version: 66.07
glider: 513
mission: 7
dive: 472
start: 9 16 111 19 3 1
data:
$ID,513
$MISSION,7
$DIVE,472
$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,-432760.69
$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,42
$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,471
$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
$GPS1,160911,184806,1934.164,-15620.974,36,1.1,41,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.0
$GPS2,160911,190202,1933.876,-15621.078,10,1.2,10,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.125,0.204
$KALMAN_X,-75950.9,1138.7,-767.9,132424.6,2110.9
$KALMAN_Y,-589562.3,1398.2,-113.2,540453.3,-8017.1
$MHEAD_RNG_PITCHd_Wd,0.3,76891,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,83,0.00,0.00,-51.50,0.000,2,0.000,0.000,40,2120,3556,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.3,-4.6,8,109,10.05,2.15,-5.38,0.000,4,0.246,0.046,2331,699,3855,0,0,0,0,0,0
$GC,194,-0.80,-136.7,41.1,-29.9,23,198,0.00,2.17,0.00,0.000,6,0.000,0.051,2324,2086,3861,0,0,0,0,0,0
$GC,457,-0.80,-136.7,113.4,-24.8,47,461,0.00,2.25,0.00,0.000,4,0.000,0.050,2311,3524,3860,0,0,0,0,0,0
$GC,489,-0.80,-136.7,121.0,-21.4,49,497,0.00,2.17,0.00,0.000,6,0.000,0.031,2311,2111,3860,0,0,0,0,0,0
$GC,755,-0.80,-136.7,184.7,-22.8,74,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2106,3863,0,0,0,0,0,0
$GC,1011,-0.80,-136.7,237.0,-18.6,90,1015,0.00,2.25,0.00,0.000,4,0.000,0.052,2300,3521,3863,0,0,0,0,0,0
$GC,1084,-0.80,-136.7,249.4,-16.3,93,1089,0.15,2.15,0.00,0.000,6,0.166,0.031,2339,2084,3863,0,0,0,0,0,0
$GC,1338,-0.80,-136.7,287.3,-14.9,105,1342,0.00,2.08,0.00,0.000,4,0.000,0.038,2340,692,3864,0,0,0,0,0,0
$GC,1450,-0.80,-136.7,302.3,-13.4,110,1455,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2115,3865,0,0,0,0,0,0
$GC,1713,-0.80,-136.7,339.3,-14.7,117,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2114,3864,0,0,0,0,0,0
$GC,1955,-0.80,-136.7,373.9,-14.0,123,1959,0.00,2.17,0.00,0.000,4,0.000,0.049,2317,3512,3862,0,0,0,0,0,0
$GC,2044,-0.80,-136.7,387.0,-14.5,125,2048,0.00,2.12,0.00,0.000,6,0.000,0.030,2320,2095,3862,0,0,0,0,0,0
$GC,2324,-0.80,-136.7,425.8,-13.7,132,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2090,3860,0,0,0,0,0,0
$GC,2566,-0.80,-136.7,457.1,-12.8,138,2570,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,692,3858,0,0,0,0,0,0
$GC,2599,-0.80,-136.7,461.8,-14.2,138,2604,0.00,2.15,0.00,0.000,6,0.000,0.041,2310,2094,3857,0,0,0,0,0,0
$GC,2850,-0.80,-136.7,497.7,-14.3,145,2855,0.10,2.25,0.00,0.000,4,0.184,0.051,2325,3512,3855,0,0,0,0,0,0
$GC,2901,-0.80,-136.7,504.2,-11.4,146,2905,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,2104,3855,0,0,0,0,0,0
$GC,3178,-0.80,-136.7,540.5,-13.3,153,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2098,3853,0,0,0,0,0,0
$GC,3423,-0.80,-136.7,572.2,-12.8,159,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2097,3850,0,0,0,0,0,0
$GC,3666,-0.80,-136.7,602.7,-12.4,165,3670,0.00,2.10,0.00,0.000,4,0.000,0.038,2325,698,3847,0,0,0,0,0,0
$GC,3721,-0.80,-136.7,609.7,-12.5,166,3726,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2113,3847,0,0,0,0,0,0
$GC,3994,-0.80,-136.7,646.0,-13.8,173,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2112,3844,0,0,0,0,0,0
$GC,4239,-0.80,-136.7,679.0,-13.5,179,4243,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3509,3842,0,0,0,0,0,0
$GC,4266,-0.80,-136.7,683.0,-13.6,179,4271,0.12,2.12,0.00,0.000,6,0.170,0.030,2335,2099,3842,0,0,0,0,0,0
$GC,4521,-0.80,-136.7,711.1,-11.0,186,4525,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,688,3840,0,0,0,0,0,0
$GC,4549,-0.80,-136.7,714.2,-11.4,186,4553,0.00,2.17,0.00,0.000,6,0.000,0.041,2328,2111,3839,0,0,0,0,0,0
$GC,4800,-0.80,-136.7,742.8,-11.5,192,4803,0.00,2.20,0.00,0.000,4,0.000,0.050,2313,3507,3837,0,0,0,0,0,0
$GC,4827,-0.80,-136.7,746.1,-12.0,192,4831,0.00,2.15,0.00,0.000,6,0.000,0.029,2316,2099,3837,0,0,0,0,0,0
$GC,5082,-0.80,-136.7,776.1,-11.9,199,5086,0.00,2.12,0.00,0.000,4,0.000,0.041,2316,693,3835,0,0,0,0,0,0
$GC,5123,-0.80,-136.7,781.1,-12.8,200,5128,0.12,2.15,0.00,0.000,6,0.186,0.041,2336,2093,3835,0,0,0,0,0,0
$GC,5406,-0.80,-136.7,810.8,-10.3,207,5410,0.00,2.25,0.00,0.000,4,0.000,0.054,2327,3509,3832,0,0,0,0,0,0
$GC,5434,-0.80,-136.7,813.9,-11.6,207,5438,0.00,2.15,0.00,0.000,6,0.000,0.031,2327,2089,3831,0,0,0,0,0,0
$GC,5685,-0.80,-136.7,841.1,-10.9,213,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2083,3831,0,0,0,0,0,0
$GC,5927,-0.80,-136.7,866.4,-10.2,219,5931,0.00,2.12,0.00,0.000,4,0.000,0.044,2327,703,3830,0,0,0,0,0,0
$GC,5960,-0.80,-136.7,870.2,-10.8,219,5965,0.00,2.15,0.00,0.000,6,0.000,0.040,2316,2112,3829,0,0,0,0,0,0
$GC,6212,-0.80,-136.7,897.9,-11.3,225,6216,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3505,3828,0,0,0,0,0,0
$STATE,6225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6225,begin apogee
$GC,6234,-0.28,0.0,900.1,11.3,225,6349,0.65,0.00,111.57,1.071,6,0.150,0.000,2498,1953,3300,0,0,0,0,0,0
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6354,0.80,136.7,903.2,0.0,228,6480,1.08,0.00,121.68,1.039,6,0.095,0.000,2850,1954,2742,0,0,0,0,0,0
$GC,6703,0.80,136.7,848.6,19.6,237,6707,0.00,2.15,0.00,0.000,4,0.000,0.038,2861,555,2732,0,0,0,0,0,0
$GC,6719,0.80,136.7,844.7,19.8,237,6722,0.00,2.20,0.00,0.000,6,0.000,0.034,2856,1967,2734,0,0,0,0,0,0
$GC,6986,0.80,136.7,790.6,20.3,244,6990,0.00,2.25,0.00,0.000,4,0.000,0.052,2861,3365,2730,0,0,0,0,0,0
$GC,7014,0.80,136.7,784.5,21.2,244,7018,0.00,2.20,0.00,0.000,6,0.000,0.035,2871,1954,2731,0,0,0,0,0,0
$GC,7264,0.80,136.7,732.3,20.9,250,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1953,2729,0,0,0,0,0,0
$GC,7508,0.80,136.7,682.2,20.5,256,7512,0.00,2.28,0.00,0.000,4,0.000,0.050,2871,3373,2728,0,0,0,0,0,0
$GC,7542,0.80,136.7,675.2,22.0,256,7548,0.00,2.20,0.00,0.000,6,0.000,0.031,2882,1953,2728,0,0,0,0,0,0
$GC,7792,0.80,136.7,624.7,20.0,263,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1950,2726,0,0,0,0,0,0
$GC,8035,0.80,136.7,578.1,19.0,269,8039,0.00,2.12,0.00,0.000,4,0.000,0.039,2893,552,2726,0,0,0,0,0,0
$GC,8108,0.80,136.7,563.9,19.2,270,8113,0.17,2.12,0.00,0.000,6,0.193,0.031,2851,1969,2724,0,0,0,0,0,0
$GC,8364,0.80,136.7,521.8,16.4,277,8368,0.00,2.22,0.00,0.000,4,0.000,0.050,2851,3367,2723,0,0,0,0,0,0
$GC,8416,0.80,136.7,513.1,16.4,278,8420,0.00,2.15,0.00,0.000,6,0.000,0.030,2859,1953,2724,0,0,0,0,0,0
$GC,8693,0.80,136.7,468.8,15.5,285,8698,0.00,2.25,0.00,0.000,4,0.000,0.050,2859,3365,2723,0,0,0,0,0,0
$GC,8722,0.80,136.7,464.5,16.1,285,8726,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1961,2723,0,0,0,0,0,0
$GC,8978,0.80,136.7,425.9,15.3,292,8982,0.00,2.15,0.00,0.000,4,0.000,0.038,2881,550,2723,0,0,0,0,0,0
$GC,9051,0.80,136.7,414.7,16.0,293,9055,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,1959,2721,0,0,0,0,0,0
$GC,9302,0.80,136.7,376.9,15.1,299,9306,0.00,2.12,0.00,0.000,4,0.000,0.039,2890,562,2721,0,0,0,0,0,0
$GC,9351,0.80,136.7,369.1,15.6,300,9356,0.15,2.10,0.00,0.000,6,0.193,0.032,2854,1964,2720,0,0,0,0,0,0
$GC,9623,0.80,136.7,334.3,12.8,307,9627,0.00,2.22,0.00,0.000,4,0.000,0.051,2855,3357,2721,0,0,0,0,0,0
$GC,9881,0.80,136.7,294.7,14.6,312,9886,0.00,2.12,0.00,0.000,6,0.000,0.028,2863,1952,2721,0,0,0,0,0,0
$GC,10136,0.80,136.7,261.9,11.7,325,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1950,2720,0,0,0,0,0,0
$GC,10382,0.80,136.7,232.1,12.0,337,10386,0.00,2.08,0.00,0.000,4,0.000,0.038,2874,564,2720,0,0,0,0,0,0
$GC,10443,0.80,136.7,225.1,12.3,339,10449,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,1959,2716,0,0,0,0,0,0
$GC,10701,0.80,136.7,196.9,10.4,353,10705,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3358,2719,0,0,0,0,0,0
$GC,10764,0.80,136.7,190.0,11.5,358,10768,0.12,2.12,0.00,0.000,6,0.202,0.028,2856,1951,2720,0,0,0,0,0,0
$GC,11027,0.80,136.7,161.2,12.3,382,11031,0.00,2.28,0.00,0.000,4,0.000,0.048,2853,3361,2717,0,0,0,0,0,0
$GC,11102,0.80,136.7,152.3,12.3,388,11106,0.00,2.12,0.00,0.000,6,0.000,0.029,2861,1955,2720,0,0,0,0,0,0
$GC,11368,0.84,170.1,129.5,7.2,412,11403,0.00,2.30,25.05,0.533,4,0.000,0.046,2861,3356,2607,0,0,0,0,0,0
$GC,11419,0.84,170.1,125.2,9.1,416,11423,0.00,2.12,0.00,0.000,6,0.000,0.028,2871,1956,2612,0,0,0,0,0,0
$GC,11686,0.84,170.1,97.7,9.6,440,11690,0.00,2.12,0.00,0.000,4,0.000,0.036,2881,553,2605,0,0,0,0,0,0
$GC,11935,0.93,242.4,76.8,5.5,462,12002,0.00,2.15,59.58,0.492,6,0.000,0.031,2881,1962,2311,0,0,0,0,0,0
$GC,12258,0.93,242.4,44.6,10.7,492,12261,0.00,2.15,0.00,0.000,4,0.000,0.039,2890,559,2307,0,0,0,0,0,0
$GC,12335,0.93,242.4,34.7,11.6,498,12342,0.00,2.15,0.00,0.000,6,0.000,0.031,2891,1963,2304,0,0,0,0,0,0
$GC,12603,0.93,242.4,5.9,9.9,543,12612,0.00,2.25,0.00,0.000,4,0.000,0.047,2891,3360,2306,0,0,0,0,0,0
$GC,12621,0.93,242.4,4.1,10.0,545,12628,0.00,2.17,0.00,0.000,6,0.000,0.030,2888,1966,2306,0,0,0,0,0,0
$STATE,12634,end climb,SURFACE_DEPTH_REACHED
$STATE,12634,begin surface coast
$FINISH,0.2,1.009307
$STATE,12663,end surface coast,CONTROL_FINISHED_OK
$STATE,12663,begin surface
$SM_CCo,12695,33.50,0.420,0,0,2075,300.24
$SM_GC,0.91,0.00,0.00,33.50,0.000,0.000,0.420,60,2167,2075,-7.93,1.81,300.24
$IRIDIUM_FIX,1929.80,-15621.06,110313,131329
$TT8_MAMPS,0.247741
$HUMID,1078920635
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253838336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,7742521344
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.326
$10V_AH,9.8,59.330
$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,20.375,134.800,317.875,33.500,0.000,51.529,67.222,412.386,23.750,0.000,12.822,1204.608,9091.459,430.569,2378.002,468.161,33.357,1227.592,0.000,1847.227,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,57.525,1070.732,419.549,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.064,0.000,929.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353624
$DATA_FILE_SIZE,26889,552
$CAP_FILE_SIZE,125578,0
$CFSIZE,260165632,171212800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,213.0,1
$GPS,160911,223706,1934.628,-15621.315,56,1.2,56,9.7