version: 66.07
glider: 513
mission: 7
dive: 502
start: 9 21 111 19 42 18
data:
$ID,513
$MISSION,7
$DIVE,502
$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,-433374.91
$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,48
$R_STBD_OVSHOOT,50
$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,501
$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
$GPS1,210911,190537,2015.752,-15618.256,25,1.3,26,9.8
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,9
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.6
$GPS2,210911,194120,2015.800,-15618.175,15,1.5,15,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229,-0.069
$KALMAN_X,-14052.5,-1637.4,-189.0,77791.7,7847.6
$KALMAN_Y,-611766.3,693.0,-142.7,641055.4,1670.9
$MHEAD_RNG_PITCHd_Wd,244.3,20600,-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,-136.7,0.0,0.0,0,144,0.00,0.00,-111.00,0.000,2,0.000,0.000,36,2123,3647,0,0,0,0,0,0
$GC,149,-0.80,-136.7,3.0,-3.9,17,171,9.82,2.20,-3.80,0.000,4,0.241,0.064,2318,3496,3858,0,0,0,0,0,0
$GC,357,-0.80,-136.7,65.8,-24.4,41,365,0.00,2.15,0.00,0.000,6,0.000,0.042,2318,2114,3861,0,0,0,0,0,0
$GC,622,-0.80,-136.7,130.2,-21.8,66,626,0.00,2.17,0.00,0.000,4,0.000,0.040,2320,679,3861,0,0,0,0,0,0
$GC,651,-0.80,-136.7,136.6,-21.0,68,656,0.12,2.17,0.00,0.000,6,0.178,0.044,2338,2077,3861,0,0,0,0,0,0
$GC,919,-0.80,-136.7,186.9,-16.8,92,923,0.00,2.25,0.00,0.000,4,0.000,0.056,2329,3520,3861,0,0,0,0,0,0
$GC,1035,-0.80,-136.7,208.1,-16.0,100,1039,0.00,2.15,0.00,0.000,6,0.000,0.031,2329,2087,3861,0,0,0,0,0,0
$GC,1290,-0.80,-136.7,248.2,-16.5,112,1294,0.00,2.10,0.00,0.000,4,0.000,0.040,2329,693,3861,0,0,0,0,0,0
$GC,1329,-0.80,-136.7,254.8,-15.7,114,1333,0.00,2.17,0.00,0.000,6,0.000,0.044,2318,2109,3861,0,0,0,0,0,0
$GC,1594,-0.80,-136.7,298.1,-15.4,127,1598,0.00,2.20,0.00,0.000,4,0.000,0.053,2307,3512,3861,0,0,0,0,0,0
$GC,1656,-0.80,-136.7,307.7,-15.5,129,1661,0.12,2.12,0.00,0.000,6,0.164,0.032,2339,2094,3861,0,0,0,0,0,0
$GC,1917,-0.80,-136.7,346.0,-14.6,136,1921,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,702,3861,0,0,0,0,0,0
$GC,1950,-0.80,-136.7,350.9,-14.8,136,1956,0.00,2.12,0.00,0.000,6,0.000,0.043,2331,2100,3859,0,0,0,0,0,0
$GC,2201,-0.80,-136.7,383.6,-12.7,143,2205,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3506,3857,0,0,0,0,0,0
$GC,2228,-0.80,-136.7,387.4,-12.3,143,2232,0.00,2.10,0.00,0.000,6,0.000,0.030,2321,2098,3857,0,0,0,0,0,0
$GC,2479,-0.80,-136.7,419.7,-13.0,149,2483,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3510,3855,0,0,0,0,0,0
$GC,2532,-0.80,-136.7,426.4,-13.2,150,2536,0.10,2.12,0.00,0.000,6,0.173,0.032,2334,2103,3854,0,0,0,0,0,0
$GC,2810,-0.80,-136.7,460.6,-12.6,157,2814,0.00,2.22,0.00,0.000,4,0.000,0.051,2325,3506,3851,0,0,0,0,0,0
$GC,2854,-0.80,-136.7,466.8,-13.5,158,2858,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2093,3851,0,0,0,0,0,0
$GC,3134,-0.80,-136.7,504.5,-13.8,165,3137,0.00,2.08,0.00,0.000,4,0.000,0.040,2323,700,3845,0,0,0,0,0,0
$GC,3200,-0.80,-136.7,514.0,-13.7,166,3205,0.00,2.17,0.00,0.000,6,0.000,0.044,2315,2105,3846,0,0,0,0,0,0
$GC,3457,-0.80,-136.7,548.6,-13.8,173,3461,0.00,2.12,0.00,0.000,4,0.000,0.042,2315,700,3843,0,0,0,0,0,0
$GC,3525,-0.80,-136.7,557.2,-12.8,174,3530,0.12,2.17,0.00,0.000,6,0.183,0.044,2335,2101,3843,0,0,0,0,0,0
$GC,3781,-0.80,-136.7,585.6,-10.9,181,3784,0.00,2.12,0.00,0.000,4,0.000,0.040,2335,696,3841,0,0,1,0,0,0
$GC,3820,-0.80,-136.7,590.3,-11.4,182,3824,0.00,2.17,0.00,0.000,6,0.000,0.041,2327,2103,3840,0,0,0,0,0,0
$GC,4106,-0.80,-136.7,624.0,-12.0,189,4110,0.00,2.22,0.00,0.000,4,0.000,0.053,2312,3507,3837,0,0,0,0,0,0
$GC,4133,-0.80,-136.7,627.5,-12.0,189,4137,0.00,2.12,0.00,0.000,6,0.000,0.031,2316,2110,3836,0,0,0,0,0,0
$GC,4383,-0.80,-136.7,656.9,-11.6,195,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2104,3834,0,0,0,0,0,0
$GC,4629,-0.80,-136.7,684.0,-11.1,201,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2104,3832,0,0,0,0,0,0
$GC,4870,-0.80,-136.7,712.6,-11.6,207,4874,0.00,2.22,0.00,0.000,4,0.000,0.051,2306,3509,3829,0,0,0,0,0,0
$GC,4910,-0.80,-136.7,717.2,-11.1,208,4915,0.12,2.15,0.00,0.000,6,0.174,0.031,2337,2089,3831,0,0,0,0,0,0
$GC,5195,-0.80,-136.7,745.0,-9.7,215,5199,0.00,2.12,0.00,0.000,4,0.000,0.040,2337,695,3826,0,0,0,0,0,0
$GC,5222,-0.80,-136.7,748.0,-10.3,215,5226,0.00,2.17,0.00,0.000,6,0.000,0.040,2329,2105,3826,0,0,0,0,0,0
$GC,5473,-0.80,-136.7,773.5,-10.2,221,5477,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3514,3821,0,0,0,0,0,0
$GC,5518,-0.80,-136.7,778.2,-10.2,222,5522,0.00,2.15,0.00,0.000,6,0.000,0.032,2316,2101,3823,0,0,0,0,0,0
$GC,5809,-0.80,-136.7,809.8,-11.1,229,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2095,3822,0,0,0,0,0,0
$GC,6050,-0.80,-136.7,836.3,-10.8,235,6054,0.00,2.17,0.00,0.000,4,0.000,0.044,2323,690,3819,0,0,0,0,0,0
$GC,6078,-0.80,-136.7,839.5,-11.6,235,6083,0.12,2.20,0.00,0.000,6,0.189,0.042,2337,2104,3819,0,0,0,0,0,0
$GC,6330,-0.80,-136.7,864.2,-9.9,241,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2103,3818,0,0,0,0,0,0
$GC,6572,-0.80,-136.7,887.7,-9.4,247,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2103,3817,0,0,0,0,0,0
$STATE,6731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6732,begin apogee
$GC,6738,-0.28,0.0,902.1,8.9,251,6854,0.55,0.00,110.28,1.065,6,0.143,0.000,2502,1919,3299,0,0,0,0,0,0
$STATE,6857,end apogee,CONTROL_FINISHED_OK
$STATE,6857,begin climb
$GC,6861,0.80,136.7,904.1,0.0,254,6992,1.02,2.17,121.53,1.034,4,0.097,0.038,2855,590,2742,0,0,0,0,0,0
$GC,7027,0.80,136.7,883.5,19.6,258,7031,0.00,2.20,0.00,0.000,6,0.000,0.035,2854,1957,2736,0,0,0,0,0,0
$GC,7312,0.80,136.7,829.4,19.0,265,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1959,2733,0,0,0,0,0,0
$GC,7553,0.80,136.7,785.3,17.8,271,7557,0.00,2.28,0.00,0.000,4,0.000,0.052,2855,3373,2731,0,0,0,0,0,0
$GC,7581,0.80,136.7,780.0,19.1,271,7585,0.00,2.12,0.00,0.000,6,0.000,0.030,2865,1988,2731,0,0,0,0,0,0
$GC,7837,0.80,136.7,733.5,18.2,278,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1985,2730,0,0,0,0,0,0
$GC,8080,0.80,136.7,687.6,19.1,284,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1990,2730,0,0,0,0,0,0
$GC,8323,0.80,136.7,641.9,19.1,290,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1985,2729,0,0,0,0,0,0
$GC,8567,0.80,136.7,594.8,19.0,296,8571,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3379,2725,0,0,0,0,0,0
$GC,8653,0.80,136.7,579.2,18.3,298,8657,0.00,2.17,0.00,0.000,6,0.000,0.030,2876,1952,2727,0,0,0,0,0,0
$GC,8937,0.80,136.7,530.5,16.8,305,8941,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,556,2724,0,0,0,0,0,0
$GC,9015,0.80,136.7,517.3,16.6,306,9021,0.12,2.17,0.00,0.000,6,0.194,0.033,2858,1978,2721,0,0,0,0,0,0
$GC,9267,0.80,136.7,478.4,15.2,313,9271,0.00,2.15,0.00,0.000,4,0.000,0.037,2867,557,2721,0,0,0,0,0,0
$GC,9306,0.80,136.7,472.1,15.2,314,9310,0.00,2.15,0.00,0.000,6,0.000,0.034,2865,1959,2720,0,0,0,0,0,0
$GC,9590,0.80,136.7,430.0,14.8,321,9594,0.00,2.25,0.00,0.000,4,0.000,0.052,2867,3368,2720,0,0,0,0,0,0
$GC,9686,0.80,136.7,414.6,16.4,323,9690,0.00,2.12,0.00,0.000,6,0.000,0.030,2877,1956,2721,0,0,0,0,0,0
$GC,9958,0.80,136.7,372.4,16.0,330,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1954,2721,0,0,0,0,0,0
$GC,10201,0.80,136.7,335.1,14.9,336,10205,0.00,2.28,0.00,0.000,4,0.000,0.050,2877,3374,2721,0,0,0,0,0,0
$GC,10275,0.80,136.7,323.0,16.9,337,10280,0.12,2.15,0.00,0.000,6,0.199,0.029,2858,1957,2724,0,0,0,0,0,0
$GC,10532,0.80,136.7,290.1,12.3,345,10535,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,565,2720,0,0,0,0,0,0
$GC,10577,0.80,136.7,284.7,11.4,347,10581,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1970,2719,0,0,0,0,0,0
$GC,10837,0.80,136.7,256.5,9.8,360,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1970,2719,0,0,0,0,0,0
$GC,11084,0.80,136.7,228.6,12.2,372,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1970,2718,0,0,0,0,0,0
$GC,11333,0.80,136.7,200.2,12.5,384,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1970,2719,0,0,0,0,0,0
$GC,11588,0.80,136.7,173.2,10.8,407,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1970,2718,0,0,0,0,0,0
$GC,11842,0.80,136.7,146.6,9.5,431,11846,0.00,2.20,0.00,0.000,4,0.000,0.049,2868,3365,2719,0,0,0,0,0,0
$GC,11940,0.80,136.7,137.3,9.1,439,11944,0.00,2.12,0.00,0.000,6,0.000,0.029,2877,1951,2719,0,0,0,0,0,0
$GC,12211,0.82,153.4,116.5,7.9,464,12227,0.00,2.15,11.77,0.482,4,0.000,0.038,2889,571,2674,0,0,0,0,0,0
$GC,12316,0.82,153.4,106.9,9.0,473,12323,0.00,2.15,0.00,0.000,6,0.000,0.032,2888,1969,2672,0,0,0,0,0,0
$GC,12584,0.82,153.4,81.8,8.8,498,12588,0.00,2.17,0.00,0.000,4,0.000,0.048,2888,3359,2673,0,0,0,0,0,0
$GC,12770,0.88,206.4,66.6,6.3,514,12825,0.00,2.12,44.85,0.476,6,0.000,0.028,2895,1960,2458,0,0,0,0,0,0
$GC,13082,0.88,206.4,35.3,10.0,543,13086,0.00,2.15,0.00,0.000,4,0.000,0.041,2901,575,2455,0,0,0,0,0,0
$GC,13202,0.88,207.1,22.9,8.5,560,13211,0.00,2.12,0.00,0.000,6,0.000,0.031,2896,1960,2453,0,0,0,0,0,0
$STATE,13398,end climb,SURFACE_DEPTH_REACHED
$STATE,13398,begin surface coast
$FINISH,0.2,1.011369
$STATE,13432,end surface coast,CONTROL_FINISHED_OK
$STATE,13432,begin surface
$SM_CCo,13463,277.95,0.415,0,0,392,713.08
$SM_GC,1.05,0.00,0.00,277.95,0.000,0.000,0.415,42,2129,392,-7.93,0.90,713.08
$IRIDIUM_FIX,2008.77,-15619.74,160313,131310
$TT8_MAMPS,0.060593
$HUMID,1078800635
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.20
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6329729024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,3158147072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,68.497
$10V_AH,9.8,63.460
$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,20.050,125.975,288.425,277.950,0.000,131.614,225.507,1265.085,22.500,0.000,17.219,1284.553,9807.672,657.249,3251.420,886.580,33.360,1512.365,0.000,1999.090,0.000,0.543,0.000
$DEVICE_MAMPS,240.838,67.496,1064.596,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,411.049,0.000,1038.177,0.000,0.000,0.000,0.000,16947.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.995,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,30292,602
$CAP_FILE_SIZE,145439,0
$CFSIZE,260165632,168865792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.019,294.9,1
$GPS,210911,233254,2015.472,-15620.006,35,1.4,36,9.8