version: 66.07
glider: 513
mission: 7
dive: 500
start: 9 21 111 11 0 0
data:
$ID,513
$MISSION,7
$DIVE,500
$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,-433321.84
$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,79
$R_STBD_OVSHOOT,59
$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,499
$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
$GPS1,210911,102430,2014.560,-15615.251,36,1.4,42,9.8
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.7
$GPS2,210911,105902,2014.691,-15615.339,11,1.7,11,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,-0.004
$KALMAN_X,-18849.2,-552.7,-262.2,86501.6,8459.9
$KALMAN_Y,-615108.4,-468.6,368.9,642993.2,9.1
$MHEAD_RNG_PITCHd_Wd,263.8,25481,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.80,-136.7,0.0,0.0,0,145,0.00,0.00,-112.65,0.000,2,0.000,0.000,36,2115,3753,0,0,0,0,0,0
$GC,150,-0.80,-136.7,4.1,-6.9,17,172,9.82,2.25,-1.70,0.000,4,0.240,0.072,2319,3478,3860,0,0,0,0,0,0
$GC,336,-0.80,-136.7,68.8,-21.9,38,340,0.00,2.05,0.00,0.000,6,0.000,0.033,2319,2141,3861,0,0,0,0,0,0
$GC,604,-0.80,-136.7,132.2,-23.9,62,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2132,3861,0,0,0,0,0,0
$GC,868,-0.80,-136.7,186.5,-20.7,87,872,0.00,2.20,0.00,0.000,4,0.000,0.041,2319,683,3862,0,0,0,0,0,0
$GC,889,-0.80,-136.7,190.9,-21.0,88,894,0.12,2.15,0.00,0.000,6,0.174,0.049,2339,2082,3862,0,0,0,0,0,0
$GC,1146,-0.80,-136.7,239.4,-18.3,102,1150,0.00,2.28,0.00,0.000,4,0.000,0.057,2330,3516,3862,0,0,0,0,0,0
$GC,1218,-0.80,-136.7,251.8,-16.1,105,1222,0.00,2.15,0.00,0.000,6,0.000,0.030,2329,2086,3862,0,0,0,0,0,0
$GC,1472,-0.80,-136.7,290.5,-14.9,117,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2083,3862,0,0,0,0,0,0
$GC,1719,-0.80,-136.7,328.2,-15.5,125,1723,0.00,2.28,0.00,0.000,4,0.000,0.056,2319,3513,3861,0,0,0,0,0,0
$GC,1791,-0.80,-136.7,340.1,-15.3,126,1795,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2091,3860,0,0,0,0,0,0
$GC,2047,-0.80,-136.7,380.5,-15.9,133,2050,0.00,2.10,0.00,0.000,4,0.000,0.038,2319,691,3858,0,0,0,0,0,0
$GC,2149,-0.80,-136.7,396.2,-14.0,135,2153,0.12,2.17,0.00,0.000,6,0.174,0.045,2340,2102,3858,0,0,0,0,0,0
$GC,2415,-0.80,-136.7,431.3,-13.2,142,2419,0.00,2.20,0.00,0.000,4,0.000,0.053,2331,3511,3853,0,0,0,0,0,0
$GC,2460,-0.80,-136.7,437.2,-13.1,143,2464,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2094,3854,0,0,0,0,0,0
$GC,2738,-0.80,-136.7,474.1,-13.5,150,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2093,3851,0,0,0,0,0,0
$GC,2982,-0.80,-136.7,504.2,-12.0,156,2986,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3508,3849,0,0,0,0,0,0
$GC,3014,-0.80,-136.7,508.0,-11.1,156,3021,0.00,2.12,0.00,0.000,6,0.000,0.032,2320,2101,3848,0,0,0,0,0,0
$GC,3266,-0.80,-136.7,538.8,-12.3,163,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2096,3847,0,0,0,0,0,0
$GC,3509,-0.80,-136.7,569.3,-12.7,169,3513,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,695,3842,0,0,0,0,0,0
$GC,3560,-0.80,-136.7,576.1,-12.9,170,3565,0.10,2.17,0.00,0.000,6,0.184,0.045,2334,2100,3842,0,0,0,0,0,0
$GC,3840,-0.80,-136.7,607.9,-11.5,177,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3842,0,0,0,0,0,0
$GC,4081,-0.80,-136.7,636.9,-11.9,183,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3837,0,0,0,0,0,0
$GC,4326,-0.80,-136.7,664.8,-11.5,189,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3833,0,0,0,0,0,0
$GC,4569,-0.80,-136.7,692.1,-11.2,195,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3831,0,0,0,0,0,0
$GC,4815,-0.80,-136.7,719.5,-11.0,201,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3829,0,0,0,0,0,0
$GC,5056,-0.80,-136.7,743.7,-9.7,207,5060,0.00,2.28,0.00,0.000,4,0.000,0.056,2325,3507,3825,0,0,0,0,0,0
$GC,5112,-0.80,-136.7,749.5,-10.4,208,5116,0.00,2.15,0.00,0.000,6,0.000,0.033,2325,2098,3826,0,0,0,0,0,0
$GC,5385,-0.80,-136.7,779.8,-11.1,215,5389,0.00,2.12,0.00,0.000,4,0.000,0.043,2326,697,3824,0,0,0,0,0,0
$GC,5453,-0.80,-136.7,787.9,-12.6,216,5457,0.00,2.20,0.00,0.000,6,0.000,0.046,2314,2103,3824,0,0,0,0,0,0
$GC,5714,-0.80,-136.7,821.0,-12.9,223,5718,0.00,2.25,0.00,0.000,4,0.000,0.054,2304,3510,3822,0,0,0,0,0,0
$GC,5758,-0.80,-136.7,827.3,-14.0,224,5763,0.12,2.15,0.00,0.000,6,0.171,0.033,2335,2102,3819,0,0,0,0,0,0
$GC,6037,-0.80,-136.7,859.3,-11.4,231,6041,0.00,2.15,0.00,0.000,4,0.000,0.044,2335,686,3819,0,0,0,0,0,0
$GC,6070,-0.80,-136.7,863.4,-12.6,231,6075,0.00,2.20,0.00,0.000,6,0.000,0.045,2327,2101,3819,0,0,0,0,0,0
$GC,6320,-0.80,-136.7,890.8,-10.8,238,6324,0.00,2.25,0.00,0.000,4,0.000,0.055,2316,3505,3817,0,0,0,0,0,0
$GC,6343,-0.80,-136.7,893.3,-11.3,238,6347,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2097,3817,0,0,0,0,0,0
$STATE,6433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6433,begin apogee
$GC,6440,-0.28,0.0,903.2,10.6,241,6555,0.62,0.00,110.53,1.063,6,0.148,0.000,2499,1945,3300,0,0,0,0,0,0
$STATE,6558,end apogee,CONTROL_FINISHED_OK
$STATE,6558,begin climb
$GC,6561,0.80,136.7,906.3,0.0,244,6687,1.08,0.00,122.22,1.035,6,0.097,0.000,2852,1944,2743,0,0,0,0,0,0
$GC,6924,0.80,136.7,849.2,18.8,253,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1944,2735,0,0,0,0,0,0
$GC,7163,0.80,136.7,804.4,18.0,259,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1944,2733,0,0,0,0,0,0
$GC,7408,0.80,136.7,762.6,16.8,265,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1944,2734,0,0,0,0,0,0
$GC,7652,0.80,136.7,720.3,17.7,271,7656,0.00,2.28,0.00,0.000,4,0.000,0.055,2851,3365,2733,0,0,0,0,0,0
$GC,7782,0.80,136.7,693.9,21.4,274,7786,0.00,2.15,0.00,0.000,6,0.000,0.032,2862,1967,2730,0,0,0,0,0,0
$GC,8067,0.80,136.7,640.4,18.4,281,8071,0.00,2.25,0.00,0.000,4,0.000,0.052,2862,3365,2729,0,0,0,0,0,0
$GC,8099,0.80,136.7,633.4,19.7,281,8105,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,1955,2729,0,0,0,0,0,0
$GC,8349,0.80,136.7,588.2,17.9,288,8353,0.00,2.12,0.00,0.000,4,0.000,0.039,2883,560,2728,0,0,0,0,0,0
$GC,8463,0.80,136.7,567.5,18.6,290,8467,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1968,2721,0,0,0,0,0,0
$GC,8724,0.80,136.7,521.6,17.6,297,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1970,2724,0,0,0,0,0,0
$GC,8968,0.80,136.7,480.7,16.7,303,8972,0.00,2.25,0.00,0.000,4,0.000,0.054,2883,3377,2723,0,0,0,0,0,0
$GC,9029,0.80,136.7,469.9,17.8,304,9033,0.15,2.15,0.00,0.000,6,0.198,0.031,2857,1960,2723,0,0,0,0,0,0
$GC,9297,0.80,136.7,429.6,15.0,311,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1956,2723,0,0,0,0,0,0
$GC,9541,0.80,136.7,391.5,15.5,317,9545,0.00,2.28,0.00,0.000,4,0.000,0.051,2857,3374,2722,0,0,0,0,0,0
$GC,9701,0.80,136.7,367.2,14.0,320,9705,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1952,2722,0,0,0,0,0,0
$GC,9956,0.80,136.7,335.7,11.9,327,9960,0.00,2.12,0.00,0.000,4,0.000,0.038,2877,560,2721,0,0,0,0,0,0
$GC,10034,0.80,136.7,325.1,12.2,328,10041,0.00,2.15,0.00,0.000,6,0.000,0.034,2876,1967,2719,0,0,0,0,0,0
$GC,10287,0.80,136.7,292.1,13.5,336,10291,0.00,2.25,0.00,0.000,4,0.000,0.051,2877,3371,2719,0,0,0,0,0,0
$GC,10350,0.80,136.7,282.1,15.2,339,10355,0.12,2.15,0.00,0.000,6,0.199,0.029,2858,1951,2720,0,0,0,0,0,0
$GC,10615,0.80,136.7,251.5,11.0,352,10619,0.00,2.08,0.00,0.000,4,0.000,0.038,2867,570,2720,0,0,0,0,0,0
$GC,10671,0.80,136.7,245.8,11.2,354,10677,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,1962,2718,0,0,0,0,0,0
$GC,10925,0.80,136.7,219.5,10.9,367,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1965,2718,0,0,0,0,0,0
$GC,11176,0.80,136.7,191.3,11.3,382,11181,0.00,2.25,0.00,0.000,4,0.000,0.049,2867,3370,2718,0,0,0,0,0,0
$GC,11297,0.80,136.7,178.3,11.1,392,11301,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1954,2719,0,0,0,0,0,0
$GC,11562,0.80,136.7,151.0,11.6,416,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1955,2719,0,0,0,0,0,0
$GC,11827,0.80,136.7,127.2,8.7,441,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1955,2720,0,0,0,0,0,0
$GC,12092,0.80,142.4,107.0,8.3,466,12096,0.00,2.22,0.00,0.000,4,0.000,0.045,2878,3366,2721,0,0,0,0,0,0
$GC,12180,0.80,142.4,96.8,12.8,473,12185,0.12,2.10,0.00,0.000,6,0.180,0.028,2852,1965,2721,0,0,0,0,0,0
$GC,12444,0.93,245.4,77.2,4.2,497,12545,0.12,2.30,85.60,0.486,4,0.095,0.046,2908,3359,2298,0,0,0,0,0,0
$GC,12571,0.93,245.4,65.3,14.5,507,12575,0.00,2.15,0.00,0.000,6,0.000,0.028,2919,1969,2296,0,0,0,0,0,0
$GC,12839,0.93,245.4,27.7,13.0,532,12847,0.00,2.17,0.00,0.000,4,0.000,0.036,2927,557,2292,0,0,0,0,0,0
$GC,12989,0.93,245.4,5.0,16.2,559,12997,0.08,2.15,0.00,0.000,6,0.160,0.032,2904,1953,2290,0,0,0,0,0,0
$STATE,13004,end climb,SURFACE_DEPTH_REACHED
$STATE,13004,begin surface coast
$FINISH,0.2,1.023297
$STATE,13022,end surface coast,CONTROL_FINISHED_OK
$STATE,13022,begin surface
$SM_CCo,13044,24.88,0.410,0,0,2078,300.24
$SM_GC,0.85,0.00,0.00,24.88,0.000,0.000,0.410,51,2127,2078,-7.95,0.76,300.24
$IRIDIUM_FIX,2011.07,-15618.82,160313,050531
$TT8_MAMPS,0.292994
$HUMID,1079008153
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.50
$XPDR_PINGS,84
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6252920832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,3515777024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,68.064
$10V_AH,9.9,63.015
$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,20.350,109.300,318.350,24.875,0.000,93.565,130.973,1448.286,21.000,0.000,13.121,1197.984,9514.831,449.420,3115.017,868.824,33.363,1248.151,0.000,1820.530,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,72.098,1063.062,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.769,0.000,922.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,26873,564
$CAP_FILE_SIZE,137701,0
$CFSIZE,260165632,169066496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,  0.8,1
$GPS,210911,143951,2015.335,-15617.029,40,2.6,59,9.8