version: 66.07
glider: 513
mission: 7
dive: 409
start: 9 6 111 10 56 29
data:
$ID,513
$MISSION,7
$DIVE,409
$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,-431414.09
$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,62
$R_STBD_OVSHOOT,67
$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,408
$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
$GPS1,060911,104100,1911.148,-15636.864,61,1.2,61,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.9
$GPS2,060911,105531,1910.841,-15636.664,9,1.8,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.113,0.211
$KALMAN_X,-136923.2,-39.8,-316.8,167015.4,3738.7
$KALMAN_Y,-396321.8,1985.0,799.5,303041.1,-15636.2
$MHEAD_RNG_PITCHd_Wd,335.8,119703,-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,-51.22,0.000,2,0.000,0.000,39,2134,3523,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.1,-3.8,8,106,9.98,2.20,-6.10,0.000,4,0.245,0.053,2334,708,3859,0,0,0,0,0,0
$GC,168,-0.80,-136.7,33.8,-31.6,21,172,0.00,2.10,0.00,0.000,6,0.000,0.044,2326,2064,3861,0,0,0,0,0,0
$GC,431,-0.80,-136.7,116.7,-27.0,45,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2064,3862,0,0,0,0,0,0
$GC,687,-0.80,-136.7,179.1,-22.9,69,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2062,3863,0,0,0,0,0,0
$GC,953,-0.80,-136.7,237.6,-21.5,87,957,0.00,2.08,0.00,0.000,4,0.000,0.040,2326,714,3864,0,0,0,0,0,0
$GC,977,-0.80,-136.7,242.7,-22.3,88,981,0.00,2.15,0.00,0.000,6,0.000,0.046,2316,2095,3864,0,0,0,0,0,0
$GC,1243,-0.80,-136.7,299.8,-20.0,101,1247,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3528,3865,0,0,0,0,0,0
$GC,1343,-0.80,-136.7,317.4,-15.1,104,1347,0.12,2.12,0.00,0.000,6,0.163,0.032,2337,2117,3866,0,0,0,0,0,0
$GC,1610,-0.80,-136.7,351.3,-12.0,111,1614,0.00,2.15,0.00,0.000,4,0.000,0.041,2337,692,3866,0,0,0,0,0,0
$GC,1671,-0.80,-136.7,359.0,-12.0,112,1675,0.00,2.17,0.00,0.000,6,0.000,0.044,2329,2112,3867,0,0,0,0,0,0
$GC,1937,-0.80,-136.7,397.4,-14.9,119,1941,0.00,2.17,0.00,0.000,4,0.000,0.048,2318,3511,3867,0,0,0,0,0,0
$GC,2023,-0.80,-136.7,410.1,-15.0,121,2027,0.00,2.12,0.00,0.000,6,0.000,0.031,2318,2100,3866,0,0,0,0,0,0
$GC,2309,-0.80,-136.7,455.5,-16.2,128,2313,0.00,2.10,0.00,0.000,4,0.000,0.038,2318,686,3862,0,0,0,0,0,0
$GC,2420,-0.80,-136.7,473.5,-15.1,130,2424,0.00,2.17,0.00,0.000,6,0.000,0.041,2307,2109,3863,0,0,0,0,0,0
$GC,2683,-0.80,-136.7,513.5,-15.4,137,2687,0.12,2.20,0.00,0.000,4,0.170,0.049,2331,3514,3860,0,0,0,0,0,0
$GC,2715,-0.80,-136.7,518.6,-14.3,137,2721,0.00,2.15,0.00,0.000,6,0.000,0.031,2332,2091,3860,0,0,0,0,0,0
$GC,2966,-0.80,-136.7,552.8,-13.9,144,2970,0.00,2.08,0.00,0.000,4,0.000,0.040,2330,701,3855,0,0,0,0,0,0
$GC,2994,-0.80,-136.7,556.8,-13.7,144,2998,0.00,2.12,0.00,0.000,6,0.000,0.038,2320,2095,3857,0,0,0,0,0,0
$GC,3244,-0.80,-136.7,592.9,-14.6,150,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2094,3855,0,0,0,0,0,0
$GC,3488,-0.80,-136.7,627.8,-14.4,156,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3856,0,0,0,0,0,0
$GC,3731,-0.80,-136.7,663.1,-14.4,162,3735,0.00,2.22,0.00,0.000,4,0.000,0.052,2309,3508,3850,0,0,0,0,0,0
$GC,3772,-0.80,-136.7,669.0,-14.7,163,3777,0.12,2.12,0.00,0.000,6,0.163,0.031,2341,2101,3850,0,0,0,0,0,0
$GC,4055,-0.80,-136.7,705.3,-12.7,170,4059,0.00,2.10,0.00,0.000,4,0.000,0.040,2341,694,3847,0,0,0,0,0,0
$GC,4142,-0.80,-136.7,716.3,-13.2,172,4146,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2109,3843,0,0,0,0,0,0
$GC,4425,-0.80,-136.7,753.2,-12.8,179,4429,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3511,3844,0,0,0,0,0,0
$GC,4468,-0.80,-136.7,758.9,-13.0,180,4472,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,2099,3842,0,0,0,0,0,0
$GC,4753,-0.80,-136.7,797.6,-13.7,187,4757,0.00,2.15,0.00,0.000,4,0.000,0.041,2322,683,3839,0,0,0,0,0,0
$GC,4803,-0.80,-136.7,804.8,-13.7,188,4807,0.00,2.17,0.00,0.000,6,0.000,0.041,2308,2108,3840,0,0,0,0,0,0
$GC,5081,-0.80,-136.7,842.5,-13.5,195,5085,0.00,2.20,0.00,0.000,4,0.000,0.052,2300,3506,3838,0,0,0,0,0,0
$GC,5115,-0.80,-136.7,847.2,-14.1,195,5122,0.15,2.15,0.00,0.000,6,0.163,0.030,2335,2097,3840,0,0,0,0,0,0
$GC,5365,-0.80,-136.7,875.4,-10.9,202,5369,0.00,2.12,0.00,0.000,4,0.000,0.041,2339,685,3835,0,0,0,0,0,0
$GC,5398,-0.80,-136.7,879.1,-11.4,202,5404,0.00,2.17,0.00,0.000,6,0.000,0.041,2331,2096,3835,0,0,0,0,0,0
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5614,-0.28,0.0,902.9,11.4,208,5729,0.57,0.00,112.47,1.073,6,0.140,0.000,2502,1926,3301,0,0,0,0,0,0
$STATE,5732,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5734,0.80,136.7,907.1,0.0,211,5864,1.02,2.25,120.22,1.041,4,0.091,0.036,2857,583,2742,0,0,0,0,0,0
$GC,5882,0.80,136.7,891.4,17.1,214,5886,0.00,2.25,0.00,0.000,6,0.000,0.035,2857,1965,2737,0,0,0,0,0,0
$GC,6137,0.80,136.7,842.4,19.5,221,6141,0.00,2.28,0.00,0.000,4,0.000,0.053,2861,3368,2733,0,0,0,0,0,0
$GC,6158,0.80,136.7,837.9,19.6,221,6162,0.00,2.15,0.00,0.000,6,0.000,0.030,2867,1970,2733,0,0,0,0,0,0
$GC,6426,0.80,136.7,783.3,20.6,228,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1965,2731,0,0,0,0,0,0
$GC,6668,0.80,136.7,735.1,19.8,234,6672,0.00,2.17,0.00,0.000,4,0.000,0.039,2878,559,2730,0,0,0,0,0,0
$GC,6695,0.80,136.7,729.6,20.2,234,6699,0.00,2.17,0.00,0.000,6,0.000,0.035,2878,1968,2728,0,0,0,0,0,0
$GC,6950,0.80,136.7,682.9,17.9,241,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1969,2728,0,0,0,0,0,0
$GC,7195,0.80,136.7,639.7,17.6,247,7199,0.00,2.22,0.00,0.000,4,0.000,0.053,2878,3369,2727,0,0,0,0,0,0
$GC,7286,0.80,136.7,622.8,19.0,249,7291,0.12,2.15,0.00,0.000,6,0.205,0.031,2859,1953,2727,0,0,0,0,0,0
$GC,7565,0.80,136.7,580.2,14.6,256,7569,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,562,2725,0,0,0,0,0,0
$GC,7611,0.80,136.7,572.4,16.8,257,7615,0.00,2.15,0.00,0.000,6,0.000,0.033,2865,1970,2723,0,0,0,0,0,0
$GC,7889,0.80,136.7,529.4,15.5,264,7893,0.00,2.22,0.00,0.000,4,0.000,0.053,2868,3360,2723,0,0,0,0,0,0
$GC,7933,0.80,136.7,521.6,17.2,265,7937,0.00,2.12,0.00,0.000,6,0.000,0.029,2877,1943,2724,0,0,0,0,0,0
$GC,8218,0.80,136.7,475.4,16.3,272,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1943,2723,0,0,0,0,0,0
$GC,8460,0.80,136.7,436.6,15.8,278,8464,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,561,2723,0,0,0,0,0,0
$GC,8532,0.80,136.7,425.0,15.6,279,8537,0.12,2.10,0.00,0.000,6,0.195,0.032,2859,1960,2721,0,0,0,0,0,0
$GC,8789,0.80,136.7,389.1,13.7,286,8793,0.00,2.22,0.00,0.000,4,0.000,0.051,2848,3362,2721,0,0,0,0,0,0
$GC,8894,0.80,136.7,374.5,12.7,288,8899,0.00,2.15,0.00,0.000,6,0.000,0.029,2857,1939,2721,0,0,0,0,0,0
$GC,9168,0.80,136.7,339.0,13.5,295,9172,0.00,2.30,0.00,0.000,4,0.000,0.051,2857,3373,2721,0,0,0,0,0,0
$GC,9240,0.80,136.7,328.5,13.9,296,9244,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1956,2721,0,0,0,0,0,0
$GC,9495,0.80,136.7,297.4,11.5,303,9499,0.00,2.12,0.00,0.000,4,0.000,0.038,2879,560,2724,0,0,0,0,0,0
$GC,9604,0.80,136.7,281.5,15.6,308,9609,0.00,2.12,0.00,0.000,6,0.000,0.034,2879,1964,2719,0,0,0,0,0,0
$GC,9875,0.80,136.7,245.9,11.4,321,9879,0.00,2.22,0.00,0.000,4,0.000,0.049,2879,3362,2723,0,0,0,0,0,0
$GC,9937,0.80,136.7,239.0,11.7,324,9942,0.15,2.10,0.00,0.000,6,0.189,0.028,2853,1954,2720,0,0,0,0,0,0
$GC,10203,0.80,136.7,214.4,10.4,337,10207,0.00,2.22,0.00,0.000,4,0.000,0.047,2843,3364,2720,0,0,0,0,0,0
$GC,10309,0.80,136.7,203.0,10.9,342,10313,0.00,2.10,0.00,0.000,6,0.000,0.029,2851,1951,2720,0,0,0,0,0,0
$GC,10575,0.80,136.7,178.7,9.1,365,10579,0.00,2.08,0.00,0.000,4,0.000,0.036,2863,580,2720,0,0,0,0,0,0
$GC,10716,0.83,162.0,166.6,7.5,377,10741,0.00,2.10,18.60,0.548,6,0.000,0.031,2861,1972,2639,0,0,0,0,0,0
$GC,10996,0.89,211.5,142.3,6.5,403,11045,0.00,2.25,41.42,0.542,4,0.000,0.048,2861,3367,2439,0,0,0,0,0,0
$GC,11092,0.89,211.5,133.9,10.6,411,11096,0.00,2.15,0.00,0.000,6,0.000,0.030,2870,1979,2439,0,0,0,0,0,0
$GC,11358,0.89,211.5,105.3,9.9,435,11362,0.00,2.22,0.00,0.000,4,0.000,0.045,2870,3377,2437,0,0,0,0,0,0
$GC,11612,0.89,211.5,79.5,9.3,457,11620,0.00,2.20,0.00,0.000,6,0.000,0.028,2882,1945,2437,0,0,0,0,0,0
$GC,11879,0.89,211.5,53.9,10.0,482,11883,0.00,2.25,0.00,0.000,4,0.000,0.044,2881,3369,2437,0,0,0,0,0,0
$GC,11910,0.89,211.5,50.4,10.7,484,11915,0.00,2.10,0.00,0.000,6,0.000,0.028,2892,1966,2437,0,0,0,0,0,0
$GC,12176,0.89,211.5,22.4,10.6,514,12183,0.00,2.12,0.00,0.000,4,0.000,0.038,2903,569,2438,0,0,0,0,0,0
$GC,12297,0.89,211.5,8.6,11.1,536,12305,0.00,2.10,0.00,0.000,6,0.000,0.030,2903,1962,2436,0,0,0,0,0,0
$STATE,12343,end climb,SURFACE_DEPTH_REACHED
$STATE,12343,begin surface coast
$FINISH,0.4,1.009506
$STATE,12371,end surface coast,CONTROL_FINISHED_OK
$STATE,12372,begin surface
$SM_CCo,12392,43.40,0.416,0,0,2075,300.49
$SM_GC,2.18,0.00,0.00,43.40,0.000,0.000,0.416,58,2143,2075,-7.93,1.22,300.49
$IRIDIUM_FIX,1904.66,-15639.09,010313,050515
$TT8_MAMPS,0.256945
$HUMID,1078847087
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.60
$XPDR_PINGS,100
$AR_DIVENUM,409
$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,23.6,56.049
$10V_AH,9.7,50.722
$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,20.100,134.375,292.725,43.400,0.000,54.955,69.452,439.673,25.000,0.000,16.623,1220.327,8758.532,400.509,2486.483,458.256,33.355,1228.271,0.000,1927.279,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,68.263,1073.033,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.645,0.000,935.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27003,549
$CAP_FILE_SIZE,127885,0
$CFSIZE,260165632,175910912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,165.2,1
$GPS,060911,142536,1911.014,-15636.759,36,0.9,41,9.6