version: 66.07
glider: 513
mission: 7
dive: 381
start: 9 2 111 0 36 54
data:
$ID,513
$MISSION,7
$DIVE,381
$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,-430769.38
$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,57
$R_STBD_OVSHOOT,76
$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,380
$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
$GPS1,020911,002606,1912.249,-15645.019,31,1.1,31,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.5
$GPS2,020911,003556,1912.104,-15644.814,12,1.5,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.013,0.239
$KALMAN_X,-183327.9,-943.0,-828.9,200640.8,6692.8
$KALMAN_Y,-302085.8,829.8,443.1,212647.7,-11733.3
$MHEAD_RNG_PITCHd_Wd,333.5,116483,-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,-51.35,0.000,2,0.000,0.000,38,2148,3543,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.2,-5.0,8,106,9.98,2.20,-5.72,0.000,4,0.245,0.051,2343,714,3858,0,0,0,0,0,0
$GC,133,-0.80,-136.7,23.1,-43.9,15,141,0.00,2.12,0.00,0.000,6,0.000,0.043,2335,2046,3861,0,0,0,0,0,0
$GC,399,-0.80,-136.7,111.9,-32.7,41,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2048,3863,0,0,0,0,0,0
$GC,655,-0.80,-136.7,178.9,-24.6,65,658,0.00,2.05,0.00,0.000,4,0.000,0.040,2335,708,3864,0,0,0,0,0,0
$GC,691,-0.80,-136.7,186.7,-20.0,68,695,0.00,2.10,0.00,0.000,6,0.000,0.043,2325,2057,3864,0,0,0,0,0,0
$GC,946,-0.80,-136.7,240.1,-20.6,83,950,0.00,2.28,0.00,0.000,4,0.000,0.052,2314,3512,3867,0,0,0,0,0,0
$GC,1031,-0.80,-136.7,256.2,-17.6,87,1035,0.00,2.10,0.00,0.000,6,0.000,0.030,2314,2105,3866,0,0,0,0,0,0
$GC,1296,-0.80,-136.7,303.0,-17.0,100,1300,0.00,2.12,0.00,0.000,4,0.000,0.041,2314,706,3869,0,0,0,0,0,0
$GC,1358,-0.80,-136.7,315.0,-17.7,101,1362,0.12,2.15,0.00,0.000,6,0.174,0.041,2335,2122,3868,0,0,0,0,0,0
$GC,1626,-0.80,-136.7,352.6,-14.0,108,1630,0.00,2.15,0.00,0.000,4,0.000,0.051,2326,3501,3867,0,0,0,0,0,0
$GC,1665,-0.80,-136.7,358.5,-13.6,109,1669,0.00,2.10,0.00,0.000,6,0.000,0.029,2326,2093,3867,0,0,0,0,0,0
$GC,1949,-0.80,-136.7,399.7,-15.0,116,1953,0.00,2.08,0.00,0.000,4,0.000,0.039,2326,704,3868,0,0,0,0,0,0
$GC,2040,-0.80,-136.7,413.5,-15.4,118,2044,0.00,2.12,0.00,0.000,6,0.000,0.041,2316,2098,3864,0,0,0,0,0,0
$GC,2317,-0.80,-136.7,458.9,-16.3,125,2321,0.00,2.12,0.00,0.000,4,0.000,0.041,2316,704,3864,0,0,0,0,0,0
$GC,2362,-0.80,-136.7,466.2,-16.0,126,2366,0.12,2.12,0.00,0.000,6,0.175,0.041,2337,2100,3863,0,0,0,0,0,0
$GC,2640,-0.80,-136.7,506.2,-14.4,133,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2100,3861,0,0,0,0,0,0
$GC,2883,-0.80,-136.7,539.1,-13.4,139,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2100,3858,0,0,0,0,0,0
$GC,3127,-0.80,-136.7,570.6,-13.1,145,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2100,3854,0,0,0,0,0,0
$GC,3372,-0.80,-136.7,602.0,-13.0,151,3376,0.00,2.20,0.00,0.000,4,0.000,0.055,2328,3500,3853,0,0,0,0,0,0
$GC,3399,-0.80,-136.7,606.1,-14.8,151,3403,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,2100,3853,0,0,0,0,0,0
$GC,3654,-0.80,-136.7,641.2,-14.0,158,3658,0.00,2.12,0.00,0.000,4,0.000,0.041,2328,700,3849,0,0,0,0,0,0
$GC,3682,-0.80,-136.7,645.4,-14.9,158,3686,0.00,2.12,0.00,0.000,6,0.000,0.042,2318,2098,3848,0,0,0,0,0,0
$GC,3944,-0.80,-136.7,682.2,-13.9,165,3948,0.00,2.22,0.00,0.000,4,0.000,0.055,2306,3498,3847,0,0,0,0,0,0
$GC,4005,-0.80,-136.7,691.0,-12.7,166,4010,0.12,2.12,0.00,0.000,6,0.164,0.033,2339,2102,3847,0,0,0,0,0,0
$GC,4266,-0.80,-136.7,721.2,-11.3,173,4270,0.00,2.15,0.00,0.000,4,0.000,0.044,2339,700,3845,0,0,0,0,0,0
$GC,4328,-0.80,-136.7,728.4,-11.9,174,4332,0.00,2.15,0.00,0.000,6,0.000,0.042,2330,2104,3844,0,0,0,0,0,0
$GC,4589,-0.80,-136.7,757.8,-11.3,181,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2100,3842,0,0,0,0,0,0
$GC,4832,-0.80,-136.7,784.2,-10.9,187,4836,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3510,3840,0,0,0,0,0,0
$GC,4889,-0.80,-136.7,790.4,-11.4,188,4893,0.00,2.15,0.00,0.000,6,0.000,0.031,2319,2096,3839,0,0,0,0,0,0
$GC,5161,-0.80,-136.7,821.2,-11.4,195,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2090,3837,0,0,0,0,0,0
$GC,5404,-0.80,-136.7,848.6,-11.1,201,5408,0.00,2.17,0.00,0.000,4,0.000,0.044,2318,687,3835,0,0,0,0,0,0
$GC,5450,-0.80,-136.7,853.6,-11.1,202,5455,0.12,2.20,0.00,0.000,6,0.179,0.045,2339,2106,3832,0,0,0,0,0,0
$GC,5727,-0.80,-136.7,880.5,-9.7,209,5731,0.00,2.20,0.00,0.000,4,0.000,0.052,2330,3500,3833,0,0,0,0,0,0
$GC,5777,-0.80,-136.7,885.7,-10.2,210,5781,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,2093,3832,0,0,0,0,0,0
$STATE,5931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5931,begin apogee
$GC,5939,-0.28,0.0,901.8,10.5,214,6054,0.57,0.00,112.20,1.079,6,0.142,0.000,2505,1921,3302,0,0,0,0,0,0
$STATE,6097,end apogee,CONTROL_FINISHED_OK
$STATE,6097,begin climb
$GC,6099,0.80,136.7,905.0,0.0,217,6233,1.02,2.50,121.07,1.047,4,0.093,0.050,2844,3356,2739,0,0,0,0,0,0
$GC,6244,0.80,136.7,889.5,17.3,220,6248,0.00,2.17,0.00,0.000,6,0.000,0.029,2852,1991,2740,0,0,0,0,0,0
$GC,6505,0.80,136.7,840.8,18.7,227,6509,0.00,2.20,0.00,0.000,4,0.000,0.040,2864,559,2733,0,0,0,0,0,0
$GC,6533,0.80,136.7,835.4,18.9,227,6537,0.00,2.20,0.00,0.000,6,0.000,0.036,2855,1962,2730,0,0,0,0,0,0
$GC,6788,0.80,136.7,787.6,18.8,234,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1965,2730,0,0,0,0,0,0
$GC,7032,0.80,136.7,742.4,18.6,240,7036,0.00,2.22,0.00,0.000,4,0.000,0.051,2846,3367,2729,0,0,0,0,0,0
$GC,7077,0.80,136.7,733.6,19.8,241,7081,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1950,2729,0,0,0,0,0,0
$GC,7362,0.80,136.7,681.6,18.6,248,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1946,2727,0,0,0,0,0,0
$GC,7604,0.80,136.7,636.7,18.5,254,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1946,2726,0,0,0,0,0,0
$GC,7848,0.80,136.7,593.0,18.0,260,7852,0.00,2.10,0.00,0.000,4,0.000,0.040,2865,562,2726,0,0,0,0,0,0
$GC,7870,0.80,136.7,588.8,17.4,260,7874,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,1972,2724,0,0,0,0,0,0
$GC,8132,0.80,136.7,543.0,17.6,267,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1974,2724,0,0,0,0,0,0
$GC,8375,0.80,136.7,502.6,16.4,273,8379,0.00,2.20,0.00,0.000,4,0.000,0.051,2865,3359,2724,0,0,0,0,0,0
$GC,8441,0.80,136.7,490.6,18.6,274,8445,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,1958,2724,0,0,0,0,0,0
$GC,8704,0.80,136.7,451.0,14.6,281,8708,0.00,2.25,0.00,0.000,4,0.000,0.051,2871,3361,2725,0,0,0,0,0,0
$GC,8725,0.80,136.7,447.4,15.3,281,8729,0.00,2.10,0.00,0.000,6,0.000,0.029,2880,1964,2723,0,0,0,0,0,0
$GC,8981,0.80,136.7,411.2,14.2,288,8985,0.00,2.15,0.00,0.000,4,0.000,0.039,2891,543,2723,0,0,0,0,0,0
$GC,9032,0.80,136.7,403.4,15.3,289,9037,0.15,2.17,0.00,0.000,6,0.193,0.035,2856,1966,2720,0,0,0,0,0,0
$GC,9305,0.80,136.7,364.5,14.6,296,9309,0.00,2.20,0.00,0.000,4,0.000,0.049,2845,3366,2721,0,0,0,0,0,0
$GC,9354,0.80,136.7,356.6,16.1,297,9358,0.00,2.12,0.00,0.000,6,0.000,0.030,2854,1947,2721,0,0,0,0,0,0
$GC,9634,0.80,136.7,316.6,14.2,304,9638,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,558,2721,0,0,0,0,0,0
$GC,9729,0.80,136.7,303.8,13.1,306,9733,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1957,2719,0,0,0,0,0,0
$GC,9991,0.80,136.7,269.9,13.9,318,9995,0.00,2.22,0.00,0.000,4,0.000,0.050,2865,3359,2720,0,0,0,0,0,0
$GC,10025,0.80,136.7,265.5,12.1,319,10031,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1949,2720,0,0,0,0,0,0
$GC,10279,0.80,136.7,234.9,12.1,332,10283,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3365,2720,0,0,0,0,0,0
$GC,10435,0.80,136.7,216.2,12.3,339,10440,0.12,2.10,0.00,0.000,6,0.194,0.029,2854,1958,2719,0,0,0,0,0,0
$GC,10695,0.80,136.7,191.5,8.8,356,10699,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,569,2719,0,0,0,0,0,0
$GC,10877,0.81,145.7,175.2,8.2,372,10890,0.00,2.12,4.05,0.401,6,0.000,0.035,2864,1961,2709,0,0,0,0,0,0
$GC,11147,0.81,145.7,151.0,8.9,397,11151,0.00,2.17,0.00,0.000,4,0.000,0.048,2863,3358,2711,0,0,0,0,0,0
$GC,11267,0.83,161.3,139.7,7.9,407,11288,0.00,2.12,15.82,0.526,6,0.000,0.027,2874,1962,2642,0,0,0,0,0,0
$GC,11544,0.94,250.3,123.4,4.8,433,11629,0.00,2.25,72.32,0.532,4,0.000,0.038,2885,561,2280,0,0,0,0,0,0
$GC,11797,0.94,250.3,96.9,11.7,455,11805,0.00,2.17,0.00,0.000,6,0.000,0.032,2885,1961,2275,0,0,0,0,0,0
$GC,12063,0.94,250.3,65.3,11.4,480,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1962,2278,0,0,0,0,0,0
$GC,12327,0.94,250.3,31.8,12.9,505,12331,0.00,2.12,0.00,0.000,4,0.000,0.038,2896,563,2275,0,0,0,0,0,0
$GC,12369,0.94,250.3,26.5,12.5,510,12377,0.00,2.15,0.00,0.000,6,0.000,0.031,2896,1962,2275,0,0,0,0,0,0
$STATE,12558,end climb,SURFACE_DEPTH_REACHED
$STATE,12558,begin surface coast
$FINISH,0.2,1.022794
$STATE,12580,end surface coast,CONTROL_FINISHED_OK
$STATE,12581,begin surface
$SM_CCo,12601,26.23,0.416,0,0,2075,300.49
$SM_GC,0.97,0.00,0.00,26.23,0.000,0.000,0.416,55,2155,2075,-7.95,1.55,300.49
$IRIDIUM_FIX,1906.95,-15646.29,240213,151500
$TT8_MAMPS,0.309101
$HUMID,1078914184
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,43
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6179946496
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21672394752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,52.624
$10V_AH,9.9,48.206
$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,19.925,125.625,325.475,26.225,0.000,29.215,36.573,292.400,10.750,0.000,13.918,1198.526,8942.691,402.559,2274.928,407.122,33.354,1218.582,0.000,1859.773,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,69.030,1079.169,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.903,0.000,909.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353652
$DATA_FILE_SIZE,26959,549
$CAP_FILE_SIZE,120991,0
$CFSIZE,260165632,177967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,162.6,1
$GPS,020911,040901,1912.532,-15644.925,40,1.6,40,9.6