version: 66.07
glider: 513
mission: 7
dive: 427
start: 9 9 111 8 21 48
data:
$ID,513
$MISSION,7
$DIVE,427
$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,712.8302
$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,-431829.25
$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,45
$R_STBD_OVSHOOT,42
$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,426
$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
$GPS1,090911,075107,1911.617,-15634.247,28,1.0,29,9.6
$_CALLS,5
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.6
$GPS2,090911,082049,1911.378,-15634.186,11,1.1,16,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.052,0.233
$KALMAN_X,-117445.7,-1535.9,-624.0,153633.0,4445.4
$KALMAN_Y,-457551.5,1160.4,678.1,366193.2,-12403.6
$MHEAD_RNG_PITCHd_Wd,344.7,122453,-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,-136.7,0.0,0.0,0,139,0.00,0.00,-108.05,0.000,2,0.000,0.000,37,2114,3650,0,0,0,0,0,0
$GC,144,-0.80,-136.7,3.9,-6.7,16,165,9.77,2.25,-3.50,0.000,4,0.241,0.065,2319,3503,3860,0,0,0,0,0,0
$GC,394,-0.80,-136.7,87.1,-27.3,43,399,0.00,2.10,0.00,0.000,6,0.000,0.031,2317,2103,3862,0,0,0,0,0,0
$GC,661,-0.80,-136.7,158.2,-24.5,67,665,0.00,2.12,0.00,0.000,4,0.000,0.041,2318,700,3861,0,0,0,0,0,0
$GC,713,-0.80,-136.7,172.9,-26.8,71,718,0.12,2.12,0.00,0.000,6,0.186,0.044,2336,2087,3862,0,0,0,0,0,0
$GC,971,-0.80,-136.7,228.2,-21.1,89,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2086,3862,0,0,0,0,0,0
$GC,1218,-0.80,-136.7,268.9,-15.4,101,1222,0.00,2.22,0.00,0.000,4,0.000,0.052,2327,3516,3863,0,0,0,0,0,0
$GC,1286,-0.80,-136.7,278.3,-12.8,104,1290,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2088,3863,0,0,0,0,0,0
$GC,1570,-0.80,-136.7,321.3,-15.2,115,1574,0.00,2.08,0.00,0.000,4,0.000,0.041,2327,697,3863,0,0,0,0,0,0
$GC,1598,-0.80,-136.7,326.0,-15.8,115,1601,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,2106,3863,0,0,0,0,0,0
$GC,1853,-0.80,-136.7,364.3,-15.1,122,1857,0.00,2.17,0.00,0.000,4,0.000,0.051,2306,3509,3862,0,0,0,0,0,0
$GC,1870,-0.80,-136.7,366.9,-14.9,122,1875,0.12,2.10,0.00,0.000,6,0.161,0.031,2338,2095,3861,0,0,0,0,0,0
$GC,2136,-0.80,-136.7,403.1,-14.0,129,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2089,3859,0,0,0,0,0,0
$GC,2380,-0.80,-136.7,436.4,-13.7,135,2384,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,691,3856,0,0,0,0,0,0
$GC,2397,-0.80,-136.7,438.7,-13.9,135,2401,0.00,2.17,0.00,0.000,6,0.000,0.043,2330,2105,3856,0,0,0,0,0,0
$GC,2658,-0.80,-136.7,475.0,-14.2,142,2662,0.00,2.17,0.00,0.000,4,0.000,0.050,2319,3505,3853,0,0,0,0,0,0
$GC,2724,-0.80,-136.7,485.4,-15.0,143,2728,0.00,2.10,0.00,0.000,6,0.000,0.029,2319,2092,3852,0,0,0,0,0,0
$GC,2992,-0.80,-136.7,523.7,-14.3,150,2996,0.00,2.10,0.00,0.000,4,0.000,0.041,2319,702,3848,0,0,0,0,0,0
$GC,3065,-0.80,-136.7,534.4,-14.0,151,3069,0.12,2.12,0.00,0.000,6,0.170,0.041,2340,2102,3849,0,0,0,0,0,0
$GC,3315,-0.80,-136.7,563.9,-11.6,157,3319,0.00,2.15,0.00,0.000,4,0.000,0.040,2340,692,3844,0,0,0,0,0,0
$GC,3338,-0.80,-136.7,566.5,-11.6,157,3342,0.00,2.17,0.00,0.000,6,0.000,0.041,2331,2104,3844,0,0,0,0,0,0
$GC,3594,-0.80,-136.7,594.9,-10.9,164,3597,0.00,2.20,0.00,0.000,4,0.000,0.050,2321,3510,3840,0,0,0,0,0,0
$GC,3671,-0.80,-136.7,603.3,-9.9,165,3677,0.00,2.10,0.00,0.000,6,0.000,0.029,2321,2092,3840,0,0,0,0,0,0
$GC,3922,-0.80,-136.7,629.6,-10.5,172,3926,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,691,3836,0,0,0,0,0,0
$GC,3978,-0.80,-136.7,636.0,-11.4,173,3982,0.00,2.17,0.00,0.000,6,0.000,0.042,2310,2101,3837,0,0,0,0,0,0
$GC,4245,-0.80,-136.7,667.3,-12.0,180,4247,0.10,0.00,0.00,0.000,6,0.185,0.000,2335,2100,3833,0,0,0,0,0,0
$GC,4489,-0.80,-136.7,692.3,-10.2,186,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2102,3831,0,0,0,0,0,0
$GC,4734,-0.80,-136.7,716.4,-10.0,192,4738,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,702,3828,0,0,0,0,0,0
$GC,4778,-0.80,-136.7,721.4,-10.9,193,4781,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2100,3828,0,0,0,0,0,0
$GC,5062,-0.80,-136.7,751.4,-10.8,200,5066,0.00,2.25,0.00,0.000,4,0.000,0.053,2322,3501,3826,0,0,0,0,0,0
$GC,5090,-0.80,-136.7,754.6,-11.6,200,5094,0.00,2.12,0.00,0.000,6,0.000,0.033,2315,2102,3824,0,0,0,0,0,0
$GC,5340,-0.80,-136.7,783.3,-11.4,206,5344,0.00,2.25,0.00,0.000,4,0.000,0.054,2305,3506,3822,0,0,0,0,0,0
$GC,5372,-0.80,-136.7,787.4,-11.8,206,5378,0.00,2.15,0.00,0.000,6,0.000,0.037,2305,2094,3822,0,0,0,0,0,0
$GC,5622,-0.80,-136.7,817.6,-12.3,213,5624,0.12,0.00,0.00,0.000,6,0.183,0.000,2337,2089,3820,0,0,0,0,0,0
$GC,5867,-0.80,-136.7,843.7,-10.9,219,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2089,3817,0,0,0,0,0,0
$GC,6110,-0.80,-136.7,871.3,-11.3,225,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2089,3819,0,0,0,0,0,0
$GC,6353,-0.80,-136.7,899.8,-11.7,231,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2089,3819,0,0,0,0,0,0
$STATE,6392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6392,begin apogee
$GC,6400,-0.28,0.0,904.4,11.6,232,6514,0.52,0.00,108.65,1.076,6,0.141,0.000,2499,1919,3299,0,0,0,0,0,0
$STATE,6516,end apogee,CONTROL_FINISHED_OK
$STATE,6517,begin climb
$GC,6519,0.80,136.7,909.6,0.0,235,6644,1.05,0.00,121.12,1.044,6,0.091,0.000,2847,1921,2743,0,0,0,0,0,0
$GC,6879,0.80,136.7,861.1,16.7,244,6883,0.00,2.35,0.00,0.000,4,0.000,0.052,2842,3362,2735,0,0,0,0,0,0
$GC,6907,0.80,136.7,856.0,18.2,244,6911,0.00,2.12,0.00,0.000,6,0.000,0.028,2851,1984,2735,0,0,0,0,0,0
$GC,7162,0.80,136.7,811.8,17.5,251,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1978,2731,0,0,0,0,0,0
$GC,7405,0.80,136.7,769.6,17.4,257,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1977,2731,0,0,0,0,0,0
$GC,7649,0.80,136.7,727.9,16.9,263,7653,0.00,2.17,0.00,0.000,4,0.000,0.040,2862,557,2734,0,0,0,0,0,0
$GC,7671,0.80,136.7,723.8,18.3,263,7676,0.00,2.17,0.00,0.000,6,0.000,0.035,2857,1965,2726,0,0,0,0,0,0
$GC,7927,0.80,136.7,681.2,16.7,270,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1966,2726,0,0,0,0,0,0
$GC,8171,0.80,136.7,639.8,17.0,276,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1966,2725,0,0,0,0,0,0
$GC,8414,0.80,136.7,597.4,17.4,282,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1966,2724,0,0,0,0,0,0
$GC,8660,0.80,136.7,555.2,17.4,288,8664,0.00,2.22,0.00,0.000,4,0.000,0.054,2857,3367,2724,0,0,0,0,0,0
$GC,8720,0.80,136.7,543.9,18.2,289,8724,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1955,2724,0,0,0,0,0,0
$GC,8988,0.80,136.7,498.7,16.8,296,8992,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,556,2723,0,0,0,0,0,0
$GC,9039,0.80,136.7,489.8,17.4,297,9043,0.00,2.15,0.00,0.000,6,0.000,0.035,2875,1967,2721,0,0,0,0,0,0
$GC,9311,0.80,136.7,444.6,16.4,304,9315,0.00,2.22,0.00,0.000,4,0.000,0.054,2881,3371,2721,0,0,0,0,0,0
$GC,9371,0.80,136.7,433.8,16.8,305,9376,0.12,2.17,0.00,0.000,6,0.204,0.031,2852,1935,2722,0,0,0,0,0,0
$GC,9640,0.80,136.7,394.2,14.8,312,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1931,2721,0,0,0,0,0,0
$GC,9881,0.80,136.7,361.6,13.4,318,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1931,2721,0,0,0,0,0,0
$GC,10126,0.80,136.7,328.6,13.9,324,10130,0.00,2.08,0.00,0.000,4,0.000,0.038,2866,562,2720,0,0,0,0,0,0
$GC,10198,0.80,136.7,318.1,13.6,325,10202,0.00,2.15,0.00,0.000,6,0.000,0.034,2863,1969,2719,0,0,0,0,0,0
$GC,10456,0.80,136.7,287.5,11.4,334,10460,0.00,2.22,0.00,0.000,4,0.000,0.052,2863,3363,2719,0,0,0,0,0,0
$GC,10511,0.80,136.7,281.3,11.1,336,10517,0.00,2.12,0.00,0.000,6,0.000,0.030,2872,1950,2716,0,0,0,0,0,0
$GC,10766,0.80,136.7,257.3,9.5,349,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1945,2719,0,0,0,0,0,0
$GC,11012,0.80,136.7,229.7,11.6,361,11016,0.00,2.28,0.00,0.000,4,0.000,0.048,2871,3378,2716,0,0,0,0,0,0
$GC,11186,0.80,136.7,207.6,12.5,369,11190,0.00,2.15,0.00,0.000,6,0.000,0.028,2880,1947,2719,0,0,0,0,0,0
$GC,11451,0.80,136.7,181.2,9.9,390,11455,0.00,2.25,0.00,0.000,4,0.000,0.047,2880,3370,2719,0,0,0,0,0,0
$GC,11516,0.80,136.7,172.8,12.0,395,11525,0.10,2.15,0.00,0.000,6,0.163,0.028,2861,1962,2719,0,0,0,0,0,0
$GC,11781,0.84,172.3,147.4,7.1,420,11814,0.00,2.28,26.67,0.538,4,0.000,0.047,2859,3371,2598,0,0,0,0,0,0
$GC,11990,0.84,173.0,126.0,8.5,439,11994,0.00,2.12,0.00,0.000,6,0.000,0.029,2868,1949,2601,0,0,0,0,0,0
$GC,12261,0.92,235.3,106.2,5.9,464,12320,0.00,2.15,52.17,0.509,4,0.000,0.036,2879,577,2340,0,0,0,0,0,0
$GC,12446,0.92,235.3,88.7,11.0,480,12453,0.00,2.15,0.00,0.000,6,0.000,0.032,2878,1961,2335,0,0,0,0,0,0
$GC,12712,0.92,235.3,61.8,10.7,505,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1962,2333,0,0,0,0,0,0
$GC,12977,0.92,235.3,30.3,11.1,530,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1962,2335,0,0,0,0,0,0
$STATE,13234,end climb,SURFACE_DEPTH_REACHED
$STATE,13235,begin surface coast
$FINISH,0.4,1.009314
$STATE,13268,end surface coast,CONTROL_FINISHED_OK
$STATE,13268,begin surface
$SM_CCo,13290,267.02,0.411,0,0,393,712.83
$SM_GC,1.10,0.00,0.00,267.02,0.000,0.000,0.411,39,2143,393,-7.96,1.27,712.83
$IRIDIUM_FIX,1904.66,-15631.91,040313,020215
$TT8_MAMPS,0.060593
$HUMID,1078769668
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,26.60
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6332186624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,14623047680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,58.306
$10V_AH,9.8,52.922
$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,19.675,108.500,308.625,267.025,0.000,145.639,183.033,926.815,24.250,0.000,17.980,1224.225,9853.748,686.044,2977.226,601.681,33.357,1464.020,0.000,1846.822,0.000,0.543,0.000
$DEVICE_MAMPS,240.838,65.195,1076.101,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,397.937,0.000,968.908,0.000,0.000,0.000,0.000,16375.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.501,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,30176,584
$CAP_FILE_SIZE,131350,0
$CFSIZE,260165632,174559232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,180.7,1
$GPS,090911,120907,1911.492,-15634.358,24,1.5,25,9.6