version: 66.07
glider: 513
mission: 7
dive: 417
start: 9 7 111 17 18 24
data:
$ID,513
$MISSION,7
$DIVE,417
$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,-431598.91
$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,60
$R_STBD_OVSHOOT,50
$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,416
$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
$GPS1,070911,170655,1911.478,-15636.192,39,1.7,39,9.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,5
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.8
$GPS2,070911,171726,1911.356,-15636.063,11,1.8,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045,0.235
$KALMAN_X,-119269.6,-28.7,-487.5,150533.0,8981.2
$KALMAN_Y,-418788.4,1570.2,725.0,326925.4,-10994.2
$MHEAD_RNG_PITCHd_Wd,338.5,118886,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-56.92,0.000,2,0.000,0.000,42,2123,3736,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.1,-7.0,9,113,9.95,2.17,-2.03,0.000,4,0.244,0.052,2340,719,3861,0,0,0,0,0,0
$GC,265,-0.80,-136.7,68.5,-30.8,29,269,0.00,2.12,0.00,0.000,6,0.000,0.044,2330,2083,3864,0,0,0,0,0,0
$GC,530,-0.80,-136.7,145.6,-25.4,53,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2085,3867,0,0,0,0,0,0
$GC,801,-0.80,-136.7,205.8,-18.5,78,805,0.00,2.08,0.00,0.000,4,0.000,0.039,2331,718,3868,0,0,0,0,0,0
$GC,862,-0.80,-136.7,218.7,-20.8,80,869,0.00,2.12,0.00,0.000,6,0.000,0.045,2321,2106,3868,0,0,0,0,0,0
$GC,1118,-0.80,-136.7,267.2,-19.3,93,1122,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3511,3870,0,0,0,0,0,0
$GC,1247,-0.80,-136.7,290.5,-16.5,99,1252,0.10,2.10,0.00,0.000,6,0.168,0.031,2333,2108,3873,0,0,0,0,0,0
$GC,1510,-0.80,-136.7,330.1,-14.4,107,1514,0.00,2.12,0.00,0.000,4,0.000,0.041,2334,702,3871,0,0,0,0,0,0
$GC,1565,-0.80,-136.7,338.3,-13.6,108,1569,0.00,2.12,0.00,0.000,6,0.000,0.044,2326,2106,3869,0,0,0,0,0,0
$GC,1838,-0.80,-136.7,375.7,-13.7,115,1842,0.00,2.20,0.00,0.000,4,0.000,0.050,2321,3518,3870,0,0,0,0,0,0
$GC,1922,-0.80,-136.7,386.5,-11.5,116,1929,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2103,3870,0,0,0,0,0,0
$GC,2172,-0.80,-136.7,419.2,-13.2,123,2176,0.00,2.15,0.00,0.000,4,0.000,0.041,2315,698,3868,0,0,0,0,0,0
$GC,2227,-0.80,-136.7,427.0,-13.9,124,2232,0.12,2.12,0.00,0.000,6,0.173,0.041,2336,2109,3868,0,0,0,0,0,0
$GC,2495,-0.80,-136.7,458.0,-11.6,131,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2108,3865,0,0,0,0,0,0
$GC,2737,-0.80,-136.7,486.4,-11.7,137,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2108,3864,0,0,0,0,0,0
$GC,2981,-0.80,-136.7,515.8,-12.2,143,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2108,3861,0,0,0,0,0,0
$GC,3225,-0.80,-136.7,546.3,-12.5,149,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2108,3859,0,0,0,0,0,0
$GC,3469,-0.80,-136.7,576.3,-12.3,155,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2107,3856,0,0,0,0,0,0
$GC,3712,-0.80,-136.7,603.9,-11.1,161,3716,0.00,2.20,0.00,0.000,4,0.000,0.051,2327,3513,3853,0,0,0,0,0,0
$GC,3768,-0.80,-136.7,610.0,-10.8,162,3772,0.00,2.12,0.00,0.000,6,0.000,0.030,2327,2102,3852,0,0,0,0,0,0
$GC,4041,-0.80,-136.7,640.0,-11.0,169,4044,0.00,2.12,0.00,0.000,4,0.000,0.042,2327,704,3851,0,0,0,0,0,0
$GC,4092,-0.80,-136.7,645.6,-11.3,170,4096,0.00,2.15,0.00,0.000,6,0.000,0.041,2317,2109,3850,0,0,0,0,0,0
$GC,4364,-0.80,-136.7,675.7,-11.2,177,4368,0.00,2.17,0.00,0.000,4,0.000,0.050,2306,3506,3847,0,0,0,0,0,0
$GC,4392,-0.80,-136.7,679.1,-11.8,177,4396,0.12,2.12,0.00,0.000,6,0.166,0.031,2338,2100,3847,0,0,0,0,0,0
$GC,4643,-0.80,-136.7,703.7,-9.8,183,4647,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,697,3845,0,0,0,0,0,0
$GC,4687,-0.80,-136.7,708.3,-9.8,184,4690,0.00,2.15,0.00,0.000,6,0.000,0.041,2330,2108,3846,0,0,0,0,0,0
$GC,4970,-0.80,-136.7,737.1,-10.2,191,4974,0.00,2.20,0.00,0.000,4,0.000,0.050,2318,3516,3844,0,0,0,0,0,0
$GC,5034,-0.80,-136.7,743.8,-10.9,192,5038,0.00,2.15,0.00,0.000,6,0.000,0.030,2315,2099,3842,0,0,0,0,0,0
$GC,5295,-0.80,-136.7,772.5,-11.0,199,5298,0.00,2.12,0.00,0.000,4,0.000,0.041,2319,697,3841,0,0,0,0,0,0
$GC,5340,-0.80,-136.7,777.8,-11.6,200,5345,0.12,2.15,0.00,0.000,6,0.179,0.040,2338,2105,3840,0,0,0,0,0,0
$GC,5630,-0.80,-136.7,806.8,-10.0,207,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2104,3839,0,0,0,0,0,0
$GC,5873,-0.80,-136.7,832.6,-10.6,213,5877,0.00,2.17,0.00,0.000,4,0.000,0.041,2339,696,3837,0,0,0,0,0,0
$GC,5900,-0.80,-136.7,835.9,-12.8,213,5904,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2102,3836,0,0,0,0,0,0
$GC,6157,-0.80,-136.7,864.5,-11.1,220,6161,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3509,3834,0,0,0,0,0,0
$GC,6223,-0.80,-136.7,872.1,-11.0,221,6227,0.00,2.12,0.00,0.000,6,0.000,0.028,2319,2106,3834,0,0,0,0,0,0
$STATE,6487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6487,begin apogee
$GC,6494,-0.28,0.0,901.3,11.0,228,6610,0.62,0.00,112.65,1.071,6,0.144,0.000,2503,1925,3302,0,0,0,0,0,0
$STATE,6612,end apogee,CONTROL_FINISHED_OK
$STATE,6612,begin climb
$GC,6616,0.80,136.7,903.6,0.0,231,6749,1.02,2.53,120.93,1.043,4,0.091,0.051,2844,3360,2741,0,0,0,0,0,0
$GC,6767,0.80,136.7,885.3,18.9,234,6771,0.00,2.22,0.00,0.000,6,0.000,0.026,2853,1972,2739,0,0,0,0,0,0
$GC,7023,0.80,136.7,833.2,20.2,241,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1966,2733,0,0,0,0,0,0
$GC,7266,0.80,136.7,785.0,19.5,247,7270,0.00,2.17,0.00,0.000,4,0.000,0.038,2864,560,2732,0,0,0,0,0,0
$GC,7355,0.80,136.7,767.5,19.3,249,7359,0.00,2.17,0.00,0.000,6,0.000,0.041,2864,1965,2729,0,0,0,0,0,0
$GC,7639,0.80,136.7,713.3,19.0,256,7643,0.00,2.25,0.00,0.000,4,0.000,0.052,2864,3363,2729,0,0,0,0,0,0
$GC,7700,0.80,136.7,700.9,20.2,257,7704,0.00,2.15,0.00,0.000,6,0.000,0.030,2875,1956,2729,0,0,0,0,0,0
$GC,7974,0.80,136.7,651.3,18.1,264,7978,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,557,2727,0,0,0,0,0,0
$GC,8008,0.80,136.7,645.0,18.6,264,8015,0.12,2.15,0.00,0.000,6,0.195,0.033,2858,1965,2723,0,0,0,0,0,0
$GC,8258,0.80,136.7,604.6,15.9,271,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1969,2722,0,0,0,0,0,0
$GC,8502,0.80,136.7,567.6,15.0,277,8506,0.00,2.20,0.00,0.000,4,0.000,0.051,2857,3360,2723,0,0,0,0,0,0
$GC,8547,0.80,136.7,560.5,15.8,278,8551,0.00,2.10,0.00,0.000,6,0.000,0.028,2867,1958,2725,0,0,0,0,0,0
$GC,8825,0.80,136.7,518.3,15.0,285,8829,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,559,2725,0,0,0,0,0,0
$GC,8897,0.80,136.7,507.1,15.4,286,8901,0.00,2.17,0.00,0.000,6,0.000,0.034,2877,1964,2723,0,0,0,0,0,0
$GC,9154,0.80,136.7,467.3,15.8,293,9158,0.00,2.22,0.00,0.000,4,0.000,0.050,2877,3361,2722,0,0,0,0,0,0
$GC,9214,0.80,136.7,456.4,17.1,294,9219,0.10,2.15,0.00,0.000,6,0.181,0.028,2846,1963,2721,0,0,0,0,0,0
$GC,9481,0.80,136.7,417.9,14.3,301,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1958,2722,0,0,0,0,0,0
$GC,9726,0.80,136.7,383.7,13.7,307,9729,0.00,2.12,0.00,0.000,4,0.000,0.038,2856,555,2723,0,0,0,0,0,0
$GC,9765,0.80,136.7,378.0,14.1,308,9769,0.00,2.15,0.00,0.000,6,0.000,0.033,2850,1963,2721,0,0,0,0,0,0
$GC,10049,0.80,136.7,341.9,12.5,315,10053,0.00,2.22,0.00,0.000,4,0.000,0.051,2847,3360,2722,0,0,0,0,0,0
$GC,10139,0.80,136.7,329.4,14.3,317,10143,0.00,2.10,0.00,0.000,6,0.000,0.028,2855,1952,2722,0,0,0,0,0,0
$GC,10396,0.80,136.7,296.8,12.2,324,10400,0.00,2.10,0.00,0.000,4,0.000,0.038,2870,559,2721,0,0,0,0,0,0
$GC,10539,0.80,136.7,278.7,13.0,330,10543,0.00,2.12,0.00,0.000,6,0.000,0.032,2870,1962,2720,0,0,0,0,0,0
$GC,10798,0.80,136.7,249.0,11.4,343,10802,0.00,2.22,0.00,0.000,4,0.000,0.048,2870,3362,2721,0,0,0,0,0,0
$GC,10815,0.80,136.7,247.0,11.8,344,10820,0.00,2.10,0.00,0.000,6,0.000,0.028,2881,1962,2722,0,0,0,0,0,0
$GC,11088,0.80,136.7,217.9,10.9,357,11092,0.00,2.22,0.00,0.000,4,0.000,0.048,2881,3360,2721,0,0,0,0,0,0
$GC,11105,0.80,136.7,215.8,10.4,358,11110,0.15,2.10,0.00,0.000,6,0.183,0.028,2854,1957,2719,0,0,0,0,0,0
$GC,11363,0.80,136.7,191.3,10.6,374,11367,0.00,2.12,0.00,0.000,4,0.000,0.038,2863,561,2721,0,0,0,0,0,0
$GC,11485,0.80,136.7,177.8,10.7,384,11493,0.00,2.15,0.00,0.000,6,0.000,0.032,2861,1962,2720,0,0,0,0,0,0
$GC,11751,0.87,194.0,157.1,6.1,409,11802,0.00,2.28,45.00,0.558,4,0.000,0.048,2867,3359,2512,0,0,0,0,0,0
$GC,11865,0.87,194.0,147.4,11.7,419,11869,0.00,2.12,0.00,0.000,6,0.000,0.028,2870,1955,2509,0,0,0,0,0,0
$GC,12131,0.87,194.0,119.7,9.6,443,12135,0.00,2.10,0.00,0.000,4,0.000,0.038,2881,562,2507,0,0,0,0,0,0
$GC,12382,0.96,269.7,95.1,5.4,465,12450,0.00,2.15,61.92,0.500,6,0.000,0.031,2882,1954,2204,0,0,0,0,0,0
$GC,12714,0.96,269.7,62.6,13.4,496,12718,0.00,2.12,0.00,0.000,4,0.000,0.038,2891,564,2196,0,0,0,0,0,0
$GC,12780,0.96,269.7,52.9,13.6,501,12788,0.00,2.15,0.00,0.000,6,0.000,0.031,2891,1956,2195,0,0,0,0,0,0
$GC,13047,0.96,269.7,17.8,13.3,534,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1956,2197,0,0,0,0,0,0
$STATE,13166,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,0.3,1.022859
$STATE,13192,end surface coast,CONTROL_FINISHED_OK
$STATE,13192,begin surface
$SM_CCo,13212,17.25,0.402,0,0,2076,300.24
$SM_GC,2.10,0.00,0.00,17.25,0.000,0.000,0.402,60,2126,2076,-7.93,0.74,300.24
$IRIDIUM_FIX,1902.38,-15639.09,020313,070711
$TT8_MAMPS,0.259246
$HUMID,1078911603
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.30
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255640576
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,16140861440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,56.942
$10V_AH,9.8,51.444
$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,20.025,129.900,340.500,17.250,0.000,26.067,34.501,338.682,24.000,0.000,13.508,1228.726,9452.058,402.262,2347.638,436.416,33.361,1265.649,0.000,1948.105,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,71.331,1071.499,401.908,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,382.399,0.000,889.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26919,560
$CAP_FILE_SIZE,125680,0
$CFSIZE,260165632,175329280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,161.6,1
$GPS,070911,210031,1911.704,-15635.859,37,1.7,38,9.6