version: 66.07
glider: 513
mission: 7
dive: 158
start: 7 29 111 6 39 28
data:
$ID,513
$MISSION,7
$DIVE,158
$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,-424147.25
$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,38
$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,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
$GPS1,290711,061614,1924.407,-15650.558,107,2.6,126,9.6
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.0
$GPS2,290711,063834,1924.792,-15650.944,13,2.7,32,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.243,-0.042
$KALMAN_X,-42446.3,371.7,62.5,21588.8,-7030.7
$KALMAN_Y,64061.7,-1238.1,-774.1,-105464.3,9451.2
$MHEAD_RNG_PITCHd_Wd,90.3,47080,-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,30,begin dive
$GC,33,-0.78,-146.5,0.0,0.0,0,80,0.00,0.00,-44.72,0.000,2,0.000,0.000,35,1998,3746,0,0,0,0,0,0
$GC,85,-0.78,-146.5,4.0,-7.2,7,106,9.45,2.25,-3.60,0.000,4,0.240,0.063,2327,3397,3962,0,0,0,0,0,0
$GC,188,-0.78,-146.5,46.1,-30.9,21,192,0.00,2.15,0.00,0.000,6,0.000,0.043,2334,1998,3964,0,0,0,0,0,0
$GC,453,-0.78,-146.5,118.2,-24.8,45,457,0.00,2.20,0.00,0.000,4,0.000,0.054,2319,3400,3966,0,0,0,0,0,0
$GC,494,-0.78,-146.5,128.8,-24.8,48,498,0.00,2.12,0.00,0.000,6,0.000,0.033,2318,1981,3966,0,0,0,0,0,0
$GC,757,-0.78,-146.5,194.9,-23.9,72,761,0.00,2.22,0.00,0.000,4,0.000,0.053,2305,3396,3968,0,0,0,0,0,0
$GC,819,-0.78,-146.5,210.6,-24.1,76,823,0.15,2.10,0.00,0.000,6,0.172,0.031,2346,1981,3968,0,0,0,0,0,0
$GC,1083,-0.78,-146.5,262.9,-19.2,89,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1975,3967,0,0,0,0,0,0
$GC,1350,-0.78,-146.5,311.3,-18.5,101,1354,0.00,2.08,0.00,0.000,4,0.000,0.042,2352,580,3969,0,0,0,0,0,0
$GC,1379,-0.78,-146.5,316.6,-18.6,101,1383,0.00,2.12,0.00,0.000,6,0.000,0.043,2338,1991,3969,0,0,0,0,0,0
$GC,1634,-0.78,-146.5,363.8,-18.6,108,1638,0.00,2.15,0.00,0.000,4,0.000,0.051,2328,3400,3969,0,0,0,0,0,0
$GC,1739,-0.78,-146.5,382.6,-17.2,110,1743,0.00,2.12,0.00,0.000,6,0.000,0.033,2327,1975,3968,0,0,0,0,0,0
$GC,2007,-0.78,-146.5,427.8,-17.1,117,2011,0.00,2.20,0.00,0.000,4,0.000,0.053,2316,3396,3966,0,0,0,0,0,0
$GC,2040,-0.78,-146.5,433.7,-16.6,117,2046,0.10,2.10,0.00,0.000,6,0.176,0.035,2341,1982,3966,0,0,0,0,0,0
$GC,2290,-0.78,-146.5,470.7,-14.7,124,2294,0.00,2.22,0.00,0.000,4,0.000,0.053,2332,3397,3963,0,0,0,0,0,0
$GC,2312,-0.78,-146.5,474.2,-15.7,124,2316,0.00,2.10,0.00,0.000,6,0.000,0.033,2332,1984,3963,0,0,0,0,0,0
$GC,2567,-0.78,-146.5,514.3,-16.1,131,2571,0.00,2.20,0.00,0.000,4,0.000,0.054,2321,3400,3961,0,0,0,0,0,0
$GC,2644,-0.78,-146.5,526.7,-14.7,132,2650,0.00,2.08,0.00,0.000,6,0.000,0.032,2322,1999,3960,0,0,0,0,0,0
$GC,2895,-0.78,-146.5,566.8,-16.1,139,2899,0.00,2.10,0.00,0.000,4,0.000,0.044,2322,581,3957,0,0,0,0,0,0
$GC,2916,-0.78,-146.5,570.7,-17.0,139,2921,0.12,2.12,0.00,0.000,6,0.184,0.044,2341,1990,3957,0,0,0,0,0,0
$GC,3171,-0.78,-146.5,608.7,-14.7,146,3175,0.00,2.20,0.00,0.000,4,0.000,0.055,2332,3390,3954,0,0,0,0,0,0
$GC,3256,-0.78,-146.5,621.3,-14.7,147,3261,0.00,2.12,0.00,0.000,6,0.000,0.036,2332,1986,3952,0,0,0,0,0,0
$GC,3505,-0.78,-146.5,658.7,-15.0,154,3509,0.00,2.20,0.00,0.000,4,0.000,0.057,2322,3395,3950,0,0,0,0,0,0
$GC,3538,-0.78,-146.5,664.1,-15.5,154,3544,0.00,2.12,0.00,0.000,6,0.000,0.036,2320,1993,3951,0,0,0,0,0,0
$GC,3788,-0.78,-146.5,702.9,-15.8,161,3792,0.00,2.22,0.00,0.000,4,0.000,0.057,2311,3398,3948,0,0,0,0,0,0
$GC,3850,-0.78,-146.5,712.7,-16.1,162,3854,0.12,2.12,0.00,0.000,6,0.171,0.035,2342,1981,3948,0,0,0,0,0,0
$GC,4116,-0.78,-146.5,748.1,-13.1,169,4120,0.00,2.20,0.00,0.000,4,0.000,0.054,2333,3392,3949,0,0,0,0,0,0
$GC,4160,-0.78,-146.5,754.1,-12.9,170,4164,0.00,2.10,0.00,0.000,6,0.000,0.035,2333,1989,3945,0,0,0,0,0,0
$GC,4445,-0.78,-146.5,792.5,-13.6,177,4449,0.00,2.20,0.00,0.000,4,0.000,0.054,2322,3395,3943,0,0,0,0,0,0
$GC,4472,-0.78,-146.5,796.4,-13.9,177,4476,0.00,2.12,0.00,0.000,6,0.000,0.035,2323,1980,3940,0,0,0,0,0,0
$GC,4727,-0.78,-146.5,831.9,-13.9,184,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1974,3942,0,0,0,0,0,0
$GC,4972,-0.78,-146.5,865.8,-13.9,190,4976,0.00,2.20,0.00,0.000,4,0.000,0.053,2311,3394,3939,0,0,0,0,0,0
$GC,5006,-0.78,-146.5,870.7,-14.3,190,5014,0.12,2.12,0.00,0.000,6,0.174,0.035,2342,1980,3939,0,0,0,0,0,0
$STATE,5253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5253,begin apogee
$GC,5259,-0.28,0.0,902.0,12.5,197,5376,0.52,0.00,113.78,1.121,6,0.148,0.000,2503,1974,3380,0,0,0,0,0,0
$STATE,5378,end apogee,CONTROL_FINISHED_OK
$STATE,5378,begin climb
$GC,5382,0.78,146.5,907.2,0.0,200,5513,1.05,0.00,127.38,1.080,6,0.094,0.000,2850,1971,2783,0,0,0,0,0,0
$GC,5739,0.78,146.5,854.5,18.6,209,5743,0.00,2.17,0.00,0.000,4,0.000,0.038,2861,551,2777,0,0,0,0,0,0
$GC,5755,0.78,146.5,851.1,18.7,209,5759,0.00,2.15,0.00,0.000,6,0.000,0.035,2861,1957,2774,0,0,0,0,0,0
$GC,6023,0.78,146.5,799.7,19.2,216,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1957,2772,0,0,0,0,0,0
$GC,6266,0.78,146.5,751.9,19.5,222,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1957,2771,0,0,0,0,0,0
$GC,6510,0.78,146.5,705.6,18.8,228,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1956,2770,0,0,0,0,0,0
$GC,6753,0.78,146.5,660.1,18.7,234,6757,0.00,2.22,0.00,0.000,4,0.000,0.056,2861,3368,2768,0,0,0,0,0,0
$GC,6821,0.78,146.5,646.4,19.4,235,6825,0.00,2.15,0.00,0.000,6,0.000,0.034,2871,1948,2768,0,0,0,0,0,0
$GC,7076,0.78,146.5,596.4,19.5,242,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1944,2767,0,0,0,0,0,0
$GC,7319,0.78,146.5,550.4,18.6,248,7323,0.00,2.08,0.00,0.000,4,0.000,0.041,2882,554,2767,0,0,0,0,0,0
$GC,7353,0.78,146.5,543.9,19.6,248,7360,0.12,2.15,0.00,0.000,6,0.212,0.035,2855,1972,2764,0,0,0,0,0,0
$GC,7603,0.78,146.5,500.4,17.2,255,7607,0.00,2.17,0.00,0.000,4,0.000,0.055,2855,3366,2764,0,0,0,0,0,0
$GC,7658,0.78,146.5,489.9,19.3,256,7662,0.00,2.10,0.00,0.000,6,0.000,0.033,2864,1955,2761,0,0,0,0,0,0
$GC,7931,0.78,146.5,441.2,18.2,263,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1950,2764,0,0,0,0,0,0
$GC,8173,0.78,146.5,399.6,16.7,269,8177,0.00,2.10,0.00,0.000,4,0.000,0.040,2875,555,2764,0,0,0,0,0,0
$GC,8223,0.78,146.5,390.6,18.0,270,8227,0.00,2.10,0.00,0.000,6,0.000,0.035,2875,1970,2762,0,0,0,0,0,0
$GC,8501,0.78,146.5,344.5,16.3,277,8505,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,553,2762,0,0,0,0,0,0
$GC,8575,0.78,146.5,332.2,17.2,278,8579,0.12,2.10,0.00,0.000,6,0.209,0.035,2858,1963,2762,0,0,0,0,0,0
$GC,8824,0.78,146.5,297.3,14.0,284,8828,0.00,2.10,0.00,0.000,4,0.000,0.039,2867,556,2761,0,0,0,0,0,0
$GC,8955,0.78,146.5,279.6,14.1,290,8959,0.00,2.12,0.00,0.000,6,0.000,0.035,2866,1969,2760,0,0,0,0,0,0
$GC,9219,0.78,146.5,244.4,13.0,303,9223,0.00,2.17,0.00,0.000,4,0.000,0.051,2860,3362,2764,0,0,0,0,0,0
$GC,9367,0.78,146.5,223.7,14.3,309,9373,0.00,2.10,0.00,0.000,6,0.000,0.031,2868,1948,2761,0,0,0,0,0,0
$GC,9625,0.78,146.5,189.0,12.9,325,9629,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3369,2761,0,0,0,0,0,0
$GC,9741,0.78,146.5,171.1,15.9,335,9745,0.00,2.10,0.00,0.000,6,0.000,0.031,2878,1954,2761,0,0,0,0,0,0
$GC,10007,0.78,146.5,138.5,12.8,359,10011,0.00,2.20,0.00,0.000,4,0.000,0.048,2878,3362,2762,0,0,0,0,0,0
$GC,10081,0.78,146.5,129.8,10.4,365,10085,0.15,2.10,0.00,0.000,6,0.202,0.030,2853,1958,2761,0,0,0,0,0,0
$GC,10344,0.80,162.5,107.6,7.9,389,10359,0.00,2.22,10.32,0.535,4,0.000,0.049,2853,3362,2717,0,0,0,0,0,0
$GC,10609,0.80,162.5,80.4,9.9,413,10613,0.00,2.08,0.00,0.000,6,0.000,0.029,2861,1958,2717,0,0,0,0,0,0
$GC,10874,0.83,182.6,56.5,7.8,437,10894,0.00,0.00,17.67,0.512,6,0.000,0.000,2862,1955,2636,0,0,0,0,0,0
$GC,11152,0.83,182.6,30.9,10.2,463,11156,0.00,2.20,0.00,0.000,4,0.000,0.047,2864,3373,2634,0,0,0,0,0,0
$GC,11191,0.85,203.1,27.5,7.8,469,11218,0.00,2.12,17.60,0.482,6,0.000,0.029,2870,1965,2552,0,0,0,0,0,0
$GC,11473,0.86,208.0,4.8,8.4,521,11488,0.00,2.22,5.05,0.371,4,0.000,0.047,2870,3363,2533,0,0,0,0,0,0
$STATE,11494,end climb,SURFACE_DEPTH_REACHED
$STATE,11494,begin surface coast
$FINISH,0.1,1.021367
$STATE,11527,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11549,302.27,0.459,0,0,394,732.45
$SM_GC,1.01,0.00,0.00,302.27,0.000,0.000,0.459,43,1988,394,-7.97,-0.03,732.45
$IRIDIUM_FIX,1916.08,-15649.58,210113,000051
$TT8_MAMPS,0.060593
$HUMID,1078764506
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.30
$XPDR_PINGS,40
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,3297050624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,21.616
$10V_AH,10.2,20.316
$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,19.500,120.275,291.800,302.275,0.000,136.016,176.701,505.557,10.000,0.000,34.897,1073.322,8417.931,684.895,2587.836,433.833,33.356,1395.779,0.000,1752.413,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,62.894,1121.354,458.666,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.724,0.000,939.409,0.000,0.000,0.000,0.000,14102.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,8.413,0.000,0.000
$MEM,353652
$DATA_FILE_SIZE,26972,530
$CAP_FILE_SIZE,122231,0
$CFSIZE,260165632,194293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,095837,1924.847,-15649.907,38,0.9,38,9.6