version: 66.07
glider: 513
mission: 7
dive: 397
start: 9 4 111 13 12 46
data:
$ID,513
$MISSION,7
$DIVE,397
$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,-431161.84
$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,58
$R_STBD_OVSHOOT,56
$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,396
$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
$GPS1,040911,130055,1911.237,-15639.924,36,1.4,36,9.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,5
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.6
$GPS2,040911,131149,1911.032,-15639.730,12,1.9,23,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.219,0.095
$KALMAN_X,-157084.4,487.7,-735.3,181725.5,5493.3
$KALMAN_Y,-357206.3,2078.3,602.1,264370.2,-13409.1
$MHEAD_RNG_PITCHd_Wd,337.1,118823,-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,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.08,0.000,2,0.000,0.000,37,2126,3744,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.2,-7.4,9,113,10.00,2.20,-1.88,0.000,4,0.245,0.064,2321,3490,3862,0,0,0,0,0,0
$GC,144,-0.80,-136.7,30.2,-47.9,17,148,0.00,2.10,0.00,0.000,6,0.000,0.038,2320,2124,3863,0,0,0,0,0,0
$GC,409,-0.80,-136.7,120.4,-33.4,41,413,0.00,2.17,0.00,0.000,4,0.000,0.043,2321,689,3864,0,0,0,0,0,0
$GC,451,-0.80,-136.7,135.3,-35.2,44,455,0.12,2.12,0.00,0.000,6,0.188,0.044,2339,2079,3864,0,0,0,0,0,0
$GC,715,-0.80,-136.7,198.8,-21.5,68,719,0.00,2.10,0.00,0.000,4,0.000,0.038,2339,680,3866,0,0,0,0,0,0
$GC,756,-0.80,-136.7,208.1,-20.7,70,760,0.00,2.17,0.00,0.000,6,0.000,0.042,2330,2104,3867,0,0,0,0,0,0
$GC,1021,-0.80,-136.7,263.6,-19.9,83,1025,0.00,2.17,0.00,0.000,4,0.000,0.039,2330,679,3868,0,0,0,0,0,0
$GC,1064,-0.80,-136.7,272.0,-18.4,85,1068,0.00,2.20,0.00,0.000,6,0.000,0.046,2320,2103,3868,0,0,0,0,0,0
$GC,1349,-0.80,-136.7,323.3,-18.9,96,1353,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3508,3869,0,0,0,0,0,0
$GC,1394,-0.80,-136.7,331.2,-16.4,97,1398,0.12,2.10,0.00,0.000,6,0.159,0.029,2341,2079,3869,0,0,0,0,0,0
$GC,1671,-0.80,-136.7,369.6,-13.0,104,1675,0.00,2.08,0.00,0.000,4,0.000,0.043,2341,706,3869,0,0,0,0,0,0
$GC,1733,-0.80,-136.7,377.4,-12.9,105,1737,0.00,2.12,0.00,0.000,6,0.000,0.044,2333,2097,3869,0,0,0,0,0,0
$GC,1999,-0.80,-136.7,414.1,-13.8,112,2003,0.00,2.17,0.00,0.000,4,0.000,0.051,2322,3508,3869,0,0,0,0,0,0
$GC,2104,-0.80,-136.7,429.0,-13.4,114,2108,0.00,2.10,0.00,0.000,6,0.000,0.029,2325,2098,3867,0,0,0,0,0,0
$GC,2373,-0.80,-136.7,466.8,-14.2,121,2377,0.00,2.10,0.00,0.000,4,0.000,0.041,2322,703,3864,0,0,0,0,0,0
$GC,2423,-0.80,-136.7,474.5,-14.4,122,2427,0.00,2.12,0.00,0.000,6,0.000,0.043,2311,2102,3864,0,0,0,0,0,0
$GC,2701,-0.80,-136.7,516.9,-15.3,129,2705,0.00,2.17,0.00,0.000,4,0.000,0.050,2297,3507,3862,0,0,0,0,0,0
$GC,2770,-0.80,-136.7,527.7,-15.2,130,2775,0.15,2.12,0.00,0.000,6,0.160,0.030,2342,2096,3861,0,0,0,0,0,0
$GC,3025,-0.80,-136.7,560.9,-12.7,137,3029,0.00,2.10,0.00,0.000,4,0.000,0.041,2341,700,3858,0,0,0,0,0,0
$GC,3047,-0.80,-136.7,564.0,-13.0,137,3051,0.00,2.12,0.00,0.000,6,0.000,0.042,2332,2103,3858,0,0,0,0,0,0
$GC,3309,-0.80,-136.7,597.9,-12.7,144,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2107,3855,0,0,0,0,0,0
$GC,3552,-0.80,-136.7,628.1,-12.4,150,3556,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3509,3853,0,0,0,0,0,0
$GC,3584,-0.80,-136.7,632.0,-12.7,150,3590,0.00,2.12,0.00,0.000,6,0.000,0.030,2321,2098,3852,0,0,0,0,0,0
$GC,3835,-0.80,-136.7,662.0,-12.1,157,3839,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,701,3851,0,0,0,0,0,0
$GC,3903,-0.80,-136.7,670.4,-11.8,158,3907,0.00,2.15,0.00,0.000,6,0.000,0.044,2311,2101,3850,0,0,0,0,0,0
$GC,4164,-0.80,-136.7,702.5,-12.2,165,4168,0.00,2.22,0.00,0.000,4,0.000,0.053,2300,3503,3847,0,0,0,0,0,0
$GC,4225,-0.80,-136.7,710.1,-12.5,166,4230,0.15,2.15,0.00,0.000,6,0.163,0.031,2339,2106,3846,0,0,0,0,0,0
$GC,4493,-0.80,-136.7,733.9,-8.7,173,4497,0.00,2.20,0.00,0.000,4,0.000,0.043,2340,689,3844,0,0,0,0,0,0
$GC,4526,-0.80,-136.7,737.3,-9.8,173,4532,0.00,2.17,0.00,0.000,6,0.000,0.044,2331,2104,3844,0,0,0,0,0,0
$GC,4776,-0.80,-136.7,760.7,-9.5,180,4780,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3510,3842,0,0,0,0,0,0
$GC,4833,-0.80,-136.7,766.1,-10.0,181,4837,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2096,3841,0,0,0,0,0,0
$GC,5099,-0.80,-136.7,794.5,-10.8,188,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2090,3839,0,0,0,0,0,0
$GC,5343,-0.80,-136.7,821.8,-11.3,194,5347,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3515,3841,0,0,0,0,0,0
$GC,5365,-0.80,-136.7,824.4,-11.6,194,5370,0.10,2.15,0.00,0.000,6,0.172,0.033,2334,2104,3837,0,0,0,0,0,0
$GC,5621,-0.80,-136.7,852.0,-10.8,201,5625,0.00,2.17,0.00,0.000,4,0.000,0.044,2333,688,3836,0,0,0,0,0,0
$GC,5672,-0.80,-136.7,857.8,-11.4,202,5676,0.00,2.17,0.00,0.000,6,0.000,0.044,2326,2101,3833,0,0,0,0,0,0
$GC,5951,-0.80,-136.7,890.9,-12.1,209,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2101,3832,0,0,0,0,0,0
$STATE,6028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6028,begin apogee
$GC,6035,-0.28,0.0,901.1,12.4,211,6151,0.60,0.00,113.07,1.070,6,0.143,0.000,2503,1931,3300,0,0,0,0,0,0
$STATE,6154,end apogee,CONTROL_FINISHED_OK
$STATE,6155,begin climb
$GC,6157,0.80,136.7,905.8,0.0,214,6283,1.05,0.00,122.00,1.041,6,0.092,0.000,2846,1932,2743,0,0,0,0,0,0
$GC,6516,0.80,136.7,855.7,17.4,223,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1935,2733,0,0,0,0,0,0
$GC,6759,0.80,136.7,813.2,17.5,229,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1935,2732,0,0,0,0,0,0
$GC,7002,0.80,136.7,773.3,16.3,235,7006,0.00,2.30,0.00,0.000,4,0.000,0.054,2850,3361,2730,0,0,0,0,0,0
$GC,7062,0.80,136.7,762.8,17.3,236,7066,0.00,2.10,0.00,0.000,6,0.000,0.030,2859,1972,2730,0,0,0,0,0,0
$GC,7336,0.80,136.7,716.9,17.3,243,7340,0.00,2.12,0.00,0.000,4,0.000,0.038,2871,562,2729,0,0,0,0,0,0
$GC,7357,0.80,136.7,712.6,18.0,243,7361,0.00,2.15,0.00,0.000,6,0.000,0.037,2872,1960,2727,0,0,0,0,0,0
$GC,7618,0.80,136.7,666.8,17.3,250,7622,0.00,2.22,0.00,0.000,4,0.000,0.052,2868,3371,2727,0,0,0,0,0,0
$GC,7664,0.80,136.7,658.0,20.3,251,7668,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1963,2728,0,0,0,0,0,0
$GC,7941,0.80,136.7,607.5,17.7,258,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1959,2726,0,0,0,0,0,0
$GC,8185,0.80,136.7,562.4,18.6,264,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1958,2726,0,0,0,0,0,0
$GC,8430,0.80,136.7,517.8,18.6,270,8434,0.00,2.25,0.00,0.000,4,0.000,0.053,2887,3365,2725,0,0,0,0,0,0
$GC,8457,0.80,136.7,512.1,19.8,270,8461,0.15,2.17,0.00,0.000,6,0.201,0.031,2855,1923,2726,0,0,0,0,0,0
$GC,8712,0.80,136.7,472.7,15.0,277,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1918,2725,0,0,0,0,0,0
$GC,8955,0.80,136.7,436.9,14.7,283,8959,0.00,2.08,0.00,0.000,4,0.000,0.038,2864,559,2724,0,0,0,0,0,0
$GC,9012,0.80,136.7,428.3,14.8,284,9017,0.00,2.15,0.00,0.000,6,0.000,0.034,2856,1968,2723,0,0,0,0,0,0
$GC,9285,0.80,136.7,387.9,14.5,291,9289,0.00,2.20,0.00,0.000,4,0.000,0.051,2856,3359,2723,0,0,0,0,0,0
$GC,9306,0.80,136.7,384.3,15.3,291,9310,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1947,2723,0,0,0,0,0,0
$GC,9569,0.80,136.7,347.6,13.3,298,9573,0.00,2.08,0.00,0.000,4,0.000,0.038,2876,564,2723,0,0,0,0,0,0
$GC,9624,0.80,136.7,340.3,13.1,299,9628,0.00,2.12,0.00,0.000,6,0.000,0.034,2876,1959,2721,0,0,0,0,0,0
$GC,9897,0.80,136.7,308.6,11.8,306,9901,0.00,2.20,0.00,0.000,4,0.000,0.050,2875,3360,2721,0,0,0,0,0,0
$GC,10022,0.80,136.7,288.5,14.5,309,10029,0.12,2.12,0.00,0.000,6,0.199,0.027,2857,1944,2724,0,0,0,0,0,0
$GC,10276,0.80,136.7,256.9,12.1,322,10280,0.00,2.08,0.00,0.000,4,0.000,0.037,2869,567,2722,0,0,0,0,0,0
$GC,10533,0.80,136.7,225.0,11.4,333,10538,0.00,2.10,0.00,0.000,6,0.000,0.033,2864,1961,2720,0,0,0,0,0,0
$GC,10787,0.82,154.4,202.6,7.8,346,10808,0.00,2.17,12.65,0.571,4,0.000,0.036,2873,564,2669,0,0,0,0,0,0
$GC,10963,0.82,154.4,185.9,10.5,360,10967,0.00,2.10,0.00,0.000,6,0.000,0.033,2873,1957,2667,0,0,0,0,0,0
$GC,11229,0.82,154.4,156.2,9.7,384,11233,0.00,2.10,0.00,0.000,4,0.000,0.035,2884,563,2667,0,0,0,0,0,0
$GC,11281,0.82,154.4,151.0,9.3,388,11286,0.00,2.12,0.00,0.000,6,0.000,0.032,2883,1964,2667,0,0,0,0,0,0
$GC,11546,0.90,221.6,132.8,5.7,412,11608,0.00,2.22,56.15,0.538,4,0.000,0.037,2893,565,2396,0,0,0,0,0,0
$GC,11733,0.90,221.6,114.4,9.5,428,11742,0.00,2.17,0.00,0.000,6,0.000,0.034,2893,1952,2391,0,0,0,0,0,0
$GC,12000,0.90,221.6,85.7,11.4,453,12004,0.00,2.22,0.00,0.000,4,0.000,0.048,2893,3360,2391,0,0,0,0,0,0
$GC,12174,0.90,221.6,64.2,12.1,468,12183,0.00,2.12,0.00,0.000,6,0.000,0.028,2904,1969,2391,0,0,0,0,0,0
$GC,12441,0.90,221.6,33.6,11.0,493,12445,0.00,2.12,0.00,0.000,4,0.000,0.037,2916,550,2391,0,0,0,0,0,0
$GC,12521,0.90,221.6,23.9,11.6,504,12529,0.00,2.15,0.00,0.000,6,0.000,0.029,2915,1960,2392,0,0,0,0,0,0
$STATE,12684,end climb,SURFACE_DEPTH_REACHED
$STATE,12684,begin surface coast
$FINISH,0.3,1.005360
$STATE,12706,end surface coast,CONTROL_FINISHED_OK
$STATE,12706,begin surface
$SM_CCo,12726,38.45,0.415,0,0,2073,300.49
$SM_GC,2.03,0.00,0.00,38.45,0.000,0.000,0.415,52,2142,2073,-7.96,1.19,300.49
$IRIDIUM_FIX,1906.95,-15639.09,270213,030340
$TT8_MAMPS,0.292994
$HUMID,1078889668
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256295936
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,19204079616
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,54.600
$10V_AH,9.9,49.644
$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,20.200,133.775,303.875,38.450,0.000,31.184,35.427,342.420,24.500,0.000,25.999,1198.728,9111.291,442.235,2244.667,429.518,33.355,1223.155,0.000,1815.567,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,67.496,1069.965,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.450,0.000,850.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,27010,538
$CAP_FILE_SIZE,122508,0
$CFSIZE,260165632,176803840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,159.2,1
$GPS,040911,164707,1911.503,-15639.659,35,1.1,35,9.6