version: 66.07
glider: 513
mission: 7
dive: 168
start: 7 30 111 18 48 59
data:
$ID,513
$MISSION,7
$DIVE,168
$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,-424367.81
$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,38
$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,167
$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
$GPS1,300711,182801,1921.387,-15647.250,51,0.8,51,9.6
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.1
$GPS2,300711,184802,1921.860,-15647.313,12,1.9,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.051,-0.241
$KALMAN_X,-59074.1,761.3,511.3,43694.3,-7069.9
$KALMAN_Y,88403.2,-953.5,-504.3,-135796.5,12258.0
$MHEAD_RNG_PITCHd_Wd,158.5,40688,-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,-45.15,0.000,2,0.000,0.000,36,1979,3633,0,0,0,0,0,0
$GC,83,-0.78,-146.5,3.4,-6.3,7,105,9.52,2.10,-5.75,0.000,4,0.243,0.052,2346,595,3962,0,0,0,0,0,0
$GC,120,-0.78,-146.5,19.7,-41.6,12,127,0.00,2.17,0.00,0.000,6,0.000,0.044,2338,1987,3964,0,0,0,0,0,0
$GC,393,-0.78,-146.5,107.6,-28.1,39,397,0.00,2.20,0.00,0.000,4,0.000,0.049,2327,3400,3969,0,0,0,0,0,0
$GC,498,-0.78,-146.5,134.0,-22.9,48,502,0.00,2.12,0.00,0.000,6,0.000,0.032,2328,1996,3966,0,0,0,0,0,0
$GC,764,-0.78,-146.5,194.7,-23.9,72,768,0.00,2.20,0.00,0.000,4,0.000,0.051,2318,3402,3968,0,0,0,0,0,0
$GC,784,-0.78,-146.5,200.2,-24.6,73,788,0.00,2.12,0.00,0.000,6,0.000,0.035,2318,1987,3968,0,0,0,0,0,0
$GC,1048,-0.78,-146.5,256.4,-20.3,86,1052,0.00,2.20,0.00,0.000,4,0.000,0.049,2308,3400,3969,0,0,0,0,0,0
$GC,1120,-0.78,-146.5,271.4,-19.0,89,1125,0.15,2.12,0.00,0.000,6,0.168,0.031,2346,1984,3969,0,0,0,0,0,0
$GC,1394,-0.78,-146.5,316.6,-16.9,100,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1979,3969,0,0,0,0,0,0
$GC,1637,-0.78,-146.5,354.9,-15.4,106,1641,0.00,2.20,0.00,0.000,4,0.000,0.048,2337,3402,3970,0,0,0,0,0,0
$GC,1686,-0.78,-146.5,362.2,-13.8,107,1690,0.00,2.12,0.00,0.000,6,0.000,0.032,2337,1979,3969,0,0,0,0,0,0
$GC,1965,-0.78,-146.5,405.2,-16.0,114,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1976,3968,0,0,0,0,0,0
$GC,2208,-0.78,-146.5,445.0,-16.2,120,2212,0.00,2.20,0.00,0.000,4,0.000,0.050,2328,3406,3966,0,0,0,0,0,0
$GC,2247,-0.78,-146.5,451.3,-15.6,121,2251,0.00,2.15,0.00,0.000,6,0.000,0.035,2328,1982,3965,0,0,0,0,0,0
$GC,2532,-0.78,-146.5,496.7,-16.1,128,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1977,3962,0,0,0,0,0,0
$GC,2774,-0.78,-146.5,535.8,-16.0,134,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1977,3960,0,0,0,0,0,0
$GC,3018,-0.78,-146.5,575.2,-16.2,140,3022,0.00,2.20,0.00,0.000,4,0.000,0.050,2316,3405,3955,0,0,0,0,0,0
$GC,3039,-0.78,-146.5,578.8,-15.9,140,3044,0.12,2.15,0.00,0.000,6,0.170,0.034,2347,1983,3957,0,0,0,0,0,0
$GC,3301,-0.78,-146.5,613.0,-12.7,147,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1978,3955,0,0,0,0,0,0
$GC,3544,-0.78,-146.5,642.6,-12.0,153,3548,0.00,2.20,0.00,0.000,4,0.000,0.051,2339,3400,3952,0,0,0,0,0,0
$GC,3610,-0.78,-146.5,650.9,-12.5,154,3614,0.00,2.12,0.00,0.000,6,0.000,0.035,2339,1996,3951,0,0,0,0,0,0
$GC,3872,-0.78,-146.5,684.9,-13.3,161,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1990,3949,0,0,0,0,0,0
$GC,4115,-0.78,-146.5,717.7,-13.5,167,4119,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3395,3950,0,0,0,0,0,0
$GC,4170,-0.78,-146.5,725.5,-14.3,168,4174,0.00,2.15,0.00,0.000,6,0.000,0.036,2325,2002,3947,0,0,0,0,0,0
$GC,4443,-0.78,-146.5,763.2,-13.9,175,4447,0.00,2.17,0.00,0.000,4,0.000,0.052,2317,3397,3945,0,0,0,0,0,0
$GC,4482,-0.78,-146.5,769.0,-13.5,176,4487,0.10,2.15,0.00,0.000,6,0.177,0.035,2341,1983,3944,0,0,0,0,0,0
$GC,4765,-0.78,-146.5,806.3,-13.5,183,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1978,3942,0,0,0,0,0,0
$GC,5010,-0.78,-146.5,839.3,-13.4,189,5014,0.00,2.10,0.00,0.000,4,0.000,0.046,2343,581,3940,0,0,0,0,0,0
$GC,5043,-0.78,-146.5,843.7,-13.0,189,5046,0.00,2.15,0.00,0.000,6,0.000,0.045,2333,1991,3942,0,0,0,0,0,0
$GC,5298,-0.78,-146.5,876.7,-12.9,196,5302,0.00,2.25,0.00,0.000,4,0.000,0.056,2322,3401,3939,0,0,0,0,0,0
$GC,5366,-0.78,-146.5,885.5,-13.0,197,5370,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1988,3935,0,0,0,0,0,0
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5502,-0.28,0.0,903.5,13.5,201,5619,0.62,0.00,113.80,1.121,6,0.156,0.000,2507,1981,3380,0,0,0,0,0,0
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5637,0.78,146.5,907.4,0.0,204,5776,1.00,2.38,126.07,1.082,4,0.091,0.038,2857,540,2781,0,0,0,0,0,0
$GC,5786,0.78,146.5,892.1,17.5,207,5791,0.00,2.28,0.00,0.000,6,0.000,0.035,2850,1960,2779,0,0,0,0,0,0
$GC,6042,0.78,146.5,842.9,19.3,214,6046,0.00,2.28,0.00,0.000,4,0.000,0.055,2853,3375,2774,0,0,0,0,0,0
$GC,6070,0.78,146.5,837.4,19.8,214,6074,0.00,2.17,0.00,0.000,6,0.000,0.030,2863,1958,2774,0,0,0,0,0,0
$GC,6319,0.78,146.5,789.4,18.8,220,6323,0.00,2.12,0.00,0.000,4,0.000,0.039,2874,555,2773,0,0,0,0,0,0
$GC,6397,0.78,146.5,774.0,19.8,221,6401,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1968,2770,0,0,0,0,0,0
$GC,6653,0.78,146.5,725.0,19.3,228,6657,0.00,2.22,0.00,0.000,4,0.000,0.054,2874,3362,2770,0,0,0,0,0,0
$GC,6697,0.78,146.5,715.9,20.9,229,6701,0.12,2.12,0.00,0.000,6,0.216,0.033,2856,1957,2770,0,0,0,0,0,0
$GC,6980,0.78,146.5,666.5,17.3,236,6984,0.00,2.22,0.00,0.000,4,0.000,0.051,2846,3361,2769,0,0,0,0,0,0
$GC,7002,0.78,146.5,662.6,17.8,236,7006,0.00,2.12,0.00,0.000,6,0.000,0.032,2855,1951,2769,0,0,0,0,0,0
$GC,7262,0.78,146.5,618.3,16.8,243,7266,0.00,2.22,0.00,0.000,4,0.000,0.051,2846,3366,2768,0,0,0,0,0,0
$GC,7301,0.78,146.5,611.6,17.2,244,7305,0.00,2.12,0.00,0.000,6,0.000,0.032,2855,1955,2768,0,0,0,0,0,0
$GC,7585,0.78,146.5,564.2,16.6,251,7588,0.00,2.08,0.00,0.000,4,0.000,0.038,2862,559,2768,0,0,0,0,0,0
$GC,7612,0.78,146.5,559.3,17.2,251,7616,0.00,2.10,0.00,0.000,6,0.000,0.035,2869,1965,2765,0,0,0,0,0,0
$GC,7873,0.78,146.5,516.0,16.6,258,7877,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,557,2765,0,0,0,0,0,0
$GC,7951,0.78,146.5,502.7,16.7,259,7955,0.00,2.10,0.00,0.000,6,0.000,0.035,2872,1973,2764,0,0,0,0,0,0
$GC,8208,0.78,146.5,459.4,17.1,266,8212,0.00,2.10,0.00,0.000,4,0.000,0.038,2880,556,2764,0,0,0,0,0,0
$GC,8247,0.78,146.5,452.1,17.9,267,8251,0.00,2.12,0.00,0.000,6,0.000,0.035,2880,1969,2766,0,0,0,0,0,0
$GC,8531,0.78,146.5,401.2,17.9,274,8535,0.00,2.20,0.00,0.000,4,0.000,0.051,2877,3367,2764,0,0,0,0,0,0
$GC,8622,0.78,146.5,383.9,19.5,276,8627,0.15,2.10,0.00,0.000,6,0.213,0.031,2856,1955,2764,0,0,0,0,0,0
$GC,8900,0.78,146.5,338.4,16.1,283,8904,0.00,2.17,0.00,0.000,4,0.000,0.049,2846,3359,2764,0,0,0,0,0,0
$GC,8945,0.78,146.5,331.9,14.7,284,8949,0.00,2.10,0.00,0.000,6,0.000,0.030,2855,1946,2764,0,0,0,0,0,0
$GC,9222,0.78,146.5,295.4,12.8,291,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1942,2763,0,0,0,0,0,0
$GC,9470,0.78,146.5,266.2,11.0,303,9474,0.00,2.05,0.00,0.000,4,0.000,0.039,2866,556,2763,0,0,0,0,0,0
$GC,9520,0.78,146.5,260.0,12.3,305,9524,0.00,2.10,0.00,0.000,6,0.000,0.035,2866,1970,2762,0,0,0,0,0,0
$GC,9773,0.78,146.5,227.7,12.8,317,9777,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3365,2762,0,0,0,0,0,0
$GC,10034,0.78,146.5,190.9,13.8,331,10038,0.00,2.08,0.00,0.000,6,0.000,0.030,2876,1958,2762,0,0,0,0,0,0
$GC,10298,0.78,146.5,157.4,12.5,355,10302,0.00,2.20,0.00,0.000,4,0.000,0.048,2877,3362,2765,0,0,0,0,0,0
$GC,10548,0.78,146.5,130.1,10.6,377,10556,0.10,2.10,0.00,0.000,6,0.183,0.029,2859,1964,2762,0,0,0,0,0,0
$GC,10811,0.81,166.9,106.8,7.8,402,10835,0.00,2.25,13.98,0.548,4,0.000,0.048,2857,3366,2699,0,0,0,0,0,0
$GC,10959,0.81,166.9,93.5,9.0,415,10964,0.00,2.10,0.00,0.000,6,0.000,0.029,2865,1961,2699,0,0,0,0,0,0
$GC,11227,0.83,184.6,71.1,7.9,439,11251,0.00,2.12,15.68,0.518,4,0.000,0.038,2876,565,2629,0,0,0,0,0,0
$GC,11494,0.83,184.6,44.5,9.6,463,11502,0.00,2.10,0.00,0.000,6,0.000,0.034,2876,1954,2624,0,0,0,0,0,0
$GC,11761,0.91,248.4,28.3,6.0,490,11821,0.00,2.28,50.90,0.489,4,0.000,0.049,2876,3365,2369,0,0,0,0,0,0
$GC,11900,0.91,248.4,12.7,14.6,513,11908,0.00,2.15,0.00,0.000,6,0.000,0.031,2885,1972,2370,0,0,0,0,0,0
$STATE,11966,end climb,SURFACE_DEPTH_REACHED
$STATE,11966,begin surface coast
$FINISH,0.2,1.003604
$STATE,11984,end surface coast,CONTROL_FINISHED_OK
$STATE,11984,begin surface
$SM_CCo,12065,0.00,0.000,0,0,2361,249.47
$SM_GC,1.23,7.55,0.00,0.00,0.050,0.000,0.000,59,1968,2361,-7.89,-0.59,249.47
$IRIDIUM_FIX,1913.80,-15647.48,220113,121211
$TT8_MAMPS,0.060593
$HUMID,1078880635
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,48
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2527592448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,22.848
$10V_AH,10.2,21.368
$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,19.450,125.275,320.425,0.000,0.000,87.518,120.642,627.047,12.000,0.000,13.980,1094.161,8689.188,359.811,2682.462,447.473,33.353,1169.226,0.000,1847.859,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,55.991,1120.587,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.193,0.000,906.429,0.000,0.000,0.000,0.000,14099.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,8.083,0.000,0.000
$MEM,353756
$DATA_FILE_SIZE,26878,528
$CAP_FILE_SIZE,127323,0
$CFSIZE,260165632,193531904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,221206,1921.425,-15647.313,59,1.4,64,9.6