version: 66.07
glider: 513
mission: 7
dive: 451
start: 9 13 111 8 32 28
data:
$ID,513
$MISSION,7
$DIVE,451
$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,-432307.81
$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,50
$R_STBD_OVSHOOT,58
$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,450
$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
$GPS1,130911,080907,1920.190,-15626.869,52,1.4,53,9.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.2
$GPS2,130911,083131,1919.859,-15626.639,12,1.6,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.190,0.146
$KALMAN_X,-98850.5,888.9,-780.7,145906.5,2770.1
$KALMAN_Y,-534823.8,1062.3,330.7,459639.3,-9172.8
$MHEAD_RNG_PITCHd_Wd,346.7,104104,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.80,-136.7,0.0,0.0,0,84,0.00,0.00,-51.80,0.000,2,0.000,0.000,39,2133,3562,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.3,-4.8,8,110,9.98,2.17,-5.20,0.000,4,0.244,0.043,2333,696,3859,0,0,0,0,0,0
$GC,306,-0.80,-136.7,74.3,-28.8,33,310,0.00,2.15,0.00,0.000,6,0.000,0.050,2324,2084,3862,0,0,0,0,0,0
$GC,574,-0.80,-136.7,141.7,-23.5,58,578,0.00,2.08,0.00,0.000,4,0.000,0.036,2324,706,3863,0,0,0,0,0,0
$GC,593,-0.80,-136.7,146.0,-22.6,59,597,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2106,3863,0,0,0,0,0,0
$GC,865,-0.80,-136.7,205.0,-19.8,83,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2104,3864,0,0,0,0,0,0
$GC,1111,-0.80,-136.7,252.5,-20.5,95,1115,0.00,2.10,0.00,0.000,4,0.000,0.035,2318,702,3865,0,0,0,0,0,0
$GC,1162,-0.80,-136.7,261.4,-18.3,97,1166,0.12,2.15,0.00,0.000,6,0.174,0.041,2331,2104,3866,0,0,0,0,0,0
$GC,1440,-0.80,-136.7,307.6,-16.1,110,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2104,3865,0,0,0,0,0,0
$GC,1684,-0.80,-136.7,344.4,-14.6,116,1688,0.00,2.17,0.00,0.000,4,0.000,0.051,2325,3508,3865,0,0,0,0,0,0
$GC,1764,-0.80,-136.7,355.7,-13.8,117,1769,0.00,2.08,0.00,0.000,6,0.000,0.029,2326,2098,3865,0,0,0,0,0,0
$GC,2014,-0.80,-136.7,390.3,-13.8,124,2018,0.00,2.08,0.00,0.000,4,0.000,0.040,2325,704,3863,0,0,0,0,0,0
$GC,2086,-0.80,-136.7,401.1,-14.6,125,2090,0.00,2.12,0.00,0.000,6,0.000,0.044,2315,2102,3863,0,0,0,0,0,0
$GC,2349,-0.80,-136.7,440.9,-15.4,132,2353,0.00,2.12,0.00,0.000,4,0.000,0.041,2315,705,3862,0,0,0,0,0,0
$GC,2421,-0.80,-136.7,452.8,-14.9,133,2425,0.12,2.12,0.00,0.000,6,0.172,0.042,2336,2105,3863,0,0,0,0,0,0
$GC,2671,-0.80,-136.7,486.7,-13.6,139,2675,0.00,2.20,0.00,0.000,4,0.000,0.054,2327,3506,3858,0,0,0,0,0,0
$GC,2744,-0.80,-136.7,496.7,-13.5,140,2748,0.00,2.10,0.00,0.000,6,0.000,0.028,2327,2098,3857,0,0,0,0,0,0
$GC,2994,-0.80,-136.7,530.6,-13.6,146,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3855,0,0,0,0,0,0
$GC,3238,-0.80,-136.7,562.2,-12.6,152,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2090,3852,0,0,0,0,0,0
$GC,3482,-0.80,-136.7,591.7,-12.3,158,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3850,0,0,0,0,0,0
$GC,3727,-0.80,-136.7,620.1,-11.5,164,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3848,0,0,0,0,0,0
$GC,3969,-0.80,-136.7,646.5,-10.6,170,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3848,0,0,0,0,0,0
$GC,4213,-0.80,-136.7,671.8,-10.2,176,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3844,0,0,0,0,0,0
$GC,4456,-0.80,-136.7,696.8,-10.2,182,4460,0.00,2.10,0.00,0.000,4,0.000,0.042,2323,710,3840,0,0,0,0,0,0
$GC,4491,-0.80,-136.7,700.3,-10.1,182,4496,0.00,2.12,0.00,0.000,6,0.000,0.043,2317,2098,3840,0,0,0,0,0,0
$GC,4741,-0.80,-136.7,726.5,-10.4,189,4745,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3509,3838,0,0,0,0,0,0
$GC,4768,-0.80,-136.7,729.7,-11.9,189,4773,0.12,2.10,0.00,0.000,6,0.168,0.031,2338,2117,3838,0,0,0,0,0,0
$GC,5018,-0.80,-136.7,752.9,-9.3,195,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2108,3836,0,0,0,0,0,0
$GC,5262,-0.80,-136.7,776.4,-9.7,201,5266,0.00,2.20,0.00,0.000,4,0.000,0.045,2338,686,3833,0,0,0,0,0,0
$GC,5295,-0.80,-136.7,779.8,-10.5,201,5300,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2109,3833,0,0,0,0,0,0
$GC,5545,-0.80,-136.7,806.0,-10.5,208,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2108,3831,0,0,0,0,0,0
$GC,5790,-0.80,-136.7,832.6,-10.8,214,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2108,3831,0,0,0,0,0,0
$GC,6032,-0.80,-136.7,859.4,-11.0,220,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2108,3826,0,0,0,0,0,0
$GC,6276,-0.80,-136.7,887.0,-11.2,226,6280,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3508,3826,0,0,0,0,0,0
$GC,6320,-0.80,-136.7,892.2,-12.0,227,6324,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2084,3826,0,0,0,0,0,0
$STATE,6392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6392,begin apogee
$GC,6400,-0.28,0.0,900.7,11.6,229,6516,0.62,0.00,111.10,1.072,6,0.146,0.000,2502,1924,3302,0,0,0,0,0,0
$STATE,6518,end apogee,CONTROL_FINISHED_OK
$STATE,6518,begin climb
$GC,6521,0.80,136.7,904.7,0.0,232,6647,1.05,0.00,122.22,1.044,6,0.095,0.000,2847,1919,2744,0,0,0,0,0,0
$GC,6879,0.80,136.7,852.0,18.3,241,6884,0.00,2.35,0.00,0.000,4,0.000,0.051,2846,3365,2734,0,0,0,0,0,0
$GC,6941,0.80,136.7,839.2,19.8,242,6944,0.00,2.15,0.00,0.000,6,0.000,0.035,2857,1981,2734,0,0,0,0,0,0
$GC,7207,0.80,136.7,788.0,19.2,249,7211,0.00,2.17,0.00,0.000,4,0.000,0.040,2868,559,2729,0,0,0,0,0,0
$GC,7258,0.80,136.7,778.1,19.5,250,7262,0.00,2.15,0.00,0.000,6,0.000,0.035,2869,1962,2729,0,0,0,0,0,0
$GC,7532,0.80,136.7,727.7,17.9,257,7536,0.00,2.25,0.00,0.000,4,0.000,0.053,2869,3364,2729,0,0,0,0,0,0
$GC,7572,0.80,136.7,720.0,19.1,258,7576,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1949,2729,0,0,0,0,0,0
$GC,7856,0.80,136.7,666.9,19.0,265,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1947,2729,0,0,0,0,0,0
$GC,8099,0.80,136.7,622.2,18.2,271,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1947,2731,0,0,0,0,0,0
$GC,8342,0.80,136.7,576.8,18.5,277,8346,0.00,2.25,0.00,0.000,4,0.000,0.049,2879,3367,2726,0,0,0,0,0,0
$GC,8359,0.80,136.7,573.4,18.6,277,8364,0.15,2.15,0.00,0.000,6,0.207,0.031,2855,1949,2727,0,0,0,0,0,0
$GC,8622,0.80,136.7,528.0,17.5,284,8626,0.00,2.25,0.00,0.000,4,0.000,0.051,2849,3368,2726,0,0,0,0,0,0
$GC,8667,0.80,136.7,519.2,18.7,285,8671,0.00,2.12,0.00,0.000,6,0.000,0.030,2858,1955,2726,0,0,0,0,0,0
$GC,8956,0.80,136.7,470.4,16.8,292,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1950,2726,0,0,0,0,0,0
$GC,9200,0.80,136.7,432.8,15.2,298,9204,0.00,2.25,0.00,0.000,4,0.000,0.050,2858,3366,2722,0,0,0,0,0,0
$GC,9228,0.80,136.7,428.2,16.0,298,9232,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1961,2722,0,0,0,0,0,0
$GC,9483,0.80,136.7,392.3,13.7,305,9487,0.00,2.12,0.00,0.000,4,0.000,0.040,2879,561,2724,0,0,0,0,0,0
$GC,9516,0.80,136.7,387.7,14.7,305,9520,0.00,2.10,0.00,0.000,6,0.000,0.033,2879,1966,2721,0,0,0,0,0,0
$GC,9774,0.80,136.7,351.8,14.3,312,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1967,2720,0,0,0,0,0,0
$GC,10017,0.80,136.7,318.3,13.8,318,10021,0.00,2.25,0.00,0.000,4,0.000,0.051,2879,3364,2722,0,0,0,0,0,0
$GC,10078,0.80,136.7,309.5,14.9,319,10083,0.15,2.17,0.00,0.000,6,0.196,0.031,2854,1932,2722,0,0,0,0,0,0
$GC,10349,0.80,136.7,279.5,10.7,330,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1930,2722,0,0,0,0,0,0
$GC,10595,0.80,136.7,250.8,12.4,342,10598,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,551,2722,0,0,0,0,0,0
$GC,10689,0.80,136.7,238.8,11.2,346,10693,0.00,2.12,0.00,0.000,6,0.000,0.033,2861,1963,2721,0,0,0,0,0,0
$GC,10950,0.80,136.7,209.2,10.5,359,10954,0.00,2.15,0.00,0.000,4,0.000,0.039,2870,560,2724,0,0,0,0,0,0
$GC,11138,0.80,136.7,188.8,10.4,372,11146,0.00,2.15,0.00,0.000,6,0.000,0.035,2870,1957,2721,0,0,0,0,0,0
$GC,11405,0.82,159.5,165.8,7.6,397,11429,0.00,2.17,17.05,0.548,4,0.000,0.036,2880,557,2648,0,0,0,0,0,0
$GC,11534,0.82,159.5,153.1,10.6,408,11538,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1968,2647,0,0,0,0,0,0
$GC,11805,0.82,159.5,123.2,10.7,433,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1967,2647,0,0,0,0,0,0
$GC,12070,0.89,210.7,102.0,6.4,458,12118,0.00,2.20,43.15,0.509,4,0.000,0.038,2884,553,2439,0,0,0,0,0,0
$GC,12255,0.89,210.7,86.9,8.6,474,12262,0.00,2.17,0.00,0.000,6,0.000,0.039,2884,1946,2437,0,0,0,0,0,0
$GC,12521,0.89,210.7,61.6,9.9,499,12525,0.00,2.12,0.00,0.000,4,0.000,0.039,2886,558,2437,0,0,0,0,0,0
$GC,12593,0.89,210.7,53.3,10.9,505,12600,0.00,2.15,0.00,0.000,6,0.000,0.032,2886,1958,2437,0,0,0,0,0,0
$GC,12858,0.89,210.7,28.3,9.4,531,12867,0.00,2.22,0.00,0.000,4,0.000,0.047,2887,3361,2438,0,0,0,0,0,0
$GC,12918,0.89,210.7,21.4,11.4,541,12926,0.00,2.15,0.00,0.000,6,0.000,0.028,2889,1951,2439,0,0,0,0,0,0
$STATE,13119,end climb,SURFACE_DEPTH_REACHED
$STATE,13119,begin surface coast
$FINISH,0.3,1.011352
$STATE,13159,end surface coast,CONTROL_FINISHED_OK
$STATE,13159,begin surface
$SM_CCo,13179,44.90,0.414,0,0,2073,300.24
$SM_GC,1.88,0.00,0.00,44.90,0.000,0.000,0.414,54,2152,2073,-7.95,1.50,300.24
$IRIDIUM_FIX,1916.08,-15624.98,080313,020209
$TT8_MAMPS,0.267683
$HUMID,1078890958
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,26.50
$XPDR_PINGS,98
$AR_DIVENUM,451
$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,23.5,61.762
$10V_AH,9.8,56.008
$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,19.900,108.425,293.525,44.900,0.000,111.638,228.784,577.074,24.500,0.000,14.273,1227.663,9690.478,429.068,2678.614,559.370,33.361,1175.589,0.000,1862.530,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,64.428,1072.266,414.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.041,0.000,998.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,30205,584
$CAP_FILE_SIZE,122396,0
$CFSIZE,260165632,172773376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,157.9,1
$GPS,130911,121437,1920.614,-15626.427,33,0.8,34,9.6