version: 66.07
glider: 513
mission: 7
dive: 400
start: 9 5 111 0 26 58
data:
$ID,513
$MISSION,7
$DIVE,400
$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,-431214.16
$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,52
$R_STBD_OVSHOOT,49
$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,399
$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
$GPS1,050911,001436,1911.735,-15639.296,32,1.3,32,9.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,6
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.2
$GPS2,050911,002601,1911.551,-15639.063,12,1.6,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.236
$KALMAN_X,-148499.6,-1823.2,-1284.7,177155.8,10718.7
$KALMAN_Y,-363136.7,331.3,-15.6,273631.1,-9126.6
$MHEAD_RNG_PITCHd_Wd,332.5,117960,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.35,0.000,2,0.000,0.000,38,2117,3767,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.4,-7.6,9,114,9.93,2.15,-1.45,0.000,4,0.243,0.048,2338,705,3862,0,0,1,0,0,0
$GC,223,-0.80,-136.7,53.8,-29.4,24,227,0.00,2.15,0.00,0.000,6,0.000,0.044,2330,2090,3864,0,0,0,0,0,0
$GC,487,-0.80,-136.7,140.4,-28.0,48,491,0.00,2.22,0.00,0.000,4,0.000,0.051,2318,3509,3865,0,0,0,0,0,0
$GC,507,-0.80,-136.7,146.4,-29.3,49,511,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2107,3866,0,0,0,0,0,0
$GC,778,-0.80,-136.7,215.7,-24.4,71,782,0.00,2.12,0.00,0.000,4,0.000,0.043,2318,699,3867,0,0,0,0,0,0
$GC,863,-0.80,-136.7,234.3,-20.2,75,868,0.12,2.15,0.00,0.000,6,0.178,0.043,2338,2106,3867,0,0,0,0,0,0
$GC,1133,-0.80,-136.7,281.1,-15.9,88,1137,0.00,2.17,0.00,0.000,4,0.000,0.050,2325,3508,3869,0,0,0,0,0,0
$GC,1155,-0.80,-136.7,285.3,-19.0,89,1159,0.00,2.12,0.00,0.000,6,0.000,0.030,2329,2094,3869,0,0,0,0,0,0
$GC,1413,-0.80,-136.7,328.9,-16.1,98,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2088,3866,0,0,0,0,0,0
$GC,1655,-0.80,-136.7,366.4,-15.0,104,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2088,3870,0,0,0,0,0,0
$GC,1899,-0.80,-136.7,406.3,-16.8,110,1903,0.00,2.22,0.00,0.000,4,0.000,0.051,2320,3513,3869,0,0,0,0,0,0
$GC,1933,-0.80,-136.7,411.9,-16.4,110,1938,0.00,2.12,0.00,0.000,6,0.000,0.031,2318,2097,3870,0,0,0,0,0,0
$GC,2183,-0.80,-136.7,450.4,-15.6,117,2187,0.00,2.08,0.00,0.000,4,0.000,0.040,2319,704,3868,0,0,0,0,0,0
$GC,2283,-0.80,-136.7,465.9,-14.6,119,2288,0.05,2.17,0.00,0.000,6,0.129,0.042,2339,2105,3867,0,0,0,0,0,0
$GC,2560,-0.80,-136.7,501.7,-12.8,126,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3864,0,0,0,0,0,0
$GC,2804,-0.80,-136.7,532.9,-12.8,132,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2103,3863,0,0,0,0,0,0
$GC,3048,-0.80,-136.7,564.3,-12.9,138,3052,0.00,2.20,0.00,0.000,4,0.000,0.052,2330,3510,3859,0,0,0,0,0,0
$GC,3069,-0.80,-136.7,567.2,-12.8,138,3073,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2102,3856,0,0,0,0,0,0
$GC,3332,-0.80,-136.7,600.7,-13.0,145,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2097,3856,0,0,0,0,0,0
$GC,3574,-0.80,-136.7,630.3,-11.8,151,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2097,3854,0,0,0,0,0,0
$GC,3818,-0.80,-136.7,659.7,-12.0,157,3822,0.00,2.22,0.00,0.000,4,0.000,0.053,2319,3510,3852,0,0,0,0,0,0
$GC,3971,-0.80,-136.7,678.5,-12.3,160,3975,0.00,2.15,0.00,0.000,6,0.000,0.031,2319,2094,3850,0,0,0,0,0,0
$GC,4233,-0.80,-136.7,711.6,-13.0,167,4237,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3511,3848,0,0,0,0,0,0
$GC,4265,-0.80,-136.7,716.3,-13.4,167,4272,0.12,2.15,0.00,0.000,6,0.166,0.031,2340,2095,3847,0,0,0,0,0,0
$GC,4517,-0.80,-136.7,743.9,-10.7,174,4521,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3506,3846,0,0,0,0,0,0
$GC,4556,-0.80,-136.7,748.4,-11.1,175,4560,0.00,2.12,0.00,0.000,6,0.000,0.030,2336,2106,3845,0,0,0,0,0,0
$GC,4840,-0.80,-136.7,778.8,-10.8,182,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2100,3842,0,0,0,0,0,0
$GC,5085,-0.80,-136.7,804.9,-10.9,188,5089,0.00,2.28,0.00,0.000,4,0.000,0.053,2321,3510,3840,0,0,0,0,0,0
$GC,5119,-0.80,-136.7,808.8,-12.0,188,5126,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2096,3840,0,0,0,0,0,0
$GC,5369,-0.80,-136.7,837.2,-11.4,195,5373,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3506,3838,0,0,0,0,0,0
$GC,5408,-0.80,-136.7,841.7,-11.6,196,5413,0.10,2.17,0.00,0.000,6,0.173,0.035,2334,2095,3838,0,0,0,0,0,0
$GC,5692,-0.80,-136.7,871.2,-10.4,203,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2089,3837,0,0,0,0,0,0
$GC,5935,-0.80,-136.7,897.1,-10.7,209,5939,0.00,2.22,0.00,0.000,4,0.000,0.051,2326,3506,3835,0,0,0,0,0,0
$STATE,5959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5960,begin apogee
$GC,5968,-0.28,0.0,900.4,11.8,209,6085,0.57,0.00,112.90,1.075,6,0.143,0.000,2499,1943,3299,0,0,0,0,0,0
$STATE,6087,end apogee,CONTROL_FINISHED_OK
$STATE,6087,begin climb
$GC,6091,0.80,136.7,904.2,0.0,212,6223,1.02,2.33,120.65,1.040,4,0.093,0.037,2854,560,2742,0,0,0,0,0,0
$GC,6246,0.80,136.7,889.3,16.8,215,6251,0.00,2.28,0.00,0.000,6,0.000,0.034,2853,1963,2738,0,0,0,0,0,0
$GC,6497,0.80,136.7,844.7,17.7,221,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1965,2735,0,0,0,0,0,0
$GC,6740,0.80,136.7,800.2,18.4,227,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1965,2733,0,0,0,0,0,0
$GC,6984,0.80,136.7,755.3,18.4,233,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1965,2730,0,0,0,0,0,0
$GC,7228,0.80,136.7,711.6,17.8,239,7232,0.00,2.25,0.00,0.000,4,0.000,0.053,2853,3371,2733,0,0,0,0,0,0
$GC,7244,0.80,136.7,708.4,17.3,239,7248,0.00,2.15,0.00,0.000,6,0.000,0.030,2863,1955,2728,0,0,0,0,0,0
$GC,7517,0.80,136.7,660.1,17.8,246,7521,0.00,2.12,0.00,0.000,4,0.000,0.038,2875,557,2728,0,0,0,0,0,0
$GC,7573,0.80,136.7,649.8,17.9,247,7577,0.00,2.17,0.00,0.000,6,0.000,0.034,2875,1973,2726,0,0,0,0,0,0
$GC,7839,0.80,136.7,600.4,18.7,254,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1975,2727,0,0,0,0,0,0
$GC,8083,0.80,136.7,553.6,19.0,260,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1978,2726,0,0,0,0,0,0
$GC,8326,0.80,136.7,508.2,18.3,266,8330,0.00,2.22,0.00,0.000,4,0.000,0.054,2875,3372,2725,0,0,0,0,0,0
$GC,8349,0.80,136.7,504.0,18.8,266,8354,0.12,2.15,0.00,0.000,6,0.198,0.031,2856,1947,2725,0,0,0,0,0,0
$GC,8605,0.80,136.7,462.3,15.9,273,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1945,2724,0,0,0,0,0,0
$GC,8848,0.80,136.7,426.5,14.5,279,8852,0.00,2.10,0.00,0.000,4,0.000,0.037,2866,558,2724,0,0,0,0,0,0
$GC,8870,0.80,136.7,423.5,13.5,279,8875,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1968,2722,0,0,0,0,0,0
$GC,9126,0.80,136.7,389.2,13.3,286,9130,0.00,2.15,0.00,0.000,4,0.000,0.038,2866,560,2723,0,0,0,0,0,0
$GC,9159,0.80,136.7,384.6,13.1,286,9163,0.00,2.15,0.00,0.000,6,0.000,0.035,2857,1967,2722,0,0,0,0,0,0
$GC,9415,0.80,136.7,353.5,12.4,293,9419,0.00,2.22,0.00,0.000,4,0.000,0.052,2857,3359,2722,0,0,0,0,0,0
$GC,9580,0.80,136.7,329.2,15.5,296,9584,0.00,2.10,0.00,0.000,6,0.000,0.028,2865,1958,2722,0,0,0,0,0,0
$GC,9829,0.80,136.7,296.3,13.0,302,9833,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,565,2724,0,0,0,0,0,0
$GC,10087,0.80,136.7,264.0,11.3,313,10092,0.00,2.15,0.00,0.000,6,0.000,0.034,2875,1971,2721,0,0,0,0,0,0
$GC,10340,0.80,136.7,234.9,12.2,326,10344,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3360,2721,0,0,0,0,0,0
$GC,10381,0.80,136.7,229.7,13.4,328,10385,0.00,2.12,0.00,0.000,6,0.000,0.028,2884,1957,2720,0,0,0,0,0,0
$GC,10647,0.80,136.7,200.8,10.5,341,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1951,2721,0,0,0,0,0,0
$GC,10904,0.82,160.5,177.1,7.6,364,10929,0.00,2.15,17.65,0.560,4,0.000,0.038,2895,562,2645,0,0,0,0,0,0
$GC,11034,0.82,160.5,163.6,11.1,375,11042,0.10,2.15,0.00,0.000,6,0.160,0.033,2865,1962,2643,0,0,0,0,0,0
$GC,11297,0.84,171.8,140.6,8.1,400,11314,0.00,2.17,10.90,0.499,4,0.000,0.035,2873,553,2599,0,0,0,0,0,0
$GC,11379,0.87,197.1,135.0,7.5,407,11407,0.00,2.12,22.55,0.525,6,0.000,0.032,2874,1962,2495,0,0,0,0,0,0
$GC,11671,0.88,204.8,110.0,8.2,434,11684,0.00,2.22,7.05,0.436,4,0.000,0.048,2879,3377,2468,0,0,0,0,0,0
$GC,11811,0.88,204.8,97.0,9.1,446,11815,0.00,2.12,0.00,0.000,6,0.000,0.029,2885,1957,2468,0,0,0,0,0,0
$GC,12077,0.88,204.8,74.4,8.9,470,12081,0.00,2.10,0.00,0.000,4,0.000,0.038,2896,558,2468,0,0,0,0,0,0
$GC,12151,0.88,204.8,67.2,9.4,476,12155,0.00,2.12,0.00,0.000,6,0.000,0.030,2896,1970,2468,0,0,0,0,0,0
$GC,12417,0.88,204.8,40.6,10.5,500,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1973,2468,0,0,0,0,0,0
$GC,12681,0.88,204.8,12.9,10.2,540,12690,0.00,2.15,0.00,0.000,4,0.000,0.038,2906,566,2471,0,0,0,0,0,0
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,0.6,1.022625
$STATE,12804,end surface coast,CONTROL_FINISHED_OK
$STATE,12805,begin surface
$SM_CCo,12827,51.88,0.415,0,0,2072,300.73
$SM_GC,2.16,0.00,0.00,51.88,0.000,0.000,0.415,50,2108,2072,-7.96,0.23,300.73
$IRIDIUM_FIX,1904.66,-15639.09,270213,141424
$TT8_MAMPS,0.149565
$HUMID,1078805797
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.10
$XPDR_PINGS,99
$AR_DIVENUM,400
$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,23.6,54.939
$10V_AH,9.8,49.906
$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,19.750,117.525,291.700,51.875,0.000,28.591,34.502,386.099,24.750,0.000,18.983,1202.546,9225.964,412.227,2311.024,421.357,33.360,1191.419,0.000,1848.455,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,54.457,1074.567,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,383.536,0.000,949.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,26961,562
$CAP_FILE_SIZE,119290,0
$CFSIZE,260165632,176582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.183,153.5,1
$GPS,050911,040330,1911.905,-15638.882,50,1.4,50,9.6