version: 66.07
glider: 513
mission: 7
dive: 424
start: 9 8 111 20 5 47
data:
$ID,513
$MISSION,7
$DIVE,424
$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,-431748.66
$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,50
$R_STBD_OVSHOOT,48
$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,423
$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
$GPS1,080911,194337,1911.567,-15634.989,35,0.9,35,9.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-80.3
$GPS2,080911,200450,1911.364,-15634.935,12,1.3,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.108,0.213
$KALMAN_X,-122025.1,1222.5,233.2,153257.4,-898.9
$KALMAN_Y,-447127.5,1791.2,931.0,354848.7,-15238.3
$MHEAD_RNG_PITCHd_Wd,345.6,122839,-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,-51.20,0.000,2,0.000,0.000,38,2119,3549,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.4,-5.2,8,109,9.98,2.20,-5.47,0.000,4,0.245,0.061,2326,3503,3854,0,0,0,0,0,0
$GC,325,-0.80,-136.7,80.2,-27.9,35,329,0.00,2.15,0.00,0.000,6,0.000,0.040,2326,2112,3860,0,0,0,0,0,0
$GC,591,-0.80,-136.7,150.8,-25.3,59,595,0.00,2.15,0.00,0.000,4,0.000,0.041,2326,695,3861,0,0,0,0,0,0
$GC,676,-0.80,-136.7,170.8,-19.6,66,680,0.00,2.12,0.00,0.000,6,0.000,0.043,2316,2093,3861,0,0,0,0,0,0
$GC,935,-0.80,-136.7,226.5,-21.4,84,939,0.00,2.20,0.00,0.000,4,0.000,0.050,2305,3505,3862,0,0,0,0,0,0
$GC,951,-0.80,-136.7,230.1,-19.8,84,957,0.12,2.12,0.00,0.000,6,0.172,0.031,2336,2082,3861,0,0,0,0,0,0
$GC,1204,-0.80,-136.7,272.0,-17.1,97,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2077,3861,0,0,0,0,0,0
$GC,1452,-0.80,-136.7,313.5,-16.5,107,1456,0.00,2.05,0.00,0.000,4,0.000,0.040,2336,704,3863,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,317.6,-17.5,107,1477,0.00,2.12,0.00,0.000,6,0.000,0.042,2328,2111,3863,0,0,0,0,0,0
$GC,1734,-0.80,-136.7,359.0,-15.9,114,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2111,3863,0,0,0,0,0,0
$GC,1979,-0.80,-136.7,396.7,-15.2,120,1982,0.00,2.20,0.00,0.000,4,0.000,0.051,2317,3507,3862,0,0,0,0,0,0
$GC,2075,-0.80,-136.7,410.7,-14.0,122,2079,0.00,2.10,0.00,0.000,6,0.000,0.031,2317,2103,3862,0,0,0,0,0,0
$GC,2347,-0.80,-136.7,449.0,-13.9,129,2350,0.00,2.10,0.00,0.000,4,0.000,0.039,2316,690,3859,0,0,0,0,0,0
$GC,2403,-0.80,-136.7,457.0,-14.3,130,2408,0.12,2.12,0.00,0.000,6,0.173,0.041,2338,2093,3858,0,0,0,0,0,0
$GC,2670,-0.80,-136.7,488.7,-11.7,137,2674,0.00,2.22,0.00,0.000,4,0.000,0.051,2329,3519,3857,0,0,0,0,0,0
$GC,2719,-0.80,-136.7,494.7,-11.6,138,2723,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2095,3856,0,0,0,0,0,0
$GC,2999,-0.80,-136.7,530.1,-13.1,145,3003,0.00,2.10,0.00,0.000,4,0.000,0.040,2328,700,3853,0,0,0,0,0,0
$GC,3026,-0.80,-136.7,534.1,-12.7,145,3030,0.00,2.12,0.00,0.000,6,0.000,0.041,2318,2111,3853,0,0,0,0,0,0
$GC,3282,-0.80,-136.7,569.5,-13.9,152,3286,0.00,2.20,0.00,0.000,4,0.000,0.050,2307,3517,3850,0,0,0,0,0,0
$GC,3350,-0.80,-136.7,578.9,-13.6,153,3354,0.12,2.15,0.00,0.000,6,0.165,0.032,2338,2100,3849,0,0,0,0,0,0
$GC,3611,-0.80,-136.7,609.6,-11.8,160,3615,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,696,3846,0,0,0,0,0,0
$GC,3650,-0.80,-136.7,614.4,-11.4,161,3655,0.00,2.12,0.00,0.000,6,0.000,0.041,2331,2098,3846,0,0,0,0,0,0
$GC,3936,-0.80,-136.7,646.5,-11.2,168,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2097,3842,0,0,0,0,0,0
$GC,4178,-0.80,-136.7,672.5,-10.5,174,4182,0.00,2.25,0.00,0.000,4,0.000,0.053,2320,3507,3840,0,0,0,0,0,0
$GC,4227,-0.80,-136.7,678.1,-10.8,175,4231,0.00,2.12,0.00,0.000,6,0.000,0.032,2320,2095,3839,0,0,0,0,0,0
$GC,4507,-0.80,-136.7,710.5,-11.7,182,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3837,0,0,0,0,0,0
$GC,4750,-0.80,-136.7,739.2,-11.9,188,4754,0.00,2.12,0.00,0.000,4,0.000,0.043,2321,702,3834,0,0,0,0,0,0
$GC,4783,-0.80,-136.7,743.4,-12.4,188,4789,0.12,2.15,0.00,0.000,6,0.182,0.042,2339,2102,3834,0,0,0,0,0,0
$GC,5033,-0.80,-136.7,768.9,-10.1,195,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2101,3831,0,0,0,0,0,0
$GC,5278,-0.80,-136.7,793.9,-10.4,201,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2102,3827,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,817.6,-9.8,207,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2102,3828,0,0,0,0,0,0
$GC,5764,-0.80,-136.7,841.0,-9.4,213,5768,0.00,2.17,0.00,0.000,4,0.000,0.044,2339,693,3827,0,0,0,0,0,0
$GC,5791,-0.80,-136.7,844.0,-10.3,213,5795,0.00,2.15,0.00,0.000,6,0.000,0.042,2332,2100,3826,0,0,0,0,0,0
$GC,6042,-0.80,-136.7,869.4,-10.2,219,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2094,3825,0,0,0,0,0,0
$GC,6285,-0.80,-136.7,895.2,-10.6,225,6289,0.00,2.25,0.00,0.000,4,0.000,0.054,2320,3508,3824,0,0,0,0,0,0
$STATE,6326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6327,begin apogee
$GC,6335,-0.28,0.0,900.4,11.9,226,6451,0.57,0.00,109.68,1.079,6,0.143,0.000,2494,1948,3301,0,0,0,0,0,0
$STATE,6454,end apogee,CONTROL_FINISHED_OK
$STATE,6454,begin climb
$GC,6458,0.80,136.7,904.5,0.0,229,6583,1.08,0.00,121.10,1.048,6,0.094,0.000,2848,1948,2742,0,0,0,0,0,0
$GC,6815,0.80,136.7,852.9,17.6,238,6819,0.00,2.33,0.00,0.000,4,0.000,0.051,2849,3369,2733,0,0,0,0,0,0
$GC,6850,0.80,136.7,846.3,19.6,238,6856,0.00,2.17,0.00,0.000,6,0.000,0.030,2860,1956,2734,0,0,0,0,0,0
$GC,7101,0.80,136.7,800.2,18.4,245,7105,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,552,2732,0,0,0,0,0,0
$GC,7140,0.80,136.7,792.5,19.3,246,7144,0.00,2.15,0.00,0.000,6,0.000,0.035,2871,1964,2732,0,0,0,0,0,0
$GC,7423,0.80,136.7,740.5,18.3,253,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1966,2729,0,0,0,0,0,0
$GC,7668,0.80,136.7,696.8,17.9,259,7672,0.00,2.22,0.00,0.000,4,0.000,0.054,2870,3360,2728,0,0,0,0,0,0
$GC,7708,0.80,136.7,689.4,19.1,260,7712,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1960,2728,0,0,0,0,0,0
$GC,7991,0.80,136.7,636.9,18.5,267,7995,0.00,2.12,0.00,0.000,4,0.000,0.039,2898,557,2726,0,0,0,0,0,0
$GC,8014,0.80,136.7,632.4,19.8,267,8019,0.15,2.12,0.00,0.000,6,0.192,0.034,2857,1967,2724,0,0,0,0,0,0
$GC,8269,0.80,136.7,587.9,17.3,274,8273,0.00,2.22,0.00,0.000,4,0.000,0.051,2856,3360,2724,0,0,0,0,0,0
$GC,8302,0.80,136.7,581.9,18.4,274,8308,0.00,2.12,0.00,0.000,6,0.000,0.029,2865,1949,2725,0,0,0,0,0,0
$GC,8554,0.80,136.7,534.8,19.2,281,8557,0.00,2.10,0.00,0.000,4,0.000,0.039,2876,559,2728,0,0,0,0,0,0
$GC,8593,0.80,136.7,527.1,19.2,282,8597,0.00,2.10,0.00,0.000,6,0.000,0.032,2876,1957,2723,0,0,0,0,0,0
$GC,8877,0.80,136.7,473.3,18.7,289,8881,0.00,2.22,0.00,0.000,4,0.000,0.052,2876,3360,2724,0,0,0,0,0,0
$GC,8945,0.80,136.7,460.0,19.3,290,8950,0.12,2.12,0.00,0.000,6,0.206,0.029,2859,1955,2723,0,0,0,0,0,0
$GC,9200,0.80,136.7,415.9,17.1,297,9204,0.00,2.10,0.00,0.000,4,0.000,0.037,2868,562,2722,0,0,0,0,0,0
$GC,9244,0.80,136.7,408.6,16.1,298,9248,0.00,2.10,0.00,0.000,6,0.000,0.032,2866,1967,2725,0,0,0,0,0,0
$GC,9529,0.80,136.7,367.1,14.4,305,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1968,2721,0,0,0,0,0,0
$GC,9771,0.80,136.7,331.7,14.6,311,9775,0.00,2.22,0.00,0.000,4,0.000,0.050,2866,3367,2721,0,0,0,0,0,0
$GC,9803,0.80,136.7,326.8,15.6,311,9810,0.00,2.12,0.00,0.000,6,0.000,0.029,2874,1956,2721,0,0,0,0,0,0
$GC,10054,0.80,136.7,295.2,11.4,319,10058,0.00,2.25,0.00,0.000,4,0.000,0.047,2873,3366,2721,0,0,0,0,0,0
$GC,10094,0.80,136.7,290.7,12.2,321,10099,0.00,2.12,0.00,0.000,6,0.000,0.028,2882,1957,2721,0,0,0,0,0,0
$GC,10359,0.80,136.7,262.3,10.8,334,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1955,2721,0,0,0,0,0,0
$GC,10607,0.80,136.7,234.2,11.1,346,10610,0.00,2.10,0.00,0.000,4,0.000,0.036,2892,556,2720,0,0,0,0,0,0
$GC,10670,0.80,136.7,227.7,10.6,349,10675,0.15,2.10,0.00,0.000,6,0.183,0.031,2856,1971,2719,0,0,0,0,0,0
$GC,10934,0.80,136.7,201.5,10.5,362,10938,0.00,2.17,0.00,0.000,4,0.000,0.048,2856,3359,2719,0,0,0,0,0,0
$GC,11079,0.80,136.7,185.2,12.0,374,11083,0.00,2.10,0.00,0.000,6,0.000,0.027,2866,1957,2720,0,0,0,0,0,0
$GC,11344,0.81,148.5,159.1,8.1,398,11357,0.00,2.08,7.88,0.486,4,0.000,0.034,2876,560,2693,0,0,0,0,0,0
$GC,11375,0.83,166.9,156.6,7.8,400,11398,0.00,2.12,16.52,0.537,6,0.000,0.030,2876,1963,2620,0,0,0,0,0,0
$GC,11661,0.83,166.9,130.0,9.2,427,11665,0.00,2.12,0.00,0.000,4,0.000,0.036,2887,548,2619,0,0,0,0,0,0
$GC,11858,0.83,166.9,113.3,8.7,444,11866,0.00,2.15,0.00,0.000,6,0.000,0.032,2892,1952,2617,0,0,0,0,0,0
$GC,12125,0.92,234.5,92.2,5.7,469,12188,0.00,2.33,56.62,0.494,4,0.000,0.049,2886,3370,2342,0,0,0,0,0,0
$GC,12332,0.92,234.5,71.8,12.1,487,12337,0.00,2.15,0.00,0.000,6,0.000,0.029,2896,1962,2341,0,0,0,0,0,0
$GC,12599,0.92,234.5,41.3,11.5,511,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1961,2339,0,0,0,0,0,0
$GC,12863,0.92,234.5,11.6,11.2,551,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1961,2337,0,0,0,0,0,0
$STATE,12947,end climb,SURFACE_DEPTH_REACHED
$STATE,12947,begin surface coast
$FINISH,0.4,1.022652
$STATE,12981,end surface coast,CONTROL_FINISHED_OK
$STATE,12981,begin surface
$SM_CCo,13027,35.88,0.411,0,0,2078,300.24
$SM_GC,1.62,0.00,0.00,35.88,0.000,0.000,0.411,48,2124,2078,-7.95,0.68,300.24
$IRIDIUM_FIX,1902.38,-15634.00,030313,141448
$TT8_MAMPS,0.257712
$HUMID,1078858700
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.80
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255411200
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,15129018368
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,57.768
$10V_AH,9.8,52.090
$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,20.200,125.300,311.800,35.875,0.000,117.994,213.584,510.663,24.500,0.000,14.204,1229.476,9494.641,431.806,2675.687,514.084,33.354,1212.919,0.000,1864.655,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,69.030,1079.169,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.553,0.000,945.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30254,572
$CAP_FILE_SIZE,127098,0
$CFSIZE,260165632,174804992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,177.0,1
$GPS,080911,234537,1911.584,-15634.890,65,1.4,65,9.6