version: 66.07
glider: 513
mission: 7
dive: 164
start: 7 30 111 4 9 33
data:
$ID,513
$MISSION,7
$DIVE,164
$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,-424280.28
$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,48
$R_STBD_OVSHOOT,42
$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,163
$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
$GPS1,300711,035124,1920.423,-15650.101,119,1.1,119,9.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-81.0
$GPS2,300711,040838,1920.766,-15650.307,11,1.3,11,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.210,-0.128
$KALMAN_X,-51634.7,733.5,443.8,31127.0,-6419.5
$KALMAN_Y,77359.1,-937.1,-515.1,-126789.4,10995.5
$MHEAD_RNG_PITCHd_Wd,111.8,39566,-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,-45.17,0.000,2,0.000,0.000,38,1953,3772,0,0,0,0,0,0
$GC,83,-0.78,-146.5,4.3,-8.6,7,105,9.50,2.33,-3.12,0.000,4,0.241,0.068,2329,3381,3962,0,0,0,0,0,0
$GC,330,-0.78,-146.5,85.1,-25.1,34,335,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,2005,3968,0,0,0,0,0,0
$GC,597,-0.78,-146.5,147.7,-21.3,58,601,0.00,2.17,0.00,0.000,4,0.000,0.053,2324,3390,3971,0,0,0,0,0,0
$GC,703,-0.78,-146.5,170.5,-19.7,67,707,0.00,2.12,0.00,0.000,6,0.000,0.033,2324,1973,3971,0,0,0,0,0,0
$GC,961,-0.78,-146.5,229.9,-22.6,85,965,0.00,2.22,0.00,0.000,4,0.000,0.050,2313,3398,3972,0,0,0,0,0,0
$GC,983,-0.78,-146.5,234.9,-21.5,86,988,0.12,2.10,0.00,0.000,6,0.173,0.031,2344,1986,3972,0,0,0,0,0,0
$GC,1248,-0.78,-146.5,283.8,-18.7,99,1252,0.00,2.17,0.00,0.000,4,0.000,0.051,2335,3391,3972,0,0,0,0,0,0
$GC,1360,-0.78,-146.5,302.3,-15.7,104,1364,0.00,2.12,0.00,0.000,6,0.000,0.032,2334,1981,3972,0,0,0,0,0,0
$GC,1620,-0.78,-146.5,345.2,-16.5,111,1624,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3391,3972,0,0,0,0,0,0
$GC,1687,-0.78,-146.5,356.7,-16.4,112,1691,0.00,2.12,0.00,0.000,6,0.000,0.034,2325,1997,3971,0,0,0,0,0,0
$GC,1948,-0.78,-146.5,403.1,-18.4,119,1952,0.00,2.12,0.00,0.000,4,0.000,0.044,2325,583,3969,0,0,0,0,0,0
$GC,2026,-0.78,-146.5,417.5,-17.7,120,2033,0.12,2.12,0.00,0.000,6,0.179,0.044,2343,1983,3969,0,0,0,0,0,0
$GC,2276,-0.78,-146.5,456.2,-15.3,127,2280,0.00,2.22,0.00,0.000,4,0.000,0.053,2335,3404,3968,0,0,0,0,0,0
$GC,2333,-0.78,-146.5,464.7,-14.5,128,2337,0.00,2.15,0.00,0.000,6,0.000,0.035,2331,1983,3967,0,0,0,0,0,0
$GC,2605,-0.78,-146.5,505.3,-14.6,135,2609,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3400,3964,0,0,0,0,0,0
$GC,2660,-0.78,-146.5,513.3,-14.6,136,2664,0.00,2.15,0.00,0.000,6,0.000,0.033,2325,1988,3964,0,0,0,0,0,0
$GC,2934,-0.78,-146.5,554.1,-15.4,143,2938,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3399,3961,0,0,0,0,0,0
$GC,2989,-0.78,-146.5,563.6,-16.5,144,2994,0.08,2.12,0.00,0.000,6,0.153,0.033,2348,2006,3961,0,0,0,0,0,0
$GC,3262,-0.78,-146.5,601.1,-13.5,151,3266,0.00,2.20,0.00,0.000,4,0.000,0.053,2339,3400,3958,0,0,0,0,0,0
$GC,3307,-0.78,-146.5,607.6,-14.0,152,3311,0.00,2.12,0.00,0.000,6,0.000,0.032,2339,1978,3957,0,0,0,0,0,0
$GC,3584,-0.78,-146.5,648.1,-14.5,159,3588,0.00,2.25,0.00,0.000,4,0.000,0.054,2329,3403,3955,0,0,0,0,0,0
$GC,3612,-0.78,-146.5,652.3,-14.9,159,3616,0.00,2.15,0.00,0.000,6,0.000,0.035,2334,1987,3955,0,0,0,0,0,0
$GC,3868,-0.78,-146.5,690.5,-15.1,166,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1981,3953,0,0,0,0,0,0
$GC,4111,-0.78,-146.5,726.5,-14.6,172,4115,0.00,2.20,0.00,0.000,4,0.000,0.053,2318,3396,3951,0,0,0,0,0,0
$GC,4195,-0.78,-146.5,738.7,-14.4,174,4200,0.10,2.12,0.00,0.000,6,0.180,0.035,2341,1988,3950,0,0,0,0,0,0
$GC,4484,-0.78,-146.5,775.0,-12.3,181,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1983,3948,0,0,0,0,0,0
$GC,4727,-0.78,-146.5,801.5,-10.6,187,4731,0.00,2.12,0.00,0.000,4,0.000,0.047,2347,581,3944,0,0,0,0,0,0
$GC,4844,-0.78,-146.5,814.4,-11.1,189,4848,0.00,2.17,0.00,0.000,6,0.000,0.046,2339,1987,3946,0,0,0,0,0,0
$GC,5100,-0.78,-146.5,842.3,-11.1,196,5104,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3397,3944,0,0,0,0,0,0
$GC,5172,-0.78,-146.5,850.8,-11.1,197,5176,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,1988,3943,0,0,0,0,0,0
$GC,5422,-0.78,-146.5,880.4,-12.0,203,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1983,3942,0,0,0,0,0,0
$STATE,5622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5623,begin apogee
$GC,5629,-0.28,0.0,904.8,12.0,208,5747,0.60,0.00,114.18,1.124,6,0.153,0.000,2506,1982,3380,0,0,0,0,0,0
$STATE,5749,end apogee,CONTROL_FINISHED_OK
$STATE,5749,begin climb
$GC,5752,0.78,146.5,907.9,0.0,211,5890,1.00,2.35,126.35,1.082,4,0.092,0.039,2854,559,2782,0,0,0,0,0,0
$GC,5929,0.78,146.5,886.3,19.5,215,5933,0.00,2.22,0.00,0.000,6,0.000,0.036,2850,1958,2778,0,0,0,0,0,0
$GC,6207,0.78,146.5,832.0,19.6,222,6211,0.00,2.17,0.00,0.000,4,0.000,0.041,2858,553,2773,0,0,0,0,0,0
$GC,6229,0.78,146.5,827.5,19.5,222,6233,0.00,2.15,0.00,0.000,6,0.000,0.036,2864,1964,2774,0,0,0,0,0,0
$GC,6491,0.78,146.5,777.1,19.1,229,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1964,2773,0,0,0,0,0,0
$GC,6734,0.78,146.5,730.4,19.3,235,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1964,2773,0,0,0,0,0,0
$GC,6977,0.78,146.5,684.5,18.8,241,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1963,2770,0,0,0,0,0,0
$GC,7222,0.78,146.5,638.3,18.7,247,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1963,2770,0,0,0,0,0,0
$GC,7465,0.78,146.5,592.4,18.8,253,7469,0.00,2.20,0.00,0.000,4,0.000,0.055,2850,3363,2770,0,0,0,0,0,0
$GC,7492,0.78,146.5,587.1,19.4,253,7496,0.00,2.17,0.00,0.000,6,0.000,0.034,2858,1958,2769,0,0,0,0,0,0
$GC,7747,0.78,146.5,541.6,18.1,260,7751,0.00,2.10,0.00,0.000,4,0.000,0.040,2869,556,2768,0,0,0,0,0,0
$GC,7797,0.78,146.5,532.1,18.4,261,7801,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1962,2766,0,0,0,0,0,0
$GC,8069,0.78,146.5,480.8,18.3,268,8073,0.00,2.20,0.00,0.000,4,0.000,0.053,2869,3373,2766,0,0,0,0,0,0
$GC,8130,0.78,146.5,468.7,18.9,269,8135,0.00,2.17,0.00,0.000,6,0.000,0.032,2880,1952,2766,0,0,0,0,0,0
$GC,8398,0.78,146.5,419.3,18.3,276,8402,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3371,2766,0,0,0,0,0,0
$GC,8413,0.78,146.5,416.2,17.5,276,8418,0.15,2.15,0.00,0.000,6,0.216,0.032,2856,1956,2766,0,0,0,0,0,0
$GC,8680,0.78,146.5,377.4,13.9,283,8684,0.00,2.10,0.00,0.000,4,0.000,0.040,2865,551,2766,0,0,0,0,0,0
$GC,8764,0.78,146.5,365.1,15.0,284,8770,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1963,2763,0,0,0,0,0,0
$GC,9014,0.78,146.5,328.0,15.1,291,9018,0.00,2.20,0.00,0.000,4,0.000,0.052,2865,3362,2764,0,0,0,0,0,0
$GC,9119,0.78,146.5,311.6,15.6,293,9123,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1958,2764,0,0,0,0,0,0
$GC,9390,0.78,146.5,272.7,14.4,304,9393,0.00,2.08,0.00,0.000,4,0.000,0.038,2887,556,2764,0,0,0,0,0,0
$GC,9417,0.78,146.5,268.7,13.5,305,9421,0.12,2.08,0.00,0.000,6,0.207,0.034,2859,1964,2763,0,0,0,0,0,0
$GC,9676,0.78,146.5,235.7,11.8,318,9679,0.00,2.17,0.00,0.000,4,0.000,0.051,2844,3356,2763,0,0,0,0,0,0
$GC,9716,0.78,146.5,230.6,13.1,320,9720,0.00,2.10,0.00,0.000,6,0.000,0.031,2858,1957,2763,0,0,0,0,0,0
$GC,9972,0.78,146.5,198.3,13.5,333,9976,0.00,2.05,0.00,0.000,4,0.000,0.038,2868,563,2763,0,0,0,0,0,0
$GC,10188,0.78,146.5,170.2,11.7,352,10192,0.00,2.08,0.00,0.000,6,0.000,0.035,2868,1962,2762,0,0,0,0,0,0
$GC,10454,0.78,146.5,141.3,9.6,376,10458,0.00,2.15,0.00,0.000,4,0.000,0.050,2868,3358,2762,0,0,0,0,0,0
$GC,10538,0.78,146.5,132.3,10.6,383,10542,0.00,2.10,0.00,0.000,6,0.000,0.031,2878,1959,2763,0,0,0,0,0,0
$GC,10803,0.82,174.3,110.4,7.5,407,10828,0.00,2.20,19.83,0.565,4,0.000,0.046,2879,3359,2670,0,0,0,0,0,0
$GC,10982,0.82,174.3,90.8,10.8,423,10986,0.00,2.12,0.00,0.000,6,0.000,0.031,2889,1952,2670,0,0,0,0,0,0
$GC,11248,0.82,174.3,63.0,10.6,447,11252,0.00,2.17,0.00,0.000,4,0.000,0.046,2889,3361,2668,0,0,0,0,0,0
$GC,11461,0.82,174.3,40.2,10.6,466,11465,0.15,2.10,0.00,0.000,6,0.196,0.030,2864,1955,2670,0,0,0,0,0,0
$GC,11723,0.88,227.9,21.4,6.5,502,11776,0.00,2.25,43.60,0.489,4,0.000,0.048,2864,3356,2451,0,0,0,0,0,0
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.3,1.023189
$STATE,11927,end surface coast,CONTROL_FINISHED_OK
$STATE,11927,begin surface
$SM_CCo,11950,4.40,0.340,0,0,2400,240.14
$SM_GC,2.95,0.00,0.00,4.40,0.000,0.000,0.340,60,1987,2400,-7.94,-0.08,240.14
$IRIDIUM_FIX,1911.51,-15650.48,210113,222236
$TT8_MAMPS,0.255411
$HUMID,1078960635
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.30
$XPDR_PINGS,46
$AR_DIVENUM,164
$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
$24V_AH,24.1,22.327
$10V_AH,10.1,20.907
$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,19.425,125.275,303.950,4.400,0.000,61.653,67.552,612.959,11.500,0.000,13.386,1114.967,8470.145,348.060,2668.310,414.196,33.359,1155.094,0.000,1908.671,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,68.263,1124.422,339.781,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.530,0.000,942.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,26941,539
$CAP_FILE_SIZE,126372,0
$CFSIZE,260165632,193847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,073221,1920.572,-15649.151,114,3.0,133,9.6