version: 66.07
glider: 513
mission: 7
dive: 412
start: 9 6 111 22 9 19
data:
$ID,513
$MISSION,7
$DIVE,412
$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,-431487.38
$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,56
$R_STBD_OVSHOOT,53
$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,411
$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
$GPS1,060911,215806,1910.902,-15636.489,33,1.8,33,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-80.2
$GPS2,060911,220822,1910.742,-15636.415,14,3.1,33,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.170,0.168
$KALMAN_X,-131369.8,-612.8,-124.3,162243.9,5018.3
$KALMAN_Y,-406280.5,1357.5,1024.8,313189.6,-15104.4
$MHEAD_RNG_PITCHd_Wd,337.0,119937,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-51.75,0.000,2,0.000,0.000,44,2130,3553,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.3,-5.1,8,107,9.95,2.17,-5.43,0.000,4,0.244,0.051,2342,708,3858,0,0,0,0,0,0
$GC,301,-0.80,-136.7,78.5,-31.2,33,305,0.00,2.12,0.00,0.000,6,0.000,0.045,2334,2088,3862,0,0,0,0,0,0
$GC,569,-0.80,-136.7,152.0,-21.2,57,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2087,3864,0,0,0,0,0,0
$GC,829,-0.80,-136.7,208.8,-21.8,80,833,0.00,2.22,0.00,0.000,4,0.000,0.049,2323,3520,3865,0,0,0,0,0,0
$GC,862,-0.80,-136.7,216.2,-21.7,81,867,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,2114,3865,0,0,0,0,0,0
$GC,1117,-0.80,-136.7,266.8,-19.1,94,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2108,3867,0,0,0,0,0,0
$GC,1382,-0.80,-136.7,315.0,-16.9,105,1386,0.00,2.15,0.00,0.000,4,0.000,0.044,2323,695,3868,0,0,0,0,0,0
$GC,1421,-0.80,-136.7,321.5,-16.3,106,1425,0.00,2.12,0.00,0.000,6,0.000,0.042,2313,2098,3868,0,0,0,0,0,0
$GC,1705,-0.80,-136.7,370.3,-17.8,113,1709,0.00,2.20,0.00,0.000,4,0.000,0.049,2302,3509,3868,0,0,0,0,0,0
$GC,1852,-0.80,-136.7,395.5,-16.2,116,1857,0.12,2.12,0.00,0.000,6,0.163,0.029,2334,2098,3868,0,0,0,0,0,0
$GC,2119,-0.80,-136.7,433.1,-14.0,123,2123,0.00,2.10,0.00,0.000,4,0.000,0.041,2334,690,3867,0,0,0,0,0,0
$GC,2153,-0.80,-136.7,437.8,-13.6,123,2160,0.00,2.15,0.00,0.000,6,0.000,0.039,2326,2108,3867,0,0,0,0,0,0
$GC,2403,-0.80,-136.7,474.6,-14.8,130,2407,0.00,2.20,0.00,0.000,4,0.000,0.050,2315,3506,3862,0,0,0,0,0,0
$GC,2447,-0.80,-136.7,481.8,-15.7,131,2451,0.00,2.10,0.00,0.000,6,0.000,0.031,2314,2097,3864,0,0,0,0,0,0
$GC,2732,-0.80,-136.7,525.8,-15.6,138,2736,0.00,2.08,0.00,0.000,4,0.000,0.040,2318,701,3862,0,0,0,0,0,0
$GC,2826,-0.80,-136.7,539.5,-13.9,140,2831,0.12,2.12,0.00,0.000,6,0.172,0.041,2336,2109,3861,0,0,0,0,0,0
$GC,3099,-0.80,-136.7,571.5,-11.9,147,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2109,3859,0,0,0,0,0,0
$GC,3342,-0.80,-136.7,597.7,-10.5,153,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2109,3856,0,0,0,0,0,0
$GC,3585,-0.80,-136.7,623.1,-10.6,159,3589,0.00,2.20,0.00,0.000,4,0.000,0.052,2327,3506,3853,0,0,0,0,0,0
$GC,3607,-0.80,-136.7,625.7,-11.3,159,3611,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,2105,3853,0,0,0,0,0,0
$GC,3870,-0.80,-136.7,655.9,-11.9,166,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3851,0,0,0,0,0,0
$GC,4113,-0.80,-136.7,685.0,-12.0,172,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2099,3849,0,0,0,0,0,0
$GC,4356,-0.80,-136.7,714.6,-12.2,178,4360,0.00,2.12,0.00,0.000,4,0.000,0.043,2327,699,3846,0,0,0,0,0,0
$GC,4405,-0.80,-136.7,721.0,-13.0,179,4409,0.00,2.12,0.00,0.000,6,0.000,0.040,2317,2102,3846,0,0,0,0,0,0
$GC,4685,-0.80,-136.7,757.9,-13.7,186,4689,0.00,2.22,0.00,0.000,4,0.000,0.054,2306,3502,3844,0,0,0,0,0,0
$GC,4717,-0.80,-136.7,762.6,-14.1,186,4723,0.12,2.15,0.00,0.000,6,0.168,0.032,2337,2100,3843,0,0,0,0,0,0
$GC,4971,-0.80,-136.7,792.5,-11.8,193,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2094,3843,0,0,0,0,0,0
$GC,5212,-0.80,-136.7,821.6,-11.9,199,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2094,3840,0,0,0,0,0,0
$GC,5455,-0.80,-136.7,849.8,-11.7,205,5459,0.00,2.15,0.00,0.000,4,0.000,0.041,2340,685,3838,0,0,0,0,0,0
$GC,5504,-0.80,-136.7,855.8,-11.3,206,5509,0.00,2.17,0.00,0.000,6,0.000,0.046,2329,2093,3837,0,0,0,0,0,0
$GC,5777,-0.80,-136.7,887.8,-11.8,213,5781,0.00,2.25,0.00,0.000,4,0.000,0.053,2318,3512,3836,0,0,0,0,0,0
$GC,5805,-0.80,-136.7,891.3,-12.5,213,5809,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2100,3835,0,0,0,0,0,0
$STATE,5891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5891,begin apogee
$GC,5898,-0.28,0.0,901.8,12.1,215,6014,0.62,0.00,112.90,1.073,6,0.144,0.000,2502,1925,3302,0,0,0,0,0,0
$STATE,6029,end apogee,CONTROL_FINISHED_OK
$STATE,6029,begin climb
$GC,6033,0.80,136.7,906.6,0.0,218,6159,1.05,0.00,121.12,1.044,6,0.091,0.000,2850,1925,2745,0,0,0,0,0,0
$GC,6376,0.80,136.7,859.7,17.0,227,6380,0.00,2.05,0.00,0.000,4,0.000,0.037,2860,586,2734,0,0,0,0,0,0
$GC,6529,0.80,136.7,833.1,18.0,230,6533,0.00,2.15,0.00,0.000,6,0.000,0.038,2852,1967,2731,0,0,0,0,0,0
$GC,6796,0.80,136.7,785.1,18.1,237,6800,0.00,2.12,0.00,0.000,4,0.000,0.038,2861,581,2730,0,0,0,0,0,0
$GC,6818,0.80,136.7,780.4,19.5,237,6822,0.00,2.12,0.00,0.000,6,0.000,0.035,2852,1964,2728,0,0,0,0,0,0
$GC,7080,0.80,136.7,732.1,18.4,244,7084,0.00,2.28,0.00,0.000,4,0.000,0.054,2852,3365,2731,0,0,0,0,0,0
$GC,7103,0.80,136.7,727.5,19.9,244,7107,0.00,2.12,0.00,0.000,6,0.000,0.031,2861,1981,2732,0,0,0,0,0,0
$GC,7364,0.80,136.7,676.9,19.2,251,7368,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,558,2727,0,0,0,0,0,0
$GC,7436,0.80,136.7,663.1,19.0,252,7440,0.00,2.12,0.00,0.000,6,0.000,0.033,2867,1968,2726,0,0,0,0,0,0
$GC,7686,0.80,136.7,617.2,18.5,258,7690,0.00,2.25,0.00,0.000,4,0.000,0.054,2867,3367,2726,0,0,0,0,0,0
$GC,7753,0.80,136.7,604.5,18.5,259,7757,0.00,2.15,0.00,0.000,6,0.000,0.032,2875,1955,2726,0,0,0,0,0,0
$GC,8008,0.80,136.7,556.3,18.7,266,8012,0.00,2.10,0.00,0.000,4,0.000,0.038,2887,555,2725,0,0,0,0,0,0
$GC,8048,0.80,136.7,548.8,19.4,267,8053,0.12,2.15,0.00,0.000,6,0.198,0.033,2855,1968,2724,0,0,0,0,0,0
$GC,8331,0.80,136.7,501.3,16.1,274,8335,0.00,2.25,0.00,0.000,4,0.000,0.052,2844,3367,2723,0,0,0,0,0,0
$GC,8398,0.80,136.7,489.9,15.9,275,8402,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1941,2724,0,0,0,0,0,0
$GC,8655,0.80,136.7,449.4,15.8,282,8659,0.00,2.08,0.00,0.000,4,0.000,0.038,2870,564,2726,0,0,0,0,0,0
$GC,8699,0.80,136.7,442.1,16.0,283,8703,0.00,2.12,0.00,0.000,6,0.000,0.034,2864,1963,2722,0,0,0,0,0,0
$GC,8982,0.80,136.7,398.1,15.6,290,8986,0.00,2.25,0.00,0.000,4,0.000,0.052,2865,3367,2722,0,0,0,0,0,0
$GC,9033,0.80,136.7,390.2,16.3,291,9038,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1963,2720,0,0,0,0,0,0
$GC,9306,0.80,136.7,350.9,13.7,298,9310,0.00,2.12,0.00,0.000,4,0.000,0.039,2886,556,2721,0,0,0,0,0,0
$GC,9345,0.80,136.7,345.7,12.9,299,9350,0.12,2.15,0.00,0.000,6,0.195,0.033,2856,1969,2720,0,0,0,0,0,0
$GC,9630,0.80,136.7,312.9,11.5,306,9634,0.00,2.20,0.00,0.000,4,0.000,0.051,2847,3360,2720,0,0,0,0,0,0
$GC,9849,0.80,136.7,284.6,13.1,313,9853,0.00,2.12,0.00,0.000,6,0.000,0.028,2854,1956,2722,0,0,0,0,0,0
$GC,10120,0.80,136.7,251.9,11.2,326,10124,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,561,2721,0,0,0,0,0,0
$GC,10221,0.80,136.7,240.6,11.0,330,10226,0.00,2.12,0.00,0.000,6,0.000,0.034,2866,1958,2720,0,0,0,0,0,0
$GC,10476,0.80,136.7,216.8,9.1,343,10480,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3368,2720,0,0,0,0,0,0
$GC,10575,0.80,136.7,206.6,9.6,347,10580,0.00,2.15,0.00,0.000,6,0.000,0.029,2876,1956,2723,0,0,0,0,0,0
$GC,10842,0.80,136.7,180.4,11.0,369,10846,0.00,2.28,0.00,0.000,4,0.000,0.048,2876,3372,2720,0,0,0,0,0,0
$GC,11007,0.80,136.7,160.0,11.6,383,11012,0.12,2.15,0.00,0.000,6,0.185,0.029,2856,1962,2721,0,0,0,0,0,0
$GC,11270,0.80,136.7,137.3,8.7,407,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1960,2721,0,0,0,0,0,0
$GC,11525,0.98,282.8,125.5,2.4,431,11651,0.15,2.25,115.85,0.530,4,0.090,0.041,2928,563,2145,0,0,0,0,0,0
$GC,11703,0.98,282.8,107.5,14.5,446,11707,0.00,2.17,0.00,0.000,6,0.000,0.031,2928,1966,2141,0,0,0,0,0,0
$GC,11970,0.98,282.8,64.3,16.0,470,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1965,2136,0,0,0,0,0,0
$GC,12236,0.98,282.8,20.4,17.4,500,12244,0.00,2.22,0.00,0.000,4,0.000,0.047,2927,3353,2138,0,0,0,0,0,0
$GC,12260,0.98,282.8,16.3,16.6,503,12269,0.00,2.15,0.00,0.000,6,0.000,0.029,2936,1966,2138,0,0,0,0,0,0
$STATE,12338,end climb,SURFACE_DEPTH_REACHED
$STATE,12339,begin surface coast
$FINISH,0.3,1.013085
$STATE,12356,end surface coast,CONTROL_FINISHED_OK
$STATE,12359,begin surface
$SM_CCo,12380,8.27,0.370,0,0,2075,300.24
$SM_GC,3.04,0.00,0.00,8.27,0.000,0.000,0.370,55,2119,2075,-7.95,0.51,300.24
$IRIDIUM_FIX,1902.38,-15634.91,010313,121226
$TT8_MAMPS,0.252343
$HUMID,1078936119
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.60
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255804416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,16915005440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,56.379
$10V_AH,9.8,50.986
$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,20.300,121.225,349.875,8.275,0.000,23.023,40.734,295.594,24.000,0.000,36.190,1155.979,8813.051,428.143,2183.874,429.882,33.361,1210.256,0.000,1783.573,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,68.263,1073.033,370.461,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.892,0.000,814.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26936,520
$CAP_FILE_SIZE,117692,0
$CFSIZE,260165632,175702016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,168.4,1
$GPS,070911,013737,1910.960,-15636.592,50,1.3,50,9.6