version: 66.07
glider: 513
mission: 7
dive: 392
start: 9 3 111 18 30 55
data:
$ID,513
$MISSION,7
$DIVE,392
$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,-431046.41
$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,53
$R_STBD_OVSHOOT,59
$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,391
$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
$GPS1,030911,181107,1911.726,-15640.959,42,1.1,42,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.4
$GPS2,030911,182956,1911.235,-15640.574,13,1.3,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.025,0.238
$KALMAN_X,-163354.8,92.2,-124.5,186277.4,6224.6
$KALMAN_Y,-342624.3,1986.3,993.0,249842.9,-16015.3
$MHEAD_RNG_PITCHd_Wd,332.8,118342,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,80,0.00,0.00,-51.10,0.000,2,0.000,0.000,35,2136,3544,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.3,-5.6,8,106,10.00,2.15,-5.60,0.000,4,0.245,0.061,2320,3502,3858,0,0,0,0,0,0
$GC,279,-0.80,-136.7,71.3,-26.9,31,288,0.00,2.15,0.00,0.000,6,0.000,0.038,2320,2119,3862,0,0,0,0,0,0
$GC,546,-0.80,-136.7,153.5,-26.1,56,550,0.00,2.17,0.00,0.000,4,0.000,0.041,2320,691,3863,0,0,0,0,0,0
$GC,566,-0.80,-136.7,158.9,-23.8,57,571,0.12,2.12,0.00,0.000,6,0.183,0.041,2339,2085,3863,0,0,0,0,0,0
$GC,830,-0.80,-136.7,212.0,-19.0,78,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2086,3864,0,0,0,0,0,0
$GC,1072,-0.80,-136.7,255.1,-17.7,90,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2086,3866,0,0,0,0,0,0
$GC,1320,-0.80,-136.7,293.6,-15.2,102,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2086,3866,0,0,0,0,0,0
$GC,1585,-0.80,-136.7,333.3,-15.1,110,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2086,3866,0,0,0,0,0,0
$GC,1830,-0.80,-136.7,371.2,-15.4,116,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2086,3866,0,0,0,0,0,0
$GC,2072,-0.80,-136.7,407.3,-14.7,122,2076,0.00,2.15,0.00,0.000,4,0.000,0.044,2339,685,3864,0,0,0,0,0,0
$GC,2128,-0.80,-136.7,415.7,-14.9,123,2131,0.00,2.17,0.00,0.000,6,0.000,0.045,2326,2101,3864,0,0,0,0,0,0
$GC,2400,-0.80,-136.7,455.1,-14.4,130,2404,0.00,2.20,0.00,0.000,4,0.000,0.053,2320,3509,3862,0,0,0,0,0,0
$GC,2450,-0.80,-136.7,462.7,-15.0,131,2454,0.00,2.15,0.00,0.000,6,0.000,0.031,2319,2083,3861,0,0,0,0,0,0
$GC,2728,-0.80,-136.7,503.4,-14.3,138,2732,0.00,2.08,0.00,0.000,4,0.000,0.042,2319,696,3856,0,0,0,0,0,0
$GC,2762,-0.80,-136.7,508.4,-14.6,138,2768,0.12,2.17,0.00,0.000,6,0.168,0.043,2341,2107,3858,0,0,0,0,0,0
$GC,3011,-0.80,-136.7,539.2,-12.0,145,3015,0.00,2.20,0.00,0.000,4,0.000,0.054,2331,3516,3855,0,0,0,0,0,0
$GC,3073,-0.80,-136.7,546.6,-11.2,146,3076,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2095,3854,0,0,0,0,0,0
$GC,3340,-0.80,-136.7,579.6,-12.6,153,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2089,3852,0,0,0,0,0,0
$GC,3583,-0.80,-136.7,611.5,-13.2,159,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2088,3851,0,0,0,0,0,0
$GC,3827,-0.80,-136.7,643.8,-13.4,165,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2089,3845,0,0,0,0,0,0
$GC,4070,-0.80,-136.7,678.0,-14.1,171,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2088,3844,0,0,0,0,0,0
$GC,4314,-0.80,-136.7,711.9,-13.7,177,4318,0.00,2.10,0.00,0.000,4,0.000,0.041,2332,696,3842,0,0,0,0,0,0
$GC,4348,-0.80,-136.7,716.8,-14.6,177,4354,0.00,2.17,0.00,0.000,6,0.000,0.042,2321,2104,3841,0,0,0,0,0,0
$GC,4599,-0.80,-136.7,752.0,-14.2,184,4603,0.00,2.20,0.00,0.000,4,0.000,0.053,2310,3505,3839,0,0,0,0,0,0
$GC,4638,-0.80,-136.7,757.8,-15.4,185,4643,0.10,2.15,0.00,0.000,6,0.172,0.031,2334,2096,3836,0,0,0,0,0,0
$GC,4923,-0.80,-136.7,794.1,-12.7,192,4927,0.00,2.12,0.00,0.000,4,0.000,0.041,2334,698,3836,0,0,0,0,0,0
$GC,4964,-0.80,-136.7,799.5,-12.8,193,4968,0.00,2.15,0.00,0.000,6,0.000,0.044,2326,2099,3837,0,0,0,0,0,0
$GC,5248,-0.80,-136.7,836.9,-13.2,200,5252,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3509,3834,0,0,0,0,0,0
$GC,5311,-0.80,-136.7,845.5,-14.2,201,5315,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2103,3834,0,0,0,0,0,0
$GC,5578,-0.80,-136.7,882.4,-13.8,208,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2092,3831,0,0,0,0,0,0
$STATE,5737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5744,-0.28,0.0,904.2,13.4,212,5860,0.62,0.00,111.47,1.073,6,0.146,0.000,2499,1922,3302,0,0,0,0,0,0
$STATE,5862,end apogee,CONTROL_FINISHED_OK
$STATE,5862,begin climb
$GC,5866,0.80,136.7,909.5,0.0,215,5999,1.02,2.25,121.15,1.039,4,0.094,0.038,2852,584,2741,0,0,0,0,0,0
$GC,6017,0.80,136.7,895.7,16.7,218,6021,0.00,2.22,0.00,0.000,6,0.000,0.037,2852,1955,2737,0,0,0,0,0,0
$GC,6272,0.80,136.7,849.1,18.2,225,6276,0.00,2.30,0.00,0.000,4,0.000,0.053,2852,3370,2733,0,0,0,0,0,0
$GC,6377,0.80,136.7,829.1,19.4,227,6382,0.00,2.17,0.00,0.000,6,0.000,0.031,2859,1985,2733,0,0,0,0,0,0
$GC,6651,0.80,136.7,778.3,18.6,234,6655,0.00,2.17,0.00,0.000,4,0.000,0.039,2874,559,2733,0,0,0,0,0,0
$GC,6678,0.80,136.7,772.8,18.9,234,6682,0.00,2.17,0.00,0.000,6,0.000,0.035,2874,1969,2729,0,0,0,0,0,0
$GC,6933,0.80,136.7,720.9,20.3,241,6937,0.00,2.22,0.00,0.000,4,0.000,0.052,2874,3368,2729,0,0,0,0,0,0
$GC,6966,0.80,136.7,713.6,21.7,241,6971,0.12,2.15,0.00,0.000,6,0.208,0.031,2856,1950,2729,0,0,0,0,0,0
$GC,7216,0.80,136.7,663.7,19.9,247,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1945,2728,0,0,0,0,0,0
$GC,7460,0.80,136.7,616.8,19.2,253,7464,0.00,2.12,0.00,0.000,4,0.000,0.037,2866,558,2726,0,0,0,0,0,0
$GC,7482,0.80,136.7,612.4,19.4,253,7486,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1967,2725,0,0,0,0,0,0
$GC,7738,0.80,136.7,563.6,18.7,260,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1965,2722,0,0,0,0,0,0
$GC,7980,0.80,136.7,519.6,17.9,266,7984,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3361,2725,0,0,0,0,0,0
$GC,8008,0.80,136.7,514.5,18.3,266,8012,0.00,2.15,0.00,0.000,6,0.000,0.029,2876,1963,2725,0,0,0,0,0,0
$GC,8264,0.80,136.7,471.8,16.6,273,8268,0.00,2.12,0.00,0.000,4,0.000,0.038,2887,558,2727,0,0,0,0,0,0
$GC,8281,0.80,136.7,469.1,15.9,273,8286,0.12,2.15,0.00,0.000,6,0.196,0.033,2859,1966,2722,0,0,0,0,0,0
$GC,8542,0.80,136.7,432.8,13.2,280,8546,0.00,2.22,0.00,0.000,4,0.000,0.050,2848,3361,2722,0,0,0,0,0,0
$GC,8592,0.80,136.7,425.6,13.7,281,8596,0.00,2.12,0.00,0.000,6,0.000,0.028,2857,1945,2723,0,0,0,0,0,0
$GC,8871,0.80,136.7,385.0,14.9,288,8875,0.00,2.08,0.00,0.000,4,0.000,0.038,2868,562,2722,0,0,0,0,0,0
$GC,8904,0.80,136.7,379.2,16.1,288,8910,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1963,2721,0,0,0,0,0,0
$GC,9154,0.80,136.7,340.9,15.0,295,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1962,2721,0,0,0,0,0,0
$GC,9399,0.80,136.7,306.8,13.7,301,9403,0.00,2.12,0.00,0.000,4,0.000,0.036,2879,561,2721,0,0,0,0,0,0
$GC,9415,0.80,136.7,304.3,13.6,301,9419,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1962,2720,0,0,0,0,0,0
$GC,9685,0.80,136.7,272.0,11.8,313,9689,0.00,2.12,0.00,0.000,4,0.000,0.035,2889,557,2721,0,0,0,0,0,0
$GC,9850,0.80,136.7,253.4,10.6,320,9855,0.15,2.12,0.00,0.000,6,0.183,0.031,2853,1962,2720,0,0,0,0,0,0
$GC,10104,0.80,136.7,226.8,11.1,332,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1961,2719,0,0,0,0,0,0
$GC,10353,0.80,136.7,200.1,10.0,344,10357,0.00,2.20,0.00,0.000,4,0.000,0.048,2853,3358,2720,0,0,0,0,0,0
$GC,10407,0.80,136.7,194.1,10.8,348,10415,0.00,2.12,0.00,0.000,6,0.000,0.028,2861,1951,2720,0,0,0,0,0,0
$GC,10672,0.81,149.6,173.2,8.0,373,10686,0.00,2.15,8.62,0.512,4,0.000,0.037,2873,565,2689,0,0,0,0,0,0
$GC,10788,0.81,149.6,163.7,9.2,383,10792,0.00,2.08,0.00,0.000,6,0.000,0.032,2873,1957,2687,0,0,0,0,0,0
$GC,11055,0.81,149.6,137.3,10.4,407,11059,0.00,2.20,0.00,0.000,4,0.000,0.048,2872,3360,2688,0,0,0,0,0,0
$GC,11309,1.05,340.4,122.1,0.5,429,11474,0.10,2.10,153.85,0.526,6,0.136,0.026,2932,1966,1911,0,0,0,0,0,0
$GC,11729,1.05,340.4,67.0,19.0,467,11733,0.00,2.12,0.00,0.000,4,0.000,0.038,2943,574,1905,0,0,0,0,0,0
$GC,11793,1.05,340.4,54.6,19.4,472,11797,0.00,2.10,0.00,0.000,6,0.000,0.029,2939,1962,1905,0,0,0,0,0,0
$STATE,12053,end climb,SURFACE_DEPTH_REACHED
$STATE,12053,begin surface coast
$FINISH,0.2,1.009008
$STATE,12071,end surface coast,CONTROL_FINISHED_OK
$STATE,12071,begin surface
$SM_CCo,12152,0.00,0.000,0,0,1903,342.92
$SM_GC,1.33,7.72,0.00,0.00,0.048,0.000,0.000,59,2157,1903,-7.87,1.61,342.92
$IRIDIUM_FIX,1904.66,-15644.19,260213,121238
$TT8_MAMPS,0.148031
$HUMID,1078973539
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,84
$AR_DIVENUM,392
$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,23.7,54.004
$10V_AH,9.8,49.201
$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,20.225,108.175,395.100,0.000,0.000,88.897,183.215,485.458,21.000,0.000,16.879,1098.828,8952.078,400.445,2401.142,433.545,33.357,1163.493,0.000,1649.447,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,67.496,1073.033,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.211,0.000,797.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26937,512
$CAP_FILE_SIZE,116656,0
$CFSIZE,260165632,177172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,167.6,1
$GPS,030911,215506,1911.389,-15640.648,37,1.1,42,9.6