version: 66.07
glider: 513
mission: 7
dive: 476
start: 9 17 111 10 11 23
data:
$ID,513
$MISSION,7
$DIVE,476
$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,-432817.56
$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,43
$R_STBD_OVSHOOT,70
$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,475
$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
$GPS1,170911,095950,1937.529,-15621.109,35,2.8,54,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-79.6
$GPS2,170911,101026,1937.511,-15621.084,14,1.2,14,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.009,0.239
$KALMAN_X,-65771.1,-855.3,-1104.5,124597.0,7754.3
$KALMAN_Y,-597621.4,957.6,332.7,555238.2,-8036.8
$MHEAD_RNG_PITCHd_Wd,8.4,70230,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-51.20,0.000,2,0.000,0.000,39,2131,3551,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.4,-5.4,8,109,9.93,2.20,-5.28,0.000,4,0.241,0.052,2331,698,3859,0,0,0,0,0,0
$GC,206,-0.80,-136.7,46.3,-32.2,24,210,0.00,2.10,0.00,0.000,6,0.000,0.044,2323,2058,3862,0,0,0,0,0,0
$GC,474,-0.80,-136.7,124.3,-25.7,49,478,0.00,2.33,0.00,0.000,4,0.000,0.054,2312,3518,3865,0,0,0,0,0,0
$GC,571,-0.80,-136.7,147.2,-21.9,57,575,0.00,2.17,0.00,0.000,6,0.000,0.032,2311,2092,3864,0,0,0,0,0,0
$GC,842,-0.80,-136.7,209.0,-21.1,80,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2087,3865,0,0,0,0,0,0
$GC,1090,-0.80,-136.7,256.7,-19.2,92,1094,0.00,2.28,0.00,0.000,4,0.000,0.051,2300,3518,3868,0,0,0,0,0,0
$GC,1135,-0.80,-136.7,265.1,-17.0,94,1139,0.15,2.15,0.00,0.000,6,0.160,0.031,2340,2089,3869,0,0,0,0,0,0
$GC,1394,-0.80,-136.7,299.7,-13.6,107,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2083,3869,0,0,0,0,0,0
$GC,1659,-0.80,-136.7,341.3,-16.1,114,1663,0.00,2.10,0.00,0.000,4,0.000,0.038,2341,692,3869,0,0,0,0,0,0
$GC,1683,-0.80,-136.7,345.3,-16.8,114,1687,0.00,2.12,0.00,0.000,6,0.000,0.038,2332,2110,3870,0,0,0,0,0,0
$GC,1944,-0.80,-136.7,391.5,-17.8,121,1948,0.00,2.22,0.00,0.000,4,0.000,0.051,2321,3516,3868,0,0,0,0,0,0
$GC,2016,-0.80,-136.7,403.2,-14.8,122,2020,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2089,3868,0,0,0,0,0,0
$GC,2271,-0.80,-136.7,442.6,-15.4,129,2275,0.00,2.08,0.00,0.000,4,0.000,0.038,2321,693,3866,0,0,0,0,0,0
$GC,2303,-0.80,-136.7,447.7,-15.3,129,2308,0.00,2.12,0.00,0.000,6,0.000,0.040,2311,2099,3866,0,0,0,0,0,0
$GC,2554,-0.80,-136.7,484.2,-14.3,135,2559,0.10,2.28,0.00,0.000,4,0.185,0.049,2326,3522,3864,0,0,0,0,0,0
$GC,2661,-0.80,-136.7,497.4,-12.4,137,2665,0.00,2.17,0.00,0.000,6,0.000,0.030,2326,2092,3863,0,0,0,0,0,0
$GC,2921,-0.80,-136.7,529.2,-12.4,144,2925,0.00,2.08,0.00,0.000,4,0.000,0.039,2326,705,3860,0,0,0,0,0,0
$GC,2962,-0.80,-136.7,534.3,-12.7,145,2966,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2107,3860,0,0,0,0,0,0
$GC,3246,-0.80,-136.7,571.9,-13.4,152,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2107,3857,0,0,0,0,0,0
$GC,3489,-0.80,-136.7,604.7,-13.6,158,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2107,3855,0,0,0,0,0,0
$GC,3732,-0.80,-136.7,636.9,-13.1,164,3736,0.00,2.25,0.00,0.000,4,0.000,0.053,2310,3511,3852,0,0,0,0,0,0
$GC,3795,-0.80,-136.7,645.0,-12.9,165,3800,0.12,2.15,0.00,0.000,6,0.166,0.033,2336,2106,3852,0,0,0,0,0,0
$GC,4061,-0.80,-136.7,675.0,-11.1,172,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2100,3849,0,0,0,0,0,0
$GC,4305,-0.80,-136.7,701.6,-11.1,178,4309,0.00,2.15,0.00,0.000,4,0.000,0.041,2336,692,3847,0,0,1,0,0,0
$GC,4361,-0.80,-136.7,707.9,-11.6,179,4365,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2098,3849,0,0,0,0,0,0
$GC,4628,-0.80,-136.7,739.0,-11.6,186,4632,0.00,2.25,0.00,0.000,4,0.000,0.051,2317,3514,3844,0,0,0,0,0,0
$GC,4655,-0.80,-136.7,742.5,-12.9,186,4659,0.00,2.17,0.00,0.000,6,0.000,0.031,2318,2085,3844,0,0,0,0,0,0
$GC,4906,-0.80,-136.7,772.9,-12.1,192,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2081,3843,0,0,0,0,0,0
$GC,5150,-0.80,-136.7,802.2,-12.1,198,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2081,3841,0,0,0,0,0,0
$GC,5392,-0.80,-136.7,831.7,-12.2,204,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2081,3839,0,0,0,0,0,0
$GC,5636,-0.80,-136.7,860.1,-11.4,210,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2081,3837,0,0,0,0,0,0
$GC,5880,-0.80,-136.7,886.7,-10.8,216,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2081,3836,0,0,0,0,0,0
$STATE,6040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6040,begin apogee
$GC,6048,-0.28,0.0,904.4,10.9,220,6164,0.62,0.00,113.20,1.072,6,0.146,0.000,2501,1933,3300,0,0,0,0,0,0
$STATE,6167,end apogee,CONTROL_FINISHED_OK
$STATE,6167,begin climb
$GC,6170,0.80,136.7,907.4,0.0,223,6299,1.02,0.00,120.78,1.043,6,0.094,0.000,2842,1929,2742,0,0,0,0,0,0
$GC,6535,0.80,136.7,851.4,18.8,232,6539,0.00,2.35,0.00,0.000,4,0.000,0.051,2842,3375,2733,0,0,0,0,0,0
$GC,6575,0.80,136.7,843.6,19.2,233,6579,0.00,2.17,0.00,0.000,6,0.000,0.029,2853,1975,2733,0,0,0,0,0,0
$GC,6859,0.80,136.7,790.7,18.6,240,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1974,2730,0,0,0,0,0,0
$GC,7101,0.80,136.7,744.1,18.9,246,7105,0.00,2.15,0.00,0.000,4,0.000,0.040,2865,561,2728,0,0,0,0,0,0
$GC,7118,0.80,136.7,740.9,18.7,246,7122,0.00,2.15,0.00,0.000,6,0.000,0.035,2864,1973,2725,0,0,0,0,0,0
$GC,7379,0.80,136.7,690.5,19.6,253,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1975,2727,0,0,0,0,0,0
$GC,7625,0.80,136.7,644.6,18.6,259,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2726,0,0,0,0,0,0
$GC,7867,0.80,136.7,601.5,17.6,265,7871,0.00,2.25,0.00,0.000,4,0.000,0.052,2865,3371,2725,0,0,0,0,0,0
$GC,7911,0.80,136.7,593.5,18.2,266,7915,0.00,2.17,0.00,0.000,6,0.000,0.031,2875,1947,2726,0,0,0,0,0,0
$GC,8188,0.80,136.7,544.7,17.6,273,8192,0.00,2.10,0.00,0.000,4,0.000,0.039,2886,551,2725,0,0,0,0,0,0
$GC,8223,0.80,136.7,538.8,17.5,273,8229,0.12,2.15,0.00,0.000,6,0.199,0.035,2858,1972,2723,0,0,0,0,0,0
$GC,8473,0.80,136.7,497.4,16.4,280,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1976,2721,0,0,0,0,0,0
$GC,8716,0.80,136.7,460.1,15.1,286,8720,0.00,2.20,0.00,0.000,4,0.000,0.051,2858,3358,2723,0,0,0,0,0,0
$GC,8762,0.80,136.7,452.7,17.1,287,8766,0.00,2.15,0.00,0.000,6,0.000,0.029,2866,1964,2723,0,0,0,0,0,0
$GC,9039,0.80,136.7,410.1,15.3,294,9043,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,555,2722,0,0,0,0,0,0
$GC,9072,0.80,136.7,404.8,15.4,294,9079,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1972,2721,0,0,0,0,0,0
$GC,9324,0.80,136.7,364.5,16.5,301,9328,0.00,2.25,0.00,0.000,4,0.000,0.049,2877,3366,2720,0,0,0,0,0,0
$GC,9402,0.80,136.7,351.0,16.1,302,9409,0.12,2.15,0.00,0.000,6,0.202,0.029,2859,1950,2722,0,0,0,0,0,0
$GC,9652,0.80,136.7,317.9,13.4,309,9656,0.00,2.28,0.00,0.000,4,0.000,0.048,2856,3365,2721,0,0,0,0,0,0
$GC,9698,0.80,136.7,311.4,14.7,310,9702,0.00,2.15,0.00,0.000,6,0.000,0.029,2864,1956,2721,0,0,0,0,0,0
$GC,9970,0.80,136.7,278.6,11.3,321,9974,0.00,2.25,0.00,0.000,4,0.000,0.048,2861,3369,2721,0,0,0,0,0,0
$GC,10178,0.80,136.7,251.8,12.2,330,10182,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1951,2722,0,0,0,0,0,0
$GC,10432,0.80,136.7,221.9,11.8,342,10436,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3358,2720,0,0,0,0,0,0
$GC,10594,0.80,136.7,202.7,10.1,349,10599,0.12,2.12,0.00,0.000,6,0.197,0.028,2857,1958,2721,0,0,0,0,0,0
$GC,10858,0.83,167.3,181.1,7.3,372,10885,0.00,2.12,22.70,0.574,4,0.000,0.036,2868,556,2619,0,0,0,0,0,0
$GC,11046,0.83,167.3,164.9,9.1,388,11050,0.00,2.15,0.00,0.000,6,0.000,0.033,2866,1968,2615,0,0,0,0,0,0
$GC,11312,0.83,167.3,139.9,9.0,412,11316,0.00,2.22,0.00,0.000,4,0.000,0.048,2866,3359,2615,0,0,0,0,0,0
$GC,11389,0.83,167.3,131.3,12.3,418,11398,0.00,2.17,0.00,0.000,6,0.000,0.028,2877,1960,2617,0,0,0,0,0,0
$GC,11655,0.83,167.3,105.1,8.7,443,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1956,2616,0,0,0,0,0,0
$GC,11920,0.92,239.7,84.8,5.5,468,11992,0.00,2.33,60.03,0.492,4,0.000,0.044,2876,3361,2323,0,0,0,0,0,0
$GC,12017,0.92,239.7,77.9,9.6,477,12021,0.00,2.15,0.00,0.000,6,0.000,0.028,2878,1960,2323,0,0,0,0,0,0
$GC,12284,0.92,239.7,51.9,10.1,501,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1960,2320,0,0,0,0,0,0
$GC,12548,0.92,239.7,24.1,10.7,531,12556,0.00,2.15,0.00,0.000,4,0.000,0.040,2878,566,2320,0,0,0,0,0,0
$GC,12635,0.92,239.7,14.8,10.6,546,12643,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1966,2319,0,0,0,0,0,0
$STATE,12743,end climb,SURFACE_DEPTH_REACHED
$STATE,12743,begin surface coast
$FINISH,0.4,0.999550
$STATE,12774,end surface coast,CONTROL_FINISHED_OK
$STATE,12774,begin surface
$SM_CCo,12794,30.23,0.408,0,0,2077,300.24
$SM_GC,1.52,0.00,0.00,30.23,0.000,0.000,0.408,52,2138,2077,-7.95,1.07,300.24
$IRIDIUM_FIX,1929.80,-15618.05,120313,000001
$TT8_MAMPS,0.292994
$HUMID,1078898700
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253707264
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,7132184576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.773
$10V_AH,9.9,59.697
$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,19.925,109.250,316.700,30.225,0.000,26.291,36.309,328.349,24.000,0.000,16.044,1200.766,9146.867,403.640,2264.594,453.012,33.359,1191.158,0.000,1874.339,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,75.933,1072.266,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,389.949,0.000,982.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,30292,571
$CAP_FILE_SIZE,115973,0
$CFSIZE,260165632,170921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051,246.8,1
$GPS,170911,134637,1938.878,-15620.854,27,1.9,27,9.7