version: 66.07
glider: 513
mission: 7
dive: 167
start: 7 30 111 15 7 24
data:
$ID,513
$MISSION,7
$DIVE,167
$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,-424353.22
$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,49
$R_STBD_OVSHOOT,44
$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,166
$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
$GPS1,300711,144512,1921.206,-15646.966,97,1.9,98,9.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-81.4
$GPS2,300711,150627,1921.805,-15647.030,16,1.6,16,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.049,-0.241
$KALMAN_X,-57522.0,382.2,266.1,43269.3,-6984.5
$KALMAN_Y,84424.5,-1282.0,-683.9,-131398.8,11161.7
$MHEAD_RNG_PITCHd_Wd,158.9,40540,-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,-146.5,0.0,0.0,0,78,0.00,0.00,-44.30,0.000,2,0.000,0.000,36,1955,3715,0,0,0,0,0,0
$GC,82,-0.78,-146.5,3.7,-6.3,7,104,9.50,2.10,-4.07,0.000,4,0.242,0.050,2347,588,3959,0,0,0,0,0,0
$GC,119,-0.78,-146.5,21.7,-46.3,12,126,0.00,2.17,0.00,0.000,6,0.000,0.047,2339,1972,3961,0,0,0,0,0,0
$GC,391,-0.78,-146.5,100.5,-24.9,39,395,0.00,2.20,0.00,0.000,4,0.000,0.048,2328,3402,3965,0,0,0,0,0,0
$GC,444,-0.78,-146.5,114.0,-23.0,43,448,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,1983,3964,0,0,0,0,0,0
$GC,707,-0.78,-146.5,175.9,-24.0,67,711,0.00,2.20,0.00,0.000,4,0.000,0.049,2317,3411,3965,0,0,0,0,0,0
$GC,748,-0.78,-146.5,186.3,-25.0,70,753,0.10,2.15,0.00,0.000,6,0.179,0.033,2341,1984,3962,0,0,0,0,0,0
$GC,1003,-0.78,-146.5,235.7,-17.5,85,1007,0.00,2.17,0.00,0.000,4,0.000,0.048,2332,3397,3967,0,0,0,0,0,0
$GC,1043,-0.78,-146.5,243.0,-18.7,87,1047,0.00,2.12,0.00,0.000,6,0.000,0.032,2332,1983,3966,0,0,0,0,0,0
$GC,1308,-0.78,-146.5,294.9,-19.0,100,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1978,3966,0,0,0,0,0,0
$GC,1551,-0.78,-146.5,339.5,-17.8,107,1555,0.00,2.20,0.00,0.000,4,0.000,0.048,2321,3404,3966,0,0,0,0,0,0
$GC,1641,-0.78,-146.5,354.4,-16.1,109,1645,0.00,2.12,0.00,0.000,6,0.000,0.033,2321,1984,3966,0,0,0,0,0,0
$GC,1919,-0.78,-146.5,400.9,-16.9,116,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1978,3965,0,0,0,0,0,0
$GC,2162,-0.78,-146.5,439.9,-15.8,122,2166,0.00,2.20,0.00,0.000,4,0.000,0.050,2310,3411,3963,0,0,0,0,0,0
$GC,2178,-0.78,-146.5,442.6,-15.9,122,2183,0.12,2.15,0.00,0.000,6,0.169,0.034,2341,1986,3963,0,0,0,0,0,0
$GC,2438,-0.78,-146.5,479.3,-14.1,129,2440,0.00,0.00,-0.03,0.000,6,0.000,0.000,2341,1982,3968,0,0,0,0,0,0
$GC,2682,-0.78,-146.5,515.6,-14.8,135,2686,0.00,2.22,0.00,0.000,4,0.000,0.052,2332,3401,3967,0,0,0,0,0,0
$GC,2793,-0.78,-146.5,532.2,-14.2,137,2797,0.00,2.15,0.00,0.000,6,0.000,0.035,2332,1983,3965,0,0,0,0,0,0
$GC,3055,-0.78,-146.5,572.1,-15.2,144,3059,0.00,2.22,0.00,0.000,4,0.000,0.052,2317,3399,3963,0,0,0,0,0,0
$GC,3082,-0.78,-146.5,576.7,-15.7,144,3087,0.00,2.15,0.00,0.000,6,0.000,0.034,2321,1992,3962,0,0,0,0,0,0
$GC,3338,-0.78,-146.5,614.4,-14.7,151,3342,0.00,2.12,0.00,0.000,4,0.000,0.046,2321,585,3959,0,0,0,0,0,0
$GC,3383,-0.78,-146.5,621.0,-14.1,152,3387,0.12,2.15,0.00,0.000,6,0.180,0.044,2338,1997,3960,0,0,0,0,0,0
$GC,3660,-0.78,-146.5,656.3,-12.7,159,3664,0.00,2.17,0.00,0.000,4,0.000,0.054,2332,3394,3957,0,0,0,0,0,0
$GC,3765,-0.78,-146.5,669.6,-12.1,161,3769,0.00,2.15,0.00,0.000,6,0.000,0.035,2332,1985,3955,0,0,0,0,0,0
$GC,4033,-0.78,-146.5,704.6,-13.3,168,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1980,3954,0,0,0,0,0,0
$GC,4276,-0.78,-146.5,736.1,-12.9,174,4280,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3394,3951,0,0,0,0,0,0
$GC,4370,-0.78,-146.5,748.5,-12.8,176,4374,0.00,2.15,0.00,0.000,6,0.000,0.036,2322,1986,3951,0,0,0,0,0,0
$GC,4655,-0.78,-146.5,787.1,-13.7,183,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1981,3948,0,0,0,0,0,0
$GC,4898,-0.78,-146.5,822.6,-15.0,189,4902,0.00,2.22,0.00,0.000,4,0.000,0.055,2312,3401,3947,0,0,0,0,0,0
$GC,4937,-0.78,-146.5,828.0,-13.3,190,4942,0.12,2.15,0.00,0.000,6,0.179,0.035,2341,1986,3947,0,0,0,0,0,0
$GC,5221,-0.78,-146.5,864.5,-12.8,197,5225,0.00,2.22,0.00,0.000,4,0.000,0.056,2332,3399,3945,0,0,0,0,0,0
$GC,5244,-0.78,-146.5,867.4,-12.3,197,5248,0.00,2.15,0.00,0.000,6,0.000,0.035,2333,1987,3945,0,0,0,0,0,0
$STATE,5497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5497,begin apogee
$GC,5503,-0.28,0.0,902.6,13.8,204,5621,0.57,0.00,115.25,1.121,6,0.150,0.000,2505,1981,3381,0,0,0,0,0,0
$STATE,5624,end apogee,CONTROL_FINISHED_OK
$STATE,5624,begin climb
$GC,5627,0.78,146.5,908.1,0.0,207,5765,1.00,2.35,126.15,1.081,4,0.093,0.040,2853,563,2783,0,0,0,0,0,0
$GC,5805,0.78,146.5,889.7,18.8,211,5809,0.00,2.20,0.00,0.000,6,0.000,0.038,2853,1952,2778,0,0,0,0,0,0
$GC,6077,0.78,146.5,839.1,18.6,218,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1953,2775,0,0,0,0,0,0
$GC,6320,0.78,146.5,793.3,19.1,224,6324,0.00,2.28,0.00,0.000,4,0.000,0.054,2852,3368,2774,0,0,0,0,0,0
$GC,6365,0.78,146.5,784.1,20.8,225,6368,0.00,2.15,0.00,0.000,6,0.000,0.033,2864,1961,2774,0,0,0,0,0,0
$GC,6649,0.78,146.5,727.2,20.1,232,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1961,2777,0,0,0,0,0,0
$GC,6892,0.78,146.5,678.1,20.3,238,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1957,2771,0,0,0,0,0,0
$GC,7136,0.78,146.5,631.3,19.2,244,7140,0.00,2.25,0.00,0.000,4,0.000,0.055,2854,3383,2771,0,0,0,0,0,0
$GC,7192,0.78,146.5,620.4,19.4,245,7196,0.00,2.15,0.00,0.000,6,0.000,0.034,2864,1959,2771,0,0,0,0,0,0
$GC,7458,0.78,146.5,572.0,18.0,252,7462,0.00,2.10,0.00,0.000,4,0.000,0.040,2875,554,2770,0,0,0,0,0,0
$GC,7513,0.78,146.5,561.5,18.7,253,7517,0.00,2.12,0.00,0.000,6,0.000,0.038,2875,1969,2767,0,0,0,0,0,0
$GC,7786,0.78,146.5,511.7,18.4,260,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1972,2766,0,0,0,0,0,0
$GC,8029,0.78,146.5,468.2,17.5,266,8033,0.00,2.20,0.00,0.000,4,0.000,0.053,2876,3367,2767,0,0,0,0,0,0
$GC,8055,0.78,146.5,463.4,17.8,266,8060,0.12,2.15,0.00,0.000,6,0.219,0.032,2859,1946,2767,0,0,0,0,0,0
$GC,8317,0.78,146.5,422.6,15.2,273,8321,0.00,2.28,0.00,0.000,4,0.000,0.054,2848,3371,2766,0,0,0,0,0,0
$GC,8349,0.78,146.5,417.2,16.4,273,8355,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1955,2768,0,0,0,0,0,0
$GC,8599,0.78,146.5,380.3,14.8,280,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1947,2766,0,0,0,0,0,0
$GC,8843,0.78,146.5,342.6,15.8,286,8847,0.00,2.20,0.00,0.000,4,0.000,0.052,2848,3364,2766,0,0,0,0,0,0
$GC,8889,0.78,146.5,335.3,16.4,287,8893,0.00,2.10,0.00,0.000,6,0.000,0.031,2855,1953,2766,0,0,0,0,0,0
$GC,9159,0.78,146.5,295.9,14.5,294,9163,0.00,2.20,0.00,0.000,4,0.000,0.049,2849,3370,2765,0,0,0,0,0,0
$GC,9198,0.78,146.5,289.9,14.6,296,9203,0.00,2.10,0.00,0.000,6,0.000,0.031,2857,1963,2765,0,0,0,0,0,0
$GC,9464,0.78,146.5,252.6,13.8,309,9468,0.00,2.08,0.00,0.000,4,0.000,0.038,2868,553,2762,0,0,0,0,0,0
$GC,9481,0.78,146.5,249.8,15.3,310,9485,0.00,2.10,0.00,0.000,6,0.000,0.034,2869,1962,2762,0,0,0,0,0,0
$GC,9745,0.78,146.5,214.4,11.7,323,9749,0.00,2.17,0.00,0.000,4,0.000,0.051,2870,3368,2760,0,0,0,0,0,0
$GC,9932,0.78,146.5,188.6,11.6,335,9936,0.00,2.12,0.00,0.000,6,0.000,0.030,2879,1950,2764,0,0,0,0,0,0
$GC,10197,0.78,146.5,155.2,13.2,359,10201,0.00,2.20,0.00,0.000,4,0.000,0.048,2883,3364,2763,0,0,0,0,0,0
$GC,10448,0.78,146.5,120.7,14.7,381,10456,0.10,2.12,0.00,0.000,6,0.183,0.030,2861,1961,2762,0,0,0,0,0,0
$GC,10711,0.79,152.4,94.5,8.3,406,10724,0.00,2.22,2.95,0.311,4,0.000,0.046,2851,3365,2759,0,0,0,0,0,0
$GC,10969,0.79,152.4,74.4,8.8,429,10976,0.00,2.12,0.00,0.000,6,0.000,0.029,2860,1960,2760,0,0,0,0,0,0
$GC,11234,0.82,176.6,52.0,7.6,454,11261,0.00,2.22,20.77,0.509,4,0.000,0.044,2853,3361,2660,0,0,0,0,0,0
$GC,11362,0.82,176.6,40.7,8.7,465,11370,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1962,2660,0,0,0,0,0,0
$GC,11624,0.92,257.7,25.6,5.4,498,11698,0.00,2.28,64.78,0.489,4,0.000,0.046,2866,3366,2328,0,0,0,0,0,0
$STATE,11824,end climb,SURFACE_DEPTH_REACHED
$STATE,11824,begin surface coast
$FINISH,0.2,1.023288
$STATE,11847,end surface coast,CONTROL_FINISHED_OK
$STATE,11847,begin surface
$SM_CCo,11928,0.00,0.000,0,0,2323,259.28
$SM_GC,1.08,7.40,0.00,0.00,0.040,0.000,0.000,48,1979,2323,-7.90,-0.34,259.28
$IRIDIUM_FIX,1916.08,-15647.48,220113,090950
$TT8_MAMPS,0.063661
$HUMID,1078912893
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.40
$XPDR_PINGS,50
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2604531712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,22.713
$10V_AH,10.2,21.244
$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,19.175,117.275,329.900,0.000,0.000,82.663,129.727,687.177,12.500,0.000,18.725,1085.562,8585.733,359.499,2743.860,437.000,33.356,1150.101,0.000,1849.512,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,55.991,1120.587,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.426,0.000,939.362,0.000,0.000,0.000,0.000,14071.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,8.121,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26946,537
$CAP_FILE_SIZE,123500,0
$CFSIZE,260165632,193613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,182801,1921.387,-15647.250,51,0.8,51,9.6