version: 66.07
glider: 513
mission: 7
dive: 407
start: 9 6 111 3 16 24
data:
$ID,513
$MISSION,7
$DIVE,407
$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,-431381.31
$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,49
$R_STBD_OVSHOOT,74
$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,406
$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
$GPS1,060911,030507,1911.349,-15637.105,28,2.0,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.7
$GPS2,060911,031528,1911.119,-15636.951,10,2.1,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042,0.235
$KALMAN_X,-134847.0,-2601.9,-466.8,167154.4,8842.7
$KALMAN_Y,-384485.8,-578.9,817.4,294265.2,-10574.8
$MHEAD_RNG_PITCHd_Wd,333.5,119130,-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,25,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-51.00,0.000,2,0.000,0.000,41,2144,3530,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.2,-4.9,8,105,9.95,0.00,-6.05,0.000,6,0.244,0.000,2337,2142,3857,0,0,0,0,0,0
$GC,362,-0.80,-136.7,96.9,-30.8,40,366,0.00,2.20,0.00,0.000,4,0.000,0.050,2331,707,3862,0,0,0,0,0,0
$GC,405,-0.80,-136.7,109.5,-26.0,43,414,0.00,2.10,0.00,0.000,6,0.000,0.041,2323,2050,3863,0,0,0,0,0,0
$GC,670,-0.80,-136.7,173.0,-22.7,68,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2051,3864,0,0,0,0,0,0
$GC,937,-0.80,-136.7,232.0,-20.7,87,941,0.00,2.28,0.00,0.000,4,0.000,0.050,2311,3521,3865,0,0,0,0,0,0
$GC,977,-0.80,-136.7,240.3,-20.0,89,981,0.00,2.15,0.00,0.000,6,0.000,0.032,2311,2097,3866,0,0,0,0,0,0
$GC,1242,-0.80,-136.7,290.4,-18.5,102,1246,0.00,2.10,0.00,0.000,4,0.000,0.041,2311,701,3867,0,0,0,0,0,0
$GC,1277,-0.80,-136.7,297.2,-18.9,103,1284,0.15,2.17,0.00,0.000,6,0.164,0.044,2341,2110,3868,0,0,0,0,0,0
$GC,1547,-0.80,-136.7,339.1,-15.3,111,1551,0.00,2.20,0.00,0.000,4,0.000,0.051,2331,3513,3867,0,0,0,0,0,0
$GC,1621,-0.80,-136.7,349.0,-12.9,112,1625,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2098,3868,0,0,0,0,0,0
$GC,1876,-0.80,-136.7,384.0,-13.6,119,1880,0.00,2.20,0.00,0.000,4,0.000,0.050,2316,3516,3867,0,0,0,0,0,0
$GC,1942,-0.80,-136.7,394.1,-13.4,120,1946,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2098,3867,0,0,0,0,0,0
$GC,2203,-0.80,-136.7,432.7,-15.1,127,2207,0.00,2.12,0.00,0.000,4,0.000,0.038,2319,686,3866,0,0,0,0,0,0
$GC,2265,-0.80,-136.7,442.5,-15.2,128,2269,0.12,2.15,0.00,0.000,6,0.168,0.041,2340,2108,3865,0,0,0,0,0,0
$GC,2526,-0.80,-136.7,478.2,-13.7,135,2530,0.00,2.17,0.00,0.000,4,0.000,0.050,2337,3506,3863,0,0,0,0,0,0
$GC,2567,-0.80,-136.7,484.0,-14.0,136,2571,0.00,2.12,0.00,0.000,6,0.000,0.030,2332,2096,3863,0,0,0,0,0,0
$GC,2850,-0.80,-136.7,522.6,-13.4,143,2854,0.00,2.10,0.00,0.000,4,0.000,0.039,2331,703,3860,0,0,0,0,0,0
$GC,2883,-0.80,-136.7,527.2,-13.6,143,2890,0.00,2.12,0.00,0.000,6,0.000,0.040,2321,2107,3860,0,0,0,0,0,0
$GC,3135,-0.80,-136.7,563.8,-14.8,150,3138,0.00,2.17,0.00,0.000,4,0.000,0.051,2310,3506,3858,0,0,0,0,0,0
$GC,3190,-0.80,-136.7,572.1,-14.2,151,3194,0.00,2.15,0.00,0.000,6,0.000,0.031,2310,2103,3856,0,0,0,0,0,0
$GC,3462,-0.80,-136.7,613.4,-15.4,158,3466,0.10,2.12,0.00,0.000,4,0.193,0.040,2335,699,3854,0,0,0,0,0,0
$GC,3490,-0.80,-136.7,617.3,-14.1,158,3494,0.00,2.15,0.00,0.000,6,0.000,0.040,2326,2103,3854,0,0,0,0,0,0
$GC,3740,-0.80,-136.7,651.6,-13.9,164,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2102,3851,0,0,0,0,0,0
$GC,3983,-0.80,-136.7,683.7,-13.0,170,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2102,3852,0,0,0,0,0,0
$GC,4229,-0.80,-136.7,715.3,-12.8,176,4233,0.00,2.25,0.00,0.000,4,0.000,0.054,2315,3509,3846,0,0,0,0,0,0
$GC,4261,-0.80,-136.7,719.8,-13.3,176,4267,0.00,2.15,0.00,0.000,6,0.000,0.032,2312,2104,3846,0,0,0,0,0,0
$GC,4511,-0.80,-136.7,751.0,-12.6,183,4515,0.00,2.12,0.00,0.000,4,0.000,0.043,2315,699,3844,0,0,0,0,0,0
$GC,4556,-0.80,-136.7,756.8,-12.3,184,4561,0.12,2.15,0.00,0.000,6,0.179,0.041,2331,2106,3844,0,0,0,0,0,0
$GC,4847,-0.80,-136.7,788.3,-10.7,191,4851,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3511,3842,0,0,0,0,0,0
$GC,4891,-0.80,-136.7,793.2,-11.1,192,4895,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2095,3841,0,0,0,0,0,0
$GC,5174,-0.80,-136.7,824.2,-11.1,199,5178,0.00,2.15,0.00,0.000,4,0.000,0.048,2326,700,3839,0,0,0,0,0,0
$GC,5237,-0.80,-136.7,831.7,-11.3,200,5241,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2107,3839,0,0,0,0,0,0
$GC,5498,-0.80,-136.7,863.7,-12.3,207,5502,0.00,2.20,0.00,0.000,4,0.000,0.052,2301,3505,3835,0,0,0,0,0,0
$GC,5519,-0.80,-136.7,866.6,-12.6,207,5524,0.08,2.17,0.00,0.000,6,0.130,0.031,2338,2099,3836,0,0,0,0,0,0
$GC,5781,-0.80,-136.7,895.1,-10.8,214,5785,0.00,2.12,0.00,0.000,4,0.000,0.041,2338,699,3837,0,0,0,0,0,0
$GC,5821,-0.80,-136.7,899.9,-11.8,215,5825,0.00,2.08,0.00,0.000,3,0.000,0.041,2331,2064,3834,0,0,0,0,0,0
$STATE,5826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5826,begin apogee
$GC,5832,-0.28,0.0,900.5,11.1,215,5949,0.55,0.00,111.95,1.073,6,0.143,0.000,2497,1928,3301,0,0,0,0,0,0
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5955,0.80,136.7,904.8,0.0,218,6087,1.05,2.25,120.60,1.042,4,0.094,0.036,2858,583,2742,0,0,0,0,0,0
$GC,6112,0.80,136.7,888.4,17.7,221,6116,0.00,2.20,0.00,0.000,6,0.000,0.035,2848,1945,2737,0,0,0,0,0,0
$GC,6362,0.80,136.7,843.0,18.3,227,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1946,2734,0,0,0,0,0,0
$GC,6606,0.80,136.7,798.3,18.3,233,6610,0.00,2.30,0.00,0.000,4,0.000,0.054,2852,3377,2732,0,0,0,0,0,0
$GC,6645,0.80,136.7,790.4,21.3,234,6649,0.00,2.15,0.00,0.000,6,0.000,0.035,2862,1975,2732,0,0,0,0,0,0
$GC,6930,0.80,136.7,734.7,19.3,241,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2730,0,0,0,0,0,0
$GC,7172,0.80,136.7,685.2,20.4,247,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2729,0,0,0,0,0,0
$GC,7416,0.80,136.7,638.8,19.0,253,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1971,2728,0,0,0,0,0,0
$GC,7661,0.80,136.7,594.8,17.9,259,7665,0.00,2.15,0.00,0.000,4,0.000,0.038,2878,557,2727,0,0,0,0,0,0
$GC,7733,0.80,136.7,581.5,17.8,260,7737,0.00,2.17,0.00,0.000,6,0.000,0.035,2872,1972,2725,0,0,0,0,0,0
$GC,7983,0.80,136.7,541.5,15.8,266,7987,0.00,2.22,0.00,0.000,4,0.000,0.054,2872,3376,2725,0,0,0,0,0,0
$GC,8023,0.80,136.7,535.4,15.2,267,8027,0.00,2.15,0.00,0.000,6,0.000,0.030,2883,1952,2725,0,0,0,0,0,0
$GC,8307,0.80,136.7,491.2,15.6,274,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1948,2724,0,0,0,0,0,0
$GC,8551,0.80,136.7,455.1,14.8,280,8555,0.00,2.28,0.00,0.000,4,0.000,0.049,2883,3378,2724,0,0,0,0,0,0
$GC,8600,0.80,136.7,447.2,16.5,281,8605,0.15,2.12,0.00,0.000,6,0.197,0.030,2858,1955,2724,0,0,0,0,0,0
$GC,8874,0.80,136.7,410.3,13.6,288,8878,0.00,2.10,0.00,0.000,4,0.000,0.038,2872,559,2724,0,0,0,0,0,0
$GC,8907,0.80,136.7,405.3,14.8,288,8913,0.00,2.12,0.00,0.000,6,0.000,0.033,2860,1965,2722,0,0,0,0,0,0
$GC,9157,0.80,136.7,371.7,13.4,295,9161,0.00,2.20,0.00,0.000,4,0.000,0.051,2862,3360,2722,0,0,0,0,0,0
$GC,9219,0.80,136.7,362.9,14.4,296,9223,0.00,2.10,0.00,0.000,6,0.000,0.028,2869,1959,2722,0,0,0,0,0,0
$GC,9485,0.80,136.7,328.0,13.1,303,9489,0.00,2.25,0.00,0.000,4,0.000,0.049,2868,3367,2722,0,0,0,0,0,0
$GC,9501,0.80,136.7,325.7,13.7,303,9505,0.00,2.10,0.00,0.000,6,0.000,0.030,2877,1967,2725,0,0,0,0,0,0
$GC,9771,0.80,136.7,289.9,13.2,311,9775,0.00,2.22,0.00,0.000,4,0.000,0.050,2877,3359,2722,0,0,0,0,0,0
$GC,9820,0.80,136.7,282.1,14.9,313,9825,0.12,2.12,0.00,0.000,6,0.198,0.028,2859,1955,2722,0,0,0,0,0,0
$GC,10074,0.80,136.7,252.2,10.9,325,10078,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,560,2723,0,0,0,0,0,0
$GC,10331,0.80,136.7,225.9,8.6,336,10337,0.00,2.12,0.00,0.000,6,0.000,0.032,2863,1968,2720,0,0,0,0,0,0
$GC,10586,0.80,136.7,202.9,9.4,349,10590,0.00,2.20,0.00,0.000,4,0.000,0.050,2867,3356,2720,0,0,0,0,0,0
$GC,10645,0.80,136.7,196.6,11.3,352,10649,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1947,2721,0,0,0,0,0,0
$GC,10912,0.82,157.5,173.0,7.7,376,10932,0.00,2.15,15.30,0.551,4,0.000,0.038,2887,567,2657,0,0,0,0,0,0
$GC,10960,0.82,157.5,168.5,9.3,380,10969,0.08,2.15,0.00,0.000,6,0.166,0.032,2865,1968,2654,0,0,0,0,0,0
$GC,11225,0.82,157.5,142.4,9.5,405,11229,0.00,2.20,0.00,0.000,4,0.000,0.048,2864,3357,2655,0,0,0,0,0,0
$GC,11311,0.82,157.5,133.3,13.1,412,11315,0.00,2.08,0.00,0.000,6,0.000,0.026,2873,1957,2659,0,0,0,0,0,0
$GC,11577,0.96,271.3,116.5,3.8,436,11677,0.00,2.33,93.38,0.523,4,0.000,0.047,2873,3364,2192,0,0,0,0,0,0
$GC,11908,0.96,271.3,83.5,14.1,465,11912,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1967,2189,0,0,0,0,0,0
$GC,12179,0.96,271.3,49.0,11.8,490,12183,0.00,2.12,0.00,0.000,4,0.000,0.038,2895,564,2185,0,0,0,0,0,0
$GC,12241,0.96,271.3,41.2,11.9,495,12245,0.00,2.10,0.00,0.000,6,0.000,0.029,2895,1957,2186,0,0,0,0,0,0
$GC,12505,0.96,271.3,6.7,13.2,535,12514,0.00,2.15,0.00,0.000,4,0.000,0.038,2904,565,2186,0,0,0,0,0,0
$STATE,12530,end climb,SURFACE_DEPTH_REACHED
$STATE,12530,begin surface coast
$FINISH,0.2,1.001257
$STATE,12552,end surface coast,CONTROL_FINISHED_OK
$STATE,12552,begin surface
$SM_CCo,12575,13.77,0.393,0,0,2078,300.24
$SM_GC,2.08,0.00,0.00,13.77,0.000,0.000,0.393,55,2107,2078,-7.95,0.20,300.24
$IRIDIUM_FIX,1904.66,-15639.09,280213,171724
$TT8_MAMPS,0.292994
$HUMID,1078894829
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255968256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17678925824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,55.806
$10V_AH,9.8,50.535
$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,20.100,138.650,341.225,13.775,0.000,25.766,41.525,301.246,23.250,0.000,31.908,1194.807,8935.999,399.178,2257.057,428.788,33.360,1236.259,0.000,1858.218,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,64.428,1073.033,393.471,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.389,0.000,896.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26956,543
$CAP_FILE_SIZE,124729,0
$CFSIZE,260165632,176062464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,166.3,1
$GPS,060911,064826,1911.284,-15637.098,71,1.2,72,9.6