version: 66.07
glider: 513
mission: 7
dive: 438
start: 9 11 111 4 57 29
data:
$ID,513
$MISSION,7
$DIVE,438
$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,-432067.53
$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,47
$R_STBD_OVSHOOT,51
$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,437
$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
$GPS1,110911,043306,1912.347,-15632.150,37,1.1,37,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.6
$GPS2,110911,045631,1912.150,-15632.039,14,2.0,19,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.105,0.215
$KALMAN_X,-115070.1,985.9,-400.1,152255.0,220.5
$KALMAN_Y,-500045.1,1541.9,708.4,409711.2,-12303.4
$MHEAD_RNG_PITCHd_Wd,351.4,120104,-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,-136.7,0.0,0.0,0,143,0.00,0.00,-111.88,0.000,2,0.000,0.000,42,2123,3750,0,0,0,0,0,0
$GC,148,-0.80,-136.7,4.1,-6.0,17,169,9.90,2.22,-1.80,0.000,4,0.245,0.067,2319,3488,3864,0,0,0,0,0,0
$GC,345,-0.80,-136.7,77.6,-29.6,38,353,0.00,2.15,0.00,0.000,6,0.000,0.038,2319,2116,3863,0,0,0,0,0,0
$GC,608,-0.80,-136.7,152.4,-25.7,63,612,0.00,2.15,0.00,0.000,4,0.000,0.039,2315,683,3867,0,0,0,0,0,0
$GC,672,-0.80,-136.7,166.8,-21.8,68,677,0.12,2.17,0.00,0.000,6,0.182,0.044,2339,2081,3864,0,0,0,0,0,0
$GC,931,-0.80,-136.7,217.7,-19.4,88,935,0.00,2.22,0.00,0.000,4,0.000,0.052,2329,3520,3864,0,0,0,0,0,0
$GC,952,-0.80,-136.7,222.0,-18.9,89,956,0.00,2.15,0.00,0.000,6,0.000,0.031,2332,2080,3864,0,0,0,0,0,0
$GC,1213,-0.80,-136.7,267.7,-16.3,102,1217,0.00,2.05,0.00,0.000,4,0.000,0.042,2329,709,3865,0,0,0,0,0,0
$GC,1285,-0.80,-136.7,279.0,-14.7,105,1289,0.00,2.15,0.00,0.000,6,0.000,0.047,2319,2104,3864,0,0,0,0,0,0
$GC,1564,-0.80,-136.7,321.8,-16.5,116,1568,0.00,2.20,0.00,0.000,4,0.000,0.054,2308,3517,3864,0,0,0,0,0,0
$GC,1608,-0.80,-136.7,330.5,-19.6,117,1613,0.12,2.10,0.00,0.000,6,0.159,0.033,2340,2108,3864,0,0,0,0,0,0
$GC,1885,-0.80,-136.7,375.7,-16.3,124,1889,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,700,3863,0,0,0,0,0,0
$GC,1946,-0.80,-136.7,385.6,-15.6,125,1950,0.00,2.15,0.00,0.000,6,0.000,0.042,2332,2118,3862,0,0,0,0,0,0
$GC,2212,-0.80,-136.7,425.1,-14.9,132,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2117,3859,0,0,0,0,0,0
$GC,2456,-0.80,-136.7,458.5,-13.3,138,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2117,3858,0,0,0,0,0,0
$GC,2700,-0.80,-136.7,489.9,-12.9,144,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2117,3856,0,0,0,0,0,0
$GC,2945,-0.80,-136.7,521.0,-12.5,150,2949,0.00,2.17,0.00,0.000,4,0.000,0.053,2321,3509,3849,0,0,0,0,0,0
$GC,3000,-0.80,-136.7,528.4,-12.5,151,3004,0.00,2.15,0.00,0.000,6,0.000,0.032,2321,2112,3851,0,0,0,0,0,0
$GC,3272,-0.80,-136.7,562.9,-12.9,158,3276,0.00,2.12,0.00,0.000,4,0.000,0.039,2321,689,3848,0,0,0,0,0,0
$GC,3346,-0.80,-136.7,572.5,-12.6,159,3350,0.00,2.15,0.00,0.000,6,0.000,0.042,2311,2097,3847,0,0,0,0,0,0
$GC,3596,-0.80,-136.7,605.3,-13.4,165,3600,0.00,2.20,0.00,0.000,4,0.000,0.052,2300,3506,3843,0,0,0,0,0,0
$GC,3629,-0.80,-136.7,610.2,-13.8,165,3636,0.15,2.12,0.00,0.000,6,0.160,0.031,2340,2088,3844,0,0,0,0,0,0
$GC,3881,-0.80,-136.7,640.3,-12.0,172,3885,0.00,2.12,0.00,0.000,4,0.000,0.041,2340,688,3840,0,0,0,0,0,0
$GC,3925,-0.80,-136.7,646.0,-12.6,173,3929,0.00,2.17,0.00,0.000,6,0.000,0.041,2331,2106,3840,0,0,0,0,0,0
$GC,4209,-0.80,-136.7,681.6,-12.6,180,4213,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3513,3837,0,0,0,0,0,0
$GC,4265,-0.80,-136.7,688.8,-13.0,181,4269,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2093,3836,0,0,0,0,0,0
$GC,4532,-0.80,-136.7,724.1,-13.3,188,4536,0.00,2.08,0.00,0.000,4,0.000,0.039,2324,701,3833,0,0,0,0,0,0
$GC,4559,-0.80,-136.7,728.2,-14.3,188,4564,0.12,2.15,0.00,0.000,6,0.176,0.041,2340,2110,3833,0,0,0,0,0,0
$GC,4810,-0.80,-136.7,756.4,-11.2,194,4815,0.00,2.22,0.00,0.000,4,0.000,0.054,2331,3511,3830,0,0,0,0,0,0
$GC,4838,-0.80,-136.7,759.7,-10.7,194,4842,0.00,2.12,0.00,0.000,6,0.000,0.032,2330,2100,3829,0,0,0,0,0,0
$GC,5093,-0.80,-136.7,788.3,-11.3,201,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2099,3827,0,0,0,0,0,0
$GC,5336,-0.80,-136.7,814.4,-10.6,207,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2097,3829,0,0,0,0,0,0
$GC,5582,-0.80,-136.7,839.3,-10.1,213,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2097,3824,0,0,0,0,0,0
$GC,5824,-0.80,-136.7,862.7,-9.4,219,5828,0.00,2.17,0.00,0.000,4,0.000,0.044,2336,696,3822,0,0,0,0,0,0
$GC,5868,-0.80,-136.7,867.1,-10.0,220,5871,0.00,2.15,0.00,0.000,6,0.000,0.041,2321,2103,3821,0,0,0,0,0,0
$GC,6153,-0.80,-136.7,896.5,-10.5,227,6157,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3518,3816,0,0,0,0,0,0
$STATE,6183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6183,begin apogee
$GC,6192,-0.28,0.0,900.5,11.7,227,6305,0.62,0.00,110.28,1.066,6,0.146,0.000,2498,1944,3300,0,0,0,0,0,0
$STATE,6308,end apogee,CONTROL_FINISHED_OK
$STATE,6308,begin climb
$GC,6311,0.80,136.7,903.3,0.0,230,6439,1.08,0.00,121.72,1.031,6,0.093,0.000,2853,1941,2742,0,0,0,0,0,0
$GC,6683,0.80,136.7,845.8,18.5,240,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1943,2734,0,0,0,0,0,0
$GC,6926,0.80,136.7,802.7,17.5,246,6930,0.00,2.30,0.00,0.000,4,0.000,0.053,2851,3366,2732,0,0,0,0,0,0
$GC,6954,0.80,136.7,797.6,18.1,246,6958,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1953,2732,0,0,0,0,0,0
$GC,7211,0.80,136.7,752.7,17.8,253,7215,0.00,2.28,0.00,0.000,4,0.000,0.051,2863,3369,2733,0,0,0,0,0,0
$GC,7238,0.80,136.7,747.0,19.5,253,7242,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1951,2730,0,0,0,0,0,0
$GC,7499,0.80,136.7,699.9,18.1,260,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1953,2729,0,0,0,0,0,0
$GC,7744,0.80,136.7,652.8,19.5,266,7748,0.00,2.28,0.00,0.000,4,0.000,0.051,2872,3379,2728,0,0,0,0,0,0
$GC,7765,0.80,136.7,648.1,20.0,266,7769,0.00,2.15,0.00,0.000,6,0.000,0.030,2877,1952,2728,0,0,0,0,0,0
$GC,8021,0.80,136.7,595.9,20.5,273,8025,0.00,2.10,0.00,0.000,4,0.000,0.038,2893,561,2727,0,0,0,0,0,0
$GC,8042,0.80,136.7,591.3,20.1,273,8047,0.15,2.12,0.00,0.000,6,0.196,0.034,2857,1970,2722,0,0,0,0,0,0
$GC,8304,0.80,136.7,545.0,17.5,280,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1972,2723,0,0,0,0,0,0
$GC,8547,0.80,136.7,505.1,16.2,286,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1973,2722,0,0,0,0,0,0
$GC,8790,0.80,136.7,469.4,14.4,292,8794,0.00,2.20,0.00,0.000,4,0.000,0.052,2857,3361,2722,0,0,0,0,0,0
$GC,8832,0.80,136.7,463.2,16.3,293,8836,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1958,2723,0,0,0,0,0,0
$GC,9115,0.80,136.7,420.6,14.9,300,9119,0.00,2.12,0.00,0.000,4,0.000,0.041,2876,557,2720,0,0,0,0,0,0
$GC,9131,0.80,136.7,417.9,15.1,300,9135,0.00,2.17,0.00,0.000,6,0.000,0.034,2877,1961,2719,0,0,0,0,0,0
$GC,9398,0.80,136.7,374.1,17.0,307,9402,0.00,2.22,0.00,0.000,4,0.000,0.049,2877,3358,2719,0,0,0,0,0,0
$GC,9465,0.80,136.7,361.2,18.7,308,9470,0.12,2.15,0.00,0.000,6,0.201,0.030,2860,1952,2719,0,0,0,0,0,0
$GC,9722,0.80,136.7,325.5,13.0,315,9726,0.00,2.28,0.00,0.000,4,0.000,0.049,2857,3374,2719,0,0,0,0,0,0
$GC,9778,0.80,136.7,317.7,12.8,316,9782,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1957,2723,0,0,0,0,0,0
$GC,10031,0.80,136.7,286.9,12.6,325,10035,0.00,2.12,0.00,0.000,4,0.000,0.040,2882,565,2719,0,0,0,0,0,0
$GC,10087,0.80,136.7,279.1,14.0,327,10091,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1962,2720,0,0,0,0,0,0
$GC,10342,0.80,136.7,246.8,13.3,339,10346,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3366,2717,0,0,0,0,0,0
$GC,10430,0.80,136.7,235.0,12.6,343,10435,0.12,2.12,0.00,0.000,6,0.193,0.031,2858,1964,2718,0,0,0,0,0,0
$GC,10690,0.80,136.7,210.5,8.6,356,10694,0.00,2.20,0.00,0.000,4,0.000,0.048,2854,3368,2717,0,0,0,0,0,0
$GC,10709,0.80,141.0,208.9,8.4,357,10713,0.00,2.15,0.00,0.000,6,0.000,0.029,2864,1947,2719,0,0,0,0,0,0
$GC,10969,0.80,141.0,185.3,10.4,376,10973,0.00,2.08,0.00,0.000,4,0.000,0.037,2875,561,2717,0,0,0,0,0,0
$GC,11012,0.80,141.0,180.7,10.9,379,11016,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,1968,2716,0,0,0,0,0,0
$GC,11277,0.80,141.0,154.0,10.1,403,11281,0.00,2.20,0.00,0.000,4,0.000,0.049,2874,3356,2718,0,0,0,0,0,0
$GC,11396,0.92,239.1,146.3,4.4,413,11482,0.00,2.08,79.97,0.546,6,0.000,0.028,2885,1953,2325,0,0,0,0,0,0
$GC,11740,0.92,239.1,114.9,10.8,444,11743,0.00,2.10,0.00,0.000,4,0.000,0.039,2896,579,2319,0,0,0,0,0,0
$GC,11922,0.92,239.1,92.0,13.3,460,11926,0.00,2.10,0.00,0.000,6,0.000,0.031,2896,1961,2317,0,0,0,0,0,0
$GC,12188,0.92,239.1,58.1,12.3,484,12192,0.00,2.12,0.00,0.000,4,0.000,0.037,2906,566,2319,0,0,0,0,0,0
$GC,12218,0.92,239.1,54.2,12.1,486,12222,0.00,2.10,0.00,0.000,6,0.000,0.030,2906,1968,2317,0,0,0,0,0,0
$GC,12483,0.92,239.1,22.8,12.3,515,12491,0.00,2.15,0.00,0.000,4,0.000,0.037,2917,576,2318,0,0,0,0,0,0
$GC,12555,0.92,239.1,13.6,13.0,527,12562,0.00,2.10,0.00,0.000,6,0.000,0.030,2917,1957,2319,0,0,0,0,0,0
$STATE,12641,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,0.4,1.022760
$STATE,12666,end surface coast,CONTROL_FINISHED_OK
$STATE,12666,begin surface
$SM_CCo,12687,29.85,0.408,0,0,2076,300.49
$SM_GC,1.08,0.00,0.00,29.85,0.000,0.000,0.408,54,2135,2076,-7.94,0.99,300.49
$IRIDIUM_FIX,1904.66,-15634.00,050313,222233
$TT8_MAMPS,0.254644
$HUMID,1078945152
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.20
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6254952448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,12976619520
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,59.953
$10V_AH,9.8,54.519
$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,20.175,134.150,311.975,29.850,0.000,55.335,70.638,968.293,23.250,0.000,21.547,1177.411,9196.188,432.203,2669.205,653.781,33.359,1232.550,0.000,1773.774,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,69.030,1066.130,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.665,0.000,883.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,26920,547
$CAP_FILE_SIZE,132604,0
$CFSIZE,260165632,173740032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,181.0,1
$GPS,110911,083137,1912.755,-15632.053,71,1.1,71,9.6