version: 66.07
glider: 513
mission: 7
dive: 368
start: 8 31 111 0 13 48
data:
$ID,513
$MISSION,7
$DIVE,368
$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,-430510.47
$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,50
$R_STBD_OVSHOOT,58
$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,367
$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
$GPS1,310811,000237,1903.343,-15648.168,39,1.0,39,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-79.4
$GPS2,310811,001250,1903.298,-15648.234,12,1.2,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.020,0.238
$KALMAN_X,-198733.9,-572.7,97.9,208765.9,-6093.3
$KALMAN_Y,-266367.1,1687.7,696.5,159503.6,-8775.2
$MHEAD_RNG_PITCHd_Wd,21.2,132911,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-57.17,0.000,2,0.000,0.000,38,2127,3762,0,0,0,0,0,0
$GC,89,-0.80,-136.7,4.3,-7.4,9,111,9.88,2.20,-1.60,0.000,4,0.242,0.063,2321,3495,3862,0,0,0,0,0,0
$GC,221,-0.80,-136.7,56.9,-31.2,24,230,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,2114,3862,0,0,0,0,0,0
$GC,486,-0.80,-136.7,143.2,-26.7,49,490,0.00,2.12,0.00,0.000,4,0.000,0.038,2321,691,3866,0,0,0,0,0,0
$GC,508,-0.80,-136.7,149.2,-27.4,50,512,0.00,2.15,0.00,0.000,6,0.000,0.047,2310,2077,3866,0,0,0,0,0,0
$GC,778,-0.80,-136.7,214.5,-20.6,72,780,0.10,0.00,0.00,0.000,6,0.196,0.000,2333,2077,3868,0,0,0,0,0,0
$GC,1025,-0.80,-136.7,256.3,-16.9,84,1029,0.00,2.08,0.00,0.000,4,0.000,0.038,2333,689,3870,0,0,0,0,0,0
$GC,1048,-0.80,-136.7,260.1,-16.5,85,1052,0.00,2.17,0.00,0.000,6,0.000,0.044,2325,2101,3871,0,0,0,0,0,0
$GC,1307,-0.80,-136.7,303.0,-17.7,98,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2101,3871,0,0,0,0,0,0
$GC,1551,-0.80,-136.7,345.3,-17.6,104,1555,0.00,2.22,0.00,0.000,4,0.000,0.055,2313,3515,3870,0,0,0,0,0,0
$GC,1630,-0.80,-136.7,358.3,-15.6,105,1636,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,2085,3870,0,0,0,0,0,0
$GC,1879,-0.80,-136.7,399.4,-16.4,112,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2083,3870,0,0,0,0,0,0
$GC,2123,-0.80,-136.7,439.0,-16.2,118,2127,0.00,2.10,0.00,0.000,4,0.000,0.040,2314,697,3866,0,0,0,0,0,0
$GC,2144,-0.80,-136.7,442.6,-16.4,118,2149,0.12,2.15,0.00,0.000,6,0.175,0.044,2333,2109,3868,0,0,0,0,0,0
$GC,2401,-0.80,-136.7,476.7,-13.2,125,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2113,3865,0,0,0,0,0,0
$GC,2643,-0.80,-136.7,506.8,-12.2,131,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2108,3864,0,0,0,0,0,0
$GC,2887,-0.80,-136.7,535.1,-11.5,137,2891,0.00,2.12,0.00,0.000,4,0.000,0.041,2334,705,3861,0,0,0,0,0,0
$GC,2927,-0.80,-136.7,539.6,-11.0,138,2932,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2105,3861,0,0,0,0,0,0
$GC,3211,-0.80,-136.7,575.1,-12.6,145,3215,0.00,2.20,0.00,0.000,4,0.000,0.054,2315,3509,3858,0,0,0,0,0,0
$GC,3256,-0.80,-136.7,581.1,-12.9,146,3259,0.00,2.10,0.00,0.000,6,0.000,0.030,2315,2105,3857,0,0,0,0,0,0
$GC,3541,-0.80,-136.7,618.6,-13.3,153,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2099,3856,0,0,0,0,0,0
$GC,3783,-0.80,-136.7,650.7,-13.1,159,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2099,3855,0,0,0,0,0,0
$GC,4027,-0.80,-136.7,682.4,-13.1,165,4031,0.00,2.28,0.00,0.000,4,0.000,0.057,2304,3516,3849,0,0,0,0,0,0
$GC,4048,-0.80,-136.7,685.5,-14.2,165,4053,0.12,2.15,0.00,0.000,6,0.168,0.035,2336,2095,3848,0,0,0,0,0,0
$GC,4305,-0.80,-136.7,714.9,-11.4,172,4309,0.00,2.12,0.00,0.000,4,0.000,0.041,2337,684,3846,0,0,0,0,0,0
$GC,4326,-0.80,-136.7,717.7,-12.0,172,4330,0.00,2.17,0.00,0.000,6,0.000,0.044,2329,2103,3846,0,0,0,0,0,0
$GC,4593,-0.80,-136.7,749.3,-11.9,179,4597,0.00,2.25,0.00,0.000,4,0.000,0.055,2317,3508,3844,0,0,0,0,0,0
$GC,4627,-0.80,-136.7,753.3,-12.3,179,4632,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2095,3844,0,0,0,0,0,0
$GC,4876,-0.80,-136.7,782.9,-11.7,186,4880,0.00,2.15,0.00,0.000,4,0.000,0.042,2317,687,3842,0,0,0,0,0,0
$GC,4944,-0.80,-136.7,790.9,-11.4,187,4948,0.12,2.22,0.00,0.000,6,0.183,0.047,2336,2108,3841,0,0,0,0,0,0
$GC,5199,-0.80,-136.7,816.3,-9.8,194,5203,0.00,2.22,0.00,0.000,4,0.000,0.052,2327,3507,3840,0,0,0,0,0,0
$GC,5226,-0.80,-136.7,819.0,-10.4,194,5230,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,2100,3839,0,0,0,0,0,0
$GC,5482,-0.80,-136.7,846.0,-10.7,201,5486,0.00,2.12,0.00,0.000,4,0.000,0.042,2327,696,3836,0,0,0,0,0,0
$GC,5542,-0.80,-136.7,853.0,-11.1,202,5546,0.00,2.15,0.00,0.000,6,0.000,0.044,2318,2094,3835,0,0,0,0,0,0
$GC,5817,-0.80,-136.7,883.4,-11.2,209,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2094,3835,0,0,0,0,0,0
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5982,-0.28,0.0,902.1,11.5,213,6098,0.62,0.00,112.97,1.084,6,0.149,0.000,2502,1928,3300,0,0,0,0,0,0
$STATE,6101,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6105,0.80,136.7,905.8,0.0,216,6231,1.02,0.00,121.90,1.045,6,0.094,0.000,2843,1927,2743,0,0,0,0,0,0
$GC,6471,0.80,136.7,852.1,17.8,225,6475,0.00,2.35,0.00,0.000,4,0.000,0.053,2839,3366,2734,0,0,0,0,0,0
$GC,6486,0.80,136.7,849.0,18.0,225,6490,0.00,2.15,0.00,0.000,6,0.000,0.035,2848,1979,2734,0,0,0,0,0,0
$GC,6754,0.80,136.7,801.7,18.2,232,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1970,2732,0,0,0,0,0,0
$GC,6996,0.80,136.7,758.0,17.9,238,7000,0.00,2.17,0.00,0.000,4,0.000,0.039,2859,565,2730,0,0,0,0,0,0
$GC,7035,0.80,136.7,750.6,18.7,238,7041,0.00,2.17,0.00,0.000,6,0.000,0.035,2854,1967,2731,0,0,0,0,0,0
$GC,7286,0.80,136.7,704.4,18.5,245,7290,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3365,2726,0,0,0,0,0,0
$GC,7331,0.80,136.7,695.4,18.9,246,7334,0.00,2.17,0.00,0.000,6,0.000,0.030,2863,1946,2729,0,0,0,0,0,0
$GC,7615,0.80,136.7,643.1,18.2,253,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1936,2726,0,0,0,0,0,0
$GC,7858,0.80,136.7,600.5,17.3,259,7862,0.00,2.30,0.00,0.000,4,0.000,0.053,2859,3372,2727,0,0,0,0,0,0
$GC,7903,0.80,136.7,592.4,18.7,260,7907,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1957,2727,0,0,0,0,0,0
$GC,8180,0.80,136.7,544.0,17.6,267,8184,0.00,2.22,0.00,0.000,4,0.000,0.049,2871,3363,2726,0,0,0,0,0,0
$GC,8207,0.80,136.7,539.0,19.0,267,8211,0.00,2.15,0.00,0.000,6,0.000,0.030,2880,1950,2724,0,0,0,0,0,0
$GC,8464,0.80,136.7,495.1,17.2,274,8467,0.00,2.10,0.00,0.000,4,0.000,0.039,2891,554,2725,0,0,0,0,0,0
$GC,8509,0.80,136.7,487.6,16.0,275,8513,0.15,2.12,0.00,0.000,6,0.193,0.034,2856,1967,2723,0,0,0,0,0,0
$GC,8797,0.80,136.7,447.2,13.4,282,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1968,2723,0,0,0,0,0,0
$GC,9042,0.80,136.7,413.1,14.3,288,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2723,0,0,0,0,0,0
$GC,9285,0.80,136.7,379.8,13.6,294,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2723,0,0,0,0,0,0
$GC,9528,0.80,136.7,348.5,12.8,300,9532,0.00,2.20,0.00,0.000,4,0.000,0.049,2844,3361,2723,0,0,0,0,0,0
$GC,9606,0.80,136.7,338.5,12.9,301,9612,0.00,2.12,0.00,0.000,6,0.000,0.029,2849,1949,2723,0,0,0,0,0,0
$GC,9857,0.80,136.7,308.1,12.5,308,9862,0.00,2.28,0.00,0.000,4,0.000,0.048,2854,3364,2722,0,0,0,0,0,0
$GC,10005,0.80,136.7,287.5,12.9,312,10011,0.00,2.12,0.00,0.000,6,0.000,0.030,2865,1956,2722,0,0,0,0,0,0
$GC,10260,0.80,136.7,258.6,11.6,325,10264,0.00,2.25,0.00,0.000,4,0.000,0.048,2865,3364,2722,0,0,0,0,0,0
$GC,10326,0.80,136.7,250.3,13.1,328,10330,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,1948,2722,0,0,0,0,0,0
$GC,10591,0.80,136.7,222.5,10.1,341,10595,0.00,2.10,0.00,0.000,4,0.000,0.037,2886,559,2721,0,0,0,0,0,0
$GC,10625,0.80,136.7,219.6,8.9,342,10632,0.12,2.10,0.00,0.000,6,0.193,0.031,2858,1970,2717,0,0,0,0,0,0
$GC,10883,0.82,154.0,196.1,7.8,357,10900,0.00,2.12,12.00,0.568,4,0.000,0.035,2867,558,2672,0,0,0,0,0,0
$GC,10928,0.83,164.6,192.7,8.1,360,10948,0.00,2.15,10.65,0.555,6,0.000,0.032,2867,1960,2629,0,0,0,0,0,0
$GC,11203,0.83,164.6,169.1,11.8,386,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1960,2627,0,0,0,0,0,0
$GC,11459,0.93,248.8,150.1,5.0,410,11534,0.00,2.25,69.28,0.563,4,0.000,0.048,2867,3360,2286,0,0,0,0,0,0
$GC,11783,0.93,248.8,122.5,10.1,438,11791,0.00,2.17,0.00,0.000,6,0.000,0.029,2877,1964,2282,0,0,0,0,0,0
$GC,12050,0.93,248.8,94.3,12.1,463,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1961,2280,0,0,0,0,0,0
$GC,12314,0.93,248.8,63.9,11.9,488,12318,0.00,2.12,0.00,0.000,4,0.000,0.039,2888,553,2281,0,0,0,0,0,0
$GC,12379,0.93,248.8,56.0,12.1,493,12386,0.00,2.12,0.00,0.000,6,0.000,0.030,2888,1951,2282,0,0,0,0,0,0
$GC,12644,0.93,248.8,23.8,12.1,522,12652,0.00,2.25,0.00,0.000,4,0.000,0.048,2888,3363,2282,0,0,0,0,0,0
$GC,12681,0.93,248.8,18.8,12.7,528,12690,0.00,2.15,0.00,0.000,6,0.000,0.028,2899,1959,2283,0,0,0,0,0,0
$STATE,12801,end climb,SURFACE_DEPTH_REACHED
$STATE,12802,begin surface coast
$FINISH,0.4,1.010054
$STATE,12826,end surface coast,CONTROL_FINISHED_OK
$STATE,12826,begin surface
$SM_CCo,12848,22.15,0.408,0,0,2077,300.24
$SM_GC,1.16,0.00,0.00,22.15,0.000,0.000,0.408,59,2127,2077,-7.93,0.76,300.24
$IRIDIUM_FIX,1857.82,-15647.19,220213,141456
$TT8_MAMPS,0.259246
$HUMID,1078874184
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.90
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257246208
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,23522344960
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,51.070
$10V_AH,9.8,47.091
$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,19.875,117.525,326.800,22.150,0.000,29.091,33.267,319.087,22.500,0.000,14.620,1171.439,9347.023,417.899,2147.067,407.695,33.359,1183.976,0.000,1753.697,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,65.962,1083.771,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.845,0.000,889.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353632
$DATA_FILE_SIZE,26892,554
$CAP_FILE_SIZE,116565,0
$CFSIZE,260165632,178900992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,223.0,1
$GPS,310811,035000,1904.204,-15648.024,36,1.1,42,9.6