version: 66.07
glider: 513
mission: 7
dive: 379
start: 9 1 111 17 13 5
data:
$ID,513
$MISSION,7
$DIVE,379
$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,-430741.41
$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,45
$R_STBD_OVSHOOT,44
$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,378
$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
$GPS1,010911,165555,1911.503,-15645.990,38,1.6,38,9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.4
$GPS2,010911,171207,1911.296,-15645.617,14,1.8,25,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014,0.239
$KALMAN_X,-183125.7,-1697.6,-760.2,199728.2,8465.1
$KALMAN_Y,-295071.9,875.2,370.5,204173.2,-10648.6
$MHEAD_RNG_PITCHd_Wd,342.0,117984,-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,-136.7,0.0,0.0,0,86,0.00,0.00,-57.05,0.000,2,0.000,0.000,36,2121,3745,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.0,-6.4,9,112,10.00,2.22,-1.80,0.000,4,0.245,0.058,2343,704,3864,0,0,0,0,0,0
$GC,220,-0.80,-136.7,54.1,-30.1,24,224,0.00,2.15,0.00,0.000,6,0.000,0.043,2332,2096,3862,0,0,0,0,0,0
$GC,485,-0.80,-136.7,139.9,-28.3,48,488,0.00,2.12,0.00,0.000,4,0.000,0.038,2334,688,3864,0,0,0,0,0,0
$GC,504,-0.80,-136.7,145.5,-27.0,49,508,0.00,2.17,0.00,0.000,6,0.000,0.043,2324,2102,3864,0,0,0,0,0,0
$GC,775,-0.80,-136.7,210.9,-22.7,72,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2102,3864,0,0,0,0,0,0
$GC,1023,-0.80,-136.7,261.7,-20.4,84,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2108,3867,0,0,0,0,0,0
$GC,1289,-0.80,-136.7,308.1,-17.8,96,1293,0.00,2.12,0.00,0.000,4,0.000,0.040,2325,696,3869,0,0,0,0,0,0
$GC,1373,-0.80,-136.7,322.8,-15.6,97,1378,0.00,2.17,0.00,0.000,6,0.000,0.043,2314,2109,3869,0,0,0,0,0,0
$GC,1624,-0.80,-136.7,366.5,-17.8,104,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2106,3869,0,0,0,0,0,0
$GC,1866,-0.80,-136.7,409.5,-17.4,110,1870,0.00,2.20,0.00,0.000,4,0.000,0.052,2302,3518,3869,0,0,0,0,0,0
$GC,1883,-0.80,-136.7,412.5,-17.0,110,1888,0.12,2.12,0.00,0.000,6,0.165,0.031,2335,2095,3868,0,0,0,0,0,0
$GC,2145,-0.80,-136.7,450.6,-14.4,117,2149,0.00,2.10,0.00,0.000,4,0.000,0.039,2335,702,3866,0,0,0,0,0,0
$GC,2201,-0.80,-136.7,458.8,-13.7,118,2205,0.00,2.17,0.00,0.000,6,0.000,0.042,2327,2102,3865,0,0,0,0,0,0
$GC,2474,-0.80,-136.7,500.0,-15.2,125,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2101,3863,0,0,0,0,0,0
$GC,2717,-0.80,-136.7,537.4,-15.4,131,2721,0.00,2.20,0.00,0.000,4,0.000,0.056,2315,3507,3860,0,0,0,0,0,0
$GC,2750,-0.80,-136.7,542.4,-15.2,131,2756,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2107,3859,0,0,0,0,0,0
$GC,3000,-0.80,-136.7,577.9,-14.0,138,3004,0.00,2.15,0.00,0.000,4,0.000,0.045,2315,694,3858,0,0,0,0,0,0
$GC,3039,-0.80,-136.7,583.3,-14.4,139,3044,0.12,2.17,0.00,0.000,6,0.174,0.048,2336,2105,3856,0,0,0,0,0,0
$GC,3323,-0.80,-136.7,616.7,-11.6,146,3328,0.00,2.20,0.00,0.000,4,0.000,0.056,2327,3500,3854,0,0,0,0,0,0
$GC,3363,-0.80,-136.7,621.8,-12.3,147,3367,0.00,2.12,0.00,0.000,6,0.000,0.034,2329,2095,3853,0,0,0,0,0,0
$GC,3646,-0.80,-136.7,658.1,-13.0,154,3650,0.00,2.10,0.00,0.000,4,0.000,0.039,2327,695,3851,0,0,0,0,0,0
$GC,3686,-0.80,-136.7,663.2,-13.0,155,3690,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,2095,3850,0,0,0,0,0,0
$GC,3970,-0.80,-136.7,702.6,-13.8,162,3974,0.00,2.22,0.00,0.000,4,0.000,0.055,2306,3505,3848,0,0,0,0,0,0
$GC,4019,-0.80,-136.7,709.9,-14.3,163,4024,0.12,2.12,0.00,0.000,6,0.167,0.034,2341,2095,3846,0,0,0,0,0,0
$GC,4293,-0.80,-136.7,741.8,-11.5,170,4297,0.00,2.10,0.00,0.000,4,0.000,0.040,2338,698,3844,0,0,0,0,0,0
$GC,4332,-0.80,-136.7,746.6,-11.7,171,4337,0.00,2.17,0.00,0.000,6,0.000,0.042,2330,2104,3844,0,0,0,0,0,0
$GC,4617,-0.80,-136.7,779.8,-11.6,178,4621,0.00,2.20,0.00,0.000,4,0.000,0.053,2319,3504,3842,0,0,0,0,0,0
$GC,4678,-0.80,-136.7,787.2,-11.9,179,4682,0.00,2.17,0.00,0.000,6,0.000,0.033,2318,2096,3841,0,0,0,0,0,0
$GC,4944,-0.80,-136.7,820.8,-12.8,186,4948,0.00,2.12,0.00,0.000,4,0.000,0.041,2318,694,3837,0,0,0,0,0,0
$GC,4989,-0.80,-136.7,826.6,-12.6,187,4993,0.12,2.17,0.00,0.000,6,0.181,0.044,2338,2100,3840,0,0,0,0,0,0
$GC,5266,-0.80,-136.7,857.1,-10.7,194,5270,0.00,2.28,0.00,0.000,4,0.000,0.054,2330,3509,3837,0,0,0,0,0,0
$GC,5288,-0.80,-136.7,859.7,-11.3,194,5292,0.00,2.12,0.00,0.000,6,0.000,0.031,2329,2096,3836,0,0,0,0,0,0
$GC,5550,-0.80,-136.7,888.0,-10.9,201,5554,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,700,3835,0,0,0,0,0,0
$GC,5596,-0.80,-136.7,893.2,-11.0,202,5600,0.00,2.17,0.00,0.000,6,0.000,0.043,2319,2106,3834,0,0,0,0,0,0
$STATE,5680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5686,-0.28,0.0,902.7,10.9,204,5802,0.62,0.00,112.88,1.079,6,0.146,0.000,2503,1923,3300,0,0,0,0,0,0
$STATE,5805,end apogee,CONTROL_FINISHED_OK
$STATE,5805,begin climb
$GC,5809,0.80,136.7,905.5,0.0,207,5936,1.02,0.00,121.03,1.042,6,0.093,0.000,2846,1926,2743,0,0,0,0,0,0
$GC,6175,0.80,136.7,850.6,17.5,216,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1922,2733,0,0,0,0,0,0
$GC,6420,0.80,136.7,807.9,17.7,222,6424,0.00,2.33,0.00,0.000,4,0.000,0.051,2837,3358,2731,0,0,0,0,0,0
$GC,6441,0.80,136.7,803.4,18.7,222,6445,0.00,2.10,0.00,0.000,6,0.000,0.035,2845,1991,2731,0,0,0,0,0,0
$GC,6703,0.80,136.7,757.4,17.7,229,6707,0.00,2.20,0.00,0.000,4,0.000,0.040,2856,550,2729,0,0,0,0,0,0
$GC,6718,0.80,136.7,754.4,18.1,229,6723,0.00,2.17,0.00,0.000,6,0.000,0.035,2844,1965,2727,0,0,0,0,0,0
$GC,6992,0.80,136.7,707.2,17.4,236,6996,0.00,2.25,0.00,0.000,4,0.000,0.052,2837,3368,2727,0,0,0,0,0,0
$GC,7033,0.80,136.7,699.7,18.0,237,7037,0.00,2.17,0.00,0.000,6,0.000,0.031,2846,1951,2725,0,0,0,0,0,0
$GC,7316,0.80,136.7,653.2,16.2,244,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1947,2727,0,0,0,0,0,0
$GC,7561,0.80,136.7,615.0,15.8,250,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1946,2725,0,0,0,0,0,0
$GC,7803,0.80,136.7,577.3,15.5,256,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1946,2724,0,0,0,0,0,0
$GC,8047,0.80,136.7,537.3,16.8,262,8051,0.00,2.25,0.00,0.000,4,0.000,0.050,2837,3373,2725,0,0,0,0,0,0
$GC,8091,0.80,136.7,529.3,17.7,263,8095,0.00,2.15,0.00,0.000,6,0.000,0.031,2846,1964,2725,0,0,0,0,0,0
$GC,8376,0.80,136.7,481.3,16.9,270,8380,0.00,2.28,0.00,0.000,4,0.000,0.048,2837,3378,2724,0,0,0,0,0,0
$GC,8392,0.80,136.7,478.3,16.8,270,8396,0.00,2.15,0.00,0.000,6,0.000,0.031,2846,1955,2724,0,0,0,0,0,0
$GC,8659,0.80,136.7,436.1,15.6,277,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1952,2723,0,0,0,0,0,0
$GC,8904,0.80,136.7,402.0,13.4,283,8907,0.00,2.12,0.00,0.000,4,0.000,0.040,2857,558,2722,0,0,0,0,0,0
$GC,8948,0.80,136.7,395.7,13.9,284,8952,0.00,2.15,0.00,0.000,6,0.000,0.035,2848,1966,2721,0,0,0,0,0,0
$GC,9231,0.80,136.7,362.2,11.5,291,9235,0.00,2.17,0.00,0.000,4,0.000,0.040,2858,544,2719,0,0,0,0,0,0
$GC,9271,0.80,136.7,357.2,13.1,292,9275,0.00,2.15,0.00,0.000,6,0.000,0.035,2849,1965,2720,0,0,0,0,0,0
$GC,9555,0.80,136.7,319.5,13.7,299,9559,0.00,2.22,0.00,0.000,4,0.000,0.050,2839,3360,2720,0,0,0,0,0,0
$GC,9595,0.80,136.7,313.6,14.6,300,9599,0.00,2.12,0.00,0.000,6,0.000,0.028,2847,1939,2721,0,0,0,0,0,0
$GC,9861,0.80,136.7,279.2,11.1,310,9865,0.00,2.10,0.00,0.000,4,0.000,0.039,2858,559,2719,0,0,0,0,0,0
$GC,9900,0.80,136.7,274.4,11.9,312,9904,0.00,2.15,0.00,0.000,6,0.000,0.033,2853,1963,2719,0,0,0,0,0,0
$GC,10165,0.80,136.7,250.3,9.0,325,10169,0.00,2.12,0.00,0.000,4,0.000,0.037,2862,566,2719,0,0,0,0,0,0
$GC,10183,0.80,136.7,248.4,10.1,326,10187,0.00,2.15,0.00,0.000,6,0.000,0.034,2862,1973,2718,0,0,0,0,0,0
$GC,10447,0.80,136.7,219.1,10.9,339,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1969,2720,0,0,0,0,0,0
$GC,10699,0.83,167.3,194.2,7.3,354,10726,0.00,2.15,22.77,0.591,4,0.000,0.039,2873,566,2617,0,0,0,0,0,0
$GC,10786,0.83,167.3,187.0,9.4,361,10790,0.00,2.12,0.00,0.000,6,0.000,0.033,2872,1962,2615,0,0,0,0,0,0
$GC,11056,0.83,167.3,160.8,11.1,386,11060,0.00,2.22,0.00,0.000,4,0.000,0.048,2872,3367,2615,0,0,0,0,0,0
$GC,11265,0.83,167.3,138.0,10.6,404,11273,0.00,2.15,0.00,0.000,6,0.000,0.029,2883,1963,2615,0,0,0,0,0,0
$GC,11532,0.99,294.5,121.5,3.2,429,11644,0.00,2.25,103.75,0.527,4,0.000,0.039,2894,569,2098,0,0,0,0,0,0
$GC,11787,0.99,294.5,99.2,11.6,451,11794,0.00,2.17,0.00,0.000,6,0.000,0.032,2894,1955,2092,0,0,0,0,0,0
$GC,12051,0.99,294.5,64.6,13.4,476,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1956,2091,0,0,0,0,0,0
$GC,12316,0.99,294.5,27.1,13.7,502,12324,0.00,2.17,0.00,0.000,4,0.000,0.038,2905,571,2091,0,0,0,0,0,0
$GC,12386,0.99,294.5,17.6,12.7,514,12394,0.00,2.15,0.00,0.000,6,0.000,0.032,2905,1963,2092,0,0,0,0,0,0
$STATE,12484,end climb,SURFACE_DEPTH_REACHED
$STATE,12485,begin surface coast
$FINISH,0.3,1.009707
$STATE,12509,end surface coast,CONTROL_FINISHED_OK
$STATE,12509,begin surface
$SM_CCo,12531,1.67,0.067,0,0,2076,300.73
$SM_GC,2.72,0.00,0.00,1.67,0.000,0.000,0.067,55,2149,2076,-7.95,1.47,300.73
$IRIDIUM_FIX,1904.66,-15646.29,240213,111106
$TT8_MAMPS,0.246974
$HUMID,1078907732
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,26.60
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256885760
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21844525056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,52.403
$10V_AH,9.8,48.029
$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,19.775,126.100,360.425,1.675,0.000,55.108,71.310,537.358,24.000,0.000,29.498,1156.513,9074.104,394.865,2439.427,449.923,33.358,1201.367,0.000,1779.610,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,67.496,1079.169,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.597,0.000,850.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,26922,536
$CAP_FILE_SIZE,124596,0
$CFSIZE,260165632,178110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,156.6,1
$GPS,010911,204337,1911.969,-15645.435,39,1.4,39,9.6