136.7,358.7,-16.2,122,1825,0.00,2.22,0.00,0.000,4,0.000,0.049,2309,3521,3864,0,0,0,0,0,0
$GC,1887,-0.80,-136.7,370.2,-16.6,123,1892,0.12,2.17,0.00,0.000,6,0.164,0.031,2341,2090,3864,0,0,0,0,0,0
$GC,2148,-0.80,-136.7,405.3,-13.0,130,2152,0.00,2.08,0.00,0.000,4,0.000,0.038,2341,698,3862,0,0,0,0,0,0
$GC,2253,-0.80,-136.7,419.4,-12.8,132,2258,0.00,2.17,0.00,0.000,6,0.000,0.041,2332,2133,3862,0,0,0,0,0,0
$GC,2526,-0.80,-136.7,455.6,-13.7,139,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2132,3861,0,0,0,0,0,0
$GC,2771,-0.80,-136.7,489.7,-14.2,145,2775,0.00,2.17,0.00,0.000,4,0.000,0.040,2333,694,3854,0,0,0,0,0,0
$GC,2805,-0.80,-136.7,494.6,-12.9,145,2811,0.00,2.15,0.00,0.000,6,0.000,0.040,2323,2104,3857,0,0,0,0,0,0
$GC,3055,-0.80,-136.7,527.8,-13.2,152,3059,0.00,2.22,0.00,0.000,4,0.000,0.051,2311,3517,3855,0,0,0,0,0,0
$GC,3123,-0.80,-136.7,536.8,-12.4,153,3127,0.00,2.15,0.00,0.000,6,0.000,0.032,2311,2104,3853,0,0,0,0,0,0
$GC,3380,-0.80,-136.7,571.2,-13.7,160,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2098,3851,0,0,0,0,0,0
$GC,3622,-0.80,-136.7,602.7,-13.0,166,3626,0.10,2.15,0.00,0.000,4,0.188,0.042,2335,690,3849,0,0,0,0,0,0
$GC,3661,-0.80,-136.7,607.5,-11.6,167,3665,0.00,2.15,0.00,0.000,6,0.000,0.040,2323,2101,3849,0,0,0,0,0,0
$GC,3946,-0.80,-136.7,640.3,-11.4,174,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2101,3846,0,0,0,0,0,0
$GC,4188,-0.80,-136.7,667.8,-11.3,180,4193,0.00,2.28,0.00,0.000,4,0.000,0.052,2317,3515,3844,0,0,0,0,0,0
$GC,4233,-0.80,-136.7,673.3,-11.4,181,4238,0.00,2.17,0.00,0.000,6,0.000,0.032,2316,2085,3843,0,0,0,0,0,0
$GC,4513,-0.80,-136.7,706.2,-12.2,188,4517,0.00,2.10,0.00,0.000,4,0.000,0.041,2316,689,3841,0,0,0,0,0,0
$GC,4546,-0.80,-136.7,710.9,-12.6,188,4553,0.12,2.17,0.00,0.000,6,0.186,0.042,2335,2115,3842,0,0,0,0,0,0
$GC,4796,-0.80,-136.7,739.1,-11.3,195,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2114,3838,0,0,0,0,0,0
$GC,5040,-0.80,-136.7,766.3,-11.1,201,5044,0.00,2.22,0.00,0.000,4,0.000,0.053,2326,3511,3837,0,0,0,0,0,0
$GC,5096,-0.80,-136.7,772.5,-10.8,202,5101,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2105,3836,0,0,0,0,0,0
$GC,5363,-0.80,-136.7,804.3,-12.0,209,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2100,3831,0,0,0,0,0,0
$GC,5607,-0.80,-136.7,833.9,-12.1,215,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2101,3831,0,0,0,0,0,0
$GC,5852,-0.80,-136.7,863.2,-11.9,221,5856,0.00,2.30,0.00,0.000,4,0.000,0.051,2316,3514,3831,0,0,0,0,0,0
$GC,5886,-0.80,-136.7,867.3,-11.5,221,5892,0.00,2.17,0.00,0.000,6,0.000,0.031,2316,2092,3828,0,0,0,0,0,0
$GC,6136,-0.80,-136.7,896.7,-11.6,228,6140,0.00,2.12,0.00,0.000,4,0.000,0.044,2316,697,3829,0,0,0,0,0,0
$GC,6158,-0.80,-136.7,899.5,-12.4,228,6162,0.00,2.15,0.00,0.000,1,0.000,0.041,2306,2099,3829,0,0,0,0,0,0
$STATE,6163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6163,begin apogee
$GC,6171,-0.28,0.0,900.1,12.6,228,6287,0.65,0.00,112.15,1.068,6,0.152,0.000,2498,1935,3300,0,0,0,0,0,0
$STATE,6289,end apogee,CONTROL_FINISHED_OK
$STATE,6289,begin climb
$GC,6292,0.80,136.7,903.6,0.0,231,6418,1.05,0.00,121.07,1.041,6,0.097,0.000,2846,1936,2744,0,0,0,0,0,0
$GC,6658,0.80,136.7,847.9,18.6,240,6662,0.00,2.35,0.00,0.000,4,0.000,0.050,2846,3365,2735,0,0,0,0,0,0
$GC,6686,0.80,136.7,842.5,18.7,240,6690,0.00,2.22,0.00,0.000,6,0.000,0.033,2857,1974,2734,0,0,0,0,0,0
$GC,6941,0.80,136.7,794.5,19.0,247,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1971,2731,0,0,0,0,0,0
$GC,7186,0.80,136.7,749.0,18.6,253,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1972,2730,0,0,0,0,0,0
$GC,7428,0.80,136.7,705.3,18.1,259,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1972,2729,0,0,0,0,0,0
$GC,7672,0.80,136.7,661.6,17.9,265,7676,0.00,2.15,0.00,0.000,4,0.000,0.041,2868,559,2729,0,0,0,0,0,0
$GC,7689,0.80,136.7,658.6,18.2,265,7693,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1962,2727,0,0,0,0,0,0
$GC,7951,0.80,136.7,611.8,18.0,272,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1964,2727,0,0,0,0,0,0
$GC,8193,0.80,136.7,569.1,17.5,278,8197,0.00,2.15,0.00,0.000,4,0.000,0.039,2878,548,2726,0,0,0,0,0,0
$GC,8209,0.80,136.7,565.9,17.4,278,8214,0.12,2.15,0.00,0.000,6,0.200,0.035,2851,1966,2725,0,0,0,0,0,0
$GC,8470,0.80,136.7,525.4,15.5,285,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1970,2724,0,0,0,0,0,0
$GC,8715,0.80,136.7,488.8,14.8,291,8719,0.00,2.28,0.00,0.000,4,0.000,0.052,2851,3369,2725,0,0,0,0,0,0
$GC,8776,0.80,136.7,479.0,14.7,292,8781,0.00,2.20,0.00,0.000,6,0.000,0.032,2859,1941,2725,0,0,0,0,0,0
$GC,9043,0.80,136.7,438.2,15.4,299,9047,0.00,2.10,0.00,0.000,4,0.000,0.038,2869,547,2725,0,0,0,0,0,0
$GC,9084,0.80,136.7,432.1,16.1,300,9088,0.00,2.15,0.00,0.000,6,0.000,0.032,2870,1978,2722,0,0,0,0,0,0
$GC,9367,0.80,136.7,386.9,16.5,307,9371,0.00,2.15,0.00,0.000,4,0.000,0.038,2880,553,2726,0,0,0,0,0,0
$GC,9434,0.80,136.7,375.6,16.1,308,9438,0.00,2.12,0.00,0.000,6,0.000,0.033,2880,1957,2722,0,0,0,0,0,0
$GC,9691,0.80,136.7,335.8,15.6,315,9695,0.00,2.25,0.00,0.000,4,0.000,0.052,2880,3356,2722,0,0,0,0,0,0
$GC,9921,0.80,136.7,297.5,15.6,320,9926,0.15,2.15,0.00,0.000,6,0.198,0.029,2855,1945,2720,0,0,0,0,0,0
$GC,10176,0.80,136.7,266.4,11.3,332,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1941,2722,0,0,0,0,0,0
$GC,10422,0.80,136.7,235.1,11.9,344,10426,0.00,2.30,0.00,0.000,4,0.000,0.050,2854,3364,2721,0,0,0,0,0,0
$GC,10513,0.80,136.7,223.6,11.5,348,10517,0.00,2.15,0.00,0.000,6,0.000,0.029,2863,1949,2723,0,0,0,0,0,0
$GC,10772,0.82,154.6,201.1,7.8,361,10793,0.00,2.17,12.82,0.571,4,0.000,0.040,2874,564,2667,0,0,0,0,0,0
$GC,10899,0.82,154.6,188.8,10.4,371,10903,0.00,2.10,0.00,0.000,6,0.000,0.033,2874,1964,2667,0,0,0,0,0,0
$GC,11169,0.82,154.6,161.6,8.9,396,11173,0.00,2.25,0.00,0.000,4,0.000,0.049,2874,3360,2667,0,0,0,0,0,0
$GC,11315,0.82,154.6,146.8,10.4,408,11322,0.00,2.17,0.00,0.000,6,0.000,0.029,2883,1965,2671,0,0,0,0,0,0
$GC,11581,0.82,154.6,121.0,10.5,433,11585,0.00,2.10,0.00,0.000,4,0.000,0.037,2893,555,2667,0,0,0,0,0,0
$GC,11634,0.82,154.6,114.6,10.1,437,11642,0.10,2.15,0.00,0.000,6,0.154,0.032,2863,1965,2666,0,0,0,0,0,0
$GC,11901,0.93,247.7,99.5,4.6,462,11986,0.10,2.30,76.65,0.506,4,0.106,0.047,2905,3370,2289,0,0,0,0,0,0
$GC,12234,0.93,247.7,58.3,13.1,491,12243,0.00,2.22,0.00,0.000,6,0.000,0.030,2915,1963,2286,0,0,0,0,0,0
$GC,12502,0.93,247.7,26.8,12.1,518,12509,0.00,2.25,0.00,0.000,4,0.000,0.044,2914,3354,2286,0,0,0,0,0,0
$GC,12593,0.93,247.7,14.7,11.9,534,12601,0.00,2.17,0.00,0.000,6,0.000,0.028,2923,1957,2285,0,0,0,0,0,0
$STATE,12691,end climb,SURFACE_DEPTH_REACHED
$STATE,12691,begin surface coast
$FINISH,0.6,1.022043
$STATE,12723,end surface coast,CONTROL_FINISHED_OK
$STATE,12723,begin surface
$SM_CCo,12744,31.88,0.416,0,0,2075,300.24
$SM_GC,1.00,0.00,0.00,31.88,0.000,0.000,0.416,59,2122,2075,-7.93,0.62,300.24
$IRIDIUM_FIX,1927.51,-15618.05,110313,131310
$TT8_MAMPS,0.247741
$HUMID,1078928377
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.90
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253805568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,7591690240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.442
$10V_AH,9.8,59.420
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.375,113.925,322.700,31.875,0.000,28.425,52.667,379.394,24.500,0.000,12.671,1191.222,9141.100,416.684,2283.576,446.982,33.362,1193.669,0.000,1820.340,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,64.428,1067.664,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,380.549,0.000,919.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26939,557
$CAP_FILE_SIZE,117411,0
$CFSIZE,260165632,171147264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,240.2,1
$GPS,170911,022515,1935.716,-15621.390,89,1.6,97,9.7