version: 66.07
glider: 513
mission: 7
dive: 432
start: 9 10 111 4 51 52
data:
$ID,513
$MISSION,7
$DIVE,432
$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,-431950.03
$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,49
$R_STBD_OVSHOOT,47
$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,431
$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
$GPS1,100911,042425,1911.915,-15633.756,71,1.1,71,9.6
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.4
$GPS2,100911,045055,1911.575,-15633.442,10,1.2,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.161,0.177
$KALMAN_X,-118778.6,473.2,111.1,153480.6,827.1
$KALMAN_Y,-478392.5,1243.0,829.0,387164.3,-13074.9
$MHEAD_RNG_PITCHd_Wd,352.2,121756,-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,-51.12,0.000,2,0.000,0.000,35,2111,3554,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.5,-5.9,8,109,9.90,2.22,-5.28,0.000,4,0.240,0.062,2321,3502,3857,0,0,0,0,0,0
$GC,357,-0.80,-136.7,92.4,-28.4,38,361,0.00,2.12,0.00,0.000,6,0.000,0.041,2321,2114,3863,0,0,0,0,0,0
$GC,623,-0.80,-136.7,164.4,-22.9,62,627,0.00,2.15,0.00,0.000,4,0.000,0.044,2321,692,3863,0,0,0,0,0,0
$GC,677,-0.80,-136.7,178.1,-22.1,66,685,0.00,2.15,0.00,0.000,6,0.000,0.044,2311,2072,3863,0,0,0,0,0,0
$GC,935,-0.80,-136.7,232.8,-20.8,84,939,0.00,2.25,0.00,0.000,4,0.000,0.051,2300,3523,3865,0,0,0,0,0,0
$GC,962,-0.80,-136.7,238.7,-20.7,85,966,0.15,2.17,0.00,0.000,6,0.162,0.034,2339,2101,3864,0,0,0,0,0,0
$GC,1220,-0.80,-136.7,282.5,-16.7,98,1224,0.00,2.22,0.00,0.000,4,0.000,0.050,2331,3515,3865,0,0,0,0,0,0
$GC,1284,-0.80,-136.7,291.9,-15.1,101,1288,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2090,3865,0,0,0,0,0,0
$GC,1545,-0.80,-136.7,334.9,-17.0,109,1549,0.00,2.08,0.00,0.000,4,0.000,0.041,2330,690,3866,0,0,0,0,0,0
$GC,1634,-0.80,-136.7,352.1,-18.3,111,1638,0.00,2.12,0.00,0.000,6,0.000,0.041,2317,2112,3865,0,0,0,0,0,0
$GC,1919,-0.80,-136.7,402.7,-17.0,118,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2111,3865,0,0,0,0,0,0
$GC,2161,-0.80,-136.7,438.6,-14.2,124,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2111,3862,0,0,0,0,0,0
$GC,2405,-0.80,-136.7,470.1,-12.4,130,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2112,3860,0,0,0,0,0,0
$GC,2649,-0.80,-136.7,500.0,-12.3,136,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2111,3861,0,0,0,0,0,0
$GC,2894,-0.80,-136.7,531.2,-12.9,142,2898,0.00,2.12,0.00,0.000,4,0.000,0.037,2320,692,3854,0,0,0,0,0,0
$GC,2954,-0.80,-136.7,539.4,-12.9,143,2959,0.00,2.17,0.00,0.000,6,0.000,0.041,2307,2094,3854,0,0,0,0,0,0
$GC,3221,-0.80,-136.7,574.8,-13.4,150,3226,0.10,2.25,0.00,0.000,4,0.186,0.051,2325,3520,3851,0,0,0,0,0,0
$GC,3294,-0.80,-136.7,584.2,-12.5,151,3299,0.00,2.15,0.00,0.000,6,0.000,0.031,2324,2096,3853,0,0,0,0,0,0
$GC,3544,-0.80,-136.7,614.5,-12.1,157,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2090,3848,0,0,0,0,0,0
$GC,3788,-0.80,-136.7,643.8,-12.0,163,3792,0.00,2.10,0.00,0.000,4,0.000,0.041,2326,692,3844,0,0,0,0,0,0
$GC,3839,-0.80,-136.7,650.3,-13.0,164,3844,0.00,2.15,0.00,0.000,6,0.000,0.040,2315,2114,3844,0,0,0,0,0,0
$GC,4112,-0.80,-136.7,685.6,-13.0,171,4116,0.00,2.17,0.00,0.000,4,0.000,0.051,2302,3507,3841,0,0,0,0,0,0
$GC,4152,-0.80,-136.7,690.8,-13.4,172,4157,0.12,2.12,0.00,0.000,6,0.164,0.030,2336,2090,3840,0,0,0,0,0,0
$GC,4437,-0.80,-136.7,721.9,-10.8,179,4441,0.00,2.10,0.00,0.000,4,0.000,0.042,2336,694,3838,0,0,0,0,0,0
$GC,4470,-0.80,-136.7,725.9,-11.0,179,4475,0.00,2.12,0.00,0.000,6,0.000,0.041,2329,2099,3838,0,0,0,0,0,0
$GC,4720,-0.80,-136.7,751.9,-10.5,186,4724,0.00,2.25,0.00,0.000,4,0.000,0.051,2317,3514,3833,0,0,0,0,0,0
$GC,4788,-0.80,-136.7,759.2,-10.5,187,4792,0.00,2.15,0.00,0.000,6,0.000,0.031,2317,2101,3832,0,0,0,0,0,0
$GC,5043,-0.80,-136.7,787.2,-11.0,194,5047,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,682,3833,0,0,0,0,0,0
$GC,5070,-0.80,-136.7,790.5,-12.2,194,5075,0.12,2.15,0.00,0.000,6,0.183,0.041,2336,2096,3832,0,0,0,0,0,0
$GC,5321,-0.80,-136.7,815.3,-9.9,200,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2096,3829,0,0,0,0,0,0
$GC,5564,-0.80,-136.7,840.7,-10.5,206,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2096,3829,0,0,0,0,0,0
$GC,5807,-0.80,-136.7,866.7,-10.7,212,5811,0.00,2.17,0.00,0.000,4,0.000,0.044,2337,686,3830,0,0,0,0,0,0
$GC,5829,-0.80,-136.7,869.2,-11.8,212,5833,0.00,2.17,0.00,0.000,6,0.000,0.042,2328,2103,3827,0,0,0,0,0,0
$GC,6087,-0.80,-136.7,898.8,-11.6,219,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2108,3825,0,0,0,0,0,0
$STATE,6123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6123,begin apogee
$GC,6130,-0.28,0.0,903.7,11.6,220,6247,0.57,0.00,111.20,1.072,6,0.139,0.000,2500,1930,3302,0,0,0,0,0,0
$STATE,6249,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6252,0.80,136.7,908.3,0.0,223,6381,1.02,0.00,121.53,1.041,6,0.092,0.000,2846,1927,2744,0,0,0,0,0,0
$GC,6617,0.80,136.7,858.0,17.1,232,6621,0.00,2.08,0.00,0.000,4,0.000,0.038,2854,579,2735,0,0,0,0,0,0
$GC,6645,0.80,136.7,852.8,17.9,232,6648,0.00,2.12,0.00,0.000,6,0.000,0.035,2855,1961,2731,0,0,0,0,0,0
$GC,6902,0.80,136.7,808.0,17.3,239,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1962,2733,0,0,0,0,0,0
$GC,7144,0.80,136.7,763.5,18.4,245,7148,0.00,2.25,0.00,0.000,4,0.000,0.054,2855,3366,2730,0,0,0,0,0,0
$GC,7176,0.80,136.7,757.0,19.1,245,7182,0.00,2.15,0.00,0.000,6,0.000,0.032,2872,1977,2729,0,0,0,0,0,0
$GC,7426,0.80,136.7,709.3,19.4,252,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1970,2728,0,0,0,0,0,0
$GC,7671,0.80,136.7,661.7,19.6,258,7675,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,555,2726,0,0,0,0,0,0
$GC,7706,0.80,136.7,654.8,19.7,258,7712,0.00,2.12,0.00,0.000,6,0.000,0.034,2877,1964,2724,0,0,0,0,0,0
$GC,7956,0.80,136.7,603.8,20.6,265,7960,0.00,2.20,0.00,0.000,4,0.000,0.051,2881,3361,2725,0,0,0,0,0,0
$GC,7984,0.80,136.7,597.8,21.0,265,7989,0.12,2.12,0.00,0.000,6,0.208,0.029,2858,1948,2725,0,0,0,0,0,0
$GC,8235,0.80,136.7,552.6,17.5,271,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1944,2724,0,0,0,0,0,0
$GC,8478,0.80,136.7,511.8,16.5,277,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1943,2724,0,0,0,0,0,0
$GC,8722,0.80,136.7,475.0,14.8,283,8726,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,563,2724,0,0,0,0,0,0
$GC,8767,0.80,136.7,468.4,14.1,284,8771,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1967,2721,0,0,0,0,0,0
$GC,9045,0.80,136.7,430.0,13.5,291,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1970,2722,0,0,0,0,0,0
$GC,9288,0.80,136.7,396.1,14.1,297,9292,0.00,2.22,0.00,0.000,4,0.000,0.051,2867,3367,2719,0,0,0,0,0,0
$GC,9362,0.80,136.7,383.9,17.0,298,9366,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1961,2721,0,0,0,0,0,0
$GC,9617,0.80,136.7,342.3,16.1,305,9621,0.00,2.25,0.00,0.000,4,0.000,0.049,2878,3363,2721,0,0,0,0,0,0
$GC,9694,0.80,136.7,329.2,17.6,306,9701,0.15,2.12,0.00,0.000,6,0.192,0.028,2853,1946,2721,0,0,0,0,0,0
$GC,9945,0.80,136.7,298.3,12.0,313,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1942,2721,0,0,0,0,0,0
$GC,10191,0.80,136.7,270.9,11.0,325,10195,0.00,2.10,0.00,0.000,4,0.000,0.038,2862,562,2723,0,0,0,0,0,0
$GC,10299,0.80,136.7,261.2,8.9,330,10303,0.00,2.10,0.00,0.000,6,0.000,0.033,2862,1964,2719,0,0,0,0,0,0
$GC,10565,0.80,136.7,236.7,9.7,343,10569,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3369,2719,0,0,0,0,0,0
$GC,10824,0.80,136.7,206.7,11.6,354,10828,0.00,2.15,0.00,0.000,6,0.000,0.029,2867,1946,2720,0,0,0,0,0,0
$GC,11091,0.80,136.7,178.9,9.7,376,11095,0.00,2.25,0.00,0.000,4,0.000,0.047,2867,3368,2720,0,0,0,0,0,0
$GC,11345,0.80,136.7,154.6,10.3,398,11354,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1955,2720,0,0,0,0,0,0
$GC,11611,0.88,203.5,135.6,5.7,423,11671,0.00,2.15,52.05,0.537,4,0.000,0.035,2888,569,2470,0,0,0,0,0,0
$GC,11860,0.88,203.5,115.0,9.1,445,11864,0.00,2.10,0.00,0.000,6,0.000,0.031,2891,1964,2466,0,0,0,0,0,0
$GC,12126,0.88,203.5,91.0,10.1,469,12130,0.00,2.20,0.00,0.000,4,0.000,0.047,2888,3366,2466,0,0,0,0,0,0
$GC,12379,0.88,203.5,62.5,11.4,491,12387,0.00,2.15,0.00,0.000,6,0.000,0.028,2899,1971,2467,0,0,0,0,0,0
$GC,12645,0.88,203.5,33.1,10.8,516,12649,0.00,2.17,0.00,0.000,4,0.000,0.045,2898,3367,2468,0,0,0,0,0,0
$GC,12666,0.88,203.5,30.5,10.5,517,12670,0.00,2.10,0.00,0.000,6,0.000,0.028,2909,1956,2469,0,0,0,0,0,0
$GC,12927,0.88,203.5,3.0,10.1,565,12935,0.00,2.10,0.00,0.000,4,0.000,0.035,2920,557,2467,0,0,0,0,0,0
$STATE,12943,end climb,SURFACE_DEPTH_REACHED
$STATE,12943,begin surface coast
$FINISH,0.5,1.022810
$STATE,12950,end surface coast,CONTROL_FINISHED_OK
$STATE,12950,begin surface
$SM_CCo,12974,47.08,0.414,0,0,2074,300.24
$SM_GC,1.85,0.00,0.00,47.08,0.000,0.000,0.414,55,2111,2074,-7.94,0.31,300.24
$IRIDIUM_FIX,1904.66,-15634.00,040313,222232
$TT8_MAMPS,0.144196
$HUMID,1078898700
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,95
$AR_DIVENUM,432
$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,23.7,59.115
$10V_AH,9.8,53.622
$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,19.875,116.825,284.775,47.075,0.000,74.034,117.195,1012.646,23.750,0.000,17.415,1227.233,9399.377,404.035,2918.351,673.975,33.360,1207.255,0.000,1914.166,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,62.127,1072.266,414.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.084,0.000,945.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30240,568
$CAP_FILE_SIZE,133280,0
$CFSIZE,260165632,174198784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,171.0,1
$GPS,100911,083154,1911.899,-15633.239,112,1.4,112,9.6