version: 66.07
glider: 513
mission: 7
dive: 404
start: 9 5 111 15 59 52
data:
$ID,513
$MISSION,7
$DIVE,404
$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,-431315.59
$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,63
$R_STBD_OVSHOOT,56
$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,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
$GPS1,050911,153754,1911.464,-15637.943,70,1.1,71,9.6
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.0
$GPS2,050911,155855,1911.146,-15637.596,14,1.5,19,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.036,0.236
$KALMAN_X,-140186.8,608.1,327.4,167328.1,6667.5
$KALMAN_Y,-375004.6,2492.1,1296.5,281252.2,-11871.5
$MHEAD_RNG_PITCHd_Wd,335.3,118954,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.35,0.000,2,0.000,0.000,35,2130,3725,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.0,-6.1,9,114,9.93,2.20,-2.22,0.000,4,0.243,0.060,2317,3504,3863,0,0,0,0,0,0
$GC,366,-0.80,-136.7,95.3,-27.9,37,370,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2124,3865,0,0,0,0,0,0
$GC,633,-0.80,-136.7,163.6,-22.8,61,636,0.00,2.20,0.00,0.000,4,0.000,0.044,2317,689,3866,0,0,0,0,0,0
$GC,673,-0.80,-136.7,173.4,-21.5,64,678,0.12,2.12,0.00,0.000,6,0.184,0.041,2336,2079,3867,0,0,0,0,0,0
$GC,932,-0.80,-136.7,226.4,-21.0,82,936,0.00,2.22,0.00,0.000,4,0.000,0.050,2331,3519,3868,0,0,0,0,0,0
$GC,993,-0.80,-136.7,239.2,-19.5,84,999,0.00,2.15,0.00,0.000,6,0.000,0.032,2327,2095,3868,0,0,0,0,0,0
$GC,1247,-0.80,-136.7,285.2,-18.2,97,1251,0.00,2.10,0.00,0.000,4,0.000,0.039,2327,695,3867,0,0,0,0,0,0
$GC,1292,-0.80,-136.7,292.9,-17.2,99,1296,0.00,2.12,0.00,0.000,6,0.000,0.041,2317,2100,3872,0,0,0,0,0,0
$GC,1548,-0.80,-136.7,336.4,-16.4,107,1552,0.00,2.17,0.00,0.000,4,0.000,0.051,2306,3510,3869,0,0,0,0,0,0
$GC,1597,-0.80,-136.7,344.4,-15.2,108,1602,0.12,2.10,0.00,0.000,6,0.166,0.030,2337,2092,3869,0,0,0,0,0,0
$GC,1870,-0.80,-136.7,378.0,-11.9,115,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2086,3870,0,0,0,0,0,0
$GC,2113,-0.80,-136.7,411.6,-13.9,121,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2086,3867,0,0,0,0,0,0
$GC,2356,-0.80,-136.7,446.7,-14.7,127,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2086,3864,0,0,0,0,0,0
$GC,2601,-0.80,-136.7,481.8,-14.5,133,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2089,3862,0,0,0,0,0,0
$GC,2845,-0.80,-136.7,515.7,-13.8,139,2849,0.00,2.08,0.00,0.000,4,0.000,0.039,2338,701,3859,0,0,0,0,0,0
$GC,2866,-0.80,-136.7,518.9,-13.5,139,2870,0.00,2.12,0.00,0.000,6,0.000,0.041,2329,2103,3857,0,0,0,0,0,0
$GC,3127,-0.80,-136.7,552.6,-12.9,146,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2102,3858,0,0,0,0,0,0
$GC,3372,-0.80,-136.7,583.5,-12.4,152,3376,0.00,2.17,0.00,0.000,4,0.000,0.050,2318,3504,3854,0,0,0,0,0,0
$GC,3416,-0.80,-136.7,589.3,-13.1,153,3420,0.00,2.10,0.00,0.000,6,0.000,0.031,2316,2112,3851,0,0,0,0,0,0
$GC,3700,-0.80,-136.7,624.8,-12.7,160,3704,0.00,2.12,0.00,0.000,4,0.000,0.040,2318,688,3850,0,0,0,0,0,0
$GC,3744,-0.80,-136.7,630.4,-11.6,161,3749,0.12,2.15,0.00,0.000,6,0.176,0.042,2338,2096,3850,0,0,0,0,0,0
$GC,4022,-0.80,-136.7,659.7,-10.8,168,4026,0.00,2.22,0.00,0.000,4,0.000,0.053,2329,3516,3848,0,0,0,0,0,0
$GC,4050,-0.80,-136.7,662.7,-10.6,168,4054,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,2092,3844,0,0,0,0,0,0
$GC,4305,-0.80,-136.7,691.9,-11.9,175,4309,0.00,2.12,0.00,0.000,4,0.000,0.040,2329,690,3845,0,0,0,0,0,0
$GC,4345,-0.80,-136.7,696.8,-12.5,175,4350,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2101,3845,0,0,0,0,0,0
$GC,4595,-0.80,-136.7,729.0,-13.0,182,4599,0.00,2.22,0.00,0.000,4,0.000,0.051,2307,3509,3841,0,0,0,0,0,0
$GC,4639,-0.80,-136.7,734.9,-12.8,183,4644,0.12,2.12,0.00,0.000,6,0.165,0.029,2339,2104,3841,0,0,0,0,0,0
$GC,4924,-0.80,-136.7,767.4,-11.7,190,4927,0.00,2.15,0.00,0.000,4,0.000,0.043,2340,686,3837,0,0,0,0,0,0
$GC,5001,-0.80,-136.7,777.6,-12.4,191,5007,0.00,2.20,0.00,0.000,6,0.000,0.042,2331,2105,3838,0,0,0,0,0,0
$GC,5251,-0.80,-136.7,808.7,-12.5,198,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2105,3837,0,0,0,0,0,0
$GC,5496,-0.80,-136.7,838.0,-11.8,204,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2105,3835,0,0,0,0,0,0
$GC,5739,-0.80,-136.7,865.5,-11.2,210,5743,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3512,3833,0,0,0,0,0,0
$GC,5794,-0.80,-136.7,871.8,-11.4,211,5798,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2094,3832,0,0,0,0,0,0
$STATE,6064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6064,begin apogee
$GC,6072,-0.28,0.0,902.7,11.4,218,6188,0.62,0.00,112.15,1.071,6,0.146,0.000,2504,1934,3302,0,0,0,0,0,0
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6193,0.80,136.7,905.5,0.0,221,6324,1.05,2.50,122.90,1.038,4,0.090,0.052,2852,3359,2742,0,0,0,0,0,0
$GC,6342,0.80,136.7,887.9,18.9,224,6349,0.00,2.20,0.00,0.000,6,0.000,0.028,2862,1979,2740,0,0,0,0,0,0
$GC,6592,0.80,136.7,836.8,20.5,231,6596,0.00,2.20,0.00,0.000,4,0.000,0.039,2873,553,2734,0,0,0,0,0,0
$GC,6607,0.80,136.7,833.5,20.3,231,6611,0.00,2.22,0.00,0.000,6,0.000,0.039,2868,1963,2732,0,0,0,0,0,0
$GC,6880,0.80,136.7,778.1,20.0,238,6884,0.00,2.28,0.00,0.000,4,0.000,0.053,2868,3378,2731,0,0,0,0,0,0
$GC,6897,0.80,136.7,774.3,21.2,238,6901,0.00,2.20,0.00,0.000,6,0.000,0.031,2877,1945,2731,0,0,0,0,0,0
$GC,7163,0.80,136.7,716.4,21.8,245,7167,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,560,2729,0,0,0,0,0,0
$GC,7196,0.80,136.7,708.9,22.8,245,7203,0.12,2.15,0.00,0.000,6,0.199,0.035,2860,1969,2727,0,0,0,0,0,0
$GC,7447,0.80,136.7,658.3,20.6,252,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1974,2728,0,0,0,0,0,0
$GC,7690,0.80,136.7,610.2,19.5,258,7694,0.00,2.20,0.00,0.000,4,0.000,0.051,2849,3361,2729,0,0,0,0,0,0
$GC,7706,0.80,136.7,607.1,19.3,258,7710,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1955,2726,0,0,0,0,0,0
$GC,7967,0.80,136.7,558.1,19.1,265,7971,0.00,2.25,0.00,0.000,4,0.000,0.052,2858,3373,2726,0,0,0,0,0,0
$GC,8018,0.80,136.7,547.9,20.7,266,8022,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,1955,2726,0,0,0,0,0,0
$GC,8290,0.80,136.7,499.4,17.3,273,8294,0.00,2.12,0.00,0.000,4,0.000,0.038,2879,560,2725,0,0,0,0,0,0
$GC,8312,0.80,136.7,495.5,16.8,273,8316,0.00,2.10,0.00,0.000,6,0.000,0.034,2879,1962,2723,0,0,0,0,0,0
$GC,8575,0.80,136.7,453.5,15.9,280,8578,0.00,2.22,0.00,0.000,4,0.000,0.051,2879,3364,2723,0,0,0,0,0,0
$GC,8647,0.80,136.7,441.4,15.9,281,8652,0.15,2.12,0.00,0.000,6,0.194,0.030,2850,1950,2723,0,0,0,0,0,0
$GC,8902,0.80,136.7,406.2,13.8,288,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1945,2723,0,0,0,0,0,0
$GC,9147,0.80,136.7,371.6,14.1,294,9151,0.00,2.25,0.00,0.000,4,0.000,0.048,2843,3361,2721,0,0,0,0,0,0
$GC,9190,0.80,136.7,364.5,16.3,295,9194,0.00,2.10,0.00,0.000,6,0.000,0.029,2852,1954,2725,0,0,0,0,0,0
$GC,9474,0.80,136.7,320.2,15.3,302,9478,0.00,2.10,0.00,0.000,4,0.000,0.038,2863,560,2722,0,0,0,0,0,0
$GC,9553,0.80,136.7,309.9,13.4,303,9558,0.00,2.12,0.00,0.000,6,0.000,0.034,2861,1961,2721,0,0,0,0,0,0
$GC,9805,0.80,136.7,279.2,11.7,314,9809,0.00,2.20,0.00,0.000,4,0.000,0.049,2861,3362,2720,0,0,0,0,0,0
$GC,9821,0.80,136.7,277.4,10.8,314,9827,0.00,2.10,0.00,0.000,6,0.000,0.029,2871,1965,2721,0,0,0,0,0,0
$GC,10076,0.80,136.7,249.5,10.7,327,10080,0.00,2.10,0.00,0.000,4,0.000,0.038,2882,557,2722,0,0,0,0,0,0
$GC,10193,0.80,136.7,237.8,9.9,332,10197,0.00,2.15,0.00,0.000,6,0.000,0.032,2882,1961,2719,0,0,0,0,0,0
$GC,10453,0.80,136.7,209.6,11.9,345,10457,0.00,2.12,0.00,0.000,4,0.000,0.035,2892,557,2717,0,0,0,0,0,0
$GC,10475,0.80,136.7,207.1,10.9,346,10480,0.15,2.12,0.00,0.000,6,0.184,0.031,2856,1962,2719,0,0,0,0,0,0
$GC,10738,0.83,165.3,188.0,7.4,366,10765,0.00,2.25,21.27,0.576,4,0.000,0.049,2855,3355,2627,0,0,0,0,0,0
$GC,10975,0.83,165.3,163.5,10.9,387,10982,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1961,2626,0,0,0,0,0,0
$GC,11243,0.83,165.3,138.6,9.5,412,11246,0.00,2.10,0.00,0.000,4,0.000,0.037,2875,559,2625,0,0,0,0,0,0
$GC,11383,0.83,165.3,124.8,9.9,424,11387,0.00,2.10,0.00,0.000,6,0.000,0.030,2875,1961,2623,0,0,0,0,0,0
$GC,11656,0.97,280.1,106.1,3.7,449,11763,0.10,2.22,93.95,0.509,4,0.111,0.035,2927,562,2157,0,0,1,0,0,0
$GC,11843,0.97,280.1,86.2,14.5,465,11847,0.00,2.15,0.00,0.000,6,0.000,0.029,2927,1960,2153,0,0,0,0,0,0
$GC,12111,0.97,280.1,43.8,15.8,489,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1960,2151,0,0,0,0,0,0
$STATE,12348,end climb,SURFACE_DEPTH_REACHED
$STATE,12348,begin surface coast
$FINISH,0.4,1.022885
$STATE,12366,end surface coast,CONTROL_FINISHED_OK
$STATE,12367,begin surface
$SM_CCo,12388,9.62,0.378,0,0,2078,300.24
$SM_GC,2.69,0.00,0.00,9.62,0.000,0.000,0.378,53,2152,2078,-7.95,1.61,300.24
$IRIDIUM_FIX,1904.66,-15639.09,280213,101043
$TT8_MAMPS,0.249275
$HUMID,1078976119
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.90
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256066560
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,18144460800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,55.459
$10V_AH,9.8,50.271
$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,20.300,125.875,350.275,9.625,0.000,144.007,242.973,396.618,23.000,0.000,21.569,1147.017,9149.422,434.651,2514.140,422.328,33.357,1195.511,0.000,1727.573,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,67.496,1071.499,378.131,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,360.795,0.000,837.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26851,529
$CAP_FILE_SIZE,121600,0
$CFSIZE,260165632,176287744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.198,153.4,1
$GPS,050911,192824,1911.474,-15637.356,54,1.0,54,9.6