version: 66.07
glider: 513
mission: 7
dive: 470
start: 9 16 111 11 19 11
data:
$ID,513
$MISSION,7
$DIVE,470
$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,-432728.97
$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,57
$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,469
$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
$GPS1,160911,110807,1932.798,-15621.299,47,1.0,48,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.5
$GPS2,160911,111814,1932.621,-15621.404,12,1.6,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.222,0.089
$KALMAN_X,-77796.9,-1947.1,-359.3,136397.9,3458.7
$KALMAN_Y,-586170.4,207.6,941.9,534866.4,-10348.8
$MHEAD_RNG_PITCHd_Wd,17.1,79270,-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,-51.05,0.000,2,0.000,0.000,41,2128,3553,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.4,-5.2,8,109,10.00,2.20,-5.45,0.000,4,0.244,0.052,2339,699,3862,0,0,0,0,0,0
$GC,193,-0.80,-136.7,39.7,-24.9,23,198,0.00,2.12,0.00,0.000,6,0.000,0.047,2330,2070,3863,0,0,0,0,0,0
$GC,457,-0.80,-136.7,105.5,-24.0,47,461,0.00,2.28,0.00,0.000,4,0.000,0.051,2320,3518,3864,0,0,0,0,0,0
$GC,500,-0.80,-136.7,116.5,-24.4,50,509,0.00,2.17,0.00,0.000,6,0.000,0.031,2320,2106,3865,0,0,0,0,0,0
$GC,764,-0.80,-136.7,174.9,-21.9,75,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2100,3866,0,0,0,0,0,0
$GC,1023,-0.80,-136.7,221.4,-15.6,94,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2100,3869,0,0,0,0,0,0
$GC,1271,-0.80,-136.7,263.9,-18.1,106,1275,0.00,2.10,0.00,0.000,4,0.000,0.041,2320,698,3869,0,0,0,0,0,0
$GC,1327,-0.80,-136.7,274.9,-18.2,108,1333,0.12,2.15,0.00,0.000,6,0.172,0.046,2340,2103,3869,0,0,0,0,0,0
$GC,1580,-0.80,-136.7,315.7,-16.2,119,1584,0.00,2.22,0.00,0.000,4,0.000,0.051,2332,3513,3869,0,0,0,0,0,0
$GC,1608,-0.80,-136.7,320.3,-16.7,119,1612,0.00,2.10,0.00,0.000,6,0.000,0.030,2330,2099,3869,0,0,0,0,0,0
$GC,1858,-0.80,-136.7,357.2,-14.3,125,1862,0.00,2.10,0.00,0.000,4,0.000,0.038,2330,690,3869,0,0,0,0,0,0
$GC,1903,-0.80,-136.7,363.8,-14.5,126,1907,0.00,2.17,0.00,0.000,6,0.000,0.040,2316,2114,3867,0,0,0,0,0,0
$GC,2193,-0.80,-136.7,406.6,-14.4,133,2197,0.00,2.17,0.00,0.000,4,0.000,0.049,2309,3510,3868,0,0,0,0,0,0
$GC,2327,-0.80,-136.7,425.5,-13.7,136,2331,0.00,2.12,0.00,0.000,6,0.000,0.031,2309,2095,3866,0,0,0,0,0,0
$GC,2607,-0.80,-136.7,468.0,-15.7,143,2611,0.12,2.10,0.00,0.000,4,0.170,0.040,2341,702,3864,0,0,0,0,0,0
$GC,2650,-0.80,-136.7,474.9,-13.7,144,2654,0.00,2.10,0.00,0.000,6,0.000,0.039,2333,2100,3864,0,0,0,0,0,0
$GC,2934,-0.80,-136.7,514.7,-14.1,151,2938,0.00,2.15,0.00,0.000,4,0.000,0.042,2334,701,3860,0,0,1,0,0,0
$GC,2975,-0.80,-136.7,520.4,-14.5,152,2979,0.00,2.15,0.00,0.000,6,0.000,0.039,2323,2110,3860,0,0,0,0,0,0
$GC,3259,-0.80,-136.7,559.7,-13.5,159,3263,0.00,2.22,0.00,0.000,4,0.000,0.051,2312,3512,3858,0,0,0,0,0,0
$GC,3332,-0.80,-136.7,569.8,-13.0,160,3336,0.00,2.12,0.00,0.000,6,0.000,0.030,2312,2100,3857,0,0,0,0,0,0
$GC,3583,-0.80,-136.7,602.5,-13.3,166,3587,0.00,2.10,0.00,0.000,4,0.000,0.040,2312,699,3855,0,0,0,0,0,0
$GC,3610,-0.80,-136.7,606.6,-14.6,166,3615,0.15,2.15,0.00,0.000,6,0.173,0.041,2339,2097,3854,0,0,0,0,0,0
$GC,3860,-0.80,-136.7,635.6,-11.5,172,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2097,3852,0,0,0,0,0,0
$GC,4103,-0.80,-136.7,664.5,-11.7,178,4108,0.00,2.28,0.00,0.000,4,0.000,0.054,2330,3514,3850,0,0,0,0,0,0
$GC,4155,-0.80,-136.7,670.5,-11.6,179,4159,0.00,2.17,0.00,0.000,6,0.000,0.033,2330,2099,3849,0,0,0,0,0,0
$GC,4427,-0.80,-136.7,703.3,-12.0,186,4431,0.00,2.12,0.00,0.000,4,0.000,0.041,2330,685,3847,0,0,0,0,0,0
$GC,4448,-0.80,-136.7,706.0,-12.5,186,4452,0.00,2.17,0.00,0.000,6,0.000,0.041,2320,2108,3847,0,0,0,0,0,0
$GC,4709,-0.80,-136.7,737.7,-12.1,193,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2108,3844,0,0,0,0,0,0
$GC,4953,-0.80,-136.7,767.1,-12.1,199,4957,0.00,2.17,0.00,0.000,4,0.000,0.043,2320,692,3843,0,0,0,0,0,0
$GC,4981,-0.80,-136.7,770.6,-12.2,199,4986,0.12,2.17,0.00,0.000,6,0.176,0.043,2340,2110,3843,0,0,0,0,0,0
$GC,5237,-0.80,-136.7,797.0,-10.3,206,5241,0.00,2.25,0.00,0.000,4,0.000,0.058,2330,3520,3838,0,0,0,0,0,0
$GC,5293,-0.80,-136.7,803.1,-10.5,207,5297,0.00,2.17,0.00,0.000,6,0.000,0.035,2331,2098,3840,0,0,0,0,0,0
$GC,5560,-0.80,-136.7,832.1,-10.8,214,5563,0.00,2.15,0.00,0.000,4,0.000,0.042,2330,694,3839,0,0,0,0,0,0
$GC,5601,-0.80,-136.7,836.4,-10.9,215,5605,0.00,2.15,0.00,0.000,6,0.000,0.042,2321,2099,3839,0,0,0,0,0,0
$GC,5884,-0.80,-136.7,868.0,-11.2,222,5888,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3507,3836,0,0,0,0,0,0
$GC,5928,-0.80,-136.7,873.1,-11.8,223,5933,0.12,2.12,0.00,0.000,6,0.169,0.030,2341,2101,3836,0,0,0,0,0,0
$GC,6206,-0.80,-136.7,899.5,-9.5,230,6210,0.00,2.05,0.00,0.000,3,0.000,0.041,2341,731,3834,0,0,0,0,0,0
$STATE,6211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6211,begin apogee
$GC,6220,-0.28,0.0,900.2,9.5,230,6336,0.55,0.00,113.12,1.068,6,0.146,0.000,2499,1970,3300,0,0,0,0,0,0
$STATE,6340,end apogee,CONTROL_FINISHED_OK
$STATE,6340,begin climb
$GC,6342,0.80,136.7,903.7,0.0,233,6474,1.08,2.40,121.00,1.041,4,0.095,0.051,2851,3355,2741,0,0,0,0,0,0
$GC,6502,0.80,136.7,885.3,19.6,237,6506,0.00,2.25,0.00,0.000,6,0.000,0.028,2862,1949,2738,0,0,0,0,0,0
$GC,6780,0.80,136.7,830.3,20.0,244,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1947,2733,0,0,0,0,0,0
$GC,7025,0.80,136.7,781.5,20.2,250,7029,0.00,2.15,0.00,0.000,4,0.000,0.040,2873,555,2728,0,0,0,0,0,0
$GC,7041,0.80,136.7,777.8,19.7,250,7045,0.00,2.15,0.00,0.000,6,0.000,0.036,2873,1959,2729,0,0,0,0,0,0
$GC,7314,0.80,136.7,724.8,19.3,257,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1959,2729,0,0,0,0,0,0
$GC,7558,0.80,136.7,677.2,19.2,263,7562,0.00,2.25,0.00,0.000,4,0.000,0.054,2873,3362,2728,0,0,0,0,0,0
$GC,7575,0.80,136.7,673.8,19.1,263,7579,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1953,2727,0,0,0,0,0,0
$GC,7835,0.80,136.7,623.9,18.9,270,7839,0.00,2.28,0.00,0.000,4,0.000,0.049,2884,3369,2727,0,0,0,0,0,0
$GC,7863,0.80,136.7,618.3,19.7,270,7868,0.15,2.15,0.00,0.000,6,0.207,0.030,2859,1956,2727,0,0,0,0,0,0
$GC,8119,0.80,136.7,577.1,15.9,277,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1950,2726,0,0,0,0,0,0
$GC,8362,0.80,136.7,538.7,15.8,283,8366,0.00,2.25,0.00,0.000,4,0.000,0.049,2854,3365,2726,0,0,0,0,0,0
$GC,8383,0.80,136.7,535.0,16.2,283,8387,0.00,2.15,0.00,0.000,6,0.000,0.030,2863,1946,2729,0,0,0,0,0,0
$GC,8638,0.80,136.7,495.7,15.2,290,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1942,2726,0,0,0,0,0,0
$GC,8883,0.80,136.7,460.2,14.2,296,8887,0.00,2.25,0.00,0.000,4,0.000,0.048,2863,3361,2725,0,0,0,0,0,0
$GC,8893,0.80,136.7,458.3,14.3,296,8897,0.00,2.12,0.00,0.000,6,0.000,0.029,2873,1964,2723,0,0,0,0,0,0
$GC,9166,0.80,136.7,418.7,14.8,303,9170,0.00,2.25,0.00,0.000,4,0.000,0.049,2875,3362,2724,0,0,0,0,0,0
$GC,9211,0.80,136.7,411.7,16.1,304,9216,0.12,2.15,0.00,0.000,6,0.204,0.031,2856,1952,2724,0,0,0,0,0,0
$GC,9489,0.80,136.7,374.5,13.1,311,9493,0.00,2.25,0.00,0.000,4,0.000,0.048,2852,3369,2723,0,0,0,0,0,0
$GC,9510,0.80,136.7,371.2,13.9,311,9514,0.00,2.15,0.00,0.000,6,0.000,0.031,2860,1951,2724,0,0,0,0,0,0
$GC,9766,0.80,136.7,333.8,14.9,318,9770,0.00,2.10,0.00,0.000,4,0.000,0.039,2872,564,2722,0,0,0,0,0,0
$GC,9894,0.80,136.7,315.4,13.7,320,9899,0.00,2.10,0.00,0.000,6,0.000,0.031,2871,1968,2721,0,0,0,0,0,0
$GC,10146,0.80,136.7,282.6,12.6,330,10150,0.00,2.12,0.00,0.000,4,0.000,0.035,2879,562,2725,0,0,0,0,0,0
$GC,10158,0.80,136.7,281.2,12.4,330,10164,0.00,2.10,0.00,0.000,6,0.000,0.032,2880,1961,2721,0,0,0,0,0,0
$GC,10412,0.80,136.7,250.4,11.8,343,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1959,2720,0,0,0,0,0,0
$GC,10659,0.80,136.7,217.9,14.1,355,10663,0.00,2.25,0.00,0.000,4,0.000,0.051,2879,3368,2721,0,0,0,0,0,0
$GC,10699,0.80,136.7,212.3,14.4,356,10705,0.15,2.15,0.00,0.000,6,0.189,0.030,2854,1950,2721,0,0,0,0,0,0
$GC,10959,0.80,136.7,183.8,8.7,376,10963,0.00,2.28,0.00,0.000,4,0.000,0.048,2849,3361,2721,0,0,0,0,0,0
$GC,11192,0.80,136.7,158.6,8.9,396,11199,0.00,2.15,0.00,0.000,6,0.000,0.028,2857,1963,2721,0,0,0,0,0,0
$GC,11459,0.82,158.8,138.8,7.6,421,11484,0.00,2.28,16.05,0.522,4,0.000,0.048,2857,3358,2653,0,0,0,0,0,0
$GC,11697,0.82,158.8,116.3,10.2,442,11705,0.00,2.15,0.00,0.000,6,0.000,0.028,2866,1969,2653,0,0,0,0,0,0
$GC,11964,0.82,158.8,94.3,8.6,467,11968,0.00,2.12,0.00,0.000,4,0.000,0.038,2876,550,2653,0,0,0,0,0,0
$GC,12122,0.82,158.8,80.8,9.3,481,12126,0.00,2.12,0.00,0.000,6,0.000,0.033,2876,1968,2651,0,0,0,0,0,0
$GC,12388,0.92,236.3,63.0,5.3,505,12460,0.00,2.28,63.60,0.475,4,0.000,0.046,2876,3360,2337,0,0,0,0,0,0
$GC,12710,0.92,236.3,31.3,12.1,533,12717,0.00,2.17,0.00,0.000,6,0.000,0.028,2881,1966,2337,0,0,0,0,0,0
$STATE,12965,end climb,SURFACE_DEPTH_REACHED
$STATE,12965,begin surface coast
$FINISH,0.3,1.022708
$STATE,12995,end surface coast,CONTROL_FINISHED_OK
$STATE,12995,begin surface
$SM_CCo,13016,36.38,0.416,0,0,2074,300.24
$SM_GC,1.31,0.00,0.00,36.38,0.000,0.000,0.416,55,2121,2074,-7.95,0.68,300.24
$IRIDIUM_FIX,1927.51,-15621.06,110313,010102
$TT8_MAMPS,0.244673
$HUMID,1078894829
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253903872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,8049033216
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.093
$10V_AH,9.8,59.145
$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,20.325,139.150,313.775,36.375,0.000,29.391,33.961,301.808,26.250,0.000,14.383,1259.772,9147.707,415.676,2387.773,455.167,33.365,1262.517,0.000,2020.624,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,62.894,1067.664,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.154,0.000,1021.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,30266,584
$CAP_FILE_SIZE,125882,0
$CFSIZE,260165632,171356160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,213.9,1
$GPS,160911,145830,1933.642,-15620.968,40,1.0,45,9.7