version: 66.07
glider: 513
mission: 7
dive: 375
start: 9 1 111 2 23 41
data:
$ID,513
$MISSION,7
$DIVE,375
$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,-430621.72
$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,48
$R_STBD_OVSHOOT,64
$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,374
$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
$GPS1,010911,021233,1909.198,-15647.310,50,1.9,50,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.7
$GPS2,010911,022244,1909.084,-15647.104,11,1.3,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.109,0.213
$KALMAN_X,-194145.1,146.9,274.9,205246.0,2051.0
$KALMAN_Y,-285793.4,1294.1,833.8,189901.7,-12075.8
$MHEAD_RNG_PITCHd_Wd,354.6,122131,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.72,0.000,2,0.000,0.000,37,2135,3777,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.3,-7.6,9,112,10.02,2.22,-1.35,0.000,4,0.247,0.050,2342,699,3860,0,0,0,0,0,0
$GC,256,-0.80,-136.7,67.0,-31.0,27,263,0.00,2.15,0.00,0.000,6,0.000,0.045,2334,2060,3863,0,0,0,0,0,0
$GC,522,-0.80,-136.7,146.3,-21.1,52,525,0.00,2.05,0.00,0.000,4,0.000,0.038,2330,702,3865,0,0,0,0,0,0
$GC,543,-0.80,-136.7,151.5,-23.2,53,547,0.00,2.15,0.00,0.000,6,0.000,0.042,2323,2108,3867,0,0,0,0,0,0
$GC,812,-0.80,-136.7,215.2,-23.0,75,816,0.00,2.12,0.00,0.000,4,0.000,0.041,2323,700,3866,0,0,0,0,0,0
$GC,869,-0.80,-136.7,227.7,-22.0,77,875,0.00,2.12,0.00,0.000,6,0.000,0.042,2313,2102,3867,0,0,0,0,0,0
$GC,1123,-0.80,-136.7,277.0,-20.2,90,1126,0.00,2.17,0.00,0.000,4,0.000,0.051,2302,3509,3869,0,0,0,0,0,0
$GC,1217,-0.80,-136.7,294.0,-16.5,94,1222,0.10,2.15,0.00,0.000,6,0.143,0.030,2344,2091,3869,0,0,0,0,0,0
$GC,1480,-0.80,-136.7,330.0,-13.7,102,1483,0.00,2.08,0.00,0.000,4,0.000,0.040,2346,707,3870,0,0,0,0,0,0
$GC,1547,-0.80,-136.7,339.8,-13.4,103,1551,0.00,2.12,0.00,0.000,6,0.000,0.042,2338,2100,3870,0,0,0,0,0,0
$GC,1808,-0.80,-136.7,377.4,-14.3,110,1812,0.00,2.22,0.00,0.000,4,0.000,0.051,2327,3512,3869,0,0,0,0,0,0
$GC,1849,-0.80,-136.7,383.5,-14.9,111,1853,0.00,2.10,0.00,0.000,6,0.000,0.030,2323,2094,3869,0,0,0,0,0,0
$GC,2132,-0.80,-136.7,425.8,-15.2,118,2136,0.00,2.10,0.00,0.000,4,0.000,0.038,2327,697,3868,0,0,0,0,0,0
$GC,2209,-0.80,-136.7,437.2,-14.3,119,2215,0.00,2.15,0.00,0.000,6,0.000,0.041,2317,2108,3866,0,0,0,0,0,0
$GC,2459,-0.80,-136.7,476.4,-15.7,126,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2102,3863,0,0,0,0,0,0
$GC,2703,-0.80,-136.7,515.2,-16.0,132,2707,0.00,2.20,0.00,0.000,4,0.000,0.051,2306,3504,3862,0,0,0,0,0,0
$GC,2775,-0.80,-136.7,526.8,-15.7,133,2780,0.12,2.10,0.00,0.000,6,0.167,0.031,2337,2100,3859,0,0,0,0,0,0
$GC,3026,-0.80,-136.7,560.5,-13.4,139,3030,0.00,2.12,0.00,0.000,4,0.000,0.042,2336,690,3858,0,0,0,0,0,0
$GC,3070,-0.80,-136.7,566.8,-14.0,140,3074,0.00,2.15,0.00,0.000,6,0.000,0.042,2329,2099,3858,0,0,0,0,0,0
$GC,3348,-0.80,-136.7,605.6,-13.8,147,3352,0.00,2.20,0.00,0.000,4,0.000,0.054,2317,3505,3855,0,0,0,0,0,0
$GC,3376,-0.80,-136.7,609.6,-14.8,147,3380,0.00,2.12,0.00,0.000,6,0.000,0.032,2318,2100,3855,0,0,0,0,0,0
$GC,3627,-0.80,-136.7,643.3,-13.4,153,3631,0.00,2.12,0.00,0.000,4,0.000,0.043,2318,696,3852,0,0,0,0,0,0
$GC,3682,-0.80,-136.7,650.7,-12.3,154,3686,0.00,2.15,0.00,0.000,6,0.000,0.043,2307,2100,3852,0,0,0,0,0,0
$GC,3956,-0.80,-136.7,685.3,-12.6,161,3958,0.12,0.00,0.00,0.000,6,0.181,0.000,2339,2099,3849,0,0,0,0,0,0
$GC,4198,-0.80,-136.7,711.2,-10.5,167,4202,0.00,2.15,0.00,0.000,4,0.000,0.042,2339,698,3844,0,0,0,0,0,0
$GC,4220,-0.80,-136.7,713.8,-11.6,167,4224,0.00,2.15,0.00,0.000,6,0.000,0.042,2331,2103,3846,0,0,0,0,0,0
$GC,4486,-0.80,-136.7,742.7,-10.7,174,4490,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3508,3844,0,0,0,0,0,0
$GC,4548,-0.80,-136.7,749.6,-11.4,175,4552,0.00,2.12,0.00,0.000,6,0.000,0.031,2320,2093,3843,0,0,0,0,0,0
$GC,4808,-0.80,-136.7,778.2,-10.8,182,4812,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,698,3842,0,0,0,0,0,0
$GC,4858,-0.80,-136.7,783.9,-10.6,183,4863,0.12,2.15,0.00,0.000,6,0.181,0.041,2339,2105,3841,0,0,0,0,0,0
$GC,5132,-0.80,-136.7,809.1,-9.0,190,5135,0.00,2.20,0.00,0.000,4,0.000,0.052,2330,3507,3839,0,0,0,0,0,0
$GC,5153,-0.80,-136.7,811.4,-9.3,190,5157,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2098,3842,0,0,0,0,0,0
$GC,5415,-0.80,-136.7,838.6,-10.6,197,5419,0.00,2.15,0.00,0.000,4,0.000,0.044,2330,698,3837,0,0,0,0,0,0
$GC,5454,-0.80,-136.7,842.9,-11.5,197,5460,0.00,2.20,0.00,0.000,6,0.000,0.044,2320,2106,3836,0,0,0,0,0,0
$GC,5704,-0.80,-136.7,869.1,-10.5,204,5708,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3517,3836,0,0,0,0,0,0
$GC,5759,-0.80,-136.7,875.5,-11.2,205,5764,0.12,2.15,0.00,0.000,6,0.166,0.031,2340,2111,3833,0,0,0,0,0,0
$STATE,6023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6023,begin apogee
$GC,6031,-0.28,0.0,901.4,9.8,212,6147,0.55,0.00,112.95,1.078,6,0.140,0.000,2505,1939,3301,0,0,0,0,0,0
$STATE,6149,end apogee,CONTROL_FINISHED_OK
$STATE,6149,begin climb
$GC,6152,0.80,136.7,904.2,0.0,215,6278,1.05,0.00,121.93,1.043,6,0.092,0.000,2847,1939,2742,0,0,0,0,0,0
$GC,6510,0.80,136.7,846.2,19.9,224,6514,0.00,2.35,0.00,0.000,4,0.000,0.051,2846,3375,2737,0,0,0,0,0,0
$GC,6600,0.80,136.7,828.0,20.4,226,6604,0.00,2.20,0.00,0.000,6,0.000,0.031,2854,1947,2737,0,0,0,0,0,0
$GC,6880,0.80,136.7,773.2,19.8,233,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1943,2729,0,0,0,0,0,0
$GC,7122,0.80,136.7,726.6,19.0,239,7126,0.00,2.12,0.00,0.000,4,0.000,0.038,2862,556,2729,0,0,0,0,0,0
$GC,7166,0.80,136.7,718.6,17.3,240,7170,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,1971,2728,0,0,1,0,0,0
$GC,7450,0.80,136.7,668.4,18.1,247,7454,0.00,2.22,0.00,0.000,4,0.000,0.054,2866,3365,2728,0,0,0,0,0,0
$GC,7523,0.80,136.7,654.7,19.4,248,7527,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1949,2727,0,0,0,0,0,0
$GC,7773,0.80,136.7,608.1,18.6,254,7777,0.00,2.10,0.00,0.000,4,0.000,0.038,2887,556,2725,0,0,0,0,0,0
$GC,7794,0.80,136.7,603.8,19.0,254,7799,0.12,2.12,0.00,0.000,6,0.199,0.033,2865,1962,2724,0,0,0,0,0,0
$GC,8051,0.80,136.7,558.3,17.9,261,8055,0.00,2.25,0.00,0.000,4,0.000,0.052,2854,3372,2724,0,0,0,0,0,0
$GC,8090,0.80,136.7,550.6,19.0,261,8096,0.00,2.15,0.00,0.000,6,0.000,0.031,2857,1949,2724,0,0,0,0,0,0
$GC,8340,0.80,136.7,507.1,17.4,268,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1945,2723,0,0,0,0,0,0
$GC,8585,0.80,136.7,466.7,16.3,274,8589,0.00,2.28,0.00,0.000,4,0.000,0.052,2857,3369,2724,0,0,0,0,0,0
$GC,8612,0.80,136.7,461.6,18.8,274,8615,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1958,2723,0,0,0,0,0,0
$GC,8868,0.80,136.7,421.8,15.5,281,8872,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,560,2724,0,0,0,0,0,0
$GC,8889,0.80,136.7,418.2,15.7,281,8893,0.00,2.12,0.00,0.000,6,0.000,0.033,2879,1962,2721,0,0,0,0,0,0
$GC,9157,0.80,136.7,376.5,15.8,288,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1965,2722,0,0,0,0,0,0
$GC,9400,0.80,136.7,339.0,15.5,294,9404,0.00,2.12,0.00,0.000,4,0.000,0.037,2889,558,2721,0,0,0,0,0,0
$GC,9427,0.80,136.7,334.7,14.7,294,9432,0.15,2.12,0.00,0.000,6,0.192,0.032,2851,1970,2720,0,0,0,0,0,0
$GC,9678,0.80,136.7,303.6,12.1,300,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1972,2720,0,0,0,0,0,0
$GC,9924,0.80,136.7,274.7,11.2,311,9928,0.00,2.17,0.00,0.000,4,0.000,0.038,2863,555,2720,0,0,0,0,0,0
$GC,9956,0.80,136.7,271.7,9.0,312,9964,0.00,2.12,0.00,0.000,6,0.000,0.034,2863,1964,2720,0,0,0,0,0,0
$GC,10212,0.80,136.7,245.8,11.1,325,10216,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3359,2720,0,0,0,0,0,0
$GC,10469,0.80,136.7,214.5,11.0,336,10473,0.00,2.12,0.00,0.000,6,0.000,0.028,2874,1965,2720,0,0,0,0,0,0
$GC,10735,0.80,136.7,189.8,9.9,354,10739,0.00,2.20,0.00,0.000,4,0.000,0.047,2874,3361,2720,0,0,0,0,0,0
$GC,10987,0.80,136.7,162.9,10.0,376,10996,0.08,2.12,0.00,0.000,6,0.170,0.028,2862,1956,2721,0,0,0,0,0,0
$GC,11251,0.80,139.7,142.2,8.4,401,11255,0.00,2.10,0.00,0.000,4,0.000,0.037,2871,558,2723,0,0,0,0,0,0
$GC,11501,0.99,290.9,130.5,2.2,423,11632,0.10,2.15,121.25,0.537,6,0.066,0.030,2922,1976,2116,0,0,0,0,0,0
$GC,11898,0.99,290.9,77.5,17.8,459,11902,0.00,2.15,0.00,0.000,4,0.000,0.038,2933,567,2106,0,0,0,0,0,0
$GC,12040,0.99,290.9,51.8,18.2,471,12044,0.00,2.10,0.00,0.000,6,0.000,0.030,2933,1959,2108,0,0,0,0,0,0
$GC,12304,0.99,290.9,5.7,17.0,508,12313,0.00,2.17,0.00,0.000,4,0.000,0.036,2943,568,2106,0,0,0,0,0,0
$STATE,12318,end climb,SURFACE_DEPTH_REACHED
$STATE,12319,begin surface coast
$FINISH,0.2,1.021904
$STATE,12337,end surface coast,CONTROL_FINISHED_OK
$STATE,12338,begin surface
$SM_CCo,12361,3.25,0.255,0,0,2076,300.24
$SM_GC,2.64,0.00,0.00,3.25,0.000,0.000,0.255,53,2105,2076,-7.95,0.14,300.24
$IRIDIUM_FIX,1902.38,-15647.19,230213,161634
$TT8_MAMPS,0.296062
$HUMID,1078941281
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.80
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257016832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,22455910400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,51.922
$10V_AH,9.9,47.687
$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,20.525,134.000,356.125,3.250,0.000,27.238,35.759,319.699,25.750,0.000,13.793,1145.333,8836.302,411.530,2177.246,411.709,33.360,1224.811,0.000,1784.751,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,58.292,1078.402,255.411,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.017,0.000,794.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353716
$DATA_FILE_SIZE,26959,513
$CAP_FILE_SIZE,120673,0
$CFSIZE,260165632,178397184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,180.0,1
$GPS,010911,055201,1909.819,-15647.022,76,1.3,76,9.6