version: 66.07
glider: 513
mission: 7
dive: 420
start: 9 8 111 4 54 49
data:
$ID,513
$MISSION,7
$DIVE,420
$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,-431664.69
$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,52
$R_STBD_OVSHOOT,54
$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,419
$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
$GPS1,080911,044225,1911.777,-15635.295,41,1.4,41,9.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.4
$GPS2,080911,045350,1911.618,-15635.200,15,1.5,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.053,0.233
$KALMAN_X,-118989.3,-2294.6,-498.6,154057.5,5675.4
$KALMAN_Y,-429855.8,421.4,703.6,339662.9,-11798.2
$MHEAD_RNG_PITCHd_Wd,341.5,122519,-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,-51.67,0.000,2,0.000,0.000,40,2129,3539,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.2,-4.8,8,109,9.93,2.17,-5.60,0.000,4,0.244,0.051,2343,706,3859,0,0,0,0,0,0
$GC,216,-0.80,-136.7,50.6,-35.1,25,220,0.00,2.12,0.00,0.000,6,0.000,0.041,2329,2083,3861,0,0,0,0,0,0
$GC,480,-0.80,-136.7,135.9,-28.5,49,485,0.00,2.22,0.00,0.000,4,0.000,0.048,2318,3512,3863,0,0,0,0,0,0
$GC,500,-0.80,-136.7,141.6,-28.4,50,504,0.00,2.10,0.00,0.000,6,0.000,0.030,2318,2106,3863,0,0,0,0,0,0
$GC,766,-0.80,-136.7,198.0,-21.9,74,770,0.00,2.15,0.00,0.000,4,0.000,0.043,2320,694,3863,0,0,0,0,0,0
$GC,845,-0.80,-136.7,216.0,-19.6,77,851,0.12,2.12,0.00,0.000,6,0.177,0.041,2337,2099,3865,0,0,0,0,0,0
$GC,1098,-0.80,-136.7,265.5,-19.0,90,1102,0.00,2.17,0.00,0.000,4,0.000,0.050,2328,3509,3866,0,0,0,0,0,0
$GC,1133,-0.80,-136.7,271.7,-17.5,91,1139,0.00,2.12,0.00,0.000,6,0.000,0.029,2327,2094,3863,0,0,0,0,0,0
$GC,1385,-0.80,-136.7,313.9,-16.1,102,1389,0.00,2.20,0.00,0.000,4,0.000,0.048,2316,3508,3866,0,0,0,0,0,0
$GC,1412,-0.80,-136.7,318.3,-16.4,102,1416,0.00,2.12,0.00,0.000,6,0.000,0.029,2318,2090,3867,0,0,0,0,0,0
$GC,1662,-0.80,-136.7,357.3,-15.7,108,1666,0.00,2.20,0.00,0.000,4,0.000,0.046,2307,3510,3867,0,0,0,0,0,0
$GC,1713,-0.80,-136.7,365.8,-16.0,109,1718,0.12,2.10,0.00,0.000,6,0.161,0.031,2339,2102,3867,0,0,0,0,0,0
$GC,1986,-0.80,-136.7,401.7,-13.0,116,1990,0.00,2.12,0.00,0.000,4,0.000,0.039,2339,689,3866,0,0,0,0,0,0
$GC,2054,-0.80,-136.7,410.5,-12.8,117,2058,0.00,2.15,0.00,0.000,6,0.000,0.038,2331,2110,3866,0,0,0,0,0,0
$GC,2315,-0.80,-136.7,446.1,-13.7,124,2319,0.00,2.17,0.00,0.000,4,0.000,0.048,2316,3515,3863,0,0,0,0,0,0
$GC,2359,-0.80,-136.7,453.1,-15.6,125,2363,0.00,2.12,0.00,0.000,6,0.000,0.031,2320,2097,3863,0,0,0,0,0,0
$GC,2643,-0.80,-136.7,495.9,-14.9,132,2647,0.00,2.10,0.00,0.000,4,0.000,0.041,2323,692,3860,0,0,0,0,0,0
$GC,2694,-0.80,-136.7,503.8,-14.4,133,2698,0.00,2.15,0.00,0.000,6,0.000,0.040,2310,2110,3859,0,0,0,0,0,0
$GC,2966,-0.80,-136.7,544.0,-14.4,140,2971,0.10,2.22,0.00,0.000,4,0.187,0.049,2325,3514,3857,0,0,0,0,0,0
$GC,3040,-0.80,-136.7,553.3,-11.8,141,3044,0.00,2.15,0.00,0.000,6,0.000,0.032,2326,2101,3856,0,0,0,0,0,0
$GC,3290,-0.80,-136.7,583.6,-12.3,147,3294,0.00,2.10,0.00,0.000,4,0.000,0.039,2326,691,3854,0,0,0,0,0,0
$GC,3323,-0.80,-136.7,588.2,-13.2,147,3329,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2110,3854,0,0,0,0,0,0
$GC,3573,-0.80,-136.7,622.5,-14.0,154,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2110,3851,0,0,0,0,0,0
$GC,3818,-0.80,-136.7,656.2,-13.8,160,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2110,3849,0,0,0,0,0,0
$GC,4060,-0.80,-136.7,689.3,-13.7,166,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2110,3850,0,0,0,0,0,0
$GC,4304,-0.80,-136.7,722.9,-13.9,172,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2109,3844,0,0,0,0,0,0
$GC,4547,-0.80,-136.7,758.6,-14.7,178,4551,0.00,2.20,0.00,0.000,4,0.000,0.052,2304,3504,3842,0,0,0,0,0,0
$GC,4615,-0.80,-136.7,768.9,-15.8,179,4620,0.12,2.12,0.00,0.000,6,0.169,0.031,2336,2098,3841,0,0,0,0,0,0
$GC,4870,-0.80,-136.7,802.1,-12.8,186,4874,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,690,3839,0,0,0,0,0,0
$GC,4925,-0.80,-136.7,809.4,-12.9,187,4929,0.00,2.17,0.00,0.000,6,0.000,0.041,2328,2096,3836,0,0,0,0,0,0
$GC,5198,-0.80,-136.7,841.9,-11.7,194,5202,0.00,2.25,0.00,0.000,4,0.000,0.053,2312,3514,3836,0,0,0,0,0,0
$GC,5242,-0.80,-136.7,847.2,-11.8,195,5245,0.00,2.17,0.00,0.000,6,0.000,0.035,2316,2099,3836,0,0,0,0,0,0
$GC,5525,-0.80,-136.7,880.2,-11.5,202,5529,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,692,3834,0,0,0,0,0,0
$GC,5577,-0.80,-136.7,886.2,-11.1,203,5581,0.12,2.15,0.00,0.000,6,0.185,0.041,2336,2104,3834,0,0,0,0,0,0
$STATE,5724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5724,begin apogee
$GC,5731,-0.28,0.0,901.2,9.8,207,5847,0.55,0.00,111.78,1.075,6,0.142,0.000,2501,1930,3300,0,0,0,0,0,0
$STATE,5889,end apogee,CONTROL_FINISHED_OK
$STATE,5889,begin climb
$GC,5893,0.80,136.7,904.0,0.0,210,6023,1.02,2.17,119.75,1.043,4,0.091,0.036,2860,590,2742,0,0,0,0,0,0
$GC,6045,0.80,136.7,886.2,18.2,213,6049,0.00,2.22,0.00,0.000,6,0.000,0.035,2856,1962,2736,0,0,0,0,0,0
$GC,6302,0.80,136.7,838.0,19.0,220,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1961,2731,0,0,0,0,0,0
$GC,6544,0.80,136.7,791.8,18.7,226,6548,0.00,2.28,0.00,0.000,4,0.000,0.052,2857,3365,2732,0,0,0,0,0,0
$GC,6588,0.80,136.7,783.3,19.5,227,6592,0.00,2.12,0.00,0.000,6,0.000,0.030,2866,1977,2732,0,0,0,0,0,0
$GC,6873,0.80,136.7,729.2,19.3,234,6877,0.00,2.25,0.00,0.000,4,0.000,0.049,2862,3378,2730,0,0,0,0,0,0
$GC,6896,0.80,136.7,724.4,19.5,234,6900,0.00,2.17,0.00,0.000,6,0.000,0.030,2866,1951,2730,0,0,0,0,0,0
$GC,7151,0.80,136.7,675.6,19.3,241,7155,0.00,2.12,0.00,0.000,4,0.000,0.038,2877,548,2728,0,0,0,0,0,0
$GC,7185,0.80,136.7,668.8,20.5,241,7191,0.00,2.17,0.00,0.000,6,0.000,0.034,2874,1966,2725,0,0,0,0,0,0
$GC,7435,0.80,136.7,621.9,18.4,248,7439,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3359,2726,0,0,0,0,0,0
$GC,7491,0.80,136.7,610.5,20.1,249,7495,0.00,2.15,0.00,0.000,6,0.000,0.028,2885,1946,2726,0,0,0,0,0,0
$GC,7764,0.80,136.7,558.9,19.1,256,7767,0.00,2.08,0.00,0.000,4,0.000,0.038,2895,564,2728,0,0,0,0,0,0
$GC,7809,0.80,136.7,550.2,19.4,257,7814,0.15,2.10,0.00,0.000,6,0.199,0.032,2859,1962,2721,0,0,0,0,0,0
$GC,8087,0.80,136.7,505.0,15.7,264,8091,0.00,2.22,0.00,0.000,4,0.000,0.051,2859,3369,2723,0,0,0,0,0,0
$GC,8143,0.80,136.7,495.5,17.4,265,8147,0.00,2.12,0.00,0.000,6,0.000,0.030,2868,1960,2723,0,0,0,0,0,0
$GC,8410,0.80,136.7,452.3,16.3,272,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1955,2722,0,0,0,0,0,0
$GC,8654,0.80,136.7,410.6,17.5,278,8658,0.00,2.22,0.00,0.000,4,0.000,0.049,2872,3359,2722,0,0,0,0,0,0
$GC,8720,0.80,136.7,398.4,18.6,279,8724,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1956,2722,0,0,0,0,0,0
$GC,8988,0.80,136.7,355.0,15.7,286,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1953,2722,0,0,0,0,0,0
$GC,9231,0.80,136.7,323.1,12.8,292,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1953,2721,0,0,0,0,0,0
$GC,9477,0.80,136.7,294.4,11.4,299,9481,0.00,2.22,0.00,0.000,4,0.000,0.048,2874,3362,2723,0,0,0,0,0,0
$GC,9578,0.80,136.7,281.6,12.8,303,9585,0.00,2.10,0.00,0.000,6,0.000,0.028,2883,1959,2721,0,0,0,0,0,0
$GC,9832,0.80,136.7,252.5,11.5,316,9836,0.00,2.10,0.00,0.000,4,0.000,0.037,2895,560,2721,0,0,0,0,0,0
$GC,9888,0.80,136.7,245.1,13.3,318,9894,0.15,2.12,0.00,0.000,6,0.188,0.031,2859,1966,2720,0,0,0,0,0,0
$GC,10143,0.80,143.0,221.8,8.3,331,10147,0.00,2.20,0.00,0.000,4,0.000,0.048,2858,3368,2720,0,0,0,0,0,0
$GC,10209,0.80,143.0,214.0,11.9,334,10213,0.00,2.15,0.00,0.000,6,0.000,0.028,2868,1968,2720,0,0,0,0,0,0
$GC,10471,0.80,143.0,188.0,9.3,352,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1965,2723,0,0,0,0,0,0
$GC,10734,0.80,143.0,164.1,11.0,377,10738,0.00,2.10,0.00,0.000,4,0.000,0.037,2878,558,2720,0,0,0,0,0,0
$GC,10799,0.80,143.0,157.0,10.3,382,10807,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1956,2720,0,0,0,0,0,0
$GC,11068,0.85,182.5,132.3,6.9,407,11108,0.00,2.22,35.15,0.530,4,0.000,0.047,2878,3361,2557,0,0,0,0,0,0
$GC,11278,0.85,182.5,111.9,10.6,425,11282,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1948,2557,0,0,0,0,0,0
$GC,11543,0.88,201.9,90.0,7.7,449,11567,0.00,2.12,17.58,0.472,4,0.000,0.036,2904,566,2476,0,0,0,0,0,0
$GC,11812,0.88,201.9,63.5,12.2,473,11819,0.00,2.12,0.00,0.000,6,0.000,0.030,2900,1963,2474,0,0,0,0,0,0
$GC,12078,0.88,207.3,39.4,8.3,498,12091,0.00,2.22,6.30,0.366,4,0.000,0.044,2905,3390,2454,0,0,0,0,0,0
$GC,12200,0.88,207.3,26.7,11.8,511,12209,0.00,2.17,0.00,0.000,6,0.000,0.028,2911,1966,2454,0,0,0,0,0,0
$STATE,12416,end climb,SURFACE_DEPTH_REACHED
$STATE,12416,begin surface coast
$FINISH,0.4,1.022627
$STATE,12446,end surface coast,CONTROL_FINISHED_OK
$STATE,12446,begin surface
$SM_CCo,12465,48.70,0.415,0,0,2075,300.24
$SM_GC,2.06,0.00,0.00,48.70,0.000,0.000,0.415,53,2131,2075,-7.95,0.88,300.24
$IRIDIUM_FIX,1904.66,-15713.86,020313,191949
$TT8_MAMPS,0.253877
$HUMID,1078844506
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,54
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6217105408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,15809314816
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,57.290
$10V_AH,9.9,51.718
$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,19.950,129.850,290.550,48.700,0.000,24.512,40.261,385.632,13.500,0.000,17.807,1213.786,8759.668,414.169,2371.538,451.081,33.357,1217.486,0.000,1894.259,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,63.661,1074.567,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.378,0.000,952.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,26968,556
$CAP_FILE_SIZE,123170,0
$CFSIZE,260165632,175108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,168.8,1
$GPS,080911,082530,1911.653,-15635.168,59,1.2,65,9.6