version: 66.07
glider: 513
mission: 7
dive: 390
start: 9 3 111 10 45 54
data:
$ID,513
$MISSION,7
$DIVE,390
$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,-430991.44
$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,52
$R_STBD_OVSHOOT,46
$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,389
$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
$GPS1,030911,102408,1912.307,-15641.873,34,1.5,34,9.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.2
$GPS2,030911,104456,1911.825,-15641.389,10,1.7,10,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.146,0.189
$KALMAN_X,-170375.2,-20.3,-263.4,192161.9,3689.5
$KALMAN_Y,-335061.7,1592.6,627.2,244161.5,-15343.1
$MHEAD_RNG_PITCHd_Wd,329.9,117169,-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,-51.70,0.000,2,0.000,0.000,35,2120,3553,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.4,-4.9,8,106,9.90,2.15,-5.43,0.000,4,0.242,0.050,2339,701,3859,0,0,0,0,0,0
$GC,236,-0.80,-136.7,56.2,-31.7,27,245,0.00,2.17,0.00,0.000,6,0.000,0.048,2331,2082,3861,0,0,0,0,0,0
$GC,502,-0.80,-136.7,139.1,-29.5,52,506,0.00,2.22,0.00,0.000,4,0.000,0.047,2320,3515,3862,0,0,0,0,0,0
$GC,512,-0.80,-136.7,143.8,-30.0,52,520,0.00,2.12,0.00,0.000,6,0.000,0.029,2320,2116,3863,0,0,0,0,0,0
$GC,783,-0.80,-136.7,205.2,-21.2,77,787,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,695,3864,0,0,0,0,0,0
$GC,884,-0.80,-136.7,225.9,-20.7,81,889,0.12,2.12,0.00,0.000,6,0.176,0.039,2339,2108,3864,0,0,0,0,0,0
$GC,1143,-0.80,-136.7,275.5,-18.8,94,1147,0.00,2.17,0.00,0.000,4,0.000,0.051,2330,3507,3865,0,0,0,0,0,0
$GC,1183,-0.80,-136.7,282.6,-18.6,96,1187,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,2101,3865,0,0,0,0,0,0
$GC,1446,-0.80,-136.7,329.9,-16.8,105,1450,0.00,2.08,0.00,0.000,4,0.000,0.039,2330,701,3865,0,0,0,0,0,0
$GC,1468,-0.80,-136.7,333.8,-15.6,105,1472,0.00,2.12,0.00,0.000,6,0.000,0.041,2316,2102,3865,0,0,0,0,0,0
$GC,1730,-0.80,-136.7,375.9,-16.2,112,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2102,3865,0,0,0,0,0,0
$GC,1974,-0.80,-136.7,412.0,-14.8,118,1978,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3508,3865,0,0,0,0,0,0
$GC,2069,-0.80,-136.7,426.8,-13.5,120,2073,0.10,2.10,0.00,0.000,6,0.169,0.029,2335,2096,3864,0,0,0,0,0,0
$GC,2348,-0.80,-136.7,463.1,-12.7,127,2352,0.00,2.10,0.00,0.000,4,0.000,0.041,2335,704,3865,0,0,0,0,0,0
$GC,2393,-0.80,-136.7,469.3,-12.6,128,2397,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2096,3862,0,0,0,0,0,0
$GC,2670,-0.80,-136.7,509.8,-14.9,135,2674,0.00,2.20,0.00,0.000,4,0.000,0.052,2316,3507,3857,0,0,0,0,0,0
$GC,2698,-0.80,-136.7,514.1,-15.4,135,2702,0.00,2.10,0.00,0.000,6,0.000,0.030,2316,2104,3855,0,0,0,0,0,0
$GC,2954,-0.80,-136.7,552.0,-14.8,142,2958,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,701,3859,0,0,0,0,0,0
$GC,2987,-0.80,-136.7,557.3,-15.3,142,2992,0.12,2.15,0.00,0.000,6,0.176,0.041,2336,2104,3859,0,0,0,0,0,0
$GC,3238,-0.80,-136.7,589.5,-12.5,148,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2104,3851,0,0,0,0,0,0
$GC,3481,-0.80,-136.7,619.7,-12.3,154,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2105,3850,0,0,0,0,0,0
$GC,3727,-0.80,-136.7,649.9,-12.4,160,3731,0.00,2.20,0.00,0.000,4,0.000,0.053,2327,3508,3847,0,0,0,0,0,0
$GC,3748,-0.80,-136.7,652.9,-12.2,160,3752,0.00,2.12,0.00,0.000,6,0.000,0.030,2327,2093,3847,0,0,0,0,0,0
$GC,4010,-0.80,-136.7,685.0,-12.2,167,4013,0.00,2.25,0.00,0.000,4,0.000,0.052,2317,3511,3844,0,0,0,0,0,0
$GC,4037,-0.80,-136.7,688.4,-12.6,167,4041,0.00,2.12,0.00,0.000,6,0.000,0.032,2317,2100,3844,0,0,0,0,0,0
$GC,4299,-0.80,-136.7,723.0,-13.4,174,4303,0.00,2.12,0.00,0.000,4,0.000,0.043,2317,695,3841,0,0,0,0,0,0
$GC,4372,-0.80,-136.7,733.0,-13.5,175,4376,0.12,2.15,0.00,0.000,6,0.179,0.041,2337,2102,3840,0,0,0,0,0,0
$GC,4627,-0.80,-136.7,761.6,-11.4,182,4631,0.00,2.12,0.00,0.000,4,0.000,0.039,2337,695,3838,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,764.2,-11.6,182,4654,0.00,2.17,0.00,0.000,6,0.000,0.040,2329,2104,3838,0,0,0,0,0,0
$GC,4905,-0.80,-136.7,793.6,-11.5,189,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2104,3835,0,0,0,0,0,0
$GC,5149,-0.80,-136.7,821.7,-11.3,195,5153,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3507,3832,0,0,0,0,0,0
$GC,5227,-0.80,-136.7,830.7,-11.7,196,5233,0.00,2.12,0.00,0.000,6,0.000,0.031,2323,2092,3833,0,0,0,0,0,0
$GC,5477,-0.80,-136.7,858.4,-11.0,203,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2086,3831,0,0,0,0,0,0
$GC,5721,-0.80,-136.7,885.8,-11.2,209,5725,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,698,3827,0,0,0,0,0,0
$GC,5760,-0.80,-136.7,890.2,-11.2,210,5765,0.12,2.17,0.00,0.000,6,0.183,0.044,2337,2102,3828,0,0,0,0,0,0
$STATE,5878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5878,begin apogee
$GC,5886,-0.28,0.0,902.7,10.3,213,6002,0.55,0.00,111.20,1.079,6,0.140,0.000,2503,1921,3300,0,0,0,0,0,0
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6007,0.80,136.7,906.2,0.0,216,6140,1.02,2.22,120.38,1.041,4,0.091,0.038,2858,592,2741,0,0,0,0,0,0
$GC,6163,0.80,136.7,889.1,18.4,219,6167,0.00,2.22,0.00,0.000,6,0.000,0.035,2857,1959,2735,0,0,0,0,0,0
$GC,6413,0.80,136.7,842.6,18.6,225,6416,0.00,2.28,0.00,0.000,4,0.000,0.054,2857,3368,2731,0,0,0,0,0,0
$GC,6452,0.80,136.7,834.8,19.8,225,6458,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1983,2730,0,0,0,0,0,0
$GC,6703,0.80,136.7,789.1,18.3,232,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1980,2728,0,0,0,0,0,0
$GC,6946,0.80,136.7,743.2,18.7,238,6950,0.00,2.20,0.00,0.000,4,0.000,0.041,2877,557,2730,0,0,0,0,0,0
$GC,6991,0.80,136.7,734.5,19.8,239,6995,0.00,2.20,0.00,0.000,6,0.000,0.037,2877,1973,2728,0,0,0,0,0,0
$GC,7268,0.80,136.7,681.9,18.9,246,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1974,2727,0,0,0,0,0,0
$GC,7513,0.80,136.7,637.6,17.8,252,7517,0.00,2.22,0.00,0.000,4,0.000,0.055,2877,3361,2726,0,0,0,0,0,0
$GC,7575,0.80,136.7,625.8,18.6,253,7580,0.12,2.15,0.00,0.000,6,0.206,0.031,2856,1951,2726,0,0,0,0,0,0
$GC,7836,0.80,136.7,582.9,16.4,260,7840,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,558,2725,0,0,0,0,0,0
$GC,7891,0.80,136.7,573.4,16.4,261,7895,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1961,2722,0,0,0,0,0,0
$GC,8165,0.80,136.7,527.3,16.9,268,8169,0.00,2.22,0.00,0.000,4,0.000,0.053,2867,3366,2723,0,0,0,0,0,0
$GC,8209,0.80,136.7,518.8,18.6,269,8212,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1963,2723,0,0,0,0,0,0
$GC,8493,0.80,136.7,467.7,17.9,276,8497,0.00,2.12,0.00,0.000,4,0.000,0.039,2886,557,2722,0,0,0,0,0,0
$GC,8514,0.80,136.7,463.6,18.4,276,8519,0.12,2.15,0.00,0.000,6,0.193,0.036,2859,1958,2721,0,0,0,0,0,0
$GC,8771,0.80,136.7,423.6,15.3,283,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1964,2721,0,0,0,0,0,0
$GC,9013,0.80,136.7,386.1,15.6,289,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1960,2721,0,0,0,0,0,0
$GC,9257,0.80,136.7,347.8,15.9,295,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1960,2721,0,0,0,0,0,0
$GC,9502,0.80,136.7,313.9,13.4,301,9506,0.00,2.25,0.00,0.000,4,0.000,0.052,2858,3373,2720,0,0,0,0,0,0
$GC,9551,0.80,136.7,307.0,13.7,302,9555,0.00,2.15,0.00,0.000,6,0.000,0.030,2867,1955,2721,0,0,0,0,0,0
$GC,9812,0.80,136.7,277.9,10.5,313,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1950,2720,0,0,0,0,0,0
$GC,10060,0.80,136.7,248.6,11.5,325,10064,0.00,2.28,0.00,0.000,4,0.000,0.051,2867,3371,2720,0,0,0,0,0,0
$GC,10110,0.80,136.7,241.7,14.3,327,10114,0.00,2.15,0.00,0.000,6,0.000,0.030,2878,1948,2721,0,0,0,0,0,0
$GC,10370,0.80,136.7,212.3,9.1,340,10374,0.00,2.08,0.00,0.000,4,0.000,0.037,2888,557,2720,0,0,0,0,0,0
$GC,10398,0.80,136.7,209.6,9.6,341,10403,0.12,2.15,0.00,0.000,6,0.181,0.035,2859,1969,2718,0,0,0,0,0,0
$GC,10665,0.80,144.3,184.9,8.3,361,10669,0.00,2.20,0.00,0.000,4,0.000,0.049,2859,3360,2720,0,0,0,0,0,0
$GC,10727,0.80,144.3,178.9,9.6,366,10731,0.00,2.10,0.00,0.000,6,0.000,0.029,2868,1953,2720,0,0,0,0,0,0
$GC,10995,0.88,204.0,159.1,6.0,390,11054,0.00,2.28,52.55,0.558,4,0.000,0.048,2869,3362,2467,0,0,0,0,0,0
$GC,11177,0.88,204.0,141.2,12.0,406,11181,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1959,2466,0,0,0,0,0,0
$GC,11442,0.88,204.0,108.6,12.2,430,11446,0.00,2.10,0.00,0.000,4,0.000,0.038,2890,560,2464,0,0,0,0,0,0
$GC,11647,0.88,207.4,89.9,8.4,448,11651,0.00,2.15,0.00,0.000,6,0.000,0.033,2889,1971,2462,0,0,0,0,0,0
$GC,11914,0.88,207.4,63.9,10.4,472,11927,0.00,2.22,4.03,0.321,4,0.000,0.048,2888,3362,2455,0,0,0,0,0,0
$GC,12097,0.88,207.4,42.1,11.1,488,12101,0.00,2.12,0.00,0.000,6,0.000,0.028,2900,1953,2456,0,0,0,0,0,0
$GC,12361,0.88,207.4,14.4,9.9,526,12369,0.00,2.12,0.00,0.000,4,0.000,0.038,2911,558,2456,0,0,0,0,0,0
$STATE,12470,end climb,SURFACE_DEPTH_REACHED
$STATE,12471,begin surface coast
$FINISH,0.4,1.010304
$STATE,12500,end surface coast,CONTROL_FINISHED_OK
$STATE,12500,begin surface
$SM_CCo,12524,45.38,0.415,0,0,2080,300.49
$SM_GC,2.24,0.00,0.00,45.38,0.000,0.000,0.415,53,2115,2080,-7.95,0.45,300.49
$IRIDIUM_FIX,1904.66,-15639.09,260213,040420
$TT8_MAMPS,0.247741
$HUMID,1078850958
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.00
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6294962176
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,20278345728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,53.742
$10V_AH,9.7,49.025
$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,20.050,130.000,288.150,45.375,0.000,87.799,111.534,679.565,23.000,0.000,12.363,1203.060,9062.154,399.503,2694.923,479.431,33.359,1184.812,0.000,1832.137,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,59.059,1079.169,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.126,0.000,922.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26936,551
$CAP_FILE_SIZE,129086,0
$CFSIZE,260165632,177307648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,161.8,1
$GPS,030911,141707,1911.982,-15641.506,30,1.6,30,9.6