version: 66.07
glider: 513
mission: 7
dive: 406
start: 9 5 111 23 25 24
data:
$ID,513
$MISSION,7
$DIVE,406
$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,-431348.78
$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,54
$R_STBD_OVSHOOT,76
$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,405
$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
$GPS1,050911,230907,1911.367,-15637.253,30,1.9,30,9.6
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,6
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.7
$GPS2,050911,232426,1911.044,-15636.982,12,1.6,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.043,0.235
$KALMAN_X,-135349.5,-1988.3,-628.8,167155.5,9691.2
$KALMAN_Y,-380695.8,11.6,618.7,289951.4,-10858.8
$MHEAD_RNG_PITCHd_Wd,332.2,119263,-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,-51.38,0.000,2,0.000,0.000,38,2140,3548,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.3,-5.1,8,106,9.90,2.12,-5.57,0.000,4,0.242,0.063,2321,3478,3859,0,0,0,0,0,0
$GC,116,-0.80,-136.7,16.1,-33.1,12,124,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,2122,3860,0,0,0,0,0,0
$GC,389,-0.80,-136.7,107.9,-31.7,40,393,0.00,2.15,0.00,0.000,4,0.000,0.039,2325,687,3865,0,0,0,0,0,0
$GC,542,-0.80,-136.7,146.6,-23.1,53,546,0.00,2.08,0.00,0.000,6,0.000,0.039,2316,2062,3864,0,0,0,0,0,0
$GC,807,-0.80,-136.7,205.7,-23.3,77,811,0.00,2.22,0.00,0.000,4,0.000,0.048,2305,3505,3865,0,0,0,0,0,0
$GC,841,-0.80,-136.7,213.6,-23.2,78,846,0.12,2.15,0.00,0.000,6,0.174,0.031,2335,2082,3866,0,0,0,0,0,0
$GC,1094,-0.80,-136.7,264.2,-18.1,90,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2073,3867,0,0,0,0,0,0
$GC,1341,-0.80,-136.7,309.4,-17.9,101,1345,0.00,2.22,0.00,0.000,4,0.000,0.050,2326,3513,3867,0,0,0,0,0,0
$GC,1369,-0.80,-136.7,314.3,-18.3,101,1373,0.00,2.10,0.00,0.000,6,0.000,0.031,2326,2098,3867,0,0,0,0,0,0
$GC,1619,-0.80,-136.7,360.4,-18.4,107,1623,0.00,2.05,0.00,0.000,4,0.000,0.036,2326,699,3867,0,0,0,0,0,0
$GC,1646,-0.80,-136.7,365.2,-16.8,107,1650,0.00,2.12,0.00,0.000,6,0.000,0.040,2316,2108,3867,0,0,0,0,0,0
$GC,1907,-0.80,-136.7,405.8,-15.3,114,1911,0.00,2.20,0.00,0.000,4,0.000,0.048,2304,3514,3867,0,0,0,0,0,0
$GC,1930,-0.80,-136.7,409.2,-14.7,114,1935,0.12,2.10,0.00,0.000,6,0.164,0.031,2336,2098,3866,0,0,0,0,0,0
$GC,2191,-0.80,-136.7,442.1,-12.3,121,2194,0.00,2.08,0.00,0.000,4,0.000,0.037,2337,696,3864,0,0,0,0,0,0
$GC,2240,-0.80,-136.7,448.9,-13.0,122,2244,0.00,2.10,0.00,0.000,6,0.000,0.038,2328,2101,3864,0,0,0,0,0,0
$GC,2518,-0.80,-136.7,485.7,-13.4,129,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2101,3862,0,0,0,0,0,0
$GC,2762,-0.80,-136.7,517.8,-13.1,135,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2100,3859,0,0,0,0,0,0
$GC,3006,-0.80,-136.7,551.8,-14.2,141,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2101,3857,0,0,0,0,0,0
$GC,3250,-0.80,-136.7,586.3,-14.2,147,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2101,3854,0,0,0,0,0,0
$GC,3495,-0.80,-136.7,621.4,-14.2,153,3499,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3504,3851,0,0,0,0,0,0
$GC,3539,-0.80,-136.7,628.0,-14.4,154,3543,0.00,2.12,0.00,0.000,6,0.000,0.032,2317,2107,3851,0,0,0,0,0,0
$GC,3822,-0.80,-136.7,667.1,-13.8,161,3826,0.00,2.15,0.00,0.000,4,0.000,0.042,2317,695,3848,0,0,0,0,0,0
$GC,3857,-0.80,-136.7,671.7,-13.9,161,3863,0.12,2.12,0.00,0.000,6,0.179,0.042,2337,2095,3847,0,0,0,0,0,0
$GC,4107,-0.80,-136.7,699.4,-10.7,168,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2095,3844,0,0,0,0,0,0
$GC,4350,-0.80,-136.7,723.7,-9.8,174,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2095,3844,0,0,0,0,0,0
$GC,4594,-0.80,-136.7,746.5,-9.2,180,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2100,3843,0,0,0,0,0,0
$GC,4839,-0.80,-136.7,769.4,-9.4,186,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2095,3839,0,0,0,0,0,0
$GC,5082,-0.80,-136.7,793.0,-9.8,192,5086,0.00,2.25,0.00,0.000,4,0.000,0.057,2328,3512,3840,0,0,0,0,0,0
$GC,5122,-0.80,-136.7,797.1,-11.2,193,5126,0.00,2.17,0.00,0.000,6,0.000,0.032,2328,2091,3835,0,0,0,0,0,0
$GC,5407,-0.80,-136.7,827.8,-11.0,200,5411,0.00,2.15,0.00,0.000,4,0.000,0.043,2328,683,3835,0,0,0,0,0,0
$GC,5480,-0.80,-136.7,836.6,-11.7,201,5484,0.00,2.17,0.00,0.000,6,0.000,0.044,2319,2105,3834,0,0,0,0,0,0
$GC,5735,-0.80,-136.7,866.9,-12.0,208,5739,0.00,2.20,0.00,0.000,4,0.000,0.054,2307,3506,3832,0,0,0,0,0,0
$GC,5781,-0.80,-136.7,872.7,-13.0,209,5786,0.12,2.15,0.00,0.000,6,0.168,0.031,2338,2091,3831,0,0,0,0,0,0
$STATE,6056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6056,begin apogee
$GC,6063,-0.28,0.0,902.6,10.6,216,6178,0.55,0.00,111.70,1.075,6,0.141,0.000,2503,1927,3302,0,0,0,0,0,0
$STATE,6181,end apogee,CONTROL_FINISHED_OK
$STATE,6181,begin climb
$GC,6183,0.80,136.7,906.3,0.0,219,6312,1.02,2.47,122.15,1.039,4,0.091,0.051,2840,3366,2742,0,0,0,0,0,0
$GC,6330,0.80,136.7,891.1,17.3,222,6334,0.00,2.22,0.00,0.000,6,0.000,0.028,2845,1969,2740,0,0,0,0,0,0
$GC,6580,0.80,136.7,845.2,18.4,228,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1962,2734,0,0,0,0,0,0
$GC,6823,0.80,136.7,800.8,17.9,234,6827,0.00,2.17,0.00,0.000,4,0.000,0.040,2860,560,2732,0,0,0,0,0,0
$GC,6880,0.80,136.7,790.3,19.5,235,6884,0.00,2.17,0.00,0.000,6,0.000,0.035,2851,1966,2730,0,0,0,0,0,0
$GC,7146,0.80,136.7,744.5,16.7,242,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1968,2730,0,0,0,0,0,0
$GC,7390,0.80,136.7,702.8,17.0,248,7394,0.00,2.25,0.00,0.000,4,0.000,0.050,2841,3372,2729,0,0,0,0,0,0
$GC,7424,0.80,136.7,696.5,17.4,248,7430,0.00,2.17,0.00,0.000,6,0.000,0.031,2850,1954,2729,0,0,0,0,0,0
$GC,7674,0.80,136.7,655.5,15.9,255,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1948,2725,0,0,0,0,0,0
$GC,7918,0.80,136.7,617.9,15.6,261,7922,0.00,2.10,0.00,0.000,4,0.000,0.038,2861,560,2727,0,0,0,0,0,0
$GC,7962,0.80,136.7,611.3,14.3,262,7966,0.00,2.12,0.00,0.000,6,0.000,0.032,2853,1960,2724,0,0,0,0,0,0
$GC,8247,0.80,136.7,571.5,14.0,269,8251,0.00,2.20,0.00,0.000,4,0.000,0.049,2842,3364,2724,0,0,0,0,0,0
$GC,8331,0.80,136.7,559.3,14.3,271,8335,0.00,2.15,0.00,0.000,6,0.000,0.029,2850,1948,2725,0,0,0,0,0,0
$GC,8615,0.80,136.7,520.1,14.0,278,8619,0.00,2.10,0.00,0.000,4,0.000,0.039,2861,559,2724,0,0,0,0,0,0
$GC,8671,0.80,136.7,511.9,14.9,279,8675,0.00,2.12,0.00,0.000,6,0.000,0.033,2853,1964,2722,0,0,0,0,0,0
$GC,8943,0.80,136.7,473.4,14.3,286,8947,0.00,2.22,0.00,0.000,4,0.000,0.048,2843,3372,2723,0,0,0,0,0,0
$GC,8992,0.80,136.7,465.6,15.2,287,8996,0.00,2.12,0.00,0.000,6,0.000,0.031,2852,1957,2723,0,0,0,0,0,0
$GC,9272,0.80,136.7,427.1,13.7,294,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1954,2722,0,0,0,0,0,0
$GC,9515,0.80,136.7,394.3,13.6,300,9518,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,569,2722,0,0,0,0,0,0
$GC,9581,0.80,136.7,384.4,14.2,301,9585,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,1976,2721,0,0,0,0,0,0
$GC,9844,0.80,136.7,347.2,14.2,308,9848,0.00,2.20,0.00,0.000,4,0.000,0.051,2854,3354,2721,0,0,0,0,0,0
$GC,10008,0.80,136.7,322.5,13.5,311,10012,0.00,2.10,0.00,0.000,6,0.000,0.030,2863,1958,2722,0,0,0,0,0,0
$GC,10260,0.80,136.7,291.3,12.3,318,10264,0.00,2.22,0.00,0.000,4,0.000,0.047,2856,3357,2721,0,0,0,0,0,0
$GC,10277,0.80,136.7,289.1,12.0,319,10281,0.00,2.10,0.00,0.000,6,0.000,0.030,2865,1956,2722,0,0,0,0,0,0
$GC,10547,0.80,136.7,259.9,10.3,332,10551,0.00,2.12,0.00,0.000,4,0.000,0.038,2876,558,2721,0,0,0,0,0,0
$GC,10593,0.80,136.7,254.6,12.2,334,10597,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,1953,2720,0,0,0,0,0,0
$GC,10851,0.80,136.7,227.4,10.4,347,10855,0.00,2.10,0.00,0.000,4,0.000,0.038,2886,565,2719,0,0,0,0,0,0
$GC,10929,0.80,136.7,217.5,13.3,350,10934,0.12,2.12,0.00,0.000,6,0.184,0.032,2857,1965,2723,0,0,0,0,0,0
$GC,11190,0.80,136.7,188.6,9.9,367,11194,0.00,2.22,0.00,0.000,4,0.000,0.048,2856,3367,2720,0,0,0,0,0,0
$GC,11209,0.80,136.7,186.7,9.3,368,11213,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1961,2721,0,0,0,0,0,0
$GC,11478,0.85,183.1,166.3,6.6,392,11521,0.00,0.00,35.85,0.566,6,0.000,0.000,2869,1960,2552,0,0,0,0,0,0
$GC,11778,0.85,183.1,136.6,9.5,420,11782,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,563,2551,0,0,0,0,0,0
$GC,11855,0.85,183.1,127.9,11.3,426,11862,0.00,2.15,0.00,0.000,6,0.000,0.037,2876,1957,2549,0,0,0,0,0,0
$GC,12120,0.89,217.4,104.6,7.1,451,12157,0.00,2.25,29.58,0.502,4,0.000,0.047,2876,3353,2414,0,0,0,0,0,0
$GC,12172,0.89,217.4,100.0,9.2,455,12177,0.00,2.12,0.00,0.000,6,0.000,0.029,2883,1952,2414,0,0,0,0,0,0
$GC,12439,0.89,217.4,71.6,10.5,479,12443,0.00,2.10,0.00,0.000,4,0.000,0.037,2899,550,2412,0,0,0,0,0,0
$GC,12537,0.89,217.4,59.8,11.6,487,12545,0.00,2.15,0.00,0.000,6,0.000,0.030,2898,1963,2410,0,0,0,0,0,0
$GC,12803,0.89,217.4,29.2,12.1,512,12810,0.00,2.15,0.00,0.000,4,0.000,0.037,2909,564,2411,0,0,0,0,0,0
$GC,12851,0.89,217.4,22.8,11.9,520,12859,0.00,2.12,0.00,0.000,6,0.000,0.029,2909,1965,2411,0,0,0,0,0,0
$STATE,13009,end climb,SURFACE_DEPTH_REACHED
$STATE,13009,begin surface coast
$FINISH,0.2,1.022659
$STATE,13032,end surface coast,CONTROL_FINISHED_OK
$STATE,13032,begin surface
$SM_CCo,13053,40.83,0.419,0,0,2073,300.24
$SM_GC,1.96,0.00,0.00,40.83,0.000,0.000,0.419,54,2143,2073,-7.95,1.19,300.24
$IRIDIUM_FIX,1906.95,-15639.09,280213,171724
$TT8_MAMPS,0.253877
$HUMID,1078870313
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.30
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256001024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17817174016
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,55.694
$10V_AH,9.9,50.447
$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,19.700,125.350,299.275,40.825,0.000,55.829,80.864,483.229,23.750,0.000,14.494,1200.090,9558.131,433.016,2384.776,446.323,33.355,1184.438,0.000,1775.619,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,73.632,1075.334,418.782,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.840,0.000,896.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26932,553
$CAP_FILE_SIZE,123511,0
$CFSIZE,260165632,176136192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,158.3,1
$GPS,060911,030507,1911.349,-15637.105,28,2.0,28,9.6