version: 66.07
glider: 513
mission: 7
dive: 418
start: 9 7 111 21 12 36
data:
$ID,513
$MISSION,7
$DIVE,418
$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,-431614.41
$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,55
$R_STBD_OVSHOOT,52
$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,417
$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
$GPS1,070911,210031,1911.704,-15635.859,37,1.7,38,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-79.5
$GPS2,070911,211138,1911.556,-15635.734,13,1.5,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,0.234
$KALMAN_X,-117914.9,-165.4,-935.3,150368.7,7999.7
$KALMAN_Y,-422090.0,1360.3,365.9,331186.8,-10846.4
$MHEAD_RNG_PITCHd_Wd,342.3,122898,-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,-136.7,0.0,0.0,0,83,0.00,0.00,-51.65,0.000,2,0.000,0.000,41,2127,3538,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.0,-4.2,8,109,9.98,2.20,-5.93,0.000,4,0.245,0.064,2325,3505,3860,0,0,0,0,0,0
$GC,326,-0.80,-136.7,82.0,-30.1,35,330,0.00,2.12,0.00,0.000,6,0.000,0.033,2326,2113,3863,0,0,0,0,0,0
$GC,594,-0.80,-136.7,152.3,-21.7,59,598,0.00,2.12,0.00,0.000,4,0.000,0.040,2326,698,3865,0,0,0,0,0,0
$GC,701,-0.80,-136.7,178.5,-22.3,68,705,0.00,2.12,0.00,0.000,6,0.000,0.043,2317,2082,3865,0,0,0,0,0,0
$GC,958,-0.80,-136.7,234.0,-22.3,85,962,0.00,2.22,0.00,0.000,4,0.000,0.049,2306,3525,3867,0,0,0,0,0,0
$GC,1014,-0.80,-136.7,246.2,-20.0,87,1020,0.12,2.15,0.00,0.000,6,0.166,0.031,2337,2095,3868,0,0,0,0,0,0
$GC,1268,-0.80,-136.7,291.3,-17.1,100,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2088,3869,0,0,0,0,0,0
$GC,1534,-0.80,-136.7,330.0,-14.5,108,1538,0.00,2.10,0.00,0.000,4,0.000,0.039,2337,698,3869,0,0,0,0,0,0
$GC,1623,-0.80,-136.7,342.6,-13.5,110,1628,0.00,2.12,0.00,0.000,6,0.000,0.040,2329,2110,3870,0,0,0,0,0,0
$GC,1907,-0.80,-136.7,385.1,-15.4,117,1911,0.00,2.17,0.00,0.000,4,0.000,0.048,2318,3508,3871,0,0,0,0,0,0
$GC,2072,-0.80,-136.7,408.9,-13.4,120,2076,0.00,2.10,0.00,0.000,6,0.000,0.029,2318,2095,3868,0,0,0,0,0,0
$GC,2327,-0.80,-136.7,447.0,-15.0,127,2331,0.00,2.10,0.00,0.000,4,0.000,0.038,2318,693,3866,0,0,0,0,0,0
$GC,2371,-0.80,-136.7,454.1,-15.3,128,2375,0.12,2.12,0.00,0.000,6,0.170,0.039,2340,2103,3866,0,0,0,0,0,0
$GC,2650,-0.80,-136.7,491.5,-13.5,135,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3863,0,0,0,0,0,0
$GC,2892,-0.80,-136.7,523.0,-12.7,141,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3865,0,0,0,0,0,0
$GC,3136,-0.80,-136.7,553.3,-12.2,147,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3859,0,0,0,0,0,0
$GC,3381,-0.80,-136.7,582.2,-11.7,153,3385,0.00,2.12,0.00,0.000,4,0.000,0.043,2339,702,3857,0,0,0,0,0,0
$GC,3402,-0.80,-136.7,585.2,-12.4,153,3406,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2101,3856,0,0,0,0,0,0
$GC,3664,-0.80,-136.7,617.0,-12.4,160,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2101,3853,0,0,0,0,0,0
$GC,3907,-0.80,-136.7,646.1,-11.9,166,3911,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3508,3852,0,0,0,0,0,0
$GC,3949,-0.80,-136.7,650.8,-11.9,167,3953,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2095,3851,0,0,0,0,0,0
$GC,4232,-0.80,-136.7,685.3,-12.0,174,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2090,3848,0,0,0,0,0,0
$GC,4476,-0.80,-136.7,713.3,-11.6,180,4479,0.00,2.12,0.00,0.000,4,0.000,0.039,2319,696,3846,0,0,0,0,0,0
$GC,4538,-0.80,-136.7,720.7,-11.3,181,4543,0.12,2.15,0.00,0.000,6,0.174,0.041,2340,2100,3843,0,0,0,0,0,0
$GC,4804,-0.80,-136.7,746.7,-9.6,188,4808,0.00,2.25,0.00,0.000,4,0.000,0.054,2332,3510,3844,0,0,0,0,0,0
$GC,4859,-0.80,-136.7,752.3,-10.0,189,4863,0.00,2.17,0.00,0.000,6,0.000,0.031,2330,2094,3843,0,0,0,0,0,0
$GC,5132,-0.80,-136.7,780.8,-10.5,196,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2088,3841,0,0,0,0,0,0
$GC,5374,-0.80,-136.7,805.2,-9.9,202,5378,0.00,2.12,0.00,0.000,4,0.000,0.041,2330,699,3840,0,0,0,0,0,0
$GC,5407,-0.80,-136.7,808.8,-11.3,202,5414,0.00,2.17,0.00,0.000,6,0.000,0.041,2321,2100,3839,0,0,0,0,0,0
$GC,5657,-0.80,-136.7,835.3,-10.7,209,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2102,3837,0,0,0,0,0,0
$GC,5903,-0.80,-136.7,863.4,-11.6,215,5907,0.00,2.22,0.00,0.000,4,0.000,0.052,2309,3512,3836,0,0,0,0,0,0
$GC,5941,-0.80,-136.7,868.4,-12.0,215,5948,0.10,2.12,0.00,0.000,6,0.173,0.031,2334,2105,3835,0,0,0,0,0,0
$GC,6191,-0.80,-136.7,894.3,-10.3,222,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3834,0,0,0,0,0,0
$STATE,6270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6270,begin apogee
$GC,6278,-0.28,0.0,902.9,10.5,224,6394,0.55,0.00,112.60,1.078,6,0.140,0.000,2500,1924,3301,0,0,0,0,0,0
$STATE,6397,end apogee,CONTROL_FINISHED_OK
$STATE,6397,begin climb
$GC,6399,0.80,136.7,906.5,0.0,227,6525,1.05,0.00,121.85,1.045,6,0.091,0.000,2847,1923,2742,0,0,0,0,0,0
$GC,6756,0.80,136.7,852.7,18.9,236,6760,0.00,2.35,0.00,0.000,4,0.000,0.051,2843,3361,2734,0,0,0,0,0,0
$GC,6802,0.80,136.7,844.2,18.5,237,6806,0.00,2.12,0.00,0.000,6,0.000,0.028,2851,1972,2731,0,0,0,0,0,0
$GC,7079,0.80,136.7,791.9,19.2,244,7083,0.00,2.15,0.00,0.000,4,0.000,0.038,2863,562,2731,0,0,0,0,0,0
$GC,7135,0.80,136.7,780.8,19.7,245,7138,0.00,2.15,0.00,0.000,6,0.000,0.035,2852,1965,2729,0,0,0,0,0,0
$GC,7408,0.80,136.7,730.3,18.5,252,7412,0.00,2.25,0.00,0.000,4,0.000,0.051,2844,3365,2727,0,0,0,0,0,0
$GC,7494,0.80,136.7,714.1,19.0,254,7498,0.00,2.15,0.00,0.000,6,0.000,0.030,2852,1950,2729,0,0,0,0,0,0
$GC,7778,0.80,136.7,663.0,17.9,261,7782,0.00,2.10,0.00,0.000,4,0.000,0.037,2859,562,2729,0,0,0,0,0,0
$GC,7823,0.80,136.7,655.0,17.3,262,7827,0.00,2.15,0.00,0.000,6,0.000,0.034,2855,1968,2728,0,0,0,0,0,0
$GC,8101,0.80,136.7,607.5,16.9,269,8105,0.00,2.22,0.00,0.000,4,0.000,0.053,2855,3370,2725,0,0,0,0,0,0
$GC,8128,0.80,136.7,602.6,16.9,269,8132,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1960,2724,0,0,0,0,0,0
$GC,8385,0.80,136.7,558.7,16.9,276,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1949,2725,0,0,0,0,0,0
$GC,8627,0.80,136.7,517.7,16.9,282,8631,0.00,2.12,0.00,0.000,4,0.000,0.040,2875,560,2725,0,0,0,0,0,0
$GC,8712,0.80,136.7,503.1,17.3,284,8716,0.00,2.15,0.00,0.000,6,0.000,0.034,2874,1973,2724,0,0,0,0,0,0
$GC,9003,0.80,136.7,453.8,16.7,291,9007,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3359,2724,0,0,0,0,0,0
$GC,9030,0.80,136.7,448.6,17.0,291,9034,0.05,2.17,0.00,0.000,6,0.159,0.029,2856,1954,2723,0,0,0,0,0,0
$GC,9285,0.80,136.7,413.0,13.4,298,9289,0.00,2.25,0.00,0.000,4,0.000,0.048,2846,3364,2723,0,0,0,0,0,0
$GC,9302,0.80,136.7,410.7,13.0,298,9306,0.00,2.12,0.00,0.000,6,0.000,0.029,2854,1952,2723,0,0,0,0,0,0
$GC,9563,0.80,136.7,379.9,11.5,305,9567,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,562,2721,0,0,0,0,0,0
$GC,9596,0.80,136.7,376.0,12.2,305,9600,0.00,2.12,0.00,0.000,6,0.000,0.033,2865,1964,2725,0,0,0,0,0,0
$GC,9852,0.80,136.7,342.3,13.6,312,9856,0.00,2.20,0.00,0.000,4,0.000,0.049,2864,3360,2721,0,0,0,0,0,0
$GC,9976,0.80,136.7,322.8,15.5,314,9984,0.00,2.15,0.00,0.000,6,0.000,0.028,2874,1946,2721,0,0,0,0,0,0
$GC,10227,0.80,136.7,287.5,12.9,323,10231,0.00,2.25,0.00,0.000,4,0.000,0.047,2873,3358,2721,0,0,0,0,0,0
$GC,10249,0.80,136.7,284.6,13.1,324,10253,0.00,2.15,0.00,0.000,6,0.000,0.028,2878,1955,2721,0,0,0,0,0,0
$GC,10515,0.80,136.7,252.2,12.1,337,10519,0.00,2.10,0.00,0.000,4,0.000,0.037,2893,562,2722,0,0,0,0,0,0
$GC,10582,0.80,136.7,244.6,10.9,340,10587,0.15,2.12,0.00,0.000,6,0.188,0.031,2857,1965,2720,0,0,0,0,0,0
$GC,10842,0.80,136.7,222.5,9.0,353,10846,0.00,2.20,0.00,0.000,4,0.000,0.048,2857,3361,2721,0,0,0,0,0,0
$GC,11097,0.80,136.7,194.1,10.7,366,11106,0.00,2.15,0.00,0.000,6,0.000,0.028,2870,1950,2720,0,0,0,0,0,0
$GC,11366,0.80,136.7,168.3,12.1,391,11370,0.00,2.25,0.00,0.000,4,0.000,0.046,2866,3375,2720,0,0,0,0,0,0
$GC,11575,0.80,136.7,146.8,10.1,409,11579,0.00,2.12,0.00,0.000,6,0.000,0.028,2876,1952,2722,0,0,0,0,0,0
$GC,11840,0.93,248.8,130.6,3.8,433,11936,0.00,2.20,88.97,0.530,4,0.000,0.041,2887,563,2283,0,0,0,0,0,0
$GC,12186,0.93,248.8,92.1,10.8,463,12193,0.00,2.17,0.00,0.000,6,0.000,0.031,2887,1965,2279,0,0,0,0,0,0
$GC,12454,0.93,248.8,62.4,11.9,488,12458,0.00,2.15,0.00,0.000,4,0.000,0.038,2897,554,2277,0,0,0,0,0,0
$GC,12519,0.93,248.8,53.7,10.9,493,12526,0.00,2.15,0.00,0.000,6,0.000,0.031,2898,1953,2277,0,0,0,0,0,0
$GC,12784,0.93,248.8,22.2,11.6,523,12791,0.00,2.25,0.00,0.000,4,0.000,0.046,2897,3355,2277,0,0,0,0,0,0
$GC,12810,0.93,248.8,18.8,12.2,527,12818,0.00,2.15,0.00,0.000,6,0.000,0.029,2908,1961,2278,0,0,0,0,0,0
$STATE,12929,end climb,SURFACE_DEPTH_REACHED
$STATE,12929,begin surface coast
$FINISH,0.2,1.022121
$STATE,12955,end surface coast,CONTROL_FINISHED_OK
$STATE,12955,begin surface
$SM_CCo,12975,26.35,0.412,0,0,2075,300.24
$SM_GC,0.98,0.00,0.00,26.35,0.000,0.000,0.412,52,2122,2075,-7.96,0.74,300.24
$IRIDIUM_FIX,1904.66,-15639.09,020313,111114
$TT8_MAMPS,0.255411
$HUMID,1078885797
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.10
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255607808
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,15980462080
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,57.058
$10V_AH,9.8,51.533
$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,19.850,125.900,323.425,26.350,0.000,28.324,35.234,369.885,23.750,0.000,14.876,1217.921,9263.334,435.223,2309.990,449.499,33.355,1248.280,0.000,1888.388,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,67.496,1077.635,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.699,0.000,883.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,26951,553
$CAP_FILE_SIZE,121522,0
$CFSIZE,260165632,175259648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,169.9,1
$GPS,080911,005107,1911.647,-15635.671,50,1.6,50,9.6