version: 66.07
glider: 513
mission: 7
dive: 369
start: 8 31 111 4 0 59
data:
$ID,513
$MISSION,7
$DIVE,369
$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,-430524.84
$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,47
$R_STBD_OVSHOOT,56
$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,368
$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
$GPS1,310811,035000,1904.204,-15648.024,36,1.1,42,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.8
$GPS2,310811,040002,1904.182,-15647.995,11,1.5,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.021,0.238
$KALMAN_X,-200138.4,378.9,1149.3,208557.9,-7300.2
$KALMAN_Y,-268166.9,1248.5,139.1,163952.4,-7952.7
$MHEAD_RNG_PITCHd_Wd,9.7,131257,-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,27,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-51.20,0.000,2,0.000,0.000,37,2132,3536,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.2,-5.6,8,107,9.88,2.20,-5.68,0.000,4,0.242,0.064,2320,3502,3860,0,0,0,0,0,0
$GC,301,-0.80,-136.7,75.4,-30.5,33,305,0.00,2.15,0.00,0.000,6,0.000,0.036,2325,2102,3863,0,0,0,0,0,0
$GC,569,-0.80,-136.7,160.4,-30.0,57,573,0.00,2.15,0.00,0.000,4,0.000,0.042,2320,692,3864,0,0,0,0,0,0
$GC,646,-0.80,-136.7,180.5,-21.6,63,654,0.00,2.15,0.00,0.000,6,0.000,0.042,2310,2066,3865,0,0,0,0,0,0
$GC,902,-0.80,-136.7,236.6,-20.3,80,906,0.00,2.25,0.00,0.000,4,0.000,0.051,2298,3515,3867,0,0,0,0,0,0
$GC,936,-0.80,-136.7,242.9,-18.6,81,940,0.15,2.12,0.00,0.000,6,0.166,0.031,2339,2085,3867,0,0,0,0,0,0
$GC,1189,-0.80,-136.7,280.8,-14.5,93,1193,0.00,2.08,0.00,0.000,4,0.000,0.039,2339,702,3871,0,0,0,0,0,0
$GC,1234,-0.80,-136.7,287.3,-14.5,95,1238,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2115,3869,0,0,0,0,0,0
$GC,1503,-0.80,-136.7,329.7,-16.3,104,1507,0.00,2.20,0.00,0.000,4,0.000,0.052,2320,3512,3869,0,0,0,0,0,0
$GC,1542,-0.80,-136.7,336.6,-16.7,104,1548,0.00,2.12,0.00,0.000,6,0.000,0.030,2319,2088,3869,0,0,0,0,0,0
$GC,1792,-0.80,-136.7,379.3,-17.2,111,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2082,3869,0,0,0,0,0,0
$GC,2035,-0.80,-136.7,419.8,-16.4,117,2039,0.00,2.08,0.00,0.000,4,0.000,0.041,2320,702,3868,0,0,0,0,0,0
$GC,2081,-0.80,-136.7,427.2,-16.9,118,2086,0.12,2.15,0.00,0.000,6,0.170,0.041,2341,2108,3867,0,0,0,0,0,0
$GC,2358,-0.80,-136.7,466.3,-14.2,125,2362,0.00,2.10,0.00,0.000,4,0.000,0.038,2341,704,3868,0,0,0,0,0,0
$GC,2380,-0.80,-136.7,469.6,-14.8,125,2384,0.00,2.10,0.00,0.000,6,0.000,0.040,2332,2092,3865,0,0,0,0,0,0
$GC,2642,-0.80,-136.7,508.1,-14.7,132,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2092,3862,0,0,0,0,0,0
$GC,2885,-0.80,-136.7,541.3,-13.6,138,2889,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3514,3860,0,0,0,0,0,0
$GC,2924,-0.80,-136.7,546.9,-14.1,139,2929,0.00,2.10,0.00,0.000,6,0.000,0.029,2321,2106,3860,0,0,0,0,0,0
$GC,3209,-0.80,-136.7,586.5,-14.0,146,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2099,3857,0,0,0,0,0,0
$GC,3452,-0.80,-136.7,621.1,-14.3,152,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2097,3854,0,0,0,0,0,0
$GC,3695,-0.80,-136.7,653.1,-13.0,158,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3851,0,0,0,0,0,0
$GC,3939,-0.80,-136.7,684.8,-13.0,164,3943,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,701,3849,0,0,0,0,0,0
$GC,3973,-0.80,-136.7,689.3,-13.2,164,3978,0.00,2.15,0.00,0.000,6,0.000,0.042,2311,2108,3849,0,0,0,0,0,0
$GC,4223,-0.80,-136.7,723.3,-13.6,171,4228,0.10,2.25,0.00,0.000,4,0.187,0.053,2326,3510,3846,0,0,0,0,0,0
$GC,4255,-0.80,-136.7,727.6,-12.9,171,4261,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2096,3844,0,0,0,0,0,0
$GC,4507,-0.80,-136.7,756.9,-11.7,178,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3844,0,0,0,0,0,0
$GC,4749,-0.80,-136.7,786.5,-12.1,184,4753,0.00,2.12,0.00,0.000,4,0.000,0.042,2327,689,3842,0,0,0,0,0,0
$GC,4804,-0.80,-136.7,793.8,-13.1,185,4808,0.00,2.15,0.00,0.000,6,0.000,0.043,2317,2096,3842,0,0,0,0,0,0
$GC,5078,-0.80,-136.7,828.3,-12.7,192,5082,0.00,2.25,0.00,0.000,4,0.000,0.054,2304,3508,3840,0,0,0,0,0,0
$GC,5151,-0.80,-136.7,837.9,-13.1,193,5156,0.12,2.15,0.00,0.000,6,0.166,0.031,2336,2093,3838,0,0,0,0,0,0
$GC,5402,-0.80,-136.7,865.1,-10.6,199,5406,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,689,3837,0,0,0,0,0,0
$GC,5436,-0.80,-136.7,868.8,-11.2,199,5441,0.00,2.20,0.00,0.000,6,0.000,0.048,2328,2102,3836,0,0,0,0,0,0
$GC,5685,-0.80,-136.7,895.2,-10.5,206,5689,0.00,2.25,0.00,0.000,4,0.000,0.054,2317,3509,3835,0,0,0,0,0,0
$STATE,5729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5729,begin apogee
$GC,5738,-0.28,0.0,900.0,10.3,207,5854,0.62,0.00,112.78,1.083,6,0.145,0.000,2500,1950,3300,0,0,0,0,0,0
$STATE,5856,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5860,0.80,136.7,903.1,0.0,210,5985,1.02,0.00,120.40,1.059,6,0.095,0.000,2843,1950,2743,0,0,0,0,0,0
$GC,6226,0.80,136.7,845.5,18.7,219,6230,0.00,2.30,0.00,0.000,4,0.000,0.054,2843,3363,2734,0,0,0,0,0,0
$GC,6266,0.80,136.7,837.8,19.9,220,6270,0.00,2.17,0.00,0.000,6,0.000,0.029,2853,1946,2734,0,0,0,0,0,0
$GC,6550,0.80,136.7,784.2,18.6,227,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1942,2733,0,0,0,0,0,0
$GC,6793,0.80,136.7,739.5,18.3,233,6797,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,561,2729,0,0,0,0,0,0
$GC,6821,0.80,136.7,734.3,18.5,233,6825,0.00,2.15,0.00,0.000,6,0.000,0.036,2865,1966,2728,0,0,0,0,0,0
$GC,7077,0.80,136.7,688.7,17.9,240,7081,0.00,2.25,0.00,0.000,4,0.000,0.052,2865,3376,2728,0,0,0,0,0,0
$GC,7093,0.80,136.7,685.3,18.1,240,7097,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1955,2728,0,0,0,0,0,0
$GC,7366,0.80,136.7,637.1,17.5,247,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1950,2727,0,0,0,0,0,0
$GC,7610,0.80,136.7,596.3,16.7,253,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1950,2726,0,0,0,0,0,0
$GC,7854,0.80,136.7,557.5,15.8,259,7858,0.00,2.28,0.00,0.000,4,0.000,0.050,2870,3376,2726,0,0,0,0,0,0
$GC,7886,0.80,136.7,551.6,17.7,259,7890,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,1950,2725,0,0,0,0,0,0
$GC,8142,0.80,136.7,506.7,17.7,266,8144,0.12,0.00,0.00,0.000,6,0.205,0.000,2851,1944,2725,0,0,0,0,0,0
$GC,8387,0.80,136.7,469.4,14.9,272,8391,0.00,2.10,0.00,0.000,4,0.000,0.038,2863,557,2725,0,0,0,0,0,0
$GC,8430,0.80,136.7,462.3,15.6,273,8434,0.00,2.12,0.00,0.000,6,0.000,0.034,2854,1968,2721,0,0,0,0,0,0
$GC,8714,0.80,136.7,422.7,13.9,280,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1968,2722,0,0,0,0,0,0
$GC,8958,0.80,136.7,387.6,14.4,286,8962,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3362,2721,0,0,0,0,0,0
$GC,8980,0.80,136.7,384.1,15.4,286,8984,0.00,2.12,0.00,0.000,6,0.000,0.029,2863,1952,2722,0,0,0,0,0,0
$GC,9236,0.80,136.7,345.7,14.9,293,9239,0.00,2.10,0.00,0.000,4,0.000,0.038,2874,551,2722,0,0,0,0,0,0
$GC,9291,0.80,136.7,337.5,15.5,294,9295,0.00,2.12,0.00,0.000,6,0.000,0.035,2873,1963,2718,0,0,0,0,0,0
$GC,9545,0.80,136.7,296.2,16.2,301,9549,0.00,2.22,0.00,0.000,4,0.000,0.050,2874,3369,2720,0,0,0,0,0,0
$GC,9639,0.80,136.7,280.3,15.1,305,9643,0.00,2.12,0.00,0.000,6,0.000,0.030,2883,1962,2721,0,0,0,0,0,0
$GC,9899,0.80,136.7,248.5,9.5,318,9903,0.00,2.10,0.00,0.000,4,0.000,0.037,2894,553,2720,0,0,0,0,0,0
$GC,9995,0.80,136.7,238.6,9.7,322,10000,0.15,2.12,0.00,0.000,6,0.186,0.034,2858,1965,2719,0,0,0,0,0,0
$GC,10248,0.80,136.7,213.9,10.1,334,10252,0.00,2.20,0.00,0.000,4,0.000,0.048,2847,3358,2719,0,0,0,0,0,0
$GC,10349,0.80,136.7,204.0,10.0,338,10353,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,1956,2718,0,0,0,0,0,0
$GC,10619,0.81,152.4,181.6,7.9,361,10634,0.00,2.15,10.57,0.545,4,0.000,0.037,2867,558,2679,0,0,0,0,0,0
$GC,10647,0.84,173.0,179.0,7.7,363,10670,0.00,2.15,18.70,0.569,6,0.000,0.032,2867,1965,2595,0,0,0,0,0,0
$GC,10929,0.84,175.1,152.0,8.5,389,10933,0.00,2.15,0.00,0.000,4,0.000,0.037,2874,552,2592,0,0,0,0,0,0
$GC,10995,0.86,192.5,146.1,7.8,394,11018,0.00,2.17,17.33,0.532,6,0.000,0.033,2877,1963,2517,0,0,0,0,0,0
$GC,11282,0.87,199.8,121.3,8.3,421,11295,0.00,2.20,7.60,0.451,4,0.000,0.047,2878,3362,2486,0,0,0,0,0,0
$GC,11546,0.89,209.3,100.2,8.2,444,11565,0.00,2.15,10.20,0.456,6,0.000,0.028,2889,1959,2444,0,0,0,0,0,0
$GC,11820,0.89,209.3,73.0,10.2,470,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1960,2445,0,0,0,0,0,0
$GC,12075,0.89,209.3,48.1,8.7,494,12079,0.00,2.12,0.00,0.000,4,0.000,0.038,2895,558,2445,0,0,0,0,0,0
$GC,12141,0.89,209.3,41.6,10.0,499,12149,0.00,2.12,0.00,0.000,6,0.000,0.030,2903,1956,2445,0,0,0,0,0,0
$GC,12404,0.89,209.3,13.9,12.1,538,12412,0.00,2.25,0.00,0.000,4,0.000,0.046,2899,3366,2447,0,0,0,0,0,0
$STATE,12487,end climb,SURFACE_DEPTH_REACHED
$STATE,12487,begin surface coast
$FINISH,2.1,1.022818
$STATE,12494,end surface coast,CONTROL_FINISHED_OK
$STATE,12494,begin surface
$SM_CCo,12519,43.58,0.417,0,0,2076,300.49
$SM_GC,1.94,0.00,0.00,43.58,0.000,0.000,0.417,52,2089,2076,-7.95,-0.14,300.49
$IRIDIUM_FIX,1857.82,-15648.08,220213,181853
$TT8_MAMPS,0.312936
$HUMID,1078827732
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.90
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6295650304
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,23356211200
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,51.180
$10V_AH,9.8,47.179
$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,19.875,125.275,297.575,43.575,0.000,30.623,36.507,309.323,25.000,0.000,13.748,1193.692,8970.514,412.647,2196.560,412.208,33.362,1174.674,0.000,1805.485,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,63.661,1083.004,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.991,0.000,939.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,26962,554
$CAP_FILE_SIZE,118162,0
$CFSIZE,260165632,178827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,229.2,1
$GPS,310811,073254,1905.154,-15648.155,62,1.0,80,9.6