version: 66.07
glider: 513
mission: 7
dive: 496
start: 9 20 111 17 48 24
data:
$ID,513
$MISSION,7
$DIVE,496
$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,-433235.5
$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,57
$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,495
$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
$GPS1,200911,171827,2008.852,-15615.551,46,2.2,65,9.7
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.8
$GPS2,200911,174728,2009.038,-15615.350,11,4.5,30,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.219,0.096
$KALMAN_X,-35236.8,-103.0,-272.2,102418.8,4557.5
$KALMAN_Y,-618051.7,692.8,75.0,634580.6,-2800.6
$MHEAD_RNG_PITCHd_Wd,340.8,11058,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-51.50,0.000,2,0.000,0.000,36,2122,3529,0,0,0,0,0,0
$GC,91,-0.80,-136.7,3.0,-4.3,8,112,9.88,2.20,-6.05,0.000,4,0.239,0.065,2321,3500,3859,0,0,0,0,0,0
$GC,220,-0.80,-136.7,48.7,-29.3,26,227,0.00,2.15,0.00,0.000,6,0.000,0.033,2321,2112,3861,0,0,0,0,0,0
$GC,484,-0.80,-136.7,120.8,-28.4,51,488,0.00,2.15,0.00,0.000,4,0.000,0.040,2321,698,3865,0,0,0,0,0,0
$GC,569,-0.80,-136.7,141.3,-22.2,58,574,0.10,2.10,0.00,0.000,6,0.194,0.038,2333,2083,3862,0,0,0,0,0,0
$GC,837,-0.80,-136.7,195.1,-18.6,82,841,0.00,2.25,0.00,0.000,4,0.000,0.052,2324,3519,3863,0,0,0,0,0,0
$GC,899,-0.80,-136.7,208.2,-17.9,86,903,0.00,2.15,0.00,0.000,6,0.000,0.032,2324,2089,3863,0,0,0,0,0,0
$GC,1165,-0.80,-136.7,255.9,-17.7,99,1169,0.00,2.22,0.00,0.000,4,0.000,0.050,2313,3523,3863,0,0,0,0,0,0
$GC,1198,-0.80,-136.7,261.6,-15.8,100,1203,0.00,2.12,0.00,0.000,6,0.000,0.031,2313,2104,3863,0,0,0,0,0,0
$GC,1471,-0.80,-136.7,308.4,-17.3,113,1475,0.00,2.10,0.00,0.000,4,0.000,0.041,2313,699,3864,0,0,0,0,0,0
$GC,1528,-0.80,-136.7,318.1,-17.2,114,1533,0.12,2.12,0.00,0.000,6,0.174,0.040,2334,2106,3863,0,0,0,0,0,0
$GC,1800,-0.80,-136.7,360.0,-14.6,121,1804,0.00,2.12,0.00,0.000,4,0.000,0.040,2334,685,3864,0,0,1,0,0,0
$GC,1845,-0.80,-136.7,366.3,-13.6,122,1849,0.00,2.15,0.00,0.000,6,0.000,0.040,2326,2095,3863,0,0,0,0,0,0
$GC,2124,-0.80,-136.7,403.7,-13.4,129,2128,0.00,2.17,0.00,0.000,4,0.000,0.049,2315,3508,3862,0,0,0,0,0,0
$GC,2185,-0.80,-136.7,412.4,-13.9,130,2190,0.00,2.15,0.00,0.000,6,0.000,0.031,2312,2064,3861,0,0,0,0,0,0
$GC,2452,-0.80,-136.7,452.9,-15.5,137,2456,0.00,2.08,0.00,0.000,4,0.000,0.039,2315,694,3858,0,0,0,0,0,0
$GC,2481,-0.80,-136.7,457.4,-15.0,137,2486,0.12,2.15,0.00,0.000,6,0.176,0.041,2336,2106,3858,0,0,0,0,0,0
$GC,2731,-0.80,-136.7,491.2,-13.5,143,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3855,0,0,0,0,0,0
$GC,2975,-0.80,-136.7,523.2,-13.0,149,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3857,0,0,0,0,0,0
$GC,3218,-0.80,-136.7,552.3,-11.7,155,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3850,0,0,0,0,0,0
$GC,3464,-0.80,-136.7,580.3,-11.6,161,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3851,0,0,0,0,0,0
$GC,3706,-0.80,-136.7,607.6,-11.1,167,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3846,0,0,0,0,0,0
$GC,3950,-0.80,-136.7,634.8,-11.2,173,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3843,0,0,0,0,0,0
$GC,4193,-0.80,-136.7,661.0,-10.9,179,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3841,0,0,0,0,0,0
$GC,4439,-0.80,-136.7,685.7,-10.0,185,4443,0.00,2.15,0.00,0.000,4,0.000,0.044,2335,702,3838,0,0,0,0,0,0
$GC,4466,-0.80,-136.7,688.9,-10.0,185,4470,0.00,2.17,0.00,0.000,6,0.000,0.046,2327,2099,3838,0,0,0,0,0,0
$GC,4722,-0.80,-136.7,716.4,-11.1,192,4726,0.00,2.28,0.00,0.000,4,0.000,0.061,2316,3520,3836,0,0,0,0,0,0
$GC,4790,-0.80,-136.7,724.3,-11.7,193,4794,0.00,2.15,0.00,0.000,6,0.000,0.034,2316,2108,3835,0,0,0,0,0,0
$GC,5046,-0.80,-136.7,754.9,-12.2,200,5049,0.00,2.15,0.00,0.000,4,0.000,0.041,2316,686,3833,0,0,0,0,0,0
$GC,5073,-0.80,-136.7,758.6,-12.9,200,5078,0.12,2.20,0.00,0.000,6,0.183,0.047,2336,2101,3833,0,0,0,0,0,0
$GC,5324,-0.80,-136.7,786.3,-11.0,206,5328,0.00,2.28,0.00,0.000,4,0.000,0.060,2327,3518,3831,0,0,0,0,0,0
$GC,5419,-0.80,-136.7,797.3,-11.0,208,5423,0.00,2.15,0.00,0.000,6,0.000,0.034,2327,2096,3830,0,0,0,0,0,0
$GC,5697,-0.80,-136.7,829.1,-11.2,215,5701,0.00,2.15,0.00,0.000,4,0.000,0.043,2327,693,3828,0,0,0,0,0,0
$GC,5771,-0.80,-136.7,837.0,-10.0,216,5776,0.00,2.17,0.00,0.000,6,0.000,0.046,2316,2106,3828,0,0,1,0,0,0
$GC,6021,-0.80,-136.7,863.2,-10.5,222,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2106,3826,0,0,0,0,0,0
$GC,6266,-0.80,-136.7,889.4,-10.7,228,6270,0.00,2.17,0.00,0.000,4,0.000,0.043,2316,694,3825,0,0,0,0,0,0
$GC,6311,-0.80,-136.7,894.5,-10.5,229,6316,0.12,2.20,0.00,0.000,6,0.183,0.044,2337,2106,3825,0,0,0,0,0,0
$STATE,6383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6383,begin apogee
$GC,6390,-0.28,0.0,901.3,8.7,231,6506,0.55,0.00,112.28,1.062,6,0.143,0.000,2500,1916,3300,0,0,0,0,0,0
$STATE,6508,end apogee,CONTROL_FINISHED_OK
$STATE,6508,begin climb
$GC,6511,0.80,136.7,902.9,0.0,234,6641,1.02,0.00,121.12,1.030,6,0.096,0.000,2839,1915,2745,0,0,0,0,0,0
$GC,6921,0.80,136.7,837.7,18.3,244,6925,0.00,2.05,0.00,0.000,4,0.000,0.039,2853,583,2736,0,0,0,0,0,0
$GC,6954,0.80,136.7,831.0,19.5,244,6959,0.00,2.20,0.00,0.000,6,0.000,0.042,2856,1966,2732,0,0,0,0,0,0
$GC,7205,0.80,136.7,784.5,18.6,251,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1971,2731,0,0,0,0,0,0
$GC,7448,0.80,136.7,741.3,17.6,257,7452,0.00,2.30,0.00,0.000,4,0.000,0.060,2853,3375,2730,0,0,0,0,0,0
$GC,7492,0.80,136.7,732.7,18.6,258,7496,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1976,2730,0,0,0,0,0,0
$GC,7771,0.80,136.7,683.5,17.9,265,7775,0.00,2.30,0.00,0.000,4,0.000,0.058,2863,3378,2729,0,0,0,0,0,0
$GC,7837,0.80,136.7,670.6,20.1,266,7841,0.00,2.17,0.00,0.000,6,0.000,0.032,2873,1960,2728,0,0,0,0,0,0
$GC,8093,0.80,136.7,623.0,18.3,273,8097,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,556,2727,0,0,0,0,0,0
$GC,8150,0.80,136.7,613.0,17.6,274,8155,0.12,2.17,0.00,0.000,6,0.199,0.037,2856,1973,2726,0,0,0,0,0,0
$GC,8416,0.80,136.7,569.6,16.3,281,8420,0.00,2.17,0.00,0.000,4,0.000,0.037,2866,554,2726,0,0,0,0,0,0
$GC,8449,0.80,136.7,564.2,16.5,281,8454,0.00,2.17,0.00,0.000,6,0.000,0.037,2866,1969,2725,0,0,0,0,0,0
$GC,8701,0.80,136.7,521.1,17.6,288,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1970,2725,0,0,0,0,0,0
$GC,8942,0.80,136.7,479.2,17.1,294,8946,0.00,2.28,0.00,0.000,4,0.000,0.057,2866,3377,2724,0,0,0,0,0,0
$GC,8987,0.80,136.7,470.9,18.0,295,8991,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1949,2724,0,0,0,0,0,0
$GC,9266,0.80,136.7,423.5,17.0,302,9270,0.00,2.10,0.00,0.000,4,0.000,0.039,2887,561,2724,0,0,0,0,0,0
$GC,9300,0.80,136.7,417.6,17.5,302,9306,0.12,2.17,0.00,0.000,6,0.195,0.036,2862,1969,2722,0,0,0,0,0,0
$GC,9550,0.80,136.7,379.3,14.8,309,9554,0.00,2.22,0.00,0.000,4,0.000,0.054,2858,3362,2722,0,0,0,0,0,0
$GC,9668,0.80,136.7,360.4,16.5,311,9672,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1958,2723,0,0,0,0,0,0
$GC,9924,0.80,136.7,320.9,15.2,318,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1957,2722,0,0,0,0,0,0
$GC,10169,0.80,136.7,289.9,11.8,326,10173,0.00,2.12,0.00,0.000,4,0.000,0.038,2876,559,2722,0,0,0,0,0,0
$GC,10254,0.80,136.7,280.2,12.2,330,10259,0.00,2.12,0.00,0.000,6,0.000,0.035,2873,1956,2721,0,0,0,0,0,0
$GC,10525,0.80,136.7,246.6,12.1,343,10529,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3367,2721,0,0,0,0,0,0
$GC,10603,0.80,136.7,236.3,13.1,346,10609,0.12,2.12,0.00,0.000,6,0.203,0.029,2853,1954,2722,0,0,0,0,0,0
$GC,10858,0.80,136.7,208.0,9.6,359,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1952,2721,0,0,0,0,0,0
$GC,11110,0.80,136.7,182.1,11.2,378,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1948,2722,0,0,0,0,0,0
$GC,11366,0.80,136.7,157.7,9.8,402,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1951,2721,0,0,0,0,0,0
$GC,11630,0.82,158.7,135.0,7.6,427,11655,0.00,2.17,16.35,0.518,4,0.000,0.038,2867,558,2651,0,0,0,0,0,0
$GC,11878,0.82,158.7,113.7,10.2,449,11882,0.00,2.15,0.00,0.000,6,0.000,0.032,2867,1965,2650,0,0,0,0,0,0
$GC,12146,0.86,187.9,92.6,7.3,473,12183,0.00,2.22,25.27,0.491,4,0.000,0.040,2867,561,2534,0,0,0,0,0,0
$GC,12252,0.86,187.9,82.1,10.0,482,12255,0.00,2.12,0.00,0.000,6,0.000,0.034,2867,1961,2532,0,0,0,0,0,0
$GC,12518,0.88,204.2,60.1,7.9,506,12544,0.00,2.28,15.00,0.444,4,0.000,0.051,2869,3362,2469,0,0,0,0,0,0
$GC,12582,0.88,204.2,53.0,11.0,511,12590,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,1973,2469,0,0,0,0,0,0
$GC,12849,0.90,225.4,30.8,7.7,536,12878,0.00,2.25,18.98,0.426,4,0.000,0.048,2868,3360,2381,0,0,0,0,0,0
$GC,12896,0.90,225.4,26.5,8.8,543,12905,0.00,2.17,0.00,0.000,6,0.000,0.030,2868,1952,2380,0,0,0,0,0,0
$STATE,13132,end climb,SURFACE_DEPTH_REACHED
$STATE,13132,begin surface coast
$FINISH,0.3,1.008993
$STATE,13160,end surface coast,CONTROL_FINISHED_OK
$STATE,13160,begin surface
$SM_CCo,13181,36.80,0.411,0,0,2075,300.49
$SM_GC,1.66,0.00,0.00,36.80,0.000,0.000,0.411,48,2117,2075,-7.95,0.48,300.49
$IRIDIUM_FIX,2001.88,-15617.64,150313,111143
$TT8_MAMPS,0.254644
$HUMID,1078936119
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253051904
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,4046684160
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,67.367
$10V_AH,9.9,62.237
$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,20.100,122.050,309.000,36.800,0.000,80.541,100.791,1149.978,21.750,0.000,33.323,1256.047,9492.778,412.731,3066.262,734.158,33.360,1240.970,0.000,1959.999,0.000,0.541,0.000
$DEVICE_MAMPS,238.537,68.263,1061.528,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,403.626,0.000,1024.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,30237,591
$CAP_FILE_SIZE,138303,0
$CFSIZE,260165632,169381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.057, 66.3,1
$GPS,200911,213031,2010.816,-15615.265,46,2.0,47,9.8