version: 66.07
glider: 513
mission: 7
dive: 384
start: 9 2 111 12 0 0
data:
$ID,513
$MISSION,7
$DIVE,384
$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,-430866.91
$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,62
$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,383
$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
$GPS1,020911,114026,1913.064,-15644.000,36,1.8,37,9.6
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.3
$GPS2,020911,115904,1912.745,-15643.580,13,2.7,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.236,0.043
$KALMAN_X,-178187.8,275.7,-119.9,195688.5,5211.1
$KALMAN_Y,-312530.2,1647.6,745.3,223144.1,-13262.9
$MHEAD_RNG_PITCHd_Wd,330.4,115323,-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,-51.67,0.000,2,0.000,0.000,34,2137,3566,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.5,-5.5,8,109,10.00,2.17,-5.12,0.000,4,0.245,0.044,2349,693,3859,0,0,0,0,0,0
$GC,247,-0.80,-136.7,58.6,-28.9,28,251,0.00,2.12,0.00,0.000,6,0.000,0.047,2337,2067,3861,0,0,0,0,0,0
$GC,515,-0.80,-136.7,141.0,-30.6,52,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2067,3860,0,0,0,0,0,0
$GC,786,-0.80,-136.7,206.4,-21.3,77,789,0.00,2.05,0.00,0.000,4,0.000,0.038,2338,694,3864,0,0,0,0,0,0
$GC,859,-0.80,-136.7,221.7,-21.9,80,863,0.00,2.15,0.00,0.000,6,0.000,0.044,2327,2112,3864,0,0,0,0,0,0
$GC,1113,-0.80,-136.7,273.7,-19.5,92,1117,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3518,3865,0,0,0,0,0,0
$GC,1168,-0.80,-136.7,283.6,-18.1,94,1175,0.00,2.12,0.00,0.000,6,0.000,0.031,2316,2098,3865,0,0,0,0,0,0
$GC,1441,-0.80,-136.7,331.7,-17.1,104,1445,0.00,2.08,0.00,0.000,4,0.000,0.041,2316,699,3865,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,337.8,-17.0,104,1480,0.12,2.12,0.00,0.000,6,0.174,0.041,2337,2105,3866,0,0,0,0,0,0
$GC,1724,-0.80,-136.7,372.9,-14.0,111,1728,0.00,2.12,0.00,0.000,4,0.000,0.040,2337,691,3865,0,0,0,0,0,0
$GC,1752,-0.80,-136.7,376.6,-13.6,111,1756,0.00,2.12,0.00,0.000,6,0.000,0.042,2328,2092,3866,0,0,0,0,0,0
$GC,2008,-0.80,-136.7,413.4,-14.2,118,2011,0.00,2.12,0.00,0.000,4,0.000,0.043,2325,701,3865,0,0,0,0,0,0
$GC,2057,-0.80,-136.7,420.4,-14.5,119,2061,0.00,2.15,0.00,0.000,6,0.000,0.042,2318,2108,3864,0,0,0,0,0,0
$GC,2337,-0.80,-136.7,462.7,-15.2,126,2341,0.00,2.15,0.00,0.000,4,0.000,0.041,2318,702,3862,0,0,0,0,0,0
$GC,2364,-0.80,-136.7,467.4,-15.1,126,2369,0.12,2.15,0.00,0.000,6,0.172,0.044,2338,2097,3862,0,0,0,0,0,0
$GC,2614,-0.80,-136.7,499.6,-12.6,132,2618,0.00,2.22,0.00,0.000,4,0.000,0.054,2330,3514,3859,0,0,0,0,0,0
$GC,2665,-0.80,-136.7,505.8,-12.5,133,2669,0.00,2.15,0.00,0.000,6,0.000,0.031,2331,2090,3858,0,0,0,0,0,0
$GC,2943,-0.80,-136.7,541.4,-13.2,140,2947,0.00,2.08,0.00,0.000,4,0.000,0.041,2330,702,3855,0,0,0,0,0,0
$GC,2993,-0.80,-136.7,548.4,-13.8,141,2997,0.00,2.15,0.00,0.000,6,0.000,0.043,2320,2100,3855,0,0,0,0,0,0
$GC,3267,-0.80,-136.7,586.5,-14.2,148,3271,0.00,2.25,0.00,0.000,4,0.000,0.056,2308,3510,3852,0,0,0,0,0,0
$GC,3294,-0.80,-136.7,590.7,-15.1,148,3299,0.12,2.12,0.00,0.000,6,0.164,0.031,2340,2104,3852,0,0,0,0,0,0
$GC,3544,-0.80,-136.7,621.7,-12.4,154,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2097,3850,0,0,0,0,0,0
$GC,3787,-0.80,-136.7,650.6,-12.0,160,3791,0.00,2.12,0.00,0.000,4,0.000,0.042,2340,690,3847,0,0,0,0,0,0
$GC,3829,-0.80,-136.7,655.4,-12.0,161,3833,0.00,2.20,0.00,0.000,6,0.000,0.045,2332,2107,3846,0,0,0,0,0,0
$GC,4112,-0.80,-136.7,689.9,-12.3,168,4116,0.00,2.20,0.00,0.000,4,0.000,0.056,2321,3503,3843,0,0,0,0,0,0
$GC,4156,-0.80,-136.7,695.6,-11.9,169,4160,0.00,2.10,0.00,0.000,6,0.000,0.033,2321,2099,3842,0,0,0,0,0,0
$GC,4441,-0.80,-136.7,730.6,-12.5,176,4445,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,699,3840,0,0,0,0,0,0
$GC,4485,-0.80,-136.7,736.6,-12.8,177,4489,0.00,2.17,0.00,0.000,6,0.000,0.044,2310,2104,3840,0,0,0,0,0,0
$GC,4769,-0.80,-136.7,776.0,-14.2,184,4770,0.10,0.00,0.00,0.000,6,0.189,0.000,2334,2105,3837,0,0,0,0,0,0
$GC,5014,-0.80,-136.7,805.2,-12.0,190,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2104,3835,0,0,0,0,0,0
$GC,5256,-0.80,-136.7,833.7,-11.7,196,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2104,3833,0,0,0,0,0,0
$GC,5500,-0.80,-136.7,861.6,-11.6,202,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2104,3831,0,0,0,0,0,0
$GC,5743,-0.80,-136.7,888.6,-10.9,208,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3829,0,0,0,0,0,0
$STATE,5863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5864,begin apogee
$GC,5871,-0.28,0.0,901.5,10.8,211,5986,0.55,0.00,110.97,1.080,6,0.142,0.000,2500,1946,3301,0,0,0,0,0,0
$STATE,6032,end apogee,CONTROL_FINISHED_OK
$STATE,6032,begin climb
$GC,6035,0.80,136.7,905.3,0.0,214,6161,1.02,0.00,121.35,1.047,6,0.092,0.000,2847,1946,2739,0,0,0,0,0,0
$GC,6406,0.80,136.7,851.0,18.0,224,6410,0.00,2.33,0.00,0.000,4,0.000,0.054,2846,3367,2732,0,0,0,0,0,0
$GC,6428,0.80,136.7,846.6,19.0,224,6432,0.00,2.20,0.00,0.000,6,0.000,0.031,2854,1967,2732,0,0,0,0,0,0
$GC,6689,0.80,136.7,798.2,18.8,231,6693,0.00,2.28,0.00,0.000,4,0.000,0.053,2846,3365,2730,0,0,0,0,0,0
$GC,6711,0.80,136.7,793.6,20.9,231,6715,0.00,2.15,0.00,0.000,6,0.000,0.031,2855,1958,2731,0,0,0,0,0,0
$GC,6973,0.80,136.7,744.0,18.4,238,6977,0.00,2.12,0.00,0.000,4,0.000,0.041,2866,561,2729,0,0,0,0,0,0
$GC,6988,0.80,136.7,740.7,18.0,238,6992,0.00,2.15,0.00,0.000,6,0.000,0.037,2860,1959,2726,0,0,0,0,0,0
$GC,7261,0.80,136.7,689.0,18.6,245,7265,0.00,2.25,0.00,0.000,4,0.000,0.053,2860,3360,2727,0,0,0,0,0,0
$GC,7306,0.80,136.7,680.2,19.8,246,7310,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1959,2726,0,0,0,0,0,0
$GC,7583,0.80,136.7,629.2,18.4,253,7587,0.00,2.12,0.00,0.000,4,0.000,0.039,2880,557,2723,0,0,0,0,0,0
$GC,7616,0.80,136.7,623.0,17.4,253,7622,0.00,2.15,0.00,0.000,6,0.000,0.037,2876,1960,2727,0,0,0,0,0,0
$GC,7866,0.80,136.7,577.6,18.4,260,7870,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3357,2724,0,0,0,0,0,0
$GC,7884,0.80,136.7,574.3,18.5,260,7888,0.12,2.15,0.00,0.000,6,0.203,0.030,2856,1955,2724,0,0,0,0,0,0
$GC,8150,0.80,136.7,527.3,17.6,267,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1950,2723,0,0,0,0,0,0
$GC,8393,0.80,136.7,485.5,17.1,273,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1950,2723,0,0,0,0,0,0
$GC,8639,0.80,136.7,446.1,16.0,279,8643,0.00,2.25,0.00,0.000,4,0.000,0.051,2841,3365,2720,0,0,0,0,0,0
$GC,8677,0.80,136.7,439.1,17.0,279,8683,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1952,2723,0,0,0,0,0,0
$GC,8927,0.80,136.7,400.0,15.8,286,8931,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,552,2722,0,0,0,0,0,0
$GC,8993,0.80,136.7,389.9,14.6,287,8997,0.00,2.12,0.00,0.000,6,0.000,0.035,2857,1965,2720,0,0,0,0,0,0
$GC,9256,0.80,136.7,351.4,14.9,294,9259,0.00,2.22,0.00,0.000,4,0.000,0.052,2861,3354,2720,0,0,0,0,0,0
$GC,9300,0.80,136.7,344.1,15.4,295,9304,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,1962,2720,0,0,0,0,0,0
$GC,9583,0.80,136.7,301.5,14.5,302,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1956,2720,0,0,0,0,0,0
$GC,9832,0.80,136.7,271.7,12.2,313,9836,0.00,2.25,0.00,0.000,4,0.000,0.051,2868,3359,2720,0,0,0,0,0,0
$GC,10085,0.80,136.7,239.3,11.1,324,10089,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1951,2720,0,0,0,0,0,0
$GC,10338,0.80,136.7,213.3,11.0,336,10343,0.00,2.10,0.00,0.000,4,0.000,0.037,2888,579,2719,0,0,0,0,0,0
$GC,10464,0.80,136.7,197.8,12.9,342,10469,0.12,2.10,0.00,0.000,6,0.187,0.033,2856,1966,2717,0,0,0,0,0,0
$GC,10728,0.80,136.7,169.8,10.4,366,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1966,2718,0,0,0,0,0,0
$GC,10982,0.84,173.6,149.3,7.0,390,11019,0.00,2.25,27.85,0.549,4,0.000,0.049,2856,3359,2594,0,0,0,0,0,0
$GC,11026,0.87,194.8,146.0,7.7,393,11050,0.00,2.15,19.17,0.531,6,0.000,0.029,2865,1965,2505,0,0,0,0,0,0
$GC,11312,0.88,206.6,122.5,8.1,419,11328,0.00,2.17,10.95,0.486,4,0.000,0.039,2876,567,2457,0,0,0,0,0,0
$GC,11578,0.91,230.2,102.4,7.6,443,11605,0.00,2.10,20.45,0.491,6,0.000,0.034,2876,1959,2359,0,0,0,0,0,0
$GC,11869,0.91,230.2,73.3,9.8,470,11873,0.00,2.15,0.00,0.000,4,0.000,0.039,2886,558,2359,0,0,0,0,0,0
$GC,11998,0.91,230.2,60.7,10.5,481,12002,0.00,2.12,0.00,0.000,6,0.000,0.032,2887,1963,2357,0,0,0,0,0,0
$GC,12266,0.91,230.2,31.3,11.3,505,12270,0.00,2.10,0.00,0.000,4,0.000,0.038,2897,565,2359,0,0,0,0,0,0
$GC,12354,0.91,230.2,21.1,11.1,520,12361,0.00,2.12,0.00,0.000,6,0.000,0.032,2897,1956,2360,0,0,0,0,0,0
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12502,begin surface coast
$FINISH,0.4,1.012210
$STATE,12531,end surface coast,CONTROL_FINISHED_OK
$STATE,12531,begin surface
$SM_CCo,12550,34.40,0.416,0,0,2077,300.24
$SM_GC,1.59,0.00,0.00,34.40,0.000,0.000,0.416,58,2134,2077,-7.93,0.93,300.24
$IRIDIUM_FIX,1906.95,-15643.29,250213,060608
$TT8_MAMPS,0.246974
$HUMID,1078867732
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.90
$XPDR_PINGS,49
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6179848192
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21285830656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,52.990
$10V_AH,9.9,48.480
$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,19.725,121.100,310.750,34.400,0.000,87.273,109.982,517.939,12.250,0.000,35.484,1196.995,9024.656,428.020,2594.189,466.153,33.357,1183.158,0.000,1823.577,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,69.030,1079.936,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.613,0.000,945.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26958,552
$CAP_FILE_SIZE,123689,0
$CFSIZE,260165632,177745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223,158.7,1
$GPS,020911,153136,1912.903,-15643.647,49,1.1,50,9.6