version: 66.07
glider: 513
mission: 7
dive: 371
start: 8 31 111 11 41 57
data:
$ID,513
$MISSION,7
$DIVE,371
$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,-430559.16
$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,34
$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,370
$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
$GPS1,310811,112406,1905.859,-15648.144,31,1.1,31,9.6
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.7
$GPS2,310811,114101,1905.709,-15648.065,12,1.1,17,9.6
$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,-200890.5,2109.7,459.4,208148.7,-6448.6
$KALMAN_Y,-273177.9,-134.2,320.9,172996.9,-7640.1
$MHEAD_RNG_PITCHd_Wd,10.7,128436,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-51.55,0.000,2,0.000,0.000,35,2102,3537,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.1,-4.1,8,107,9.98,2.28,-5.60,0.000,4,0.245,0.067,2321,3515,3860,0,0,0,0,0,0
$GC,236,-0.80,-136.7,57.5,-32.3,27,245,0.00,2.20,0.00,0.000,6,0.000,0.038,2321,2119,3864,0,0,0,0,0,0
$GC,503,-0.80,-136.7,142.9,-31.2,52,507,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,685,3863,0,0,0,0,0,0
$GC,609,-0.80,-136.7,169.2,-20.9,61,613,0.00,2.17,0.00,0.000,6,0.000,0.044,2311,2105,3863,0,0,0,0,0,0
$GC,867,-0.80,-136.7,232.3,-24.4,79,872,0.10,2.20,0.00,0.000,4,0.190,0.050,2325,3516,3865,0,0,0,0,0,0
$GC,922,-0.80,-136.7,243.2,-17.9,81,928,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2086,3865,0,0,0,0,0,0
$GC,1176,-0.80,-136.7,290.2,-18.6,94,1180,0.00,2.25,0.00,0.000,4,0.000,0.054,2314,3509,3867,0,0,0,0,0,0
$GC,1261,-0.80,-136.7,306.4,-18.2,97,1266,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,2097,3867,0,0,0,0,0,0
$GC,1511,-0.80,-136.7,346.7,-15.9,104,1515,0.00,2.08,0.00,0.000,4,0.000,0.039,2314,701,3867,0,0,0,0,0,0
$GC,1583,-0.80,-136.7,358.0,-14.6,105,1587,0.12,2.12,0.00,0.000,6,0.172,0.042,2335,2105,3867,0,0,0,0,0,0
$GC,1834,-0.80,-136.7,392.3,-14.0,111,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2106,3870,0,0,0,0,0,0
$GC,2076,-0.80,-136.7,423.6,-12.6,117,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3862,0,0,0,0,0,0
$GC,2320,-0.80,-136.7,454.5,-12.6,123,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3867,0,0,0,0,0,0
$GC,2564,-0.80,-136.7,484.6,-12.3,129,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3864,0,0,0,0,0,0
$GC,2809,-0.80,-136.7,516.1,-12.9,135,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3858,0,0,0,0,0,0
$GC,3051,-0.80,-136.7,548.0,-13.2,141,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3856,0,0,0,0,0,0
$GC,3295,-0.80,-136.7,578.8,-12.6,147,3299,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3511,3852,0,0,0,0,0,0
$GC,3351,-0.80,-136.7,586.2,-13.5,148,3355,0.00,2.10,0.00,0.000,6,0.000,0.030,2326,2099,3853,0,0,0,0,0,0
$GC,3617,-0.80,-136.7,622.1,-13.6,155,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2092,3849,0,0,0,0,0,0
$GC,3861,-0.80,-136.7,655.6,-13.6,161,3865,0.00,2.22,0.00,0.000,4,0.000,0.053,2316,3508,3846,0,0,0,0,0,0
$GC,3910,-0.80,-136.7,662.5,-13.2,162,3914,0.00,2.10,0.00,0.000,6,0.000,0.031,2316,2107,3846,0,0,0,0,0,0
$GC,4190,-0.80,-136.7,699.1,-13.2,169,4194,0.00,2.15,0.00,0.000,4,0.000,0.043,2315,696,3844,0,0,0,0,0,0
$GC,4223,-0.80,-136.7,703.8,-14.1,169,4229,0.15,2.15,0.00,0.000,6,0.171,0.041,2343,2107,3843,0,0,0,0,0,0
$GC,4473,-0.80,-136.7,731.4,-11.1,176,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2107,3841,0,0,0,0,0,0
$GC,4718,-0.80,-136.7,757.7,-10.6,182,4722,0.00,2.15,0.00,0.000,4,0.000,0.038,2348,693,3839,0,0,0,0,0,0
$GC,4757,-0.80,-136.7,762.3,-10.7,183,4761,0.00,2.15,0.00,0.000,6,0.000,0.041,2334,2101,3839,0,0,0,0,0,0
$GC,5041,-0.80,-136.7,794.9,-11.6,190,5045,0.00,2.22,0.00,0.000,4,0.000,0.055,2324,3508,3837,0,0,0,0,0,0
$GC,5091,-0.80,-136.7,800.9,-11.9,191,5095,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,2098,3839,0,0,0,0,0,0
$GC,5363,-0.80,-136.7,832.2,-11.4,198,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2091,3834,0,0,0,0,0,0
$GC,5607,-0.80,-136.7,858.1,-10.5,204,5611,0.00,2.12,0.00,0.000,4,0.000,0.041,2324,693,3829,0,0,0,0,0,0
$GC,5639,-0.80,-136.7,861.6,-10.8,204,5643,0.00,2.17,0.00,0.000,6,0.000,0.043,2313,2106,3831,0,0,0,0,0,0
$GC,5896,-0.80,-136.7,890.0,-11.3,211,5900,0.00,2.22,0.00,0.000,4,0.000,0.054,2302,3506,3830,0,0,0,0,0,0
$GC,5946,-0.80,-136.7,896.3,-12.8,212,5951,0.12,2.12,0.00,0.000,6,0.169,0.032,2334,2097,3829,0,0,0,0,0,0
$STATE,6012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6012,begin apogee
$GC,6020,-0.28,0.0,903.3,10.2,214,6135,0.57,0.00,111.88,1.081,6,0.141,0.000,2507,1926,3300,0,0,0,0,0,0
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6140,0.80,136.7,906.1,0.0,217,6269,1.05,2.50,121.20,1.046,4,0.091,0.051,2855,3362,2742,0,0,0,0,0,0
$GC,6292,0.80,136.7,888.0,19.5,220,6297,0.00,2.20,0.00,0.000,6,0.000,0.027,2865,1975,2740,0,0,0,0,0,0
$GC,6543,0.80,136.7,837.5,20.2,227,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1974,2733,0,0,0,0,0,0
$GC,6785,0.80,136.7,789.9,19.3,233,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1979,2731,0,0,0,0,0,0
$GC,7029,0.80,136.7,744.0,18.7,239,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1974,2730,0,0,0,0,0,0
$GC,7273,0.80,136.7,698.8,18.4,245,7277,0.00,2.15,0.00,0.000,4,0.000,0.039,2876,559,2728,0,0,0,0,0,0
$GC,7335,0.80,136.7,686.9,19.9,246,7339,0.00,2.12,0.00,0.000,6,0.000,0.035,2876,1962,2729,0,0,0,0,0,0
$GC,7601,0.80,136.7,634.6,19.4,253,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1968,2726,0,0,0,0,0,0
$GC,7845,0.80,136.7,587.1,19.3,259,7849,0.00,2.22,0.00,0.000,4,0.000,0.053,2876,3367,2725,0,0,0,0,0,0
$GC,7946,0.80,136.7,565.9,21.2,261,7951,0.12,2.12,0.00,0.000,6,0.214,0.029,2860,1953,2725,0,0,0,0,0,0
$GC,8213,0.80,136.7,518.0,18.0,268,8217,0.00,2.10,0.00,0.000,4,0.000,0.038,2869,559,2724,0,0,0,0,0,0
$GC,8245,0.80,136.7,512.2,17.5,268,8251,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1968,2723,0,0,0,0,0,0
$GC,8497,0.80,136.7,469.1,17.1,275,8501,0.00,2.20,0.00,0.000,4,0.000,0.050,2869,3359,2723,0,0,0,0,0,0
$GC,8535,0.80,136.7,461.7,18.0,275,8542,0.00,2.10,0.00,0.000,6,0.000,0.030,2879,1963,2723,0,0,0,0,0,0
$GC,8785,0.80,136.7,419.2,16.7,282,8789,0.00,2.12,0.00,0.000,4,0.000,0.038,2890,560,2723,0,0,0,0,0,0
$GC,8847,0.80,136.7,409.3,16.4,283,8852,0.15,2.12,0.00,0.000,6,0.194,0.033,2855,1967,2721,0,0,0,0,0,0
$GC,9107,0.80,136.7,370.9,14.8,290,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1968,2721,0,0,0,0,0,0
$GC,9351,0.80,136.7,336.2,13.8,296,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1968,2720,0,0,0,0,0,0
$GC,9595,0.80,136.7,306.4,12.2,302,9599,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3363,2721,0,0,0,0,0,0
$GC,9623,0.80,136.7,302.3,14.0,302,9627,0.00,2.12,0.00,0.000,6,0.000,0.028,2863,1951,2719,0,0,0,0,0,0
$GC,9882,0.80,136.7,271.8,9.8,314,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1946,2721,0,0,0,0,0,0
$GC,10129,0.80,136.7,245.8,9.8,326,10133,0.00,2.25,0.00,0.000,4,0.000,0.048,2861,3361,2720,0,0,0,0,0,0
$GC,10387,0.80,136.7,218.8,9.5,337,10391,0.00,2.15,0.00,0.000,6,0.000,0.027,2870,1953,2721,0,0,0,0,0,0
$GC,10650,0.80,136.7,196.4,9.3,351,10654,0.00,2.22,0.00,0.000,4,0.000,0.046,2870,3372,2720,0,0,0,0,0,0
$GC,10724,0.80,136.7,188.3,10.1,357,10728,0.00,2.12,0.00,0.000,6,0.000,0.028,2881,1953,2721,0,0,0,0,0,0
$GC,10990,0.80,136.7,164.2,10.3,381,10994,0.00,2.20,0.00,0.000,4,0.000,0.045,2881,3361,2721,0,0,0,0,0,0
$GC,11101,0.80,136.7,152.3,8.8,390,11109,0.10,2.12,0.00,0.000,6,0.164,0.027,2861,1953,2721,0,0,0,0,0,0
$GC,11369,1.00,303.0,143.9,1.5,415,11513,0.17,2.20,131.43,0.546,4,0.087,0.038,2944,581,2062,0,0,0,0,0,0
$GC,11640,1.00,303.0,109.3,18.2,438,11644,0.00,2.10,0.00,0.000,6,0.000,0.028,2939,1965,2057,0,0,0,0,0,0
$GC,11910,1.00,303.0,58.4,18.2,463,11913,0.00,2.12,0.00,0.000,4,0.000,0.037,2947,574,2056,0,0,0,0,0,0
$GC,11962,1.00,303.0,48.5,18.9,467,11965,0.00,2.08,0.00,0.000,6,0.000,0.030,2947,1960,2055,0,0,0,0,0,0
$STATE,12197,end climb,SURFACE_DEPTH_REACHED
$STATE,12197,begin surface coast
$FINISH,0.3,1.012720
$STATE,12216,end surface coast,CONTROL_FINISHED_OK
$STATE,12217,begin surface
$SM_CCo,12297,0.00,0.000,0,0,2054,305.64
$SM_GC,1.29,7.78,0.00,0.00,0.049,0.000,0.000,51,2132,2054,-7.90,0.90,305.64
$IRIDIUM_FIX,1857.82,-15650.18,230213,050523
$TT8_MAMPS,0.149565
$HUMID,1078972248
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.70
$XPDR_PINGS,99
$AR_DIVENUM,371
$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,23.7,51.447
$10V_AH,9.8,47.354
$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,20.425,104.325,364.500,0.000,0.000,54.092,80.852,576.726,24.750,0.000,19.579,1081.530,9086.924,407.551,2308.176,431.948,33.353,1136.721,0.000,1609.715,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,68.263,1080.703,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.874,0.000,751.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353580
$DATA_FILE_SIZE,26915,504
$CAP_FILE_SIZE,114850,0
$CFSIZE,260165632,178679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,217.2,1
$GPS,310811,150831,1906.731,-15647.946,40,1.7,40,9.6