version: 66.07
glider: 513
mission: 7
dive: 513
start: 9 23 111 16 12 35
data:
$ID,513
$MISSION,7
$DIVE,513
$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,-433680.69
$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,54
$R_STBD_OVSHOOT,49
$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,43
$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
$GPS1,230911,155107,2006.494,-15629.909,41,1.1,41,9.7
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.5
$GPS2,230911,161134,2006.398,-15629.903,13,1.6,14,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G9
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.244,-0.282
$KALMAN_X,-3068.3,-638.0,-481.4,45685.5,5121.5
$KALMAN_Y,-590830.6,-673.8,-432.9,604375.8,5456.8
$MHEAD_RNG_PITCHd_Wd,175.5,122970,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-57.88,0.000,2,0.000,0.000,37,2119,3762,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.1,-7.2,9,114,10.10,2.20,-1.50,0.000,4,0.244,0.051,2330,707,3859,0,0,0,0,0,0
$GC,245,-0.80,-136.7,59.7,-27.1,27,249,0.00,2.15,0.00,0.000,6,0.000,0.044,2321,2093,3860,0,0,0,0,0,0
$GC,510,-0.80,-136.7,128.6,-25.6,51,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2089,3862,0,0,0,0,0,0
$GC,775,-0.80,-136.7,186.6,-19.5,76,779,0.00,2.25,0.00,0.000,4,0.000,0.054,2316,3512,3868,0,0,0,0,0,0
$GC,859,-0.80,-136.7,202.1,-16.1,83,864,0.10,2.10,0.00,0.000,6,0.179,0.031,2334,2101,3864,0,0,0,0,0,0
$GC,1125,-0.80,-136.7,248.9,-18.1,96,1129,0.00,2.12,0.00,0.000,4,0.000,0.044,2334,709,3865,0,0,0,0,0,0
$GC,1174,-0.80,-136.7,257.4,-14.3,98,1178,0.00,2.12,0.00,0.000,6,0.000,0.045,2326,2102,3865,0,0,1,0,0,0
$GC,1428,-0.80,-136.7,294.4,-14.7,110,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2101,3866,0,0,0,0,0,0
$GC,1675,-0.80,-136.7,332.9,-16.0,117,1679,0.00,2.20,0.00,0.000,4,0.000,0.049,2315,3510,3865,0,0,0,0,0,0
$GC,1730,-0.80,-136.7,342.2,-14.8,118,1734,0.00,2.10,0.00,0.000,6,0.000,0.031,2315,2099,3865,0,0,0,0,0,0
$GC,1998,-0.80,-136.7,384.6,-15.9,125,2002,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3511,3864,0,0,0,0,0,0
$GC,2039,-0.80,-136.7,391.2,-15.6,126,2044,0.12,2.10,0.00,0.000,6,0.171,0.031,2336,2096,3864,0,0,0,0,0,0
$GC,2323,-0.80,-136.7,429.8,-13.3,133,2327,0.00,2.08,0.00,0.000,4,0.000,0.041,2336,705,3862,0,0,0,0,0,0
$GC,2401,-0.80,-136.7,439.4,-11.8,134,2406,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2105,3861,0,0,0,0,0,0
$GC,2653,-0.80,-136.7,471.6,-13.2,141,2657,0.00,2.17,0.00,0.000,4,0.000,0.049,2316,3507,3859,0,0,0,0,0,0
$GC,2704,-0.80,-136.7,479.1,-13.9,142,2708,0.00,2.12,0.00,0.000,6,0.000,0.030,2316,2101,3859,0,0,0,0,0,0
$GC,2982,-0.80,-136.7,519.4,-14.4,149,2986,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,702,3856,0,0,0,0,0,0
$GC,3023,-0.80,-136.7,525.3,-14.6,150,3028,0.12,2.12,0.00,0.000,6,0.182,0.041,2337,2099,3856,0,0,0,0,0,0
$GC,3307,-0.80,-136.7,561.7,-12.4,157,3311,0.00,2.22,0.00,0.000,4,0.000,0.052,2328,3504,3854,0,0,0,0,0,0
$GC,3340,-0.80,-136.7,566.0,-12.8,157,3345,0.00,2.12,0.00,0.000,6,0.000,0.030,2328,2097,3853,0,0,0,0,0,0
$GC,3591,-0.80,-136.7,598.2,-12.9,164,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2091,3851,0,0,0,0,0,0
$GC,3833,-0.80,-136.7,629.4,-12.7,170,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2092,3848,0,0,0,0,0,0
$GC,4077,-0.80,-136.7,660.1,-12.8,176,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2091,3846,0,0,0,0,0,0
$GC,4321,-0.80,-136.7,691.2,-12.8,182,4325,0.00,2.12,0.00,0.000,4,0.000,0.042,2328,703,3843,0,0,0,0,0,0
$GC,4372,-0.80,-136.7,697.8,-13.0,183,4376,0.00,2.17,0.00,0.000,6,0.000,0.042,2317,2104,3843,0,0,0,0,0,0
$GC,4644,-0.80,-136.7,732.3,-12.3,190,4648,0.00,2.22,0.00,0.000,4,0.000,0.053,2307,3503,3841,0,0,0,0,0,0
$GC,4717,-0.80,-136.7,741.5,-12.1,191,4721,0.00,2.10,0.00,0.000,6,0.000,0.030,2307,2106,3839,0,0,0,0,0,0
$GC,4969,-0.80,-136.7,772.1,-12.3,197,4974,0.12,2.17,0.00,0.000,4,0.183,0.042,2339,690,3837,0,0,0,0,0,0
$GC,5024,-0.80,-136.7,778.7,-10.8,198,5029,0.00,2.17,0.00,0.000,6,0.000,0.042,2331,2098,3837,0,0,0,0,0,0
$GC,5297,-0.80,-136.7,807.7,-11.0,205,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2095,3833,0,0,0,0,0,0
$GC,5542,-0.80,-136.7,833.8,-10.7,211,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2097,3833,0,0,0,0,0,0
$GC,5785,-0.80,-136.7,860.1,-10.8,217,5789,0.00,2.22,0.00,0.000,4,0.000,0.053,2320,3501,3831,0,0,0,0,0,0
$GC,5851,-0.80,-136.7,868.0,-12.1,218,5855,0.00,2.12,0.00,0.000,6,0.000,0.030,2320,2094,3830,0,0,0,0,0,0
$GC,6112,-0.80,-136.7,898.5,-11.8,225,6116,0.00,2.12,0.00,0.000,4,0.000,0.044,2320,705,3829,0,0,0,0,0,0
$STATE,6126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6126,begin apogee
$GC,6136,-0.28,0.0,900.7,11.9,225,6253,0.62,0.00,113.47,1.065,6,0.149,0.000,2497,1961,3300,0,0,0,0,0,0
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6276,begin climb
$GC,6279,0.80,136.7,905.3,0.0,228,6405,1.05,0.00,122.82,1.036,6,0.097,0.000,2843,1961,2744,0,0,0,0,0,0
$GC,6650,0.80,136.7,856.8,16.4,238,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1960,2736,0,0,0,0,0,0
$GC,6892,0.80,136.7,816.2,16.7,244,6896,0.00,2.28,0.00,0.000,4,0.000,0.051,2848,3373,2735,0,0,0,0,0,0
$GC,6943,0.80,136.7,807.4,17.4,245,6947,0.00,2.20,0.00,0.000,6,0.000,0.030,2858,1946,2735,0,0,0,0,0,0
$GC,7216,0.80,136.7,760.0,17.8,252,7220,0.00,2.10,0.00,0.000,4,0.000,0.038,2869,560,2732,0,0,0,0,0,0
$GC,7317,0.80,136.7,741.4,18.7,254,7321,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1960,2725,0,0,0,0,0,0
$GC,7584,0.80,136.7,692.5,18.5,261,7588,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3364,2728,0,0,0,0,0,0
$GC,7646,0.80,136.7,680.5,19.6,262,7650,0.00,2.15,0.00,0.000,6,0.000,0.030,2879,1950,2727,0,0,0,0,0,0
$GC,7913,0.80,136.7,629.5,19.1,269,7917,0.00,2.10,0.00,0.000,4,0.000,0.038,2891,562,2726,0,0,0,0,0,0
$GC,7957,0.80,136.7,620.7,19.5,270,7962,0.15,2.15,0.00,0.000,6,0.193,0.033,2855,1964,2724,0,0,0,0,0,0
$GC,8237,0.80,136.7,571.8,17.7,277,8241,0.00,2.25,0.00,0.000,4,0.000,0.051,2855,3370,2725,0,0,0,0,0,0
$GC,8326,0.80,136.7,555.2,18.3,279,8330,0.00,2.17,0.00,0.000,6,0.000,0.030,2864,1951,2725,0,0,0,0,0,0
$GC,8605,0.80,136.7,510.5,15.6,286,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1950,2724,0,0,0,0,0,0
$GC,8847,0.80,136.7,474.3,14.7,292,8851,0.00,2.12,0.00,0.000,4,0.000,0.038,2875,557,2724,0,0,0,0,0,0
$GC,8863,0.80,136.7,471.8,14.4,292,8867,0.00,2.12,0.00,0.000,6,0.000,0.034,2875,1961,2721,0,0,0,0,0,0
$GC,9130,0.80,136.7,433.1,14.5,299,9133,0.00,2.15,0.00,0.000,4,0.000,0.038,2885,560,2722,0,0,0,0,0,0
$GC,9159,0.80,136.7,428.8,15.4,299,9163,0.12,2.12,0.00,0.000,6,0.195,0.032,2856,1961,2722,0,0,0,0,0,0
$GC,9414,0.80,136.7,390.2,15.4,306,9418,0.00,2.22,0.00,0.000,4,0.000,0.051,2856,3366,2721,0,0,0,0,0,0
$GC,9486,0.80,136.7,377.8,17.2,307,9490,0.00,2.15,0.00,0.000,6,0.000,0.030,2865,1944,2722,0,0,0,0,0,0
$GC,9738,0.80,136.7,340.3,14.5,313,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1938,2721,0,0,0,0,0,0
$GC,9980,0.80,136.7,310.9,11.8,319,9984,0.00,2.10,0.00,0.000,4,0.000,0.038,2876,556,2721,0,0,0,0,0,0
$GC,10070,0.80,136.7,300.5,12.0,321,10074,0.00,2.15,0.00,0.000,6,0.000,0.032,2876,1960,2720,0,0,0,0,0,0
$GC,10339,0.80,136.7,267.1,13.9,333,10343,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3369,2718,0,0,0,0,0,0
$GC,10580,0.80,136.7,233.6,11.6,344,10585,0.12,2.15,0.00,0.000,6,0.210,0.028,2858,1950,2720,0,0,0,0,0,0
$GC,10847,0.80,136.7,206.2,10.3,357,10851,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,561,2720,0,0,0,0,0,0
$GC,11068,0.80,136.7,182.5,8.6,374,11072,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1968,2721,0,0,0,0,0,0
$GC,11338,0.80,136.7,159.4,9.4,399,11342,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3371,2720,0,0,0,0,0,0
$GC,11382,0.80,136.7,154.4,11.1,402,11389,0.00,2.15,0.00,0.000,6,0.000,0.028,2878,1963,2723,0,0,0,0,0,0
$GC,11648,0.80,136.7,130.2,8.9,427,11652,0.00,2.12,0.00,0.000,4,0.000,0.035,2889,556,2721,0,0,0,0,0,0
$GC,11662,0.80,136.7,128.6,9.2,428,11667,0.15,2.10,0.00,0.000,6,0.179,0.031,2852,1963,2721,0,0,0,0,0,0
$GC,11927,0.80,141.8,107.3,8.4,452,11931,0.00,2.22,0.00,0.000,4,0.000,0.049,2852,3366,2721,0,0,0,0,0,0
$GC,12178,0.90,220.4,89.4,5.2,474,12257,0.00,2.15,66.82,0.492,6,0.000,0.028,2863,1943,2400,0,0,0,0,0,0
$GC,12511,0.90,220.4,58.0,11.5,505,12515,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,581,2396,0,0,0,0,0,0
$GC,12577,0.90,220.4,50.2,10.2,510,12585,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,1957,2394,0,0,0,0,0,0
$GC,12841,0.90,220.4,24.1,10.6,540,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1959,2398,0,0,0,0,0,0
$STATE,13050,end climb,SURFACE_DEPTH_REACHED
$STATE,13050,begin surface coast
$FINISH,0.3,1.023316
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$SM_CCo,13103,35.30,0.410,0,0,2075,300.24
$SM_GC,1.83,0.00,0.00,35.30,0.000,0.000,0.410,56,2121,2075,-7.94,0.68,300.24
$IRIDIUM_FIX,1959.59,-15627.89,180313,101010
$TT8_MAMPS,0.256945
$HUMID,1078927087
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,109
$AR_POSTDIVE_SAMPLENUM,47
$AR_CDRIVE_FREE,6252855296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,1549860864
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,70.018
$10V_AH,9.6,64.862
$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,20.500,125.025,303.125,35.300,0.000,81.373,117.059,636.365,27.250,0.000,17.636,1272.960,9300.976,427.736,2828.320,546.159,33.363,1254.628,0.000,2015.585,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,59.059,1064.596,409.578,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.197,0.000,1008.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354152
$DATA_FILE_SIZE,30243,584
$CAP_FILE_SIZE,131601,0
$CFSIZE,260165632,168222720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.082, 88.4,1
$GPS,230911,195400,2004.819,-15629.399,83,0.9,83,9.7