version: 66.07
glider: 513
mission: 7
dive: 165
start: 7 30 111 7 48 54
data:
$ID,513
$MISSION,7
$DIVE,165
$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,-424313.84
$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,52
$R_STBD_OVSHOOT,40
$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,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
$GPS1,300711,073221,1920.572,-15649.151,114,3.0,133,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.1
$GPS2,300711,074758,1920.941,-15649.182,11,3.3,30,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.192,-0.155
$KALMAN_X,-53009.2,388.0,173.5,35093.5,-5651.7
$KALMAN_Y,80074.3,-1210.9,-827.7,-128581.7,11900.7
$MHEAD_RNG_PITCHd_Wd,119.4,39467,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.78,-146.5,0.0,0.0,0,78,0.00,0.00,-44.65,0.000,2,0.000,0.000,38,1988,3736,0,0,0,0,0,0
$GC,82,-0.78,-146.5,3.9,-7.3,7,104,9.57,2.30,-3.70,0.000,4,0.244,0.070,2330,3395,3963,0,0,0,0,0,0
$GC,148,-0.78,-146.5,34.8,-40.3,17,152,0.00,2.15,0.00,0.000,6,0.000,0.040,2332,2007,3966,0,0,0,0,0,0
$GC,414,-0.78,-146.5,113.8,-27.7,41,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2002,3967,0,0,0,0,0,0
$GC,676,-0.78,-146.5,178.3,-19.9,66,680,0.00,2.15,0.00,0.000,4,0.000,0.047,2329,3399,3968,0,0,0,0,0,0
$GC,763,-0.78,-146.5,195.0,-17.7,73,771,0.00,2.15,0.00,0.000,6,0.000,0.031,2323,1980,3968,0,0,0,0,0,0
$GC,1018,-0.78,-146.5,250.2,-22.7,87,1022,0.00,2.17,0.00,0.000,4,0.000,0.048,2312,3395,3972,0,0,0,0,0,0
$GC,1050,-0.78,-146.5,258.1,-22.1,88,1057,0.12,2.10,0.00,0.000,6,0.174,0.031,2339,1991,3972,0,0,0,0,0,0
$GC,1304,-0.78,-146.5,303.2,-17.3,101,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1990,3972,0,0,0,0,0,0
$GC,1549,-0.78,-146.5,343.8,-16.4,107,1553,0.00,2.17,0.00,0.000,4,0.000,0.050,2334,3394,3972,0,0,0,0,0,0
$GC,1626,-0.78,-146.5,355.7,-14.1,108,1630,0.00,2.10,0.00,0.000,6,0.000,0.033,2334,1996,3971,0,0,0,0,0,0
$GC,1882,-0.78,-146.5,397.2,-16.7,115,1885,0.00,2.08,0.00,0.000,4,0.000,0.042,2334,586,3970,0,0,0,0,0,0
$GC,1944,-0.78,-146.5,407.6,-17.5,116,1948,0.00,2.15,0.00,0.000,6,0.000,0.045,2324,1997,3970,0,0,0,0,0,0
$GC,2205,-0.78,-146.5,450.6,-16.4,123,2209,0.00,2.15,0.00,0.000,4,0.000,0.048,2313,3400,3965,0,0,0,0,0,0
$GC,2260,-0.78,-146.5,460.1,-16.6,124,2265,0.12,2.12,0.00,0.000,6,0.170,0.031,2345,1982,3967,0,0,0,0,0,0
$GC,2534,-0.78,-146.5,500.0,-14.6,131,2538,0.00,2.22,0.00,0.000,4,0.000,0.050,2335,3405,3965,0,0,0,0,0,0
$GC,2578,-0.78,-146.5,506.7,-14.3,132,2582,0.00,2.12,0.00,0.000,6,0.000,0.034,2335,1995,3965,0,0,0,0,0,0
$GC,2861,-0.78,-146.5,547.0,-14.2,139,2865,0.00,2.20,0.00,0.000,4,0.000,0.053,2322,3406,3962,0,0,0,0,0,0
$GC,2890,-0.78,-146.5,551.0,-15.1,139,2894,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,1986,3962,0,0,0,0,0,0
$GC,3139,-0.78,-146.5,589.0,-15.3,145,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1981,3959,0,0,0,0,0,0
$GC,3383,-0.78,-146.5,626.4,-15.3,151,3387,0.00,2.22,0.00,0.000,4,0.000,0.053,2320,3397,3957,0,0,0,0,0,0
$GC,3432,-0.78,-146.5,634.3,-14.7,152,3437,0.12,2.12,0.00,0.000,6,0.170,0.032,2345,1987,3955,0,0,0,0,0,0
$GC,3711,-0.78,-146.5,672.2,-13.3,159,3715,0.00,2.08,0.00,0.000,4,0.000,0.045,2356,591,3953,0,0,0,0,0,0
$GC,3734,-0.78,-146.5,675.3,-13.4,159,3738,0.00,2.15,0.00,0.000,6,0.000,0.044,2347,1996,3953,0,0,0,0,0,0
$GC,3990,-0.78,-146.5,707.5,-12.5,166,3994,0.00,2.20,0.00,0.000,4,0.000,0.053,2336,3400,3951,0,0,0,0,0,0
$GC,4102,-0.78,-146.5,721.2,-12.3,168,4107,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,1985,3950,0,0,0,0,0,0
$GC,4363,-0.78,-146.5,755.1,-13.3,175,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1979,3946,0,0,0,0,0,0
$GC,4607,-0.78,-146.5,789.0,-14.0,181,4611,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3405,3946,0,0,0,0,0,0
$GC,4635,-0.78,-146.5,792.9,-13.7,181,4639,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,1986,3946,0,0,0,0,0,0
$GC,4884,-0.78,-146.5,829.4,-14.8,187,4888,0.00,2.22,0.00,0.000,4,0.000,0.054,2314,3396,3942,0,0,0,0,0,0
$GC,4930,-0.78,-146.5,836.0,-14.4,188,4934,0.00,2.12,0.00,0.000,6,0.000,0.033,2314,1985,3948,0,0,0,0,0,0
$GC,5220,-0.78,-146.5,880.6,-15.4,195,5224,0.12,2.25,0.00,0.000,4,0.189,0.055,2335,3407,3945,0,0,0,0,0,0
$GC,5263,-0.78,-146.5,886.8,-12.8,196,5267,0.00,2.15,0.00,0.000,6,0.000,0.035,2335,1991,3941,0,0,0,0,0,0
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5388,-0.28,0.0,902.6,13.1,199,5506,0.57,0.00,114.88,1.120,6,0.149,0.000,2508,1985,3380,0,0,0,0,0,0
$STATE,5508,end apogee,CONTROL_FINISHED_OK
$STATE,5509,begin climb
$GC,5512,0.78,146.5,907.2,0.0,202,5644,1.02,0.00,127.72,1.078,6,0.089,0.000,2851,1984,2782,0,0,0,0,0,0
$GC,5868,0.78,146.5,853.0,19.3,211,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1984,2772,0,0,0,0,0,0
$GC,6112,0.78,146.5,806.9,18.8,217,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1984,2774,0,0,0,0,0,0
$GC,6357,0.78,146.5,762.0,18.3,223,6361,0.00,2.17,0.00,0.000,4,0.000,0.041,2862,559,2771,0,0,0,0,0,0
$GC,6389,0.78,146.5,755.4,19.9,223,6395,0.00,2.15,0.00,0.000,6,0.000,0.036,2861,1961,2769,0,0,0,0,0,0
$GC,6639,0.78,146.5,710.1,18.1,230,6643,0.00,2.25,0.00,0.000,4,0.000,0.055,2862,3365,2769,0,0,0,0,0,0
$GC,6678,0.78,146.5,702.2,20.0,230,6683,0.00,2.15,0.00,0.000,6,0.000,0.032,2872,1958,2769,0,0,0,0,0,0
$GC,6929,0.78,146.5,655.0,19.1,237,6933,0.00,2.10,0.00,0.000,4,0.000,0.039,2883,553,2768,0,0,0,0,0,0
$GC,6973,0.78,146.5,645.8,20.1,238,6977,0.12,2.15,0.00,0.000,6,0.213,0.036,2855,1973,2766,0,0,0,0,0,0
$GC,7256,0.78,146.5,595.1,17.6,245,7260,0.00,2.17,0.00,0.000,4,0.000,0.053,2855,3362,2766,0,0,0,0,0,0
$GC,7312,0.78,146.5,584.4,18.9,246,7316,0.00,2.12,0.00,0.000,6,0.000,0.032,2864,1957,2766,0,0,0,0,0,0
$GC,7578,0.78,146.5,538.4,17.2,253,7582,0.00,2.12,0.00,0.000,4,0.000,0.041,2875,552,2765,0,0,0,0,0,0
$GC,7605,0.78,146.5,533.4,18.3,253,7609,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,1964,2764,0,0,0,0,0,0
$GC,7862,0.78,146.5,488.9,17.2,260,7866,0.00,2.20,0.00,0.000,4,0.000,0.053,2869,3368,2764,0,0,0,0,0,0
$GC,7923,0.78,146.5,477.9,18.1,261,7927,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1964,2765,0,0,0,0,0,0
$GC,8195,0.78,146.5,430.5,17.6,268,8199,0.00,2.20,0.00,0.000,4,0.000,0.051,2880,3363,2764,0,0,0,0,0,0
$GC,8251,0.78,146.5,420.4,17.9,269,8256,0.15,2.12,0.00,0.000,6,0.207,0.031,2854,1956,2766,0,0,0,0,0,0
$GC,8517,0.78,146.5,381.3,14.1,276,8521,0.00,2.08,0.00,0.000,4,0.000,0.041,2869,559,2763,0,0,0,0,0,0
$GC,8651,0.78,146.5,362.3,14.4,279,8655,0.00,2.12,0.00,0.000,6,0.000,0.038,2867,1972,2761,0,0,0,0,0,0
$GC,8935,0.78,146.5,323.5,13.4,286,8939,0.00,2.17,0.00,0.000,4,0.000,0.051,2863,3364,2763,0,0,0,0,0,0
$GC,9110,0.78,146.5,296.8,16.0,289,9116,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1957,2762,0,0,0,0,0,0
$GC,9364,0.78,146.5,260.9,13.3,302,9368,0.00,2.20,0.00,0.000,4,0.000,0.051,2866,3370,2762,0,0,0,0,0,0
$GC,9425,0.78,146.5,252.0,14.4,305,9429,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1950,2762,0,0,0,0,0,0
$GC,9697,0.78,146.5,215.0,13.2,318,9701,0.00,2.08,0.00,0.000,4,0.000,0.040,2885,549,2761,0,0,0,0,0,0
$GC,9746,0.78,146.5,207.9,14.2,320,9751,0.12,2.12,0.00,0.000,6,0.206,0.038,2855,1970,2760,0,0,0,0,0,0
$GC,10015,0.78,146.5,176.0,10.8,342,10018,0.00,2.15,0.00,0.000,4,0.000,0.051,2855,3360,2760,0,0,0,0,0,0
$GC,10259,0.78,146.5,143.2,12.6,364,10263,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1949,2761,0,0,0,0,0,0
$GC,10526,0.78,146.5,120.6,8.9,388,10530,0.00,2.10,0.00,0.000,4,0.000,0.041,2875,552,2761,0,0,0,0,0,0
$GC,10703,0.78,146.5,104.0,8.6,404,10711,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,1959,2758,0,0,0,0,0,0
$GC,10969,0.80,156.8,80.6,8.2,429,10982,0.00,2.22,6.18,0.458,4,0.000,0.048,2875,3369,2739,0,0,0,0,0,0
$GC,11018,0.80,156.8,75.4,11.3,433,11022,0.00,2.12,0.00,0.000,6,0.000,0.031,2886,1956,2739,0,0,0,0,0,0
$GC,11284,0.83,181.0,53.2,7.6,457,11311,0.00,2.25,20.58,0.506,4,0.000,0.048,2885,3363,2642,0,0,0,0,0,0
$GC,11555,0.90,238.2,25.3,6.3,488,11608,0.00,2.12,46.45,0.491,6,0.000,0.028,2896,1957,2410,0,0,0,0,0,0
$STATE,11767,end climb,SURFACE_DEPTH_REACHED
$STATE,11767,begin surface coast
$FINISH,0.2,1.023236
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11870,0.00,0.000,0,0,2398,240.64
$SM_GC,1.83,7.60,0.00,0.00,0.051,0.000,0.000,60,1957,2398,-7.89,-0.93,240.64
$IRIDIUM_FIX,1916.08,-15649.58,220113,010127
$TT8_MAMPS,0.060593
$HUMID,1078924506
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.20
$XPDR_PINGS,45
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2758410240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,22.451
$10V_AH,10.2,21.029
$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,19.675,124.950,315.800,0.000,0.000,49.556,70.021,509.690,11.250,0.000,32.932,1095.175,8409.237,390.427,2502.439,415.562,33.359,1163.047,0.000,1859.498,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,69.797,1119.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.714,0.000,929.591,0.000,0.000,0.000,0.000,13673.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,7.713,0.000,0.000
$MEM,353732
$DATA_FILE_SIZE,26966,530
$CAP_FILE_SIZE,120426,0
$CFSIZE,260165632,193777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,110900,1920.556,-15648.049,73,1.1,79,9.6