version: 66.07
glider: 513
mission: 7
dive: 414
start: 9 7 111 5 39 42
data:
$ID,513
$MISSION,7
$DIVE,414
$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,-431537.84
$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,51
$R_STBD_OVSHOOT,50
$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,413
$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
$GPS1,070911,052806,1911.094,-15636.545,41,1.0,46,9.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,7
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.4
$GPS2,070911,053844,1910.974,-15636.448,14,1.0,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,0.236
$KALMAN_X,-127031.8,-651.5,-914.5,158699.7,7424.2
$KALMAN_Y,-411905.4,1571.7,658.9,319406.5,-13432.1
$MHEAD_RNG_PITCHd_Wd,339.3,119503,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-56.97,0.000,2,0.000,0.000,56,2117,3748,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.3,-7.6,9,114,9.93,2.20,-1.75,0.000,4,0.245,0.058,2320,3493,3860,0,0,0,0,0,0
$GC,320,-0.80,-136.7,84.0,-29.8,33,325,0.00,2.15,0.00,0.000,6,0.000,0.036,2323,2114,3864,0,0,0,0,0,0
$GC,587,-0.80,-136.7,154.5,-23.0,57,591,0.00,2.17,0.00,0.000,4,0.000,0.044,2317,689,3866,0,0,0,0,0,0
$GC,627,-0.80,-136.7,163.6,-20.4,60,631,0.00,2.12,0.00,0.000,6,0.000,0.042,2311,2090,3866,0,0,0,0,0,0
$GC,897,-0.80,-136.7,222.1,-21.0,80,902,0.10,2.22,0.00,0.000,4,0.187,0.053,2325,3510,3867,0,0,0,0,0,0
$GC,941,-0.80,-136.7,231.1,-18.6,82,945,0.00,2.10,0.00,0.000,6,0.000,0.031,2325,2095,3868,0,0,0,0,0,0
$GC,1206,-0.80,-136.7,279.8,-18.8,95,1210,0.00,2.10,0.00,0.000,4,0.000,0.042,2324,691,3869,0,0,0,0,0,0
$GC,1268,-0.80,-136.7,290.6,-16.3,97,1274,0.00,2.15,0.00,0.000,6,0.000,0.042,2315,2103,3869,0,0,0,0,0,0
$GC,1539,-0.80,-136.7,336.0,-16.6,106,1543,0.00,2.22,0.00,0.000,4,0.000,0.053,2303,3514,3869,0,0,0,0,0,0
$GC,1672,-0.80,-136.7,357.3,-14.8,109,1677,0.12,2.15,0.00,0.000,6,0.163,0.032,2336,2095,3869,0,0,0,0,0,0
$GC,1951,-0.80,-136.7,390.0,-11.5,116,1955,0.00,2.10,0.00,0.000,4,0.000,0.042,2336,702,3869,0,0,0,0,0,0
$GC,2012,-0.80,-136.7,397.2,-11.2,117,2017,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2094,3868,0,0,0,0,0,0
$GC,2279,-0.80,-136.7,428.4,-12.0,124,2283,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3511,3866,0,0,0,0,0,0
$GC,2346,-0.80,-136.7,437.1,-12.8,125,2350,0.00,2.12,0.00,0.000,6,0.000,0.029,2316,2101,3865,0,0,0,0,0,0
$GC,2602,-0.80,-136.7,473.3,-14.6,132,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2095,3862,0,0,0,0,0,0
$GC,2845,-0.80,-136.7,511.0,-15.8,138,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2095,3860,0,0,0,0,0,0
$GC,3091,-0.80,-136.7,549.3,-15.6,144,3094,0.00,2.08,0.00,0.000,4,0.000,0.038,2316,700,3858,0,0,0,0,0,0
$GC,3112,-0.80,-136.7,553.1,-15.9,144,3117,0.12,2.12,0.00,0.000,6,0.181,0.039,2336,2108,3857,0,0,0,0,0,0
$GC,3367,-0.80,-136.7,586.6,-12.9,151,3371,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,699,3855,0,0,0,0,0,0
$GC,3389,-0.80,-136.7,589.6,-12.6,151,3393,0.00,2.15,0.00,0.000,6,0.000,0.040,2328,2109,3855,0,0,0,0,0,0
$GC,3657,-0.80,-136.7,624.1,-13.1,158,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2108,3852,0,0,0,0,0,0
$GC,3899,-0.80,-136.7,656.1,-13.2,164,3903,0.00,2.20,0.00,0.000,4,0.000,0.052,2317,3509,3850,0,0,0,0,0,0
$GC,3940,-0.80,-136.7,661.3,-13.4,165,3944,0.00,2.15,0.00,0.000,6,0.000,0.031,2317,2093,3850,0,0,0,0,0,0
$GC,4225,-0.80,-136.7,699.6,-13.3,172,4228,0.00,2.10,0.00,0.000,4,0.000,0.042,2318,697,3849,0,0,0,0,0,0
$GC,4246,-0.80,-136.7,702.7,-13.3,172,4251,0.12,2.15,0.00,0.000,6,0.183,0.038,2337,2107,3847,0,0,0,0,0,0
$GC,4501,-0.80,-136.7,730.3,-10.6,179,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2112,3844,0,0,0,0,0,0
$GC,4747,-0.80,-136.7,755.2,-10.1,185,4751,0.00,2.15,0.00,0.000,4,0.000,0.041,2337,707,3843,0,0,0,0,0,0
$GC,4774,-0.80,-136.7,758.3,-11.1,185,4778,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2101,3842,0,0,0,0,0,0
$GC,5030,-0.80,-136.7,782.7,-9.4,192,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2099,3840,0,0,0,0,0,0
$GC,5273,-0.80,-136.7,805.4,-9.3,198,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2101,3839,0,0,0,0,0,0
$GC,5518,-0.80,-136.7,828.7,-9.6,204,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2101,3837,0,0,0,0,0,0
$GC,5761,-0.80,-136.7,852.3,-9.7,210,5765,0.00,2.28,0.00,0.000,4,0.000,0.055,2318,3516,3836,0,0,0,0,0,0
$GC,5794,-0.80,-136.7,855.7,-10.8,210,5799,0.00,2.17,0.00,0.000,6,0.000,0.034,2318,2100,3835,0,0,0,0,0,0
$GC,6044,-0.80,-136.7,881.9,-10.7,217,6048,0.00,2.12,0.00,0.000,4,0.000,0.040,2318,693,3833,0,0,0,0,0,0
$GC,6079,-0.80,-136.7,885.9,-11.1,217,6083,0.12,2.15,0.00,0.000,6,0.186,0.040,2337,2102,3831,0,0,0,0,0,0
$STATE,6245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6245,begin apogee
$GC,6252,-0.28,0.0,902.0,9.5,221,6367,0.55,0.00,111.90,1.078,6,0.140,0.000,2503,1929,3301,0,0,0,0,0,0
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6372,0.80,136.7,904.7,0.0,224,6497,1.02,0.00,120.70,1.045,6,0.091,0.000,2846,1928,2742,0,0,0,0,0,0
$GC,6738,0.80,136.7,847.4,19.0,233,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1928,2733,0,0,0,0,0,0
$GC,6982,0.80,136.7,801.8,18.7,239,6986,0.00,2.33,0.00,0.000,4,0.000,0.052,2841,3366,2731,0,0,0,0,0,0
$GC,7010,0.80,136.7,796.3,19.9,239,7014,0.00,2.15,0.00,0.000,6,0.000,0.029,2849,1958,2729,0,0,0,0,0,0
$GC,7260,0.80,136.7,751.3,18.0,245,7264,0.00,2.12,0.00,0.000,4,0.000,0.040,2860,561,2730,0,0,0,0,0,0
$GC,7310,0.80,136.7,742.0,18.2,246,7314,0.00,2.17,0.00,0.000,6,0.000,0.038,2855,1967,2727,0,0,0,0,0,0
$GC,7590,0.80,136.7,693.1,17.6,253,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1967,2727,0,0,0,0,0,0
$GC,7832,0.80,136.7,651.8,16.9,259,7836,0.00,2.20,0.00,0.000,4,0.000,0.051,2858,3360,2726,0,0,0,0,0,0
$GC,7864,0.80,136.7,645.8,18.5,259,7870,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1948,2727,0,0,0,0,0,0
$GC,8114,0.80,136.7,600.6,18.2,266,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1943,2726,0,0,0,0,0,0
$GC,8359,0.80,136.7,554.5,18.9,272,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1943,2725,0,0,0,0,0,0
$GC,8602,0.80,136.7,509.4,18.4,278,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1943,2725,0,0,0,0,0,0
$GC,8845,0.80,136.7,468.6,16.5,284,8850,0.00,2.28,0.00,0.000,4,0.000,0.051,2855,3364,2725,0,0,0,0,0,0
$GC,8901,0.80,136.7,459.1,16.2,285,8905,0.00,2.12,0.00,0.000,6,0.000,0.029,2864,1964,2725,0,0,0,0,0,0
$GC,9175,0.80,136.7,421.2,13.6,292,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1959,2724,0,0,0,0,0,0
$GC,9417,0.80,136.7,388.2,13.6,298,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1959,2724,0,0,0,0,0,0
$GC,9661,0.80,136.7,352.5,14.9,304,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1959,2727,0,0,0,0,0,0
$GC,9904,0.80,136.7,322.9,11.0,310,9908,0.00,2.25,0.00,0.000,4,0.000,0.050,2861,3364,2723,0,0,0,0,0,0
$GC,9950,0.80,136.7,317.6,11.3,311,9954,0.00,2.15,0.00,0.000,6,0.000,0.029,2871,1953,2723,0,0,0,0,0,0
$GC,10208,0.80,136.7,290.7,10.4,319,10212,0.00,2.10,0.00,0.000,4,0.000,0.038,2882,558,2722,0,0,0,0,0,0
$GC,10315,0.80,136.7,279.6,10.2,323,10320,0.00,2.12,0.00,0.000,6,0.000,0.031,2882,1968,2720,0,0,0,0,0,0
$GC,10568,0.80,136.7,251.3,11.4,336,10572,0.00,2.12,0.00,0.000,4,0.000,0.036,2891,558,2721,0,0,0,0,0,0
$GC,10645,0.80,136.7,240.9,13.9,339,10652,0.15,2.12,0.00,0.000,6,0.183,0.031,2855,1966,2720,0,0,0,0,0,0
$GC,10900,0.80,136.7,212.0,10.2,352,10905,0.00,2.20,0.00,0.000,4,0.000,0.048,2855,3362,2720,0,0,0,0,0,0
$GC,10939,0.80,136.7,208.3,9.5,353,10945,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1950,2721,0,0,0,0,0,0
$GC,11201,0.84,170.0,189.5,7.2,372,11237,0.00,2.30,25.55,0.579,4,0.000,0.048,2864,3361,2606,0,0,0,0,0,0
$GC,11340,0.84,170.0,176.2,11.3,384,11349,0.00,2.15,0.00,0.000,6,0.000,0.028,2875,1963,2605,0,0,0,0,0,0
$GC,11609,0.84,170.0,146.4,12.8,409,11613,0.00,2.10,0.00,0.000,4,0.000,0.038,2886,566,2604,0,0,0,0,0,0
$GC,11693,0.84,170.0,136.2,10.9,416,11697,0.00,2.10,0.00,0.000,6,0.000,0.031,2885,1960,2603,0,0,0,0,0,0
$GC,11960,0.88,203.9,110.1,7.1,440,11997,0.00,2.17,29.27,0.507,4,0.000,0.040,2896,564,2466,0,0,0,0,0,0
$GC,12242,0.88,203.9,82.4,11.6,465,12250,0.00,2.12,0.00,0.000,6,0.000,0.031,2896,1950,2464,0,0,0,0,0,0
$GC,12508,0.88,203.9,56.2,9.3,490,12512,0.00,2.10,0.00,0.000,4,0.000,0.037,2911,557,2464,0,0,0,0,0,0
$GC,12599,0.88,203.9,47.3,10.4,498,12603,0.00,2.12,0.00,0.000,6,0.000,0.030,2906,1968,2464,0,0,0,0,0,0
$GC,12863,0.88,203.9,20.6,10.1,530,12871,0.00,2.20,0.00,0.000,4,0.000,0.045,2906,3360,2468,0,0,0,0,0,0
$GC,12927,0.88,203.9,13.0,12.2,541,12935,0.12,2.12,0.00,0.000,6,0.165,0.026,2879,1961,2468,0,0,0,0,0,0
$STATE,13031,end climb,SURFACE_DEPTH_REACHED
$STATE,13031,begin surface coast
$FINISH,0.3,1.022805
$STATE,13068,end surface coast,CONTROL_FINISHED_OK
$STATE,13068,begin surface
$SM_CCo,13087,50.97,0.418,0,0,2076,300.24
$SM_GC,2.06,0.00,0.00,50.97,0.000,0.000,0.418,52,2115,2076,-7.94,0.42,300.24
$IRIDIUM_FIX,1904.66,-15634.00,010313,202045
$TT8_MAMPS,0.308334
$HUMID,1078838055
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,95
$AR_DIVENUM,414
$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
$24V_AH,23.6,56.599
$10V_AH,9.7,51.169
$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,19.875,116.975,287.425,50.975,0.000,31.301,39.001,336.119,23.750,0.000,15.865,1209.342,9500.103,420.082,2227.934,435.295,33.357,1188.183,0.000,1816.149,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,65.195,1077.635,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,386.412,0.000,926.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26889,566
$CAP_FILE_SIZE,119242,0
$CFSIZE,260165632,175554560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.183,169.3,1
$GPS,070911,092031,1911.238,-15636.395,42,1.1,42,9.6