version: 66.07
glider: 513
mission: 7
dive: 157
start: 7 29 111 2 51 15
data:
$ID,513
$MISSION,7
$DIVE,157
$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,-424111.72
$T_RSLEEP,1
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,290711,024137,1924.312,-15651.397,40,1.1,41,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.1
$GPS2,290711,025020,1924.387,-15651.578,12,1.6,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.240,-0.058
$KALMAN_X,-39602.0,635.4,487.0,16935.8,-7200.0
$KALMAN_Y,62590.1,-1075.6,-545.1,-105139.6,9747.7
$MHEAD_RNG_PITCHd_Wd,94.0,46611,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.78,-146.5,0.0,0.0,0,143,0.00,0.00,-113.55,0.000,2,0.000,0.000,38,1974,3803,0,0,0,0,0,0
$GC,147,-0.78,-146.5,4.1,-8.5,18,168,9.55,2.12,-2.58,0.000,4,0.244,0.048,2349,573,3968,0,0,0,0,0,0
$GC,219,-0.78,-146.5,35.7,-33.0,29,223,0.00,2.17,0.00,0.000,6,0.000,0.046,2340,1991,3966,0,0,0,0,0,0
$GC,482,-0.78,-146.5,105.8,-24.1,53,486,0.00,2.17,0.00,0.000,4,0.000,0.053,2329,3397,3967,0,0,0,0,0,0
$GC,556,-0.78,-146.5,122.2,-21.9,59,560,0.00,2.12,0.00,0.000,6,0.000,0.034,2329,1980,3967,0,0,0,0,0,0
$GC,820,-0.78,-146.5,179.4,-19.3,83,824,0.00,2.20,0.00,0.000,4,0.000,0.051,2319,3399,3969,0,0,0,0,0,0
$GC,905,-0.78,-146.5,196.9,-19.9,90,909,0.00,2.12,0.00,0.000,6,0.000,0.034,2319,1993,3969,0,0,0,0,0,0
$GC,1169,-0.78,-146.5,253.1,-20.4,103,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1987,3972,0,0,0,0,0,0
$GC,1417,-0.78,-146.5,300.8,-18.3,115,1421,0.00,2.22,0.00,0.000,4,0.000,0.054,2308,3407,3967,0,0,0,0,0,0
$GC,1484,-0.78,-146.5,313.2,-17.8,116,1489,0.15,2.12,0.00,0.000,6,0.167,0.036,2348,1992,3969,0,0,0,0,0,0
$GC,1745,-0.78,-146.5,354.0,-15.5,123,1749,0.00,2.17,0.00,0.000,4,0.000,0.053,2338,3398,3967,0,0,0,0,0,0
$GC,1777,-0.78,-146.5,359.4,-16.3,123,1783,0.00,2.12,0.00,0.000,6,0.000,0.035,2338,1990,3970,0,0,0,0,0,0
$GC,2028,-0.78,-146.5,396.7,-14.7,130,2032,0.00,2.22,0.00,0.000,4,0.000,0.058,2327,3406,3963,0,0,0,0,0,0
$GC,2050,-0.78,-146.5,400.4,-15.7,130,2054,0.00,2.12,0.00,0.000,6,0.000,0.037,2327,1992,3965,0,0,0,0,0,0
$GC,2317,-0.78,-146.5,442.5,-16.1,137,2321,0.00,2.10,0.00,0.000,4,0.000,0.046,2327,581,3962,0,0,0,0,0,0
$GC,2334,-0.78,-146.5,445.5,-16.2,137,2338,0.12,2.15,0.00,0.000,6,0.177,0.046,2348,1993,3962,0,0,0,0,0,0
$GC,2600,-0.78,-146.5,482.7,-13.8,144,2604,0.00,2.20,-0.05,0.000,4,0.000,0.070,2339,3399,3971,0,0,0,0,0,0
$GC,2688,-0.78,-146.5,494.9,-13.2,146,2692,0.00,2.12,0.00,0.000,6,0.000,0.034,2338,1980,3970,0,0,0,0,0,0
$GC,2973,-0.78,-146.5,534.9,-14.2,153,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1974,3971,0,0,0,0,0,0
$GC,3216,-0.78,-146.5,569.5,-14.2,159,3220,0.00,2.22,0.00,0.000,4,0.000,0.055,2328,3402,3965,0,0,0,0,0,0
$GC,3243,-0.78,-146.5,573.5,-14.4,159,3247,0.00,2.12,0.00,0.000,6,0.000,0.034,2328,1990,3964,0,0,0,0,0,0
$GC,3505,-0.78,-146.5,610.9,-14.5,166,3509,0.00,2.22,0.00,0.000,4,0.000,0.058,2313,3393,3962,0,0,0,0,0,0
$GC,3549,-0.78,-146.5,617.5,-14.6,167,3553,0.10,2.12,0.00,0.000,6,0.181,0.037,2341,1984,3961,0,0,0,0,0,0
$GC,3832,-0.78,-146.5,653.8,-12.8,174,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1979,3960,0,0,0,0,0,0
$GC,4075,-0.78,-146.5,686.0,-13.3,180,4079,0.00,2.22,0.00,0.000,4,0.000,0.059,2332,3394,3956,0,0,0,0,0,0
$GC,4177,-0.78,-146.5,699.1,-12.9,182,4181,0.00,2.10,0.00,0.000,6,0.000,0.036,2332,2003,3954,0,0,0,0,0,0
$GC,4443,-0.78,-146.5,734.4,-13.2,189,4447,0.00,2.17,0.00,0.000,4,0.000,0.057,2322,3394,3957,0,0,0,0,0,0
$GC,4470,-0.78,-146.5,738.2,-13.7,189,4474,0.00,2.15,0.00,0.000,6,0.000,0.037,2321,1981,3953,0,0,0,0,0,0
$GC,4727,-0.78,-146.5,773.5,-14.0,196,4731,0.00,2.22,0.00,0.000,4,0.000,0.056,2311,3394,3951,0,0,0,0,0,0
$GC,4759,-0.78,-146.5,778.5,-14.1,196,4764,0.12,2.12,0.00,0.000,6,0.173,0.036,2342,1987,3950,0,0,0,0,0,0
$GC,5014,-0.78,-146.5,809.2,-11.9,203,5018,0.00,2.22,0.00,0.000,4,0.000,0.058,2333,3399,3949,0,0,0,0,0,0
$GC,5039,-0.78,-146.5,812.0,-12.8,203,5043,0.00,2.12,0.00,0.000,6,0.000,0.034,2333,1985,3948,0,0,0,0,0,0
$GC,5294,-0.78,-146.5,844.3,-12.6,210,5298,0.00,2.22,0.00,0.000,4,0.000,0.055,2322,3394,3946,0,0,0,0,0,0
$GC,5333,-0.78,-146.5,849.1,-12.3,211,5337,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,1981,3947,0,0,0,0,0,0
$GC,5617,-0.78,-146.5,886.2,-13.2,218,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1976,3945,0,0,0,0,0,0
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5741,-0.28,0.0,902.2,13.1,221,5860,0.62,0.00,115.60,1.122,6,0.155,0.000,2508,1976,3380,0,0,0,0,0,0
$STATE,5883,end apogee,CONTROL_FINISHED_OK
$STATE,5883,begin climb
$GC,5885,0.78,146.5,905.7,0.0,224,6016,1.00,0.00,126.90,1.085,6,0.090,0.000,2849,1976,2784,0,0,0,0,0,0
$GC,6253,0.78,146.5,849.9,19.0,233,6257,0.00,2.20,0.00,0.000,4,0.000,0.038,2860,551,2777,0,0,0,0,0,0
$GC,6280,0.78,146.5,843.9,20.7,233,6284,0.00,2.20,0.00,0.000,6,0.000,0.036,2852,1959,2774,0,0,0,0,0,0
$GC,6535,0.78,146.5,795.7,18.8,240,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1961,2774,0,0,0,0,0,0
$GC,6779,0.78,146.5,750.4,18.6,246,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1957,2773,0,0,0,0,0,0
$GC,7022,0.78,146.5,706.1,18.2,252,7026,0.00,2.25,0.00,0.000,4,0.000,0.055,2841,3379,2772,0,0,0,0,0,0
$GC,7072,0.78,146.5,696.3,19.0,253,7076,0.00,2.17,0.00,0.000,6,0.000,0.032,2850,1950,2771,0,0,0,0,0,0
$GC,7351,0.78,146.5,646.3,17.9,260,7355,0.00,2.25,0.00,0.000,4,0.000,0.053,2842,3379,2768,0,0,0,0,0,0
$GC,7406,0.78,146.5,635.6,18.8,261,7410,0.00,2.15,0.00,0.000,6,0.000,0.033,2850,1952,2770,0,0,0,0,0,0
$GC,7678,0.78,146.5,585.6,18.3,268,7682,0.00,2.12,0.00,0.000,4,0.000,0.041,2861,551,2772,0,0,0,0,0,0
$GC,7752,0.78,146.5,572.1,18.4,269,7756,0.00,2.12,0.00,0.000,6,0.000,0.035,2860,1972,2767,0,0,0,0,0,0
$GC,8002,0.78,146.5,527.8,17.2,275,8005,0.00,2.12,0.00,0.000,4,0.000,0.040,2870,548,2767,0,0,0,0,0,0
$GC,8034,0.78,146.5,521.7,18.0,275,8040,0.00,2.12,0.00,0.000,6,0.000,0.036,2870,1969,2769,0,0,0,0,0,0
$GC,8284,0.78,146.5,479.5,16.7,282,8288,0.00,2.17,0.00,0.000,4,0.000,0.053,2861,3363,2766,0,0,0,0,0,0
$GC,8358,0.78,146.5,466.6,16.9,283,8362,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,1953,2767,0,0,0,0,0,0
$GC,8613,0.78,146.5,423.5,17.2,290,8617,0.00,2.20,0.00,0.000,4,0.000,0.051,2861,3365,2764,0,0,0,0,0,0
$GC,8668,0.78,146.5,413.5,18.7,291,8672,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1956,2766,0,0,0,0,0,0
$GC,8941,0.78,146.5,366.9,17.1,298,8945,0.00,2.10,0.00,0.000,4,0.000,0.039,2878,550,2765,0,0,0,0,0,0
$GC,8990,0.78,146.5,358.0,16.6,299,8995,0.00,2.12,0.00,0.000,6,0.000,0.034,2881,1954,2763,0,0,0,0,0,0
$GC,9274,0.78,146.5,312.0,15.8,306,9278,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,557,2763,0,0,0,0,0,0
$GC,9290,0.78,146.5,309.3,15.5,306,9295,0.15,2.10,0.00,0.000,6,0.207,0.035,2862,1961,2762,0,0,0,0,0,0
$GC,9559,0.78,146.5,272.4,14.0,317,9563,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,547,2762,0,0,0,0,0,0
$GC,9622,0.78,146.5,264.3,13.0,320,9626,0.00,2.10,0.00,0.000,6,0.000,0.035,2866,1965,2762,0,0,0,0,0,0
$GC,9888,0.78,146.5,229.4,13.1,333,9892,0.00,2.20,0.00,0.000,4,0.000,0.051,2866,3370,2762,0,0,0,0,0,0
$GC,10027,0.78,146.5,207.8,14.7,339,10031,0.00,2.10,0.00,0.000,6,0.000,0.030,2881,1950,2762,0,0,0,0,0,0
$GC,10295,0.78,146.5,174.2,12.1,361,10299,0.00,2.22,0.00,0.000,4,0.000,0.049,2876,3372,2762,0,0,0,0,0,0
$GC,10546,0.78,146.5,142.3,13.1,383,10554,0.10,2.12,0.00,0.000,6,0.182,0.028,2858,1961,2763,0,0,0,0,0,0
$GC,10812,0.78,146.5,113.6,12.4,408,10816,0.00,2.17,0.00,0.000,4,0.000,0.049,2847,3363,2762,0,0,0,0,0,0
$GC,11060,0.78,146.5,87.3,9.7,430,11067,0.00,2.12,0.00,0.000,6,0.000,0.029,2856,1957,2764,0,0,0,0,0,0
$GC,11325,0.79,149.5,64.7,8.5,455,11329,0.00,2.15,0.00,0.000,4,0.000,0.047,2848,3364,2763,0,0,0,0,0,0
$GC,11573,0.85,204.9,45.9,6.4,477,11626,0.00,2.12,43.83,0.514,6,0.000,0.029,2857,1949,2544,0,0,0,0,0,0
$GC,11880,0.87,217.6,18.9,8.1,517,11901,0.00,2.25,11.27,0.453,4,0.000,0.048,2857,3354,2491,0,0,0,0,0,0
$STATE,12050,end climb,SURFACE_DEPTH_REACHED
$STATE,12050,begin surface coast
$FINISH,0.3,1.023147
$STATE,12078,end surface coast,CONTROL_FINISHED_OK
$STATE,12078,begin surface
$SM_CCo,12099,9.35,0.424,0,0,2400,240.14
$SM_GC,3.60,0.00,0.00,9.35,0.000,0.000,0.424,58,1998,2400,-7.95,0.23,240.14
$IRIDIUM_FIX,1909.23,-15107.15,200113,171743
$TT8_MAMPS,0.266149
$HUMID,1078961926
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.20
$XPDR_PINGS,10
$AR_DIVENUM,157
$AR_SAMPLENUM,8
$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
$24V_AH,24.1,21.450
$10V_AH,10.2,20.187
$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,19.375,129.475,297.600,9.350,0.000,23.837,39.526,321.912,2.500,0.000,14.394,1125.545,8464.119,411.299,2326.594,327.154,33.360,1228.668,0.000,1923.561,0.000,0.539,0.000
$DEVICE_MAMPS,243.906,69.797,1122.121,424.151,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,378.054,0.000,992.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353632
$DATA_FILE_SIZE,26980,553
$CAP_FILE_SIZE,118550,0
$CFSIZE,260165632,194387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,061614,1924.407,-15650.558,107,2.6,126,9.6