version: 66.07
glider: 513
mission: 7
dive: 488
start: 9 19 111 9 1 36
data:
$ID,513
$MISSION,7
$DIVE,488
$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,-433024.66
$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,45
$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,487
$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
$GPS1,190911,084355,1954.175,-15617.710,51,1.2,51,9.7
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.1
$GPS2,190911,090037,1954.246,-15617.652,12,1.7,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,0.238
$KALMAN_X,-45215.8,-648.1,-90.4,108737.8,7916.7
$KALMAN_Y,-609294.8,372.7,487.0,598327.4,-3174.0
$MHEAD_RNG_PITCHd_Wd,344.0,38712,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.00,0.000,2,0.000,0.000,39,2113,3537,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.3,-5.0,8,108,10.02,2.25,-5.70,0.000,4,0.245,0.066,2322,3503,3859,0,0,0,0,0,0
$GC,192,-0.80,-136.7,41.3,-30.2,23,196,0.00,2.15,0.00,0.000,6,0.000,0.037,2323,2104,3861,0,0,0,0,0,0
$GC,457,-0.80,-136.7,118.0,-27.1,47,461,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,698,3863,0,0,0,0,0,0
$GC,509,-0.80,-136.7,130.9,-22.6,51,514,0.10,2.12,0.00,0.000,6,0.192,0.044,2334,2088,3863,0,0,0,0,0,0
$GC,774,-0.80,-136.7,185.7,-21.5,75,778,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3518,3865,0,0,0,0,0,0
$GC,795,-0.80,-136.7,189.7,-19.8,76,799,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2099,3867,0,0,0,0,0,0
$GC,1049,-0.80,-136.7,238.6,-17.9,90,1053,0.00,2.12,0.00,0.000,4,0.000,0.041,2326,699,3865,0,0,0,0,0,0
$GC,1122,-0.80,-136.7,250.1,-13.8,93,1126,0.00,2.15,0.00,0.000,6,0.000,0.043,2315,2110,3865,0,0,0,0,0,0
$GC,1377,-0.80,-136.7,286.0,-15.0,105,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2109,3866,0,0,0,0,0,0
$GC,1641,-0.80,-136.7,328.4,-16.3,114,1645,0.00,2.20,0.00,0.000,4,0.000,0.049,2304,3509,3865,0,0,0,0,0,0
$GC,1713,-0.80,-136.7,340.6,-15.8,115,1718,0.12,2.12,0.00,0.000,6,0.160,0.031,2339,2092,3866,0,0,0,0,0,0
$GC,1964,-0.80,-136.7,374.9,-13.7,121,1968,0.00,2.08,0.00,0.000,4,0.000,0.038,2336,698,3865,0,0,0,0,0,0
$GC,1992,-0.80,-136.7,379.1,-14.4,121,1996,0.00,2.12,0.00,0.000,6,0.000,0.038,2328,2108,3865,0,0,0,0,0,0
$GC,2248,-0.80,-136.7,412.6,-13.1,128,2252,0.00,2.20,0.00,0.000,4,0.000,0.049,2317,3509,3863,0,0,0,0,0,0
$GC,2388,-0.80,-136.7,430.9,-12.3,131,2392,0.00,2.12,0.00,0.000,6,0.000,0.030,2316,2101,3861,0,0,0,0,0,0
$GC,2661,-0.80,-136.7,467.3,-13.9,138,2665,0.00,2.10,0.00,0.000,4,0.000,0.038,2317,701,3859,0,0,0,0,0,0
$GC,2690,-0.80,-136.7,471.7,-15.3,138,2695,0.12,2.12,0.00,0.000,6,0.182,0.038,2337,2109,3858,0,0,0,0,0,0
$GC,2940,-0.80,-136.7,506.5,-14.2,144,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2109,3856,0,0,0,0,0,0
$GC,3184,-0.80,-136.7,539.1,-13.0,150,3188,0.00,2.20,0.00,0.000,4,0.000,0.051,2328,3513,3854,0,0,0,0,0,0
$GC,3217,-0.80,-136.7,543.4,-12.7,150,3222,0.00,2.15,0.00,0.000,6,0.000,0.030,2328,2092,3853,0,0,0,0,0,0
$GC,3468,-0.80,-136.7,574.8,-12.6,157,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2086,3851,0,0,0,0,0,0
$GC,3710,-0.80,-136.7,605.0,-12.3,163,3714,0.00,2.10,0.00,0.000,4,0.000,0.041,2328,702,3849,0,0,0,0,0,0
$GC,3738,-0.80,-136.7,608.8,-13.2,163,3742,0.00,2.12,0.00,0.000,6,0.000,0.040,2318,2104,3849,0,0,0,0,0,0
$GC,3995,-0.80,-136.7,642.7,-13.4,170,3999,0.00,2.15,0.00,0.000,4,0.000,0.042,2318,702,3846,0,0,1,0,0,0
$GC,4090,-0.80,-136.7,656.4,-13.5,172,4095,0.12,2.15,0.00,0.000,6,0.183,0.041,2338,2094,3845,0,0,0,0,0,0
$GC,4362,-0.80,-136.7,689.7,-12.1,179,4366,0.00,2.25,0.00,0.000,4,0.000,0.054,2329,3510,3842,0,0,0,0,0,0
$GC,4385,-0.80,-136.7,692.5,-13.0,179,4389,0.00,2.15,0.00,0.000,6,0.000,0.032,2329,2093,3838,0,0,0,0,0,0
$GC,4646,-0.80,-136.7,724.7,-12.1,186,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2086,3839,0,0,0,0,0,0
$GC,4891,-0.80,-136.7,754.1,-12.1,192,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2088,3838,0,0,0,0,0,0
$GC,5133,-0.80,-136.7,783.7,-12.2,198,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2087,3836,0,0,0,0,0,0
$GC,5379,-0.80,-136.7,813.0,-12.0,204,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2088,3834,0,0,0,0,0,0
$GC,5620,-0.80,-136.7,841.1,-11.6,210,5624,0.00,2.12,0.00,0.000,4,0.000,0.043,2329,696,3831,0,0,0,0,0,0
$GC,5648,-0.80,-136.7,844.4,-11.6,210,5652,0.00,2.17,0.00,0.000,6,0.000,0.041,2318,2106,3832,0,0,0,0,0,0
$GC,5903,-0.80,-136.7,873.0,-11.2,217,5907,0.00,2.17,0.00,0.000,4,0.000,0.044,2318,699,3830,0,0,0,0,0,0
$GC,5926,-0.80,-136.7,875.5,-12.0,217,5930,0.12,2.15,0.00,0.000,6,0.182,0.041,2338,2098,3830,0,0,0,0,0,0
$STATE,6184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6184,begin apogee
$GC,6191,-0.28,0.0,900.4,9.5,224,6306,0.55,0.00,112.15,1.067,6,0.141,0.000,2502,1930,3301,0,0,0,0,0,0
$STATE,6309,end apogee,CONTROL_FINISHED_OK
$STATE,6309,begin climb
$GC,6313,0.80,136.7,902.9,0.0,227,6440,1.02,0.00,120.68,1.036,6,0.094,0.000,2846,1929,2743,0,0,0,0,0,0
$GC,6719,0.80,136.7,841.5,17.6,237,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1930,2733,0,0,0,0,0,0
$GC,6964,0.80,136.7,798.9,17.5,243,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1930,2732,0,0,0,0,0,0
$GC,7206,0.80,136.7,755.5,17.6,249,7210,0.00,2.33,0.00,0.000,4,0.000,0.053,2846,3372,2730,0,0,0,0,0,0
$GC,7267,0.80,136.7,743.8,18.6,250,7272,0.00,2.15,0.00,0.000,6,0.000,0.031,2856,1974,2731,0,0,0,0,0,0
$GC,7536,0.80,136.7,697.1,17.2,257,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1971,2729,0,0,0,0,0,0
$GC,7778,0.80,136.7,653.6,17.8,263,7782,0.00,2.15,0.00,0.000,4,0.000,0.039,2868,559,2728,0,0,0,0,0,0
$GC,7850,0.80,136.7,640.4,19.2,264,7854,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1963,2725,0,0,0,0,0,0
$GC,8100,0.80,136.7,594.8,18.2,270,8104,0.00,2.22,0.00,0.000,4,0.000,0.052,2868,3360,2724,0,0,0,0,0,0
$GC,8162,0.80,136.7,583.1,19.7,271,8166,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1961,2726,0,0,0,0,0,0
$GC,8423,0.80,136.7,536.5,17.4,278,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1960,2725,0,0,0,0,0,0
$GC,8668,0.80,136.7,495.9,16.2,284,8672,0.00,2.28,0.00,0.000,4,0.000,0.051,2878,3372,2725,0,0,0,0,0,0
$GC,8696,0.80,136.7,491.3,16.1,284,8701,0.15,2.15,0.00,0.000,6,0.196,0.031,2851,1959,2725,0,0,0,0,0,0
$GC,8946,0.80,136.7,455.6,14.1,290,8950,0.00,2.12,0.00,0.000,4,0.000,0.038,2862,559,2728,0,0,0,0,0,0
$GC,9024,0.80,136.7,443.9,14.6,291,9028,0.00,2.12,0.00,0.000,6,0.000,0.033,2859,1967,2723,0,0,0,0,0,0
$GC,9276,0.80,136.7,409.4,13.9,297,9280,0.00,2.15,0.00,0.000,4,0.000,0.038,2868,556,2723,0,0,0,0,0,0
$GC,9321,0.80,136.7,402.7,15.1,298,9325,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,1966,2722,0,0,0,0,0,0
$GC,9610,0.80,136.7,357.9,15.5,305,9614,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3364,2721,0,0,0,0,0,0
$GC,9867,0.80,136.7,313.9,16.1,310,9873,0.00,2.15,0.00,0.000,6,0.000,0.028,2878,1955,2722,0,0,0,0,0,0
$GC,10120,0.80,136.7,278.8,14.1,320,10124,0.00,2.25,0.00,0.000,4,0.000,0.049,2876,3364,2722,0,0,0,0,0,0
$GC,10378,0.80,136.7,241.6,13.2,331,10385,0.12,2.15,0.00,0.000,6,0.198,0.030,2859,1954,2722,0,0,0,0,0,0
$GC,10633,0.80,136.7,215.9,9.8,344,10637,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,568,2721,0,0,0,0,0,0
$GC,10689,0.80,136.7,209.7,10.0,346,10694,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1966,2722,0,0,0,0,0,0
$GC,10949,0.80,136.7,183.1,9.4,366,10953,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3362,2721,0,0,0,0,0,0
$GC,10992,0.80,136.7,179.2,9.9,369,10996,0.00,2.10,0.00,0.000,6,0.000,0.028,2878,1953,2721,0,0,0,0,0,0
$GC,11257,0.80,136.7,153.4,8.8,393,11261,0.00,2.08,0.00,0.000,4,0.000,0.037,2887,565,2723,0,0,0,0,0,0
$GC,11355,0.83,163.8,146.0,7.4,401,11381,0.00,2.12,20.45,0.532,6,0.000,0.031,2889,1970,2633,0,0,0,0,0,0
$GC,11646,0.83,163.8,116.3,10.4,428,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1971,2635,0,0,0,0,0,0
$GC,11903,0.86,187.6,94.4,7.6,452,11927,0.00,0.00,21.45,0.483,6,0.000,0.000,2889,1970,2533,0,0,0,0,0,0
$GC,12182,0.86,187.6,66.6,9.6,478,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1970,2533,0,0,0,0,0,0
$GC,12438,0.88,209.0,44.6,7.7,502,12462,0.00,2.12,18.98,0.434,4,0.000,0.036,2899,572,2449,0,0,0,0,0,0
$GC,12498,0.88,209.0,39.1,10.1,507,12502,0.00,2.10,0.00,0.000,6,0.000,0.031,2900,1964,2445,0,0,0,0,0,0
$GC,12763,0.88,209.0,12.7,8.7,547,12771,0.00,2.22,0.00,0.000,4,0.000,0.046,2900,3359,2446,0,0,0,0,0,0
$STATE,12850,end climb,SURFACE_DEPTH_REACHED
$STATE,12850,begin surface coast
$FINISH,2.3,1.022873
$STATE,12858,end surface coast,CONTROL_FINISHED_OK
$STATE,12859,begin surface
$SM_CCo,12884,45.05,0.415,0,0,2078,300.24
$SM_GC,2.04,0.00,0.00,45.05,0.000,0.000,0.415,57,2093,2078,-7.94,-0.17,300.24
$IRIDIUM_FIX,1950.41,-15619.48,140313,030331
$TT8_MAMPS,0.246207
$HUMID,1078897410
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.80
$XPDR_PINGS,88
$AR_DIVENUM,488
$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
$24V_AH,23.5,66.155
$10V_AH,9.7,60.825
$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,20.025,116.475,293.700,45.050,0.000,58.975,77.282,552.230,22.000,0.000,14.305,1219.188,9288.991,390.901,2569.657,478.261,33.357,1181.218,0.000,1889.495,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,65.962,1066.897,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,385.676,0.000,962.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353580
$DATA_FILE_SIZE,26925,564
$CAP_FILE_SIZE,125094,0
$CFSIZE,260165632,170016768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057, 37.6,1
$GPS,190911,123854,1956.129,-15617.729,39,1.1,39,9.7