version: 66.07
glider: 513
mission: 7
dive: 477
start: 9 17 111 14 1 25
data:
$ID,513
$MISSION,7
$DIVE,477
$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,-432831.03
$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,69
$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,476
$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
$GPS1,170911,134637,1938.878,-15620.854,27,1.9,27,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-81.3
$GPS2,170911,140026,1938.798,-15620.898,10,1.7,10,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.017,0.239
$KALMAN_X,-66830.6,-1154.6,-415.2,125572.1,4627.5
$KALMAN_Y,-600043.9,886.7,742.9,559695.2,-9270.0
$MHEAD_RNG_PITCHd_Wd,9.4,67826,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.62,0.000,2,0.000,0.000,38,2138,3755,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.1,-6.6,9,115,10.00,2.20,-1.65,0.000,4,0.245,0.063,2320,3476,3862,0,0,0,0,0,0
$GC,301,-0.80,-136.7,78.3,-27.4,31,305,0.00,2.12,0.00,0.000,6,0.000,0.038,2320,2094,3865,0,0,0,0,0,0
$GC,564,-0.80,-136.7,150.5,-24.9,55,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2089,3868,0,0,0,0,0,0
$GC,827,-0.80,-136.7,209.1,-20.3,78,831,0.00,2.10,0.00,0.000,4,0.000,0.042,2320,696,3868,0,0,0,0,0,0
$GC,849,-0.80,-136.7,214.3,-21.6,79,854,0.10,2.10,0.00,0.000,6,0.189,0.043,2333,2073,3868,0,0,0,0,0,0
$GC,1108,-0.80,-136.7,259.7,-16.1,92,1112,0.00,2.28,0.00,0.000,4,0.000,0.050,2324,3509,3868,0,0,0,0,0,0
$GC,1172,-0.80,-136.7,270.1,-15.2,95,1176,0.00,2.15,0.00,0.000,6,0.000,0.031,2324,2092,3870,0,0,0,0,0,0
$GC,1437,-0.80,-136.7,310.0,-15.7,107,1441,0.00,2.25,0.00,0.000,4,0.000,0.053,2315,3513,3871,0,0,0,0,0,0
$GC,1499,-0.80,-136.7,320.8,-15.7,108,1503,0.00,2.15,0.00,0.000,6,0.000,0.031,2314,2096,3871,0,0,0,0,0,0
$GC,1765,-0.80,-136.7,365.3,-17.1,115,1769,0.00,2.10,0.00,0.000,4,0.000,0.040,2314,705,3870,0,0,0,0,0,0
$GC,1804,-0.80,-136.7,372.3,-18.1,116,1809,0.12,2.10,0.00,0.000,6,0.173,0.039,2334,2103,3871,0,0,0,0,0,0
$GC,2089,-0.80,-136.7,411.3,-13.5,123,2093,0.00,2.22,0.00,0.000,4,0.000,0.051,2326,3510,3869,0,0,0,0,0,0
$GC,2150,-0.80,-136.7,420.2,-13.9,124,2154,0.00,2.15,0.00,0.000,6,0.000,0.030,2326,2110,3871,0,0,0,0,0,0
$GC,2416,-0.80,-136.7,456.6,-13.6,131,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2104,3866,0,0,0,0,0,0
$GC,2662,-0.80,-136.7,487.9,-12.7,137,2666,0.00,2.10,0.00,0.000,4,0.000,0.039,2325,697,3864,0,0,0,0,0,0
$GC,2706,-0.80,-136.7,494.4,-13.1,138,2710,0.00,2.12,0.00,0.000,6,0.000,0.041,2316,2097,3863,0,0,0,0,0,0
$GC,2990,-0.80,-136.7,534.7,-14.2,145,2994,0.00,2.25,0.00,0.000,4,0.000,0.051,2306,3512,3860,0,0,0,0,0,0
$GC,3034,-0.80,-136.7,541.4,-14.8,146,3039,0.12,2.12,0.00,0.000,6,0.163,0.031,2333,2097,3860,0,0,0,0,0,0
$GC,3313,-0.80,-136.7,577.8,-13.2,153,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2091,3857,0,0,0,0,0,0
$GC,3555,-0.80,-136.7,607.4,-12.0,159,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2092,3855,0,0,0,0,0,0
$GC,3799,-0.80,-136.7,635.5,-11.4,165,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2092,3856,0,0,0,0,0,0
$GC,4044,-0.80,-136.7,660.5,-10.2,171,4048,0.00,2.28,0.00,0.000,4,0.000,0.054,2328,3516,3850,0,0,0,0,0,0
$GC,4099,-0.80,-136.7,666.2,-10.4,172,4103,0.00,2.15,0.00,0.000,6,0.000,0.033,2325,2103,3850,0,0,0,0,0,0
$GC,4365,-0.80,-136.7,694.2,-10.8,179,4369,0.00,2.12,0.00,0.000,4,0.000,0.039,2328,686,3845,0,0,0,0,0,0
$GC,4407,-0.80,-136.7,698.7,-11.0,180,4411,0.00,2.17,0.00,0.000,6,0.000,0.041,2318,2112,3844,0,0,0,0,0,0
$GC,4690,-0.80,-136.7,733.0,-12.2,187,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2111,3845,0,0,0,0,0,0
$GC,4934,-0.80,-136.7,763.0,-12.3,193,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2111,3843,0,0,0,0,0,0
$GC,5177,-0.80,-136.7,792.6,-12.2,199,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2111,3841,0,0,0,0,0,0
$GC,5423,-0.80,-136.7,822.1,-12.3,205,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2111,3839,0,0,0,0,0,0
$GC,5665,-0.80,-136.7,851.2,-12.0,211,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2111,3838,0,0,0,0,0,0
$GC,5909,-0.80,-136.7,879.5,-11.4,217,5913,0.00,2.22,0.00,0.000,4,0.000,0.054,2306,3504,3836,0,0,0,0,0,0
$GC,5949,-0.80,-136.7,884.2,-12.0,218,5954,0.12,2.15,0.00,0.000,6,0.170,0.031,2337,2092,3834,0,0,0,0,0,0
$STATE,6148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6148,begin apogee
$GC,6156,-0.28,0.0,903.0,9.0,223,6273,0.55,0.00,113.12,1.069,6,0.141,0.000,2503,1930,3301,0,0,0,0,0,0
$STATE,6275,end apogee,CONTROL_FINISHED_OK
$STATE,6275,begin climb
$GC,6278,0.80,136.7,905.1,0.0,226,6404,1.05,0.00,121.88,1.043,6,0.092,0.000,2850,1931,2742,0,0,0,0,0,0
$GC,6636,0.80,136.7,847.3,19.4,235,6640,0.00,2.33,0.00,0.000,4,0.000,0.052,2850,3359,2733,0,0,0,0,0,0
$GC,6685,0.80,136.7,836.9,19.7,236,6689,0.00,2.15,0.00,0.000,6,0.000,0.029,2857,1968,2734,0,0,0,0,0,0
$GC,6958,0.80,136.7,782.8,19.7,243,6962,0.00,2.15,0.00,0.000,4,0.000,0.044,2872,565,2732,0,0,0,0,0,0
$GC,7003,0.80,136.7,773.5,20.5,244,7007,0.00,2.15,0.00,0.000,6,0.000,0.038,2872,1966,2729,0,0,0,0,0,0
$GC,7281,0.80,136.7,718.0,19.6,251,7285,0.00,2.15,0.00,0.000,4,0.000,0.040,2882,562,2729,0,0,0,0,0,0
$GC,7309,0.80,136.7,712.6,19.6,251,7313,0.00,2.12,0.00,0.000,6,0.000,0.035,2882,1959,2727,0,0,0,0,0,0
$GC,7560,0.80,136.7,666.2,18.5,257,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1962,2727,0,0,0,0,0,0
$GC,7803,0.80,136.7,624.6,16.8,263,7807,0.00,2.28,0.00,0.000,4,0.000,0.054,2882,3365,2727,0,0,0,0,0,0
$GC,7859,0.80,136.7,614.6,18.7,264,7863,0.15,2.15,0.00,0.000,6,0.207,0.031,2858,1957,2727,0,0,0,0,0,0
$GC,8130,0.80,136.7,570.2,16.4,271,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2725,0,0,0,0,0,0
$GC,8376,0.80,136.7,531.3,16.2,277,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1956,2725,0,0,0,0,0,0
$GC,8618,0.80,136.7,493.7,15.3,283,8622,0.00,2.28,0.00,0.000,4,0.000,0.049,2855,3374,2725,0,0,0,0,0,0
$GC,8645,0.80,136.7,489.1,16.8,283,8648,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1956,2725,0,0,0,0,0,0
$GC,8902,0.80,136.7,450.6,15.1,290,8905,0.00,2.10,0.00,0.000,4,0.000,0.038,2874,561,2724,0,0,0,0,0,0
$GC,8946,0.80,136.7,443.9,14.9,291,8950,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1970,2722,0,0,0,0,0,0
$GC,9223,0.80,136.7,403.4,14.6,298,9227,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3359,2722,0,0,0,0,0,0
$GC,9303,0.80,136.7,390.4,17.0,299,9309,0.12,2.12,0.00,0.000,6,0.202,0.028,2856,1958,2726,0,0,0,0,0,0
$GC,9552,0.80,136.7,355.8,13.2,306,9556,0.00,2.10,0.00,0.000,4,0.000,0.037,2866,558,2723,0,0,0,0,0,0
$GC,9563,0.80,136.7,354.4,13.1,306,9567,0.00,2.15,0.00,0.000,6,0.000,0.034,2861,1954,2721,0,0,0,0,0,0
$GC,9835,0.80,136.7,318.1,13.2,313,9839,0.00,2.25,0.00,0.000,4,0.000,0.052,2861,3363,2722,0,0,0,0,0,0
$GC,9898,0.80,136.7,309.3,14.0,314,9902,0.00,2.15,0.00,0.000,6,0.000,0.030,2870,1953,2722,0,0,0,0,0,0
$GC,10167,0.80,136.7,273.3,11.4,325,10171,0.00,2.10,0.00,0.000,4,0.000,0.038,2881,564,2720,0,0,0,0,0,0
$GC,10235,0.80,136.7,264.8,12.9,328,10239,0.00,2.10,0.00,0.000,6,0.000,0.033,2886,1956,2721,0,0,0,0,0,0
$GC,10500,0.80,136.7,234.9,10.3,341,10504,0.00,2.28,0.00,0.000,4,0.000,0.051,2881,3368,2720,0,0,0,0,0,0
$GC,10629,0.80,136.7,220.3,10.9,347,10634,0.15,2.15,0.00,0.000,6,0.187,0.031,2855,1959,2720,0,0,0,0,0,0
$GC,10894,0.80,136.7,194.8,9.4,362,10898,0.00,2.10,0.00,0.000,4,0.000,0.038,2864,563,2721,0,0,0,0,0,0
$GC,10936,0.80,136.7,190.7,10.5,365,10940,0.00,2.12,0.00,0.000,6,0.000,0.032,2862,1969,2720,0,0,0,0,0,0
$GC,11203,0.80,136.7,165.5,8.8,389,11207,0.00,2.20,0.00,0.000,4,0.000,0.048,2864,3357,2721,0,0,0,0,0,0
$GC,11246,0.80,141.6,161.4,8.4,392,11255,0.00,2.15,0.00,0.000,6,0.000,0.027,2872,1954,2721,0,0,0,0,0,0
$GC,11513,0.80,141.6,138.4,9.0,417,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1954,2721,0,0,0,0,0,0
$GC,11776,0.87,197.5,119.7,6.2,442,11835,0.00,2.33,47.95,0.516,4,0.000,0.045,2872,3367,2495,0,0,0,0,0,0
$GC,11993,0.87,197.5,96.9,9.7,461,12001,0.00,2.20,0.00,0.000,6,0.000,0.031,2879,1966,2495,0,0,0,0,0,0
$GC,12258,0.87,197.5,74.2,9.1,486,12262,0.00,2.20,0.00,0.000,4,0.000,0.046,2875,3357,2496,0,0,0,0,0,0
$GC,12312,0.87,197.5,67.9,12.4,490,12316,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1946,2493,0,0,0,0,0,0
$GC,12577,0.87,197.5,43.7,8.6,514,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1947,2493,0,0,0,0,0,0
$GC,12847,0.87,197.5,19.0,9.2,549,12854,0.00,2.12,0.00,0.000,4,0.000,0.038,2900,558,2497,0,0,0,0,0,0
$GC,12925,0.87,197.5,11.4,9.0,563,12932,0.00,2.12,0.00,0.000,6,0.000,0.031,2900,1959,2494,0,0,0,0,0,0
$STATE,13008,end climb,SURFACE_DEPTH_REACHED
$STATE,13008,begin surface coast
$FINISH,0.4,1.010426
$STATE,13039,end surface coast,CONTROL_FINISHED_OK
$STATE,13039,begin surface
$SM_CCo,13060,51.42,0.412,0,0,2075,300.24
$SM_GC,1.69,0.00,0.00,51.42,0.000,0.000,0.412,54,2142,2075,-7.95,1.19,300.24
$IRIDIUM_FIX,1929.80,-15622.24,120313,080803
$TT8_MAMPS,0.250042
$HUMID,1078835474
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.60
$XPDR_PINGS,101
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253674496
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,6967787520
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.890
$10V_AH,9.8,59.791
$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,20.125,117.425,282.950,51.425,0.000,59.966,67.408,398.745,25.250,0.000,12.847,1236.215,9407.557,435.879,2396.178,475.669,33.354,1203.564,0.000,1893.519,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,70.564,1069.198,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.349,0.000,995.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30321,583
$CAP_FILE_SIZE,122195,0
$CFSIZE,260165632,170844160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,151.8,1
$GPS,170911,174137,1940.025,-15620.141,38,1.0,39,9.7