version: 66.07
glider: 513
mission: 7
dive: 141
start: 7 26 111 17 5 47
data:
$ID,513
$MISSION,7
$DIVE,141
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,240
$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,-423705.31
$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,2600
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,140
$AR_SAMPLENUM,3
$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
$GPS1,260711,163554,1935.787,-15638.720,113,1.1,113,9.7
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.2
$GPS2,260711,170450,1936.630,-15638.865,14,1.6,14,9.7
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.222,-0.108
$KALMAN_X,-15503.4,-809.5,-468.1,17448.6,8873.4
$KALMAN_Y,41031.4,-3066.0,-1697.5,-57698.1,29000.5
$MHEAD_RNG_PITCHd_Wd,234.4,68684,-15.1,-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,25,begin dive
$GC,27,-0.78,-146.5,0.0,0.0,0,74,0.00,0.00,-44.53,0.000,2,0.000,0.000,46,1955,3855,0,0,0,0,0,0
$GC,78,-0.78,-146.5,4.5,-8.4,7,100,9.43,2.35,-1.67,0.000,4,0.242,0.068,2324,3407,3964,0,0,0,0,0,0
$GC,324,-0.78,-146.5,90.7,-23.7,33,328,0.00,2.12,0.00,0.000,6,0.000,0.042,2324,2023,3968,0,0,0,0,0,0
$GC,591,-0.78,-146.5,158.8,-23.6,57,595,0.00,2.20,0.00,0.000,4,0.000,0.048,2325,574,3969,0,0,0,0,0,0
$GC,642,-0.78,-146.5,172.2,-23.6,61,647,0.12,2.17,0.00,0.000,6,0.181,0.048,2344,1994,3968,0,0,0,0,0,0
$GC,900,-0.78,-146.5,226.0,-19.3,79,904,0.00,2.17,0.00,0.000,4,0.000,0.054,2337,3399,3971,0,0,0,0,0,0
$GC,955,-0.78,-146.5,237.1,-18.4,81,959,0.00,2.12,0.00,0.000,6,0.000,0.031,2335,1979,3971,0,0,0,0,0,0
$GC,1214,-0.78,-146.5,284.6,-17.2,94,1218,0.00,2.05,0.00,0.000,4,0.000,0.041,2335,588,3971,0,0,0,0,0,0
$GC,1304,-0.78,-146.5,299.6,-15.7,98,1308,0.00,2.15,0.00,0.000,6,0.000,0.046,2331,2001,3971,0,0,0,0,0,0
$GC,1559,-0.78,-146.5,341.8,-16.4,105,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2000,3971,0,0,0,0,0,0
$GC,1803,-0.78,-146.5,381.4,-16.3,111,1807,0.00,2.12,0.00,0.000,4,0.000,0.052,2314,3390,3970,0,0,0,0,0,0
$GC,1837,-0.78,-146.5,387.2,-17.1,111,1843,0.12,2.10,0.00,0.000,6,0.166,0.032,2347,1985,3970,0,0,0,0,0,0
$GC,2086,-0.78,-146.5,422.3,-13.9,118,2090,0.00,2.20,0.00,0.000,4,0.000,0.053,2342,3389,3970,0,0,0,0,0,0
$GC,2113,-0.78,-146.5,426.2,-14.0,118,2117,0.00,2.10,0.00,0.000,6,0.000,0.035,2336,1993,3972,0,0,0,0,0,0
$GC,2369,-0.78,-146.5,462.1,-14.2,125,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1991,3966,0,0,0,0,0,0
$GC,2612,-0.78,-146.5,493.8,-12.8,131,2616,0.00,2.17,0.00,0.000,4,0.000,0.054,2329,3396,3964,0,0,0,0,0,0
$GC,2678,-0.78,-146.5,502.9,-13.2,132,2682,0.00,2.12,0.00,0.000,6,0.000,0.035,2329,1986,3963,0,0,0,0,0,0
$GC,2939,-0.78,-146.5,539.6,-14.3,139,2943,0.00,2.17,0.00,0.000,4,0.000,0.054,2318,3386,3960,0,0,0,0,0,0
$GC,2984,-0.78,-146.5,546.4,-15.7,140,2989,0.10,2.12,0.00,0.000,6,0.176,0.036,2342,1986,3960,0,0,0,0,0,0
$GC,3262,-0.78,-146.5,584.3,-13.8,147,3265,0.00,2.12,0.00,0.000,4,0.000,0.048,2342,589,3956,0,0,0,0,0,0
$GC,3306,-0.78,-146.5,590.5,-13.4,148,3310,0.00,2.15,0.00,0.000,6,0.000,0.049,2333,1991,3956,0,0,0,0,0,0
$GC,3590,-0.78,-146.5,629.2,-13.7,155,3594,0.00,2.17,0.00,0.000,4,0.000,0.056,2322,3394,3954,0,0,0,0,0,0
$GC,3640,-0.78,-146.5,636.7,-13.9,156,3644,0.00,2.12,0.00,0.000,6,0.000,0.036,2319,1990,3953,0,0,0,0,0,0
$GC,3918,-0.78,-146.5,676.9,-14.3,163,3922,0.00,2.22,0.00,0.000,4,0.000,0.060,2312,3392,3950,0,0,0,0,0,0
$GC,3986,-0.78,-146.5,686.3,-13.2,164,3991,0.12,2.12,0.00,0.000,6,0.174,0.038,2343,1993,3950,0,0,0,0,0,0
$GC,4241,-0.78,-146.5,714.7,-10.6,171,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1992,3948,0,0,0,0,0,0
$GC,4485,-0.78,-146.5,739.7,-10.4,177,4489,0.00,2.15,0.00,0.000,4,0.000,0.051,2343,583,3946,0,0,0,0,0,0
$GC,4513,-0.78,-146.5,742.8,-11.4,177,4517,0.00,2.17,0.00,0.000,6,0.000,0.050,2335,1991,3946,0,0,0,0,0,0
$GC,4768,-0.78,-146.5,773.1,-12.1,184,4772,0.00,2.20,0.00,0.000,4,0.000,0.055,2323,3394,3945,0,0,0,0,0,0
$GC,4823,-0.78,-146.5,779.9,-12.6,185,4827,0.00,2.15,0.00,0.000,6,0.000,0.038,2323,1982,3944,0,0,0,0,0,0
$GC,5097,-0.78,-146.5,814.1,-12.6,192,5101,0.00,2.25,0.00,0.000,4,0.000,0.057,2312,3404,3942,0,0,0,0,0,0
$GC,5141,-0.78,-146.5,820.0,-13.0,193,5145,0.12,2.15,0.00,0.000,6,0.176,0.036,2343,1982,3942,0,0,0,0,0,0
$GC,5424,-0.78,-146.5,850.7,-10.8,200,5428,0.00,2.22,0.00,0.000,4,0.000,0.058,2336,3396,3940,0,0,0,0,0,0
$GC,5485,-0.78,-146.5,857.5,-10.5,201,5489,0.00,2.12,0.00,0.000,6,0.000,0.035,2334,1987,3940,0,0,0,0,0,0
$GC,5752,-0.78,-146.5,887.6,-11.3,208,5756,0.00,2.25,0.00,0.000,4,0.000,0.058,2324,3402,3940,0,0,0,0,0,0
$GC,5791,-0.78,-146.5,892.1,-11.5,209,5795,0.00,2.15,0.00,0.000,6,0.000,0.036,2324,1986,3938,0,0,0,0,0,0
$STATE,5869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5876,-0.28,0.0,901.6,11.7,211,5992,0.60,0.00,113.55,1.137,6,0.153,0.000,2503,1976,3380,0,0,0,0,0,0
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6012,0.78,146.5,904.9,0.0,214,6146,1.00,0.00,126.47,1.093,6,0.095,0.000,2841,1977,2783,0,0,0,0,0,0
$GC,6378,0.78,146.5,846.8,19.7,223,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1979,2776,0,0,0,0,0,0
$GC,6621,0.78,146.5,800.4,18.8,229,6625,0.00,2.25,0.00,0.000,4,0.000,0.058,2842,3364,2773,0,0,0,0,0,0
$GC,6671,0.78,146.5,790.3,19.7,230,6675,0.00,2.17,0.00,0.000,6,0.000,0.033,2852,1952,2774,0,0,0,0,0,0
$GC,6950,0.78,146.5,736.4,19.3,237,6954,0.00,2.10,0.00,0.000,4,0.000,0.041,2864,552,2772,0,0,0,0,0,0
$GC,6977,0.78,146.5,730.8,20.1,237,6981,0.00,2.15,0.00,0.000,6,0.000,0.038,2863,1963,2769,0,0,0,0,0,0
$GC,7232,0.78,146.5,681.5,19.1,244,7236,0.00,2.15,0.00,0.000,4,0.000,0.043,2874,548,2769,0,0,0,0,0,0
$GC,7300,0.78,146.5,668.2,19.4,245,7304,0.00,2.17,0.00,0.000,6,0.000,0.041,2874,1964,2768,0,0,0,0,0,0
$GC,7560,0.78,146.5,617.2,19.7,252,7564,0.00,2.20,0.00,0.000,4,0.000,0.054,2874,3370,2767,0,0,0,0,0,0
$GC,7627,0.78,146.5,603.2,21.7,253,7631,0.12,2.15,0.00,0.000,6,0.217,0.033,2857,1956,2768,0,0,0,0,0,0
$GC,7888,0.78,146.5,556.4,17.5,260,7892,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,542,2767,0,0,0,0,0,0
$GC,7912,0.78,146.5,552.2,17.8,260,7916,0.00,2.17,0.00,0.000,6,0.000,0.037,2866,1970,2763,0,0,0,0,0,0
$GC,8167,0.78,146.5,506.6,17.5,267,8171,0.00,2.15,0.00,0.000,4,0.000,0.040,2877,547,2765,0,0,0,0,0,0
$GC,8223,0.78,146.5,496.9,17.3,268,8227,0.00,2.12,0.00,0.000,6,0.000,0.038,2877,1963,2764,0,0,0,0,0,0
$GC,8495,0.78,146.5,450.3,17.1,275,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1965,2765,0,0,0,0,0,0
$GC,8738,0.78,146.5,408.5,17.2,281,8742,0.00,2.20,0.00,0.000,4,0.000,0.054,2877,3364,2765,0,0,0,0,0,0
$GC,8800,0.78,146.5,397.1,18.7,282,8805,0.15,2.12,0.00,0.000,6,0.217,0.033,2853,1952,2765,0,0,0,0,0,0
$GC,9067,0.78,146.5,356.7,14.8,289,9070,0.00,2.10,0.00,0.000,4,0.000,0.040,2863,552,2765,0,0,0,0,0,0
$GC,9156,0.78,146.5,343.1,15.3,291,9160,0.00,2.15,0.00,0.000,6,0.000,0.038,2863,1961,2763,0,0,0,0,0,0
$GC,9440,0.78,146.5,301.9,14.6,298,9444,0.00,2.17,0.00,0.000,4,0.000,0.053,2863,3363,2763,0,0,0,0,0,0
$GC,9524,0.78,146.5,289.0,15.6,300,9530,0.00,2.12,0.00,0.000,6,0.000,0.032,2873,1952,2764,0,0,0,0,0,0
$GC,9777,0.78,146.5,255.9,12.6,313,9781,0.00,2.08,0.00,0.000,4,0.000,0.040,2884,557,2763,0,0,0,0,0,0
$GC,9973,0.78,146.5,229.0,14.3,321,9980,0.12,2.12,0.00,0.000,6,0.206,0.035,2856,1970,2762,0,0,0,0,0,0
$GC,10227,0.78,146.5,198.9,11.1,334,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1970,2760,0,0,0,0,0,0
$GC,10487,0.78,146.5,171.0,10.6,358,10490,0.00,2.12,0.00,0.000,4,0.000,0.039,2864,553,2762,0,0,0,0,0,0
$GC,10581,0.78,146.5,160.8,11.1,366,10585,0.00,2.12,0.00,0.000,6,0.000,0.036,2865,1969,2761,0,0,0,0,0,0
$GC,10848,0.78,146.5,131.8,10.9,390,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1972,2762,0,0,0,0,0,0
$GC,11111,0.78,146.5,106.7,9.0,415,11115,0.00,2.15,0.00,0.000,4,0.000,0.041,2875,545,2762,0,0,0,0,0,0
$GC,11141,0.78,146.5,104.1,8.7,417,11146,0.00,2.12,0.00,0.000,6,0.000,0.036,2875,1966,2762,0,0,0,0,0,0
$GC,11406,0.78,146.5,79.4,10.3,441,11410,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,547,2763,0,0,0,0,0,0
$GC,11653,0.90,239.3,61.6,4.9,463,11729,0.00,2.12,70.43,0.536,6,0.000,0.035,2885,1954,2404,0,0,0,0,0,0
$GC,11983,0.90,239.3,21.9,11.6,500,11992,0.00,2.15,0.00,0.000,4,0.000,0.041,2896,559,2398,0,0,0,0,0,0
$STATE,12123,end climb,SURFACE_DEPTH_REACHED
$STATE,12123,begin surface coast
$FINISH,0.0,1.023111
$STATE,12145,end surface coast,CONTROL_FINISHED_OK
$STATE,12146,begin surface
$SM_CCo,12242,0.00,0.000,0,0,2392,242.35
$SM_GC,1.20,7.53,0.00,0.00,0.049,0.000,0.000,58,2003,2392,-7.88,0.28,242.35
$IRIDIUM_FIX,1927.51,-15640.58,180113,111127
$TT8_MAMPS,0.24544
$HUMID,1078960635
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.00
$XPDR_PINGS,63
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,2213871616
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56842813440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,19.563
$10V_AH,10.3,18.673
$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,19.550,129.375,310.450,0.000,0.000,150.594,269.295,842.482,15.750,0.000,16.708,1111.815,8947.403,357.546,3128.419,441.649,33.388,1165.178,0.000,1858.280,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,68.263,1136.694,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.371,0.000,886.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353708
$DATA_FILE_SIZE,26924,530
$CAP_FILE_SIZE,136677,0
$CFSIZE,260165632,195477504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,203207,1937.076,-15640.887,80,1.3,80,9.7