version: 66.07
glider: 513
mission: 7
dive: 149
start: 7 27 111 22 12 31
data:
$ID,513
$MISSION,7
$DIVE,149
$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,-423944.94
$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,50
$R_STBD_OVSHOOT,34
$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,148
$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
$GPS1,270711,215656,1932.286,-15651.347,73,7.2,92,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-79.6
$GPS2,270711,221137,1932.199,-15651.481,32,1.2,32,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.124,-0.213
$KALMAN_X,-23771.7,67.0,136.1,2220.6,-3652.4
$KALMAN_Y,48421.1,-1291.5,-802.3,-76021.9,10026.9
$MHEAD_RNG_PITCHd_Wd,140.2,60703,-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,30,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,-44.60,0.000,2,0.000,0.000,38,1957,3669,0,0,0,0,0,0
$GC,85,-0.78,-146.5,3.6,-7.3,7,106,9.45,2.33,-4.82,0.000,4,0.241,0.070,2326,3400,3960,0,0,0,0,0,0
$GC,351,-0.78,-146.5,87.0,-24.9,36,356,0.00,2.15,0.00,0.000,6,0.000,0.034,2327,1993,3963,0,0,0,0,0,0
$GC,617,-0.78,-146.5,156.2,-23.1,60,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1988,3965,0,0,0,0,0,0
$GC,876,-0.78,-146.5,214.9,-22.1,82,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1988,3966,0,0,0,0,0,0
$GC,1124,-0.78,-146.5,261.9,-17.3,94,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1988,3969,0,0,0,0,0,0
$GC,1391,-0.78,-146.5,310.4,-17.9,106,1395,0.00,2.17,0.00,0.000,4,0.000,0.051,2320,3403,3967,0,0,0,0,0,0
$GC,1423,-0.78,-146.5,316.2,-17.3,106,1429,0.00,2.12,0.00,0.000,6,0.000,0.033,2318,1985,3966,0,0,0,0,0,0
$GC,1674,-0.78,-146.5,364.7,-20.1,113,1678,0.00,2.20,0.00,0.000,4,0.000,0.050,2308,3408,3966,0,0,0,0,0,0
$GC,1706,-0.78,-146.5,371.6,-19.4,113,1711,0.15,2.10,0.00,0.000,6,0.171,0.033,2346,1988,3965,0,0,0,0,0,0
$GC,1961,-0.78,-146.5,412.9,-16.2,120,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1983,3966,0,0,0,0,0,0
$GC,2205,-0.78,-146.5,450.5,-15.5,126,2209,0.00,2.17,0.00,0.000,4,0.000,0.051,2338,3397,3963,0,0,0,0,0,0
$GC,2227,-0.78,-146.5,454.1,-15.4,126,2231,0.00,2.10,0.00,0.000,6,0.000,0.033,2337,1987,3963,0,0,0,0,0,0
$GC,2482,-0.78,-146.5,493.2,-15.5,133,2486,0.00,2.17,0.00,0.000,4,0.000,0.049,2327,3399,3960,0,0,0,0,0,0
$GC,2520,-0.78,-146.5,499.2,-15.1,133,2526,0.00,2.12,-0.03,0.000,6,0.000,0.033,2327,1988,3968,0,0,0,0,0,0
$GC,2771,-0.78,-146.5,536.1,-14.9,140,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1982,3964,0,0,0,0,0,0
$GC,3013,-0.78,-146.5,572.1,-14.8,146,3017,0.00,2.10,0.00,0.000,4,0.000,0.045,2327,593,3964,0,0,0,0,0,0
$GC,3046,-0.78,-146.5,577.2,-15.1,146,3052,0.12,2.15,0.00,0.000,6,0.176,0.047,2348,2001,3964,0,0,0,0,0,0
$GC,3296,-0.78,-146.5,608.7,-12.6,153,3300,0.00,2.17,0.00,0.000,4,0.000,0.051,2339,3401,3962,0,0,0,0,0,0
$GC,3369,-0.78,-146.5,618.2,-12.7,154,3373,0.00,2.12,0.00,0.000,6,0.000,0.033,2339,1991,3960,0,0,0,0,0,0
$GC,3624,-0.78,-146.5,651.6,-13.1,161,3628,0.00,2.20,0.00,0.000,4,0.000,0.052,2328,3392,3958,0,0,0,0,0,0
$GC,3684,-0.78,-146.5,659.6,-12.9,162,3688,0.00,2.12,0.00,0.000,6,0.000,0.036,2329,1987,3958,0,0,0,0,0,0
$GC,3958,-0.78,-146.5,697.2,-13.9,169,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1986,3956,0,0,0,0,0,0
$GC,4201,-0.78,-146.5,732.3,-14.3,175,4205,0.00,2.20,0.00,0.000,4,0.000,0.053,2317,3400,3954,0,0,0,0,0,0
$GC,4256,-0.78,-146.5,740.2,-13.5,176,4261,0.10,2.10,0.00,0.000,6,0.183,0.035,2341,1994,3952,0,0,0,0,0,0
$GC,4529,-0.78,-146.5,774.0,-12.3,183,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1988,3952,0,0,0,0,0,0
$GC,4772,-0.78,-146.5,803.0,-11.8,189,4776,0.00,2.20,0.00,0.000,4,0.000,0.053,2332,3399,3949,0,0,0,0,0,0
$GC,4799,-0.78,-146.5,806.3,-11.7,189,4803,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,1990,3949,0,0,0,0,0,0
$GC,5061,-0.78,-146.5,838.6,-12.3,196,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1984,3948,0,0,0,0,0,0
$GC,5304,-0.78,-146.5,867.3,-11.8,202,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1984,3946,0,0,0,0,0,0
$GC,5547,-0.78,-146.5,895.4,-11.5,208,5551,0.00,2.20,0.00,0.000,4,0.000,0.052,2321,3396,3945,0,0,0,0,0,0
$STATE,5590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5590,begin apogee
$GC,5598,-0.28,0.0,900.5,11.4,209,5716,0.60,0.00,115.05,1.131,6,0.148,0.000,2502,1958,3380,0,0,0,0,0,0
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5719,begin climb
$GC,5723,0.78,146.5,903.1,0.0,212,5854,1.05,0.00,127.47,1.083,6,0.091,0.000,2851,1957,2784,0,0,0,0,0,0
$GC,6077,0.78,146.5,844.5,20.2,221,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1962,2777,0,0,0,0,0,0
$GC,6320,0.78,146.5,797.0,19.3,227,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1957,2775,0,0,0,0,0,0
$GC,6565,0.78,146.5,751.7,18.7,233,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1957,2774,0,0,0,0,0,0
$GC,6808,0.78,146.5,708.5,17.3,239,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1957,2772,0,0,0,0,0,0
$GC,7051,0.78,146.5,665.6,17.6,245,7055,0.00,2.22,0.00,0.000,4,0.000,0.054,2846,3364,2772,0,0,0,0,0,0
$GC,7073,0.78,146.5,661.6,17.6,245,7077,0.00,2.15,0.00,0.000,6,0.000,0.033,2855,1955,2772,0,0,0,0,0,0
$GC,7335,0.78,146.5,616.6,17.1,252,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1951,2771,0,0,0,0,0,0
$GC,7577,0.78,146.5,574.1,17.5,258,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1951,2770,0,0,0,0,0,0
$GC,7821,0.78,146.5,529.7,18.1,264,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1951,2769,0,0,0,0,0,0
$GC,8065,0.78,146.5,486.0,18.0,270,8069,0.00,2.10,0.00,0.000,4,0.000,0.044,2866,555,2771,0,0,0,0,0,0
$GC,8110,0.78,146.5,477.8,18.1,271,8114,0.00,2.10,0.00,0.000,6,0.000,0.038,2866,1958,2765,0,0,0,0,0,0
$GC,8387,0.78,146.5,427.5,17.7,278,8391,0.00,2.22,0.00,0.000,4,0.000,0.054,2869,3377,2765,0,0,0,0,0,0
$GC,8437,0.78,146.5,418.2,18.5,279,8441,0.00,2.17,0.00,0.000,6,0.000,0.033,2877,1945,2767,0,0,0,0,0,0
$GC,8716,0.78,146.5,372.4,16.0,286,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1942,2766,0,0,0,0,0,0
$GC,8959,0.78,146.5,334.2,15.5,292,8963,0.00,2.22,0.00,0.000,4,0.000,0.053,2877,3369,2765,0,0,0,0,0,0
$GC,9025,0.78,146.5,323.2,16.1,293,9030,0.15,2.15,0.00,0.000,6,0.209,0.032,2852,1945,2765,0,0,0,0,0,0
$GC,9288,0.78,146.5,287.9,12.8,302,9292,0.00,2.05,0.00,0.000,4,0.000,0.041,2861,561,2765,0,0,0,0,0,0
$GC,9355,0.78,146.5,278.5,14.2,305,9359,0.00,2.12,0.00,0.000,6,0.000,0.038,2860,1979,2770,0,0,0,0,0,0
$GC,9614,0.78,146.5,241.1,14.7,318,9617,0.00,2.15,0.00,0.000,4,0.000,0.052,2860,3359,2764,0,0,0,0,0,0
$GC,9871,0.78,146.5,203.8,12.5,329,9876,0.00,2.10,0.00,0.000,6,0.000,0.032,2869,1961,2764,0,0,0,0,0,0
$GC,10134,0.78,146.5,175.4,10.4,352,10137,0.00,2.08,0.00,0.000,4,0.000,0.040,2880,561,2763,0,0,0,0,0,0
$GC,10256,0.78,146.5,162.1,11.6,363,10260,0.00,2.08,0.00,0.000,6,0.000,0.035,2881,1964,2764,0,0,0,0,0,0
$GC,10522,0.78,146.5,131.3,10.7,387,10526,0.00,2.20,0.00,0.000,4,0.000,0.050,2881,3371,2762,0,0,0,0,0,0
$GC,10575,0.78,146.5,124.7,11.1,391,10583,0.12,2.15,0.00,0.000,6,0.181,0.030,2856,1951,2762,0,0,0,0,0,0
$GC,10840,0.80,159.7,101.3,8.0,416,10850,0.00,0.00,8.10,0.512,6,0.000,0.000,2856,1951,2731,0,0,0,0,0,0
$GC,11105,0.80,159.7,77.5,8.6,441,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1951,2730,0,0,0,0,0,0
$GC,11369,0.82,175.6,57.1,7.9,466,11393,0.00,2.12,14.65,0.507,4,0.000,0.041,2865,563,2663,0,0,0,0,0,0
$GC,11526,0.82,175.6,43.0,9.0,480,11530,0.00,2.10,0.00,0.000,6,0.000,0.035,2865,1971,2665,0,0,0,0,0,0
$GC,11792,0.94,273.4,22.5,4.7,514,11878,0.10,2.20,77.78,0.489,4,0.110,0.040,2917,572,2263,0,0,0,0,0,0
$STATE,11958,end climb,SURFACE_DEPTH_REACHED
$STATE,11958,begin surface coast
$FINISH,0.6,1.022988
$STATE,11976,end surface coast,CONTROL_FINISHED_OK
$STATE,11976,begin surface
$SM_CCo,12059,0.00,0.000,0,0,2251,276.94
$SM_GC,1.56,7.78,0.00,0.00,0.057,0.000,0.000,55,1989,2251,-7.89,-0.06,276.94
$IRIDIUM_FIX,1925.22,-15650.79,190113,161601
$TT8_MAMPS,0.060593
$HUMID,1078888377
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.30
$XPDR_PINGS,11
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,3374153728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,20.525
$10V_AH,10.3,19.460
$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,19.625,90.475,343.050,0.000,0.000,59.866,67.875,446.042,2.750,0.000,34.146,1049.525,8802.203,392.959,2302.955,398.380,33.357,1090.356,0.000,1719.398,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,69.797,1130.558,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.599,0.000,962.551,0.000,0.000,0.000,0.000,13768.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.446,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26996,545
$CAP_FILE_SIZE,109100,0
$CFSIZE,260165632,194899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,013458,1930.890,-15651.301,13,3.2,32,9.6