version: 66.07
glider: 513
mission: 7
dive: 377
start: 9 1 111 9 41 42
data:
$ID,513
$MISSION,7
$DIVE,377
$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,-430676.28
$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,44
$R_STBD_OVSHOOT,69
$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,376
$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
$GPS1,010911,093056,1910.583,-15646.519,38,3.6,57,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.1
$GPS2,010911,094046,1910.506,-15646.342,13,8.9,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.008,0.239
$KALMAN_X,-186461.0,452.2,90.4,198767.9,6570.4
$KALMAN_Y,-288420.0,1105.1,800.3,195379.0,-9563.9
$MHEAD_RNG_PITCHd_Wd,345.3,119466,-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,-51.28,0.000,2,0.000,0.000,36,2149,3548,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.3,-5.1,8,106,9.93,2.12,-5.43,0.000,4,0.245,0.064,2315,3484,3857,0,0,0,0,0,0
$GC,265,-0.80,-136.7,66.2,-28.8,30,269,0.00,2.10,0.00,0.000,6,0.000,0.032,2315,2107,3861,0,0,0,0,0,0
$GC,529,-0.80,-136.7,154.4,-34.1,54,533,0.00,2.20,0.00,0.000,4,0.000,0.048,2315,697,3863,0,0,0,0,0,0
$GC,563,-0.80,-136.7,164.9,-26.4,56,571,0.10,2.12,0.00,0.000,6,0.153,0.044,2335,2054,3861,0,0,0,0,0,0
$GC,821,-0.80,-136.7,222.6,-21.4,76,825,0.00,2.28,0.00,0.000,4,0.000,0.051,2326,3527,3863,0,0,0,0,0,0
$GC,895,-0.80,-136.7,237.5,-19.4,79,899,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2094,3864,0,0,0,0,0,0
$GC,1148,-0.80,-136.7,287.5,-20.5,91,1152,0.00,2.10,0.00,0.000,4,0.000,0.040,2326,699,3868,0,0,0,0,0,0
$GC,1198,-0.80,-136.7,296.6,-17.5,93,1202,0.00,2.17,0.00,0.000,6,0.000,0.043,2315,2112,3867,0,0,0,0,0,0
$GC,1475,-0.80,-136.7,341.4,-15.7,101,1479,0.00,2.17,0.00,0.000,4,0.000,0.052,2304,3509,3867,0,0,0,0,0,0
$GC,1531,-0.80,-136.7,350.9,-16.4,102,1536,0.12,2.10,0.00,0.000,6,0.163,0.031,2337,2090,3867,0,0,0,0,0,0
$GC,1797,-0.80,-136.7,387.7,-14.2,109,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2086,3864,0,0,0,0,0,0
$GC,2041,-0.80,-136.7,419.8,-13.1,115,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2083,3866,0,0,0,0,0,0
$GC,2286,-0.80,-136.7,454.3,-14.0,121,2290,0.00,2.10,0.00,0.000,4,0.000,0.039,2336,700,3864,0,0,0,0,0,0
$GC,2358,-0.80,-136.7,465.7,-14.5,122,2362,0.00,2.12,0.00,0.000,6,0.000,0.042,2328,2100,3864,0,0,0,0,0,0
$GC,2613,-0.80,-136.7,504.7,-15.5,129,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2099,3861,0,0,0,0,0,0
$GC,2858,-0.80,-136.7,540.0,-14.8,135,2862,0.00,2.12,0.00,0.000,4,0.000,0.041,2328,700,3859,0,0,0,0,0,0
$GC,2885,-0.80,-136.7,544.3,-14.8,135,2888,0.00,2.15,0.00,0.000,6,0.000,0.042,2318,2105,3859,0,0,0,0,0,0
$GC,3140,-0.80,-136.7,580.4,-14.0,142,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2105,3858,0,0,0,0,0,0
$GC,3384,-0.80,-136.7,613.5,-13.6,148,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2105,3855,0,0,0,0,0,0
$GC,3629,-0.80,-136.7,646.0,-13.4,154,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3852,0,0,0,0,0,0
$GC,3872,-0.80,-136.7,678.4,-13.1,160,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3850,0,0,0,0,0,0
$GC,4115,-0.80,-136.7,709.0,-12.5,166,4119,0.00,2.20,0.00,0.000,4,0.000,0.053,2307,3508,3847,0,0,0,0,0,0
$GC,4147,-0.80,-136.7,713.4,-13.4,166,4154,0.12,2.10,0.00,0.000,6,0.168,0.031,2338,2100,3846,0,0,0,0,0,0
$GC,4399,-0.80,-136.7,737.5,-9.4,173,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2095,3845,0,0,0,0,0,0
$GC,4641,-0.80,-136.7,758.5,-8.7,179,4645,0.00,2.15,0.00,0.000,4,0.000,0.045,2338,696,3843,0,0,0,0,0,0
$GC,4692,-0.80,-136.7,763.3,-9.3,180,4696,0.00,2.17,0.00,0.000,6,0.000,0.042,2330,2111,3843,0,0,0,0,0,0
$GC,4971,-0.80,-136.7,792.1,-10.8,187,4975,0.00,2.20,0.00,0.000,4,0.000,0.055,2319,3505,3840,0,0,0,0,0,0
$GC,5048,-0.80,-136.7,801.6,-11.9,188,5054,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,2097,3839,0,0,0,0,0,0
$GC,5298,-0.80,-136.7,832.7,-12.6,195,5302,0.00,2.12,0.00,0.000,4,0.000,0.044,2319,699,3838,0,0,0,0,0,0
$GC,5332,-0.80,-136.7,837.0,-13.0,195,5339,0.12,2.20,0.00,0.000,6,0.179,0.043,2338,2100,3837,0,0,0,0,0,0
$GC,5582,-0.80,-136.7,865.7,-11.2,202,5586,0.00,2.22,0.00,0.000,4,0.000,0.054,2336,3510,3836,0,0,0,0,0,0
$GC,5621,-0.80,-136.7,870.1,-11.5,203,5625,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,2094,3835,0,0,0,0,0,0
$STATE,5902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5902,begin apogee
$GC,5910,-0.28,0.0,902.7,11.4,210,6025,0.57,0.00,112.60,1.085,6,0.142,0.000,2501,1923,3301,0,0,0,0,0,0
$STATE,6028,end apogee,CONTROL_FINISHED_OK
$STATE,6028,begin climb
$GC,6030,0.80,136.7,906.9,0.0,213,6164,1.02,2.53,121.38,1.048,4,0.093,0.052,2838,3363,2741,0,0,0,0,0,0
$GC,6181,0.80,136.7,890.7,17.9,216,6185,0.00,2.20,0.00,0.000,6,0.000,0.028,2847,1975,2737,0,0,0,0,0,0
$GC,6436,0.80,136.7,844.9,18.0,223,6440,0.00,2.20,0.00,0.000,4,0.000,0.039,2858,557,2733,0,0,0,0,0,0
$GC,6451,0.80,136.7,841.7,17.6,223,6455,0.00,2.17,0.00,0.000,6,0.000,0.034,2849,1963,2729,0,0,0,0,0,0
$GC,6725,0.80,136.7,792.9,17.7,230,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1962,2730,0,0,0,0,0,0
$GC,6968,0.80,136.7,749.2,18.0,236,6972,0.00,2.22,0.00,0.000,4,0.000,0.052,2838,3369,2729,0,0,0,0,0,0
$GC,7045,0.80,136.7,734.6,18.3,237,7051,0.00,2.17,0.00,0.000,6,0.000,0.031,2845,1948,2728,0,0,0,0,0,0
$GC,7297,0.80,136.7,690.7,17.8,244,7301,0.00,2.28,0.00,0.000,4,0.000,0.050,2838,3377,2728,0,0,0,0,0,0
$GC,7318,0.80,136.7,686.3,18.8,244,7322,0.00,2.15,0.00,0.000,6,0.000,0.031,2847,1952,2727,0,0,0,0,0,0
$GC,7579,0.80,136.7,639.3,17.6,251,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1947,2726,0,0,0,0,0,0
$GC,7823,0.80,136.7,598.8,16.4,257,7827,0.00,2.12,0.00,0.000,4,0.000,0.040,2858,557,2728,0,0,0,0,0,0
$GC,7851,0.80,136.7,594.4,15.4,257,7855,0.00,2.12,0.00,0.000,6,0.000,0.034,2850,1963,2721,0,0,0,0,0,0
$GC,8106,0.80,136.7,556.9,14.5,264,8110,0.00,2.22,0.00,0.000,4,0.000,0.051,2839,3361,2724,0,0,0,0,0,0
$GC,8123,0.80,136.7,554.2,14.7,264,8127,0.00,2.12,0.00,0.000,6,0.000,0.029,2848,1951,2724,0,0,0,0,0,0
$GC,8385,0.80,136.7,517.3,14.0,271,8389,0.00,2.10,0.00,0.000,4,0.000,0.039,2862,559,2723,0,0,0,0,0,0
$GC,8418,0.80,136.7,512.0,15.2,271,8424,0.00,2.15,0.00,0.000,6,0.000,0.035,2850,1966,2724,0,0,0,0,0,0
$GC,8668,0.80,136.7,475.0,14.9,278,8672,0.00,2.15,0.00,0.000,4,0.000,0.039,2859,559,2719,0,0,0,0,0,0
$GC,8689,0.80,136.7,471.4,15.5,278,8693,0.00,2.12,0.00,0.000,6,0.000,0.034,2850,1962,2721,0,0,0,0,0,0
$GC,8952,0.80,136.7,430.4,15.8,285,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1960,2721,0,0,0,0,0,0
$GC,9194,0.80,136.7,391.9,16.0,291,9198,0.00,2.20,0.00,0.000,4,0.000,0.051,2841,3360,2721,0,0,0,0,0,0
$GC,9210,0.80,136.7,389.1,16.1,291,9214,0.00,2.12,0.00,0.000,6,0.000,0.029,2848,1961,2721,0,0,0,0,0,0
$GC,9478,0.80,136.7,348.6,14.7,298,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1952,2721,0,0,0,0,0,0
$GC,9721,0.80,136.7,314.5,14.1,304,9725,0.00,2.22,0.00,0.000,4,0.000,0.048,2842,3360,2721,0,0,0,0,0,0
$GC,9761,0.80,136.7,308.6,15.3,305,9765,0.00,2.12,0.00,0.000,6,0.000,0.028,2849,1953,2721,0,0,0,0,0,0
$GC,10028,0.80,136.7,275.6,12.3,316,10033,0.00,2.25,0.00,0.000,4,0.000,0.048,2840,3364,2720,0,0,0,0,0,0
$GC,10152,0.80,136.7,260.1,10.3,321,10157,0.00,2.12,0.00,0.000,6,0.000,0.030,2849,1961,2721,0,0,0,0,0,0
$GC,10405,0.80,136.7,233.8,10.6,334,10409,0.00,2.25,0.00,0.000,4,0.000,0.048,2841,3372,2720,0,0,0,0,0,0
$GC,10642,0.80,136.7,209.4,9.0,344,10647,0.00,2.15,0.00,0.000,6,0.000,0.029,2849,1947,2720,0,0,0,0,0,0
$GC,10902,0.81,151.1,188.1,8.0,363,10917,0.00,2.17,9.60,0.536,4,0.000,0.038,2860,555,2683,0,0,0,0,0,0
$GC,10988,0.84,169.0,181.0,7.8,370,11010,0.00,2.15,16.62,0.565,6,0.000,0.034,2857,1951,2609,0,0,0,0,0,0
$GC,11274,0.84,169.0,150.9,8.6,397,11278,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3368,2607,0,0,0,0,0,0
$GC,11336,0.84,169.0,144.9,9.9,402,11340,0.00,2.10,0.00,0.000,6,0.000,0.030,2867,1959,2606,0,0,0,0,0,0
$GC,11604,0.92,240.3,131.7,5.6,426,11668,0.00,2.15,58.70,0.538,4,0.000,0.041,2878,576,2320,0,0,0,0,0,0
$GC,11816,0.92,240.3,112.0,10.0,444,11820,0.00,2.12,0.00,0.000,6,0.000,0.034,2877,1962,2314,0,0,0,0,0,0
$GC,12084,0.92,240.3,83.2,10.8,468,12088,0.00,2.22,0.00,0.000,4,0.000,0.046,2878,3375,2315,0,0,0,0,0,0
$GC,12115,0.92,240.3,78.5,12.6,470,12123,0.00,2.17,0.00,0.000,6,0.000,0.029,2888,1960,2314,0,0,0,0,0,0
$GC,12382,0.92,240.3,45.7,12.7,495,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1958,2315,0,0,0,0,0,0
$GC,12642,0.92,240.3,13.7,11.3,533,12650,0.00,2.12,0.00,0.000,4,0.000,0.038,2899,569,2317,0,0,0,0,0,0
$STATE,12730,end climb,SURFACE_DEPTH_REACHED
$STATE,12730,begin surface coast
$FINISH,1.6,1.022780
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12745,begin surface
$SM_CCo,12767,30.62,0.417,0,0,2075,300.24
$SM_GC,1.56,0.00,0.00,30.62,0.000,0.000,0.417,48,2123,2075,-7.96,0.65,300.24
$IRIDIUM_FIX,1902.38,-15645.09,240213,000027
$TT8_MAMPS,0.255411
$HUMID,1078849668
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256951296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,22131376128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,52.158
$10V_AH,9.8,47.855
$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,19.575,126.150,318.900,30.625,0.000,30.808,31.378,286.619,23.750,0.000,35.056,1180.459,9242.912,410.623,2158.553,404.176,33.361,1191.604,0.000,1777.574,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,64.428,1084.538,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.822,0.000,893.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26896,551
$CAP_FILE_SIZE,118351,0
$CFSIZE,260165632,178266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,163.5,1
$GPS,010911,131636,1911.101,-15646.191,36,1.4,36,9.6