version: 66.07
glider: 513
mission: 7
dive: 385
start: 9 2 111 15 42 53
data:
$ID,513
$MISSION,7
$DIVE,385
$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,-430883.78
$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,60
$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,384
$AR_SAMPLENUM,2
$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
$GPS1,020911,153136,1912.903,-15643.647,49,1.1,50,9.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.5
$GPS2,020911,154155,1912.688,-15643.432,9,1.7,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,0.238
$KALMAN_X,-172520.3,-90.3,-212.7,190742.2,9204.0
$KALMAN_Y,-312761.6,1707.8,1205.6,222740.6,-11517.9
$MHEAD_RNG_PITCHd_Wd,330.5,115433,-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,-51.28,0.000,2,0.000,0.000,37,2137,3529,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.0,-3.7,8,106,9.95,2.15,-6.07,0.000,4,0.245,0.062,2318,3487,3859,0,0,0,0,0,0
$GC,243,-0.80,-136.7,57.6,-29.4,28,247,0.00,2.12,0.00,0.000,6,0.000,0.034,2318,2116,3863,0,0,0,0,0,0
$GC,509,-0.80,-136.7,141.2,-26.9,52,513,0.00,2.15,0.00,0.000,4,0.000,0.044,2318,697,3864,0,0,0,0,0,0
$GC,540,-0.80,-136.7,150.8,-25.7,54,549,0.08,2.15,0.00,0.000,6,0.169,0.044,2329,2069,3863,0,0,0,0,0,0
$GC,814,-0.80,-136.7,214.4,-22.5,77,818,0.00,2.25,0.00,0.000,4,0.000,0.051,2320,3517,3865,0,0,0,0,0,0
$GC,878,-0.80,-136.7,227.2,-18.6,80,882,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2084,3866,0,0,0,0,0,0
$GC,1142,-0.80,-136.7,273.1,-16.5,93,1145,0.00,2.08,0.00,0.000,4,0.000,0.038,2320,700,3867,0,0,0,0,0,0
$GC,1220,-0.80,-136.7,288.0,-18.8,96,1225,0.12,2.15,0.00,0.000,6,0.171,0.044,2340,2104,3867,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,325.9,-15.0,104,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2108,3868,0,0,0,0,0,0
$GC,1715,-0.80,-136.7,364.7,-15.7,110,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2103,3867,0,0,0,0,0,0
$GC,1959,-0.80,-136.7,400.8,-14.5,116,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2103,3867,0,0,0,0,0,0
$GC,2202,-0.80,-136.7,437.3,-14.8,122,2206,0.00,2.22,0.00,0.000,4,0.000,0.054,2331,3519,3865,0,0,0,0,0,0
$GC,2247,-0.80,-136.7,444.0,-15.1,123,2251,0.00,2.15,0.00,0.000,6,0.000,0.031,2331,2103,3864,0,0,0,0,0,0
$GC,2524,-0.80,-136.7,485.4,-14.6,130,2528,0.00,2.10,0.00,0.000,4,0.000,0.041,2328,693,3862,0,0,0,0,0,0
$GC,2557,-0.80,-136.7,490.7,-15.0,130,2563,0.00,2.15,0.00,0.000,6,0.000,0.042,2321,2110,3860,0,0,0,0,0,0
$GC,2808,-0.80,-136.7,527.9,-14.9,137,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2113,3859,0,0,0,0,0,0
$GC,3051,-0.80,-136.7,563.6,-14.7,143,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2113,3857,0,0,0,0,0,0
$GC,3294,-0.80,-136.7,597.4,-13.8,149,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2113,3855,0,0,0,0,0,0
$GC,3538,-0.80,-136.7,630.5,-13.5,155,3542,0.00,2.22,0.00,0.000,4,0.000,0.055,2310,3513,3852,0,0,0,0,0,0
$GC,3601,-0.80,-136.7,638.7,-12.4,156,3605,0.10,2.17,0.00,0.000,6,0.169,0.032,2334,2097,3851,0,0,0,0,0,0
$GC,3861,-0.80,-136.7,669.7,-11.9,163,3865,0.00,2.12,0.00,0.000,4,0.000,0.044,2336,687,3852,0,0,0,0,0,0
$GC,3882,-0.80,-136.7,672.6,-13.3,163,3886,0.00,2.20,0.00,0.000,6,0.000,0.044,2326,2116,3849,0,0,0,0,0,0
$GC,4145,-0.80,-136.7,705.8,-12.7,170,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2116,3846,0,0,0,0,0,0
$GC,4388,-0.80,-136.7,737.6,-13.1,176,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2116,3844,0,0,0,0,0,0
$GC,4631,-0.80,-136.7,768.3,-12.4,182,4635,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3514,3843,0,0,0,0,0,0
$GC,4670,-0.80,-136.7,773.2,-12.9,183,4674,0.00,2.17,0.00,0.000,6,0.000,0.031,2315,2093,3842,0,0,0,0,0,0
$GC,4954,-0.80,-136.7,808.9,-12.4,190,4958,0.00,2.12,0.00,0.000,4,0.000,0.044,2316,692,3839,0,0,0,0,0,0
$GC,4981,-0.80,-136.7,812.6,-13.0,190,4986,0.12,2.17,0.00,0.000,6,0.178,0.044,2335,2114,3837,0,0,0,0,0,0
$GC,5236,-0.80,-136.7,839.2,-10.4,197,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2114,3837,0,0,0,0,0,0
$GC,5481,-0.80,-136.7,864.9,-10.6,203,5485,0.00,2.22,0.00,0.000,4,0.000,0.055,2326,3504,3836,0,0,0,0,0,0
$GC,5508,-0.80,-136.7,868.3,-11.5,203,5512,0.00,2.15,0.00,0.000,6,0.000,0.032,2325,2104,3835,0,0,0,0,0,0
$GC,5769,-0.80,-136.7,897.8,-11.4,210,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2099,3837,0,0,0,0,0,0
$STATE,5807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5807,begin apogee
$GC,5815,-0.28,0.0,902.6,11.4,211,5931,0.60,0.00,112.55,1.078,6,0.143,0.000,2503,1916,3300,0,0,0,0,0,0
$STATE,5933,end apogee,CONTROL_FINISHED_OK
$STATE,5933,begin climb
$GC,5936,0.80,136.7,906.4,0.0,214,6061,1.02,0.00,121.03,1.045,6,0.093,0.000,2845,1917,2743,0,0,0,0,0,0
$GC,6302,0.80,136.7,850.2,19.0,223,6306,0.00,2.40,0.00,0.000,4,0.000,0.054,2846,3367,2737,0,0,0,0,0,0
$GC,6352,0.80,136.7,840.4,18.8,224,6356,0.00,2.17,0.00,0.000,6,0.000,0.031,2856,1977,2736,0,0,0,0,0,0
$GC,6630,0.80,136.7,790.4,17.6,231,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1976,2731,0,0,0,0,0,0
$GC,6875,0.80,136.7,747.8,17.8,237,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1976,2732,0,0,0,0,0,0
$GC,7117,0.80,136.7,706.9,16.7,243,7121,0.00,2.17,0.00,0.000,4,0.000,0.041,2868,554,2726,0,0,0,0,0,0
$GC,7158,0.80,136.7,700.1,16.5,244,7162,0.00,2.17,0.00,0.000,6,0.000,0.037,2868,1971,2724,0,0,0,0,0,0
$GC,7441,0.80,136.7,652.8,16.3,251,7445,0.00,2.25,0.00,0.000,4,0.000,0.054,2868,3361,2726,0,0,0,0,0,0
$GC,7486,0.80,136.7,645.1,17.6,252,7490,0.00,2.15,0.00,0.000,6,0.000,0.033,2878,1959,2726,0,0,0,0,0,0
$GC,7763,0.80,136.7,597.2,17.6,259,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1954,2725,0,0,0,0,0,0
$GC,8007,0.80,136.7,553.3,18.2,265,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1955,2725,0,0,0,0,0,0
$GC,8252,0.80,136.7,509.2,18.2,271,8256,0.00,2.28,0.00,0.000,4,0.000,0.054,2876,3362,2724,0,0,0,0,0,0
$GC,8273,0.80,136.7,504.8,18.9,271,8278,0.12,2.15,0.00,0.000,6,0.204,0.031,2856,1957,2724,0,0,0,0,0,0
$GC,8540,0.80,136.7,459.3,16.8,278,8544,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,558,2724,0,0,0,0,0,0
$GC,8583,0.80,136.7,451.1,18.2,279,8587,0.00,2.15,0.00,0.000,6,0.000,0.038,2865,1964,2719,0,0,0,0,0,0
$GC,8868,0.80,136.7,401.8,17.1,286,8873,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3362,2724,0,0,0,0,0,0
$GC,8908,0.80,136.7,394.8,17.2,287,8912,0.00,2.12,0.00,0.000,6,0.000,0.029,2876,1957,2722,0,0,0,0,0,0
$GC,9192,0.80,136.7,345.9,17.5,294,9196,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3362,2721,0,0,0,0,0,0
$GC,9232,0.80,136.7,338.9,17.0,295,9236,0.00,2.15,0.00,0.000,6,0.000,0.028,2881,1952,2722,0,0,0,0,0,0
$GC,9515,0.80,136.7,294.7,15.0,302,9519,0.00,2.08,0.00,0.000,4,0.000,0.038,2894,562,2722,0,0,0,0,0,0
$GC,9578,0.80,136.7,287.0,12.2,305,9583,0.15,2.12,0.00,0.000,6,0.189,0.032,2858,1967,2720,0,0,0,0,0,0
$GC,9843,0.80,136.7,256.5,12.6,318,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1967,2720,0,0,0,0,0,0
$GC,10090,0.80,136.7,229.0,10.0,330,10094,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,552,2720,0,0,0,0,0,0
$GC,10257,0.80,136.7,212.4,11.2,337,10262,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1959,2718,0,0,0,0,0,0
$GC,10517,0.80,140.5,187.3,8.4,356,10521,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3367,2719,0,0,0,0,0,0
$GC,10581,0.80,140.5,181.2,9.8,361,10586,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1954,2721,0,0,0,0,0,0
$GC,10852,0.80,140.5,157.3,9.1,386,10856,0.00,2.08,0.00,0.000,4,0.000,0.037,2890,558,2723,0,0,0,0,0,0
$GC,11005,0.82,155.9,144.2,7.9,399,11023,0.00,2.08,13.35,0.518,6,0.000,0.031,2889,1963,2665,0,0,0,0,0,0
$GC,11283,0.97,279.3,125.6,3.3,424,11393,0.00,2.28,100.57,0.537,4,0.000,0.047,2889,3359,2161,0,0,0,0,0,0
$GC,11572,0.97,279.3,95.5,14.6,449,11576,0.00,2.17,0.00,0.000,6,0.000,0.030,2900,1962,2158,0,0,0,0,0,0
$GC,11838,0.97,279.3,58.3,14.0,473,11842,0.00,2.12,0.00,0.000,4,0.000,0.038,2911,563,2156,0,0,0,0,0,0
$GC,11944,0.97,279.3,43.0,14.3,482,11948,0.00,2.10,0.00,0.000,6,0.000,0.030,2907,1955,2152,0,0,0,0,0,0
$STATE,12207,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,0.4,1.022791
$STATE,12225,end surface coast,CONTROL_FINISHED_OK
$STATE,12225,begin surface
$SM_CCo,12245,11.00,0.391,0,0,2077,300.24
$SM_GC,2.49,0.00,0.00,11.00,0.000,0.000,0.391,53,2149,2077,-7.95,1.39,300.24
$IRIDIUM_FIX,1904.66,-15649.28,250213,060632
$TT8_MAMPS,0.254644
$HUMID,1078954184
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.00
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256689152
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21067137024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,53.104
$10V_AH,9.8,48.563
$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,19.900,104.425,347.500,11.000,0.000,27.215,40.891,320.260,24.000,0.000,16.247,1129.686,8872.752,391.355,2086.372,404.661,33.354,1124.150,0.000,1692.728,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,62.127,1078.402,391.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,358.697,0.000,840.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26991,525
$CAP_FILE_SIZE,111815,0
$CFSIZE,260165632,177684480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,160.7,1
$GPS,020911,190907,1912.959,-15643.522,56,1.5,56,9.6