version: 66.07
glider: 513
mission: 7
dive: 501
start: 9 21 111 15 22 22
data:
$ID,513
$MISSION,7
$DIVE,501
$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,-433357.06
$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,51
$R_STBD_OVSHOOT,48
$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,500
$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
$GPS1,210911,143951,2015.335,-15617.029,40,2.6,59,9.8
$_CALLS,5
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.8
$GPS2,210911,152126,2015.908,-15617.045,32,2.0,32,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,-0.081
$KALMAN_X,-16084.2,-957.6,-1072.2,81991.3,9424.2
$KALMAN_Y,-612914.8,197.5,16.5,642722.8,2056.3
$MHEAD_RNG_PITCHd_Wd,236.9,22572,-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,-136.7,0.0,0.0,0,90,0.00,0.00,-57.42,0.000,2,0.000,0.000,31,2126,3750,0,0,0,0,0,0
$GC,95,-0.80,-136.7,4.0,-6.7,9,117,9.93,2.25,-1.80,0.000,4,0.239,0.070,2319,3499,3862,0,0,0,0,0,0
$GC,356,-0.80,-136.7,88.8,-19.4,36,360,0.00,2.12,0.00,0.000,6,0.000,0.032,2319,2103,3865,0,0,0,0,0,0
$GC,623,-0.80,-136.7,149.9,-26.9,60,627,0.00,2.12,0.00,0.000,4,0.000,0.044,2319,698,3866,0,0,0,0,0,0
$GC,687,-0.80,-136.7,164.9,-20.4,65,692,0.12,2.15,0.00,0.000,6,0.173,0.048,2339,2082,3866,0,0,0,0,0,0
$GC,948,-0.80,-136.7,211.2,-16.6,86,952,0.00,2.25,0.00,0.000,4,0.000,0.053,2332,3513,3866,0,0,0,0,0,0
$GC,1057,-0.80,-136.7,227.1,-13.2,91,1061,0.00,2.12,0.00,0.000,6,0.000,0.033,2334,2102,3867,0,0,0,0,0,0
$GC,1322,-0.80,-136.7,270.7,-18.0,104,1326,0.00,2.12,0.00,0.000,4,0.000,0.043,2330,697,3867,0,0,0,0,0,0
$GC,1406,-0.80,-136.7,286.0,-17.4,107,1413,0.00,2.17,0.00,0.000,6,0.000,0.046,2320,2103,3867,0,0,0,0,0,0
$GC,1658,-0.80,-136.7,328.6,-16.9,116,1662,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3511,3867,0,0,0,0,0,0
$GC,1702,-0.80,-136.7,336.3,-17.0,117,1707,0.12,2.12,0.00,0.000,6,0.163,0.030,2346,2092,3867,0,0,0,0,0,0
$GC,1981,-0.80,-136.7,372.1,-12.3,124,1985,0.00,2.10,0.00,0.000,4,0.000,0.039,2342,700,3865,0,0,0,0,0,0
$GC,2054,-0.80,-136.7,380.7,-11.3,125,2058,0.00,2.15,0.00,0.000,6,0.000,0.045,2333,2101,3864,0,0,0,0,0,0
$GC,2310,-0.80,-136.7,413.0,-13.1,132,2314,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3519,3862,0,0,0,0,0,0
$GC,2406,-0.80,-136.7,426.7,-14.3,134,2410,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,2093,3861,0,0,0,0,0,0
$GC,2678,-0.80,-136.7,468.2,-15.3,141,2682,0.00,2.10,0.00,0.000,4,0.000,0.038,2321,693,3859,0,0,0,0,0,0
$GC,2699,-0.80,-136.7,471.7,-15.7,141,2703,0.00,2.17,0.00,0.000,6,0.000,0.043,2312,2109,3860,0,0,0,0,0,0
$GC,2957,-0.80,-136.7,510.1,-15.0,148,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2108,3859,0,0,0,0,0,0
$GC,3199,-0.80,-136.7,546.1,-14.8,154,3203,0.00,2.15,0.00,0.000,4,0.000,0.041,2311,699,3854,0,0,0,0,0,0
$GC,3232,-0.80,-136.7,551.4,-16.8,154,3238,0.15,2.17,0.00,0.000,6,0.166,0.044,2340,2102,3853,0,0,0,0,0,0
$GC,3482,-0.80,-136.7,581.7,-12.0,161,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2103,3850,0,0,0,0,0,0
$GC,3727,-0.80,-136.7,611.5,-12.4,167,3731,0.00,2.12,0.00,0.000,4,0.000,0.039,2340,700,3848,0,0,0,0,0,0
$GC,3759,-0.80,-136.7,616.2,-13.8,167,3763,0.00,2.17,0.00,0.000,6,0.000,0.043,2332,2106,3849,0,0,0,0,0,0
$GC,4009,-0.80,-136.7,649.2,-13.4,173,4013,0.00,2.15,0.00,0.000,4,0.000,0.041,2338,699,3845,0,0,0,0,0,0
$GC,4027,-0.80,-136.7,651.4,-13.1,173,4031,0.00,2.17,0.00,0.000,6,0.000,0.043,2322,2103,3844,0,0,0,0,0,0
$GC,4288,-0.80,-136.7,683.1,-11.6,180,4292,0.00,2.22,0.00,0.000,4,0.000,0.054,2311,3509,3844,0,0,0,0,0,0
$GC,4399,-0.80,-136.7,696.3,-11.3,182,4403,0.00,2.15,0.00,0.000,6,0.000,0.031,2311,2104,3844,0,0,0,0,0,0
$GC,4656,-0.80,-136.7,726.0,-11.6,189,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2097,3839,0,0,0,0,0,0
$GC,4899,-0.80,-136.7,755.5,-11.9,195,4903,0.00,2.25,0.00,0.000,4,0.000,0.054,2300,3508,3837,0,0,0,0,0,0
$GC,4954,-0.80,-136.7,762.6,-12.7,196,4959,0.15,2.15,0.00,0.000,6,0.163,0.031,2339,2099,3836,0,0,0,0,0,0
$GC,5222,-0.80,-136.7,791.0,-10.6,203,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2088,3835,0,0,0,0,0,0
$GC,5464,-0.80,-136.7,818.7,-11.3,209,5468,0.00,2.15,0.00,0.000,4,0.000,0.043,2340,688,3832,0,0,0,0,0,0
$GC,5531,-0.80,-136.7,826.8,-11.5,210,5535,0.00,2.20,0.00,0.000,6,0.000,0.044,2331,2101,3830,0,0,0,0,0,0
$GC,5792,-0.80,-136.7,858.2,-11.7,217,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2101,3829,0,0,0,0,0,0
$GC,6037,-0.80,-136.7,887.2,-12.2,223,6041,0.00,2.15,0.00,0.000,4,0.000,0.038,2332,694,3828,0,0,0,0,0,0
$GC,6081,-0.80,-136.7,893.0,-12.4,224,6085,0.00,2.17,0.00,0.000,6,0.000,0.041,2322,2102,3828,0,0,0,0,0,0
$STATE,6153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6154,begin apogee
$GC,6160,-0.28,0.0,902.1,12.4,226,6276,0.60,0.00,111.65,1.067,6,0.146,0.000,2497,1919,3302,0,0,0,0,0,0
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6303,0.80,136.7,906.6,0.0,229,6435,1.05,2.22,121.07,1.038,4,0.096,0.035,2860,584,2743,0,0,0,0,0,0
$GC,6443,0.80,136.7,893.9,15.7,232,6447,0.00,2.22,0.00,0.000,6,0.000,0.035,2859,1957,2740,0,0,0,0,0,0
$GC,6710,0.80,136.7,842.3,19.8,239,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1958,2736,0,0,0,0,0,0
$GC,6953,0.80,136.7,796.0,18.9,245,6957,0.00,2.10,0.00,0.000,4,0.000,0.037,2870,580,2734,0,0,0,0,0,0
$GC,7009,0.80,136.7,784.8,19.8,246,7013,0.00,2.15,0.00,0.000,6,0.000,0.036,2870,1966,2731,0,0,0,0,0,0
$GC,7277,0.80,136.7,733.9,19.0,253,7281,0.00,2.22,0.00,0.000,4,0.000,0.054,2870,3367,2731,0,0,0,0,0,0
$GC,7361,0.80,136.7,717.2,19.5,255,7365,0.00,2.10,0.00,0.000,6,0.000,0.030,2879,1986,2731,0,0,0,0,0,0
$GC,7651,0.80,136.7,665.6,17.2,262,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1985,2730,0,0,0,0,0,0
$GC,7894,0.80,136.7,624.4,17.1,268,7898,0.00,2.17,0.00,0.000,4,0.000,0.040,2891,563,2729,0,0,0,0,0,0
$GC,8058,0.80,136.7,595.5,18.2,271,8063,0.15,2.15,0.00,0.000,6,0.195,0.035,2855,1962,2724,0,0,0,0,0,0
$GC,8309,0.80,136.7,554.9,16.1,277,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1965,2724,0,0,0,0,0,0
$GC,8552,0.80,136.7,515.8,15.8,283,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1966,2724,0,0,0,0,0,0
$GC,8795,0.80,136.7,479.0,14.6,289,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1966,2723,0,0,0,0,0,0
$GC,9039,0.80,136.7,443.0,15.1,295,9043,0.00,2.22,0.00,0.000,4,0.000,0.053,2855,3365,2724,0,0,0,0,0,0
$GC,9112,0.80,136.7,431.2,16.1,296,9117,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1956,2723,0,0,0,0,0,0
$GC,9362,0.80,136.7,394.1,14.5,302,9366,0.00,2.28,0.00,0.000,4,0.000,0.051,2864,3369,2723,0,0,0,0,0,0
$GC,9476,0.80,136.7,377.6,14.4,304,9480,0.00,2.15,0.00,0.000,6,0.000,0.030,2875,1955,2721,0,0,0,0,0,0
$GC,9731,0.80,136.7,345.8,12.2,311,9735,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,558,2722,0,0,0,0,0,0
$GC,9809,0.80,136.7,336.1,12.4,312,9815,0.12,2.15,0.00,0.000,6,0.193,0.033,2857,1965,2720,0,0,0,0,0,0
$GC,10060,0.80,136.7,307.3,11.7,319,10064,0.00,2.22,0.00,0.000,4,0.000,0.051,2856,3368,2720,0,0,0,0,0,0
$GC,10201,0.80,136.7,288.2,12.6,323,10205,0.00,2.15,0.00,0.000,6,0.000,0.031,2866,1954,2723,0,0,0,0,0,0
$GC,10462,0.80,136.7,258.3,11.8,336,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1957,2719,0,0,0,0,0,0
$GC,10709,0.80,136.7,229.3,12.9,348,10712,0.00,2.12,0.00,0.000,4,0.000,0.039,2879,564,2720,0,0,0,0,0,0
$GC,10794,0.80,136.7,218.6,11.8,352,10798,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1965,2719,0,0,0,0,0,0
$GC,11054,0.80,136.7,188.1,10.1,369,11058,0.00,2.15,0.00,0.000,4,0.000,0.038,2885,557,2719,0,0,0,0,0,0
$GC,11140,0.80,136.7,179.9,9.7,376,11145,0.12,2.12,0.00,0.000,6,0.186,0.032,2856,1959,2719,0,0,0,0,0,0
$GC,11404,0.80,136.7,156.3,8.8,400,11408,0.00,2.20,0.00,0.000,4,0.000,0.048,2856,3368,2720,0,0,0,0,0,0
$GC,11623,0.80,136.7,133.1,11.5,419,11631,0.00,2.15,0.00,0.000,6,0.000,0.029,2864,1963,2721,0,0,0,0,0,0
$GC,11892,0.84,170.7,108.0,7.1,444,11927,0.00,2.17,26.20,0.504,4,0.000,0.037,2875,560,2602,0,0,0,0,0,0
$GC,11999,0.86,189.5,99.4,7.8,453,12023,0.00,2.15,16.80,0.485,6,0.000,0.032,2871,1964,2527,0,0,0,0,0,0
$GC,12279,0.86,189.5,68.4,12.4,479,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1963,2525,0,0,0,0,0,0
$GC,12535,0.86,189.5,44.3,9.6,503,12539,0.00,2.15,0.00,0.000,4,0.000,0.038,2879,559,2526,0,0,0,0,0,0
$GC,12642,0.86,189.5,35.5,9.3,512,12646,0.00,2.12,0.00,0.000,6,0.000,0.032,2879,1958,2525,0,0,0,0,0,0
$GC,12904,1.00,301.0,15.2,3.9,554,13002,0.10,0.00,89.55,0.435,6,0.110,0.000,2922,1963,2072,0,0,0,0,0,0
$STATE,13026,end climb,SURFACE_DEPTH_REACHED
$STATE,13026,begin surface coast
$FINISH,0.3,1.022262
$STATE,13049,end surface coast,CONTROL_FINISHED_OK
$STATE,13049,begin surface
$SM_CCo,13071,240.32,0.416,0,0,393,713.08
$SM_GC,1.16,0.00,0.00,240.32,0.000,0.000,0.416,41,2126,393,-7.93,0.71,713.08
$IRIDIUM_FIX,2008.77,-15618.82,160313,090948
$TT8_MAMPS,0.060593
$HUMID,1078813539
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.20
$XPDR_PINGS,86
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6329761792
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,3312058368
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,68.293
$10V_AH,9.7,63.276
$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,20.400,121.600,365.275,240.325,0.000,160.674,186.153,1595.357,21.500,0.000,34.585,1247.017,9413.197,629.988,3474.903,1039.786,33.365,1511.698,0.000,2017.762,0.000,0.543,0.000
$DEVICE_MAMPS,239.304,69.797,1066.897,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.900,0.000,985.379,0.000,0.000,0.000,0.000,33078.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.761,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,30376,576
$CAP_FILE_SIZE,150393,0
$CFSIZE,260165632,168960000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 42.2,1
$GPS,210911,190537,2015.752,-15618.256,25,1.3,26,9.8