version: 66.07
glider: 513
mission: 7
dive: 505
start: 9 22 111 8 0 10
data:
$ID,513
$MISSION,7
$DIVE,505
$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,-433442.28
$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,49
$R_STBD_OVSHOOT,62
$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,502
$AR_SAMPLENUM,12
$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
$GPS1,220911,073730,2015.225,-15623.642,74,1.1,74,9.8
$_CALLS,3
$_XMS_NAKs,29
$_XMS_TOUTs,6
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.7
$GPS2,220911,075913,2015.047,-15623.672,18,1.5,23,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061,-0.231
$KALMAN_X,-12669.7,-374.6,-180.8,65564.6,3636.1
$KALMAN_Y,-606432.7,-673.3,-194.8,635748.1,4875.5
$MHEAD_RNG_PITCHd_Wd,261.3,10996,-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,-136.7,0.0,0.0,0,85,0.00,0.00,-52.88,0.000,2,0.000,0.000,36,2139,3570,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.0,-3.9,8,113,9.95,2.15,-5.18,0.000,4,0.241,0.064,2324,3486,3858,0,0,0,0,0,0
$GC,307,-0.80,-136.7,69.4,-21.4,33,311,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,2108,3862,0,0,0,0,0,0
$GC,575,-0.80,-136.7,125.5,-19.1,57,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2101,3862,0,0,0,0,0,0
$GC,840,-0.80,-136.7,182.1,-18.7,82,844,0.00,2.17,0.00,0.000,4,0.000,0.051,2313,3487,3867,0,0,0,0,0,0
$GC,962,-0.80,-136.7,208.1,-20.7,90,969,0.00,2.08,0.00,0.000,6,0.000,0.031,2313,2096,3864,0,0,0,0,0,0
$GC,1217,-0.80,-136.7,261.0,-19.9,103,1221,0.00,2.12,0.00,0.000,4,0.000,0.042,2313,701,3864,0,0,0,0,0,0
$GC,1302,-0.80,-136.7,277.0,-17.5,107,1307,0.12,2.10,0.00,0.000,6,0.173,0.044,2334,2074,3865,0,0,0,0,0,0
$GC,1587,-0.80,-136.7,319.3,-14.5,118,1591,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3509,3865,0,0,0,0,0,0
$GC,1664,-0.80,-136.7,331.7,-14.1,119,1670,0.00,2.10,0.00,0.000,6,0.000,0.031,2325,2092,3865,0,0,0,0,0,0
$GC,1916,-0.80,-136.7,372.0,-16.8,126,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2087,3864,0,0,0,0,0,0
$GC,2158,-0.80,-136.7,409.3,-15.1,132,2162,0.00,2.22,0.00,0.000,4,0.000,0.051,2314,3506,3864,0,0,0,0,0,0
$GC,2207,-0.80,-136.7,416.6,-14.0,133,2212,0.00,2.10,0.00,0.000,6,0.000,0.031,2311,2106,3863,0,0,0,0,0,0
$GC,2480,-0.80,-136.7,455.7,-14.6,140,2484,0.00,2.12,0.00,0.000,4,0.000,0.039,2320,699,3861,0,0,0,0,0,0
$GC,2514,-0.80,-136.7,460.7,-14.4,140,2520,0.12,2.15,0.00,0.000,6,0.173,0.041,2335,2098,3861,0,0,0,0,0,0
$GC,2764,-0.80,-136.7,491.4,-12.1,147,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2098,3859,0,0,0,0,0,0
$GC,3007,-0.80,-136.7,521.7,-12.5,153,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2098,3857,0,0,0,0,0,0
$GC,3253,-0.80,-136.7,550.9,-11.8,159,3257,0.00,2.20,0.00,0.000,4,0.000,0.051,2326,3509,3853,0,0,0,0,0,0
$GC,3293,-0.80,-136.7,555.9,-11.9,160,3297,0.00,2.12,0.00,0.000,6,0.000,0.030,2327,2105,3853,0,0,0,0,0,0
$GC,3577,-0.80,-136.7,590.9,-12.8,167,3581,0.00,2.15,0.00,0.000,4,0.000,0.041,2326,683,3851,0,0,0,0,0,0
$GC,3599,-0.80,-136.7,594.0,-13.5,167,3603,0.00,2.17,0.00,0.000,6,0.000,0.043,2316,2100,3849,0,0,0,0,0,0
$GC,3861,-0.80,-136.7,629.7,-13.6,174,3865,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3511,3848,0,0,0,0,0,0
$GC,3929,-0.80,-136.7,639.2,-13.7,175,3933,0.12,2.15,0.00,0.000,6,0.169,0.031,2336,2092,3847,0,0,0,0,0,0
$GC,4185,-0.80,-136.7,668.4,-11.1,182,4189,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,698,3844,0,0,0,0,0,0
$GC,4246,-0.80,-136.7,675.8,-11.5,183,4250,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2101,3845,0,0,0,0,0,0
$GC,4513,-0.80,-136.7,707.2,-11.8,190,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2100,3842,0,0,0,0,0,0
$GC,4756,-0.80,-136.7,735.5,-11.6,196,4760,0.00,2.25,0.00,0.000,4,0.000,0.051,2317,3525,3840,0,0,0,0,0,0
$GC,4785,-0.80,-136.7,738.7,-11.5,196,4789,0.00,2.15,0.00,0.000,6,0.000,0.031,2313,2100,3836,0,0,0,0,0,0
$GC,5041,-0.80,-136.7,768.5,-11.5,203,5045,0.00,2.17,0.00,0.000,4,0.000,0.044,2317,695,3838,0,0,0,0,0,0
$GC,5081,-0.80,-136.7,773.2,-11.4,204,5086,0.12,2.20,0.00,0.000,6,0.186,0.044,2337,2099,3837,0,0,0,0,0,0
$GC,5366,-0.80,-136.7,800.6,-9.5,211,5370,0.00,2.25,0.00,0.000,4,0.000,0.051,2328,3520,3834,0,0,0,0,0,0
$GC,5422,-0.80,-136.7,806.7,-9.7,212,5426,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2093,3834,0,0,0,0,0,0
$GC,5694,-0.80,-136.7,835.9,-10.8,219,5698,0.00,2.15,0.00,0.000,4,0.000,0.044,2327,699,3833,0,0,0,0,0,0
$GC,5757,-0.80,-136.7,843.0,-12.0,220,5761,0.00,2.20,0.00,0.000,6,0.000,0.041,2317,2111,3832,0,0,0,0,0,0
$GC,6024,-0.80,-136.7,873.2,-11.4,227,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2110,3831,0,0,0,0,0,0
$STATE,6264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6265,begin apogee
$GC,6271,-0.28,0.0,901.9,11.8,233,6388,0.62,0.00,112.97,1.062,6,0.149,0.000,2500,1935,3299,0,0,0,0,0,0
$STATE,6390,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6394,0.80,136.7,906.3,0.0,236,6527,1.05,2.30,121.72,1.038,4,0.097,0.037,2858,568,2742,0,0,0,0,0,0
$GC,6540,0.80,136.7,893.0,15.6,239,6544,0.00,2.28,0.00,0.000,6,0.000,0.035,2858,1955,2739,0,0,0,0,0,0
$GC,6800,0.80,136.7,846.5,17.7,246,6804,0.00,2.28,0.00,0.000,4,0.000,0.051,2858,3369,2736,0,0,0,0,0,0
$GC,6822,0.80,136.7,842.2,18.9,246,6826,0.00,2.17,0.00,0.000,6,0.000,0.029,2868,1965,2735,0,0,0,0,0,0
$GC,7085,0.80,136.7,795.3,18.1,253,7089,0.00,2.17,0.00,0.000,4,0.000,0.037,2879,559,2733,0,0,0,0,0,0
$GC,7124,0.80,136.7,787.8,18.5,254,7128,0.00,2.17,0.00,0.000,6,0.000,0.034,2878,1966,2728,0,0,0,0,0,0
$GC,7408,0.80,136.7,734.6,18.9,261,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1968,2729,0,0,0,0,0,0
$GC,7652,0.80,136.7,688.9,18.6,267,7656,0.00,2.25,0.00,0.000,4,0.000,0.052,2879,3363,2727,0,0,0,0,0,0
$GC,7697,0.80,136.7,680.1,19.0,268,7702,0.15,2.17,0.00,0.000,6,0.200,0.031,2854,1949,2728,0,0,0,0,0,0
$GC,7975,0.80,136.7,635.5,15.6,275,7979,0.00,2.15,0.00,0.000,4,0.000,0.039,2863,555,2726,0,0,0,0,0,0
$GC,8061,0.80,136.7,622.7,14.2,277,8065,0.00,2.17,0.00,0.000,6,0.000,0.035,2863,1962,2724,0,0,0,0,0,0
$GC,8345,0.80,136.7,580.0,15.1,284,8349,0.00,2.25,0.00,0.000,4,0.000,0.051,2863,3366,2725,0,0,0,0,0,0
$GC,8389,0.80,136.7,572.7,16.8,285,8393,0.00,2.15,0.00,0.000,6,0.000,0.031,2873,1959,2725,0,0,0,0,0,0
$GC,8668,0.80,136.7,527.1,16.6,292,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1956,2724,0,0,0,0,0,0
$GC,8911,0.80,136.7,485.5,17.6,298,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1955,2724,0,0,0,0,0,0
$GC,9154,0.80,136.7,443.8,16.7,304,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1953,2724,0,0,0,0,0,0
$GC,9398,0.80,136.7,406.8,14.8,310,9402,0.00,2.15,0.00,0.000,4,0.000,0.040,2884,553,2724,0,0,0,0,0,0
$GC,9467,0.80,136.7,396.5,15.1,311,9471,0.12,2.17,0.00,0.000,6,0.193,0.034,2856,1966,2720,0,0,0,0,0,0
$GC,9729,0.80,136.7,361.9,13.0,318,9733,0.00,2.25,0.00,0.000,4,0.000,0.051,2855,3371,2719,0,0,0,0,0,0
$GC,9761,0.80,136.7,356.8,14.9,318,9768,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1952,2725,0,0,0,0,0,0
$GC,10013,0.80,136.7,323.3,13.3,325,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1951,2721,0,0,0,0,0,0
$GC,10256,0.80,136.7,292.8,12.2,332,10260,0.00,2.22,0.00,0.000,4,0.000,0.048,2864,3363,2721,0,0,0,0,0,0
$GC,10385,0.80,136.7,278.2,10.8,338,10390,0.00,2.12,0.00,0.000,6,0.000,0.029,2875,1962,2721,0,0,0,0,0,0
$GC,10652,0.80,136.7,246.0,11.7,351,10656,0.00,2.12,0.00,0.000,4,0.000,0.036,2891,558,2721,0,0,0,0,0,0
$GC,10663,0.80,136.7,244.4,12.1,351,10668,0.12,2.15,0.00,0.000,6,0.192,0.031,2862,1974,2720,0,0,0,0,0,0
$GC,10917,0.80,136.7,216.1,10.9,363,10921,0.00,2.15,0.00,0.000,4,0.000,0.036,2866,561,2720,0,0,0,0,0,0
$GC,11127,0.80,136.7,191.6,9.9,375,11131,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1956,2719,0,0,0,0,0,0
$GC,11395,0.81,151.5,169.8,7.9,399,11410,0.00,2.28,9.55,0.516,4,0.000,0.048,2866,3357,2685,0,0,0,0,0,0
$GC,11508,0.81,151.5,159.6,9.7,409,11512,0.00,2.10,0.00,0.000,6,0.000,0.028,2875,1961,2685,0,0,0,0,0,0
$GC,11780,0.81,151.5,134.0,9.8,434,11784,0.00,2.10,0.00,0.000,4,0.000,0.036,2883,559,2682,0,0,0,0,0,0
$GC,11838,0.81,151.5,128.0,10.1,439,11842,0.00,2.12,0.00,0.000,6,0.000,0.029,2885,1965,2683,0,0,0,0,0,0
$GC,12106,0.85,183.6,104.6,7.2,463,12142,0.00,2.22,28.85,0.506,4,0.000,0.046,2886,3350,2552,0,0,0,0,0,0
$GC,12387,0.85,183.6,70.5,13.2,488,12394,0.00,2.12,0.00,0.000,6,0.000,0.028,2893,1966,2552,0,0,0,0,0,0
$GC,12654,0.88,207.9,44.4,7.5,513,12682,0.00,2.25,21.70,0.444,4,0.000,0.046,2893,3358,2452,0,0,0,0,0,0
$GC,12804,0.88,207.9,30.2,10.1,526,12808,0.00,2.10,0.00,0.000,6,0.000,0.028,2901,1956,2451,0,0,0,0,0,0
$STATE,13058,end climb,SURFACE_DEPTH_REACHED
$STATE,13058,begin surface coast
$FINISH,0.5,1.023215
$STATE,13082,end surface coast,CONTROL_FINISHED_OK
$STATE,13082,begin surface
$SM_CCo,13104,50.00,0.420,0,0,2076,300.49
$SM_GC,1.87,0.00,0.00,50.00,0.000,0.000,0.420,59,2128,2076,-7.92,0.79,300.49
$IRIDIUM_FIX,2006.47,-15626.97,170313,020243
$TT8_MAMPS,0.253877
$HUMID,1078972248
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.90
$XPDR_PINGS,95
$AR_DIVENUM,502
$AR_SAMPLENUM,16
$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
$24V_AH,23.5,68.899
$10V_AH,9.7,63.756
$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,20.275,126.375,294.800,50.000,0.000,85.223,118.093,698.424,23.750,0.000,25.532,1259.797,9402.468,408.009,2876.463,521.595,33.364,1240.344,0.000,1977.066,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,66.729,1062.295,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.983,0.000,975.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,30222,577
$CAP_FILE_SIZE,133810,0
$CFSIZE,260165632,168706048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,196.0,1
$GPS,220911,114107,2014.991,-15625.367,33,1.0,34,9.8