version: 66.07
glider: 513
mission: 7
dive: 402
start: 9 5 111 8 15 23
data:
$ID,513
$MISSION,7
$DIVE,402
$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,-431256.09
$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,57
$R_STBD_OVSHOOT,31
$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,401
$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
$GPS1,050911,080130,1911.694,-15638.378,63,1.0,63,9.6
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,7
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-80.7
$GPS2,050911,081426,1911.457,-15638.111,14,1.3,20,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.237,0.031
$KALMAN_X,-148536.5,-594.0,-779.4,177116.3,6257.6
$KALMAN_Y,-373471.7,1188.0,510.2,282412.1,-13184.4
$MHEAD_RNG_PITCHd_Wd,328.5,118288,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.53,0.000,2,0.000,0.000,38,2097,3545,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.3,-4.7,8,107,9.90,2.12,-5.47,0.000,4,0.242,0.053,2340,706,3861,0,0,0,0,0,0
$GC,249,-0.80,-136.7,58.5,-28.4,28,256,0.00,2.20,0.00,0.000,6,0.000,0.044,2332,2096,3864,0,0,0,0,0,0
$GC,512,-0.80,-136.7,139.9,-27.7,53,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2104,3864,0,0,0,0,0,0
$GC,766,-0.80,-136.7,199.7,-20.7,77,770,0.00,2.10,0.00,0.000,4,0.000,0.041,2332,707,3866,0,0,0,0,0,0
$GC,789,-0.80,-136.7,204.6,-19.6,78,793,0.00,2.15,0.00,0.000,6,0.000,0.045,2322,2111,3867,0,0,0,0,0,0
$GC,1048,-0.80,-136.7,255.9,-19.9,91,1052,0.00,2.17,0.00,0.000,4,0.000,0.053,2312,3511,3868,0,0,0,0,0,0
$GC,1103,-0.80,-136.7,266.9,-19.4,93,1109,0.10,2.10,0.00,0.000,6,0.173,0.031,2334,2110,3868,0,0,0,0,0,0
$GC,1377,-0.80,-136.7,313.8,-17.0,105,1381,0.00,2.10,0.00,0.000,4,0.000,0.041,2330,704,3868,0,0,0,0,0,0
$GC,1468,-0.80,-136.7,328.6,-15.0,107,1472,0.00,2.15,0.00,0.000,6,0.000,0.044,2326,2105,3869,0,0,0,0,0,0
$GC,1747,-0.80,-136.7,376.6,-17.3,114,1751,0.00,2.20,0.00,0.000,4,0.000,0.050,2315,3507,3869,0,0,0,0,0,0
$GC,1796,-0.80,-136.7,385.3,-15.8,115,1800,0.00,2.10,0.00,0.000,6,0.000,0.028,2314,2101,3869,0,0,0,0,0,0
$GC,2074,-0.80,-136.7,427.5,-15.2,122,2078,0.00,2.08,0.00,0.000,4,0.000,0.040,2312,700,3868,0,0,0,0,0,0
$GC,2115,-0.80,-136.7,434.1,-16.2,123,2120,0.12,2.15,0.00,0.000,6,0.170,0.041,2336,2105,3868,0,0,0,0,0,0
$GC,2398,-0.80,-136.7,475.4,-14.5,130,2402,0.00,2.10,0.00,0.000,4,0.000,0.038,2336,701,3865,0,0,0,0,0,0
$GC,2431,-0.80,-136.7,480.5,-15.2,130,2437,0.00,2.12,0.00,0.000,6,0.000,0.041,2328,2101,3865,0,0,0,0,0,0
$GC,2682,-0.80,-136.7,516.7,-14.7,137,2686,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3508,3862,0,0,0,0,0,0
$GC,2734,-0.80,-136.7,524.0,-13.8,138,2738,0.00,2.12,0.00,0.000,6,0.000,0.029,2317,2095,3861,0,0,0,0,0,0
$GC,3012,-0.80,-136.7,562.0,-13.4,145,3016,0.00,2.10,0.00,0.000,4,0.000,0.037,2317,696,3860,0,0,0,0,0,0
$GC,3052,-0.80,-136.7,567.2,-13.6,146,3056,0.12,2.12,0.00,0.000,6,0.173,0.039,2337,2104,3857,0,0,0,0,0,0
$GC,3336,-0.80,-136.7,597.3,-10.2,153,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2103,3853,0,0,0,0,0,0
$GC,3578,-0.80,-136.7,623.6,-11.0,159,3582,0.00,2.12,0.00,0.000,4,0.000,0.039,2337,701,3856,0,0,0,0,0,0
$GC,3606,-0.80,-136.7,626.8,-11.2,159,3610,0.00,2.15,0.00,0.000,6,0.000,0.043,2329,2097,3853,0,0,0,0,0,0
$GC,3863,-0.80,-136.7,657.4,-12.2,166,3866,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3515,3850,0,0,0,0,0,0
$GC,3963,-0.80,-136.7,669.8,-11.8,168,3967,0.00,2.15,0.00,0.000,6,0.000,0.032,2318,2116,3849,0,0,0,0,0,0
$GC,4242,-0.80,-136.7,706.3,-13.3,175,4246,0.00,2.15,0.00,0.000,4,0.000,0.040,2318,693,3846,0,0,0,0,0,0
$GC,4293,-0.80,-136.7,713.4,-13.6,176,4298,0.12,2.17,0.00,0.000,6,0.178,0.043,2338,2098,3846,0,0,0,0,0,0
$GC,4570,-0.80,-136.7,746.6,-11.8,183,4574,0.00,2.22,0.00,0.000,4,0.000,0.054,2329,3509,3843,0,0,0,0,0,0
$GC,4656,-0.80,-136.7,756.4,-11.1,185,4660,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2083,3842,0,0,0,0,0,0
$GC,4947,-0.80,-136.7,790.5,-11.8,192,4951,0.00,2.10,0.00,0.000,4,0.000,0.043,2329,699,3840,0,0,0,0,0,0
$GC,4982,-0.80,-136.7,795.0,-12.6,192,4987,0.00,2.17,0.00,0.000,6,0.000,0.043,2319,2103,3840,0,0,0,0,0,0
$GC,5233,-0.80,-136.7,827.6,-13.0,199,5237,0.00,2.20,0.00,0.000,4,0.000,0.052,2308,3506,3838,0,0,0,0,0,0
$GC,5254,-0.80,-136.7,830.8,-13.0,199,5259,0.12,2.15,0.00,0.000,6,0.169,0.037,2338,2099,3836,0,0,0,0,0,0
$GC,5509,-0.80,-136.7,859.7,-11.1,206,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2094,3837,0,0,0,0,0,0
$GC,5754,-0.80,-136.7,886.5,-11.0,212,5757,0.00,2.15,0.00,0.000,4,0.000,0.044,2339,699,3835,0,0,0,0,0,0
$GC,5776,-0.80,-136.7,889.1,-11.2,212,5780,0.00,2.17,0.00,0.000,6,0.000,0.042,2331,2101,3832,0,0,0,0,0,0
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5915,-0.28,0.0,904.0,11.3,216,6030,0.60,0.00,112.45,1.073,6,0.144,0.000,2507,1924,3301,0,0,0,0,0,0
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6035,0.80,136.7,907.5,0.0,219,6164,1.00,0.00,120.97,1.039,6,0.090,0.000,2846,1923,2742,0,0,0,0,0,0
$GC,6402,0.80,136.7,852.8,18.4,228,6406,0.00,2.35,0.00,0.000,4,0.000,0.053,2841,3362,2734,0,0,0,0,0,0
$GC,6447,0.80,136.7,844.4,18.5,229,6451,0.00,2.15,0.00,0.000,6,0.000,0.031,2849,1983,2733,0,0,0,0,0,0
$GC,6726,0.80,136.7,796.1,17.3,236,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1978,2731,0,0,0,0,0,0
$GC,6969,0.80,136.7,753.5,17.7,242,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1977,2730,0,0,0,0,0,0
$GC,7213,0.80,136.7,709.6,18.0,248,7217,0.00,2.22,0.00,0.000,4,0.000,0.049,2841,3371,2728,0,0,0,0,0,0
$GC,7230,0.80,136.7,706.5,18.4,248,7234,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1953,2729,0,0,0,0,0,0
$GC,7496,0.80,136.7,656.0,18.8,255,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1948,2727,0,0,0,0,0,0
$GC,7740,0.80,136.7,612.5,17.5,261,7744,0.00,2.28,0.00,0.000,4,0.000,0.051,2843,3370,2727,0,0,0,0,0,0
$GC,7761,0.80,136.7,608.5,18.3,261,7765,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1957,2726,0,0,0,0,0,0
$GC,8024,0.80,136.7,560.9,18.1,268,8028,0.00,2.12,0.00,0.000,4,0.000,0.039,2861,558,2726,0,0,0,0,0,0
$GC,8039,0.80,136.7,557.7,17.2,268,8043,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1961,2724,0,0,0,0,0,0
$GC,8312,0.80,136.7,510.4,17.2,275,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1963,2724,0,0,0,0,0,0
$GC,8557,0.80,136.7,470.7,16.2,281,8561,0.00,2.25,0.00,0.000,4,0.000,0.051,2861,3375,2724,0,0,0,0,0,0
$GC,8584,0.80,136.7,465.9,17.5,281,8587,0.00,2.15,0.00,0.000,6,0.000,0.030,2872,1957,2722,0,0,0,0,0,0
$GC,8840,0.80,136.7,426.7,15.1,288,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1953,2723,0,0,0,0,0,0
$GC,9083,0.80,136.7,391.2,14.6,294,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1952,2723,0,0,0,0,0,0
$GC,9328,0.80,136.7,358.7,12.9,300,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1949,2722,0,0,0,0,0,0
$GC,9570,0.80,136.7,326.7,13.4,306,9574,0.00,2.25,0.00,0.000,4,0.000,0.051,2872,3376,2722,0,0,0,0,0,0
$GC,9586,0.80,136.7,324.5,13.2,306,9590,0.00,2.15,0.00,0.000,6,0.000,0.029,2883,1959,2722,0,0,0,0,0,0
$GC,9839,0.80,136.7,294.7,11.3,313,9843,0.00,2.22,0.00,0.000,4,0.000,0.048,2883,3363,2723,0,0,0,0,0,0
$GC,9949,0.80,136.7,281.2,11.4,318,9954,0.15,2.12,0.00,0.000,6,0.190,0.030,2857,1950,2722,0,0,0,0,0,0
$GC,10208,0.81,144.5,259.7,8.2,331,10217,0.00,2.28,4.28,0.455,4,0.000,0.048,2843,3374,2710,0,0,0,0,0,0
$GC,10366,0.81,144.5,242.6,11.5,338,10370,0.00,2.15,0.00,0.000,6,0.000,0.028,2855,1952,2710,0,0,0,0,0,0
$GC,10630,0.81,144.5,216.6,10.3,351,10634,0.00,2.10,0.00,0.000,4,0.000,0.037,2867,561,2711,0,0,0,0,0,0
$GC,10652,0.81,144.5,214.5,9.5,352,10656,0.00,2.12,0.00,0.000,6,0.000,0.032,2866,1965,2706,0,0,0,0,0,0
$GC,10916,0.81,144.5,193.2,9.4,368,10920,0.00,2.20,0.00,0.000,4,0.000,0.049,2866,3371,2709,0,0,0,0,0,0
$GC,11168,0.81,144.5,163.9,11.0,390,11176,0.00,2.15,0.00,0.000,6,0.000,0.029,2877,1955,2710,0,0,0,0,0,0
$GC,11433,0.88,208.5,142.2,5.9,415,11494,0.00,2.25,54.00,0.535,4,0.000,0.045,2874,3371,2450,0,0,0,0,0,0
$GC,11739,0.88,208.5,106.3,10.2,442,11747,0.00,2.17,0.00,0.000,6,0.000,0.029,2888,1960,2449,0,0,0,0,0,0
$GC,12007,0.88,208.5,83.2,8.6,467,12011,0.00,2.22,0.00,0.000,4,0.000,0.045,2888,3365,2447,0,0,0,0,0,0
$GC,12192,0.88,208.5,63.8,10.3,483,12196,0.00,2.12,0.00,0.000,6,0.000,0.028,2899,1958,2448,0,0,0,0,0,0
$GC,12456,0.88,208.5,34.3,11.9,507,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1954,2448,0,0,0,0,0,0
$STATE,12722,end climb,SURFACE_DEPTH_REACHED
$STATE,12722,begin surface coast
$FINISH,0.4,1.010542
$STATE,12750,end surface coast,CONTROL_FINISHED_OK
$STATE,12750,begin surface
$SM_CCo,12770,47.78,0.415,0,0,2075,300.49
$SM_GC,2.13,0.00,0.00,47.78,0.000,0.000,0.415,48,2125,2075,-7.96,0.71,300.49
$IRIDIUM_FIX,1906.95,-15639.09,270213,222255
$TT8_MAMPS,0.257712
$HUMID,1078854829
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.80
$XPDR_PINGS,100
$AR_DIVENUM,402
$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,23.6,55.192
$10V_AH,9.8,50.094
$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,19.725,121.625,291.700,47.775,0.000,28.576,43.527,456.600,25.000,0.000,22.689,1221.414,9130.811,399.892,2440.836,413.840,33.354,1203.920,0.000,1881.327,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,66.729,1073.033,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.057,0.000,899.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,26937,558
$CAP_FILE_SIZE,122858,0
$CFSIZE,260165632,176431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,161.5,1
$GPS,050911,115052,1911.460,-15638.330,24,3.4,43,9.6