version: 66.07
glider: 513
mission: 7
dive: 142
start: 7 26 111 20 43 21
data:
$ID,513
$MISSION,7
$DIVE,142
$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,-423718.94
$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,46
$R_STBD_OVSHOOT,37
$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,141
$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
$GPS1,260711,203207,1937.076,-15640.887,80,1.3,80,9.7
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-80.2
$GPS2,260711,204226,1937.274,-15640.917,11,1.7,11,9.7
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.192,-0.155
$KALMAN_X,-15829.2,-210.3,-665.3,13803.1,6335.8
$KALMAN_Y,42269.4,-3602.3,-2238.4,-56651.2,25629.3
$MHEAD_RNG_PITCHd_Wd,221.3,69401,-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,24,begin dive
$GC,27,-0.78,-146.5,0.0,0.0,0,74,0.00,0.00,-45.20,0.000,2,0.000,0.000,41,2003,3753,0,0,0,0,0,0
$GC,78,-0.78,-146.5,4.1,-8.4,7,100,9.52,2.28,-3.35,0.000,4,0.244,0.071,2326,3397,3962,0,0,0,0,0,0
$GC,252,-0.78,-146.5,65.0,-21.7,26,260,0.00,2.17,0.00,0.000,6,0.000,0.035,2328,1993,3967,0,0,0,0,0,0
$GC,518,-0.78,-146.5,131.7,-24.1,51,522,0.00,2.12,0.00,0.000,4,0.000,0.044,2329,581,3970,0,0,0,0,0,0
$GC,539,-0.78,-146.5,138.0,-24.2,52,547,0.08,2.17,0.00,0.000,6,0.172,0.044,2337,1982,3970,0,0,0,0,0,0
$GC,806,-0.78,-146.5,190.9,-19.4,77,810,0.00,2.12,0.00,0.000,4,0.000,0.044,2344,576,3972,0,0,0,0,0,0
$GC,835,-0.78,-146.5,197.8,-20.3,79,839,0.00,2.17,0.00,0.000,6,0.000,0.048,2336,1989,3972,0,0,0,0,0,0
$GC,1099,-0.78,-146.5,250.8,-19.0,92,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1989,3971,0,0,0,0,0,0
$GC,1348,-0.78,-146.5,297.0,-18.3,104,1352,0.00,2.17,0.00,0.000,4,0.000,0.050,2325,3399,3973,0,0,0,0,0,0
$GC,1366,-0.78,-146.5,300.3,-18.0,105,1370,0.00,2.12,0.00,0.000,6,0.000,0.032,2325,1977,3973,0,0,0,0,0,0
$GC,1626,-0.78,-146.5,346.2,-17.4,112,1630,0.00,2.20,0.00,0.000,4,0.000,0.051,2314,3403,3973,0,0,0,0,0,0
$GC,1700,-0.78,-146.5,358.4,-16.0,113,1705,0.12,2.12,0.00,0.000,6,0.173,0.034,2345,1988,3973,0,0,0,0,0,0
$GC,1949,-0.78,-146.5,390.6,-12.4,119,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1984,3972,0,0,0,0,0,0
$GC,2193,-0.78,-146.5,421.5,-12.9,125,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1984,3971,0,0,0,0,0,0
$GC,2437,-0.78,-146.5,455.4,-14.2,131,2441,0.00,2.20,0.00,0.000,4,0.000,0.058,2337,3397,3969,0,0,0,0,0,0
$GC,2561,-0.78,-146.5,473.9,-14.9,133,2566,0.00,2.12,0.00,0.000,6,0.000,0.034,2337,1986,3968,0,0,0,0,0,0
$GC,2810,-0.78,-146.5,513.3,-15.8,140,2814,0.00,2.12,0.00,0.000,4,0.000,0.046,2337,585,3966,0,0,0,0,0,0
$GC,2837,-0.78,-146.5,518.0,-16.8,140,2842,0.00,2.17,0.00,0.000,6,0.000,0.048,2327,1984,3966,0,0,0,0,0,0
$GC,3094,-0.78,-146.5,558.6,-15.6,147,3098,0.00,2.20,0.00,0.000,4,0.000,0.056,2315,3401,3964,0,0,0,0,0,0
$GC,3138,-0.78,-146.5,565.7,-14.9,148,3142,0.12,2.12,0.00,0.000,6,0.168,0.035,2347,1993,3964,0,0,0,0,0,0
$GC,3421,-0.78,-146.5,603.5,-13.1,155,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1988,3961,0,0,0,0,0,0
$GC,3665,-0.78,-146.5,636.1,-13.5,161,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1988,3959,0,0,0,0,0,0
$GC,3908,-0.78,-146.5,668.8,-13.4,167,3912,0.00,2.25,0.00,0.000,4,0.000,0.060,2338,3404,3957,0,0,0,0,0,0
$GC,3952,-0.78,-146.5,674.9,-13.4,168,3956,0.00,2.15,0.00,0.000,6,0.000,0.037,2338,1984,3956,0,0,0,0,0,0
$GC,4236,-0.78,-146.5,712.9,-13.4,175,4240,0.00,2.25,0.00,0.000,4,0.000,0.058,2328,3401,3955,0,0,0,0,0,0
$GC,4264,-0.78,-146.5,716.8,-13.6,175,4268,0.00,2.15,0.00,0.000,6,0.000,0.037,2328,1983,3954,0,0,0,0,0,0
$GC,4514,-0.78,-146.5,751.2,-13.8,181,4517,0.00,2.10,0.00,0.000,4,0.000,0.046,2324,583,3952,0,0,0,0,0,0
$GC,4553,-0.78,-146.5,756.9,-14.4,182,4558,0.10,2.17,0.00,0.000,6,0.186,0.048,2340,1993,3952,0,0,0,0,0,0
$GC,4837,-0.78,-146.5,792.2,-12.3,189,4841,0.00,2.20,0.00,0.000,4,0.000,0.058,2331,3403,3950,0,0,0,0,0,0
$GC,4909,-0.78,-146.5,801.3,-11.9,190,4913,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,1994,3949,0,0,0,0,0,0
$GC,5165,-0.78,-146.5,833.1,-12.4,197,5169,0.00,2.22,0.00,0.000,4,0.000,0.059,2321,3407,3948,0,0,0,0,0,0
$GC,5237,-0.78,-146.5,842.3,-12.1,198,5242,0.10,2.15,0.00,0.000,6,0.178,0.035,2344,1984,3947,0,0,0,0,0,0
$GC,5498,-0.78,-146.5,871.3,-11.2,205,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1978,3946,0,0,0,0,0,0
$GC,5743,-0.78,-146.5,898.2,-11.0,211,5747,0.00,2.25,0.00,0.000,4,0.000,0.056,2336,3398,3945,0,0,0,0,0,0
$STATE,5756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5756,begin apogee
$GC,5764,-0.28,0.0,900.1,10.7,211,5882,0.52,0.00,114.55,1.131,6,0.146,0.000,2499,1950,3381,0,0,0,0,0,0
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5894,begin climb
$GC,5896,0.78,146.5,903.4,0.0,214,6035,1.02,2.30,126.62,1.091,4,0.096,0.037,2852,552,2781,0,0,0,0,0,0
$GC,6051,0.78,146.5,887.1,17.9,217,6055,0.00,2.25,0.00,0.000,6,0.000,0.036,2850,1959,2778,0,0,0,0,0,0
$GC,6307,0.78,146.5,836.1,20.2,224,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1960,2774,0,0,0,0,0,0
$GC,6552,0.78,146.5,789.4,18.9,230,6556,0.00,2.25,0.00,0.000,4,0.000,0.056,2848,3373,2773,0,0,0,0,0,0
$GC,6585,0.78,146.5,782.9,18.9,230,6590,0.00,2.20,0.00,0.000,6,0.000,0.033,2857,1949,2772,0,0,0,0,0,0
$GC,6834,0.78,146.5,737.0,18.2,237,6838,0.00,2.12,0.00,0.000,4,0.000,0.041,2868,553,2771,0,0,0,0,0,0
$GC,6879,0.78,146.5,728.6,18.4,238,6883,0.00,2.17,0.00,0.000,6,0.000,0.037,2861,1970,2769,0,0,0,0,0,0
$GC,7156,0.78,146.5,679.5,17.6,245,7160,0.00,2.15,0.00,0.000,4,0.000,0.038,2870,551,2769,0,0,0,0,0,0
$GC,7184,0.78,146.5,674.4,18.2,245,7188,0.00,2.15,0.00,0.000,6,0.000,0.038,2858,1964,2768,0,0,0,0,0,0
$GC,7440,0.78,146.5,628.8,17.9,252,7444,0.00,2.22,0.00,0.000,4,0.000,0.057,2851,3371,2768,0,0,0,0,0,0
$GC,7491,0.78,146.5,619.3,18.7,253,7495,0.00,2.15,0.00,0.000,6,0.000,0.033,2860,1959,2768,0,0,0,0,0,0
$GC,7769,0.78,146.5,568.7,17.8,260,7772,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,545,2768,0,0,0,0,0,0
$GC,7809,0.78,146.5,561.8,17.8,261,7812,0.00,2.15,0.00,0.000,6,0.000,0.036,2863,1959,2765,0,0,0,0,0,0
$GC,8093,0.78,146.5,514.0,16.7,268,8097,0.00,2.22,0.00,0.000,4,0.000,0.054,2862,3371,2765,0,0,0,0,0,0
$GC,8108,0.78,146.5,511.0,15.6,268,8112,0.00,2.15,0.00,0.000,6,0.000,0.033,2871,1952,2765,0,0,0,0,0,0
$GC,8375,0.78,146.5,466.5,16.9,275,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1950,2765,0,0,0,0,0,0
$GC,8620,0.78,146.5,427.9,15.9,281,8624,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3372,2764,0,0,0,0,0,0
$GC,8659,0.78,146.5,420.8,17.2,282,8663,0.00,2.15,0.00,0.000,6,0.000,0.033,2877,1953,2766,0,0,0,0,0,0
$GC,8942,0.78,146.5,374.3,16.3,289,8946,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,555,2764,0,0,0,0,0,0
$GC,9072,0.78,146.5,355.0,15.1,292,9077,0.12,2.12,0.00,0.000,6,0.206,0.035,2859,1967,2763,0,0,0,0,0,0
$GC,9355,0.78,146.5,318.1,12.7,299,9359,0.00,2.17,0.00,0.000,4,0.000,0.052,2858,3368,2767,0,0,0,0,0,0
$GC,9445,0.78,146.5,305.8,12.8,301,9449,0.00,2.12,0.00,0.000,6,0.000,0.031,2867,1958,2763,0,0,0,0,0,0
$GC,9705,0.78,146.5,272.9,12.1,312,9709,0.00,2.17,0.00,0.000,4,0.000,0.050,2863,3361,2763,0,0,0,0,0,0
$GC,9793,0.78,146.5,261.4,13.2,316,9797,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1955,2763,0,0,0,0,0,0
$GC,10060,0.78,146.5,228.7,12.1,329,10064,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,551,2765,0,0,0,0,0,0
$GC,10122,0.78,146.5,220.6,11.2,332,10127,0.12,2.10,0.00,0.000,6,0.208,0.034,2859,1963,2762,0,0,0,0,0,0
$GC,10382,0.78,146.5,193.3,11.9,347,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1963,2762,0,0,0,0,0,0
$GC,10645,0.78,146.5,164.5,10.6,372,10649,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,553,2764,0,0,0,0,0,0
$GC,10896,0.78,146.5,138.7,9.9,394,10904,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1955,2763,0,0,0,0,0,0
$GC,11161,0.78,146.5,111.9,10.1,419,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1955,2763,0,0,0,0,0,0
$GC,11426,0.80,163.3,87.4,7.9,444,11442,0.00,2.10,11.12,0.516,4,0.000,0.039,2878,556,2719,0,0,0,0,0,0
$GC,11689,0.80,163.3,62.6,11.4,468,11693,0.00,2.10,0.00,0.000,6,0.000,0.033,2878,1965,2713,0,0,0,0,0,0
$GC,11955,0.82,174.2,36.8,8.1,492,11973,0.00,0.00,11.02,0.470,6,0.000,0.000,2879,1964,2668,0,0,0,0,0,0
$GC,12227,0.94,270.4,15.8,4.8,536,12312,0.00,2.25,75.72,0.488,4,0.000,0.051,2879,3351,2275,0,0,0,0,0,0
$GC,12343,0.94,270.4,6.2,12.6,554,12351,0.00,2.15,0.00,0.000,6,0.000,0.031,2889,1964,2274,0,0,0,0,0,0
$STATE,12367,end climb,SURFACE_DEPTH_REACHED
$STATE,12367,begin surface coast
$FINISH,0.2,1.023055
$STATE,12390,end surface coast,CONTROL_FINISHED_OK
$STATE,12390,begin surface
$SM_CCo,12469,0.00,0.000,0,0,2265,273.01
$SM_GC,1.47,7.62,0.00,0.00,0.051,0.000,0.000,57,1959,2265,-7.90,-0.88,273.01
$IRIDIUM_FIX,1932.09,-15639.67,180113,111128
$TT8_MAMPS,0.254644
$HUMID,1078896119
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.40
$XPDR_PINGS,70
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,2098528256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56840126464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,19.679
$10V_AH,10.2,18.765
$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,19.475,125.700,339.050,0.000,0.000,27.380,31.917,354.987,17.500,0.000,13.000,1138.566,8828.625,369.658,2387.480,370.103,33.359,1213.069,0.000,1947.374,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,71.331,1131.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.027,0.000,988.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26820,562
$CAP_FILE_SIZE,122626,0
$CFSIZE,260165632,195416064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,001301,1937.147,-15642.889,52,0.9,53,9.7