version: 66.07
glider: 513
mission: 7
dive: 482
start: 9 18 111 9 25 59
data:
$ID,513
$MISSION,7
$DIVE,482
$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,-432912.16
$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,481
$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
$GPS1,180911,091436,1945.067,-15619.642,37,1.4,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.2
$GPS2,180911,092502,1945.025,-15619.625,14,1.4,14,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010,0.239
$KALMAN_X,-57771.7,-1078.0,-543.0,118774.0,5405.6
$KALMAN_Y,-603983.9,-78.7,532.4,576362.8,-5675.4
$MHEAD_RNG_PITCHd_Wd,0.1,56092,-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,29,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.03,0.000,2,0.000,0.000,40,2131,3746,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.3,-7.3,9,114,10.05,2.22,-1.80,0.000,4,0.245,0.065,2319,3494,3862,0,0,0,0,0,0
$GC,131,-0.80,-136.7,23.7,-49.6,14,139,0.00,2.20,0.00,0.000,6,0.000,0.036,2316,2105,3864,0,0,0,0,0,0
$GC,402,-0.80,-136.7,106.3,-29.7,40,406,0.00,2.20,0.00,0.000,4,0.000,0.044,2319,686,3866,0,0,0,0,0,0
$GC,544,-0.80,-136.7,144.2,-23.0,52,553,0.08,2.17,0.00,0.000,6,0.163,0.044,2331,2069,3868,0,0,0,0,0,0
$GC,811,-0.80,-136.7,197.5,-20.0,77,815,0.00,2.30,0.00,0.000,4,0.000,0.054,2322,3510,3868,0,0,0,0,0,0
$GC,860,-0.80,-136.7,208.4,-18.1,79,864,0.00,2.15,0.00,0.000,6,0.000,0.032,2322,2082,3867,0,0,0,0,0,0
$GC,1115,-0.80,-136.7,254.2,-18.1,91,1119,0.00,2.08,0.00,0.000,4,0.000,0.038,2322,683,3871,0,0,0,0,0,0
$GC,1136,-0.80,-136.7,257.7,-13.9,92,1141,0.00,2.12,0.00,0.000,6,0.000,0.038,2313,2105,3870,0,0,0,0,0,0
$GC,1398,-0.80,-136.7,298.3,-15.7,105,1402,0.00,2.22,0.00,0.000,4,0.000,0.050,2300,3510,3871,0,0,0,0,0,0
$GC,1442,-0.80,-136.7,306.3,-17.1,107,1447,0.15,2.12,0.00,0.000,6,0.161,0.031,2340,2093,3871,0,0,0,0,0,0
$GC,1719,-0.80,-136.7,346.7,-14.5,114,1723,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3505,3871,0,0,0,0,0,0
$GC,1776,-0.80,-136.7,355.1,-14.9,115,1780,0.00,2.10,0.00,0.000,6,0.000,0.030,2333,2102,3870,0,0,0,0,0,0
$GC,2049,-0.80,-136.7,394.3,-14.1,122,2052,0.00,2.12,0.00,0.000,4,0.000,0.038,2331,693,3870,0,0,0,0,0,0
$GC,2138,-0.80,-136.7,406.3,-13.1,124,2142,0.00,2.15,0.00,0.000,6,0.000,0.040,2321,2108,3869,0,0,0,0,0,0
$GC,2417,-0.80,-136.7,446.1,-14.9,131,2421,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3516,3869,0,0,0,0,0,0
$GC,2445,-0.80,-136.7,450.6,-15.6,131,2449,0.12,2.12,0.00,0.000,6,0.160,0.031,2342,2100,3866,0,0,0,0,0,0
$GC,2695,-0.80,-136.7,483.7,-13.1,137,2699,0.00,2.10,0.00,0.000,4,0.000,0.039,2342,701,3864,0,0,0,0,0,0
$GC,2723,-0.80,-136.7,487.5,-13.2,137,2727,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2105,3862,0,0,0,0,0,0
$GC,2979,-0.80,-136.7,521.9,-13.4,144,2983,0.00,2.20,0.00,0.000,4,0.000,0.052,2329,3505,3860,0,0,0,0,0,0
$GC,3006,-0.80,-136.7,525.8,-14.2,144,3010,0.00,2.12,0.00,0.000,6,0.000,0.031,2323,2099,3861,0,0,0,0,0,0
$GC,3256,-0.80,-136.7,559.9,-13.7,150,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2092,3857,0,0,0,0,0,0
$GC,3501,-0.80,-136.7,592.3,-13.2,156,3505,0.00,2.12,0.00,0.000,4,0.000,0.041,2323,700,3856,0,0,0,0,0,0
$GC,3539,-0.80,-136.7,597.9,-14.2,156,3545,0.00,2.15,0.00,0.000,6,0.000,0.041,2313,2094,3856,0,0,0,0,0,0
$GC,3789,-0.80,-136.7,631.4,-13.5,163,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2094,3854,0,0,0,0,0,0
$GC,4033,-0.80,-136.7,665.2,-14.0,169,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2094,3851,0,0,0,0,0,0
$GC,4278,-0.80,-136.7,698.9,-13.9,175,4282,0.00,2.25,0.00,0.000,4,0.000,0.054,2301,3511,3849,0,0,0,0,0,0
$GC,4310,-0.80,-136.7,704.0,-14.5,175,4316,0.15,2.15,0.00,0.000,6,0.162,0.033,2341,2100,3848,0,0,0,0,0,0
$GC,4560,-0.80,-136.7,734.8,-12.3,182,4564,0.00,2.12,0.00,0.000,4,0.000,0.041,2341,688,3846,0,0,0,0,0,0
$GC,4602,-0.80,-136.7,739.6,-12.0,183,4606,0.00,2.17,0.00,0.000,6,0.000,0.041,2333,2114,3846,0,0,0,0,0,0
$GC,4887,-0.80,-136.7,774.3,-12.2,190,4891,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3507,3844,0,0,0,0,0,0
$GC,4936,-0.80,-136.7,780.8,-12.3,191,4940,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2091,3841,0,0,0,0,0,0
$GC,5210,-0.80,-136.7,813.6,-11.9,198,5214,0.00,2.12,0.00,0.000,4,0.000,0.043,2322,695,3842,0,0,0,0,0,0
$GC,5265,-0.80,-136.7,820.4,-12.1,199,5269,0.00,2.15,0.00,0.000,6,0.000,0.043,2311,2094,3842,0,0,0,0,0,0
$GC,5531,-0.80,-136.7,852.4,-12.1,206,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2094,3839,0,0,0,0,0,0
$GC,5776,-0.80,-136.7,881.8,-12.1,212,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2091,3838,0,0,0,0,0,0
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5942,-0.28,0.0,901.4,12.1,216,6058,0.65,0.00,113.60,1.067,6,0.147,0.000,2502,1928,3301,0,0,0,0,0,0
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6064,0.80,136.7,905.6,0.0,219,6192,1.02,0.00,120.38,1.039,6,0.094,0.000,2845,1928,2744,0,0,0,0,0,0
$GC,6430,0.80,136.7,851.9,18.0,228,6434,0.00,2.33,0.00,0.000,4,0.000,0.051,2845,3369,2735,0,0,0,0,0,0
$GC,6446,0.80,136.7,848.7,18.4,228,6450,0.00,2.15,0.00,0.000,6,0.000,0.029,2855,1974,2734,0,0,0,0,0,0
$GC,6708,0.80,136.7,800.0,18.6,235,6712,0.00,2.17,0.00,0.000,4,0.000,0.041,2866,564,2732,0,0,0,0,0,0
$GC,6763,0.80,136.7,789.2,18.9,236,6767,0.00,2.15,0.00,0.000,6,0.000,0.034,2867,1971,2731,0,0,0,0,0,0
$GC,7029,0.80,136.7,740.1,18.6,243,7033,0.00,2.28,0.00,0.000,4,0.000,0.052,2867,3374,2730,0,0,0,0,0,0
$GC,7116,0.80,136.7,723.4,19.9,245,7120,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1953,2730,0,0,0,0,0,0
$GC,7400,0.80,136.7,670.0,18.7,252,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1947,2729,0,0,0,0,0,0
$GC,7644,0.80,136.7,626.4,17.9,258,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1945,2728,0,0,0,0,0,0
$GC,7889,0.80,136.7,583.6,17.5,264,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1948,2727,0,0,0,0,0,0
$GC,8131,0.80,136.7,543.9,16.3,270,8135,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,556,2727,0,0,0,0,0,0
$GC,8163,0.80,136.7,538.7,15.5,270,8170,0.12,2.15,0.00,0.000,6,0.197,0.034,2860,1969,2724,0,0,0,0,0,0
$GC,8414,0.80,136.7,501.8,14.7,277,8418,0.00,2.22,0.00,0.000,4,0.000,0.050,2859,3357,2724,0,0,0,0,0,0
$GC,8431,0.80,136.7,499.1,15.1,277,8435,0.00,2.15,0.00,0.000,6,0.000,0.029,2868,1955,2725,0,0,0,0,0,0
$GC,8697,0.80,136.7,457.3,15.8,284,8701,0.00,2.25,0.00,0.000,4,0.000,0.048,2864,3361,2724,0,0,0,0,0,0
$GC,8757,0.80,136.7,446.7,17.3,285,8762,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1952,2724,0,0,0,0,0,0
$GC,9020,0.80,136.7,405.7,15.5,292,9024,0.00,2.25,0.00,0.000,4,0.000,0.047,2878,3359,2722,0,0,0,0,0,0
$GC,9069,0.80,136.7,396.4,17.8,293,9074,0.15,2.12,0.00,0.000,6,0.199,0.029,2853,1956,2724,0,0,0,0,0,0
$GC,9341,0.80,136.7,356.9,14.0,300,9345,0.00,2.10,0.00,0.000,4,0.000,0.037,2863,562,2723,0,0,0,0,0,0
$GC,9376,0.80,136.7,351.7,14.6,300,9382,0.00,2.10,0.00,0.000,6,0.000,0.031,2861,1961,2722,0,0,0,0,0,0
$GC,9626,0.80,136.7,314.3,14.9,307,9630,0.00,2.22,0.00,0.000,4,0.000,0.050,2861,3358,2722,0,0,0,0,0,0
$GC,9720,0.80,136.7,299.5,15.7,309,9724,0.00,2.12,0.00,0.000,6,0.000,0.030,2870,1956,2722,0,0,0,0,0,0
$GC,9983,0.80,136.7,268.2,11.3,321,9987,0.00,2.25,0.00,0.000,4,0.000,0.047,2870,3371,2722,0,0,0,0,0,0
$GC,10235,0.80,136.7,236.5,13.1,332,10239,0.00,2.12,0.00,0.000,6,0.000,0.028,2879,1959,2722,0,0,0,0,0,0
$GC,10490,0.80,136.7,208.2,10.9,344,10494,0.00,2.10,0.00,0.000,4,0.000,0.037,2891,561,2720,0,0,0,0,0,0
$GC,10721,0.80,136.7,184.6,8.7,361,10726,0.15,2.10,0.00,0.000,6,0.181,0.031,2854,1968,2720,0,0,0,0,0,0
$GC,10989,0.80,136.7,160.5,8.8,386,10993,0.00,2.15,0.00,0.000,4,0.000,0.035,2863,559,2722,0,0,0,0,0,0
$GC,11064,0.83,165.1,154.7,7.4,392,11092,0.00,2.10,21.60,0.543,6,0.000,0.031,2863,1965,2627,0,0,0,0,0,0
$GC,11356,0.83,165.1,125.7,10.2,419,11360,0.00,2.12,0.00,0.000,4,0.000,0.036,2873,562,2624,0,0,0,0,0,0
$GC,11399,0.83,165.1,121.5,10.1,422,11403,0.00,2.10,0.00,0.000,6,0.000,0.030,2873,1960,2623,0,0,0,0,0,0
$GC,11669,0.91,232.6,100.5,5.7,447,11731,0.00,2.30,55.65,0.507,4,0.000,0.049,2874,3354,2352,0,0,0,0,0,0
$GC,11822,0.91,232.6,86.7,11.2,460,11826,0.00,2.15,0.00,0.000,6,0.000,0.029,2879,1954,2351,0,0,0,0,0,0
$GC,12088,0.91,232.6,56.7,11.8,484,12092,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,559,2349,0,0,0,0,0,0
$GC,12209,0.91,232.6,42.3,10.4,494,12217,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,1959,2348,0,0,0,0,0,0
$GC,12474,0.91,232.6,11.6,10.7,533,12482,0.00,2.22,0.00,0.000,4,0.000,0.046,2888,3353,2349,0,0,0,0,0,0
$GC,12518,0.91,232.6,6.5,11.5,540,12527,0.00,2.15,0.00,0.000,6,0.000,0.028,2890,1958,2349,0,0,0,0,0,0
$STATE,12550,end climb,SURFACE_DEPTH_REACHED
$STATE,12550,begin surface coast
$FINISH,0.3,1.022639
$STATE,12578,end surface coast,CONTROL_FINISHED_OK
$STATE,12578,begin surface
$SM_CCo,12598,33.97,0.412,0,0,2075,300.98
$SM_GC,1.76,0.00,0.00,33.97,0.000,0.000,0.412,54,2136,2075,-7.95,0.99,300.98
$IRIDIUM_FIX,1936.66,-15619.22,120313,232358
$TT8_MAMPS,0.306033
$HUMID,1078914184
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253510656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,6202556416
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,65.457
$10V_AH,9.8,60.254
$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,20.225,134.625,311.225,33.975,0.000,25.678,36.657,317.188,25.000,0.000,16.168,1206.458,8911.824,409.782,2276.827,461.531,33.357,1234.422,0.000,1889.442,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,65.195,1066.897,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.664,0.000,922.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,26935,550
$CAP_FILE_SIZE,123566,0
$CFSIZE,260165632,170467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,210.2,1
$GPS,180911,125836,1946.546,-15619.465,56,1.3,62,9.7