version: 66.07
glider: 513
mission: 7
dive: 398
start: 9 4 111 16 57 48
data:
$ID,513
$MISSION,7
$DIVE,398
$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,-431177.44
$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,46
$R_STBD_OVSHOOT,75
$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,397
$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
$GPS1,040911,164707,1911.503,-15639.659,35,1.1,35,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.5
$GPS2,040911,165650,1911.298,-15639.459,13,1.3,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.031,0.237
$KALMAN_X,-152512.3,206.4,-25.7,177166.2,7205.7
$KALMAN_Y,-357356.3,1688.9,891.2,265095.2,-10792.1
$MHEAD_RNG_PITCHd_Wd,334.6,118368,-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,-58.15,0.000,2,0.000,0.000,36,2143,3779,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.4,-7.3,9,112,9.98,2.15,-1.27,0.000,4,0.245,0.064,2318,3479,3859,0,0,0,0,0,0
$GC,143,-0.80,-136.7,31.1,-48.9,17,151,0.00,2.15,0.00,0.000,6,0.000,0.038,2316,2116,3866,0,0,0,0,0,0
$GC,406,-0.80,-136.7,123.2,-36.6,42,410,0.00,2.17,0.00,0.000,4,0.000,0.042,2318,677,3865,0,0,0,0,0,0
$GC,428,-0.80,-136.7,131.0,-32.4,43,436,0.10,2.17,0.00,0.000,6,0.174,0.044,2336,2055,3865,0,0,0,0,0,0
$GC,696,-0.80,-136.7,191.4,-20.7,68,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2057,3867,0,0,0,0,0,0
$GC,960,-0.80,-136.7,240.7,-16.7,83,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2057,3867,0,0,0,0,0,0
$GC,1209,-0.80,-136.7,283.9,-17.0,95,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2058,3870,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,328.2,-16.0,104,1477,0.00,2.08,0.00,0.000,4,0.000,0.041,2336,686,3871,0,0,0,0,0,0
$GC,1546,-0.80,-136.7,339.1,-15.1,105,1550,0.00,2.20,0.00,0.000,6,0.000,0.045,2327,2118,3870,0,0,0,0,0,0
$GC,1802,-0.80,-136.7,377.6,-15.0,112,1806,0.00,2.20,0.00,0.000,4,0.000,0.053,2317,3508,3871,0,0,0,0,0,0
$GC,1851,-0.80,-136.7,386.0,-15.9,113,1855,0.00,2.15,0.00,0.000,6,0.000,0.030,2317,2072,3870,0,0,0,0,0,0
$GC,2129,-0.80,-136.7,432.7,-16.9,120,2133,0.00,2.05,0.00,0.000,4,0.000,0.038,2317,701,3869,0,0,0,0,0,0
$GC,2162,-0.80,-136.7,438.5,-16.2,120,2167,0.12,2.12,0.00,0.000,6,0.173,0.040,2338,2102,3870,0,0,0,0,0,0
$GC,2414,-0.80,-136.7,472.9,-13.4,126,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2101,3867,0,0,0,0,0,0
$GC,2656,-0.80,-136.7,504.4,-12.8,132,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2101,3867,0,0,0,0,0,0
$GC,2899,-0.80,-136.7,533.4,-11.7,138,2903,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3513,3860,0,0,0,0,0,0
$GC,2945,-0.80,-136.7,538.8,-11.6,139,2949,0.00,2.12,0.00,0.000,6,0.000,0.031,2329,2102,3862,0,0,0,0,0,0
$GC,3222,-0.80,-136.7,572.3,-12.1,146,3226,0.00,2.15,0.00,0.000,4,0.000,0.043,2329,695,3859,0,0,0,0,0,0
$GC,3266,-0.80,-136.7,578.2,-13.1,147,3269,0.00,2.15,0.00,0.000,6,0.000,0.041,2318,2104,3859,0,0,0,0,0,0
$GC,3551,-0.80,-136.7,617.3,-13.8,154,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3855,0,0,0,0,0,0
$GC,3793,-0.80,-136.7,652.4,-14.7,160,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3853,0,0,0,0,0,0
$GC,4037,-0.80,-136.7,686.5,-13.8,166,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2103,3851,0,0,0,0,0,0
$GC,4281,-0.80,-136.7,719.4,-13.4,172,4285,0.00,2.22,0.00,0.000,4,0.000,0.053,2308,3509,3849,0,0,0,0,0,0
$GC,4315,-0.80,-136.7,723.8,-13.0,172,4322,0.12,2.12,0.00,0.000,6,0.164,0.030,2339,2099,3846,0,0,0,0,0,0
$GC,4565,-0.80,-136.7,751.1,-10.7,179,4568,0.00,2.15,0.00,0.000,4,0.000,0.042,2339,694,3845,0,0,0,0,0,0
$GC,4614,-0.80,-136.7,756.6,-11.4,180,4618,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2105,3846,0,0,0,0,0,0
$GC,4894,-0.80,-136.7,786.0,-10.5,187,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2103,3844,0,0,0,0,0,0
$GC,5137,-0.80,-136.7,810.9,-10.1,193,5141,0.00,2.20,0.00,0.000,4,0.000,0.053,2320,3510,3843,0,0,0,0,0,0
$GC,5192,-0.80,-136.7,816.8,-10.7,194,5196,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,2080,3841,0,0,0,0,0,0
$GC,5464,-0.80,-136.7,845.8,-10.8,201,5468,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,696,3840,0,0,0,0,0,0
$GC,5499,-0.80,-136.7,849.8,-11.4,201,5505,0.12,2.17,0.00,0.000,6,0.178,0.042,2340,2101,3842,0,0,0,0,0,0
$GC,5748,-0.80,-136.7,873.7,-9.4,208,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2101,3838,0,0,0,0,0,0
$GC,5992,-0.80,-136.7,896.9,-9.5,214,5996,0.00,2.15,0.00,0.000,4,0.000,0.043,2340,695,3836,0,0,0,0,0,0
$GC,6010,-0.80,-136.7,898.5,-9.7,214,6014,0.00,2.17,0.00,0.000,6,0.000,0.042,2332,2103,3837,0,0,0,0,0,0
$STATE,6025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6025,begin apogee
$GC,6032,-0.28,0.0,900.4,10.1,215,6149,0.57,0.00,114.00,1.072,6,0.143,0.000,2502,1935,3300,0,0,0,0,0,0
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6154,0.80,136.7,903.5,0.0,218,6283,1.02,0.00,121.25,1.042,6,0.094,0.000,2845,1935,2742,0,0,0,0,0,0
$GC,6519,0.80,136.7,849.8,17.6,227,6523,0.00,2.10,0.00,0.000,4,0.000,0.038,2855,577,2734,0,0,0,0,0,0
$GC,6541,0.80,136.7,845.6,18.0,227,6545,0.00,2.15,0.00,0.000,6,0.000,0.035,2849,1961,2732,0,0,1,0,0,0
$GC,6803,0.80,136.7,798.7,17.8,234,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1963,2735,0,0,0,0,0,0
$GC,7045,0.80,136.7,757.5,17.1,240,7050,0.00,2.28,0.00,0.000,4,0.000,0.054,2846,3383,2730,0,0,0,0,0,0
$GC,7090,0.80,136.7,749.6,17.9,241,7094,0.00,2.15,0.00,0.000,6,0.000,0.029,2859,1960,2730,0,0,0,0,0,0
$GC,7375,0.80,136.7,700.0,18.0,248,7378,0.00,2.12,0.00,0.000,4,0.000,0.040,2870,563,2729,0,0,0,0,0,0
$GC,7391,0.80,136.7,696.8,17.8,248,7395,0.00,2.17,0.00,0.000,6,0.000,0.036,2869,1970,2727,0,0,0,0,0,0
$GC,7657,0.80,136.7,649.0,18.0,255,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1973,2727,0,0,0,0,0,0
$GC,7902,0.80,136.7,604.4,18.4,261,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1973,2726,0,0,0,0,0,0
$GC,8146,0.80,136.7,561.6,17.5,267,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1973,2726,0,0,0,0,0,0
$GC,8389,0.80,136.7,519.7,17.1,273,8393,0.00,2.22,0.00,0.000,4,0.000,0.053,2868,3372,2726,0,0,0,0,0,0
$GC,8444,0.80,136.7,509.6,18.1,274,8449,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1964,2725,0,0,0,0,0,0
$GC,8719,0.80,136.7,462.0,17.7,281,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1958,2724,0,0,0,0,0,0
$GC,8960,0.80,136.7,420.1,16.9,287,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1961,2725,0,0,0,0,0,0
$GC,9205,0.80,136.7,383.2,14.7,293,9208,0.00,2.15,0.00,0.000,4,0.000,0.037,2889,548,2724,0,0,0,0,0,0
$GC,9249,0.80,136.7,376.6,15.1,294,9254,0.12,2.15,0.00,0.000,6,0.193,0.034,2860,1967,2722,0,0,0,0,0,0
$GC,9528,0.80,136.7,341.3,12.4,301,9532,0.00,2.22,0.00,0.000,4,0.000,0.051,2849,3365,2722,0,0,0,0,0,0
$GC,9572,0.80,136.7,335.2,13.7,302,9576,0.00,2.12,0.00,0.000,6,0.000,0.029,2858,1944,2721,0,0,0,0,0,0
$GC,9856,0.80,136.7,302.5,11.9,309,9860,0.00,2.08,0.00,0.000,4,0.000,0.037,2869,559,2726,0,0,0,0,0,0
$GC,9907,0.80,136.7,296.2,13.2,310,9911,0.00,2.15,0.00,0.000,6,0.000,0.034,2869,1960,2719,0,0,0,0,0,0
$GC,10160,0.80,136.7,265.5,11.9,322,10164,0.00,2.15,0.00,0.000,4,0.000,0.036,2879,556,2721,0,0,0,0,0,0
$GC,10233,0.80,136.7,257.7,9.8,325,10237,0.00,2.15,0.00,0.000,6,0.000,0.032,2880,1964,2721,0,0,0,0,0,0
$GC,10499,0.80,136.7,231.5,10.5,338,10503,0.00,2.20,0.00,0.000,4,0.000,0.051,2880,3360,2720,0,0,0,0,0,0
$GC,10757,0.80,136.7,202.7,11.8,349,10762,0.15,2.12,0.00,0.000,6,0.183,0.027,2853,1936,2721,0,0,0,0,0,0
$GC,11025,0.80,136.7,175.4,10.5,373,11029,0.00,2.25,0.00,0.000,4,0.000,0.048,2842,3362,2724,0,0,0,0,0,0
$GC,11134,0.80,136.7,163.1,11.9,382,11138,0.00,2.08,0.00,0.000,6,0.000,0.028,2851,1966,2721,0,0,0,0,0,0
$GC,11404,0.92,235.9,143.4,4.4,407,11492,0.12,0.00,78.97,0.551,6,0.100,0.000,2905,1959,2337,0,0,0,0,0,0
$GC,11747,0.92,235.9,107.0,11.8,440,11751,0.00,2.22,0.00,0.000,4,0.000,0.045,2897,3369,2331,0,0,0,0,0,0
$GC,11842,0.92,235.9,94.5,12.6,448,11846,0.00,2.15,0.00,0.000,6,0.000,0.031,2907,1956,2333,0,0,0,0,0,0
$GC,12110,0.92,235.9,62.3,12.7,472,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1955,2333,0,0,0,0,0,0
$GC,12373,0.92,235.9,27.7,12.4,498,12381,0.00,2.15,0.00,0.000,4,0.000,0.039,2918,561,2333,0,0,0,0,0,0
$GC,12485,0.92,235.9,13.1,12.6,518,12493,0.00,2.12,0.00,0.000,6,0.000,0.031,2918,1956,2333,0,0,0,0,0,0
$STATE,12558,end climb,SURFACE_DEPTH_REACHED
$STATE,12559,begin surface coast
$FINISH,0.2,1.009912
$STATE,12581,end surface coast,CONTROL_FINISHED_OK
$STATE,12583,begin surface
$SM_CCo,12605,33.95,0.416,0,0,2073,300.24
$SM_GC,1.56,0.00,0.00,33.95,0.000,0.000,0.416,57,2149,2073,-7.95,1.39,300.24
$IRIDIUM_FIX,1902.38,-15642.09,270213,070718
$TT8_MAMPS,0.269984
$HUMID,1078906442
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.30
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256263168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,19052331008
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,54.710
$10V_AH,9.8,49.727
$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,20.050,103.950,314.225,33.950,0.000,27.732,32.320,289.336,25.750,0.000,14.979,1138.723,9230.882,404.846,2041.861,413.805,33.354,1151.184,0.000,1687.406,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,65.195,1072.266,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.200,0.000,843.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26968,535
$CAP_FILE_SIZE,112127,0
$CFSIZE,260165632,176738304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.186,160.8,1
$GPS,040911,203007,1911.635,-15639.550,40,1.5,40,9.6