version: 66.07
glider: 513
mission: 7
dive: 388
start: 9 3 111 3 1 16
data:
$ID,513
$MISSION,7
$DIVE,388
$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,-430963.88
$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,50
$R_STBD_OVSHOOT,41
$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,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
$GPS1,030911,025006,1912.758,-15642.743,61,1.0,61,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.1
$GPS2,030911,030019,1912.569,-15642.468,15,1.2,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,0.238
$KALMAN_X,-169981.5,-1874.9,-383.8,191881.8,7358.8
$KALMAN_Y,-324329.7,259.4,1048.7,235727.4,-13467.9
$MHEAD_RNG_PITCHd_Wd,335.1,115705,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.85,0.000,2,0.000,0.000,36,2111,3782,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.4,-7.6,9,112,10.02,2.17,-1.23,0.000,4,0.247,0.052,2339,713,3862,0,0,0,0,0,0
$GC,164,-0.80,-136.7,37.1,-31.5,19,168,0.00,2.15,0.00,0.000,6,0.000,0.045,2331,2089,3862,0,0,0,0,0,0
$GC,429,-0.80,-136.7,121.5,-31.5,43,433,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,703,3866,0,0,0,0,0,0
$GC,473,-0.80,-136.7,134.4,-25.3,46,480,0.00,2.17,0.00,0.000,6,0.000,0.045,2321,2092,3865,0,0,0,0,0,0
$GC,737,-0.80,-136.7,195.0,-21.6,71,741,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3525,3868,0,0,0,0,0,0
$GC,768,-0.80,-136.7,202.1,-23.1,73,773,0.12,2.12,0.00,0.000,6,0.166,0.031,2340,2105,3868,0,0,0,0,0,0
$GC,1023,-0.80,-136.7,251.1,-16.8,85,1027,0.00,2.10,0.00,0.000,4,0.000,0.041,2341,694,3869,0,0,0,0,0,0
$GC,1062,-0.80,-136.7,258.7,-18.0,86,1067,0.00,2.15,0.00,0.000,6,0.000,0.043,2333,2111,3870,0,0,0,0,0,0
$GC,1315,-0.80,-136.7,300.6,-16.1,99,1319,0.00,2.12,0.00,0.000,4,0.000,0.041,2338,702,3867,0,0,0,0,0,0
$GC,1373,-0.80,-136.7,310.3,-15.8,100,1377,0.00,2.15,0.00,0.000,6,0.000,0.046,2328,2103,3870,0,0,0,0,0,0
$GC,1644,-0.80,-136.7,353.4,-15.4,107,1648,0.00,2.22,0.00,0.000,4,0.000,0.054,2311,3521,3871,0,0,0,0,0,0
$GC,1711,-0.80,-136.7,363.6,-14.6,108,1715,0.00,2.12,0.00,0.000,6,0.000,0.031,2311,2092,3873,0,0,0,0,0,0
$GC,1974,-0.80,-136.7,403.0,-15.2,115,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2087,3870,0,0,0,0,0,0
$GC,2216,-0.80,-136.7,443.7,-16.7,121,2221,0.10,2.10,0.00,0.000,4,0.191,0.042,2335,697,3867,0,0,0,0,0,0
$GC,2249,-0.80,-136.7,449.1,-15.4,121,2255,0.00,2.12,0.00,0.000,6,0.000,0.043,2326,2107,3867,0,0,0,0,0,0
$GC,2500,-0.80,-136.7,486.1,-14.8,128,2504,0.00,2.20,0.00,0.000,4,0.000,0.053,2315,3512,3864,0,0,0,0,0,0
$GC,2535,-0.80,-136.7,491.5,-15.3,128,2541,0.00,2.12,0.00,0.000,6,0.000,0.029,2315,2096,3864,0,0,0,0,0,0
$GC,2785,-0.80,-136.7,528.9,-15.0,135,2788,0.00,2.10,0.00,0.000,4,0.000,0.040,2316,701,3859,0,0,0,0,0,0
$GC,2812,-0.80,-136.7,533.1,-15.2,135,2817,0.12,2.12,0.00,0.000,6,0.176,0.042,2336,2095,3862,0,0,0,0,0,0
$GC,3064,-0.80,-136.7,565.4,-12.9,141,3068,0.00,2.22,0.00,0.000,4,0.000,0.055,2327,3508,3860,0,0,0,0,0,0
$GC,3096,-0.80,-136.7,569.9,-13.3,141,3100,0.00,2.10,0.00,0.000,6,0.000,0.031,2327,2104,3859,0,0,0,0,0,0
$GC,3352,-0.80,-136.7,603.0,-13.0,148,3356,0.00,2.10,0.00,0.000,4,0.000,0.041,2327,699,3855,0,0,0,0,0,0
$GC,3414,-0.80,-136.7,611.2,-13.1,149,3418,0.00,2.15,0.00,0.000,6,0.000,0.043,2317,2106,3854,0,0,0,0,0,0
$GC,3675,-0.80,-136.7,646.2,-13.4,156,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2111,3853,0,0,0,0,0,0
$GC,3919,-0.80,-136.7,678.7,-13.3,162,3923,0.00,2.20,0.00,0.000,4,0.000,0.055,2306,3505,3850,0,0,0,0,0,0
$GC,3959,-0.80,-136.7,684.0,-13.3,163,3964,0.12,2.15,0.00,0.000,6,0.168,0.032,2337,2096,3850,0,0,0,0,0,0
$GC,4242,-0.80,-136.7,716.9,-11.6,170,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2089,3847,0,0,0,0,0,0
$GC,4486,-0.80,-136.7,745.4,-11.4,176,4490,0.00,2.25,0.00,0.000,4,0.000,0.055,2329,3508,3846,0,0,0,0,0,0
$GC,4520,-0.80,-136.7,749.4,-12.6,176,4526,0.00,2.15,0.00,0.000,6,0.000,0.031,2329,2096,3842,0,0,0,0,0,0
$GC,4769,-0.80,-136.7,779.2,-11.8,183,4773,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,697,3843,0,0,0,0,0,0
$GC,4814,-0.80,-136.7,784.5,-11.8,184,4817,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2106,3843,0,0,0,0,0,0
$GC,5097,-0.80,-136.7,816.8,-11.5,191,5101,0.00,2.20,0.00,0.000,4,0.000,0.054,2307,3504,3841,0,0,0,0,0,0
$GC,5132,-0.80,-136.7,820.9,-13.0,191,5138,0.12,2.15,0.00,0.000,6,0.167,0.032,2338,2098,3839,0,0,0,0,0,0
$GC,5381,-0.80,-136.7,845.9,-10.0,198,5385,0.00,2.12,0.00,0.000,4,0.000,0.041,2339,695,3838,0,0,0,0,0,0
$GC,5431,-0.80,-136.7,851.4,-10.7,199,5435,0.00,2.17,0.00,0.000,6,0.000,0.048,2331,2106,3837,0,0,0,0,0,0
$GC,5710,-0.80,-136.7,882.5,-11.2,206,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2105,3835,0,0,0,0,0,0
$STATE,5869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5876,-0.28,0.0,900.6,11.2,210,5993,0.57,0.00,112.10,1.082,6,0.143,0.000,2501,1929,3301,0,0,0,0,0,0
$STATE,5996,end apogee,CONTROL_FINISHED_OK
$STATE,5996,begin climb
$GC,5998,0.80,136.7,903.9,0.0,213,6127,1.02,0.00,120.53,1.046,6,0.094,0.000,2846,1928,2743,0,0,0,0,0,0
$GC,6364,0.80,136.7,847.7,18.3,222,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1928,2733,0,0,0,0,0,0
$GC,6607,0.80,136.7,803.8,17.9,228,6612,0.00,2.33,0.00,0.000,4,0.000,0.054,2845,3361,2731,0,0,0,0,0,0
$GC,6636,0.80,136.7,798.6,18.4,228,6640,0.00,2.12,0.00,0.000,6,0.000,0.035,2855,1979,2730,0,0,0,0,0,0
$GC,6886,0.80,136.7,753.4,17.6,234,6890,0.00,2.15,0.00,0.000,4,0.000,0.038,2871,558,2730,0,0,0,0,0,0
$GC,6919,0.80,136.7,747.5,17.0,234,6924,0.00,2.15,0.00,0.000,6,0.000,0.035,2859,1960,2728,0,0,0,0,0,0
$GC,7170,0.80,136.7,704.6,17.0,241,7175,0.00,2.25,0.00,0.000,4,0.000,0.053,2852,3364,2728,0,0,0,0,0,0
$GC,7276,0.80,136.7,685.0,18.5,243,7281,0.00,2.17,0.00,0.000,6,0.000,0.030,2857,1957,2728,0,0,0,0,0,0
$GC,7549,0.80,136.7,639.5,16.5,250,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1952,2727,0,0,0,0,0,0
$GC,7794,0.80,136.7,600.9,15.4,256,7798,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,564,2726,0,0,0,0,0,0
$GC,7821,0.80,136.7,596.3,15.5,256,7825,0.00,2.17,0.00,0.000,6,0.000,0.036,2867,1956,2724,0,0,0,0,0,0
$GC,8076,0.80,136.7,557.5,15.0,263,8080,0.00,2.12,0.00,0.000,4,0.000,0.041,2876,562,2724,0,0,0,0,0,0
$GC,8103,0.80,136.7,552.9,16.1,263,8107,0.00,2.17,0.00,0.000,6,0.000,0.038,2873,1971,2722,0,0,0,0,0,0
$GC,8359,0.80,136.7,512.0,16.1,270,8363,0.00,2.22,0.00,0.000,4,0.000,0.053,2874,3371,2723,0,0,0,0,0,0
$GC,8398,0.80,136.7,504.6,17.8,270,8403,0.00,2.12,0.00,0.000,6,0.000,0.031,2883,1957,2723,0,0,0,0,0,0
$GC,8648,0.80,136.7,458.1,19.3,277,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1953,2723,0,0,0,0,0,0
$GC,8893,0.80,136.7,412.7,18.6,283,8896,0.00,2.12,0.00,0.000,4,0.000,0.038,2898,556,2723,0,0,0,0,0,0
$GC,8942,0.80,136.7,403.4,17.6,284,8947,0.15,2.12,0.00,0.000,6,0.191,0.035,2858,1963,2720,0,0,0,0,0,0
$GC,9214,0.80,136.7,364.1,14.1,291,9218,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3361,2721,0,0,0,0,0,0
$GC,9288,0.80,136.7,353.2,15.3,292,9292,0.00,2.10,0.00,0.000,6,0.000,0.028,2866,1950,2721,0,0,0,0,0,0
$GC,9538,0.80,136.7,316.1,14.8,298,9542,0.00,2.08,0.00,0.000,4,0.000,0.037,2878,564,2720,0,0,0,0,0,0
$GC,9565,0.80,136.7,312.0,14.0,298,9569,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1968,2720,0,0,0,0,0,0
$GC,9825,0.80,136.7,276.0,12.7,309,9829,0.00,2.12,0.00,0.000,4,0.000,0.041,2887,573,2721,0,0,0,0,0,0
$GC,9902,0.80,136.7,265.4,14.7,312,9911,0.12,2.15,0.00,0.000,6,0.186,0.038,2859,1965,2720,0,0,0,0,0,0
$GC,10157,0.80,136.7,238.3,11.4,325,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1967,2718,0,0,0,0,0,0
$GC,10405,0.80,136.7,215.0,9.5,337,10409,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,573,2720,0,0,0,0,0,0
$GC,10559,0.80,136.7,198.7,12.0,344,10563,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1963,2719,0,0,0,0,0,0
$GC,10827,0.81,151.2,173.1,8.0,368,10840,0.00,0.00,9.65,0.527,6,0.000,0.000,2868,1966,2683,0,0,0,0,0,0
$GC,11099,0.86,188.5,148.5,7.0,393,11137,0.00,2.28,32.17,0.557,4,0.000,0.051,2867,3360,2532,0,0,0,0,0,0
$GC,11218,0.86,188.5,138.5,10.4,403,11226,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1982,2532,0,0,0,0,0,0
$GC,11483,0.91,226.8,119.8,6.9,428,11521,0.00,2.25,32.30,0.525,4,0.000,0.039,2888,558,2375,0,0,0,0,0,0
$GC,11767,0.91,226.8,91.9,8.7,453,11775,0.00,2.17,0.00,0.000,6,0.000,0.033,2889,1962,2370,0,0,0,0,0,0
$GC,12033,0.91,226.8,64.4,12.5,478,12037,0.00,2.20,0.00,0.000,4,0.000,0.048,2889,3365,2371,0,0,0,0,0,0
$GC,12167,0.91,226.8,46.4,13.2,490,12171,0.00,2.12,0.00,0.000,6,0.000,0.029,2900,1947,2372,0,0,0,0,0,0
$GC,12433,0.91,226.8,15.6,11.5,525,12441,0.00,2.10,0.00,0.000,4,0.000,0.037,2911,569,2372,0,0,0,0,0,0
$STATE,12541,end climb,SURFACE_DEPTH_REACHED
$STATE,12541,begin surface coast
$FINISH,0.5,1.022752
$STATE,12568,end surface coast,CONTROL_FINISHED_OK
$STATE,12568,begin surface
$SM_CCo,12590,37.35,0.420,0,0,2076,300.49
$SM_GC,2.09,0.00,0.00,37.35,0.000,0.000,0.420,55,2109,2076,-7.94,0.25,300.49
$IRIDIUM_FIX,1904.66,-15641.19,250213,171728
$TT8_MAMPS,0.246974
$HUMID,1078866442
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256590848
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,20587773952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,53.475
$10V_AH,9.8,48.835
$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,20.100,134.150,306.750,37.350,0.000,25.045,32.254,299.387,23.750,0.000,34.387,1196.792,8995.390,418.899,2206.181,430.861,33.357,1218.200,0.000,1822.670,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,61.360,1082.237,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.360,0.000,916.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26822,549
$CAP_FILE_SIZE,121477,0
$CFSIZE,260165632,177463296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,158.9,1
$GPS,030911,063400,1912.774,-15642.337,76,1.4,76,9.6