version: 66.07
glider: 513
mission: 7
dive: 159
start: 7 29 111 10 15 33
data:
$ID,513
$MISSION,7
$DIVE,159
$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,-424160.84
$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,43
$R_STBD_OVSHOOT,37
$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,158
$AR_SAMPLENUM,3
$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
$GPS1,290711,095837,1924.847,-15649.907,38,0.9,38,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.4
$GPS2,290711,101438,1925.132,-15650.173,11,1.8,11,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.077,-0.234
$KALMAN_X,-46124.4,314.1,410.6,26320.7,-9050.9
$KALMAN_Y,64544.1,-1201.8,-654.8,-105469.5,8408.2
$MHEAD_RNG_PITCHd_Wd,152.2,47418,-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,-146.5,0.0,0.0,0,149,0.00,0.00,-114.85,0.000,2,0.000,0.000,37,1990,3834,0,0,0,0,0,0
$GC,154,-0.78,-146.5,4.1,-7.5,18,175,9.45,2.25,-2.08,0.000,4,0.241,0.066,2327,3389,3964,0,0,0,0,0,0
$GC,270,-0.78,-146.5,48.6,-25.9,33,274,0.00,2.15,0.00,0.000,6,0.000,0.036,2329,1991,3966,0,0,0,0,0,0
$GC,533,-0.78,-146.5,120.5,-22.2,57,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1985,3969,0,0,0,0,0,0
$GC,797,-0.78,-146.5,181.3,-22.6,82,801,0.00,2.10,0.00,0.000,4,0.000,0.041,2330,582,3968,0,0,0,0,0,0
$GC,817,-0.78,-146.5,185.3,-20.6,83,821,0.00,2.12,0.00,0.000,6,0.000,0.044,2321,1992,3967,0,0,0,0,0,0
$GC,1072,-0.78,-146.5,241.7,-20.9,98,1076,0.00,2.17,0.00,0.000,4,0.000,0.050,2310,3402,3967,0,0,0,0,0,0
$GC,1095,-0.78,-146.5,246.6,-21.8,99,1100,0.12,2.12,0.00,0.000,6,0.179,0.032,2340,1987,3967,0,0,0,0,0,0
$GC,1362,-0.78,-146.5,294.2,-17.5,112,1366,0.00,2.08,0.00,0.000,4,0.000,0.040,2341,586,3967,0,0,0,0,0,0
$GC,1440,-0.78,-146.5,307.7,-16.0,114,1445,0.00,2.12,0.00,0.000,6,0.000,0.044,2333,1990,3967,0,0,0,0,0,0
$GC,1690,-0.78,-146.5,348.0,-16.1,121,1694,0.00,2.15,0.00,0.000,4,0.000,0.051,2322,3396,3966,0,0,0,0,0,0
$GC,1838,-0.78,-146.5,373.6,-17.1,124,1842,0.00,2.10,0.00,0.000,6,0.000,0.032,2322,1986,3965,0,0,0,0,0,0
$GC,2109,-0.78,-146.5,420.6,-17.3,131,2111,0.10,0.00,0.00,0.000,6,0.199,0.000,2344,1979,3962,0,0,0,0,0,0
$GC,2354,-0.78,-146.5,457.1,-14.6,137,2358,0.00,2.20,0.00,0.000,4,0.000,0.054,2335,3398,3960,0,0,0,0,0,0
$GC,2393,-0.78,-146.5,463.1,-15.1,138,2398,0.00,2.12,-0.08,0.000,6,0.000,0.033,2335,1984,3974,0,0,0,0,0,0
$GC,2676,-0.78,-146.5,505.2,-14.8,145,2680,0.00,2.20,0.00,0.000,4,0.000,0.055,2325,3396,3972,0,0,0,0,0,0
$GC,2709,-0.78,-146.5,510.4,-15.8,145,2715,0.00,2.12,0.00,0.000,6,0.000,0.034,2325,1987,3972,0,0,0,0,0,0
$GC,2959,-0.78,-146.5,549.7,-15.6,152,2963,0.00,2.10,0.00,0.000,4,0.000,0.044,2325,590,3967,0,0,0,0,0,0
$GC,3003,-0.78,-146.5,556.5,-14.8,153,3007,0.12,2.12,0.00,0.000,6,0.179,0.046,2344,1990,3968,0,0,0,0,0,0
$GC,3287,-0.78,-146.5,591.4,-12.1,160,3291,0.00,2.22,0.00,0.000,4,0.000,0.055,2336,3395,3964,0,0,0,0,0,0
$GC,3326,-0.78,-146.5,596.3,-11.8,161,3330,0.00,2.12,0.00,0.000,6,0.000,0.037,2336,2002,3964,0,0,0,0,0,0
$GC,3610,-0.78,-146.5,630.4,-12.1,168,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3961,0,0,0,0,0,0
$GC,3855,-0.78,-146.5,660.0,-12.1,174,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3958,0,0,0,0,0,0
$GC,4097,-0.78,-146.5,690.9,-12.7,180,4101,0.00,2.20,0.00,0.000,4,0.000,0.055,2326,3393,3957,0,0,0,0,0,0
$GC,4157,-0.78,-146.5,698.9,-12.9,181,4161,0.00,2.15,0.00,0.000,6,0.000,0.037,2325,1980,3956,0,0,0,0,0,0
$GC,4424,-0.78,-146.5,735.9,-14.0,188,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1973,3954,0,0,0,0,0,0
$GC,4669,-0.78,-146.5,769.9,-13.9,194,4673,0.00,2.20,0.00,0.000,4,0.000,0.054,2315,3393,3952,0,0,0,0,0,0
$GC,4713,-0.78,-146.5,776.3,-13.9,195,4717,0.12,2.12,0.00,0.000,6,0.173,0.035,2346,1983,3950,0,0,0,0,0,0
$GC,4996,-0.78,-146.5,809.4,-11.6,202,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1979,3948,0,0,0,0,0,0
$GC,5240,-0.78,-146.5,836.5,-11.1,208,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1979,3947,0,0,0,0,0,0
$GC,5483,-0.78,-146.5,862.9,-10.9,214,5487,0.00,2.22,0.00,0.000,4,0.000,0.056,2337,3400,3944,0,0,0,0,0,0
$GC,5522,-0.78,-146.5,867.2,-11.3,215,5526,0.00,2.12,0.00,0.000,6,0.000,0.034,2337,1993,3944,0,0,0,0,0,0
$GC,5806,-0.78,-146.5,899.3,-11.3,222,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1988,3943,0,0,0,0,0,0
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5843,begin apogee
$GC,5849,-0.28,0.0,903.7,11.2,223,5967,0.57,0.00,115.12,1.126,6,0.148,0.000,2511,1987,3378,0,0,0,0,0,0
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5972,0.78,146.5,906.5,0.0,226,6104,1.00,0.00,127.50,1.081,6,0.090,0.000,2850,1986,2782,0,0,0,0,0,0
$GC,6340,0.78,146.5,846.8,20.3,235,6344,0.00,2.20,0.00,0.000,4,0.000,0.041,2861,555,2774,0,0,0,0,0,0
$GC,6373,0.78,146.5,839.2,20.9,235,6378,0.00,2.17,0.00,0.000,6,0.000,0.036,2858,1956,2772,0,0,0,0,0,0
$GC,6622,0.78,146.5,789.1,20.0,242,6626,0.00,2.28,0.00,0.000,4,0.000,0.055,2848,3367,2770,0,0,0,0,0,0
$GC,6663,0.78,146.5,781.2,19.8,243,6667,0.00,2.15,0.00,0.000,6,0.000,0.032,2862,1955,2771,0,0,0,0,0,0
$GC,6946,0.78,146.5,728.6,18.3,250,6950,0.00,2.10,0.00,0.000,4,0.000,0.040,2868,555,2772,0,0,0,0,0,0
$GC,6985,0.78,146.5,721.3,19.0,251,6989,0.00,2.12,0.00,0.000,6,0.000,0.037,2866,1965,2767,0,0,0,0,0,0
$GC,7269,0.78,146.5,668.6,18.6,258,7273,0.00,2.20,0.00,0.000,4,0.000,0.053,2868,3363,2764,0,0,0,0,0,0
$GC,7290,0.78,146.5,663.9,20.6,258,7294,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1947,2767,0,0,0,0,0,0
$GC,7551,0.78,146.5,612.0,20.3,265,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1944,2766,0,0,0,0,0,0
$GC,7795,0.78,146.5,562.5,20.7,271,7798,0.00,2.08,0.00,0.000,4,0.000,0.041,2889,566,2765,0,0,0,0,0,0
$GC,7841,0.78,146.5,552.8,21.7,272,7846,0.15,2.12,0.00,0.000,6,0.207,0.037,2854,1964,2763,0,0,0,0,0,0
$GC,8124,0.78,146.5,499.7,18.3,279,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1975,2763,0,0,0,0,0,0
$GC,8368,0.78,146.5,456.4,17.5,285,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1970,2763,0,0,0,0,0,0
$GC,8613,0.78,146.5,417.6,15.4,291,8617,0.00,2.17,0.00,0.000,4,0.000,0.052,2854,3365,2763,0,0,0,0,0,0
$GC,8697,0.78,146.5,404.2,16.3,293,8701,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1955,2763,0,0,0,0,0,0
$GC,8980,0.78,146.5,361.3,15.0,300,8984,0.00,2.10,0.00,0.000,4,0.000,0.040,2874,553,2762,0,0,0,0,0,0
$GC,9139,0.78,146.5,336.9,16.0,303,9144,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1968,2760,0,0,0,0,0,0
$GC,9395,0.78,146.5,298.6,14.7,310,9399,0.00,2.17,0.00,0.000,4,0.000,0.051,2874,3360,2760,0,0,0,0,0,0
$GC,9445,0.78,146.5,290.0,17.6,312,9449,0.12,2.10,0.00,0.000,6,0.209,0.030,2853,1958,2760,0,0,0,0,0,0
$GC,9704,0.78,146.5,255.5,14.2,325,9708,0.00,2.08,0.00,0.000,4,0.000,0.041,2866,563,2760,0,0,0,0,0,0
$GC,9963,0.78,146.5,218.1,13.7,336,9967,0.00,2.10,0.00,0.000,6,0.000,0.038,2866,1968,2758,0,0,0,0,0,0
$GC,10221,0.78,146.5,189.8,11.5,352,10225,0.00,2.10,0.00,0.000,4,0.000,0.038,2876,559,2759,0,0,0,0,0,0
$GC,10429,0.78,146.5,164.2,11.6,370,10433,0.00,2.08,0.00,0.000,6,0.000,0.037,2874,1957,2759,0,0,0,0,0,0
$GC,10694,0.78,146.5,131.4,10.6,394,10698,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3373,2759,0,0,0,0,0,0
$GC,10945,0.78,146.5,101.3,12.3,416,10953,0.00,2.12,0.00,0.000,6,0.000,0.028,2884,1956,2760,0,0,0,0,0,0
$GC,11211,0.78,146.5,75.8,10.2,441,11216,0.12,2.17,0.00,0.000,4,0.209,0.047,2844,3375,2759,0,0,0,0,0,0
$GC,11459,0.78,146.5,53.8,9.0,463,11467,0.00,2.12,0.00,0.000,6,0.000,0.028,2853,1960,2761,0,0,0,0,0,0
$GC,11727,0.84,189.2,36.1,6.9,488,11763,0.00,2.15,31.10,0.499,4,0.000,0.040,2864,561,2608,0,0,0,0,0,0
$GC,11815,0.84,189.2,28.1,9.7,497,11823,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1959,2608,0,0,0,0,0,0
$GC,12078,0.86,209.8,8.2,7.8,546,12106,0.00,2.22,17.35,0.460,4,0.000,0.048,2864,3356,2524,0,0,0,0,0,0
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,0.2,1.023273
$STATE,12164,end surface coast,CONTROL_FINISHED_OK
$STATE,12164,begin surface
$SM_CCo,12185,13.93,0.443,0,0,2402,240.14
$SM_GC,3.96,0.00,0.00,13.93,0.000,0.000,0.443,52,1961,2402,-7.97,-0.74,240.14
$IRIDIUM_FIX,1918.37,-15649.58,210113,040446
$TT8_MAMPS,0.254644
$HUMID,1078958055
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.20
$XPDR_PINGS,52
$AR_CDRIVE_FREE,3220078592
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,21.740
$10V_AH,10.2,20.411
$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,19.400,111.575,291.075,13.925,0.000,60.904,75.490,536.715,13.000,0.000,12.965,1120.902,8593.008,412.038,2674.182,424.445,33.358,1221.730,0.000,1955.021,0.000,0.542,0.000
$DEVICE_MAMPS,240.838,65.962,1125.956,443.326,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,382.509,0.000,1005.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353736
$DATA_FILE_SIZE,26900,560
$CAP_FILE_SIZE,122732,0
$CFSIZE,260165632,194232320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,134227,1923.889,-15650.371,79,2.6,98,9.6