version: 66.07
glider: 513
mission: 7
dive: 507
start: 9 22 111 15 58 55
data:
$ID,513
$MISSION,7
$DIVE,507
$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,-433583.75
$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,72
$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,20
$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
$GPS1,220911,153528,2014.894,-15627.141,45,2.3,65,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.3
$GPS2,220911,155745,2014.662,-15627.279,80,3.2,99,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.197,-0.135
$KALMAN_X,-13818.4,-806.6,206.9,60457.4,1879.9
$KALMAN_Y,-601102.5,284.8,-421.0,628986.6,5137.4
$MHEAD_RNG_PITCHd_Wd,266.3,4769,-16.4,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.81,-126.1,0.0,0.0,0,86,0.00,0.00,-56.97,0.000,2,0.000,0.000,36,2145,3698,0,0,0,0,0,0
$GC,91,-0.83,-136.7,3.3,-4.1,9,113,10.05,2.15,-2.75,0.000,4,0.245,0.062,2310,3484,3861,0,0,0,0,0,0
$GC,342,-0.83,-136.7,82.9,-24.2,36,346,0.00,2.12,0.00,0.000,6,0.000,0.038,2310,2094,3864,0,0,0,0,0,0
$GC,611,-0.83,-136.7,149.4,-21.9,60,615,0.00,2.20,0.00,0.000,4,0.000,0.053,2300,3481,3866,0,0,0,0,0,0
$GC,696,-0.83,-136.7,167.8,-18.7,67,700,0.10,2.08,0.00,0.000,6,0.189,0.030,2323,2095,3866,0,0,0,0,0,0
$GC,966,-0.83,-136.7,220.2,-18.6,87,969,0.00,2.10,0.00,0.000,4,0.000,0.043,2324,706,3867,0,0,0,0,0,0
$GC,983,-0.83,-136.7,223.4,-16.6,88,987,0.00,2.10,0.00,0.000,6,0.000,0.048,2316,2055,3867,0,0,0,0,0,0
$GC,1248,-0.83,-136.7,267.6,-17.8,101,1252,0.00,2.30,0.00,0.000,4,0.000,0.053,2304,3521,3868,0,0,0,0,0,0
$GC,1314,-0.83,-136.7,279.2,-17.4,104,1318,0.00,2.12,0.00,0.000,6,0.000,0.031,2304,2103,3868,0,0,0,0,0,0
$GC,1596,-0.83,-136.7,330.3,-17.3,114,1600,0.00,2.15,0.00,0.000,4,0.000,0.041,2304,693,3870,0,0,0,0,0,0
$GC,1652,-0.83,-136.7,340.1,-16.3,115,1657,0.12,2.15,0.00,0.000,6,0.171,0.041,2326,2111,3868,0,0,1,0,0,0
$GC,1920,-0.83,-136.7,379.5,-15.3,122,1924,0.00,2.20,0.00,0.000,4,0.000,0.052,2317,3512,3867,0,0,0,0,0,0
$GC,1975,-0.83,-136.7,388.2,-14.6,123,1979,0.00,2.12,0.00,0.000,6,0.000,0.031,2317,2095,3867,0,0,0,0,0,0
$GC,2242,-0.83,-136.7,428.2,-14.8,130,2246,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,700,3865,0,0,0,0,0,0
$GC,2299,-0.83,-136.7,436.4,-14.5,131,2303,0.00,2.15,0.00,0.000,6,0.000,0.042,2307,2103,3862,0,0,0,0,0,0
$GC,2565,-0.83,-136.7,473.3,-13.8,138,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2102,3863,0,0,0,0,0,0
$GC,2809,-0.83,-136.7,510.7,-15.6,144,2813,0.00,2.22,0.00,0.000,4,0.000,0.053,2296,3511,3859,0,0,0,0,0,0
$GC,2856,-0.83,-136.7,517.9,-15.7,145,2861,0.12,2.12,0.00,0.000,6,0.170,0.032,2328,2103,3859,0,0,0,0,0,0
$GC,3145,-0.83,-136.7,556.6,-12.9,152,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2097,3856,0,0,0,0,0,0
$GC,3389,-0.83,-136.7,586.5,-12.0,158,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2097,3854,0,0,0,0,0,0
$GC,3633,-0.83,-136.7,615.5,-11.9,164,3637,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3513,3852,0,0,0,0,0,0
$GC,3678,-0.83,-136.7,621.0,-12.6,165,3682,0.00,2.15,0.00,0.000,6,0.000,0.033,2318,2099,3851,0,0,0,0,0,0
$GC,3956,-0.83,-136.7,654.6,-11.9,172,3960,0.00,2.12,0.00,0.000,4,0.000,0.041,2318,697,3849,0,0,0,0,0,0
$GC,4041,-0.83,-136.7,665.4,-12.9,174,4045,0.00,2.17,0.00,0.000,6,0.000,0.043,2307,2100,3847,0,0,0,0,0,0
$GC,4325,-0.83,-136.7,702.7,-13.3,181,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2099,3848,0,0,0,0,0,0
$GC,4569,-0.83,-136.7,736.0,-13.6,187,4573,0.00,2.15,0.00,0.000,4,0.000,0.042,2308,697,3842,0,0,0,0,0,0
$GC,4596,-0.83,-136.7,739.9,-14.2,187,4600,0.12,2.17,0.00,0.000,6,0.176,0.043,2329,2109,3844,0,0,0,0,0,0
$GC,4852,-0.83,-136.7,768.2,-11.0,194,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2108,3841,0,0,0,0,0,0
$GC,5095,-0.83,-136.7,794.0,-10.4,200,5099,0.00,2.25,0.00,0.000,4,0.000,0.054,2320,3520,3839,0,0,0,0,0,0
$GC,5144,-0.83,-136.7,799.4,-10.6,201,5149,0.00,2.17,0.00,0.000,6,0.000,0.033,2319,2104,3838,0,0,0,0,0,0
$GC,5419,-0.83,-136.7,828.8,-10.9,208,5423,0.00,2.20,0.00,0.000,4,0.000,0.043,2320,693,3837,0,0,0,0,0,0
$GC,5452,-0.83,-136.7,832.7,-10.5,208,5457,0.00,2.22,0.00,0.000,6,0.000,0.048,2309,2101,3836,0,0,0,0,0,0
$GC,5702,-0.83,-136.7,861.3,-11.7,215,5706,0.00,2.22,0.00,0.000,4,0.000,0.054,2298,3515,3833,0,0,0,0,0,0
$GC,5723,-0.83,-136.7,864.1,-12.3,215,5728,0.12,2.17,0.00,0.000,6,0.173,0.032,2330,2086,3834,0,0,0,0,0,0
$GC,5980,-0.83,-136.7,890.7,-10.4,222,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2080,3833,0,0,0,0,0,0
$STATE,6097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6098,begin apogee
$GC,6104,-0.28,0.0,903.7,10.6,225,6222,0.57,0.00,113.47,1.065,6,0.143,0.000,2501,1918,3302,0,0,0,0,0,0
$STATE,6224,end apogee,CONTROL_FINISHED_OK
$STATE,6224,begin climb
$GC,6228,0.83,136.7,908.0,0.0,228,6355,1.10,0.00,123.00,1.036,6,0.095,0.000,2860,1916,2742,0,0,0,0,0,0
$GC,6584,0.83,136.7,854.8,18.7,237,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1916,2734,0,0,0,0,0,0
$GC,6828,0.83,136.7,811.0,18.0,243,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1916,2731,0,0,0,0,0,0
$GC,7072,0.83,136.7,767.1,18.1,249,7076,0.00,2.35,0.00,0.000,4,0.000,0.054,2862,3374,2729,0,0,0,0,0,0
$GC,7134,0.83,136.7,755.2,19.6,250,7138,0.00,2.12,0.00,0.000,6,0.000,0.031,2873,1976,2729,0,0,0,0,0,0
$GC,7400,0.83,136.7,705.6,18.8,257,7404,0.00,2.17,0.00,0.000,4,0.000,0.039,2885,560,2728,0,0,0,0,0,0
$GC,7450,0.83,136.7,695.6,19.9,258,7455,0.00,2.17,0.00,0.000,6,0.000,0.035,2883,1963,2726,0,0,0,0,0,0
$GC,7724,0.83,136.7,642.4,19.4,265,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1964,2727,0,0,0,0,0,0
$GC,7967,0.83,136.7,597.4,18.3,271,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1965,2726,0,0,0,0,0,0
$GC,8210,0.83,136.7,554.8,17.4,277,8214,0.00,2.25,0.00,0.000,4,0.000,0.054,2883,3373,2725,0,0,0,0,0,0
$GC,8273,0.83,136.7,543.5,18.2,278,8278,0.12,2.15,0.00,0.000,6,0.213,0.031,2866,1950,2725,0,0,0,0,0,0
$GC,8539,0.83,136.7,501.2,15.7,285,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1948,2724,0,0,0,0,0,0
$GC,8783,0.83,136.7,463.9,15.5,291,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1954,2724,0,0,0,0,0,0
$GC,9027,0.83,136.7,425.1,16.0,297,9031,0.00,2.30,0.00,0.000,4,0.000,0.053,2865,3380,2724,0,0,0,0,0,0
$GC,9089,0.83,136.7,415.0,16.3,298,9093,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1955,2723,0,0,0,0,0,0
$GC,9355,0.83,136.7,375.9,14.1,305,9359,0.00,2.12,0.00,0.000,4,0.000,0.040,2885,565,2722,0,0,0,0,0,0
$GC,9433,0.83,136.7,365.4,13.7,306,9438,0.00,2.15,0.00,0.000,6,0.000,0.034,2885,1967,2721,0,0,0,0,0,0
$GC,9684,0.83,136.7,330.3,14.1,313,9688,0.00,2.22,0.00,0.000,4,0.000,0.051,2885,3361,2720,0,0,0,0,0,0
$GC,9819,0.83,136.7,308.9,14.2,316,9824,0.00,2.12,0.00,0.000,6,0.000,0.031,2891,1959,2721,0,0,0,0,0,0
$GC,10088,0.83,136.7,271.7,13.5,327,10091,0.00,2.12,0.00,0.000,4,0.000,0.038,2902,558,2719,0,0,0,0,0,0
$GC,10205,0.83,136.7,255.8,13.5,332,10210,0.15,2.15,0.00,0.000,6,0.193,0.034,2867,1963,2719,0,0,0,0,0,0
$GC,10461,0.83,136.7,226.4,11.7,344,10465,0.00,2.22,0.00,0.000,4,0.000,0.051,2867,3368,2719,0,0,0,0,0,0
$GC,10584,0.83,136.7,212.2,12.0,349,10588,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1955,2720,0,0,0,0,0,0
$GC,10843,0.83,136.7,183.3,10.6,367,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1954,2719,0,0,0,0,0,0
$GC,11099,0.83,136.7,154.1,11.0,391,11103,0.00,2.25,0.00,0.000,4,0.000,0.049,2875,3367,2721,0,0,0,0,0,0
$GC,11173,0.83,136.7,147.3,8.7,397,11177,0.00,2.12,0.00,0.000,6,0.000,0.029,2885,1965,2721,0,0,0,0,0,0
$GC,11440,0.84,149.4,126.6,8.0,421,11453,0.00,2.20,7.78,0.453,4,0.000,0.044,2886,3364,2692,0,0,0,0,0,0
$GC,11636,0.84,149.4,106.7,9.6,438,11643,0.00,2.15,0.00,0.000,6,0.000,0.029,2892,1949,2694,0,0,0,0,0,0
$GC,11901,0.85,154.6,86.4,8.3,463,11915,0.00,2.25,7.53,0.418,4,0.000,0.044,2893,3371,2668,0,0,0,0,0,0
$GC,12119,0.87,173.4,68.8,7.7,482,12145,0.00,2.10,16.90,0.449,6,0.000,0.027,2897,1966,2598,0,0,0,0,0,0
$GC,12401,0.93,220.9,46.3,6.4,508,12449,0.00,2.25,40.20,0.448,4,0.000,0.044,2902,3372,2400,0,0,0,0,0,0
$GC,12531,0.93,220.9,34.6,11.2,519,12535,0.00,2.15,0.00,0.000,6,0.000,0.028,2910,1954,2399,0,0,0,0,0,0
$STATE,12767,end climb,SURFACE_DEPTH_REACHED
$STATE,12767,begin surface coast
$FINISH,0.6,1.023201
$STATE,12784,end surface coast,CONTROL_FINISHED_OK
$STATE,12785,begin surface
$SM_CCo,12805,37.15,0.409,0,0,2076,300.73
$SM_GC,2.18,0.00,0.00,37.15,0.000,0.000,0.409,57,2137,2076,-7.94,1.05,300.73
$IRIDIUM_FIX,2006.47,-15624.87,170313,101042
$TT8_MAMPS,0.248508
$HUMID,1078916764
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,24
$AR_CDRIVE_FREE,6252855296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,2432532480
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,69.151
$10V_AH,9.8,63.948
$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,20.375,113.475,308.875,37.150,0.000,78.210,121.533,660.313,21.750,0.000,102.621,1234.637,9212.956,429.570,2799.482,519.592,33.365,1202.471,0.000,1896.853,0.000,0.544,0.000
$DEVICE_MAMPS,244.673,65.195,1064.596,408.811,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.274,0.000,952.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353748
$DATA_FILE_SIZE,26969,562
$CAP_FILE_SIZE,126775,0
$CFSIZE,260165632,168599552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051, 61.3,1
$GPS,220911,193457,2015.018,-15628.612,58,1.1,58,9.8