version: 66.07
glider: 513
mission: 7
dive: 474
start: 9 17 111 2 35 53
data:
$ID,513
$MISSION,7
$DIVE,474
$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,-432786.12
$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,45
$R_STBD_OVSHOOT,53
$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,473
$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
$GPS1,170911,022515,1935.716,-15621.390,89,1.6,97,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.3
$GPS2,170911,023456,1935.636,-15621.428,9,1.7,9,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.158,0.180
$KALMAN_X,-71021.0,-652.2,841.4,127041.0,2327.7
$KALMAN_Y,-594062.7,646.6,1198.3,547627.8,-10210.1
$MHEAD_RNG_PITCHd_Wd,12.2,73753,-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,26,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-51.12,0.000,2,0.000,0.000,39,2120,3554,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.4,-5.6,8,108,10.02,2.20,-5.32,0.000,4,0.245,0.051,2337,690,3859,0,0,0,0,0,0
$GC,205,-0.80,-136.7,46.4,-29.1,24,209,0.00,2.15,0.00,0.000,6,0.000,0.044,2329,2082,3861,0,0,0,0,0,0
$GC,474,-0.80,-136.7,125.8,-26.3,49,478,0.00,2.28,0.00,0.000,4,0.000,0.050,2318,3525,3863,0,0,0,0,0,0
$GC,548,-0.80,-136.7,142.9,-22.9,55,552,0.00,2.17,0.00,0.000,6,0.000,0.031,2318,2096,3864,0,0,0,0,0,0
$GC,821,-0.80,-136.7,206.1,-21.5,79,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2087,3866,0,0,0,0,0,0
$GC,1067,-0.80,-136.7,254.2,-19.0,91,1071,0.00,2.08,0.00,0.000,4,0.000,0.041,2317,694,3867,0,0,0,0,0,0
$GC,1096,-0.80,-136.7,259.6,-19.5,92,1100,0.10,2.15,0.00,0.000,6,0.187,0.043,2333,2106,3868,0,0,0,0,0,0
$GC,1350,-0.80,-136.7,300.8,-17.1,104,1354,0.00,2.20,0.00,0.000,4,0.000,0.049,2324,3514,3867,0,0,0,0,0,0
$GC,1394,-0.80,-136.7,308.8,-16.3,105,1398,0.00,2.12,0.00,0.000,6,0.000,0.030,2324,2094,3868,0,0,0,0,0,0
$GC,1674,-0.80,-136.7,353.8,-16.2,112,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2089,3867,0,0,0,0,0,0
$GC,1915,-0.80,-136.7,393.9,-16.5,118,1919,0.00,2.28,0.00,0.000,4,0.000,0.048,2313,3525,3867,0,0,0,0,0,0
$GC,1948,-0.80,-136.7,399.5,-16.0,118,1952,0.00,2.15,0.00,0.000,6,0.000,0.031,2313,2101,3867,0,0,0,0,0,0
$GC,2200,-0.80,-136.7,438.2,-15.6,124,2204,0.00,2.10,0.00,0.000,4,0.000,0.040,2313,700,3865,0,0,0,0,0,0
$GC,2228,-0.80,-136.7,443.0,-15.6,124,2233,0.12,2.15,0.00,0.000,6,0.174,0.040,2333,2123,3865,0,0,0,0,0,0
$GC,2483,-0.80,-136.7,473.3,-11.7,131,2487,0.00,2.20,0.00,0.000,4,0.000,0.048,2325,3512,3864,0,0,0,0,0,0
$GC,2517,-0.80,-136.7,477.5,-13.0,131,2524,0.00,2.15,0.00,0.000,6,0.000,0.030,2325,2092,3862,0,0,0,0,0,0
$GC,2767,-0.80,-136.7,510.5,-13.4,138,2771,0.00,2.08,0.00,0.000,4,0.000,0.039,2325,699,3860,0,0,0,0,0,0
$GC,2805,-0.80,-136.7,515.9,-14.1,138,2811,0.00,2.15,0.00,0.000,6,0.000,0.040,2314,2109,3860,0,0,0,0,0,0
$GC,3055,-0.80,-136.7,550.5,-13.9,145,3059,0.00,2.22,0.00,0.000,4,0.000,0.050,2303,3506,3857,0,0,0,0,0,0
$GC,3106,-0.80,-136.7,557.7,-14.7,146,3110,0.12,2.12,0.00,0.000,6,0.167,0.031,2335,2098,3857,0,0,0,0,0,0
$GC,3377,-0.80,-136.7,589.9,-11.5,153,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2093,3854,0,0,0,0,0,0
$GC,3621,-0.80,-136.7,618.1,-11.7,159,3625,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,698,3852,0,0,0,0,0,0
$GC,3655,-0.80,-136.7,622.4,-12.6,159,3661,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2101,3851,0,0,0,0,0,0
$GC,3905,-0.80,-136.7,654.5,-12.8,166,3909,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3506,3849,0,0,0,0,0,0
$GC,3926,-0.80,-136.7,657.4,-13.2,166,3930,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2090,3848,0,0,0,0,0,0
$GC,4181,-0.80,-136.7,692.2,-13.8,173,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2086,3846,0,0,0,0,0,0
$GC,4426,-0.80,-136.7,726.0,-14.2,179,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2086,3844,0,0,0,0,0,0
$GC,4668,-0.80,-136.7,759.6,-13.8,185,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2086,3842,0,0,0,0,0,0
$GC,4912,-0.80,-136.7,790.0,-12.3,191,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2086,3839,0,0,0,0,0,0
$GC,5156,-0.80,-136.7,818.3,-11.4,197,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2087,3838,0,0,0,0,0,0
$GC,5401,-0.80,-136.7,844.7,-10.9,203,5405,0.00,2.30,0.00,0.000,4,0.000,0.053,2303,3506,3836,0,0,0,0,0,0
$GC,5441,-0.80,-136.7,849.1,-11.5,204,5446,0.12,2.15,0.00,0.000,6,0.171,0.031,2336,2098,3833,0,0,0,0,0,0
$GC,5724,-0.80,-136.7,876.3,-9.6,211,5728,0.00,2.15,0.00,0.000,4,0.000,0.044,2337,700,3834,0,0,0,0,0,0
$GC,5758,-0.80,-136.7,879.8,-10.7,211,5764,0.00,2.17,0.00,0.000,6,0.000,0.042,2326,2101,3834,0,0,0,0,0,0
$STATE,5965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5965,begin apogee
$GC,5971,-0.28,0.0,902.6,11.1,217,6089,0.57,0.00,112.50,1.071,6,0.144,0.000,2502,1917,3302,0,0,0,0,0,0
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6094,0.80,136.7,907.1,0.0,220,6228,1.05,2.22,120.78,1.043,4,0.096,0.038,2855,594,2741,0,0,0,0,0,0
$GC,6263,0.80,136.7,890.3,16.5,224,6267,0.00,2.17,0.00,0.000,6,0.000,0.033,2856,1965,2736,0,0,0,0,0,0
$GC,6547,0.80,136.7,840.2,17.9,231,6551,0.00,2.30,0.00,0.000,4,0.000,0.052,2856,3369,2732,0,0,0,0,0,0
$GC,6575,0.80,136.7,834.6,18.8,231,6579,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1990,2732,0,0,0,0,0,0
$GC,6825,0.80,136.7,788.9,18.3,237,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1988,2732,0,0,0,0,0,0
$GC,7069,0.80,136.7,744.3,18.1,243,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1988,2730,0,0,0,0,0,0
$GC,7314,0.80,136.7,699.7,18.5,249,7318,0.00,2.17,0.00,0.000,4,0.000,0.039,2876,557,2728,0,0,0,0,0,0
$GC,7347,0.80,136.7,692.7,20.2,249,7352,0.00,2.12,0.00,0.000,6,0.000,0.034,2877,1958,2724,0,0,0,0,0,0
$GC,7599,0.80,136.7,644.5,19.4,256,7603,0.00,2.28,0.00,0.000,4,0.000,0.051,2876,3374,2725,0,0,0,0,0,0
$GC,7620,0.80,136.7,639.6,20.6,256,7625,0.12,2.17,0.00,0.000,6,0.208,0.030,2859,1946,2726,0,0,0,0,0,0
$GC,7882,0.80,136.7,593.0,17.8,263,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1945,2725,0,0,0,0,0,0
$GC,8124,0.80,136.7,551.6,16.7,269,8128,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,550,2725,0,0,0,0,0,0
$GC,8174,0.80,136.7,543.0,17.3,270,8178,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1966,2723,0,0,0,0,0,0
$GC,8448,0.80,136.7,500.0,15.6,277,8452,0.00,2.25,0.00,0.000,4,0.000,0.051,2868,3363,2723,0,0,0,0,0,0
$GC,8475,0.80,136.7,495.2,16.1,277,8479,0.00,2.15,0.00,0.000,6,0.000,0.031,2873,1959,2723,0,0,0,0,0,0
$GC,8725,0.80,136.7,455.4,15.6,283,8729,0.00,2.28,0.00,0.000,4,0.000,0.050,2876,3376,2723,0,0,0,0,0,0
$GC,8765,0.80,136.7,448.9,16.3,283,8772,0.12,2.17,0.00,0.000,6,0.205,0.031,2857,1963,2723,0,0,0,0,0,0
$GC,9015,0.80,136.7,410.7,15.6,290,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1959,2724,0,0,0,0,0,0
$GC,9259,0.80,136.7,373.7,14.8,296,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1959,2722,0,0,0,0,0,0
$GC,9502,0.80,136.7,338.9,14.4,302,9506,0.00,2.28,0.00,0.000,4,0.000,0.048,2854,3372,2722,0,0,0,0,0,0
$GC,9564,0.80,136.7,330.1,14.7,303,9568,0.00,2.20,0.00,0.000,6,0.000,0.030,2863,1947,2723,0,0,0,0,0,0
$GC,9824,0.80,136.7,296.5,12.8,310,9828,0.00,2.10,0.00,0.000,4,0.000,0.038,2874,549,2721,0,0,0,0,0,0
$GC,9925,0.80,136.7,284.7,12.4,314,9930,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1970,2721,0,0,0,0,0,0
$GC,10180,0.80,136.7,254.7,11.5,327,10184,0.00,2.25,0.00,0.000,4,0.000,0.050,2874,3364,2720,0,0,0,0,0,0
$GC,10358,0.80,136.7,234.4,11.1,335,10363,0.12,2.15,0.00,0.000,6,0.199,0.030,2856,1955,2721,0,0,0,0,0,0
$GC,10619,0.80,136.7,210.8,9.3,348,10623,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,555,2720,0,0,0,0,0,0
$GC,10874,0.80,136.7,183.2,11.2,366,10882,0.00,2.15,0.00,0.000,6,0.000,0.034,2863,1960,2719,0,0,0,0,0,0
$GC,11139,0.80,136.7,160.1,9.0,391,11143,0.00,2.10,0.00,0.000,4,0.000,0.037,2869,555,2720,0,0,0,0,0,0
$GC,11311,0.80,136.7,145.6,9.1,406,11315,0.00,2.10,0.00,0.000,6,0.000,0.034,2871,1961,2720,0,0,0,0,0,0
$GC,11576,0.81,148.8,124.4,8.1,430,11589,0.00,2.25,7.88,0.453,4,0.000,0.045,2872,3366,2694,0,0,0,0,0,0
$GC,11672,0.81,148.8,115.3,9.6,438,11681,0.00,2.17,0.00,0.000,6,0.000,0.028,2881,1960,2694,0,0,0,0,0,0
$GC,11937,0.88,208.7,97.3,6.0,463,11998,0.00,2.17,50.85,0.499,4,0.000,0.039,2882,572,2447,0,0,0,0,0,0
$GC,12050,0.88,208.7,87.1,11.8,472,12057,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,1967,2445,0,0,0,0,0,0
$GC,12317,0.91,226.8,62.2,7.8,497,12341,0.00,2.28,15.65,0.443,4,0.000,0.047,2881,3358,2375,0,0,0,0,0,0
$GC,12586,0.91,226.8,33.3,10.5,521,12590,0.00,2.12,0.00,0.000,6,0.000,0.029,2881,1964,2376,0,0,0,0,0,0
$GC,12849,0.94,251.2,8.5,7.5,566,12877,0.00,2.15,21.40,0.410,4,0.000,0.036,2879,566,2275,0,0,0,0,0,0
$STATE,12921,end climb,SURFACE_DEPTH_REACHED
$STATE,12922,begin surface coast
$FINISH,0.5,1.022542
$STATE,12959,end surface coast,CONTROL_FINISHED_OK
$STATE,12959,begin surface
$SM_CCo,12981,28.35,0.407,0,0,2075,300.24
$SM_GC,1.01,0.00,0.00,28.35,0.000,0.000,0.407,55,2113,2075,-7.95,0.37,300.24
$IRIDIUM_FIX,1929.80,-15555.51,110313,171747
$TT8_MAMPS,0.309868
$HUMID,1078865152
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.50
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253772800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,7438958592
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.551
$10V_AH,9.8,59.514
$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,20.175,126.425,329.050,28.350,0.000,24.460,34.796,283.939,23.750,0.000,11.526,1233.082,9215.848,417.082,2279.723,452.425,33.359,1237.279,0.000,1931.901,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,56.758,1071.499,406.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.228,0.000,1018.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353632
$DATA_FILE_SIZE,30289,584
$CAP_FILE_SIZE,121469,0
$CFSIZE,260165632,171065344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,175.7,1
$GPS,170911,061437,1936.515,-15620.751,53,1.6,53,9.7