version: 66.07
glider: 513
mission: 7
dive: 146
start: 7 27 111 11 15 40
data:
$ID,513
$MISSION,7
$DIVE,146
$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,732.45386
$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,-423880.47
$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,51
$R_STBD_OVSHOOT,42
$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,145
$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
$GPS1,270711,105721,1935.739,-15649.376,73,4.5,92,9.6
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.8
$GPS2,270711,111446,1936.041,-15649.599,47,5.1,66,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.089,-0.230
$KALMAN_X,-18754.4,-402.9,-271.8,1382.8,1254.5
$KALMAN_Y,42349.0,-524.3,-853.8,-63534.3,9965.0
$MHEAD_RNG_PITCHd_Wd,191.6,67231,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-0.78,-146.5,0.0,0.0,0,78,0.00,0.00,-44.38,0.000,2,0.000,0.000,37,1975,3719,0,0,0,0,0,0
$GC,81,-0.78,-146.5,3.8,-6.2,7,103,9.52,2.10,-4.10,0.000,4,0.245,0.046,2345,583,3964,0,0,0,0,0,0
$GC,139,-0.78,-146.5,27.3,-35.3,16,146,0.00,2.17,0.00,0.000,6,0.000,0.043,2336,1983,3966,0,0,0,0,0,0
$GC,403,-0.78,-146.5,106.9,-27.4,41,407,0.00,2.17,0.00,0.000,4,0.000,0.049,2326,3410,3967,0,0,0,0,0,0
$GC,424,-0.78,-146.5,112.0,-26.1,42,428,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,1988,3969,0,0,0,0,0,0
$GC,689,-0.78,-146.5,175.5,-25.2,66,693,0.00,2.10,0.00,0.000,4,0.000,0.043,2325,594,3968,0,0,0,0,0,0
$GC,775,-0.78,-146.5,196.6,-21.4,73,783,0.08,2.15,0.00,0.000,6,0.161,0.041,2339,1997,3974,0,0,0,0,0,0
$GC,1030,-0.78,-146.5,246.6,-18.0,87,1034,0.00,2.17,0.00,0.000,4,0.000,0.051,2330,3405,3971,0,0,0,0,0,0
$GC,1108,-0.78,-146.5,261.0,-18.6,90,1113,0.00,2.12,0.00,0.000,6,0.000,0.033,2336,1982,3971,0,0,0,0,0,0
$GC,1360,-0.78,-146.5,307.2,-17.9,102,1364,0.00,2.05,0.00,0.000,4,0.000,0.041,2330,590,3971,0,0,0,0,0,0
$GC,1390,-0.78,-146.5,312.6,-19.7,102,1394,0.00,2.12,0.00,0.000,6,0.000,0.043,2320,1993,3971,0,0,0,0,0,0
$GC,1640,-0.78,-146.5,358.7,-18.6,108,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1993,3971,0,0,0,0,0,0
$GC,1884,-0.78,-146.5,401.4,-17.7,114,1888,0.00,2.15,0.00,0.000,4,0.000,0.051,2305,3397,3972,0,0,0,0,0,0
$GC,1923,-0.78,-146.5,408.4,-17.8,114,1929,0.15,2.08,0.00,0.000,6,0.167,0.032,2348,1989,3970,0,0,0,0,0,0
$GC,2173,-0.78,-146.5,444.6,-14.2,121,2177,0.00,2.10,0.00,0.000,4,0.000,0.044,2344,594,3969,0,0,0,0,0,0
$GC,2228,-0.78,-146.5,452.8,-13.6,122,2232,0.00,2.10,0.00,0.000,6,0.000,0.045,2339,1990,3973,0,0,0,0,0,0
$GC,2502,-0.78,-146.5,494.8,-15.9,129,2505,0.00,2.17,0.00,0.000,4,0.000,0.053,2334,3396,3965,0,0,0,0,0,0
$GC,2562,-0.78,-146.5,504.4,-14.8,130,2566,0.00,2.10,0.00,0.000,6,0.000,0.035,2329,1982,3966,0,0,0,0,0,0
$GC,2829,-0.78,-146.5,544.9,-15.1,137,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1977,3962,0,0,0,0,0,0
$GC,3073,-0.78,-146.5,579.5,-14.0,143,3077,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3399,3958,0,0,0,0,0,0
$GC,3106,-0.78,-146.5,584.3,-14.2,143,3112,0.00,2.12,0.00,0.000,6,0.000,0.033,2318,1985,3960,0,0,0,0,0,0
$GC,3356,-0.78,-146.5,620.4,-14.6,150,3358,0.10,0.00,0.00,0.000,6,0.193,0.000,2340,1978,3956,0,0,0,0,0,0
$GC,3600,-0.78,-146.5,652.5,-13.1,156,3604,0.00,2.20,0.00,0.000,4,0.000,0.054,2333,3397,3956,0,0,0,0,0,0
$GC,3627,-0.78,-146.5,656.4,-14.1,156,3631,0.00,2.10,0.00,0.000,6,0.000,0.034,2332,1992,3956,0,0,0,0,0,0
$GC,3877,-0.78,-146.5,692.0,-14.4,162,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1985,3953,0,0,0,0,0,0
$GC,4121,-0.78,-146.5,726.8,-13.9,168,4125,0.00,2.20,0.00,0.000,4,0.000,0.054,2321,3395,3953,0,0,0,0,0,0
$GC,4205,-0.78,-146.5,738.8,-13.6,169,4211,0.00,2.10,0.00,0.000,6,0.000,0.035,2321,1994,3949,0,0,0,0,0,0
$GC,4455,-0.78,-146.5,774.3,-14.3,176,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1988,3945,0,0,0,0,0,0
$GC,4699,-0.78,-146.5,807.4,-13.6,182,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1988,3946,0,0,0,0,0,0
$GC,4942,-0.78,-146.5,840.8,-13.7,188,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1988,3944,0,0,0,0,0,0
$GC,5186,-0.78,-146.5,875.1,-14.0,194,5190,0.00,2.20,0.00,0.000,4,0.000,0.055,2310,3395,3943,0,0,0,0,0,0
$GC,5230,-0.78,-146.5,881.5,-14.2,195,5234,0.12,2.12,0.00,0.000,6,0.173,0.035,2341,1986,3941,0,0,0,0,0,0
$STATE,5388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5388,begin apogee
$GC,5394,-0.28,0.0,900.9,11.9,199,5512,0.52,0.00,114.53,1.131,6,0.148,0.000,2502,1979,3381,0,0,0,0,0,0
$STATE,5514,end apogee,CONTROL_FINISHED_OK
$STATE,5514,begin climb
$GC,5518,0.78,146.5,905.0,0.0,202,5655,1.02,2.33,126.53,1.088,4,0.097,0.040,2855,550,2780,0,0,0,0,0,0
$GC,5672,0.78,146.5,888.7,18.9,205,5676,0.00,2.25,0.00,0.000,6,0.000,0.038,2855,1956,2777,0,0,0,0,0,0
$GC,5928,0.78,146.5,838.4,19.6,212,5932,0.00,2.28,0.00,0.000,4,0.000,0.054,2845,3376,2773,0,0,0,0,0,0
$GC,5989,0.78,146.5,825.6,20.3,213,5993,0.00,2.17,0.00,0.000,6,0.000,0.031,2855,1949,2773,0,0,0,0,0,0
$GC,6262,0.78,146.5,772.7,19.4,220,6266,0.00,2.12,0.00,0.000,4,0.000,0.042,2872,557,2772,0,0,0,0,0,0
$GC,6312,0.78,146.5,762.8,20.6,221,6316,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,1970,2768,0,0,0,0,0,0
$GC,6584,0.78,146.5,708.9,19.8,228,6588,0.00,2.20,0.00,0.000,4,0.000,0.054,2866,3373,2768,0,0,0,0,0,0
$GC,6628,0.78,146.5,699.6,21.1,229,6632,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1957,2769,0,0,0,0,0,0
$GC,6913,0.78,146.5,643.6,20.1,236,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1951,2768,0,0,0,0,0,0
$GC,7156,0.78,146.5,596.8,19.0,242,7160,0.00,2.10,0.00,0.000,4,0.000,0.040,2888,554,2767,0,0,0,0,0,0
$GC,7228,0.78,146.5,583.2,18.5,243,7233,0.15,2.12,0.00,0.000,6,0.210,0.036,2854,1973,2764,0,0,0,0,0,0
$GC,7490,0.78,146.5,539.6,16.5,250,7494,0.00,2.17,0.00,0.000,4,0.000,0.053,2853,3370,2765,0,0,0,0,0,0
$GC,7545,0.78,146.5,529.3,18.1,251,7549,0.00,2.12,0.00,0.000,6,0.000,0.032,2863,1949,2765,0,0,0,0,0,0
$GC,7817,0.78,146.5,482.1,17.4,258,7821,0.00,2.10,0.00,0.000,4,0.000,0.041,2874,560,2765,0,0,0,0,0,0
$GC,7879,0.78,146.5,470.9,18.5,259,7883,0.00,2.10,0.00,0.000,6,0.000,0.035,2874,1967,2763,0,0,0,0,0,0
$GC,8139,0.78,146.5,422.6,18.4,266,8143,0.00,2.17,0.00,0.000,4,0.000,0.052,2874,3358,2763,0,0,0,0,0,0
$GC,8184,0.78,146.5,413.8,20.1,267,8188,0.00,2.10,0.00,0.000,6,0.000,0.031,2884,1958,2764,0,0,0,0,0,0
$GC,8468,0.78,146.5,365.8,15.9,274,8473,0.12,2.08,0.00,0.000,4,0.220,0.040,2866,560,2763,0,0,0,0,0,0
$GC,8495,0.78,146.5,361.5,14.5,274,8499,0.00,2.12,0.00,0.000,6,0.000,0.038,2866,1968,2762,0,0,0,0,0,0
$GC,8751,0.78,146.5,327.8,12.9,281,8754,0.00,2.17,0.00,0.000,4,0.000,0.051,2865,3369,2762,0,0,0,0,0,0
$GC,8790,0.78,146.5,322.1,14.5,281,8796,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,1951,2762,0,0,0,0,0,0
$GC,9041,0.78,146.5,283.7,16.8,290,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1947,2762,0,0,0,0,0,0
$GC,9288,0.78,146.5,248.1,13.2,302,9292,0.00,2.10,0.00,0.000,4,0.000,0.040,2887,548,2762,0,0,0,0,0,0
$GC,9339,0.78,146.5,242.0,12.1,304,9344,0.12,2.10,0.00,0.000,6,0.205,0.035,2858,1960,2758,0,0,0,0,0,0
$GC,9592,0.78,146.5,213.3,11.3,316,9596,0.00,2.15,0.00,0.000,4,0.000,0.051,2859,3359,2760,0,0,0,0,0,0
$GC,9823,0.78,146.5,184.6,12.4,332,9828,0.00,2.10,0.00,0.000,6,0.000,0.031,2868,1954,2761,0,0,0,0,0,0
$GC,10088,0.78,146.5,152.1,11.4,356,10091,0.00,2.08,0.00,0.000,4,0.000,0.038,2878,558,2761,0,0,0,0,0,0
$GC,10148,0.78,146.5,145.3,11.1,361,10155,0.00,2.10,0.00,0.000,6,0.000,0.034,2878,1950,2760,0,0,0,0,0,0
$GC,10414,0.78,146.5,114.4,11.1,386,10418,0.10,2.10,0.00,0.000,4,0.216,0.038,2866,554,2760,0,0,0,0,0,0
$GC,10477,0.78,146.5,107.0,11.3,391,10485,0.00,2.12,0.00,0.000,6,0.000,0.034,2866,1956,2760,0,0,0,0,0,0
$GC,10745,0.80,159.7,83.0,8.0,416,10757,0.00,0.00,7.95,0.495,6,0.000,0.000,2866,1955,2728,0,0,0,0,0,0
$GC,11016,0.83,184.5,61.5,7.6,441,11043,0.00,2.15,21.30,0.523,4,0.000,0.039,2876,562,2628,0,0,0,0,0,0
$GC,11161,0.83,184.5,47.3,9.4,454,11165,0.00,2.10,0.00,0.000,6,0.000,0.034,2877,1974,2626,0,0,0,0,0,0
$GC,11424,0.83,184.5,21.8,8.9,486,11431,0.00,2.17,0.00,0.000,4,0.000,0.049,2876,3360,2627,0,0,0,0,0,0
$GC,11671,0.83,184.5,3.1,8.9,532,11679,0.00,2.12,0.00,0.000,6,0.000,0.031,2887,1954,2627,0,0,0,0,0,0
$STATE,11684,end climb,SURFACE_DEPTH_REACHED
$STATE,11685,begin surface coast
$FINISH,0.0,1.021419
$STATE,11717,end surface coast,CONTROL_FINISHED_OK
$STATE,11717,begin surface
$SM_CCo,11736,318.42,0.463,0,0,395,732.70
$SM_GC,1.02,0.00,0.00,318.42,0.000,0.000,0.463,45,1949,395,-7.97,-1.10,732.70
$IRIDIUM_FIX,1929.80,-15647.78,190113,010112
$TT8_MAMPS,0.06136
$HUMID,1078728377
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.50
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,3374645248
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,20.159
$10V_AH,10.1,19.151
$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,19.525,119.775,270.300,318.425,0.000,165.536,208.510,145.348,2.250,0.000,69.661,1095.682,8567.359,658.684,2413.379,373.557,33.359,1407.263,0.000,1802.099,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,55.224,1131.325,462.501,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.589,0.000,972.271,0.000,0.000,0.000,0.000,13968.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.742,0.000,0.000
$MEM,353740
$DATA_FILE_SIZE,26957,540
$CAP_FILE_SIZE,115609,0
$CFSIZE,260165632,195088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,143807,1934.807,-15650.930,31,1.0,31,9.6