version: 66.07
glider: 513
mission: 7
dive: 413
start: 9 7 111 1 48 25
data:
$ID,513
$MISSION,7
$DIVE,413
$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,-431521.34
$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,43
$R_STBD_OVSHOOT,51
$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,412
$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
$GPS1,070911,013737,1910.960,-15636.592,50,1.3,50,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.0
$GPS2,070911,014728,1910.842,-15636.537,11,2.4,30,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.236
$KALMAN_X,-128098.9,-796.5,-28.8,158850.6,7009.9
$KALMAN_Y,-408533.8,1382.2,1121.3,315505.7,-14366.1
$MHEAD_RNG_PITCHd_Wd,339.6,119728,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-50.88,0.000,2,0.000,0.000,54,2120,3541,0,0,0,0,0,0
$GC,83,-0.80,-136.7,3.4,-5.7,8,105,9.90,2.17,-5.62,0.000,4,0.245,0.051,2334,694,3859,0,0,0,0,0,0
$GC,299,-0.80,-136.7,77.7,-30.4,33,303,0.00,2.15,0.00,0.000,6,0.000,0.044,2326,2091,3863,0,0,0,0,0,0
$GC,565,-0.80,-136.7,153.0,-24.8,57,569,0.00,2.20,0.00,0.000,4,0.000,0.046,2315,3514,3865,0,0,0,0,0,0
$GC,577,-0.80,-136.7,157.1,-24.9,57,585,0.00,2.17,0.00,0.000,6,0.000,0.029,2315,2092,3864,0,0,0,0,0,0
$GC,846,-0.80,-136.7,221.6,-23.5,79,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2087,3867,0,0,0,0,0,0
$GC,1094,-0.80,-136.7,268.8,-17.9,91,1097,0.00,2.10,0.00,0.000,4,0.000,0.043,2315,700,3868,0,0,0,0,0,0
$GC,1117,-0.80,-136.7,273.3,-19.1,92,1121,0.12,2.12,0.00,0.000,6,0.174,0.041,2335,2098,3869,0,0,0,0,0,0
$GC,1380,-0.80,-136.7,315.0,-15.2,103,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2098,3871,0,0,0,0,0,0
$GC,1623,-0.80,-136.7,353.4,-15.8,109,1627,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3510,3869,0,0,0,0,0,0
$GC,1755,-0.80,-136.7,375.2,-16.2,112,1759,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2103,3869,0,0,0,0,0,0
$GC,2039,-0.80,-136.7,421.0,-15.6,119,2043,0.00,2.12,0.00,0.000,4,0.000,0.041,2326,699,3870,0,0,0,0,0,0
$GC,2101,-0.80,-136.7,429.4,-13.2,120,2105,0.00,2.12,0.00,0.000,6,0.000,0.042,2316,2102,3868,0,0,0,0,0,0
$GC,2363,-0.80,-136.7,464.8,-13.3,127,2367,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3514,3866,0,0,0,0,0,0
$GC,2441,-0.80,-136.7,475.5,-13.1,128,2447,0.12,2.12,0.00,0.000,6,0.163,0.030,2337,2101,3865,0,0,0,0,0,0
$GC,2692,-0.80,-136.7,505.1,-11.9,135,2696,0.00,2.12,0.00,0.000,4,0.000,0.040,2337,691,3864,0,0,0,0,0,0
$GC,2747,-0.80,-136.7,512.2,-12.4,136,2751,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2093,3863,0,0,0,0,0,0
$GC,3019,-0.80,-136.7,547.8,-13.5,143,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2093,3861,0,0,0,0,0,0
$GC,3263,-0.80,-136.7,580.8,-13.8,149,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2093,3858,0,0,0,0,0,0
$GC,3508,-0.80,-136.7,613.9,-13.3,155,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2093,3856,0,0,0,0,0,0
$GC,3751,-0.80,-136.7,645.2,-12.8,161,3755,0.00,2.15,0.00,0.000,4,0.000,0.044,2329,692,3854,0,0,0,0,0,0
$GC,3778,-0.80,-136.7,648.7,-12.6,161,3782,0.00,2.15,0.00,0.000,6,0.000,0.041,2324,2104,3854,0,0,0,0,0,0
$GC,4040,-0.80,-136.7,680.8,-12.3,168,4044,0.00,2.28,0.00,0.000,4,0.000,0.055,2308,3507,3851,0,0,0,0,0,0
$GC,4096,-0.80,-136.7,688.1,-12.4,169,4101,0.12,2.12,0.00,0.000,6,0.160,0.032,2339,2096,3850,0,0,0,0,0,0
$GC,4363,-0.80,-136.7,715.4,-10.2,176,4367,0.00,2.12,0.00,0.000,4,0.000,0.042,2340,695,3847,0,0,0,0,0,0
$GC,4397,-0.80,-136.7,718.9,-9.9,176,4402,0.00,2.12,0.00,0.000,6,0.000,0.040,2337,2102,3848,0,0,0,0,0,0
$GC,4647,-0.80,-136.7,745.5,-10.7,183,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2102,3846,0,0,0,0,0,0
$GC,4890,-0.80,-136.7,771.8,-10.8,189,4894,0.00,2.15,0.00,0.000,4,0.000,0.044,2332,698,3843,0,0,0,0,0,0
$GC,4934,-0.80,-136.7,776.7,-11.2,190,4938,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2109,3844,0,0,0,0,0,0
$GC,5220,-0.80,-136.7,809.0,-11.4,197,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3842,0,0,0,0,0,0
$GC,5462,-0.80,-136.7,837.4,-11.7,203,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2110,3840,0,0,0,0,0,0
$GC,5706,-0.80,-136.7,864.6,-11.1,209,5710,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,698,3838,0,0,0,0,0,0
$GC,5738,-0.80,-136.7,868.3,-10.9,209,5744,0.00,2.15,0.00,0.000,6,0.000,0.041,2311,2109,3838,0,0,0,0,0,0
$GC,5990,-0.80,-136.7,896.8,-11.5,216,5992,0.10,0.00,0.00,0.000,6,0.189,0.000,2335,2108,3837,0,0,0,0,0,0
$STATE,6026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6027,begin apogee
$GC,6033,-0.28,0.0,901.0,11.4,217,6151,0.55,0.00,112.62,1.078,6,0.140,0.000,2500,1912,3300,0,0,0,0,0,0
$STATE,6153,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6156,0.80,136.7,903.6,0.0,220,6289,1.02,2.58,120.60,1.043,4,0.094,0.055,2842,3360,2741,0,0,0,0,0,0
$GC,6305,0.80,136.7,886.9,17.8,223,6309,0.00,2.17,0.00,0.000,6,0.000,0.028,2853,2004,2741,0,0,0,0,0,0
$GC,6567,0.80,136.7,837.8,18.9,230,6571,0.00,2.22,0.00,0.000,4,0.000,0.039,2862,559,2734,0,0,0,0,0,0
$GC,6618,0.80,136.7,828.3,18.6,231,6622,0.00,2.17,0.00,0.000,6,0.000,0.035,2856,1966,2731,0,0,0,0,0,0
$GC,6901,0.80,136.7,775.4,18.4,238,6905,0.00,2.28,0.00,0.000,4,0.000,0.053,2857,3368,2731,0,0,0,0,0,0
$GC,6923,0.80,136.7,770.9,19.6,238,6927,0.00,2.17,0.00,0.000,6,0.000,0.031,2866,1956,2732,0,0,0,0,0,0
$GC,7191,0.80,136.7,720.7,18.7,245,7195,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,554,2729,0,0,0,0,0,0
$GC,7223,0.80,136.7,713.9,20.6,245,7229,0.00,2.17,0.00,0.000,6,0.000,0.039,2875,1964,2728,0,0,0,0,0,0
$GC,7474,0.80,136.7,664.5,19.7,252,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1964,2728,0,0,0,0,0,0
$GC,7717,0.80,136.7,619.0,18.4,258,7721,0.00,2.25,0.00,0.000,4,0.000,0.053,2875,3359,2727,0,0,0,0,0,0
$GC,7751,0.80,136.7,612.7,19.9,258,7757,0.12,2.12,0.00,0.000,6,0.203,0.030,2855,1956,2727,0,0,0,0,0,0
$GC,8000,0.80,136.7,569.5,17.2,265,8004,0.00,2.12,0.00,0.000,4,0.000,0.039,2865,562,2726,0,0,0,0,0,0
$GC,8028,0.80,136.7,564.7,16.6,265,8031,0.00,2.15,0.00,0.000,6,0.000,0.035,2857,1967,2724,0,0,0,0,0,0
$GC,8285,0.80,136.7,522.4,16.8,272,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1966,2725,0,0,0,0,0,0
$GC,8527,0.80,136.7,482.7,16.2,278,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1966,2724,0,0,0,0,0,0
$GC,8771,0.80,136.7,445.1,15.2,284,8775,0.00,2.25,0.00,0.000,4,0.000,0.051,2846,3372,2724,0,0,0,0,0,0
$GC,8815,0.80,136.7,438.1,15.1,285,8819,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1952,2724,0,0,0,0,0,0
$GC,9095,0.80,136.7,399.9,13.5,292,9099,0.00,2.28,0.00,0.000,4,0.000,0.051,2846,3362,2724,0,0,0,0,0,0
$GC,9139,0.80,136.7,393.3,13.5,293,9143,0.00,2.10,0.00,0.000,6,0.000,0.028,2855,1964,2723,0,0,0,0,0,0
$GC,9424,0.80,136.7,357.9,12.6,300,9428,0.00,2.12,0.00,0.000,4,0.000,0.040,2865,559,2723,0,0,0,0,0,0
$GC,9537,0.80,136.7,343.3,12.7,302,9541,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1968,2719,0,0,0,0,0,0
$GC,9798,0.80,136.7,310.3,12.6,309,9802,0.00,2.20,0.00,0.000,4,0.000,0.048,2865,3360,2723,0,0,0,0,0,0
$GC,9965,0.80,136.7,287.8,14.1,314,9970,0.00,2.12,0.00,0.000,6,0.000,0.028,2874,1953,2722,0,0,0,0,0,0
$GC,10218,0.80,136.7,256.7,12.4,327,10223,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3358,2722,0,0,0,0,0,0
$GC,10263,0.80,136.7,250.5,13.6,329,10267,0.00,2.12,0.00,0.000,6,0.000,0.030,2883,1944,2722,0,0,0,0,0,0
$GC,10529,0.80,136.7,220.0,11.2,342,10533,0.00,2.08,0.00,0.000,4,0.000,0.038,2894,561,2721,0,0,0,0,0,0
$GC,10724,0.80,136.7,200.6,11.0,350,10731,0.15,2.12,0.00,0.000,6,0.178,0.034,2857,1965,2717,0,0,0,0,0,0
$GC,10987,0.80,136.7,176.4,8.9,374,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1965,2721,0,0,0,0,0,0
$GC,11243,0.81,145.1,155.6,8.2,398,11256,0.00,2.25,4.93,0.420,4,0.000,0.051,2857,3358,2708,0,0,0,0,0,0
$GC,11503,0.85,181.1,139.5,7.0,421,11540,0.00,2.12,31.20,0.536,6,0.000,0.028,2866,1954,2563,0,0,0,0,0,0
$GC,11798,0.89,215.7,114.0,7.1,448,11833,0.00,2.10,29.98,0.505,4,0.000,0.038,2877,578,2420,0,0,0,0,0,0
$GC,12058,0.89,215.7,92.7,9.6,471,12062,0.00,2.10,0.00,0.000,6,0.000,0.033,2879,1968,2416,0,0,0,0,0,0
$GC,12325,0.89,215.7,68.1,9.3,495,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1967,2416,0,0,0,0,0,0
$GC,12589,0.89,215.7,42.5,10.1,520,12593,0.00,2.17,0.00,0.000,4,0.000,0.048,2876,3360,2418,0,0,0,0,0,0
$GC,12665,0.89,215.7,34.2,10.8,526,12669,0.00,2.08,0.00,0.000,6,0.000,0.028,2887,1971,2419,0,0,0,0,0,0
$GC,12926,0.89,215.7,7.0,10.3,571,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1970,2419,0,0,0,0,0,0
$STATE,12965,end climb,SURFACE_DEPTH_REACHED
$STATE,12965,begin surface coast
$FINISH,0.4,1.011219
$STATE,12999,end surface coast,CONTROL_FINISHED_OK
$STATE,12999,begin surface
$SM_CCo,13020,44.30,0.413,0,0,2076,300.24
$SM_GC,2.06,0.00,0.00,44.30,0.000,0.000,0.413,56,2116,2076,-7.94,0.45,300.24
$IRIDIUM_FIX,1902.38,-15634.91,010313,161626
$TT8_MAMPS,0.26845
$HUMID,1078840635
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.90
$XPDR_PINGS,107
$AR_DIVENUM,413
$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,23.6,56.488
$10V_AH,9.7,51.080
$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,19.825,117.400,299.325,44.300,0.000,28.764,32.706,287.579,26.750,0.000,33.338,1255.233,9207.252,417.913,2374.665,419.569,33.355,1232.903,0.000,1986.327,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,68.263,1078.402,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.571,0.000,1011.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,30293,584
$CAP_FILE_SIZE,121039,0
$CFSIZE,260165632,175624192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,167.8,1
$GPS,070911,052806,1911.094,-15636.545,41,1.0,46,9.6