version: 66.07
glider: 513
mission: 7
dive: 405
start: 9 5 111 19 39 29
data:
$ID,513
$MISSION,7
$DIVE,405
$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,-431333.66
$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,48
$R_STBD_OVSHOOT,83
$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,404
$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
$GPS1,050911,192824,1911.474,-15637.356,54,1.0,54,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.0
$GPS2,050911,193831,1911.271,-15637.132,10,1.0,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045,0.235
$KALMAN_X,-136466.1,-424.7,-1304.8,167103.9,10781.3
$KALMAN_Y,-376748.1,1605.6,-50.1,285484.4,-9799.8
$MHEAD_RNG_PITCHd_Wd,327.3,118815,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.72,0.000,2,0.000,0.000,37,2150,3777,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.5,-8.5,9,112,9.98,2.12,-1.27,0.000,4,0.245,0.064,2322,3460,3862,0,0,0,0,0,0
$GC,139,-0.80,-136.7,28.1,-49.4,16,147,0.00,2.12,0.00,0.000,6,0.000,0.038,2322,2119,3863,0,0,0,0,0,0
$GC,404,-0.80,-136.7,112.8,-30.4,41,408,0.00,2.17,0.00,0.000,4,0.000,0.041,2322,680,3865,0,0,0,0,0,0
$GC,424,-0.80,-136.7,118.6,-28.0,42,429,0.00,2.15,0.00,0.000,6,0.000,0.044,2309,2055,3865,0,0,0,0,0,0
$GC,690,-0.80,-136.7,187.1,-23.2,66,694,0.00,2.28,0.00,0.000,4,0.000,0.050,2301,3520,3867,0,0,0,0,0,0
$GC,720,-0.80,-136.7,194.9,-23.2,68,725,0.15,2.17,0.00,0.000,6,0.176,0.033,2337,2093,3867,0,0,0,0,0,0
$GC,976,-0.80,-136.7,249.6,-20.3,81,980,0.00,2.10,0.00,0.000,4,0.000,0.041,2337,691,3869,0,0,0,0,0,0
$GC,1032,-0.80,-136.7,259.4,-16.8,83,1037,0.00,2.17,0.00,0.000,6,0.000,0.043,2329,2110,3868,0,0,0,0,0,0
$GC,1285,-0.80,-136.7,299.5,-14.9,96,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2109,3870,0,0,0,0,0,0
$GC,1551,-0.80,-136.7,340.2,-15.7,103,1555,0.00,2.20,0.00,0.000,4,0.000,0.050,2318,3516,3870,0,0,0,0,0,0
$GC,1583,-0.80,-136.7,345.5,-15.5,103,1589,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2086,3870,0,0,0,0,0,0
$GC,1833,-0.80,-136.7,384.9,-16.2,110,1837,0.00,2.10,0.00,0.000,4,0.000,0.041,2318,701,3870,0,0,0,0,0,0
$GC,1913,-0.80,-136.7,397.8,-16.2,111,1919,0.12,2.15,0.00,0.000,6,0.172,0.041,2339,2105,3870,0,0,0,0,0,0
$GC,2162,-0.80,-136.7,434.4,-14.7,118,2166,0.00,2.20,0.00,0.000,4,0.000,0.052,2330,3507,3869,0,0,0,0,0,0
$GC,2246,-0.80,-136.7,446.3,-13.7,119,2251,0.00,2.12,0.00,0.000,6,0.000,0.029,2330,2093,3868,0,0,0,0,0,0
$GC,2497,-0.80,-136.7,483.1,-14.9,126,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2087,3865,0,0,0,0,0,0
$GC,2739,-0.80,-136.7,518.7,-14.8,132,2743,0.00,2.08,0.00,0.000,4,0.000,0.040,2330,701,3863,0,0,0,0,0,0
$GC,2772,-0.80,-136.7,523.8,-15.2,132,2779,0.00,2.15,0.00,0.000,6,0.000,0.041,2320,2107,3862,0,0,0,0,0,0
$GC,3022,-0.80,-136.7,558.9,-13.8,139,3026,0.00,2.12,0.00,0.000,4,0.000,0.038,2320,697,3861,0,0,0,0,0,0
$GC,3051,-0.80,-136.7,563.1,-14.6,139,3056,0.12,2.15,0.00,0.000,6,0.172,0.040,2346,2098,3861,0,0,0,0,0,0
$GC,3306,-0.80,-136.7,594.9,-12.5,146,3310,0.00,2.22,0.00,0.000,4,0.000,0.054,2331,3513,3858,0,0,0,0,0,0
$GC,3394,-0.80,-136.7,606.1,-12.3,148,3398,0.00,2.15,0.00,0.000,6,0.000,0.032,2331,2097,3858,0,0,0,0,0,0
$GC,3679,-0.80,-136.7,641.9,-12.9,155,3683,0.00,2.12,0.00,0.000,4,0.000,0.040,2331,696,3854,0,0,0,0,0,0
$GC,3724,-0.80,-136.7,648.2,-13.4,156,3727,0.00,2.17,0.00,0.000,6,0.000,0.041,2321,2107,3857,0,0,0,0,0,0
$GC,4007,-0.80,-136.7,686.2,-13.2,163,4011,0.00,2.20,0.00,0.000,4,0.000,0.052,2310,3509,3851,0,0,0,0,0,0
$GC,4081,-0.80,-136.7,696.1,-13.3,164,4086,0.12,2.12,0.00,0.000,6,0.166,0.030,2341,2104,3851,0,0,0,0,0,0
$GC,4331,-0.80,-136.7,723.4,-10.8,170,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2095,3849,0,0,0,0,0,0
$GC,4574,-0.80,-136.7,750.4,-11.0,176,4578,0.00,2.12,0.00,0.000,4,0.000,0.044,2341,698,3847,0,0,0,0,0,0
$GC,4620,-0.80,-136.7,755.7,-11.6,177,4624,0.00,2.17,0.00,0.000,6,0.000,0.040,2333,2108,3844,0,0,0,0,0,0
$GC,4897,-0.80,-136.7,787.8,-11.5,184,4901,0.00,2.20,0.00,0.000,4,0.000,0.052,2323,3513,3844,0,0,0,0,0,0
$GC,4929,-0.80,-136.7,792.0,-12.8,184,4936,0.00,2.15,0.00,0.000,6,0.000,0.030,2322,2093,3843,0,0,0,0,0,0
$GC,5181,-0.80,-136.7,823.3,-12.6,191,5185,0.00,2.15,0.00,0.000,4,0.000,0.046,2322,700,3842,0,0,0,0,0,0
$GC,5236,-0.80,-136.7,830.9,-13.6,192,5240,0.00,2.22,0.00,0.000,6,0.000,0.041,2312,2130,3840,0,0,0,0,0,0
$GC,5508,-0.80,-136.7,867.0,-13.5,199,5512,0.00,2.17,0.00,0.000,4,0.000,0.052,2300,3508,3839,0,0,0,0,0,0
$GC,5576,-0.80,-136.7,876.7,-13.7,200,5581,0.15,2.15,0.00,0.000,6,0.165,0.031,2340,2091,3839,0,0,0,0,0,0
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5794,-0.28,0.0,901.5,11.4,206,5912,0.55,0.00,113.72,1.070,6,0.140,0.000,2505,1926,3300,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5915,begin climb
$GC,5917,0.80,136.7,906.0,0.0,209,6044,1.05,0.00,122.62,1.039,6,0.091,0.000,2853,1926,2740,0,0,0,0,0,0
$GC,6275,0.80,136.7,852.3,18.6,218,6280,0.00,2.38,0.00,0.000,4,0.000,0.054,2852,3371,2733,0,0,0,0,0,0
$GC,6320,0.80,136.7,842.8,21.2,219,6324,0.00,2.17,0.00,0.000,6,0.000,0.030,2863,1973,2733,0,0,0,0,0,0
$GC,6603,0.80,136.7,786.1,20.1,226,6607,0.00,2.15,0.00,0.000,4,0.000,0.041,2875,562,2733,0,0,0,0,0,0
$GC,6660,0.80,136.7,774.1,21.5,227,6664,0.00,2.17,0.00,0.000,6,0.000,0.035,2869,1963,2728,0,0,0,0,0,0
$GC,6926,0.80,136.7,720.3,19.7,234,6930,0.00,2.25,0.00,0.000,4,0.000,0.051,2866,3364,2728,0,0,0,0,0,0
$GC,6947,0.80,136.7,715.8,21.1,234,6951,0.00,2.15,0.00,0.000,6,0.000,0.029,2878,1961,2726,0,0,0,0,0,0
$GC,7210,0.80,136.7,664.3,19.3,241,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1955,2725,0,0,0,0,0,0
$GC,7452,0.80,136.7,617.7,18.8,247,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1955,2725,0,0,0,0,0,0
$GC,7696,0.80,136.7,572.4,18.3,253,7700,0.00,2.28,0.00,0.000,4,0.000,0.054,2874,3366,2725,0,0,0,0,0,0
$GC,7751,0.80,136.7,561.5,20.6,254,7755,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1957,2725,0,0,0,0,0,0
$GC,8024,0.80,136.7,511.5,18.2,261,8028,0.00,2.12,0.00,0.000,4,0.000,0.038,2895,549,2724,0,0,0,0,0,0
$GC,8119,0.80,136.7,493.8,17.4,263,8124,0.15,2.17,0.00,0.000,6,0.191,0.033,2859,1976,2722,0,0,0,0,0,0
$GC,8392,0.80,136.7,452.5,14.6,270,8396,0.00,2.20,0.00,0.000,4,0.000,0.050,2849,3365,2722,0,0,0,0,0,0
$GC,8470,0.80,136.7,440.4,15.0,271,8476,0.00,2.15,0.00,0.000,6,0.000,0.030,2857,1952,2722,0,0,0,0,0,0
$GC,8720,0.80,136.7,406.8,13.3,278,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1947,2719,0,0,0,0,0,0
$GC,8965,0.80,136.7,374.1,13.4,284,8969,0.00,2.10,0.00,0.000,4,0.000,0.037,2869,559,2722,0,0,0,0,0,0
$GC,9042,0.80,136.7,362.4,15.7,285,9048,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1956,2720,0,0,0,0,0,0
$GC,9292,0.80,136.7,327.8,13.6,292,9296,0.00,2.12,0.00,0.000,4,0.000,0.036,2879,557,2721,0,0,0,0,0,0
$GC,9327,0.80,136.7,323.3,14.1,292,9333,0.00,2.15,0.00,0.000,6,0.000,0.033,2879,1971,2718,0,0,0,0,0,0
$GC,9577,0.80,136.7,293.1,11.9,300,9581,0.00,2.22,0.00,0.000,4,0.000,0.051,2878,3371,2720,0,0,0,0,0,0
$GC,9621,0.80,136.7,287.7,12.5,302,9625,0.15,2.15,0.00,0.000,6,0.186,0.029,2853,1951,2720,0,0,0,0,0,0
$GC,9881,0.80,136.7,264.4,9.2,315,9885,0.00,2.25,0.00,0.000,4,0.000,0.048,2842,3374,2721,0,0,0,0,0,0
$GC,10055,0.80,136.7,245.5,11.4,323,10059,0.00,2.15,0.00,0.000,6,0.000,0.029,2851,1948,2718,0,0,0,0,0,0
$GC,10321,0.80,136.7,215.6,10.9,336,10325,0.00,2.10,0.00,0.000,4,0.000,0.035,2863,566,2720,0,0,0,0,0,0
$GC,10483,0.82,154.7,201.5,7.8,343,10502,0.00,2.12,12.12,0.558,6,0.000,0.031,2861,1971,2670,0,0,0,0,0,0
$GC,10761,0.82,154.7,171.2,11.6,368,10765,0.00,2.20,0.00,0.000,4,0.000,0.049,2861,3361,2670,0,0,0,0,0,0
$GC,10846,0.82,154.7,160.1,14.8,375,10850,0.00,2.12,0.00,0.000,6,0.000,0.028,2870,1952,2670,0,0,0,0,0,0
$GC,11114,0.85,181.9,131.9,7.4,399,11142,0.00,0.00,24.45,0.526,6,0.000,0.000,2870,1946,2559,0,0,0,0,0,0
$GC,11401,0.92,236.9,107.7,6.2,426,11452,0.00,2.15,46.03,0.511,4,0.000,0.038,2881,563,2333,0,0,0,0,0,0
$GC,11651,0.92,236.9,87.1,9.6,448,11655,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1960,2333,0,0,0,0,0,0
$GC,11919,0.92,236.9,57.1,11.1,472,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1961,2329,0,0,0,0,0,0
$GC,12183,0.92,236.9,27.7,11.3,498,12190,0.00,2.15,0.00,0.000,4,0.000,0.038,2891,566,2329,0,0,0,0,0,0
$GC,12294,0.92,236.9,15.5,11.0,517,12301,0.00,2.12,0.00,0.000,6,0.000,0.031,2891,1963,2330,0,0,0,0,0,0
$STATE,12400,end climb,SURFACE_DEPTH_REACHED
$STATE,12400,begin surface coast
$FINISH,0.4,1.015627
$STATE,12432,end surface coast,CONTROL_FINISHED_OK
$STATE,12432,begin surface
$SM_CCo,12452,32.38,0.416,0,0,2076,300.24
$SM_GC,1.85,0.00,0.00,32.38,0.000,0.000,0.416,51,2144,2076,-7.96,1.24,300.24
$IRIDIUM_FIX,1904.66,-15636.09,280213,101012
$TT8_MAMPS,0.254644
$HUMID,1078871603
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,102
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256033792
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17976000512
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,55.570
$10V_AH,9.8,50.358
$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,20.175,130.150,318.950,32.375,0.000,31.036,49.528,291.713,25.500,0.000,17.441,1190.824,8841.197,457.157,2190.616,423.424,33.355,1232.229,0.000,1811.410,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,69.030,1069.965,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.380,0.000,879.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26937,542
$CAP_FILE_SIZE,119778,0
$CFSIZE,260165632,176214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214,160.5,1
$GPS,050911,230907,1911.367,-15637.253,30,1.9,30,9.6