version: 66.07
glider: 513
mission: 7
dive: 396
start: 9 4 111 9 19 53
data:
$ID,513
$MISSION,7
$DIVE,396
$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,-431135.22
$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,52
$R_STBD_OVSHOOT,60
$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,395
$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
$GPS1,040911,085432,1911.344,-15640.323,85,1.6,85,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.2
$GPS2,040911,091856,1910.946,-15640.018,23,1.2,23,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.030,0.237
$KALMAN_X,-157388.3,-359.5,-26.4,181637.4,7885.3
$KALMAN_Y,-353879.5,1880.8,1390.9,260265.2,-13064.9
$MHEAD_RNG_PITCHd_Wd,340.7,118944,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,84,0.00,0.00,-55.05,0.000,2,0.000,0.000,34,2129,3591,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.4,-4.6,8,109,9.93,2.15,-4.68,0.000,4,0.242,0.064,2319,3487,3859,0,0,0,0,0,0
$GC,258,-0.80,-136.7,64.2,-29.0,28,262,0.00,2.12,0.00,0.000,6,0.000,0.040,2319,2113,3862,0,0,0,0,0,0
$GC,525,-0.80,-136.7,151.5,-28.9,52,528,0.00,2.12,0.00,0.000,4,0.000,0.040,2319,696,3863,0,0,0,0,0,0
$GC,565,-0.80,-136.7,164.4,-27.3,55,570,0.12,2.10,0.00,0.000,6,0.188,0.044,2338,2076,3863,0,0,0,0,0,0
$GC,833,-0.80,-136.7,226.5,-21.2,74,837,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3514,3863,0,0,0,0,0,0
$GC,861,-0.80,-136.7,232.4,-20.6,75,865,0.00,2.12,0.00,0.000,6,0.000,0.029,2329,2091,3862,0,0,0,0,0,0
$GC,1115,-0.80,-136.7,280.2,-17.7,87,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2085,3863,0,0,0,0,0,0
$GC,1361,-0.80,-136.7,322.8,-17.8,96,1365,0.00,2.20,0.00,0.000,4,0.000,0.050,2320,3506,3865,0,0,0,0,0,0
$GC,1417,-0.80,-136.7,333.2,-16.9,97,1421,0.00,2.10,0.00,0.000,6,0.000,0.028,2320,2098,3865,0,0,0,0,0,0
$GC,1684,-0.80,-136.7,378.0,-16.6,104,1688,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,702,3865,0,0,0,0,0,0
$GC,1757,-0.80,-136.7,390.6,-17.2,105,1762,0.12,2.15,0.00,0.000,6,0.164,0.042,2341,2120,3865,0,0,0,0,0,0
$GC,2014,-0.80,-136.7,427.7,-14.5,112,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2119,3864,0,0,0,0,0,0
$GC,2255,-0.80,-136.7,461.9,-13.7,118,2259,0.00,2.15,0.00,0.000,4,0.000,0.051,2333,3499,3862,0,0,0,0,0,0
$GC,2277,-0.80,-136.7,465.1,-14.2,118,2281,0.00,2.10,0.00,0.000,6,0.000,0.032,2333,2104,3862,0,0,0,0,0,0
$GC,2544,-0.80,-136.7,502.6,-14.0,125,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2097,3859,0,0,0,0,0,0
$GC,2789,-0.80,-136.7,536.8,-14.1,131,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2098,3856,0,0,0,0,0,0
$GC,3031,-0.80,-136.7,569.4,-13.4,137,3035,0.00,2.15,0.00,0.000,4,0.000,0.043,2333,692,3853,0,0,0,0,0,0
$GC,3092,-0.80,-136.7,577.7,-13.3,138,3096,0.00,2.15,0.00,0.000,6,0.000,0.041,2323,2095,3853,0,0,0,0,0,0
$GC,3361,-0.80,-136.7,613.5,-13.4,145,3365,0.00,2.22,0.00,0.000,4,0.000,0.052,2311,3506,3847,0,0,0,0,0,0
$GC,3400,-0.80,-136.7,618.8,-12.8,146,3404,0.00,2.10,0.00,0.000,6,0.000,0.031,2311,2110,3849,0,0,0,0,0,0
$GC,3684,-0.80,-136.7,656.7,-13.3,153,3688,0.00,2.15,0.00,0.000,4,0.000,0.041,2311,688,3846,0,0,0,0,0,0
$GC,3746,-0.80,-136.7,665.0,-13.1,154,3751,0.15,2.15,0.00,0.000,6,0.166,0.042,2340,2101,3849,0,0,0,0,0,0
$GC,4012,-0.80,-136.7,693.5,-10.3,161,4016,0.00,2.20,0.00,0.000,4,0.000,0.053,2326,3507,3843,0,0,0,0,0,0
$GC,4073,-0.80,-136.7,700.0,-10.6,162,4077,0.00,2.17,0.00,0.000,6,0.000,0.031,2336,2091,3842,0,0,0,0,0,0
$GC,4341,-0.80,-136.7,728.1,-10.7,169,4345,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,695,3839,0,0,0,0,0,0
$GC,4391,-0.80,-136.7,734.0,-11.7,170,4395,0.00,2.12,0.00,0.000,6,0.000,0.041,2320,2099,3839,0,0,0,0,0,0
$GC,4669,-0.80,-136.7,764.7,-11.0,177,4673,0.00,2.22,0.00,0.000,4,0.000,0.053,2309,3515,3840,0,0,0,0,0,0
$GC,4710,-0.80,-136.7,769.3,-11.2,178,4715,0.12,2.15,0.00,0.000,6,0.163,0.033,2341,2095,3836,0,0,0,0,0,0
$GC,4993,-0.80,-136.7,795.3,-9.0,185,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2088,3834,0,0,0,0,0,0
$GC,5238,-0.80,-136.7,816.2,-8.5,191,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2088,3831,0,0,0,0,0,0
$GC,5483,-0.80,-136.7,836.9,-8.5,197,5487,0.00,2.15,0.00,0.000,4,0.000,0.041,2341,682,3829,0,0,0,0,0,0
$GC,5510,-0.80,-136.7,839.8,-9.4,197,5514,0.00,2.17,0.00,0.000,6,0.000,0.041,2332,2106,3829,0,0,0,0,0,0
$GC,5760,-0.80,-136.7,864.8,-10.1,203,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2105,3828,0,0,0,0,0,0
$GC,6003,-0.80,-136.7,889.8,-10.2,209,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2105,3826,0,0,0,0,0,0
$STATE,6123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6123,begin apogee
$GC,6131,-0.28,0.0,902.2,10.2,212,6246,0.55,0.00,111.47,1.075,6,0.141,0.000,2498,1911,3300,0,0,0,0,0,0
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6248,begin climb
$GC,6251,0.80,136.7,905.4,0.0,215,6384,1.05,2.25,120.78,1.041,4,0.095,0.040,2857,581,2741,0,0,0,0,0,0
$GC,6390,0.80,136.7,891.3,16.2,218,6394,0.00,2.22,0.00,0.000,6,0.000,0.035,2849,1960,2737,0,0,0,0,0,0
$GC,6656,0.80,136.7,842.8,18.3,225,6660,0.00,2.15,0.00,0.000,4,0.000,0.038,2858,582,2733,0,0,0,0,0,0
$GC,6677,0.80,136.7,838.7,17.8,225,6682,0.00,2.17,0.00,0.000,6,0.000,0.037,2850,1962,2731,0,0,0,0,0,0
$GC,6946,0.80,136.7,789.6,18.6,232,6950,0.00,2.22,0.00,0.000,4,0.000,0.052,2839,3362,2730,0,0,0,0,0,0
$GC,6962,0.80,136.7,786.2,18.1,232,6966,0.00,2.15,0.00,0.000,6,0.000,0.029,2847,1975,2730,0,0,0,0,0,0
$GC,7229,0.80,136.7,738.9,17.6,239,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1971,2728,0,0,0,0,0,0
$GC,7474,0.80,136.7,697.1,17.2,245,7478,0.00,2.15,0.00,0.000,4,0.000,0.040,2858,560,2728,0,0,0,0,0,0
$GC,7535,0.80,136.7,686.0,17.5,246,7538,0.00,2.15,0.00,0.000,6,0.000,0.035,2850,1962,2725,0,0,0,0,0,0
$GC,7801,0.80,136.7,642.5,16.4,253,7805,0.00,2.25,0.00,0.000,4,0.000,0.052,2839,3370,2725,0,0,0,0,0,0
$GC,7825,0.80,136.7,638.5,17.3,253,7829,0.00,2.12,0.00,0.000,6,0.000,0.031,2848,1960,2725,0,0,0,0,0,0
$GC,8082,0.80,136.7,596.5,16.3,260,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1955,2725,0,0,0,0,0,0
$GC,8324,0.80,136.7,556.5,16.4,266,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1955,2725,0,0,0,0,0,0
$GC,8568,0.80,136.7,516.5,16.2,272,8572,0.00,2.12,0.00,0.000,4,0.000,0.039,2859,558,2723,0,0,0,0,0,0
$GC,8619,0.80,136.7,508.5,15.5,273,8623,0.00,2.12,0.00,0.000,6,0.000,0.034,2854,1961,2722,0,0,0,0,0,0
$GC,8891,0.80,136.7,469.7,14.3,280,8895,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3373,2723,0,0,0,0,0,0
$GC,8935,0.80,136.7,462.7,15.7,281,8939,0.00,2.12,0.00,0.000,6,0.000,0.031,2862,1954,2723,0,0,0,0,0,0
$GC,9220,0.80,136.7,420.9,15.0,288,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1951,2722,0,0,0,0,0,0
$GC,9462,0.80,136.7,382.3,16.1,294,9466,0.00,2.25,0.00,0.000,4,0.000,0.051,2854,3365,2722,0,0,0,0,0,0
$GC,9552,0.80,136.7,367.8,16.3,296,9556,0.00,2.10,0.00,0.000,6,0.000,0.029,2863,1954,2722,0,0,0,0,0,0
$GC,9831,0.80,136.7,328.2,14.2,303,9835,0.00,2.10,0.00,0.000,4,0.000,0.039,2874,568,2721,0,0,0,0,0,0
$GC,9904,0.80,136.7,319.1,12.3,304,9908,0.00,2.12,0.00,0.000,6,0.000,0.035,2873,1969,2720,0,0,0,0,0,0
$GC,10160,0.80,136.7,287.4,13.6,313,10164,0.00,2.15,0.00,0.000,4,0.000,0.038,2884,561,2720,0,0,0,0,0,0
$GC,10201,0.80,136.7,281.7,14.2,315,10205,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1961,2719,0,0,0,0,0,0
$GC,10467,0.80,136.7,246.9,11.6,328,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1962,2719,0,0,0,0,0,0
$GC,10714,0.80,136.7,222.0,9.2,340,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1962,2719,0,0,0,0,0,0
$GC,10967,0.80,136.7,197.9,9.5,353,10971,0.12,2.22,0.00,0.000,4,0.184,0.048,2842,3363,2719,0,0,0,0,0,0
$GC,11064,0.81,147.7,189.3,8.1,361,11076,0.00,2.12,6.88,0.491,6,0.000,0.028,2851,1963,2696,0,0,0,0,0,0
$GC,11334,0.87,197.0,170.5,6.5,386,11382,0.00,2.15,42.08,0.567,4,0.000,0.036,2862,569,2497,0,0,0,0,0,0
$GC,11430,0.87,197.0,161.2,11.9,394,11434,0.00,2.12,0.00,0.000,6,0.000,0.034,2865,1961,2492,0,0,0,0,0,0
$GC,11696,0.87,197.0,131.2,9.3,418,11700,0.00,2.15,0.00,0.000,4,0.000,0.044,2872,571,2494,0,0,0,0,0,0
$GC,11858,0.89,210.6,119.0,8.0,432,11875,0.00,2.12,12.52,0.477,6,0.000,0.032,2872,1962,2441,0,0,0,0,0,0
$GC,12134,0.89,210.6,92.3,9.0,457,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1962,2440,0,0,0,0,0,0
$GC,12397,0.89,210.6,70.4,9.3,482,12400,0.00,2.10,0.00,0.000,4,0.000,0.038,2883,571,2440,0,0,0,0,0,0
$GC,12528,0.89,210.6,56.9,9.4,493,12536,0.00,2.12,0.00,0.000,6,0.000,0.032,2883,1960,2440,0,0,0,0,0,0
$GC,12793,0.89,210.6,31.2,9.6,518,12797,0.00,2.10,0.00,0.000,4,0.000,0.036,2893,561,2442,0,0,0,0,0,0
$GC,12876,0.89,210.6,22.7,10.3,531,12885,0.00,2.15,0.00,0.000,6,0.000,0.031,2894,1967,2442,0,0,0,0,0,0
$STATE,13072,end climb,SURFACE_DEPTH_REACHED
$STATE,13073,begin surface coast
$FINISH,0.4,1.022841
$STATE,13103,end surface coast,CONTROL_FINISHED_OK
$STATE,13103,begin surface
$SM_CCo,13122,42.92,0.410,0,0,2075,300.24
$SM_GC,2.09,0.00,0.00,42.92,0.000,0.000,0.410,57,2125,2075,-7.94,0.71,300.24
$IRIDIUM_FIX,1904.66,-15642.09,270213,030346
$TT8_MAMPS,0.321373
$HUMID,1078821281
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,27.40
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256328704
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,19355828224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,54.488
$10V_AH,9.8,49.557
$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,19.625,121.000,293.725,42.925,0.000,122.539,153.649,747.868,23.750,0.000,25.873,1236.541,9652.149,392.614,2836.688,521.230,33.359,1184.272,0.000,1869.441,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,78.234,1075.334,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.771,0.000,952.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,30286,572
$CAP_FILE_SIZE,133923,0
$CFSIZE,260165632,176865280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,164.4,1
$GPS,040911,130055,1911.237,-15639.924,36,1.4,36,9.6