version: 66.07
glider: 513
mission: 7
dive: 499
start: 9 21 111 6 38 14
data:
$ID,513
$MISSION,7
$DIVE,499
$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,712.8302
$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,-433308.09
$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,60
$R_STBD_OVSHOOT,60
$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,498
$AR_SAMPLENUM,3
$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
$GPS1,210911,055831,2014.125,-15615.053,40,1.8,41,9.8
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,4
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.1
$GPS2,210911,063714,2014.404,-15614.883,16,1.5,16,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.006
$KALMAN_X,-22750.4,-548.9,-226.7,91140.7,8969.4
$KALMAN_Y,-615140.9,-170.7,-273.8,642834.8,884.1
$MHEAD_RNG_PITCHd_Wd,307.6,1122,-43.0,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-1.74,-20.8,0.0,0.0,0,140,0.00,0.00,-102.95,0.000,6,0.000,0.000,37,2123,3384,0,0,0,0,0,0
$GC,145,-1.77,-44.4,2.4,-2.1,16,166,8.52,2.22,-2.20,0.000,4,0.242,0.067,2011,3494,3484,0,0,0,0,0,0
$GC,417,-1.77,-44.4,103.1,-33.2,47,421,0.00,2.10,0.00,0.000,6,0.000,0.034,2016,2115,3484,0,0,0,0,0,0
$GC,683,-1.77,-44.4,176.4,-25.4,71,687,0.00,2.20,0.00,0.000,4,0.000,0.055,2000,3499,3485,0,0,0,0,0,0
$GC,810,-1.77,-44.4,210.7,-25.7,81,814,0.00,2.10,0.00,0.000,6,0.000,0.031,2000,2099,3485,0,0,0,0,0,0
$GC,1076,-1.77,-44.4,269.4,-23.9,94,1080,0.00,2.10,0.00,0.000,4,0.000,0.038,2000,693,3485,0,0,0,0,0,0
$GC,1334,-1.77,-44.4,321.6,-21.1,103,1339,0.15,2.15,0.00,0.000,6,0.242,0.048,2020,2082,3485,0,0,0,0,0,0
$GC,1586,-1.77,-44.4,372.6,-20.7,109,1589,0.00,2.10,0.00,0.000,4,0.000,0.038,2020,682,3485,0,0,0,0,0,0
$GC,1686,-1.77,-44.4,394.0,-20.5,111,1690,0.00,2.20,0.00,0.000,6,0.000,0.050,2013,2102,3485,0,0,0,0,0,0
$GC,1953,-1.77,-44.4,444.5,-18.3,118,1957,0.00,2.12,0.00,0.000,4,0.000,0.038,2011,691,3484,0,0,0,0,0,0
$GC,2004,-1.77,-44.4,454.4,-20.0,119,2008,0.00,2.22,0.00,0.000,6,0.000,0.053,2001,2101,3483,0,0,0,0,0,0
$GC,2276,-1.77,-44.4,503.5,-18.0,126,2280,0.00,2.25,0.00,0.000,4,0.000,0.060,1990,3518,3480,0,0,0,0,0,0
$GC,2533,-1.77,-44.4,553.1,-19.1,131,2540,0.15,2.15,0.00,0.000,6,0.228,0.035,2021,2092,3475,0,0,0,0,0,0
$GC,2783,-1.77,-44.4,598.1,-17.7,138,2787,0.00,2.28,0.00,0.000,4,0.000,0.060,2013,3516,3474,0,0,0,0,0,0
$GC,2821,-1.77,-44.4,605.0,-17.8,138,2826,0.00,2.15,0.00,0.000,6,0.000,0.035,2012,2094,3475,0,0,0,0,0,0
$GC,3073,-1.77,-44.4,647.7,-17.0,145,3077,0.00,2.28,0.00,0.000,4,0.000,0.058,2002,3514,3470,0,0,0,0,0,0
$GC,3332,-1.77,-44.4,691.9,-16.0,150,3338,0.00,2.15,0.00,0.000,6,0.000,0.033,2002,2097,3465,0,0,0,0,0,0
$GC,3582,-1.77,-44.4,732.4,-16.1,157,3586,0.00,2.28,0.00,0.000,4,0.000,0.058,1991,3521,3465,0,0,0,0,0,0
$GC,3842,-1.77,-44.4,777.5,-16.8,162,3848,0.15,2.15,0.00,0.000,6,0.231,0.033,2025,2095,3462,0,0,0,0,0,0
$GC,4091,-1.77,-44.4,817.2,-15.8,169,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2092,3464,0,0,0,0,0,0
$GC,4335,-1.77,-44.4,856.2,-16.1,175,4339,0.00,2.28,0.00,0.000,4,0.000,0.058,2013,3514,3457,0,0,0,0,0,0
$GC,4530,-1.77,-44.4,888.5,-16.0,179,4534,0.00,2.15,0.00,0.000,6,0.000,0.035,2013,2101,3455,0,0,0,0,0,0
$STATE,4626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4626,begin apogee
$GC,4633,-0.28,0.0,903.2,14.9,182,4672,2.03,0.00,34.53,1.025,6,0.228,0.000,2496,1946,3300,0,0,0,0,0,0
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,1.77,44.4,906.0,0.0,183,4727,1.95,2.22,40.33,1.016,4,0.097,0.030,3173,554,3117,0,0,0,0,0,0
$GC,4759,1.77,44.4,897.3,16.2,184,4764,0.00,2.22,0.00,0.000,6,0.000,0.033,3173,1970,3115,0,0,0,0,0,0
$GC,5009,1.77,44.4,852.1,17.7,191,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1970,3113,0,0,0,0,0,0
$GC,5254,1.77,44.4,808.3,18.5,197,5258,0.00,2.22,0.00,0.000,4,0.000,0.049,3171,3372,3110,0,0,0,0,0,0
$GC,5512,1.77,44.4,758.8,18.0,202,5517,0.00,2.12,0.00,0.000,6,0.000,0.024,3180,1940,3108,0,0,0,0,0,0
$GC,5763,1.77,44.4,716.0,16.9,209,5767,0.00,2.08,0.00,0.000,4,0.000,0.031,3191,555,3107,0,0,0,0,0,0
$GC,5880,1.77,44.4,696.4,15.9,211,5884,0.00,2.15,0.00,0.000,6,0.000,0.031,3182,1976,3105,0,0,0,0,0,0
$GC,6135,1.77,44.4,657.7,14.9,218,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1975,3104,0,0,0,0,0,0
$GC,6381,1.77,44.4,626.8,12.4,224,6385,0.00,2.17,0.00,0.000,4,0.000,0.045,3175,3367,3103,0,0,0,0,0,0
$GC,6415,1.77,44.4,622.5,11.4,224,6421,0.00,2.10,0.00,0.000,6,0.000,0.025,3180,1949,3103,0,0,0,0,0,0
$GC,6665,1.77,44.4,593.2,12.0,231,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1949,3101,0,0,0,0,0,0
$GC,6909,1.77,44.4,562.7,12.3,237,6913,0.00,2.22,0.00,0.000,4,0.000,0.044,3171,3373,3100,0,0,0,0,0,0
$GC,7105,1.77,44.4,537.4,12.8,241,7108,0.00,2.10,0.00,0.000,6,0.000,0.024,3180,1951,3101,0,0,0,0,0,0
$GC,7372,1.77,44.4,506.1,11.5,248,7376,0.00,2.22,0.00,0.000,4,0.000,0.043,3173,3372,3098,0,0,0,0,0,0
$GC,7629,1.77,44.4,477.3,9.9,253,7634,0.00,2.10,0.00,0.000,6,0.000,0.024,3180,1946,3099,0,0,0,0,0,0
$GC,7880,1.77,44.4,453.5,9.8,260,7884,0.00,2.22,0.00,0.000,4,0.000,0.041,3171,3376,3097,0,0,0,0,0,0
$GC,8138,1.77,45.5,430.1,8.3,265,8144,0.00,2.08,0.00,0.000,6,0.000,0.022,3180,1971,3094,0,0,0,0,0,0
$GC,8389,1.78,47.4,410.5,8.0,272,8393,0.00,2.17,0.00,0.000,4,0.000,0.041,3171,3367,3096,0,0,0,0,0,0
$GC,8646,1.79,56.0,389.6,6.2,277,8660,0.00,2.10,6.78,0.610,6,0.000,0.024,3181,1953,3072,0,0,0,0,0,0
$GC,8940,1.80,63.3,368.9,6.6,285,8954,0.00,2.28,7.65,0.621,4,0.000,0.041,3171,3373,3045,0,0,0,0,0,0
$GC,9210,1.80,66.9,347.4,7.6,291,9219,0.00,2.10,4.80,0.519,6,0.000,0.022,3178,1960,3029,0,0,0,0,0,0
$GC,9500,1.81,71.1,325.1,7.4,298,9510,0.00,2.20,5.22,0.529,4,0.000,0.039,3171,3377,3012,0,0,0,0,0,0
$GC,9703,1.81,72.4,310.1,8.2,302,9707,0.00,2.12,0.00,0.000,6,0.000,0.023,3180,1954,3012,0,0,0,0,0,0
$GC,9963,1.81,74.8,288.8,7.9,312,9973,0.00,2.08,5.45,0.516,4,0.000,0.030,3191,569,2995,0,0,0,0,0,0
$GC,10229,1.81,74.8,265.2,9.2,324,10233,0.00,2.12,0.00,0.000,6,0.000,0.036,3185,1967,2993,0,0,0,0,0,0
$GC,10494,1.83,90.7,252.4,4.2,337,10515,0.00,2.12,14.68,0.607,4,0.000,0.031,3194,561,2930,0,0,0,0,0,0
$GC,10700,1.83,90.7,231.3,9.3,346,10704,0.00,2.12,0.00,0.000,6,0.000,0.030,3194,1972,2927,0,0,0,0,0,0
$GC,10960,1.83,91.4,209.0,8.4,359,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1971,2929,0,0,0,0,0,0
$GC,11214,1.84,96.4,189.1,7.2,377,11227,0.00,2.20,6.12,0.474,4,0.000,0.040,3183,3357,2906,0,0,0,0,0,0
$GC,11477,1.84,96.4,160.0,12.3,400,11485,0.00,2.10,0.00,0.000,6,0.000,0.024,3192,1966,2906,0,0,0,0,0,0
$GC,11743,1.84,100.8,135.1,7.4,425,11755,0.00,2.20,5.55,0.422,4,0.000,0.039,3183,3356,2888,0,0,0,0,0,0
$GC,12008,1.87,125.9,117.4,1.7,448,12039,0.00,2.10,22.30,0.507,6,0.000,0.024,3192,1959,2786,0,0,0,0,0,0
$GC,12294,1.87,125.9,84.5,16.0,475,12298,0.00,2.17,0.00,0.000,4,0.000,0.040,3182,3365,2784,0,0,0,0,0,0
$GC,12548,1.89,136.9,49.4,5.5,497,12568,0.00,2.12,10.32,0.423,6,0.000,0.025,3192,1941,2740,0,0,0,0,0,0
$GC,12824,1.91,155.7,31.6,3.4,523,12849,0.00,2.08,16.60,0.428,4,0.000,0.031,3203,574,2663,0,0,0,0,0,0
$GC,12985,1.91,155.7,18.2,11.8,547,12993,0.00,2.10,0.00,0.000,6,0.000,0.027,3195,1969,2660,0,0,0,0,0,0
$STATE,13115,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,0.2,1.023404
$STATE,13141,end surface coast,CONTROL_FINISHED_OK
$STATE,13141,begin surface
$SM_CCo,13163,315.10,0.413,0,0,392,712.83
$SM_GC,1.25,0.00,0.00,315.10,0.000,0.000,0.413,40,2114,392,-7.93,0.40,712.83
$IRIDIUM_FIX,2008.77,-15614.61,160313,000056
$TT8_MAMPS,0.060593
$HUMID,1078847087
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.80
$XPDR_PINGS,72
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6329827328
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,3619880960
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,67.879
$10V_AH,9.9,62.911
$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,21.500,112.700,180.325,315.100,0.000,140.291,209.056,1400.805,18.000,0.000,18.604,1355.990,9011.524,605.346,3883.850,945.577,33.361,1654.535,0.000,2493.864,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,80.535,1025.479,413.413,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,391.976,0.000,952.429,0.000,0.000,0.000,0.000,16882.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,13.314,0.000,0.000
$MEM,354180
$DATA_FILE_SIZE,30308,575
$CAP_FILE_SIZE,154310,0
$CFSIZE,260165632,169091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,237.3,1
$GPS,210911,102430,2014.560,-15615.251,36,1.4,42,9.8