version: 66.07
glider: 513
mission: 7
dive: 391
start: 9 3 111 14 35 34
data:
$ID,513
$MISSION,7
$DIVE,391
$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,-431028.91
$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,50
$R_STBD_OVSHOOT,44
$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,390
$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
$GPS1,030911,141707,1911.982,-15641.506,30,1.6,30,9.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.8
$GPS2,030911,143437,1911.568,-15641.166,31,1.9,31,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.134,0.198
$KALMAN_X,-167747.4,319.9,178.7,189112.4,3568.9
$KALMAN_Y,-339554.6,2034.2,1353.9,246991.2,-17566.4
$MHEAD_RNG_PITCHd_Wd,334.5,117664,-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,-57.53,0.000,2,0.000,0.000,35,2115,3762,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.3,-7.3,9,112,9.98,2.25,-1.55,0.000,4,0.244,0.065,2320,3507,3863,0,0,0,0,0,0
$GC,276,-0.80,-136.7,72.6,-28.1,29,280,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,2114,3863,0,0,0,0,0,0
$GC,541,-0.80,-136.7,155.8,-28.1,53,545,0.00,2.12,0.00,0.000,4,0.000,0.041,2322,691,3863,0,0,0,0,0,0
$GC,595,-0.80,-136.7,167.9,-21.5,57,600,0.10,2.12,0.00,0.000,6,0.185,0.041,2333,2091,3863,0,0,0,0,0,0
$GC,853,-0.80,-136.7,219.7,-19.4,76,857,0.00,2.20,0.00,0.000,4,0.000,0.050,2325,3520,3867,0,0,0,0,0,0
$GC,892,-0.80,-136.7,227.3,-18.3,78,896,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2089,3867,0,0,0,0,0,0
$GC,1158,-0.80,-136.7,274.3,-18.0,91,1162,0.00,2.10,0.00,0.000,4,0.000,0.039,2325,696,3869,0,0,0,0,0,0
$GC,1230,-0.80,-136.7,286.1,-15.3,94,1234,0.00,2.15,0.00,0.000,6,0.000,0.041,2314,2106,3869,0,0,0,0,0,0
$GC,1493,-0.80,-136.7,328.7,-16.2,103,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2106,3872,0,0,0,0,0,0
$GC,1736,-0.80,-136.7,368.3,-15.9,109,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2105,3870,0,0,0,0,0,0
$GC,1980,-0.80,-136.7,406.1,-15.4,115,1984,0.00,2.17,0.00,0.000,4,0.000,0.041,2314,689,3868,0,0,0,0,0,0
$GC,2007,-0.80,-136.7,410.3,-15.0,115,2012,0.12,2.17,0.00,0.000,6,0.172,0.043,2336,2085,3868,0,0,0,0,0,0
$GC,2263,-0.80,-136.7,442.9,-12.7,122,2267,0.00,2.25,0.00,0.000,4,0.000,0.055,2327,3518,3865,0,0,0,0,0,0
$GC,2296,-0.80,-136.7,447.5,-13.4,122,2301,0.00,2.12,0.00,0.000,6,0.000,0.031,2323,2095,3865,0,0,0,0,0,0
$GC,2546,-0.80,-136.7,481.5,-13.8,129,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2087,3862,0,0,0,0,0,0
$GC,2789,-0.80,-136.7,515.3,-13.7,135,2793,0.00,2.10,0.00,0.000,4,0.000,0.041,2327,695,3860,0,0,0,0,0,0
$GC,2823,-0.80,-136.7,519.9,-14.4,135,2828,0.00,2.15,0.00,0.000,6,0.000,0.041,2317,2110,3863,0,0,0,0,0,0
$GC,3072,-0.80,-136.7,556.3,-15.0,142,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2107,3857,0,0,0,0,0,0
$GC,3316,-0.80,-136.7,592.2,-14.7,148,3320,0.00,2.20,0.00,0.000,4,0.000,0.055,2306,3502,3855,0,0,0,0,0,0
$GC,3344,-0.80,-136.7,596.5,-15.1,148,3349,0.12,2.12,0.00,0.000,6,0.163,0.033,2337,2100,3854,0,0,0,0,0,0
$GC,3599,-0.80,-136.7,629.0,-12.5,155,3603,0.00,2.10,0.00,0.000,4,0.000,0.041,2334,698,3851,0,0,0,0,0,0
$GC,3626,-0.80,-136.7,632.6,-12.4,155,3630,0.00,2.17,0.00,0.000,6,0.000,0.043,2330,2104,3850,0,0,0,0,0,0
$GC,3876,-0.80,-136.7,664.1,-12.8,161,3880,0.00,2.20,0.00,0.000,4,0.000,0.052,2318,3510,3849,0,0,0,0,0,0
$GC,3944,-0.80,-136.7,672.6,-12.2,162,3948,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2098,3849,0,0,0,0,0,0
$GC,4206,-0.80,-136.7,704.0,-11.9,169,4210,0.00,2.12,0.00,0.000,4,0.000,0.041,2318,699,3846,0,0,0,0,0,0
$GC,4266,-0.80,-136.7,711.5,-11.5,170,4271,0.05,2.20,0.00,0.000,6,0.143,0.043,2336,2099,3845,0,0,0,0,0,0
$GC,4534,-0.80,-136.7,739.7,-10.4,177,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2099,3842,0,0,0,0,0,0
$GC,4776,-0.80,-136.7,765.1,-10.3,183,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2099,3841,0,0,0,0,0,0
$GC,5020,-0.80,-136.7,790.7,-10.6,189,5024,0.00,2.22,0.00,0.000,4,0.000,0.055,2327,3503,3839,0,0,0,0,0,0
$GC,5083,-0.80,-136.7,797.6,-11.0,190,5087,0.00,2.15,0.00,0.000,6,0.000,0.033,2327,2098,3838,0,0,0,0,0,0
$GC,5350,-0.80,-136.7,827.9,-11.3,197,5354,0.00,2.15,0.00,0.000,4,0.000,0.045,2327,693,3836,0,0,0,0,0,0
$GC,5383,-0.80,-136.7,831.9,-12.5,197,5388,0.00,2.20,0.00,0.000,6,0.000,0.048,2319,2102,3836,0,0,0,0,0,0
$GC,5634,-0.80,-136.7,860.4,-11.5,204,5638,0.00,2.20,0.00,0.000,4,0.000,0.051,2306,3505,3833,0,0,0,0,0,0
$GC,5673,-0.80,-136.7,865.1,-11.8,205,5678,0.12,2.15,0.00,0.000,6,0.166,0.031,2338,2092,3833,0,0,0,0,0,0
$GC,5956,-0.80,-136.7,893.5,-10.0,212,5960,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,698,3831,0,0,0,0,0,0
$GC,5998,-0.80,-136.7,897.8,-10.6,213,6002,0.00,2.15,0.00,0.000,6,0.000,0.042,2330,2101,3831,0,0,0,0,0,0
$STATE,6017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6017,begin apogee
$GC,6024,-0.28,0.0,900.3,10.5,213,6139,0.55,0.00,112.20,1.074,6,0.142,0.000,2498,1920,3301,0,0,0,0,0,0
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6144,0.80,136.7,903.1,0.0,216,6277,1.05,2.25,120.55,1.041,4,0.094,0.039,2857,587,2741,0,0,0,0,0,0
$GC,6313,0.80,136.7,883.9,18.2,220,6317,0.00,2.20,0.00,0.000,6,0.000,0.037,2854,1958,2739,0,0,0,0,0,0
$GC,6598,0.80,136.7,832.5,18.0,227,6602,0.00,2.30,0.00,0.000,4,0.000,0.054,2854,3374,2732,0,0,0,0,0,0
$GC,6647,0.80,136.7,822.8,18.6,228,6651,0.00,2.12,0.00,0.000,6,0.000,0.032,2864,1984,2732,0,0,0,0,0,0
$GC,6925,0.80,136.7,773.1,18.0,235,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1978,2730,0,0,0,0,0,0
$GC,7169,0.80,136.7,726.8,18.9,241,7173,0.00,2.17,0.00,0.000,4,0.000,0.040,2874,559,2728,0,0,0,0,0,0
$GC,7220,0.80,136.7,716.6,19.1,242,7224,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1961,2726,0,0,0,0,0,0
$GC,7493,0.80,136.7,664.2,19.1,249,7497,0.00,2.25,0.00,0.000,4,0.000,0.054,2874,3367,2726,0,0,0,0,0,0
$GC,7516,0.80,136.7,659.7,19.7,249,7520,0.00,2.12,0.00,0.000,6,0.000,0.032,2883,1962,2726,0,0,0,0,0,0
$GC,7771,0.80,136.7,609.3,19.8,256,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1958,2725,0,0,0,0,0,0
$GC,8015,0.80,136.7,563.7,18.6,262,8016,0.12,0.00,0.00,0.000,6,0.199,0.000,2855,1955,2725,0,0,0,0,0,0
$GC,8258,0.80,136.7,524.7,15.6,268,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1956,2725,0,0,0,0,0,0
$GC,8502,0.80,136.7,488.8,14.6,274,8506,0.00,2.12,0.00,0.000,4,0.000,0.041,2863,557,2724,0,0,0,0,0,0
$GC,8548,0.80,136.7,482.1,16.0,275,8552,0.00,2.15,0.00,0.000,6,0.000,0.036,2855,1969,2722,0,0,0,0,0,0
$GC,8836,0.80,136.7,439.3,14.9,282,8840,0.00,2.22,0.00,0.000,4,0.000,0.054,2844,3363,2723,0,0,0,0,0,0
$GC,8876,0.80,136.7,433.2,14.8,283,8880,0.00,2.12,0.00,0.000,6,0.000,0.030,2853,1955,2723,0,0,0,0,0,0
$GC,9160,0.80,136.7,392.1,14.1,290,9164,0.00,2.12,0.00,0.000,4,0.000,0.041,2864,557,2723,0,0,0,0,0,0
$GC,9232,0.80,136.7,381.8,13.9,291,9236,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1960,2722,0,0,0,0,0,0
$GC,9487,0.80,136.7,346.1,13.8,298,9491,0.00,2.12,0.00,0.000,4,0.000,0.039,2874,559,2724,0,0,0,0,0,0
$GC,9499,0.80,136.7,344.5,13.9,298,9503,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1960,2721,0,0,0,0,0,0
$GC,9766,0.80,136.7,307.5,13.5,305,9770,0.00,2.12,0.00,0.000,4,0.000,0.041,2884,563,2721,0,0,0,0,0,0
$GC,9782,0.80,136.7,304.9,14.2,305,9787,0.12,2.15,0.00,0.000,6,0.188,0.038,2855,1965,2718,0,0,0,0,0,0
$GC,10046,0.80,136.7,271.4,13.0,317,10050,0.00,2.22,0.00,0.000,4,0.000,0.055,2845,3361,2721,0,0,0,0,0,0
$GC,10157,0.80,136.7,257.8,12.3,322,10161,0.00,2.10,0.00,0.000,6,0.000,0.030,2853,1960,2723,0,0,0,0,0,0
$GC,10423,0.80,136.7,232.1,9.5,335,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1958,2721,0,0,0,0,0,0
$GC,10670,0.82,155.1,211.8,7.8,347,10691,0.00,2.17,13.15,0.581,4,0.000,0.040,2865,563,2666,0,0,0,0,0,0
$GC,10895,0.82,155.1,188.2,9.5,361,10899,0.00,2.15,0.00,0.000,6,0.000,0.036,2865,1964,2663,0,0,0,0,0,0
$GC,11160,0.82,155.1,164.3,9.0,385,11164,0.00,2.22,0.00,0.000,4,0.000,0.053,2860,3360,2664,0,0,0,0,0,0
$GC,11294,0.82,155.1,150.2,10.2,396,11303,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,1956,2665,0,0,0,0,0,0
$GC,11560,0.90,223.6,129.9,5.7,421,11622,0.00,2.15,57.08,0.538,4,0.000,0.041,2884,564,2387,0,0,0,0,0,0
$GC,11812,0.90,223.6,107.9,10.0,443,11816,0.00,2.17,0.00,0.000,6,0.000,0.036,2886,1964,2381,0,0,0,0,0,0
$GC,12078,0.90,223.6,76.3,11.6,467,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1963,2381,0,0,0,0,0,0
$GC,12341,0.90,223.6,47.4,10.3,492,12345,0.00,2.12,0.00,0.000,4,0.000,0.038,2897,558,2381,0,0,0,0,0,0
$GC,12496,0.90,223.6,30.9,11.0,505,12500,0.00,2.15,0.00,0.000,6,0.000,0.033,2896,1969,2382,0,0,0,0,0,0
$STATE,12739,end climb,SURFACE_DEPTH_REACHED
$STATE,12740,begin surface coast
$FINISH,0.4,1.022812
$STATE,12762,end surface coast,CONTROL_FINISHED_OK
$STATE,12762,begin surface
$SM_CCo,12793,37.70,0.417,0,0,2075,300.73
$SM_GC,1.87,0.00,0.00,37.70,0.000,0.000,0.417,53,2128,2075,-7.95,0.82,300.73
$IRIDIUM_FIX,1902.38,-15639.09,260213,080845
$TT8_MAMPS,0.252343
$HUMID,1078870313
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.80
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256492544
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,20127547392
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,53.866
$10V_AH,9.8,49.116
$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,19.825,125.775,302.975,37.700,0.000,84.462,112.703,459.532,22.500,0.000,36.840,1208.189,9284.713,397.488,2563.439,434.410,33.363,1203.257,0.000,1860.826,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,74.399,1073.800,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,378.455,0.000,896.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353616
$DATA_FILE_SIZE,26948,554
$CAP_FILE_SIZE,125500,0
$CFSIZE,260165632,177238016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,160.9,1
$GPS,030911,181107,1911.726,-15640.959,42,1.1,42,9.6