version: 66.07
glider: 513
mission: 7
dive: 429
start: 9 9 111 16 37 55
data:
$ID,513
$MISSION,7
$DIVE,429
$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,-431860.41
$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,53
$R_STBD_OVSHOOT,49
$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,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
$GPS1,090911,160906,1911.661,-15634.472,27,2.0,27,9.6
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,6
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.4
$GPS2,090911,163656,1911.475,-15634.409,10,1.5,10,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.075,0.227
$KALMAN_X,-122728.0,-61.0,-314.1,156741.2,-681.2
$KALMAN_Y,-465898.8,1287.2,728.1,374545.8,-12634.2
$MHEAD_RNG_PITCHd_Wd,355.7,122386,-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,-136.7,0.0,0.0,0,82,0.00,0.00,-51.20,0.000,2,0.000,0.000,36,2119,3538,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.1,-3.7,8,108,9.88,2.20,-5.62,0.000,4,0.240,0.061,2322,3500,3859,0,0,0,0,0,0
$GC,314,-0.80,-136.7,79.2,-28.7,34,318,0.00,2.12,0.00,0.000,6,0.000,0.038,2321,2109,3862,0,0,0,0,0,0
$GC,578,-0.80,-136.7,153.7,-24.5,58,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2102,3863,0,0,0,0,0,0
$GC,838,-0.80,-136.7,208.4,-18.6,81,841,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,685,3864,0,0,0,0,0,0
$GC,906,-0.80,-136.7,221.4,-18.2,84,910,0.00,2.12,0.00,0.000,6,0.000,0.042,2314,2091,3864,0,0,0,0,0,0
$GC,1170,-0.80,-136.7,274.6,-19.8,97,1174,0.00,2.22,0.00,0.000,4,0.000,0.053,2300,3509,3864,0,0,0,0,0,0
$GC,1255,-0.80,-136.7,289.7,-16.4,101,1260,0.15,2.12,0.00,0.000,6,0.163,0.031,2339,2094,3864,0,0,0,0,0,0
$GC,1538,-0.80,-136.7,335.4,-16.1,110,1542,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,700,3865,0,0,0,0,0,0
$GC,1577,-0.80,-136.7,341.8,-15.8,111,1581,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2108,3865,0,0,0,0,0,0
$GC,1860,-0.80,-136.7,386.4,-15.8,118,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2109,3865,0,0,0,0,0,0
$GC,2105,-0.80,-136.7,421.0,-13.8,124,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2108,3862,0,0,0,0,0,0
$GC,2347,-0.80,-136.7,454.3,-13.6,130,2351,0.00,2.17,0.00,0.000,4,0.000,0.051,2320,3509,3860,0,0,0,0,0,0
$GC,2380,-0.80,-136.7,459.3,-15.0,130,2386,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,2101,3860,0,0,0,0,0,0
$GC,2630,-0.80,-136.7,495.6,-14.7,137,2634,0.00,2.12,0.00,0.000,4,0.000,0.041,2321,694,3859,0,0,0,0,0,0
$GC,2710,-0.80,-136.7,507.3,-14.6,138,2716,0.10,2.15,0.00,0.000,6,0.179,0.041,2334,2103,3856,0,0,0,0,0,0
$GC,2959,-0.80,-136.7,541.6,-13.7,145,2963,0.00,2.17,0.00,0.000,4,0.000,0.051,2325,3507,3853,0,0,0,0,0,0
$GC,3016,-0.80,-136.7,549.8,-14.7,146,3020,0.00,2.10,0.00,0.000,6,0.000,0.030,2325,2096,3853,0,0,0,0,0,0
$GC,3289,-0.80,-136.7,588.3,-13.9,153,3292,0.00,2.08,0.00,0.000,4,0.000,0.040,2325,701,3850,0,0,0,0,0,0
$GC,3344,-0.80,-136.7,596.6,-14.3,154,3348,0.00,2.12,0.00,0.000,6,0.000,0.042,2310,2101,3847,0,0,0,0,0,0
$GC,3618,-0.80,-136.7,634.8,-13.9,161,3622,0.00,2.20,0.00,0.000,4,0.000,0.052,2304,3510,3846,0,0,0,0,0,0
$GC,3651,-0.80,-136.7,639.8,-14.9,161,3657,0.12,2.10,0.00,0.000,6,0.162,0.031,2336,2108,3845,0,0,0,0,0,0
$GC,3901,-0.80,-136.7,667.6,-10.9,168,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2101,3843,0,0,0,0,0,0
$GC,4144,-0.80,-136.7,692.4,-9.9,174,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2101,3840,0,0,0,0,0,0
$GC,4390,-0.80,-136.7,715.1,-9.3,180,4394,0.00,2.15,0.00,0.000,4,0.000,0.043,2336,685,3838,0,0,0,0,0,0
$GC,4411,-0.80,-136.7,717.3,-9.1,180,4415,0.00,2.17,0.00,0.000,6,0.000,0.043,2328,2105,3838,0,0,0,0,0,0
$GC,4672,-0.80,-136.7,743.1,-10.1,187,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2104,3835,0,0,0,0,0,0
$GC,4916,-0.80,-136.7,767.0,-9.8,193,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2104,3830,0,0,0,0,0,0
$GC,5161,-0.80,-136.7,792.3,-10.4,199,5165,0.00,2.20,0.00,0.000,4,0.000,0.051,2317,3507,3830,0,0,0,0,0,0
$GC,5188,-0.80,-136.7,795.3,-10.9,199,5192,0.00,2.17,0.00,0.000,6,0.000,0.030,2316,2090,3830,0,0,0,0,0,0
$GC,5443,-0.80,-136.7,823.6,-11.1,206,5447,0.00,2.12,0.00,0.000,4,0.000,0.043,2317,688,3828,0,0,0,0,0,0
$GC,5490,-0.80,-136.7,829.1,-11.2,207,5495,0.12,2.17,0.00,0.000,6,0.183,0.044,2336,2097,3828,0,0,0,0,0,0
$GC,5778,-0.80,-136.7,859.6,-10.5,214,5782,0.00,2.22,0.00,0.000,4,0.000,0.053,2327,3513,3826,0,0,0,0,0,0
$GC,5828,-0.80,-136.7,865.4,-11.8,215,5832,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2096,3825,0,0,0,0,0,0
$GC,6108,-0.80,-136.7,897.2,-11.6,222,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2090,3825,0,0,0,0,0,0
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6144,begin apogee
$GC,6151,-0.28,0.0,901.9,11.6,223,6267,0.57,0.00,111.38,1.069,6,0.141,0.000,2498,1932,3300,0,0,0,0,0,0
$STATE,6269,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6272,0.80,136.7,906.1,0.0,226,6402,1.02,0.00,121.38,1.037,6,0.092,0.000,2843,1931,2743,0,0,0,0,0,0
$GC,6638,0.80,136.7,851.8,18.0,235,6642,0.00,2.35,0.00,0.000,4,0.000,0.058,2844,3365,2735,0,0,0,0,0,0
$GC,6678,0.80,136.7,844.4,19.6,236,6682,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1971,2736,0,0,0,0,0,0
$GC,6963,0.80,136.7,791.8,18.5,243,6966,0.00,2.15,0.00,0.000,4,0.000,0.038,2865,559,2734,0,0,0,0,0,0
$GC,6995,0.80,136.7,785.2,18.6,243,7002,0.00,2.17,0.00,0.000,6,0.000,0.034,2865,1968,2729,0,0,0,0,0,0
$GC,7245,0.80,136.7,737.1,19.5,250,7249,0.00,2.22,0.00,0.000,4,0.000,0.053,2867,3364,2726,0,0,0,0,0,0
$GC,7274,0.80,136.7,731.2,21.1,250,7278,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1950,2729,0,0,0,0,0,0
$GC,7524,0.80,136.7,681.2,20.1,256,7528,0.00,2.10,0.00,0.000,4,0.000,0.037,2887,563,2727,0,0,0,0,0,0
$GC,7563,0.80,136.7,672.5,21.6,256,7569,0.12,2.15,0.00,0.000,6,0.196,0.033,2859,1969,2725,0,0,0,0,0,0
$GC,7813,0.80,136.7,624.7,19.2,263,7817,0.00,2.20,0.00,0.000,4,0.000,0.052,2858,3360,2725,0,0,0,0,0,0
$GC,7858,0.80,136.7,616.0,19.3,264,7862,0.00,2.12,0.00,0.000,6,0.000,0.029,2867,1953,2725,0,0,0,0,0,0
$GC,8135,0.80,136.7,561.9,19.5,271,8139,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,561,2725,0,0,0,0,0,0
$GC,8175,0.80,136.7,554.1,19.7,272,8179,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1966,2723,0,0,0,0,0,0
$GC,8460,0.80,136.7,503.1,17.4,279,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1969,2723,0,0,0,0,0,0
$GC,8702,0.80,136.7,464.7,15.6,285,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1969,2723,0,0,0,0,0,0
$GC,8946,0.80,136.7,427.0,15.7,291,8950,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3363,2722,0,0,0,0,0,0
$GC,9014,0.80,136.7,416.2,16.4,292,9019,0.15,2.12,0.00,0.000,6,0.196,0.030,2853,1951,2723,0,0,0,0,0,0
$GC,9269,0.80,136.7,379.6,13.9,299,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1946,2722,0,0,0,0,0,0
$GC,9512,0.80,136.7,344.0,14.8,305,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1946,2722,0,0,0,0,0,0
$GC,9756,0.80,136.7,308.8,14.6,311,9760,0.00,2.10,0.00,0.000,4,0.000,0.038,2862,561,2722,0,0,0,0,0,0
$GC,9773,0.80,136.7,306.5,14.3,311,9777,0.00,2.15,0.00,0.000,6,0.000,0.032,2861,1970,2719,0,0,0,0,0,0
$GC,10042,0.80,136.7,271.2,13.1,323,10046,0.00,2.15,0.00,0.000,4,0.000,0.039,2870,564,2720,0,0,0,0,0,0
$GC,10166,0.80,136.7,254.1,12.4,328,10170,0.00,2.12,0.00,0.000,6,0.000,0.033,2870,1963,2720,0,0,0,0,0,0
$GC,10420,0.80,136.7,224.8,10.1,340,10424,0.00,2.12,0.00,0.000,4,0.000,0.036,2881,559,2719,0,0,0,0,0,0
$GC,10483,0.80,136.7,218.0,11.3,343,10487,0.00,2.10,0.00,0.000,6,0.000,0.032,2880,1959,2720,0,0,0,0,0,0
$GC,10745,0.80,136.7,188.0,13.0,360,10749,0.00,2.22,0.00,0.000,4,0.000,0.049,2880,3365,2719,0,0,0,0,0,0
$GC,10840,0.80,136.7,177.4,10.6,368,10845,0.15,2.10,0.00,0.000,6,0.183,0.028,2854,1949,2720,0,0,0,0,0,0
$GC,11104,0.86,191.6,157.8,6.2,392,11153,0.00,2.25,42.12,0.564,4,0.000,0.045,2852,3358,2519,0,0,0,0,0,0
$GC,11258,0.86,191.6,144.8,10.5,405,11266,0.00,2.15,0.00,0.000,6,0.000,0.029,2860,1973,2518,0,0,0,0,0,0
$GC,11526,0.86,191.6,118.4,9.5,430,11530,0.00,2.17,0.00,0.000,4,0.000,0.045,2860,3363,2517,0,0,0,0,0,0
$GC,11601,0.86,191.6,110.3,11.3,436,11605,0.00,2.12,0.00,0.000,6,0.000,0.028,2871,1948,2517,0,0,0,0,0,0
$GC,11873,0.91,229.9,93.6,6.9,461,11911,0.00,2.17,32.70,0.486,4,0.000,0.038,2882,564,2361,0,0,0,0,0,0
$GC,11958,0.91,229.9,85.8,9.6,468,11962,0.00,2.10,0.00,0.000,6,0.000,0.030,2882,1963,2359,0,0,0,0,0,0
$GC,12224,0.91,229.9,54.0,12.4,492,12228,0.00,2.17,0.00,0.000,4,0.000,0.044,2881,3363,2358,0,0,0,0,0,0
$GC,12255,0.91,229.9,49.7,13.1,494,12259,0.00,2.10,0.00,0.000,6,0.000,0.028,2892,1958,2359,0,0,0,0,0,0
$GC,12520,0.91,229.9,19.8,11.2,526,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1954,2360,0,0,0,0,0,0
$STATE,12665,end climb,SURFACE_DEPTH_REACHED
$STATE,12665,begin surface coast
$FINISH,0.4,1.011950
$STATE,12694,end surface coast,CONTROL_FINISHED_OK
$STATE,12694,begin surface
$SM_CCo,12716,35.17,0.408,0,0,2074,300.73
$SM_GC,1.59,0.00,0.00,35.17,0.000,0.000,0.408,50,2130,2074,-7.95,0.85,300.73
$IRIDIUM_FIX,1904.66,-15637.00,040313,101056
$TT8_MAMPS,0.243906
$HUMID,1078924506
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,88
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255247360
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,14358216704
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,58.616
$10V_AH,9.8,53.122
$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,20.050,120.900,307.575,35.175,0.000,84.289,120.368,1098.099,22.000,0.000,12.918,1198.762,9237.031,399.839,2927.866,667.276,33.385,1186.124,0.000,1842.660,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,65.962,1069.198,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.047,0.000,942.551,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,26916,558
$CAP_FILE_SIZE,132744,0
$CFSIZE,260165632,174432256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,184.3,1
$GPS,090911,201226,1911.665,-15634.288,38,2.4,57,9.6