version: 66.07
glider: 513
mission: 7
dive: 383
start: 9 2 111 8 7 46
data:
$ID,513
$MISSION,7
$DIVE,383
$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,-430830.81
$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,54
$R_STBD_OVSHOOT,89
$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,382
$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
$GPS1,020911,074757,1912.786,-15644.552,45,1.6,45,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.0
$GPS2,020911,080646,1912.543,-15644.159,12,2.5,31,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.107,0.214
$KALMAN_X,-182348.4,473.5,486.9,198036.1,2379.9
$KALMAN_Y,-309904.3,1633.1,1145.7,219762.6,-14523.6
$MHEAD_RNG_PITCHd_Wd,332.5,115680,-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,-51.50,0.000,2,0.000,0.000,34,2153,3559,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.3,-4.9,8,107,9.98,2.10,-5.43,0.000,4,0.244,0.062,2330,3469,3860,0,0,0,0,0,0
$GC,313,-0.80,-136.7,79.1,-28.2,34,317,0.00,2.10,0.00,0.000,6,0.000,0.041,2331,2114,3864,0,0,0,0,0,0
$GC,578,-0.80,-136.7,151.4,-24.3,58,582,0.00,2.12,0.00,0.000,4,0.000,0.041,2331,696,3864,0,0,0,0,0,0
$GC,631,-0.80,-136.7,162.9,-21.5,62,635,0.00,2.05,0.00,0.000,6,0.000,0.041,2325,2047,3863,0,0,0,0,0,0
$GC,899,-0.80,-136.7,227.9,-24.2,82,903,0.00,2.20,0.00,0.000,4,0.000,0.052,2311,3460,3863,0,0,0,0,0,0
$GC,940,-0.80,-136.7,236.9,-21.9,84,944,0.00,2.05,0.00,0.000,6,0.000,0.031,2311,2093,3865,0,0,0,0,0,0
$GC,1205,-0.80,-136.7,291.8,-17.9,97,1209,0.00,2.10,0.00,0.000,4,0.000,0.038,2312,696,3866,0,0,0,0,0,0
$GC,1249,-0.80,-136.7,300.3,-18.0,99,1254,0.12,2.05,0.00,0.000,6,0.167,0.041,2334,2055,3864,0,0,0,0,0,0
$GC,1512,-0.80,-136.7,337.7,-14.3,106,1516,0.00,2.25,0.00,0.000,4,0.000,0.050,2325,3509,3867,0,0,0,0,0,0
$GC,1544,-0.80,-136.7,343.0,-15.7,106,1548,0.00,2.10,0.00,0.000,6,0.000,0.028,2325,2098,3867,0,0,0,0,0,0
$GC,1800,-0.80,-136.7,383.5,-16.2,113,1804,0.00,2.12,0.00,0.000,4,0.000,0.040,2325,696,3867,0,0,0,0,0,0
$GC,1844,-0.80,-136.7,390.4,-15.1,114,1848,0.00,2.15,0.00,0.000,6,0.000,0.042,2314,2103,3867,0,0,0,0,0,0
$GC,2129,-0.80,-136.7,435.5,-16.2,121,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2103,3865,0,0,0,0,0,0
$GC,2371,-0.80,-136.7,473.3,-15.7,127,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2103,3863,0,0,0,0,0,0
$GC,2615,-0.80,-136.7,508.9,-14.4,133,2619,0.00,2.20,0.00,0.000,4,0.000,0.051,2303,3508,3859,0,0,0,0,0,0
$GC,2643,-0.80,-136.7,513.0,-15.1,133,2648,0.12,2.10,0.00,0.000,6,0.162,0.031,2336,2102,3860,0,0,0,0,0,0
$GC,2898,-0.80,-136.7,541.7,-11.0,140,2902,0.00,2.10,0.00,0.000,4,0.000,0.040,2336,700,3857,0,0,0,0,0,0
$GC,2954,-0.80,-136.7,548.5,-11.4,141,2957,0.00,2.12,0.00,0.000,6,0.000,0.041,2329,2104,3857,0,0,0,0,0,0
$GC,3227,-0.80,-136.7,581.3,-12.1,148,3231,0.00,2.20,0.00,0.000,4,0.000,0.051,2317,3515,3854,0,0,0,0,0,0
$GC,3300,-0.80,-136.7,590.5,-11.6,149,3304,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2095,3853,0,0,0,0,0,0
$GC,3555,-0.80,-136.7,624.8,-13.8,156,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2090,3854,0,0,0,0,0,0
$GC,3799,-0.80,-136.7,659.8,-14.6,162,3803,0.00,2.10,0.00,0.000,4,0.000,0.039,2316,690,3847,0,0,0,0,0,0
$GC,3827,-0.80,-136.7,663.9,-14.6,162,3832,0.10,2.15,0.00,0.000,6,0.190,0.042,2334,2102,3847,0,0,0,0,0,0
$GC,4082,-0.80,-136.7,697.4,-12.9,169,4086,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3504,3845,0,0,0,0,0,0
$GC,4137,-0.80,-136.7,704.9,-13.1,170,4140,0.00,2.12,0.00,0.000,6,0.000,0.033,2325,2090,3844,0,0,0,0,0,0
$GC,4410,-0.80,-136.7,739.0,-12.3,177,4414,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,696,3841,0,0,0,0,0,0
$GC,4460,-0.80,-136.7,745.8,-13.0,178,4464,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2097,3841,0,0,0,0,0,0
$GC,4738,-0.80,-136.7,780.9,-12.6,185,4742,0.00,2.22,0.00,0.000,4,0.000,0.053,2303,3507,3839,0,0,0,0,0,0
$GC,4767,-0.80,-136.7,784.7,-14.1,185,4771,0.12,2.15,0.00,0.000,6,0.168,0.031,2334,2095,3838,0,0,0,0,0,0
$GC,5019,-0.80,-136.7,811.7,-10.5,191,5023,0.00,2.10,0.00,0.000,4,0.000,0.040,2335,698,3837,0,0,0,0,0,0
$GC,5046,-0.80,-136.7,815.0,-10.4,191,5050,0.00,2.15,0.00,0.000,6,0.000,0.040,2327,2108,3837,0,0,0,0,0,0
$GC,5309,-0.80,-136.7,842.2,-10.4,198,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2108,3834,0,0,0,0,0,0
$GC,5551,-0.80,-136.7,867.4,-10.4,204,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2108,3832,0,0,0,0,0,0
$GC,5795,-0.80,-136.7,892.9,-10.6,210,5799,0.00,2.20,0.00,0.000,4,0.000,0.052,2316,3507,3828,0,0,0,0,0,0
$GC,5828,-0.80,-136.7,896.6,-11.4,210,5834,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2095,3830,0,0,0,0,0,0
$STATE,5872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5872,begin apogee
$GC,5880,-0.28,0.0,901.8,11.1,212,5996,0.62,0.00,112.12,1.077,6,0.147,0.000,2499,1919,3300,0,0,0,0,0,0
$STATE,5998,end apogee,CONTROL_FINISHED_OK
$STATE,5999,begin climb
$GC,6001,0.80,136.7,904.9,0.0,215,6127,1.08,0.00,121.40,1.044,6,0.093,0.000,2854,1922,2747,0,0,0,0,0,0
$GC,6358,0.80,136.7,848.2,19.0,224,6362,0.00,2.33,0.00,0.000,4,0.000,0.052,2854,3361,2736,0,0,0,0,0,0
$GC,6386,0.80,136.7,842.3,21.1,224,6390,0.00,2.12,0.00,0.000,6,0.000,0.028,2864,1982,2735,0,0,0,0,0,0
$GC,6641,0.80,136.7,791.7,19.8,231,6645,0.00,2.17,0.00,0.000,4,0.000,0.040,2875,562,2732,0,0,0,0,0,0
$GC,6663,0.80,136.7,787.2,20.3,231,6667,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,1962,2731,0,0,0,0,0,0
$GC,6925,0.80,136.7,733.6,20.5,238,6929,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3361,2731,0,0,0,0,0,0
$GC,6947,0.80,136.7,728.4,22.2,238,6951,0.12,2.12,0.00,0.000,6,0.202,0.028,2857,1956,2732,0,0,0,0,0,0
$GC,7214,0.80,136.7,676.9,18.9,245,7218,0.00,2.10,0.00,0.000,4,0.000,0.039,2866,561,2729,0,0,0,0,0,0
$GC,7229,0.80,136.7,673.8,18.6,245,7233,0.00,2.17,0.00,0.000,6,0.000,0.035,2866,1960,2729,0,0,0,0,0,0
$GC,7497,0.80,136.7,623.7,18.7,252,7501,0.00,2.25,0.00,0.000,4,0.000,0.050,2857,3371,2728,0,0,0,0,0,0
$GC,7547,0.80,136.7,613.9,18.7,253,7551,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1956,2725,0,0,0,0,0,0
$GC,7825,0.80,136.7,565.9,17.0,260,7829,0.00,2.28,0.00,0.000,4,0.000,0.051,2857,3371,2727,0,0,0,0,0,0
$GC,7866,0.80,136.7,558.7,17.8,261,7870,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1958,2727,0,0,0,0,0,0
$GC,8150,0.80,136.7,511.7,16.0,268,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1954,2726,0,0,0,0,0,0
$GC,8393,0.80,136.7,471.4,16.6,274,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1954,2725,0,0,0,0,0,0
$GC,8638,0.80,136.7,429.3,17.3,280,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1955,2725,0,0,0,0,0,0
$GC,8881,0.80,136.7,388.9,16.5,286,8885,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,548,2725,0,0,0,0,0,0
$GC,8936,0.80,136.7,379.9,16.5,287,8940,0.00,2.17,0.00,0.000,6,0.000,0.034,2876,1970,2723,0,0,0,0,0,0
$GC,9208,0.80,136.7,339.7,14.2,294,9212,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3376,2723,0,0,0,0,0,0
$GC,9225,0.80,136.7,337.4,13.5,294,9230,0.12,2.12,0.00,0.000,6,0.203,0.030,2857,1956,2723,0,0,0,0,0,0
$GC,9491,0.80,136.7,306.3,11.2,301,9495,0.00,2.22,0.00,0.000,4,0.000,0.049,2846,3365,2725,0,0,0,0,0,0
$GC,9587,0.80,136.7,295.0,11.2,303,9591,0.00,2.12,0.00,0.000,6,0.000,0.028,2856,1948,2723,0,0,0,0,0,0
$GC,9841,0.80,136.7,266.5,11.9,315,9845,0.00,2.25,0.00,0.000,4,0.000,0.048,2855,3362,2721,0,0,0,0,0,0
$GC,9971,0.80,136.7,253.7,10.5,321,9975,0.00,2.12,0.00,0.000,6,0.000,0.027,2865,1953,2723,0,0,0,0,0,0
$GC,10237,0.80,136.7,227.6,9.7,334,10241,0.00,2.22,0.00,0.000,4,0.000,0.048,2866,3362,2722,0,0,0,0,0,0
$GC,10275,0.80,136.7,223.4,10.7,335,10281,0.00,2.10,0.00,0.000,6,0.000,0.028,2877,1950,2723,0,0,0,0,0,0
$GC,10529,0.80,136.7,200.0,9.9,348,10533,0.00,2.22,0.00,0.000,4,0.000,0.045,2875,3373,2723,0,0,0,0,0,0
$GC,10566,0.80,136.7,196.3,11.0,351,10571,0.12,2.12,0.00,0.000,6,0.188,0.029,2855,1955,2723,0,0,0,0,0,0
$GC,10834,0.90,220.1,177.0,5.0,376,10906,0.00,2.28,66.15,0.574,4,0.000,0.045,2855,3367,2401,0,0,0,0,0,0
$GC,10978,0.90,220.1,164.5,11.8,388,10982,0.00,2.15,0.00,0.000,6,0.000,0.030,2863,1964,2400,0,0,0,0,0,0
$GC,11245,0.90,220.1,138.0,10.2,412,11249,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,558,2397,0,0,0,0,0,0
$GC,11450,0.90,220.1,120.2,9.4,430,11454,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1967,2395,0,0,0,0,0,0
$GC,11717,0.90,220.1,92.5,10.0,454,11720,0.00,2.12,0.00,0.000,4,0.000,0.037,2885,557,2395,0,0,0,0,0,0
$GC,11747,0.90,220.1,89.3,9.6,456,11751,0.00,2.12,0.00,0.000,6,0.000,0.030,2885,1967,2395,0,0,0,0,0,0
$GC,12015,0.90,220.1,64.1,9.5,480,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1968,2397,0,0,0,0,0,0
$GC,12278,0.90,220.1,36.3,10.5,505,12281,0.00,2.10,0.00,0.000,4,0.000,0.037,2898,557,2398,0,0,0,0,0,0
$GC,12424,0.90,220.1,20.3,11.6,525,12431,0.00,2.10,0.00,0.000,6,0.000,0.029,2896,1953,2400,0,0,0,0,0,0
$STATE,12573,end climb,SURFACE_DEPTH_REACHED
$STATE,12573,begin surface coast
$FINISH,0.4,1.013093
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12621,40.25,0.414,0,0,2075,300.24
$SM_GC,2.07,0.00,0.00,40.25,0.000,0.000,0.414,56,2132,2075,-7.94,0.96,300.24
$IRIDIUM_FIX,1906.95,-15641.19,250213,020230
$TT8_MAMPS,0.25311
$HUMID,1078816119
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.30
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256754688
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21280063488
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,52.863
$10V_AH,9.9,48.386
$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,20.075,133.825,299.675,40.250,0.000,90.559,109.753,545.601,24.750,0.000,37.062,1216.921,9117.252,428.172,2563.977,476.299,33.363,1187.197,0.000,1826.450,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,64.428,1076.868,414.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,380.919,0.000,945.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353628
$DATA_FILE_SIZE,26932,558
$CAP_FILE_SIZE,127880,0
$CFSIZE,260165632,177815552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,151.4,1
$GPS,020911,114026,1913.064,-15644.000,36,1.8,37,9.6