version: 66.07
glider: 513
mission: 7
dive: 373
start: 8 31 111 19 11 15
data:
$ID,513
$MISSION,7
$DIVE,373
$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,-430591.59
$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,63
$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,372
$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
$GPS1,310811,185607,1907.613,-15647.692,53,1.1,53,9.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.4
$GPS2,310811,191014,1907.560,-15647.527,12,1.3,12,9.6
$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,-196638.8,-292.5,9.0,207685.1,148.3
$KALMAN_Y,-280621.9,1288.2,736.7,182029.1,-11211.9
$MHEAD_RNG_PITCHd_Wd,1.6,124975,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-51.30,0.000,2,0.000,0.000,38,2142,3538,0,0,0,0,0,0
$GC,83,-0.80,-136.7,3.1,-3.8,8,106,10.00,2.22,-5.88,0.000,4,0.245,0.053,2353,701,3857,0,0,0,0,0,0
$GC,125,-0.80,-136.7,21.0,-43.4,14,133,0.00,2.15,0.00,0.000,6,0.000,0.045,2344,2065,3860,0,0,1,0,0,0
$GC,400,-0.80,-136.7,114.8,-32.7,41,404,0.00,2.10,0.00,0.000,4,0.000,0.042,2345,706,3862,0,0,0,0,0,0
$GC,441,-0.80,-136.7,128.9,-31.6,44,445,0.00,2.20,0.00,0.000,6,0.000,0.047,2337,2104,3862,0,0,0,0,0,0
$GC,705,-0.80,-136.7,192.9,-22.0,68,709,0.00,2.20,0.00,0.000,4,0.000,0.051,2326,3511,3861,0,0,0,0,0,0
$GC,771,-0.80,-136.7,208.4,-21.9,72,775,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2101,3864,0,0,0,0,0,0
$GC,1036,-0.80,-136.7,258.7,-17.4,85,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2094,3864,0,0,0,0,0,0
$GC,1305,-0.80,-136.7,309.0,-17.5,97,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2094,3866,0,0,0,0,0,0
$GC,1548,-0.80,-136.7,350.6,-16.6,103,1551,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,700,3865,0,0,0,0,0,0
$GC,1678,-0.80,-136.7,371.5,-16.5,106,1683,0.00,2.15,0.00,0.000,6,0.000,0.041,2316,2117,3866,0,0,0,0,0,0
$GC,1962,-0.80,-136.7,416.4,-15.7,113,1966,0.00,2.17,0.00,0.000,4,0.000,0.051,2304,3513,3869,0,0,0,0,0,0
$GC,1989,-0.80,-136.7,420.7,-15.6,113,1994,0.12,2.10,0.00,0.000,6,0.160,0.031,2337,2094,3866,0,0,0,0,0,0
$GC,2240,-0.80,-136.7,454.7,-13.4,119,2244,0.00,2.10,0.00,0.000,4,0.000,0.039,2337,700,3865,0,0,0,0,0,0
$GC,2301,-0.80,-136.7,464.0,-14.1,120,2306,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2102,3863,0,0,0,0,0,0
$GC,2570,-0.80,-136.7,504.3,-15.2,127,2574,0.00,2.22,0.00,0.000,4,0.000,0.052,2317,3523,3861,0,0,0,0,0,0
$GC,2610,-0.80,-136.7,511.1,-16.3,128,2614,0.00,2.15,0.00,0.000,6,0.000,0.032,2317,2096,3860,0,0,0,0,0,0
$GC,2894,-0.80,-136.7,556.4,-16.1,135,2898,0.00,2.10,0.00,0.000,4,0.000,0.040,2318,697,3857,0,0,0,0,0,0
$GC,2916,-0.80,-136.7,560.4,-16.3,135,2921,0.12,2.12,0.00,0.000,6,0.177,0.041,2338,2100,3855,0,0,0,0,0,0
$GC,3171,-0.80,-136.7,596.3,-14.0,142,3175,0.00,2.22,0.00,0.000,4,0.000,0.053,2330,3507,3854,0,0,0,0,0,0
$GC,3223,-0.80,-136.7,603.5,-14.4,143,3227,0.00,2.10,0.00,0.000,6,0.000,0.031,2329,2101,3853,0,0,0,0,0,0
$GC,3500,-0.80,-136.7,643.3,-14.3,150,3504,0.00,2.12,0.00,0.000,4,0.000,0.043,2329,697,3851,0,0,0,0,0,0
$GC,3545,-0.80,-136.7,650.0,-14.4,151,3549,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2107,3853,0,0,0,0,0,0
$GC,3830,-0.80,-136.7,690.1,-13.9,158,3834,0.00,2.20,0.00,0.000,4,0.000,0.054,2308,3509,3848,0,0,0,0,0,0
$GC,3863,-0.80,-136.7,695.2,-14.4,158,3870,0.12,2.12,0.00,0.000,6,0.166,0.031,2339,2091,3847,0,0,0,0,0,0
$GC,4113,-0.80,-136.7,724.3,-11.4,165,4116,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,703,3845,0,0,0,0,0,0
$GC,4159,-0.80,-136.7,729.4,-11.6,166,4163,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2102,3844,0,0,0,0,0,0
$GC,4448,-0.80,-136.7,761.9,-11.1,173,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3842,0,0,0,0,0,0
$GC,4692,-0.80,-136.7,788.4,-10.9,179,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2104,3841,0,0,0,0,0,0
$GC,4936,-0.80,-136.7,814.4,-10.7,185,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2102,3838,0,0,0,0,0,0
$GC,5179,-0.80,-136.7,840.5,-10.7,191,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2103,3837,0,0,0,0,0,0
$GC,5422,-0.80,-136.7,868.0,-11.4,197,5426,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3514,3834,0,0,0,0,0,0
$GC,5450,-0.80,-136.7,871.3,-12.2,197,5454,0.00,2.12,0.00,0.000,6,0.000,0.030,2320,2103,3834,0,0,0,0,0,0
$STATE,5703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5703,begin apogee
$GC,5711,-0.28,0.0,902.2,12.3,204,5827,0.62,0.00,112.28,1.077,6,0.143,0.000,2504,1927,3303,0,0,0,0,0,0
$STATE,5830,end apogee,CONTROL_FINISHED_OK
$STATE,5830,begin climb
$GC,5832,0.80,136.7,906.5,0.0,207,5964,1.05,2.45,121.22,1.046,4,0.091,0.053,2851,3360,2742,0,0,0,0,0,0
$GC,6032,0.80,136.7,882.3,18.5,212,6036,0.00,2.20,0.00,0.000,6,0.000,0.028,2861,1956,2738,0,0,0,0,0,0
$GC,6316,0.80,136.7,829.4,18.7,219,6320,0.00,2.30,0.00,0.000,4,0.000,0.055,2861,3363,2732,0,0,0,0,0,0
$GC,6390,0.80,136.7,815.0,19.4,220,6394,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,1958,2732,0,0,0,0,0,0
$GC,6646,0.80,136.7,765.2,19.7,227,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1955,2729,0,0,0,0,0,0
$GC,6889,0.80,136.7,716.4,20.0,233,6893,0.00,2.12,0.00,0.000,4,0.000,0.038,2883,557,2728,0,0,0,0,0,0
$GC,6916,0.80,136.7,710.4,21.4,233,6920,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1962,2726,0,0,0,0,0,0
$GC,7178,0.80,136.7,656.8,20.8,240,7182,0.00,2.25,0.00,0.000,4,0.000,0.051,2883,3365,2727,0,0,0,0,0,0
$GC,7245,0.80,136.7,642.7,21.6,241,7250,0.15,2.17,0.00,0.000,6,0.213,0.031,2859,1921,2726,0,0,0,0,0,0
$GC,7506,0.80,136.7,592.4,19.6,248,7510,0.00,2.28,0.00,0.000,4,0.000,0.049,2849,3367,2726,0,0,0,0,0,0
$GC,7534,0.80,136.7,586.9,19.9,248,7538,0.00,2.12,0.00,0.000,6,0.000,0.030,2857,1958,2725,0,0,0,0,0,0
$GC,7785,0.80,136.7,540.1,18.5,254,7789,0.00,2.25,0.00,0.000,4,0.000,0.049,2849,3366,2725,0,0,0,0,0,0
$GC,7835,0.80,136.7,530.5,18.6,255,7839,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,1947,2722,0,0,0,0,0,0
$GC,8114,0.80,136.7,481.8,17.5,262,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1943,2724,0,0,0,0,0,0
$GC,8357,0.80,136.7,441.9,16.2,268,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1943,2723,0,0,0,0,0,0
$GC,8601,0.80,136.7,407.2,14.0,274,8605,0.00,2.22,0.00,0.000,4,0.000,0.047,2850,3369,2722,0,0,0,0,0,0
$GC,8617,0.80,136.7,404.7,14.0,274,8621,0.00,2.15,0.00,0.000,6,0.000,0.030,2858,1968,2720,0,0,0,0,0,0
$GC,8885,0.80,136.7,367.2,13.9,281,8889,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,556,2722,0,0,0,0,0,0
$GC,8957,0.80,136.7,356.5,14.6,282,8961,0.00,2.12,0.00,0.000,6,0.000,0.032,2869,1966,2720,0,0,0,0,0,0
$GC,9213,0.80,136.7,321.3,13.7,289,9217,0.00,2.12,0.00,0.000,4,0.000,0.038,2880,561,2720,0,0,0,0,0,0
$GC,9281,0.80,136.7,311.9,14.0,290,9285,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1965,2720,0,0,0,0,0,0
$GC,9539,0.80,136.7,279.3,10.6,301,9543,0.00,2.20,0.00,0.000,4,0.000,0.050,2878,3362,2720,0,0,0,0,0,0
$GC,9796,0.80,136.7,246.5,12.6,312,9802,0.12,2.10,0.00,0.000,6,0.197,0.029,2859,1960,2720,0,0,0,0,0,0
$GC,10049,0.80,136.7,221.1,9.9,325,10053,0.00,2.22,0.00,0.000,4,0.000,0.047,2848,3360,2720,0,0,0,0,0,0
$GC,10135,0.80,136.7,212.2,10.7,329,10139,0.00,2.12,0.00,0.000,6,0.000,0.028,2857,1945,2720,0,0,0,0,0,0
$GC,10396,0.80,136.7,189.6,9.1,347,10400,0.00,2.22,0.00,0.000,4,0.000,0.045,2849,3360,2720,0,0,0,0,0,0
$GC,10449,0.80,136.7,184.3,8.8,351,10457,0.00,2.12,0.00,0.000,6,0.000,0.027,2858,1962,2720,0,0,0,0,0,0
$GC,10716,0.80,136.7,162.8,8.7,376,10720,0.00,2.20,0.00,0.000,4,0.000,0.046,2849,3360,2721,0,0,0,0,0,0
$GC,10785,0.81,149.4,157.3,8.0,382,10799,0.00,2.08,8.35,0.488,6,0.000,0.026,2856,1950,2691,0,0,0,0,0,0
$GC,11053,0.98,290.3,141.6,2.6,407,11178,0.15,2.33,114.57,0.543,4,0.090,0.046,2925,3363,2116,0,0,0,0,0,0
$GC,11412,0.98,290.3,91.1,16.6,438,11416,0.00,2.15,0.00,0.000,6,0.000,0.030,2933,1970,2112,0,0,0,0,0,0
$GC,11679,0.98,290.3,46.9,16.4,462,11683,0.00,2.17,0.00,0.000,4,0.000,0.038,2944,557,2110,0,0,0,0,0,0
$GC,11775,0.98,290.3,30.0,16.2,470,11784,0.00,2.12,0.00,0.000,6,0.000,0.028,2941,1953,2109,0,0,0,0,0,0
$STATE,11929,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,0.3,1.012478
$STATE,11948,end surface coast,CONTROL_FINISHED_OK
$STATE,11948,begin surface
$SM_CCo,11968,3.53,0.269,0,0,2076,300.24
$SM_GC,2.35,0.00,0.00,3.53,0.000,0.000,0.269,57,2130,2076,-7.94,0.85,300.24
$IRIDIUM_FIX,1857.82,-15647.19,230213,131325
$TT8_MAMPS,0.303732
$HUMID,1078981281
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.90
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257082368
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,22765699072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,51.692
$10V_AH,9.9,47.521
$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,20.225,121.900,356.425,3.525,0.000,59.452,74.746,418.945,25.000,0.000,14.428,1107.202,8640.826,398.373,2268.644,417.349,33.363,1174.282,0.000,1712.530,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,67.496,1076.868,269.217,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.947,0.000,774.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,23607,501
$CAP_FILE_SIZE,118145,0
$CFSIZE,260165632,178548736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.101,198.1,1
$GPS,310811,223224,1908.458,-15647.536,37,1.7,37,9.6