version: 66.07
glider: 513
mission: 7
dive: 408
start: 9 6 111 7 6 42
data:
$ID,513
$MISSION,7
$DIVE,408
$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,-431396.84
$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,53
$R_STBD_OVSHOOT,40
$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,407
$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
$GPS1,060911,064826,1911.284,-15637.098,71,1.2,72,9.6
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,9
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.1
$GPS2,060911,070544,1910.916,-15636.863,13,1.7,13,9.6
$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,-135059.6,-1497.1,-1137.8,167082.2,9015.9
$KALMAN_Y,-389653.7,617.9,12.1,298667.9,-10479.3
$MHEAD_RNG_PITCHd_Wd,337.6,119523,-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,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-57.12,0.000,2,0.000,0.000,39,2108,3738,0,0,0,0,0,0
$GC,89,-0.80,-136.7,3.9,-6.0,9,111,9.95,2.25,-2.00,0.000,4,0.243,0.062,2322,3505,3862,0,0,0,0,0,0
$GC,260,-0.80,-136.7,64.7,-30.3,29,264,0.00,2.12,0.00,0.000,6,0.000,0.040,2322,2118,3865,0,0,0,0,0,0
$GC,525,-0.80,-136.7,139.6,-25.8,53,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2112,3866,0,0,0,0,0,0
$GC,790,-0.80,-136.7,199.6,-21.3,78,794,0.00,2.15,0.00,0.000,4,0.000,0.039,2322,680,3867,0,0,0,0,0,0
$GC,829,-0.80,-136.7,209.0,-22.5,80,834,0.10,2.15,0.00,0.000,6,0.186,0.043,2334,2092,3867,0,0,0,0,0,0
$GC,1095,-0.80,-136.7,261.8,-18.9,93,1099,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3522,3868,0,0,0,0,0,0
$GC,1139,-0.80,-136.7,269.7,-17.2,95,1143,0.00,2.15,0.00,0.000,6,0.000,0.032,2325,2085,3868,0,0,0,0,0,0
$GC,1403,-0.80,-136.7,315.2,-17.3,106,1407,0.00,2.08,0.00,0.000,4,0.000,0.040,2325,700,3869,0,0,0,0,0,0
$GC,1459,-0.80,-136.7,325.3,-17.7,107,1464,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2103,3869,0,0,0,0,0,0
$GC,1732,-0.80,-136.7,369.0,-15.8,114,1736,0.00,2.12,0.00,0.000,4,0.000,0.040,2316,705,3866,0,0,0,0,0,0
$GC,1765,-0.80,-136.7,374.5,-16.3,114,1771,0.12,2.15,0.00,0.000,6,0.173,0.044,2336,2103,3872,0,0,0,0,0,0
$GC,2017,-0.80,-136.7,410.1,-14.2,121,2021,0.00,2.17,0.00,0.000,4,0.000,0.051,2328,3509,3868,0,0,0,0,0,0
$GC,2072,-0.80,-136.7,418.3,-13.8,122,2076,0.00,2.12,0.00,0.000,6,0.000,0.029,2328,2106,3868,0,0,0,0,0,0
$GC,2344,-0.80,-136.7,458.5,-15.1,129,2348,0.00,2.12,0.00,0.000,4,0.000,0.042,2327,693,3865,0,0,0,0,0,0
$GC,2418,-0.80,-136.7,469.5,-14.3,130,2422,0.00,2.17,0.00,0.000,6,0.000,0.042,2317,2108,3864,0,0,0,0,0,0
$GC,2668,-0.80,-136.7,506.1,-14.8,136,2672,0.00,2.17,0.00,0.000,4,0.000,0.049,2306,3510,3863,0,0,0,0,0,0
$GC,2729,-0.80,-136.7,514.4,-12.6,137,2733,0.05,2.15,0.00,0.000,6,0.130,0.030,2336,2097,3862,0,0,0,0,0,0
$GC,2996,-0.80,-136.7,546.4,-12.2,144,3000,0.00,2.12,0.00,0.000,4,0.000,0.039,2337,691,3859,0,0,0,0,0,0
$GC,3017,-0.80,-136.7,549.3,-12.8,144,3021,0.00,2.15,0.00,0.000,6,0.000,0.040,2328,2108,3859,0,0,0,0,0,0
$GC,3278,-0.80,-136.7,584.8,-14.1,151,3282,0.00,2.17,0.00,0.000,4,0.000,0.050,2317,3506,3853,0,0,0,0,0,0
$GC,3334,-0.80,-136.7,593.0,-14.5,152,3338,0.00,2.12,0.00,0.000,6,0.000,0.028,2317,2099,3858,0,0,0,0,0,0
$GC,3608,-0.80,-136.7,632.7,-14.5,159,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2093,3852,0,0,0,0,0,0
$GC,3851,-0.80,-136.7,669.0,-15.0,165,3855,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,701,3850,0,0,0,0,0,0
$GC,3884,-0.80,-136.7,674.1,-14.8,165,3890,0.12,2.15,0.00,0.000,6,0.175,0.039,2338,2104,3850,0,0,0,0,0,0
$GC,4135,-0.80,-136.7,706.6,-13.1,172,4139,0.00,2.20,0.00,0.000,4,0.000,0.053,2329,3504,3847,0,0,0,0,0,0
$GC,4202,-0.80,-136.7,715.7,-13.8,173,4206,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2096,3847,0,0,0,0,0,0
$GC,4457,-0.80,-136.7,746.7,-11.7,180,4461,0.00,2.22,0.00,0.000,4,0.000,0.052,2318,3505,3845,0,0,0,0,0,0
$GC,4525,-0.80,-136.7,754.9,-12.0,181,4529,0.00,2.12,0.00,0.000,6,0.000,0.030,2318,2094,3843,0,0,0,0,0,0
$GC,4780,-0.80,-136.7,786.8,-12.5,188,4784,0.00,2.25,0.00,0.000,4,0.000,0.051,2308,3508,3842,0,0,0,0,0,0
$GC,4820,-0.80,-136.7,792.0,-13.0,189,4825,0.12,2.15,0.00,0.000,6,0.169,0.029,2338,2086,3843,0,0,0,0,0,0
$GC,5105,-0.80,-136.7,823.5,-11.1,196,5109,0.00,2.25,0.00,0.000,4,0.000,0.053,2330,3504,3837,0,0,0,0,0,0
$GC,5137,-0.80,-136.7,827.3,-11.3,196,5144,0.00,2.15,0.00,0.000,6,0.000,0.031,2330,2096,3839,0,0,0,0,0,0
$GC,5387,-0.80,-136.7,854.7,-11.0,203,5391,0.00,2.10,0.00,0.000,4,0.000,0.040,2330,697,3837,0,0,0,0,0,0
$GC,5422,-0.80,-136.7,858.6,-11.7,203,5427,0.00,2.17,0.00,0.000,6,0.000,0.041,2320,2103,3837,0,0,0,0,0,0
$GC,5671,-0.80,-136.7,886.1,-11.1,210,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3836,0,0,0,0,0,0
$STATE,5791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5791,begin apogee
$GC,5798,-0.28,0.0,900.3,11.4,213,5913,0.62,0.00,112.32,1.074,6,0.146,0.000,2503,1934,3302,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5940,0.80,136.7,903.4,0.0,216,6066,1.02,0.00,119.10,1.043,6,0.091,0.000,2850,1934,2744,0,0,0,0,0,0
$GC,6306,0.80,136.7,846.1,18.6,225,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1933,2735,0,0,0,0,0,0
$GC,6551,0.80,136.7,799.2,19.4,231,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1934,2733,0,0,0,0,0,0
$GC,6794,0.80,136.7,756.0,17.4,237,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1934,2731,0,0,0,0,0,0
$GC,7037,0.80,136.7,714.1,16.6,243,7041,0.00,2.28,0.00,0.000,4,0.000,0.053,2841,3359,2730,0,0,0,0,0,0
$GC,7109,0.80,136.7,702.0,16.9,244,7113,0.00,2.10,0.00,0.000,6,0.000,0.030,2850,1971,2730,0,0,0,0,0,0
$GC,7366,0.80,136.7,661.4,15.9,251,7370,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,562,2729,0,0,0,0,0,0
$GC,7382,0.80,136.7,658.5,16.0,251,7386,0.00,2.17,0.00,0.000,6,0.000,0.035,2853,1963,2728,0,0,0,0,0,0
$GC,7649,0.80,136.7,619.1,14.3,258,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1964,2726,0,0,0,0,0,0
$GC,7894,0.80,136.7,584.9,14.1,264,7898,0.00,2.22,0.00,0.000,4,0.000,0.051,2842,3363,2725,0,0,0,0,0,0
$GC,7915,0.80,136.7,581.3,15.3,264,7919,0.00,2.12,0.00,0.000,6,0.000,0.030,2851,1953,2726,0,0,0,0,0,0
$GC,8176,0.80,136.7,542.4,14.8,271,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1946,2725,0,0,0,0,0,0
$GC,8421,0.80,136.7,503.8,16.0,277,8425,0.00,2.10,0.00,0.000,4,0.000,0.038,2862,561,2725,0,0,0,0,0,0
$GC,8438,0.80,136.7,500.8,15.9,277,8442,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,1966,2724,0,0,0,0,0,0
$GC,8698,0.80,136.7,459.9,15.6,284,8702,0.00,2.22,0.00,0.000,4,0.000,0.050,2843,3364,2723,0,0,0,0,0,0
$GC,8731,0.80,136.7,454.1,18.0,284,8735,0.00,2.12,0.00,0.000,6,0.000,0.029,2851,1955,2724,0,0,0,0,0,0
$GC,8987,0.80,136.7,416.2,14.5,291,8991,0.00,2.10,0.00,0.000,4,0.000,0.038,2863,562,2724,0,0,0,0,0,0
$GC,9066,0.80,136.7,405.4,14.0,292,9072,0.00,2.12,0.00,0.000,6,0.000,0.033,2861,1963,2722,0,0,0,0,0,0
$GC,9315,0.80,136.7,374.5,12.2,299,9319,0.00,2.22,0.00,0.000,4,0.000,0.050,2860,3361,2722,0,0,0,0,0,0
$GC,9393,0.80,136.7,364.5,13.2,300,9400,0.00,2.10,0.00,0.000,6,0.000,0.028,2870,1952,2722,0,0,0,0,0,0
$GC,9645,0.80,136.7,329.9,14.5,307,9648,0.00,2.08,0.00,0.000,4,0.000,0.038,2880,569,2721,0,0,0,0,0,0
$GC,9734,0.80,136.7,315.8,14.9,309,9737,0.00,2.12,0.00,0.000,6,0.000,0.034,2881,1961,2721,0,0,0,0,0,0
$GC,9999,0.80,136.7,279.4,13.2,319,10003,0.00,2.22,0.00,0.000,4,0.000,0.049,2880,3371,2721,0,0,0,0,0,0
$GC,10225,0.80,136.7,247.9,15.9,329,10230,0.15,2.15,0.00,0.000,6,0.189,0.029,2855,1952,2722,0,0,0,0,0,0
$GC,10491,0.80,136.7,218.6,10.7,342,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1948,2721,0,0,0,0,0,0
$GC,10741,0.80,136.7,193.1,10.0,357,10745,0.00,2.08,0.00,0.000,4,0.000,0.036,2861,563,2721,0,0,0,0,0,0
$GC,10781,0.80,136.7,188.8,11.2,360,10785,0.00,2.12,0.00,0.000,6,0.000,0.030,2862,1970,2720,0,0,0,0,0,0
$GC,11049,0.84,171.8,165.5,7.1,384,11086,0.00,2.20,26.90,0.562,4,0.000,0.038,2871,564,2597,0,0,0,0,0,0
$GC,11332,0.84,171.8,135.4,11.6,409,11340,0.00,2.15,0.00,0.000,6,0.000,0.032,2871,1959,2595,0,0,0,0,0,0
$GC,11597,0.85,177.6,113.2,8.3,434,11610,0.00,2.25,6.28,0.426,4,0.000,0.048,2871,3372,2575,0,0,0,0,0,0
$GC,11861,0.90,219.9,86.3,6.8,457,11904,0.00,2.15,35.92,0.491,6,0.000,0.028,2882,1960,2402,0,0,0,0,0,0
$GC,12158,0.90,219.9,59.7,10.2,485,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1960,2400,0,0,0,0,0,0
$GC,12412,0.90,219.9,31.1,11.3,509,12416,0.00,2.10,0.00,0.000,4,0.000,0.038,2892,573,2402,0,0,0,0,0,0
$GC,12518,0.90,219.9,19.2,12.5,526,12525,0.00,2.12,0.00,0.000,6,0.000,0.031,2893,1965,2399,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,0.3,1.023003
$STATE,12678,end surface coast,CONTROL_FINISHED_OK
$STATE,12678,begin surface
$SM_CCo,12700,36.97,0.415,0,0,2074,300.24
$SM_GC,2.04,0.00,0.00,36.97,0.000,0.000,0.415,57,2133,2074,-7.93,0.93,300.24
$IRIDIUM_FIX,1904.66,-15636.09,010313,010145
$TT8_MAMPS,0.24544
$HUMID,1078862571
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255935488
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17511645184
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,55.929
$10V_AH,9.8,50.629
$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,19.775,125.350,300.525,36.975,0.000,84.386,112.488,466.541,23.250,0.000,14.896,1207.975,9137.876,405.055,2592.850,439.073,33.356,1219.398,0.000,1894.867,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,75.166,1073.800,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,378.623,0.000,929.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353600
$DATA_FILE_SIZE,26928,555
$CAP_FILE_SIZE,124972,0
$CFSIZE,260165632,175988736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,164.0,1
$GPS,060911,104100,1911.148,-15636.864,61,1.2,61,9.6