version: 66.07
glider: 513
mission: 7
dive: 403
start: 9 5 111 12 11 33
data:
$ID,513
$MISSION,7
$DIVE,403
$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,-431293.41
$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,57
$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,402
$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
$GPS1,050911,115052,1911.460,-15638.330,24,3.4,43,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-78.2
$GPS2,050911,121034,1911.106,-15638.082,15,3.2,34,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.237,0.032
$KALMAN_X,-145386.4,331.7,22.6,172267.3,6193.8
$KALMAN_Y,-375130.6,2037.2,1217.0,281840.1,-12610.5
$MHEAD_RNG_PITCHd_Wd,333.7,118940,-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,25,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-52.62,0.000,2,0.000,0.000,35,2125,3594,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.5,-5.3,8,109,9.93,2.15,-4.55,0.000,4,0.242,0.048,2342,699,3859,0,0,0,0,0,0
$GC,261,-0.80,-136.7,63.3,-28.2,29,265,0.00,2.10,0.00,0.000,6,0.000,0.042,2333,2076,3861,0,0,0,0,0,0
$GC,528,-0.80,-136.7,145.9,-31.1,53,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2081,3862,0,0,0,0,0,0
$GC,799,-0.80,-136.7,211.2,-22.0,77,803,0.00,2.08,0.00,0.000,4,0.000,0.038,2333,705,3863,0,0,0,0,0,0
$GC,826,-0.80,-136.7,218.2,-23.4,78,830,0.00,2.12,0.00,0.000,6,0.000,0.044,2323,2097,3863,0,0,0,0,0,0
$GC,1086,-0.80,-136.7,271.5,-19.7,91,1090,0.00,2.22,0.00,0.000,4,0.000,0.051,2312,3520,3864,0,0,0,0,0,0
$GC,1155,-0.80,-136.7,284.5,-18.3,94,1159,0.00,2.12,0.00,0.000,6,0.000,0.031,2312,2109,3864,0,0,0,0,0,0
$GC,1413,-0.80,-136.7,329.2,-17.5,103,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2103,3865,0,0,0,0,0,0
$GC,1655,-0.80,-136.7,376.3,-19.5,109,1659,0.00,2.15,0.00,0.000,4,0.000,0.044,2312,697,3868,0,0,0,0,0,0
$GC,1742,-0.80,-136.7,392.6,-18.5,111,1746,0.15,2.15,0.00,0.000,6,0.167,0.042,2337,2105,3865,0,0,0,0,0,0
$GC,2025,-0.80,-136.7,432.6,-13.5,118,2029,0.00,2.15,0.00,0.000,4,0.000,0.039,2340,697,3864,0,0,0,0,0,0
$GC,2052,-0.80,-136.7,436.2,-12.6,118,2056,0.00,2.12,0.00,0.000,6,0.000,0.041,2332,2109,3865,0,0,0,0,0,0
$GC,2303,-0.80,-136.7,470.3,-13.6,124,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2104,3862,0,0,0,0,0,0
$GC,2546,-0.80,-136.7,502.8,-13.2,130,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2104,3860,0,0,0,0,0,0
$GC,2789,-0.80,-136.7,535.9,-13.7,136,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2104,3857,0,0,0,0,0,0
$GC,3033,-0.80,-136.7,569.6,-13.8,142,3037,0.00,2.15,0.00,0.000,4,0.000,0.041,2331,699,3854,0,0,0,0,0,0
$GC,3067,-0.80,-136.7,574.4,-13.7,142,3074,0.00,2.15,0.00,0.000,6,0.000,0.041,2322,2097,3852,0,0,0,0,0,0
$GC,3317,-0.80,-136.7,608.7,-14.1,149,3321,0.00,2.25,0.00,0.000,4,0.000,0.055,2310,3514,3851,0,0,0,0,0,0
$GC,3345,-0.80,-136.7,612.7,-13.4,149,3349,0.10,2.12,0.00,0.000,6,0.173,0.031,2334,2095,3851,0,0,0,0,0,0
$GC,3601,-0.80,-136.7,642.8,-11.7,156,3605,0.00,2.10,0.00,0.000,4,0.000,0.038,2334,687,3849,0,0,0,0,0,0
$GC,3634,-0.80,-136.7,647.3,-12.8,156,3639,0.00,2.15,0.00,0.000,6,0.000,0.041,2326,2105,3849,0,0,0,0,0,0
$GC,3884,-0.80,-136.7,677.5,-11.9,163,3888,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3514,3846,0,0,0,0,0,0
$GC,3934,-0.80,-136.7,683.9,-13.0,164,3938,0.00,2.15,0.00,0.000,6,0.000,0.031,2315,2096,3845,0,0,0,0,0,0
$GC,4214,-0.80,-136.7,719.6,-12.8,171,4218,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,698,3842,0,0,0,0,0,0
$GC,4235,-0.80,-136.7,723.1,-13.8,171,4240,0.12,2.17,0.00,0.000,6,0.179,0.042,2335,2106,3842,0,0,0,0,0,0
$GC,4490,-0.80,-136.7,750.4,-10.3,178,4494,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3517,3840,0,0,0,0,0,0
$GC,4547,-0.80,-136.7,756.5,-10.7,179,4552,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2105,3839,0,0,0,0,0,0
$GC,4820,-0.80,-136.7,786.3,-11.0,186,4824,0.00,2.15,0.00,0.000,4,0.000,0.044,2326,691,3837,0,0,0,0,0,0
$GC,4864,-0.80,-136.7,791.3,-11.4,187,4868,0.00,2.17,0.00,0.000,6,0.000,0.044,2316,2105,3836,0,0,0,0,0,0
$GC,5149,-0.80,-136.7,824.6,-11.9,194,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2104,3834,0,0,0,0,0,0
$GC,5391,-0.80,-136.7,854.2,-12.1,200,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3831,0,0,0,0,0,0
$GC,5635,-0.80,-136.7,884.2,-12.3,206,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2105,3830,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5803,-0.28,0.0,904.0,12.2,210,5918,0.62,0.00,111.30,1.072,6,0.149,0.000,2498,1905,3301,0,0,0,0,0,0
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5923,0.80,136.7,908.2,0.0,213,6048,1.05,0.00,121.50,1.038,6,0.094,0.000,2850,1907,2741,0,0,0,0,0,0
$GC,6290,0.80,136.7,852.8,18.8,222,6294,0.00,2.38,0.00,0.000,4,0.000,0.053,2848,3361,2731,0,0,0,0,0,0
$GC,6324,0.80,136.7,845.8,19.9,222,6330,0.00,2.17,0.00,0.000,6,0.000,0.030,2857,1948,2733,0,0,0,0,0,0
$GC,6573,0.80,136.7,798.7,18.8,229,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1944,2731,0,0,0,0,0,0
$GC,6818,0.80,136.7,753.7,18.3,235,6821,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,557,2729,0,0,0,0,0,0
$GC,6863,0.80,136.7,745.0,19.0,236,6867,0.00,2.17,0.00,0.000,6,0.000,0.035,2868,1962,2726,0,0,0,0,0,0
$GC,7141,0.80,136.7,693.7,18.4,243,7145,0.00,2.25,0.00,0.000,4,0.000,0.052,2868,3370,2727,0,0,0,0,0,0
$GC,7173,0.80,136.7,686.7,20.5,243,7179,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1962,2727,0,0,0,0,0,0
$GC,7425,0.80,136.7,638.9,18.9,250,7429,0.00,2.25,0.00,0.000,4,0.000,0.050,2879,3367,2725,0,0,0,0,0,0
$GC,7452,0.80,136.7,633.1,19.3,250,7457,0.15,2.12,0.00,0.000,6,0.199,0.031,2854,1959,2726,0,0,0,0,0,0
$GC,7703,0.80,136.7,589.9,17.8,256,7707,0.00,2.15,0.00,0.000,4,0.000,0.041,2863,556,2725,0,0,0,0,0,0
$GC,7719,0.80,136.7,586.5,17.5,256,7723,0.00,2.12,0.00,0.000,6,0.000,0.034,2855,1963,2723,0,0,0,0,0,0
$GC,7994,0.80,136.7,539.2,17.7,263,7998,0.00,2.22,0.00,0.000,4,0.000,0.051,2855,3374,2724,0,0,0,0,0,0
$GC,8026,0.80,136.7,532.7,18.8,263,8032,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1950,2725,0,0,0,0,0,0
$GC,8276,0.80,136.7,488.8,17.6,270,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1945,2724,0,0,0,0,0,0
$GC,8521,0.80,136.7,446.2,17.4,276,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1945,2723,0,0,0,0,0,0
$GC,8764,0.80,136.7,405.9,16.4,282,8768,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,556,2722,0,0,0,0,0,0
$GC,8785,0.80,136.7,402.1,17.2,282,8789,0.00,2.15,0.00,0.000,6,0.000,0.035,2875,1960,2719,0,0,0,0,0,0
$GC,9047,0.80,136.7,360.0,16.6,289,9051,0.00,2.12,0.00,0.000,4,0.000,0.037,2886,560,2720,0,0,0,0,0,0
$GC,9058,0.80,136.7,358.1,16.4,289,9063,0.12,2.15,0.00,0.000,6,0.195,0.033,2858,1961,2720,0,0,0,0,0,0
$GC,9330,0.80,136.7,319.7,13.8,296,9334,0.00,2.25,0.00,0.000,4,0.000,0.050,2857,3370,2721,0,0,0,0,0,0
$GC,9418,0.80,136.7,305.9,15.1,298,9422,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1959,2720,0,0,0,0,0,0
$GC,9686,0.80,136.7,272.2,11.3,309,9690,0.00,2.12,0.00,0.000,4,0.000,0.038,2877,560,2720,0,0,0,0,0,0
$GC,9849,0.80,136.7,253.9,10.9,316,9853,0.00,2.12,0.00,0.000,6,0.000,0.034,2877,1961,2718,0,0,0,0,0,0
$GC,10109,0.80,136.7,225.0,11.4,329,10113,0.00,2.22,0.00,0.000,4,0.000,0.049,2877,3365,2718,0,0,0,0,0,0
$GC,10137,0.80,136.7,221.5,12.3,330,10142,0.15,2.10,0.00,0.000,6,0.187,0.028,2852,1947,2719,0,0,0,0,0,0
$GC,10394,0.81,149.1,197.7,8.0,343,10407,0.00,2.22,7.62,0.516,4,0.000,0.044,2841,3369,2693,0,0,0,0,0,0
$GC,10445,0.82,158.6,193.8,8.2,347,10460,0.00,2.12,9.77,0.540,6,0.000,0.029,2850,1950,2653,0,0,0,0,0,0
$GC,10725,0.82,158.6,166.1,9.6,373,10729,0.00,2.10,0.00,0.000,4,0.000,0.038,2861,569,2652,0,0,0,0,0,0
$GC,10950,0.82,158.6,146.3,9.1,393,10954,0.00,2.12,0.00,0.000,6,0.000,0.035,2860,1964,2650,0,0,0,0,0,0
$GC,11218,0.82,158.6,124.5,8.8,417,11221,0.00,2.12,0.00,0.000,4,0.000,0.037,2871,565,2652,0,0,0,0,0,0
$GC,11469,1.00,301.3,115.5,2.5,439,11598,0.10,2.15,116.45,0.513,6,0.064,0.033,2924,1962,2070,0,0,0,0,0,0
$GC,11852,1.00,301.3,58.0,17.6,474,11856,0.00,2.15,0.00,0.000,4,0.000,0.037,2934,568,2064,0,0,0,0,0,0
$GC,11995,1.00,301.3,33.2,16.3,486,11999,0.00,2.15,0.00,0.000,6,0.000,0.032,2934,1973,2063,0,0,0,0,0,0
$STATE,12155,end climb,SURFACE_DEPTH_REACHED
$STATE,12156,begin surface coast
$FINISH,0.4,1.022913
$STATE,12173,end surface coast,CONTROL_FINISHED_OK
$STATE,12173,begin surface
$SM_CCo,12254,0.00,0.000,0,0,2062,303.68
$SM_GC,1.31,7.68,0.00,0.00,0.046,0.000,0.000,48,2127,2062,-7.90,0.76,303.68
$IRIDIUM_FIX,1902.38,-15637.00,280213,060659
$TT8_MAMPS,0.160303
$HUMID,1078920635
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.00
$XPDR_PINGS,83
$AR_DIVENUM,403
$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,23.7,55.328
$10V_AH,9.8,50.182
$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,20.175,116.925,366.650,0.000,0.000,91.784,114.256,585.789,20.750,0.000,36.682,1120.435,8966.528,413.410,2489.307,450.066,33.384,1163.698,0.000,1693.027,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,75.933,1072.266,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.501,0.000,827.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26924,517
$CAP_FILE_SIZE,121070,0
$CFSIZE,260165632,176357376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,161.7,1
$GPS,050911,153754,1911.464,-15637.943,70,1.1,71,9.6