version: 66.07
glider: 513
mission: 7
dive: 387
start: 9 2 111 23 18 23
data:
$ID,513
$MISSION,7
$DIVE,387
$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,-430928.88
$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,47
$R_STBD_OVSHOOT,42
$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,386
$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
$GPS1,020911,225225,1913.040,-15643.113,91,1.1,91,9.6
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.7
$GPS2,020911,231725,1912.623,-15642.609,8,1.4,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.027,0.238
$KALMAN_X,-169370.7,-1834.9,-912.2,191501.8,10015.7
$KALMAN_Y,-319385.4,670.4,213.1,231301.4,-10593.4
$MHEAD_RNG_PITCHd_Wd,328.3,115598,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,83,0.00,0.00,-51.65,0.000,2,0.000,0.000,34,2161,3598,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.7,-7.3,8,109,10.00,2.12,-4.57,0.000,4,0.245,0.060,2325,3508,3856,0,0,0,0,0,0
$GC,293,-0.80,-136.7,73.1,-30.2,31,298,0.00,2.17,0.00,0.000,6,0.000,0.035,2331,2098,3859,0,0,0,0,0,0
$GC,562,-0.80,-136.7,154.0,-29.0,55,565,0.00,2.10,0.00,0.000,4,0.000,0.040,2327,699,3859,0,0,0,0,0,0
$GC,592,-0.80,-136.7,164.3,-29.7,57,596,0.00,2.12,0.00,0.000,6,0.000,0.045,2318,2091,3859,0,0,0,0,0,0
$GC,859,-0.80,-136.7,228.5,-23.0,76,863,0.00,2.08,0.00,0.000,4,0.000,0.040,2317,693,3861,0,0,0,0,0,0
$GC,916,-0.80,-136.7,240.7,-20.8,78,923,0.12,2.15,0.00,0.000,6,0.175,0.044,2338,2096,3862,0,0,0,0,0,0
$GC,1170,-0.80,-136.7,288.4,-18.0,91,1174,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3520,3861,0,0,0,0,0,0
$GC,1220,-0.80,-136.7,298.8,-21.9,93,1224,0.00,2.15,0.00,0.000,6,0.000,0.031,2329,2097,3862,0,0,0,0,0,0
$GC,1476,-0.80,-136.7,345.2,-17.7,100,1480,0.00,2.08,0.00,0.000,4,0.000,0.039,2329,691,3862,0,0,0,0,0,0
$GC,1571,-0.80,-136.7,361.0,-16.0,102,1575,0.00,2.17,0.00,0.000,6,0.000,0.043,2315,2113,3862,0,0,0,0,0,0
$GC,1850,-0.80,-136.7,403.1,-14.6,109,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2113,3862,0,0,0,0,0,0
$GC,2093,-0.80,-136.7,438.8,-14.8,115,2097,0.00,2.15,0.00,0.000,4,0.000,0.039,2318,688,3861,0,0,0,0,0,0
$GC,2115,-0.80,-136.7,442.3,-15.2,115,2120,0.12,2.17,0.00,0.000,6,0.171,0.042,2339,2110,3858,0,0,0,0,0,0
$GC,2382,-0.80,-136.7,478.4,-13.3,122,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2107,3858,0,0,0,0,0,0
$GC,2626,-0.80,-136.7,510.6,-13.2,128,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2110,3855,0,0,0,0,0,0
$GC,2869,-0.80,-136.7,541.1,-12.3,134,2873,0.00,2.17,0.00,0.000,4,0.000,0.051,2330,3506,3852,0,0,0,0,0,0
$GC,2919,-0.80,-136.7,547.5,-12.2,135,2923,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2098,3853,0,0,0,0,0,0
$GC,3198,-0.80,-136.7,582.6,-12.8,142,3202,0.00,2.08,0.00,0.000,4,0.000,0.040,2330,698,3848,0,0,0,0,0,0
$GC,3222,-0.80,-136.7,585.9,-13.5,142,3226,0.00,2.15,0.00,0.000,6,0.000,0.040,2320,2107,3848,0,0,0,0,0,0
$GC,3477,-0.80,-136.7,620.6,-13.7,149,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2107,3845,0,0,0,0,0,0
$GC,3721,-0.80,-136.7,651.9,-12.7,155,3725,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,699,3840,0,0,0,0,0,0
$GC,3744,-0.80,-136.7,655.1,-13.7,155,3749,0.12,2.15,0.00,0.000,6,0.172,0.041,2340,2096,3844,0,0,0,0,0,0
$GC,3999,-0.80,-136.7,684.6,-11.5,162,4003,0.00,2.25,0.00,0.000,4,0.000,0.058,2331,3510,3839,0,0,0,0,0,0
$GC,4054,-0.80,-136.7,691.0,-11.1,163,4058,0.00,2.15,0.00,0.000,6,0.000,0.031,2331,2095,3838,0,0,0,0,0,0
$GC,4328,-0.80,-136.7,725.1,-13.0,170,4332,0.00,2.10,0.00,0.000,4,0.000,0.041,2331,701,3837,0,0,0,0,0,0
$GC,4368,-0.80,-136.7,730.5,-12.9,171,4372,0.00,2.17,0.00,0.000,6,0.000,0.043,2321,2104,3836,0,0,0,0,0,0
$GC,4651,-0.80,-136.7,768.6,-13.4,178,4655,0.00,2.22,0.00,0.000,4,0.000,0.057,2310,3507,3832,0,0,0,0,0,0
$GC,4692,-0.80,-136.7,773.9,-13.7,179,4697,0.12,2.12,0.00,0.000,6,0.166,0.032,2344,2098,3832,0,0,0,0,0,0
$GC,4975,-0.80,-136.7,807.9,-11.9,186,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2089,3830,0,0,0,0,0,0
$GC,5219,-0.80,-136.7,835.8,-11.4,192,5223,0.00,2.12,0.00,0.000,4,0.000,0.041,2338,687,3828,0,0,0,0,0,0
$GC,5247,-0.80,-136.7,839.4,-11.9,192,5251,0.00,2.17,0.00,0.000,6,0.000,0.042,2333,2107,3828,0,0,0,0,0,0
$GC,5503,-0.80,-136.7,869.9,-12.1,199,5507,0.00,2.25,0.00,0.000,4,0.000,0.054,2322,3510,3827,0,0,0,0,0,0
$GC,5547,-0.80,-136.7,875.8,-13.2,200,5551,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,2102,3825,0,0,0,0,0,0
$STATE,5747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5747,begin apogee
$GC,5755,-0.28,0.0,901.4,12.8,205,5870,0.60,0.00,110.35,1.081,6,0.143,0.000,2500,1925,3299,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,0.80,136.7,906.3,0.0,208,6000,1.05,0.00,121.45,1.047,6,0.091,0.000,2847,1922,2741,0,0,0,0,0,0
$GC,6234,0.80,136.7,854.1,17.9,217,6238,0.00,2.33,0.00,0.000,4,0.000,0.053,2845,3362,2732,0,0,0,0,0,0
$GC,6279,0.80,136.7,845.7,19.5,218,6283,0.00,2.12,0.00,0.000,6,0.000,0.028,2854,1980,2732,0,0,0,0,0,0
$GC,6556,0.80,136.7,792.2,19.1,225,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1973,2730,0,0,0,0,0,0
$GC,6801,0.80,136.7,746.7,18.4,231,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1973,2728,0,0,0,0,0,0
$GC,7044,0.80,136.7,703.1,17.7,237,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1974,2727,0,0,0,0,0,0
$GC,7289,0.80,136.7,662.7,16.5,243,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1974,2726,0,0,0,0,0,0
$GC,7531,0.80,136.7,624.2,15.2,249,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1974,2725,0,0,0,0,0,0
$GC,7775,0.80,136.7,586.7,15.3,255,7779,0.00,2.15,0.00,0.000,4,0.000,0.039,2865,562,2724,0,0,0,0,0,0
$GC,7819,0.80,136.7,579.5,15.6,256,7823,0.00,2.15,0.00,0.000,6,0.000,0.036,2865,1962,2720,0,0,0,0,0,0
$GC,8104,0.80,136.7,533.5,16.8,263,8109,0.00,2.28,0.00,0.000,4,0.000,0.054,2865,3370,2722,0,0,0,0,0,0
$GC,8149,0.80,136.7,525.1,18.4,264,8152,0.00,2.17,0.00,0.000,6,0.000,0.031,2875,1952,2723,0,0,0,0,0,0
$GC,8434,0.80,136.7,474.2,18.2,271,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1946,2722,0,0,0,0,0,0
$GC,8676,0.80,136.7,430.5,17.7,277,8680,0.00,2.10,0.00,0.000,4,0.000,0.037,2887,557,2721,0,0,0,0,0,0
$GC,8703,0.80,136.7,425.3,19.2,277,8707,0.12,2.15,0.00,0.000,6,0.195,0.035,2858,1967,2720,0,0,0,0,0,0
$GC,8958,0.80,136.7,384.6,15.6,284,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1972,2720,0,0,0,0,0,0
$GC,9203,0.80,136.7,349.2,14.2,290,9207,0.00,2.25,0.00,0.000,4,0.000,0.052,2858,3368,2720,0,0,0,0,0,0
$GC,9247,0.80,136.7,342.4,14.8,291,9251,0.00,2.15,0.00,0.000,6,0.000,0.030,2867,1952,2720,0,0,0,0,0,0
$GC,9530,0.80,136.7,302.7,13.8,298,9534,0.00,2.10,0.00,0.000,4,0.000,0.037,2878,554,2720,0,0,0,0,0,0
$GC,9559,0.80,136.7,299.2,12.6,298,9563,0.00,2.15,0.00,0.000,6,0.000,0.034,2878,1965,2719,0,0,0,0,0,0
$GC,9813,0.80,136.7,267.5,12.1,310,9817,0.00,2.22,0.00,0.000,4,0.000,0.051,2878,3369,2721,0,0,0,0,0,0
$GC,10004,0.80,136.7,241.9,13.2,318,10011,0.12,2.12,0.00,0.000,6,0.196,0.028,2859,1950,2719,0,0,0,0,0,0
$GC,10258,0.80,136.7,214.6,10.0,331,10262,0.00,2.08,0.00,0.000,4,0.000,0.037,2868,565,2719,0,0,0,0,0,0
$GC,10349,0.80,136.7,205.1,9.9,335,10353,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1964,2717,0,0,0,0,0,0
$GC,10615,0.80,136.7,178.2,9.3,357,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1964,2718,0,0,0,0,0,0
$GC,10878,0.80,136.7,151.8,10.5,382,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1964,2718,0,0,0,0,0,0
$GC,11134,0.87,195.4,134.9,6.1,406,11185,0.00,2.25,45.05,0.542,4,0.000,0.049,2868,3353,2503,0,0,0,0,0,0
$GC,11281,0.87,195.4,122.2,11.8,419,11285,0.00,2.12,0.00,0.000,6,0.000,0.029,2877,1962,2501,0,0,0,0,0,0
$GC,11548,0.88,205.4,98.6,8.1,443,11564,0.00,2.17,9.48,0.453,4,0.000,0.038,2888,559,2463,0,0,0,0,0,0
$GC,11796,0.88,205.4,75.9,9.9,465,11803,0.00,2.15,0.00,0.000,6,0.000,0.033,2887,1956,2461,0,0,0,0,0,0
$GC,12062,0.88,205.4,48.8,10.5,490,12066,0.00,2.10,0.00,0.000,4,0.000,0.037,2898,563,2462,0,0,0,0,0,0
$GC,12137,0.88,205.4,40.4,11.1,496,12141,0.00,2.10,0.00,0.000,6,0.000,0.031,2898,1964,2461,0,0,0,0,0,0
$GC,12403,0.88,205.4,12.0,10.4,536,12410,0.00,2.15,0.00,0.000,4,0.000,0.036,2908,557,2463,0,0,0,0,0,0
$STATE,12495,end climb,SURFACE_DEPTH_REACHED
$STATE,12495,begin surface coast
$FINISH,2.2,1.022654
$STATE,12501,end surface coast,CONTROL_FINISHED_OK
$STATE,12505,begin surface
$SM_CCo,12527,55.03,0.423,0,0,2075,300.24
$SM_GC,1.95,0.00,0.00,55.03,0.000,0.000,0.423,57,2105,2075,-7.94,0.17,300.24
$IRIDIUM_FIX,1906.95,-15644.19,250213,171728
$TT8_MAMPS,0.141895
$HUMID,1078839345
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.80
$XPDR_PINGS,95
$AR_DIVENUM,387
$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
$24V_AH,23.7,53.365
$10V_AH,9.9,48.746
$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,20.500,112.450,286.325,55.025,0.000,104.068,154.065,804.765,23.750,0.000,15.614,1194.595,9151.209,432.024,2834.379,478.258,33.350,1161.618,0.000,1806.804,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,64.428,1080.703,423.384,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,378.337,0.000,942.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,27030,554
$CAP_FILE_SIZE,126924,0
$CFSIZE,260165632,177532928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,162.7,1
$GPS,030911,025006,1912.758,-15642.743,61,1.0,61,9.6