version: 66.07
glider: 513
mission: 7
dive: 148
start: 7 27 111 18 34 39
data:
$ID,513
$MISSION,7
$DIVE,148
$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,-423910.16
$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,54
$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,147
$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
$GPS1,270711,182213,1933.675,-15651.476,138,1.5,157,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.3
$GPS2,270711,183344,1933.698,-15651.556,10,2.0,10,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.090,-0.229
$KALMAN_X,-22227.7,300.9,10.3,443.8,-2813.1
$KALMAN_Y,46943.5,-1194.9,-598.6,-72079.7,9840.3
$MHEAD_RNG_PITCHd_Wd,148.9,63456,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,33,-0.78,-146.5,0.0,0.0,0,80,0.00,0.00,-44.55,0.000,2,0.000,0.000,38,1951,3717,0,0,0,0,0,0
$GC,84,-0.78,-146.5,3.5,-6.0,7,106,9.45,2.10,-4.07,0.000,4,0.242,0.053,2341,593,3962,0,0,0,0,0,0
$GC,265,-0.78,-146.5,65.8,-24.4,28,269,0.00,2.10,0.00,0.000,6,0.000,0.044,2332,1985,3966,0,0,0,0,0,0
$GC,529,-0.78,-146.5,139.3,-24.6,52,533,0.00,2.17,0.00,0.000,4,0.000,0.049,2321,3405,3967,0,0,0,0,0,0
$GC,572,-0.78,-146.5,150.0,-22.2,55,580,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2002,3968,0,0,0,0,0,0
$GC,834,-0.78,-146.5,211.3,-23.6,78,838,0.00,2.15,0.00,0.000,4,0.000,0.048,2310,3405,3970,0,0,0,0,0,0
$GC,856,-0.78,-146.5,217.0,-22.1,79,861,0.12,2.12,0.00,0.000,6,0.183,0.031,2340,1979,3970,0,0,0,0,0,0
$GC,1122,-0.78,-146.5,268.9,-17.9,92,1126,0.00,2.08,0.00,0.000,4,0.000,0.040,2341,582,3971,0,0,0,0,0,0
$GC,1162,-0.78,-146.5,275.7,-16.4,94,1166,0.00,2.12,0.00,0.000,6,0.000,0.041,2332,1993,3971,0,0,0,0,0,0
$GC,1424,-0.78,-146.5,322.8,-18.3,104,1428,0.00,2.12,0.00,0.000,4,0.000,0.048,2322,3398,3971,0,0,0,0,0,0
$GC,1492,-0.78,-146.5,334.6,-17.6,105,1496,0.00,2.10,0.00,0.000,6,0.000,0.031,2322,1981,3971,0,0,0,0,0,0
$GC,1747,-0.78,-146.5,380.9,-17.7,112,1751,0.00,2.17,0.00,0.000,4,0.000,0.048,2311,3401,3969,0,0,0,0,0,0
$GC,1763,-0.78,-146.5,383.9,-17.3,112,1768,0.10,2.12,0.00,0.000,6,0.150,0.031,2338,1997,3974,0,0,0,0,0,0
$GC,2029,-0.78,-146.5,425.1,-15.3,119,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1988,3969,0,0,0,0,0,0
$GC,2274,-0.78,-146.5,462.2,-15.2,125,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1988,3967,0,0,0,0,0,0
$GC,2516,-0.78,-146.5,496.6,-13.9,131,2520,0.00,2.10,0.00,0.000,4,0.000,0.046,2342,589,3965,0,0,0,0,0,0
$GC,2543,-0.78,-146.5,500.7,-14.8,131,2548,0.00,2.15,0.00,0.000,6,0.000,0.045,2339,1990,3965,0,0,0,0,0,0
$GC,2800,-0.78,-146.5,535.4,-13.4,138,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1990,3964,0,0,0,0,0,0
$GC,3043,-0.78,-146.5,568.7,-13.8,144,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1990,3961,0,0,0,0,0,0
$GC,3286,-0.78,-146.5,602.5,-13.9,150,3290,0.00,2.17,0.00,0.000,4,0.000,0.052,2323,3389,3958,0,0,0,0,0,0
$GC,3377,-0.78,-146.5,615.3,-14.6,152,3381,0.00,2.12,0.00,0.000,6,0.000,0.035,2323,1985,3957,0,0,0,0,0,0
$GC,3655,-0.78,-146.5,656.0,-14.8,159,3659,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3400,3952,0,0,0,0,0,0
$GC,3705,-0.78,-146.5,663.7,-14.5,160,3710,0.12,2.10,0.00,0.000,6,0.170,0.034,2343,1986,3954,0,0,0,0,0,0
$GC,3983,-0.78,-146.5,698.5,-12.4,167,3987,0.00,2.08,0.00,0.000,4,0.000,0.045,2353,592,3952,0,0,0,0,0,0
$GC,4005,-0.78,-146.5,701.1,-12.1,167,4009,0.00,2.10,0.00,0.000,6,0.000,0.045,2345,1991,3952,0,0,0,0,0,0
$GC,4265,-0.78,-146.5,731.2,-11.4,174,4269,0.00,2.17,0.00,0.000,4,0.000,0.054,2336,3384,3950,0,0,0,0,0,0
$GC,4371,-0.78,-146.5,743.6,-12.0,176,4375,0.00,2.12,0.00,0.000,6,0.000,0.037,2334,1995,3949,0,0,0,0,0,0
$GC,4639,-0.78,-146.5,776.1,-12.4,183,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1993,3948,0,0,0,0,0,0
$GC,4882,-0.78,-146.5,807.1,-12.9,189,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1990,3946,0,0,0,0,0,0
$GC,5125,-0.78,-146.5,840.1,-13.5,195,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1990,3945,0,0,0,0,0,0
$GC,5370,-0.78,-146.5,873.7,-13.8,201,5374,0.00,2.22,0.00,0.000,4,0.000,0.057,2323,3397,3943,0,0,0,0,0,0
$GC,5459,-0.78,-146.5,886.0,-13.2,203,5463,0.00,2.12,0.00,0.000,6,0.000,0.036,2323,1986,3942,0,0,0,0,0,0
$STATE,5578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5578,begin apogee
$GC,5584,-0.28,0.0,902.7,13.9,206,5701,0.60,0.00,114.43,1.136,6,0.156,0.000,2502,1981,3380,0,0,0,0,0,0
$STATE,5704,end apogee,CONTROL_FINISHED_OK
$STATE,5704,begin climb
$GC,5707,0.78,146.5,907.8,0.0,209,5839,1.08,0.00,126.97,1.092,6,0.094,0.000,2856,1981,2784,0,0,0,0,0,0
$GC,6066,0.78,146.5,853.8,19.1,218,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1981,2777,0,0,0,0,0,0
$GC,6308,0.78,146.5,805.9,19.8,224,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1980,2775,0,0,0,0,0,0
$GC,6553,0.78,146.5,757.1,20.1,230,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1981,2774,0,0,0,0,0,0
$GC,6796,0.78,146.5,709.3,19.5,236,6800,0.00,2.20,0.00,0.000,4,0.000,0.055,2856,3359,2776,0,0,0,0,0,0
$GC,6829,0.78,146.5,702.5,21.2,236,6834,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1955,2772,0,0,0,0,0,0
$GC,7079,0.78,146.5,655.1,18.5,243,7082,0.00,2.10,0.00,0.000,4,0.000,0.041,2877,559,2772,0,0,0,0,0,0
$GC,7152,0.78,146.5,641.1,19.3,244,7156,0.00,2.10,0.00,0.000,6,0.000,0.035,2882,1956,2768,0,0,0,0,0,0
$GC,7402,0.78,146.5,594.4,18.7,250,7406,0.00,2.22,0.00,0.000,4,0.000,0.054,2878,3367,2768,0,0,0,0,0,0
$GC,7446,0.78,146.5,585.5,19.9,251,7450,0.15,2.15,0.00,0.000,6,0.209,0.031,2849,1948,2768,0,0,0,0,0,0
$GC,7729,0.78,146.5,537.9,16.5,258,7733,0.00,2.08,0.00,0.000,4,0.000,0.041,2860,553,2768,0,0,0,0,0,0
$GC,7801,0.78,146.5,525.6,17.4,259,7805,0.00,2.12,0.00,0.000,6,0.000,0.035,2862,1966,2765,0,0,0,0,0,0
$GC,8057,0.78,146.5,482.4,16.9,266,8061,0.00,2.12,0.00,0.000,4,0.000,0.041,2873,552,2766,0,0,0,0,0,0
$GC,8079,0.78,146.5,478.1,17.9,266,8083,0.00,2.12,0.00,0.000,6,0.000,0.035,2872,1970,2765,0,0,0,0,0,0
$GC,8340,0.78,146.5,431.5,17.8,273,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1967,2765,0,0,0,0,0,0
$GC,8584,0.78,146.5,390.8,16.4,279,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1967,2765,0,0,0,0,0,0
$GC,8828,0.78,146.5,354.0,15.1,285,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1967,2765,0,0,0,0,0,0
$GC,9071,0.78,146.5,317.6,15.1,291,9075,0.00,2.12,0.00,0.000,4,0.000,0.039,2881,552,2764,0,0,0,0,0,0
$GC,9155,0.78,146.5,303.7,16.1,293,9159,0.00,2.08,0.00,0.000,6,0.000,0.035,2881,1954,2770,0,0,0,0,0,0
$GC,9422,0.78,146.5,263.6,15.6,305,9426,0.00,2.20,0.00,0.000,4,0.000,0.053,2881,3371,2764,0,0,0,0,0,0
$GC,9657,0.78,146.5,229.9,11.8,315,9664,0.15,2.12,0.00,0.000,6,0.209,0.031,2857,1953,2764,0,0,0,0,0,0
$GC,9912,0.78,146.5,203.6,10.4,328,9916,0.00,2.08,0.00,0.000,4,0.000,0.039,2866,554,2764,0,0,0,0,0,0
$GC,9963,0.78,146.5,197.8,12.3,330,9971,0.00,2.12,0.00,0.000,6,0.000,0.034,2866,1959,2762,0,0,0,0,0,0
$GC,10229,0.78,146.5,167.5,11.6,355,10233,0.00,2.17,0.00,0.000,4,0.000,0.050,2866,3363,2763,0,0,0,0,0,0
$GC,10281,0.78,146.5,161.2,12.3,359,10285,0.00,2.08,0.00,0.000,6,0.000,0.031,2876,1961,2762,0,0,0,0,0,0
$GC,10545,0.78,146.5,131.7,10.3,383,10549,0.00,2.20,0.00,0.000,4,0.000,0.048,2877,3372,2763,0,0,0,0,0,0
$GC,10665,0.78,146.5,118.0,10.7,393,10673,0.10,2.12,0.00,0.000,6,0.185,0.029,2859,1961,2763,0,0,0,0,0,0
$GC,10928,0.78,146.5,93.8,9.3,418,10932,0.00,2.05,0.00,0.000,4,0.000,0.038,2868,553,2763,0,0,0,0,0,0
$GC,11027,0.81,165.0,85.0,7.8,426,11046,0.00,2.10,12.35,0.525,6,0.000,0.032,2868,1963,2709,0,0,0,0,0,0
$GC,11302,0.81,165.0,58.1,11.3,452,11306,0.00,2.17,0.00,0.000,4,0.000,0.048,2868,3355,2708,0,0,0,0,0,0
$GC,11409,0.81,165.0,46.2,11.4,461,11417,0.00,2.10,0.00,0.000,6,0.000,0.028,2877,1956,2709,0,0,0,0,0,0
$GC,11673,0.91,248.7,24.1,5.3,494,11746,0.00,2.12,67.22,0.499,4,0.000,0.037,2888,567,2363,0,0,0,0,0,0
$GC,11843,0.91,248.7,8.1,12.7,523,11851,0.00,2.12,0.00,0.000,6,0.000,0.032,2888,1952,2359,0,0,0,0,0,0
$STATE,11883,end climb,SURFACE_DEPTH_REACHED
$STATE,11883,begin surface coast
$FINISH,0.1,1.023125
$STATE,11907,end surface coast,CONTROL_FINISHED_OK
$STATE,11907,begin surface
$SM_CCo,11988,0.00,0.000,0,0,2354,251.43
$SM_GC,2.08,7.55,0.00,0.00,0.048,0.000,0.000,52,1956,2354,-7.90,-0.99,251.43
$IRIDIUM_FIX,1927.51,-15652.89,190113,090914
$TT8_MAMPS,0.060593
$HUMID,1078919345
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.80
$XPDR_PINGS,11
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,3374317568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,20.402
$10V_AH,10.1,19.350
$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,19.425,106.500,320.975,0.000,0.000,23.253,32.277,417.708,2.750,0.000,11.843,1069.875,8621.479,373.152,2243.949,375.588,33.361,1113.129,0.000,1760.507,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,56.758,1135.927,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.369,0.000,922.837,0.000,0.000,0.000,0.000,13551.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.073,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,26987,534
$CAP_FILE_SIZE,112987,0
$CFSIZE,260165632,194969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,215656,1932.286,-15651.347,73,7.2,92,9.6