version: 66.07
glider: 513
mission: 7
dive: 161
start: 7 29 111 17 29 26
data:
$ID,513
$MISSION,7
$DIVE,161
$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,-424210.88
$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,51
$R_STBD_OVSHOOT,36
$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,160
$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
$GPS1,290711,171725,1922.920,-15650.660,93,1.1,94,9.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.3
$GPS2,290711,172831,1922.931,-15650.767,9,1.6,14,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.089,-0.230
$KALMAN_X,-50028.2,1300.7,491.1,28103.0,-9317.0
$KALMAN_Y,68088.8,-455.3,-455.8,-114051.7,7920.0
$MHEAD_RNG_PITCHd_Wd,149.4,43651,-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,-146.5,0.0,0.0,0,79,0.00,0.00,-45.00,0.000,2,0.000,0.000,38,1956,3746,0,0,0,0,0,0
$GC,83,-0.78,-146.5,4.1,-8.1,7,105,9.52,2.10,-3.55,0.000,4,0.242,0.054,2347,600,3966,0,0,0,0,0,0
$GC,286,-0.78,-146.5,74.2,-24.3,29,290,0.00,2.12,0.00,0.000,6,0.000,0.042,2334,1993,3969,0,0,0,0,0,0
$GC,553,-0.78,-146.5,139.9,-24.1,53,557,0.00,2.17,0.00,0.000,4,0.000,0.050,2327,3405,3972,0,0,0,0,0,0
$GC,594,-0.78,-146.5,151.0,-23.8,56,598,0.00,2.12,0.00,0.000,6,0.000,0.031,2332,1980,3974,0,0,0,0,0,0
$GC,855,-0.78,-146.5,210.6,-22.5,78,859,0.00,2.20,0.00,0.000,4,0.000,0.049,2320,3398,3975,0,0,0,0,0,0
$GC,927,-0.78,-146.5,225.4,-19.1,81,931,0.00,2.12,0.00,0.000,6,0.000,0.032,2320,1979,3975,0,0,0,0,0,0
$GC,1192,-0.78,-146.5,276.5,-19.3,94,1196,0.00,2.20,0.00,0.000,4,0.000,0.049,2308,3399,3975,0,0,0,0,0,0
$GC,1238,-0.78,-146.5,284.7,-17.8,96,1242,0.12,2.10,0.00,0.000,6,0.173,0.031,2341,1981,3975,0,0,0,0,0,0
$GC,1505,-0.78,-146.5,333.2,-18.7,105,1509,0.00,2.05,0.00,0.000,4,0.000,0.042,2351,601,3978,0,0,0,0,0,0
$GC,1526,-0.78,-146.5,337.6,-18.8,105,1530,0.00,2.10,0.00,0.000,6,0.000,0.043,2345,1989,3975,0,0,0,0,0,0
$GC,1794,-0.78,-146.5,381.2,-16.0,112,1798,0.00,2.17,0.00,0.000,4,0.000,0.051,2332,3401,3975,0,0,0,0,0,0
$GC,1838,-0.78,-146.5,388.0,-14.8,113,1842,0.00,2.12,0.00,0.000,6,0.000,0.032,2332,1982,3974,0,0,0,0,0,0
$GC,2121,-0.78,-146.5,432.7,-16.1,120,2125,0.00,2.20,0.00,0.000,4,0.000,0.052,2321,3401,3972,0,0,0,0,0,0
$GC,2183,-0.78,-146.5,443.0,-16.3,121,2187,0.00,2.10,0.00,0.000,6,0.000,0.031,2321,1989,3972,0,0,0,0,0,0
$GC,2450,-0.78,-146.5,487.8,-16.8,128,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1984,3973,0,0,0,0,0,0
$GC,2694,-0.78,-146.5,527.2,-15.9,134,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1984,3968,0,0,0,0,0,0
$GC,2937,-0.78,-146.5,564.2,-15.1,140,2941,0.00,2.20,0.00,0.000,4,0.000,0.055,2310,3397,3966,0,0,0,0,0,0
$GC,2971,-0.78,-146.5,569.1,-14.4,140,2977,0.12,2.12,0.00,0.000,6,0.173,0.033,2342,1984,3965,0,0,0,0,0,0
$GC,3221,-0.78,-146.5,600.2,-12.3,147,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1979,3963,0,0,0,0,0,0
$GC,3465,-0.78,-146.5,631.1,-12.7,153,3468,0.00,2.22,0.00,0.000,4,0.000,0.054,2333,3398,3962,0,0,0,0,0,0
$GC,3493,-0.78,-146.5,634.9,-13.2,153,3497,0.00,2.12,0.00,0.000,6,0.000,0.034,2333,1993,3961,0,0,0,0,0,0
$GC,3747,-0.78,-146.5,668.8,-13.3,160,3751,0.00,2.12,0.00,0.000,4,0.000,0.048,2332,593,3958,0,0,0,0,0,0
$GC,3775,-0.78,-146.5,672.9,-14.3,160,3779,0.00,2.15,0.00,0.000,6,0.000,0.048,2322,1992,3958,0,0,0,0,0,0
$GC,4025,-0.78,-146.5,708.7,-14.4,166,4029,0.00,2.20,0.00,0.000,4,0.000,0.053,2311,3401,3956,0,0,0,0,0,0
$GC,4075,-0.78,-146.5,716.2,-14.6,167,4080,0.12,2.12,0.00,0.000,6,0.175,0.034,2342,1983,3955,0,0,0,0,0,0
$GC,4347,-0.78,-146.5,750.4,-12.6,174,4351,0.00,2.25,0.00,0.000,4,0.000,0.056,2330,3402,3954,0,0,0,0,0,0
$GC,4368,-0.78,-146.5,753.2,-13.1,174,4372,0.00,2.15,0.00,0.000,6,0.000,0.035,2333,1984,3954,0,0,0,0,0,0
$GC,4630,-0.78,-146.5,787.6,-13.2,181,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1976,3950,0,0,0,0,0,0
$GC,4873,-0.78,-146.5,818.3,-12.5,187,4877,0.00,2.22,0.00,0.000,4,0.000,0.058,2323,3396,3950,0,0,0,0,0,0
$GC,4916,-0.78,-146.5,823.8,-12.3,188,4920,0.00,2.12,0.00,0.000,6,0.000,0.036,2322,1984,3949,0,0,0,0,0,0
$GC,5201,-0.78,-146.5,859.8,-12.7,195,5205,0.00,2.22,0.00,0.000,4,0.000,0.057,2311,3396,3948,0,0,0,0,0,0
$GC,5250,-0.78,-146.5,866.1,-11.8,196,5255,0.12,2.15,0.00,0.000,6,0.173,0.035,2342,1982,3948,0,0,0,0,0,0
$GC,5528,-0.78,-146.5,895.7,-10.6,203,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1977,3947,0,0,0,0,0,0
$STATE,5566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5566,begin apogee
$GC,5573,-0.28,0.0,900.0,10.7,204,5692,0.52,0.00,115.85,1.121,6,0.151,0.000,2502,1975,3380,0,0,0,0,0,0
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5697,0.78,146.5,902.4,0.0,207,5833,1.05,2.35,127.40,1.082,4,0.095,0.041,2857,563,2781,0,0,0,0,0,0
$GC,5858,0.78,146.5,883.0,20.1,211,5862,0.00,2.25,0.00,0.000,6,0.000,0.036,2852,1959,2776,0,0,0,0,0,0
$GC,6135,0.78,146.5,825.7,20.4,218,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1959,2777,0,0,0,0,0,0
$GC,6379,0.78,146.5,777.9,19.6,224,6383,0.00,2.25,0.00,0.000,4,0.000,0.056,2852,3369,2771,0,0,0,0,0,0
$GC,6418,0.78,146.5,770.0,19.9,225,6422,0.00,2.15,0.00,0.000,6,0.000,0.033,2862,1956,2774,0,0,0,0,0,0
$GC,6703,0.78,146.5,716.2,18.8,232,6707,0.00,2.12,0.00,0.000,4,0.000,0.041,2872,553,2770,0,0,0,0,0,0
$GC,6758,0.78,146.5,705.5,18.8,233,6762,0.00,2.17,0.00,0.000,6,0.000,0.038,2873,1962,2766,0,0,0,0,0,0
$GC,7032,0.78,146.5,656.2,18.4,240,7035,0.00,2.12,0.00,0.000,4,0.000,0.040,2883,555,2768,0,0,0,0,0,0
$GC,7059,0.78,146.5,650.6,18.9,240,7063,0.12,2.12,0.00,0.000,6,0.210,0.038,2856,1964,2769,0,0,0,0,0,0
$GC,7314,0.78,146.5,604.3,18.4,247,7318,0.00,2.20,0.00,0.000,4,0.000,0.053,2845,3370,2767,0,0,0,0,0,0
$GC,7369,0.78,146.5,593.4,20.1,248,7373,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,1959,2767,0,0,0,0,0,0
$GC,7643,0.78,146.5,543.0,18.8,255,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1954,2766,0,0,0,0,0,0
$GC,7885,0.78,146.5,498.4,18.1,261,7889,0.00,2.10,0.00,0.000,4,0.000,0.041,2865,554,2766,0,0,0,0,0,0
$GC,7963,0.78,146.5,483.9,18.7,262,7969,0.00,2.10,0.00,0.000,6,0.000,0.036,2865,1961,2764,0,0,0,0,0,0
$GC,8214,0.78,146.5,438.1,18.4,269,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1962,2764,0,0,0,0,0,0
$GC,8457,0.78,146.5,395.9,17.0,275,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1958,2764,0,0,0,0,0,0
$GC,8700,0.78,146.5,356.2,16.3,281,8704,0.00,2.20,0.00,0.000,4,0.000,0.053,2865,3376,2762,0,0,0,0,0,0
$GC,8813,0.78,146.5,336.7,17.1,283,8817,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1957,2764,0,0,0,0,0,0
$GC,9073,0.78,146.5,298.6,15.1,290,9077,0.00,2.08,0.00,0.000,4,0.000,0.040,2887,560,2763,0,0,0,0,0,0
$GC,9162,0.78,146.5,285.1,14.3,294,9167,0.12,2.12,0.00,0.000,6,0.208,0.037,2859,1968,2761,0,0,0,0,0,0
$GC,9428,0.78,146.5,251.6,11.9,307,9432,0.00,2.12,0.00,0.000,4,0.000,0.042,2868,557,2762,0,0,0,0,0,0
$GC,9500,0.78,146.5,243.1,11.7,310,9503,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1967,2761,0,0,0,0,0,0
$GC,9764,0.78,146.5,208.8,13.8,323,9768,0.00,2.10,0.00,0.000,4,0.000,0.037,2879,557,2761,0,0,0,0,0,0
$GC,9804,0.78,146.5,203.6,13.8,324,9810,0.00,2.12,0.00,0.000,6,0.000,0.035,2878,1968,2761,0,0,0,0,0,0
$GC,10066,0.78,146.5,169.6,12.0,348,10070,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3364,2760,0,0,0,0,0,0
$GC,10240,0.78,146.5,144.8,14.3,363,10244,0.15,2.10,0.00,0.000,6,0.199,0.030,2853,1958,2759,0,0,0,0,0,0
$GC,10502,0.78,146.5,119.9,10.0,387,10506,0.00,2.17,0.00,0.000,4,0.000,0.048,2842,3364,2762,0,0,0,0,0,0
$GC,10751,0.78,146.5,94.1,11.2,409,10759,0.00,2.12,0.00,0.000,6,0.000,0.029,2851,1954,2762,0,0,0,0,0,0
$GC,11017,0.83,186.4,70.7,7.0,434,11055,0.00,2.22,28.98,0.536,4,0.000,0.046,2847,3383,2621,0,0,0,0,0,0
$GC,11266,0.83,186.4,46.5,10.2,456,11270,0.00,2.10,0.00,0.000,6,0.000,0.030,2861,1961,2621,0,0,0,0,0,0
$GC,11530,0.93,269.8,23.3,5.3,488,11603,0.12,2.12,66.07,0.495,4,0.099,0.038,2924,564,2280,0,0,0,0,0,0
$GC,11673,0.93,269.8,6.0,17.2,511,11681,0.00,2.15,0.00,0.000,6,0.000,0.032,2924,1966,2275,0,0,0,0,0,0
$STATE,11693,end climb,SURFACE_DEPTH_REACHED
$STATE,11693,begin surface coast
$FINISH,0.2,1.000755
$STATE,11710,end surface coast,CONTROL_FINISHED_OK
$STATE,11710,begin surface
$SM_CCo,11789,0.00,0.000,0,0,2271,272.03
$SM_GC,1.21,7.78,0.00,0.00,0.054,0.000,0.000,59,1978,2271,-7.90,-0.48,272.03
$IRIDIUM_FIX,1916.08,-15649.58,210113,080845
$TT8_MAMPS,0.060593
$HUMID,1078925797
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.60
$XPDR_PINGS,43
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,3066200064
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,21.971
$10V_AH,10.1,20.615
$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,19.900,120.550,338.300,0.000,0.000,28.856,36.955,374.120,10.750,0.000,15.886,1060.659,8405.450,379.436,2230.185,385.749,33.355,1147.916,0.000,1774.983,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,57.525,1120.587,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.998,0.000,880.173,0.000,0.000,0.000,0.000,13245.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,7.322,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,26987,517
$CAP_FILE_SIZE,114922,0
$CFSIZE,260165632,194080768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,204737,1921.967,-15650.692,44,1.4,44,9.6