version: 66.07
glider: 513
mission: 7
dive: 393
start: 9 3 111 22 5 47
data:
$ID,513
$MISSION,7
$DIVE,393
$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,-431063.5
$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,62
$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,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
$GPS1,030911,215506,1911.389,-15640.648,37,1.1,42,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.0
$GPS2,030911,220449,1911.186,-15640.507,9,1.1,14,9.6
$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,-161806.6,-679.9,-799.3,186323.4,7403.8
$KALMAN_Y,-346137.5,1679.1,845.3,253727.8,-16032.2
$MHEAD_RNG_PITCHd_Wd,338.7,118442,-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,-57.17,0.000,2,0.000,0.000,37,2158,3540,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.5,-5.8,9,112,9.93,2.20,-5.55,0.000,4,0.244,0.049,2337,714,3859,0,0,0,0,0,0
$GC,220,-0.80,-136.7,50.3,-30.2,26,224,0.00,2.12,0.00,0.000,6,0.000,0.050,2329,2089,3861,0,0,0,0,0,0
$GC,485,-0.80,-136.7,137.3,-30.9,50,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2093,3864,0,0,0,0,0,0
$GC,750,-0.80,-136.7,199.5,-22.2,75,753,0.00,2.08,0.00,0.000,4,0.000,0.040,2328,719,3864,0,0,0,0,0,0
$GC,790,-0.80,-136.7,209.5,-23.3,77,794,0.00,2.12,0.00,0.000,6,0.000,0.046,2319,2100,3865,0,0,0,0,0,0
$GC,1054,-0.80,-136.7,268.1,-21.5,90,1058,0.00,2.20,0.00,0.000,4,0.000,0.052,2303,3522,3866,0,0,0,0,0,0
$GC,1111,-0.80,-136.7,280.7,-21.8,92,1118,0.12,2.12,0.00,0.000,6,0.170,0.031,2337,2114,3867,0,0,0,0,0,0
$GC,1383,-0.80,-136.7,325.5,-15.2,102,1387,0.00,2.12,0.00,0.000,4,0.000,0.040,2338,698,3867,0,0,0,0,0,0
$GC,1428,-0.80,-136.7,332.7,-15.6,103,1432,0.00,2.15,0.00,0.000,6,0.000,0.042,2330,2108,3868,0,0,0,0,0,0
$GC,1718,-0.80,-136.7,376.0,-15.3,110,1722,0.00,2.20,0.00,0.000,4,0.000,0.048,2319,3517,3868,0,0,0,0,0,0
$GC,1739,-0.80,-136.7,379.9,-16.0,110,1743,0.00,2.12,0.00,0.000,6,0.000,0.030,2319,2098,3868,0,0,0,0,0,0
$GC,2001,-0.80,-136.7,418.8,-15.1,117,2005,0.00,2.12,0.00,0.000,4,0.000,0.038,2319,690,3867,0,0,0,0,0,0
$GC,2087,-0.80,-136.7,432.4,-16.4,119,2092,0.12,2.15,0.00,0.000,6,0.166,0.041,2340,2109,3865,0,0,0,0,0,0
$GC,2371,-0.80,-136.7,474.2,-14.8,126,2375,0.00,2.17,0.00,0.000,4,0.000,0.049,2331,3514,3864,0,0,0,0,0,0
$GC,2445,-0.80,-136.7,485.0,-14.1,127,2449,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2099,3864,0,0,0,0,0,0
$GC,2700,-0.80,-136.7,521.1,-14.0,134,2704,0.00,2.10,0.00,0.000,4,0.000,0.038,2331,686,3861,0,0,0,0,0,0
$GC,2732,-0.80,-136.7,526.1,-14.9,134,2738,0.00,2.12,0.00,0.000,6,0.000,0.041,2321,2106,3861,0,0,1,0,0,0
$GC,2983,-0.80,-136.7,561.9,-14.4,141,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3859,0,0,0,0,0,0
$GC,3227,-0.80,-136.7,595.6,-13.6,147,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2108,3856,0,0,0,0,0,0
$GC,3470,-0.80,-136.7,627.3,-12.9,153,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3854,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,657.4,-12.2,159,3718,0.00,2.20,0.00,0.000,4,0.000,0.052,2310,3506,3851,0,0,0,0,0,0
$GC,3759,-0.80,-136.7,662.9,-12.1,160,3763,0.12,2.12,0.00,0.000,6,0.166,0.032,2341,2100,3851,0,0,0,0,0,0
$GC,4049,-0.80,-136.7,695.0,-11.3,167,4053,0.00,2.15,0.00,0.000,4,0.000,0.042,2341,690,3848,0,0,0,0,0,0
$GC,4098,-0.80,-136.7,701.4,-12.3,168,4102,0.00,2.15,0.00,0.000,6,0.000,0.042,2333,2102,3845,0,0,0,0,0,0
$GC,4376,-0.80,-136.7,735.9,-12.5,175,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2102,3845,0,0,0,0,0,0
$GC,4622,-0.80,-136.7,769.0,-13.6,181,4626,0.00,2.22,0.00,0.000,4,0.000,0.054,2322,3512,3843,0,0,0,0,0,0
$GC,4654,-0.80,-136.7,773.8,-14.1,181,4660,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2094,3843,0,0,0,0,0,0
$GC,4904,-0.80,-136.7,808.6,-13.7,188,4908,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,694,3840,0,0,0,0,0,0
$GC,4967,-0.80,-136.7,817.3,-13.3,189,4971,0.00,2.15,0.00,0.000,6,0.000,0.044,2311,2098,3841,0,0,0,0,0,0
$GC,5233,-0.80,-136.7,853.5,-13.5,196,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2097,3838,0,0,0,0,0,0
$GC,5477,-0.80,-136.7,885.3,-12.9,202,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2097,3840,0,0,0,0,0,0
$STATE,5597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5597,begin apogee
$GC,5605,-0.28,0.0,900.1,12.3,205,5720,0.65,0.00,112.50,1.071,6,0.150,0.000,2501,1930,3306,0,0,0,0,0,0
$STATE,5743,end apogee,CONTROL_FINISHED_OK
$STATE,5743,begin climb
$GC,5746,0.80,136.7,903.3,0.0,208,5876,1.02,2.53,121.22,1.039,4,0.093,0.055,2845,3363,2743,0,0,0,0,0,0
$GC,5888,0.80,136.7,887.2,18.6,211,5892,0.00,2.22,0.00,0.000,6,0.000,0.028,2856,1964,2741,0,0,0,0,0,0
$GC,6150,0.80,136.7,834.8,20.1,218,6154,0.00,2.17,0.00,0.000,4,0.000,0.045,2867,559,2735,0,0,0,0,0,0
$GC,6196,0.80,136.7,825.1,21.2,219,6200,0.00,2.17,0.00,0.000,6,0.000,0.035,2865,1965,2732,0,0,0,0,0,0
$GC,6485,0.80,136.7,767.4,19.6,226,6489,0.00,2.25,0.00,0.000,4,0.000,0.051,2866,3364,2731,0,0,0,0,0,0
$GC,6525,0.80,136.7,759.3,20.9,227,6529,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,1945,2731,0,0,0,0,0,0
$GC,6809,0.80,136.7,702.4,19.9,234,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1941,2728,0,0,0,0,0,0
$GC,7052,0.80,136.7,657.2,18.7,240,7056,0.00,2.10,0.00,0.000,4,0.000,0.038,2887,558,2728,0,0,0,0,0,0
$GC,7081,0.80,136.7,652.4,17.9,240,7086,0.12,2.15,0.00,0.000,6,0.190,0.035,2857,1964,2726,0,0,0,0,0,0
$GC,7331,0.80,136.7,612.6,15.9,246,7335,0.00,2.20,0.00,0.000,4,0.000,0.050,2846,3361,2726,0,0,0,0,0,0
$GC,7403,0.80,136.7,600.6,16.5,247,7407,0.00,2.10,0.00,0.000,6,0.000,0.028,2855,1958,2729,0,0,0,0,0,0
$GC,7666,0.80,136.7,560.1,15.4,254,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1953,2723,0,0,0,0,0,0
$GC,7908,0.80,136.7,523.4,15.2,260,7912,0.00,2.10,0.00,0.000,4,0.000,0.039,2866,560,2728,0,0,0,0,0,0
$GC,7952,0.80,136.7,516.4,16.0,261,7956,0.00,2.12,0.00,0.000,6,0.000,0.035,2866,1961,2723,0,0,0,0,0,0
$GC,8237,0.80,136.7,471.0,16.1,268,8241,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3359,2724,0,0,0,0,0,0
$GC,8258,0.80,136.7,467.1,15.9,268,8262,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1962,2723,0,0,0,0,0,0
$GC,8519,0.80,136.7,425.8,15.7,275,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1957,2723,0,0,0,0,0,0
$GC,8763,0.80,136.7,387.9,15.9,281,8767,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3360,2723,0,0,0,0,0,0
$GC,8815,0.80,136.7,379.9,15.2,282,8819,0.12,2.12,0.00,0.000,6,0.196,0.029,2854,1951,2723,0,0,0,0,0,0
$GC,9087,0.80,136.7,345.4,12.4,289,9091,0.00,2.25,0.00,0.000,4,0.000,0.046,2843,3365,2722,0,0,0,0,0,0
$GC,9119,0.80,136.7,340.7,13.5,289,9125,0.00,2.12,0.00,0.000,6,0.000,0.029,2853,1942,2723,0,0,0,0,0,0
$GC,9371,0.80,136.7,306.8,13.5,296,9374,0.00,2.08,0.00,0.000,4,0.000,0.038,2864,566,2722,0,0,0,0,0,0
$GC,9443,0.80,136.7,295.0,14.9,298,9447,0.00,2.12,0.00,0.000,6,0.000,0.034,2864,1963,2720,0,0,0,0,0,0
$GC,9702,0.80,136.7,266.1,9.3,311,9706,0.00,2.10,0.00,0.000,4,0.000,0.035,2874,562,2720,0,0,0,0,0,0
$GC,9870,0.80,136.7,250.6,10.5,318,9875,0.00,2.12,0.00,0.000,6,0.000,0.033,2874,1962,2719,0,0,0,0,0,0
$GC,10123,0.80,136.7,222.3,11.2,331,10127,0.00,2.22,0.00,0.000,4,0.000,0.049,2870,3365,2720,0,0,0,0,0,0
$GC,10232,0.80,136.7,208.5,13.7,336,10236,0.00,2.10,0.00,0.000,6,0.000,0.028,2883,1961,2721,0,0,0,0,0,0
$GC,10496,0.80,136.7,178.5,10.9,357,10501,0.12,2.22,0.00,0.000,4,0.192,0.047,2843,3360,2721,0,0,0,0,0,0
$GC,10571,0.80,136.7,170.7,9.6,363,10575,0.00,2.10,0.00,0.000,6,0.000,0.027,2852,1952,2722,0,0,0,0,0,0
$GC,10837,0.88,204.3,153.1,5.7,387,10895,0.00,2.25,52.78,0.556,4,0.000,0.044,2851,3359,2466,0,0,0,0,0,0
$GC,10924,0.88,204.3,146.3,11.2,394,10928,0.00,2.12,0.00,0.000,6,0.000,0.030,2860,1965,2468,0,0,0,0,0,0
$GC,11189,0.88,204.3,117.4,10.0,418,11192,0.00,2.15,0.00,0.000,4,0.000,0.038,2871,557,2463,0,0,0,0,0,0
$GC,11427,0.90,222.7,97.3,7.8,439,11453,0.00,2.12,16.00,0.479,6,0.000,0.031,2871,1969,2392,0,0,0,0,0,0
$GC,11708,0.90,222.7,72.5,8.9,465,11712,0.00,2.15,0.00,0.000,4,0.000,0.037,2881,558,2391,0,0,0,0,0,0
$GC,11729,0.90,222.7,70.5,9.5,466,11733,0.00,2.12,0.00,0.000,6,0.000,0.031,2882,1967,2390,0,0,0,0,0,0
$GC,11994,0.90,222.7,42.4,11.0,490,11998,0.00,2.20,0.00,0.000,4,0.000,0.047,2882,3371,2391,0,0,0,0,0,0
$GC,12107,0.90,222.7,28.3,12.9,500,12115,0.00,2.15,0.00,0.000,6,0.000,0.029,2892,1961,2394,0,0,0,0,0,0
$STATE,12327,end climb,SURFACE_DEPTH_REACHED
$STATE,12327,begin surface coast
$FINISH,0.7,1.022683
$STATE,12352,end surface coast,CONTROL_FINISHED_OK
$STATE,12352,begin surface
$SM_CCo,12373,38.10,0.415,0,0,2074,300.24
$SM_GC,2.09,0.00,0.00,38.10,0.000,0.000,0.415,63,2114,2074,-7.92,0.40,300.24
$IRIDIUM_FIX,1904.66,-15642.09,260213,121224
$TT8_MAMPS,0.261547
$HUMID,1078859990
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.80
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256427008
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,19819134976
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,54.112
$10V_AH,9.8,49.289
$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,19.875,125.600,302.500,38.100,0.000,25.245,33.766,297.823,23.750,0.000,16.454,1190.473,8754.759,422.553,2223.508,414.087,33.354,1196.287,0.000,1838.231,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,67.496,1070.732,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,371.757,0.000,922.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26889,545
$CAP_FILE_SIZE,117958,0
$CFSIZE,260165632,177102848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.184,164.3,1
$GPS,040911,013437,1911.532,-15640.539,58,1.1,58,9.6