version: 66.07
glider: 513
mission: 7
dive: 411
start: 9 6 111 18 19 42
data:
$ID,513
$MISSION,7
$DIVE,411
$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,-431450.56
$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,86
$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,410
$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
$GPS1,060911,180907,1910.970,-15636.550,33,1.1,33,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-80.6
$GPS2,060911,181844,1910.810,-15636.461,13,1.3,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.098,0.218
$KALMAN_X,-133863.3,66.1,-306.4,164160.3,3540.5
$KALMAN_Y,-403205.5,1837.3,944.8,309834.3,-16402.9
$MHEAD_RNG_PITCHd_Wd,334.6,119802,-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,-57.58,0.000,2,0.000,0.000,56,2151,3754,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.1,-6.6,9,112,9.85,2.15,-1.73,0.000,4,0.243,0.068,2320,3473,3862,0,0,0,0,0,0
$GC,340,-0.80,-136.7,90.6,-30.7,36,344,0.00,2.10,0.00,0.000,6,0.000,0.036,2320,2122,3866,0,0,0,0,0,0
$GC,608,-0.80,-136.7,166.4,-24.8,60,612,0.00,2.17,0.00,0.000,4,0.000,0.040,2320,683,3867,0,0,0,0,0,0
$GC,650,-0.80,-136.7,175.7,-19.3,63,654,0.12,2.10,0.00,0.000,6,0.182,0.044,2339,2047,3867,0,0,0,0,0,0
$GC,918,-0.80,-136.7,228.9,-20.2,81,922,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3465,3869,0,0,0,0,0,0
$GC,946,-0.80,-136.7,234.9,-21.3,82,950,0.00,2.08,0.00,0.000,6,0.000,0.031,2333,2084,3869,0,0,0,0,0,0
$GC,1205,-0.80,-136.7,288.2,-19.7,95,1208,0.00,2.05,0.00,0.000,4,0.000,0.041,2330,701,3870,0,0,0,0,0,0
$GC,1322,-0.80,-136.7,308.5,-15.9,99,1326,0.00,2.03,0.00,0.000,6,0.000,0.040,2320,2049,3870,0,0,0,0,0,0
$GC,1579,-0.80,-136.7,350.1,-16.5,106,1583,0.00,2.20,0.00,0.000,4,0.000,0.050,2308,3456,3871,0,0,0,0,0,0
$GC,1696,-0.80,-136.7,371.8,-17.4,108,1700,0.12,2.05,0.00,0.000,6,0.160,0.030,2341,2094,3870,0,0,0,0,0,0
$GC,1952,-0.80,-136.7,409.1,-14.6,115,1956,0.00,2.15,0.00,0.000,4,0.000,0.049,2333,3457,3868,0,0,0,0,0,0
$GC,2007,-0.80,-136.7,416.7,-12.6,116,2011,0.00,2.05,0.00,0.000,6,0.000,0.031,2332,2099,3870,0,0,0,0,0,0
$GC,2279,-0.80,-136.7,451.7,-12.7,123,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2093,3868,0,0,0,0,0,0
$GC,2524,-0.80,-136.7,482.7,-12.8,129,2527,0.00,2.10,0.00,0.000,4,0.000,0.038,2332,692,3868,0,0,0,0,0,0
$GC,2565,-0.80,-136.7,488.0,-13.1,130,2569,0.00,2.05,0.00,0.000,6,0.000,0.039,2322,2051,3865,0,0,0,0,0,0
$GC,2849,-0.80,-136.7,525.9,-13.2,137,2853,0.00,2.28,0.00,0.000,4,0.000,0.051,2311,3503,3863,0,0,0,0,0,0
$GC,2893,-0.80,-136.7,532.1,-13.0,138,2897,0.00,2.12,0.00,0.000,6,0.000,0.031,2311,2100,3863,0,0,0,0,0,0
$GC,3178,-0.80,-136.7,573.5,-14.5,145,3182,0.00,2.10,0.00,0.000,4,0.000,0.038,2311,700,3860,0,0,0,0,0,0
$GC,3222,-0.80,-136.7,580.5,-15.1,146,3227,0.15,2.12,0.00,0.000,6,0.166,0.041,2339,2108,3859,0,0,0,0,0,0
$GC,3500,-0.80,-136.7,615.1,-12.3,153,3504,0.00,2.20,0.00,0.000,4,0.000,0.052,2330,3508,3856,0,0,0,0,0,0
$GC,3557,-0.80,-136.7,622.0,-12.3,154,3561,0.00,2.15,0.00,0.000,6,0.000,0.030,2334,2089,3855,0,0,0,0,0,0
$GC,3829,-0.80,-136.7,655.7,-12.3,161,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2083,3853,0,0,0,0,0,0
$GC,4072,-0.80,-136.7,683.6,-11.4,167,4076,0.00,2.10,0.00,0.000,4,0.000,0.044,2330,704,3851,0,0,0,0,0,0
$GC,4106,-0.80,-136.7,687.6,-11.3,167,4112,0.00,2.12,0.00,0.000,6,0.000,0.042,2320,2090,3850,0,0,0,0,0,0
$GC,4356,-0.80,-136.7,717.3,-12.0,174,4360,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3518,3849,0,0,0,0,0,0
$GC,4434,-0.80,-136.7,727.0,-12.0,175,4440,0.12,2.15,0.00,0.000,6,0.163,0.032,2341,2106,3847,0,0,0,0,0,0
$GC,4685,-0.80,-136.7,753.3,-10.7,182,4689,0.00,2.15,0.00,0.000,4,0.000,0.044,2341,700,3846,0,0,0,0,0,0
$GC,4707,-0.80,-136.7,755.8,-10.1,182,4711,0.00,2.17,0.00,0.000,6,0.000,0.041,2332,2110,3846,0,0,0,0,0,0
$GC,4969,-0.80,-136.7,784.0,-10.9,189,4973,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3514,3844,0,0,0,0,0,0
$GC,5009,-0.80,-136.7,788.5,-11.0,189,5014,0.00,2.17,0.00,0.000,6,0.000,0.032,2324,2088,3843,0,0,0,0,0,0
$GC,5258,-0.80,-136.7,818.1,-11.8,196,5262,0.00,2.10,0.00,0.000,4,0.000,0.044,2322,703,3839,0,0,0,0,0,0
$GC,5286,-0.80,-136.7,821.8,-13.3,196,5290,0.00,2.17,0.00,0.000,6,0.000,0.045,2311,2107,3841,0,0,0,0,0,0
$GC,5541,-0.80,-136.7,852.9,-12.1,203,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2106,3839,0,0,0,0,0,0
$GC,5787,-0.80,-136.7,882.8,-12.3,209,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2106,3838,0,0,0,0,0,0
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5952,-0.28,0.0,903.0,12.4,213,6068,0.65,0.00,113.15,1.077,6,0.148,0.000,2501,1939,3301,0,0,0,0,0,0
$STATE,6071,end apogee,CONTROL_FINISHED_OK
$STATE,6071,begin climb
$GC,6073,0.80,136.7,907.3,0.0,216,6207,1.02,2.30,120.45,1.044,4,0.093,0.039,2856,582,2745,0,0,0,0,0,0
$GC,6234,0.80,136.7,890.7,16.9,219,6240,0.00,2.22,0.00,0.000,6,0.000,0.035,2848,1960,2737,0,0,0,0,0,0
$GC,6484,0.80,136.7,848.4,16.8,226,6488,0.00,2.28,0.00,0.000,4,0.000,0.054,2837,3366,2734,0,0,0,0,0,0
$GC,6506,0.80,136.7,844.6,16.8,226,6510,0.00,2.15,0.00,0.000,6,0.000,0.031,2845,1967,2733,0,0,0,0,0,0
$GC,6767,0.80,136.7,802.0,16.4,233,6771,0.00,2.15,0.00,0.000,4,0.000,0.040,2856,563,2732,0,0,0,0,0,0
$GC,6794,0.80,136.7,797.3,16.7,233,6798,0.00,2.17,0.00,0.000,6,0.000,0.038,2848,1965,2730,0,0,0,0,0,0
$GC,7045,0.80,136.7,757.0,16.2,239,7049,0.00,2.25,0.00,0.000,4,0.000,0.051,2837,3367,2727,0,0,0,0,0,0
$GC,7066,0.80,136.7,753.2,15.9,239,7070,0.00,2.12,0.00,0.000,6,0.000,0.030,2846,1963,2730,0,0,0,0,0,0
$GC,7327,0.80,136.7,710.8,16.3,246,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1955,2729,0,0,0,0,0,0
$GC,7571,0.80,136.7,668.7,17.3,252,7575,0.00,2.10,0.00,0.000,4,0.000,0.038,2856,561,2728,0,0,0,0,0,0
$GC,7616,0.80,136.7,660.8,17.9,253,7620,0.00,2.12,0.00,0.000,6,0.000,0.032,2848,1963,2725,0,0,0,0,0,0
$GC,7894,0.80,136.7,614.2,16.4,260,7898,0.00,2.22,0.00,0.000,4,0.000,0.050,2837,3365,2725,0,0,0,0,0,0
$GC,8006,0.80,136.7,595.8,16.0,262,8011,0.00,2.15,0.00,0.000,6,0.000,0.030,2846,1955,2726,0,0,0,0,0,0
$GC,8262,0.80,136.7,558.1,14.5,269,8266,0.00,2.10,0.00,0.000,4,0.000,0.038,2853,561,2725,0,0,0,0,0,0
$GC,8295,0.80,136.7,552.8,15.1,269,8301,0.00,2.12,0.00,0.000,6,0.000,0.032,2849,1965,2723,0,0,0,0,0,0
$GC,8545,0.80,136.7,516.5,14.8,276,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1960,2723,0,0,0,0,0,0
$GC,8790,0.80,136.7,479.5,15.1,282,8794,0.00,2.12,0.00,0.000,4,0.000,0.038,2858,559,2723,0,0,0,0,0,0
$GC,8839,0.80,136.7,471.1,17.5,283,8844,0.00,2.15,0.00,0.000,6,0.000,0.033,2849,1977,2722,0,0,0,0,0,0
$GC,9123,0.80,136.7,426.4,15.4,290,9127,0.00,2.20,0.00,0.000,4,0.000,0.051,2839,3357,2722,0,0,0,0,0,0
$GC,9162,0.80,136.7,419.9,16.9,290,9168,0.00,2.12,0.00,0.000,6,0.000,0.029,2848,1952,2726,0,0,0,0,0,0
$GC,9413,0.80,136.7,383.3,14.4,297,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,2720,0,0,0,0,0,0
$GC,9656,0.80,136.7,351.1,13.0,303,9660,0.00,2.10,0.00,0.000,4,0.000,0.038,2858,563,2723,0,0,0,0,0,0
$GC,9717,0.80,136.7,343.2,12.8,304,9721,0.00,2.15,0.00,0.000,6,0.000,0.033,2850,1958,2721,0,0,0,0,0,0
$GC,9984,0.80,136.7,310.2,12.3,311,9988,0.00,2.25,0.00,0.000,4,0.000,0.051,2836,3366,2721,0,0,0,0,0,0
$GC,10243,0.80,136.7,277.0,11.5,320,10249,0.00,2.15,0.00,0.000,6,0.000,0.029,2847,1953,2721,0,0,0,0,0,0
$GC,10497,0.80,136.7,251.6,9.4,333,10501,0.00,2.10,0.00,0.000,4,0.000,0.036,2858,562,2721,0,0,0,0,0,0
$GC,10614,0.80,136.7,240.0,10.3,338,10618,0.00,2.12,0.00,0.000,6,0.000,0.032,2850,1964,2720,0,0,0,0,0,0
$GC,10880,0.81,151.9,216.5,7.9,351,10893,0.00,0.00,10.35,0.563,6,0.000,0.000,2850,1964,2681,0,0,0,0,0,0
$GC,11130,0.82,157.7,195.7,8.3,365,11143,0.00,2.20,6.88,0.502,4,0.000,0.046,2839,3365,2658,0,0,0,0,0,0
$GC,11313,0.82,157.7,177.3,10.4,381,11317,0.00,2.10,0.00,0.000,6,0.000,0.027,2848,1955,2657,0,0,0,0,0,0
$GC,11578,0.82,157.7,150.5,9.8,405,11582,0.00,2.10,0.00,0.000,4,0.000,0.038,2859,564,2657,0,0,0,0,0,0
$GC,11827,0.82,157.7,125.4,9.2,427,11834,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1955,2659,0,0,0,0,0,0
$GC,12093,0.92,241.0,112.6,5.0,452,12169,0.10,2.20,69.20,0.514,4,0.106,0.038,2912,573,2316,0,0,0,0,0,0
$GC,12400,0.92,241.0,76.3,13.8,479,12404,0.00,2.12,0.00,0.000,6,0.000,0.032,2909,1965,2309,0,0,0,0,0,0
$GC,12671,0.92,241.0,39.4,12.9,504,12675,0.00,2.20,0.00,0.000,4,0.000,0.044,2909,3360,2311,0,0,0,0,0,0
$GC,12713,0.92,241.0,33.7,13.1,507,12717,0.00,2.10,0.00,0.000,6,0.000,0.027,2918,1955,2312,0,0,0,0,0,0
$STATE,12933,end climb,SURFACE_DEPTH_REACHED
$STATE,12933,begin surface coast
$FINISH,0.2,1.022853
$STATE,12956,end surface coast,CONTROL_FINISHED_OK
$STATE,12957,begin surface
$SM_CCo,12978,32.47,0.417,0,0,2075,300.24
$SM_GC,1.63,0.00,0.00,32.47,0.000,0.000,0.417,55,2129,2075,-7.94,0.82,300.24
$IRIDIUM_FIX,1902.38,-15639.09,010313,080855
$TT8_MAMPS,0.247741
$HUMID,1078916764
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255837184
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17052532736
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,56.267
$10V_AH,9.7,50.902
$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,19.775,133.625,320.025,32.475,0.000,30.812,32.341,278.951,25.750,0.000,15.759,1223.422,9250.881,412.545,2289.375,419.877,33.361,1262.375,0.000,1927.747,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,68.263,1076.868,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.756,0.000,866.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,26936,550
$CAP_FILE_SIZE,124730,0
$CFSIZE,260165632,175767552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,165.6,1
$GPS,060911,215806,1910.902,-15636.489,33,1.8,33,9.6