version: 66.07
glider: 513
mission: 7
dive: 365
start: 8 30 111 12 44 29
data:
$ID,513
$MISSION,7
$DIVE,365
$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,-430463.12
$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,45
$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,364
$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
$GPS1,300811,123106,1901.239,-15647.775,77,1.5,87,9.6
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.1
$GPS2,300811,124332,1901.213,-15647.925,12,1.5,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.018,0.239
$KALMAN_X,-191817.2,1248.9,392.7,200235.8,-5777.2
$KALMAN_Y,-262549.7,1175.6,709.2,152332.2,-11897.9
$MHEAD_RNG_PITCHd_Wd,25.0,136747,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-0.80,-136.7,0.0,0.0,0,84,0.00,0.00,-51.00,0.000,2,0.000,0.000,35,2120,3524,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.0,-4.9,8,109,9.88,2.20,-6.03,0.000,4,0.242,0.051,2337,695,3859,0,0,0,0,0,0
$GC,134,-0.80,-136.7,22.5,-43.2,15,143,0.00,2.20,0.00,0.000,6,0.000,0.044,2329,2082,3861,0,0,0,0,0,0
$GC,402,-0.80,-136.7,112.9,-32.7,41,406,0.00,2.25,0.00,0.000,4,0.000,0.058,2318,3518,3864,0,0,0,0,0,0
$GC,499,-0.80,-136.7,145.3,-34.8,49,507,0.00,2.20,0.00,0.000,6,0.000,0.036,2318,2098,3864,0,0,0,0,0,0
$GC,761,-0.80,-136.7,212.6,-25.2,72,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2092,3864,0,0,0,0,0,0
$GC,1007,-0.80,-136.7,264.7,-17.4,84,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2092,3866,0,0,0,0,0,0
$GC,1253,-0.80,-136.7,308.2,-16.6,95,1257,0.00,2.12,0.00,0.000,4,0.000,0.041,2318,692,3868,0,0,0,0,0,0
$GC,1349,-0.80,-136.7,324.7,-17.9,97,1354,0.12,2.17,0.00,0.000,6,0.173,0.041,2338,2110,3868,0,0,0,0,0,0
$GC,1622,-0.80,-136.7,367.4,-15.5,104,1625,0.00,2.17,0.00,0.000,4,0.000,0.051,2329,3509,3868,0,0,0,0,0,0
$GC,1694,-0.80,-136.7,378.8,-15.1,105,1698,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,2099,3868,0,0,0,0,0,0
$GC,1951,-0.80,-136.7,417.7,-15.4,112,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2092,3867,0,0,0,0,0,0
$GC,2192,-0.80,-136.7,453.2,-14.3,118,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2092,3865,0,0,0,0,0,0
$GC,2437,-0.80,-136.7,485.7,-13.3,124,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2092,3863,0,0,0,0,0,0
$GC,2680,-0.80,-136.7,516.3,-12.5,130,2684,0.00,2.12,0.00,0.000,4,0.000,0.043,2325,695,3860,0,0,0,0,0,0
$GC,2702,-0.80,-136.7,519.2,-13.1,130,2706,0.00,2.15,0.00,0.000,6,0.000,0.043,2320,2103,3860,0,0,0,0,0,0
$GC,2958,-0.80,-136.7,551.6,-12.7,137,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2103,3857,0,0,0,0,0,0
$GC,3201,-0.80,-136.7,582.3,-12.6,143,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3855,0,0,0,0,0,0
$GC,3446,-0.80,-136.7,615.0,-13.7,149,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3852,0,0,0,0,0,0
$GC,3689,-0.80,-136.7,649.4,-14.4,155,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2103,3849,0,0,0,0,0,0
$GC,3932,-0.80,-136.7,683.5,-13.9,161,3936,0.00,2.22,0.00,0.000,4,0.000,0.053,2308,3514,3847,0,0,0,0,0,0
$GC,3988,-0.80,-136.7,691.5,-14.2,162,3992,0.12,2.10,0.00,0.000,6,0.165,0.031,2340,2104,3846,0,0,0,0,0,0
$GC,4261,-0.80,-136.7,723.5,-11.8,169,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2098,3844,0,0,0,0,0,0
$GC,4503,-0.80,-136.7,752.3,-11.7,175,4507,0.00,2.15,0.00,0.000,4,0.000,0.043,2340,686,3841,0,0,0,0,0,0
$GC,4553,-0.80,-136.7,758.5,-12.1,176,4557,0.00,2.15,0.00,0.000,6,0.000,0.043,2332,2101,3843,0,0,0,0,0,0
$GC,4832,-0.80,-136.7,791.1,-11.7,183,4836,0.00,2.20,0.00,0.000,4,0.000,0.053,2321,3508,3839,0,0,0,0,0,0
$GC,4860,-0.80,-136.7,794.7,-12.3,183,4864,0.00,2.10,0.00,0.000,6,0.000,0.031,2321,2103,3839,0,0,0,0,0,0
$GC,5115,-0.80,-136.7,825.3,-12.1,190,5119,0.00,2.15,0.00,0.000,4,0.000,0.044,2321,695,3836,0,0,0,0,0,0
$GC,5154,-0.80,-136.7,830.0,-12.0,190,5160,0.12,2.17,0.00,0.000,6,0.176,0.043,2341,2106,3836,0,0,0,0,0,0
$GC,5405,-0.80,-136.7,855.2,-9.9,197,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2106,3834,0,0,0,0,0,0
$GC,5647,-0.80,-136.7,878.0,-9.3,203,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2110,3832,0,0,0,0,0,0
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5896,-0.28,0.0,900.7,9.4,209,6013,0.55,0.00,111.25,1.083,6,0.143,0.000,2505,1919,3299,0,0,0,0,0,0
$STATE,6035,end apogee,CONTROL_FINISHED_OK
$STATE,6036,begin climb
$GC,6039,0.80,136.7,903.2,0.0,212,6165,1.05,0.00,121.00,1.048,6,0.092,0.000,2854,1921,2741,0,0,0,0,0,0
$GC,6375,0.80,136.7,848.9,19.9,221,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1918,2734,0,0,0,0,0,0
$GC,6618,0.80,136.7,801.6,19.2,227,6622,0.00,2.33,0.00,0.000,4,0.000,0.054,2845,3371,2730,0,0,0,0,0,0
$GC,6652,0.80,136.7,795.2,18.7,227,6659,0.00,2.17,0.00,0.000,6,0.000,0.035,2850,1960,2731,0,0,0,0,0,0
$GC,6902,0.80,136.7,748.0,19.1,234,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1955,2728,0,0,0,0,0,0
$GC,7146,0.80,136.7,704.4,17.8,240,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1955,2728,0,0,0,0,0,0
$GC,7390,0.80,136.7,663.8,16.7,246,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1955,2727,0,0,0,0,0,0
$GC,7635,0.80,136.7,624.8,16.0,252,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1952,2726,0,0,0,0,0,0
$GC,7877,0.80,136.7,585.8,15.9,258,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1955,2726,0,0,0,0,0,0
$GC,8121,0.80,136.7,547.1,16.0,264,8125,0.00,2.15,0.00,0.000,4,0.000,0.041,2865,552,2725,0,0,0,0,0,0
$GC,8143,0.80,136.7,543.4,16.1,264,8148,0.00,2.15,0.00,0.000,6,0.000,0.036,2860,1966,2723,0,0,0,0,0,0
$GC,8400,0.80,136.7,503.5,15.6,271,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1963,2723,0,0,0,0,0,0
$GC,8642,0.80,136.7,467.1,15.0,277,8646,0.00,2.22,0.00,0.000,4,0.000,0.053,2847,3364,2722,0,0,0,0,0,0
$GC,8670,0.80,136.7,462.6,15.8,277,8674,0.00,2.17,0.00,0.000,6,0.000,0.031,2856,1952,2723,0,0,0,0,0,0
$GC,8925,0.80,136.7,424.1,14.9,284,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1948,2723,0,0,0,0,0,0
$GC,9170,0.80,136.7,388.3,14.8,290,9174,0.00,2.10,0.00,0.000,4,0.000,0.040,2867,562,2721,0,0,0,0,0,0
$GC,9215,0.80,136.7,381.2,15.7,291,9219,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,1958,2720,0,0,0,0,0,0
$GC,9503,0.80,136.7,337.8,15.0,298,9507,0.00,2.25,0.00,0.000,4,0.000,0.052,2867,3378,2720,0,0,0,0,0,0
$GC,9670,0.80,136.7,309.9,17.2,301,9676,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1956,2722,0,0,0,0,0,0
$GC,9923,0.80,136.7,272.1,14.0,312,9927,0.00,2.10,0.00,0.000,4,0.000,0.039,2888,558,2720,0,0,0,0,0,0
$GC,10077,0.80,136.7,256.7,9.1,319,10082,0.12,2.12,0.00,0.000,6,0.189,0.034,2859,1966,2719,0,0,0,0,0,0
$GC,10342,0.80,136.7,232.3,10.2,332,10346,0.00,2.22,0.00,0.000,4,0.000,0.051,2848,3362,2719,0,0,0,0,0,0
$GC,10578,0.80,136.7,204.9,11.2,342,10584,0.00,2.10,0.00,0.000,6,0.000,0.028,2857,1945,2721,0,0,0,0,0,0
$GC,10840,0.80,136.7,182.3,9.2,364,10844,0.00,2.22,0.00,0.000,4,0.000,0.048,2857,3371,2719,0,0,0,0,0,0
$GC,10940,0.80,137.4,173.8,8.5,372,10948,0.00,2.15,0.00,0.000,6,0.000,0.030,2868,1953,2720,0,0,0,0,0,0
$GC,11207,0.92,235.0,160.0,4.4,397,11291,0.00,2.28,76.72,0.568,4,0.000,0.047,2868,3366,2342,0,0,0,0,0,0
$GC,11541,0.92,235.0,124.7,10.1,426,11549,0.00,2.17,0.00,0.000,6,0.000,0.035,2879,1976,2338,0,0,0,0,0,0
$GC,11806,0.92,235.0,100.4,9.8,451,11810,0.00,2.20,0.00,0.000,4,0.000,0.047,2878,3361,2338,0,0,0,0,0,0
$GC,11960,0.92,235.0,82.8,14.0,464,11964,0.00,2.10,0.00,0.000,6,0.000,0.029,2889,1959,2338,0,0,0,0,0,0
$GC,12225,0.92,235.0,52.5,11.3,488,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1955,2339,0,0,0,0,0,0
$GC,12491,0.92,239.9,23.4,8.4,519,12506,0.00,2.22,5.82,0.351,4,0.000,0.045,2889,3360,2321,0,0,0,0,0,0
$GC,12531,0.92,239.9,18.7,10.6,525,12539,0.00,2.12,0.00,0.000,6,0.000,0.028,2900,1968,2321,0,0,0,0,0,0
$STATE,12644,end climb,SURFACE_DEPTH_REACHED
$STATE,12644,begin surface coast
$FINISH,0.4,1.022837
$STATE,12670,end surface coast,CONTROL_FINISHED_OK
$STATE,12670,begin surface
$SM_CCo,12690,25.50,0.406,0,0,2074,300.24
$SM_GC,1.45,0.00,0.00,25.50,0.000,0.000,0.406,60,2148,2074,-7.93,1.39,300.24
$IRIDIUM_FIX,1853.26,-15648.08,220213,030301
$TT8_MAMPS,0.253877
$HUMID,1078875474
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.10
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257344512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,23982374912
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,50.704
$10V_AH,9.8,46.824
$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,19.525,87.250,314.800,25.500,0.000,25.286,42.625,445.638,22.500,0.000,14.591,1144.732,9239.117,418.887,2265.826,401.777,33.360,1129.042,0.000,1726.523,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,65.195,1083.004,405.743,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.156,0.000,902.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26951,550
$CAP_FILE_SIZE,109145,0
$CFSIZE,260165632,179126272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,236.8,1
$GPS,300811,161936,1901.855,-15648.073,131,1.0,131,9.6