version: 66.07
glider: 513
mission: 7
dive: 428
start: 9 9 111 12 32 29
data:
$ID,513
$MISSION,7
$DIVE,428
$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,-431846.88
$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,60
$R_STBD_OVSHOOT,62
$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,427
$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
$GPS1,090911,120907,1911.492,-15634.358,24,1.5,25,9.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.1
$GPS2,090911,123132,1911.344,-15634.382,15,1.7,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.057,0.232
$KALMAN_X,-120090.8,-1187.1,-296.5,155274.9,1810.4
$KALMAN_Y,-461917.5,1145.2,801.7,370393.2,-12717.0
$MHEAD_RNG_PITCHd_Wd,353.5,122607,-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,-136.7,0.0,0.0,0,138,0.00,0.00,-106.97,0.000,2,0.000,0.000,35,2145,3553,0,0,0,0,0,0
$GC,142,-0.80,-136.7,3.2,-4.4,16,165,9.88,2.17,-5.25,0.000,4,0.244,0.064,2322,3483,3855,0,0,0,0,0,0
$GC,336,-0.80,-136.7,68.5,-27.6,39,340,0.00,2.10,0.00,0.000,6,0.000,0.036,2322,2119,3857,0,0,0,0,0,0
$GC,604,-0.80,-136.7,140.1,-21.6,63,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2113,3857,0,0,0,0,0,0
$GC,869,-0.80,-136.7,200.9,-23.3,88,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2113,3858,0,0,0,0,0,0
$GC,1114,-0.80,-136.7,255.3,-21.5,100,1118,0.00,2.12,0.00,0.000,4,0.000,0.041,2322,695,3859,0,0,0,0,0,0
$GC,1135,-0.80,-136.7,260.2,-21.5,101,1139,0.00,2.12,0.00,0.000,6,0.000,0.042,2312,2061,3858,0,0,0,0,0,0
$GC,1419,-0.80,-136.7,314.9,-17.1,113,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2061,3858,0,0,0,0,0,0
$GC,1664,-0.80,-136.7,355.7,-16.9,119,1668,0.00,2.25,0.00,0.000,4,0.000,0.053,2300,3512,3857,0,0,0,0,0,0
$GC,1697,-0.80,-136.7,361.7,-16.8,119,1704,0.15,2.10,0.00,0.000,6,0.160,0.032,2340,2104,3859,0,0,0,0,0,0
$GC,1949,-0.80,-136.7,396.0,-13.7,126,1953,0.00,2.10,0.00,0.000,4,0.000,0.042,2340,693,3857,0,0,0,0,0,0
$GC,2074,-0.80,-136.7,412.0,-11.9,128,2079,0.00,2.15,0.00,0.000,6,0.000,0.044,2332,2107,3856,0,0,0,0,0,0
$GC,2323,-0.80,-136.7,442.3,-12.0,135,2327,0.00,2.17,0.00,0.000,4,0.000,0.048,2321,3518,3850,0,0,0,0,0,0
$GC,2379,-0.80,-136.7,449.1,-12.0,136,2383,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2090,3853,0,0,0,0,0,0
$GC,2652,-0.80,-136.7,485.3,-14.0,143,2657,0.00,2.15,-0.10,0.000,4,0.000,0.055,2321,698,3875,0,0,0,0,0,0
$GC,2696,-0.80,-136.7,492.1,-15.6,144,2700,0.00,2.12,0.00,0.000,6,0.000,0.041,2311,2105,3872,0,0,0,0,0,0
$GC,2980,-0.80,-136.7,534.6,-15.0,151,2984,0.00,2.17,0.00,0.000,4,0.000,0.048,2300,3512,3869,0,0,0,0,0,0
$GC,3003,-0.80,-136.7,538.1,-15.6,151,3008,0.15,2.12,0.00,0.000,6,0.156,0.031,2340,2094,3869,0,0,0,0,0,0
$GC,3258,-0.80,-136.7,570.7,-12.5,158,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2088,3866,0,0,0,0,0,0
$GC,3501,-0.80,-136.7,599.8,-11.9,164,3505,0.00,2.12,0.00,0.000,4,0.000,0.040,2340,690,3864,0,0,0,0,0,0
$GC,3536,-0.80,-136.7,603.9,-11.9,164,3541,0.00,2.15,0.00,0.000,6,0.000,0.040,2332,2109,3863,0,0,0,0,0,0
$GC,3785,-0.80,-136.7,635.1,-12.4,171,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2104,3860,0,0,0,0,0,0
$GC,4029,-0.80,-136.7,666.3,-12.8,177,4033,0.00,2.17,0.00,0.000,4,0.000,0.050,2321,3501,3858,0,0,0,0,0,0
$GC,4044,-0.80,-136.7,668.4,-12.8,177,4048,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,2096,3857,0,0,0,0,0,0
$GC,4318,-0.80,-136.7,703.2,-12.8,184,4322,0.00,2.08,0.00,0.000,4,0.000,0.038,2321,701,3855,0,0,0,0,0,0
$GC,4362,-0.80,-136.7,709.2,-12.7,185,4366,0.00,2.15,0.00,0.000,6,0.000,0.041,2310,2104,3854,0,0,0,0,0,0
$GC,4646,-0.80,-136.7,745.2,-12.6,192,4651,0.10,2.15,0.00,0.000,4,0.186,0.041,2335,702,3851,0,0,0,0,0,0
$GC,4669,-0.80,-136.7,747.9,-12.1,192,4673,0.00,2.12,0.00,0.000,6,0.000,0.040,2327,2100,3851,0,0,0,0,0,0
$GC,4924,-0.80,-136.7,777.8,-11.6,199,4928,0.00,2.22,0.00,0.000,4,0.000,0.053,2316,3503,3848,0,0,0,0,0,0
$GC,4990,-0.80,-136.7,785.8,-12.2,200,4994,0.00,2.12,0.00,0.000,6,0.000,0.032,2316,2095,3847,0,0,0,0,0,0
$GC,5258,-0.80,-136.7,817.3,-11.9,207,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2089,3845,0,0,0,0,0,0
$GC,5501,-0.80,-136.7,845.7,-11.7,213,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2089,3844,0,0,0,0,0,0
$GC,5744,-0.80,-136.7,874.1,-11.5,219,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2089,3842,0,0,0,0,0,0
$STATE,5986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5986,begin apogee
$GC,5992,-0.28,0.0,901.1,11.0,225,6108,0.62,0.00,112.40,1.074,6,0.145,0.000,2500,1928,3302,0,0,0,0,0,0
$STATE,6111,end apogee,CONTROL_FINISHED_OK
$STATE,6111,begin climb
$GC,6115,0.80,136.7,903.9,0.0,228,6240,1.02,0.00,121.32,1.035,6,0.092,0.000,2845,1920,2742,0,0,0,0,0,0
$GC,6482,0.80,136.7,846.3,18.6,237,6486,0.00,2.33,0.00,0.000,4,0.000,0.055,2842,3358,2734,0,0,0,0,0,0
$GC,6533,0.80,136.7,835.8,20.2,238,6537,0.00,2.12,0.00,0.000,6,0.000,0.029,2856,1973,2735,0,0,0,0,0,0
$GC,6805,0.80,136.7,784.7,18.5,245,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1969,2732,0,0,0,0,0,0
$GC,7049,0.80,136.7,741.6,17.5,251,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1969,2734,0,0,0,0,0,0
$GC,7292,0.80,136.7,696.8,18.2,257,7296,0.00,2.17,0.00,0.000,4,0.000,0.038,2863,559,2730,0,0,0,0,0,0
$GC,7315,0.80,136.7,692.7,18.8,257,7319,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1960,2725,0,0,0,0,0,0
$GC,7571,0.80,136.7,646.3,18.0,264,7575,0.00,2.12,0.00,0.000,4,0.000,0.037,2877,558,2725,0,0,0,0,0,0
$GC,7587,0.80,136.7,643.2,17.7,264,7591,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1947,2723,0,0,0,0,0,0
$GC,7855,0.80,136.7,595.3,18.2,271,7859,0.00,2.25,0.00,0.000,4,0.000,0.052,2877,3373,2723,0,0,0,0,0,0
$GC,7916,0.80,136.7,582.8,20.5,272,7921,0.05,2.17,0.00,0.000,6,0.159,0.031,2858,1966,2722,0,0,0,0,0,0
$GC,8182,0.80,136.7,537.9,16.6,279,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1961,2723,0,0,0,0,0,0
$GC,8426,0.80,136.7,496.9,16.8,285,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1958,2719,0,0,0,0,0,0
$GC,8671,0.80,136.7,456.3,16.6,291,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1961,2721,0,0,0,0,0,0
$GC,8913,0.80,136.7,417.3,15.7,297,8917,0.00,2.22,0.00,0.000,4,0.000,0.052,2857,3365,2721,0,0,0,0,0,0
$GC,8958,0.80,136.7,410.3,16.1,298,8962,0.00,2.12,0.00,0.000,6,0.000,0.031,2871,1960,2721,0,0,0,0,0,0
$GC,9249,0.80,136.7,370.3,12.9,305,9253,0.00,2.15,0.00,0.000,4,0.000,0.039,2877,559,2720,0,0,0,0,0,0
$GC,9293,0.80,136.7,364.3,13.3,306,9297,0.00,2.12,0.00,0.000,6,0.000,0.032,2875,1974,2718,0,0,0,0,0,0
$GC,9577,0.80,136.7,330.1,12.0,313,9581,0.00,2.20,0.00,0.000,4,0.000,0.051,2875,3362,2718,0,0,0,0,0,0
$GC,9600,0.80,136.7,327.2,13.0,313,9605,0.12,2.12,0.00,0.000,6,0.200,0.030,2855,1960,2719,0,0,0,0,0,0
$GC,9860,0.80,136.7,296.9,12.0,320,9864,0.00,2.12,0.00,0.000,4,0.000,0.040,2864,558,2718,0,0,0,0,0,0
$GC,9968,0.80,136.7,281.9,13.5,325,9972,0.00,2.12,0.00,0.000,6,0.000,0.031,2861,1969,2717,0,0,0,0,0,0
$GC,10234,0.80,136.7,249.8,11.7,338,10238,0.00,2.15,0.00,0.000,4,0.000,0.038,2870,556,2717,0,0,0,0,0,0
$GC,10296,0.80,136.7,242.7,12.3,341,10300,0.00,2.12,0.00,0.000,6,0.000,0.033,2872,1966,2716,0,0,0,0,0,0
$GC,10562,0.80,136.7,213.4,11.1,354,10566,0.00,2.20,0.00,0.000,4,0.000,0.050,2870,3360,2716,0,0,0,0,0,0
$GC,10817,0.80,136.7,183.7,10.1,372,10825,0.08,2.15,0.00,0.000,6,0.166,0.028,2858,1947,2717,0,0,0,0,0,0
$GC,11080,0.80,136.7,161.4,8.9,397,11084,0.00,2.08,0.00,0.000,4,0.000,0.036,2867,564,2717,0,0,0,0,0,0
$GC,11132,0.80,136.7,157.0,9.2,401,11136,0.00,2.10,0.00,0.000,6,0.000,0.031,2865,1966,2717,0,0,0,0,0,0
$GC,11398,0.87,197.7,137.1,6.0,425,11451,0.00,2.22,47.58,0.530,4,0.000,0.047,2865,3358,2492,0,0,0,0,0,0
$GC,11700,0.87,197.7,104.7,12.0,451,11708,0.00,2.17,0.00,0.000,6,0.000,0.035,2873,1962,2490,0,0,0,0,0,0
$GC,11965,0.88,202.4,82.7,8.4,476,11978,0.00,2.25,5.22,0.369,4,0.000,0.045,2874,3365,2473,0,0,0,0,0,0
$GC,12027,0.88,202.4,77.4,8.8,481,12031,0.00,2.10,0.00,0.000,6,0.000,0.028,2882,1957,2473,0,0,0,0,0,0
$GC,12291,0.88,202.4,52.8,9.6,505,12295,0.00,2.10,0.00,0.000,4,0.000,0.038,2893,563,2473,0,0,0,0,0,0
$GC,12322,0.88,202.4,49.8,8.9,507,12326,0.00,2.10,0.00,0.000,6,0.000,0.030,2894,1957,2473,0,0,0,0,0,0
$GC,12587,0.88,202.4,25.2,9.5,535,12595,0.00,2.20,0.00,0.000,4,0.000,0.044,2894,3357,2475,0,0,0,0,0,0
$GC,12624,0.88,202.4,21.1,11.3,541,12633,0.00,2.12,0.00,0.000,6,0.000,0.028,2905,1957,2475,0,0,0,0,0,0
$STATE,12808,end climb,SURFACE_DEPTH_REACHED
$STATE,12808,begin surface coast
$FINISH,0.4,1.010747
$STATE,12836,end surface coast,CONTROL_FINISHED_OK
$STATE,12836,begin surface
$SM_CCo,12855,45.33,0.407,0,0,2077,300.24
$SM_GC,1.82,0.00,0.00,45.33,0.000,0.000,0.407,57,2113,2077,-7.94,0.45,300.24
$IRIDIUM_FIX,1904.66,-15636.09,040313,060637
$TT8_MAMPS,0.252343
$HUMID,1078884506
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.90
$XPDR_PINGS,91
$AR_DIVENUM,428
$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,23.7,58.452
$10V_AH,9.8,53.022
$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,19.625,116.525,286.525,45.325,0.000,60.927,71.594,902.275,22.750,0.000,16.994,1221.602,9207.690,442.308,2727.006,663.488,33.354,1233.864,0.000,1898.953,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,72.098,1073.800,406.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.401,0.000,1015.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,30226,579
$CAP_FILE_SIZE,127660,0
$CFSIZE,260165632,174505984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,181.9,1
$GPS,090911,160906,1911.661,-15634.472,27,2.0,27,9.6