version: 66.07
glider: 513
mission: 7
dive: 173
start: 7 31 111 13 51 13
data:
$ID,513
$MISSION,7
$DIVE,173
$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,-424479.44
$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,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,172
$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
$GPS1,310711,131530,1923.662,-15646.282,75,1.6,75,9.6
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.2
$GPS2,310711,135015,1924.543,-15646.604,8,1.6,8,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.246,-0.021
$KALMAN_X,-66572.5,-5.2,195.4,53525.3,-6111.8
$KALMAN_Y,109982.8,-1813.6,-1102.3,-150921.7,15936.4
$MHEAD_RNG_PITCHd_Wd,85.4,45541,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.78,-146.5,0.0,0.0,0,74,0.00,0.00,-45.10,0.000,2,0.000,0.000,36,1951,3765,0,0,0,0,0,0
$GC,78,-0.78,-146.5,4.1,-7.8,7,100,9.48,2.10,-3.25,0.000,4,0.240,0.057,2344,605,3963,0,0,0,0,0,0
$GC,141,-0.78,-146.5,35.6,-46.6,16,145,0.00,2.12,0.00,0.000,6,0.000,0.044,2336,1986,3967,0,0,0,0,0,0
$GC,404,-0.78,-146.5,113.1,-23.3,40,408,0.00,2.20,0.00,0.000,4,0.000,0.050,2325,3399,3968,0,0,0,0,0,0
$GC,521,-0.78,-146.5,139.0,-21.8,50,525,0.00,2.10,0.00,0.000,6,0.000,0.034,2325,1994,3968,0,0,0,0,0,0
$GC,786,-0.78,-146.5,201.2,-21.4,74,790,0.00,2.20,0.00,0.000,4,0.000,0.052,2314,3403,3970,0,0,0,0,0,0
$GC,841,-0.78,-146.5,213.0,-19.4,76,847,0.12,2.12,0.00,0.000,6,0.167,0.033,2345,1986,3970,0,0,0,0,0,0
$GC,1095,-0.78,-146.5,258.9,-18.2,89,1099,0.00,2.17,0.00,0.000,4,0.000,0.050,2336,3398,3973,0,0,0,0,0,0
$GC,1123,-0.78,-146.5,264.1,-17.2,90,1127,0.00,2.10,0.00,0.000,6,0.000,0.032,2336,1985,3970,0,0,0,0,0,0
$GC,1376,-0.78,-146.5,307.9,-17.0,101,1380,0.00,2.17,0.00,0.000,4,0.000,0.049,2325,3398,3971,0,0,0,0,0,0
$GC,1506,-0.78,-146.5,328.3,-14.7,104,1510,0.00,2.10,0.00,0.000,6,0.000,0.031,2326,1981,3970,0,0,0,0,0,0
$GC,1790,-0.78,-146.5,372.4,-15.7,111,1794,0.00,2.20,0.00,0.000,4,0.000,0.049,2315,3395,3969,0,0,0,0,0,0
$GC,1852,-0.78,-146.5,382.7,-16.0,112,1857,0.12,2.12,0.00,0.000,6,0.170,0.032,2346,2000,3968,0,0,0,0,0,0
$GC,2118,-0.78,-146.5,423.9,-15.7,119,2122,0.00,2.10,0.00,0.000,4,0.000,0.044,2352,589,3966,0,0,0,0,0,0
$GC,2139,-0.78,-146.5,427.8,-17.2,119,2143,0.00,2.10,0.00,0.000,6,0.000,0.042,2343,1996,3966,0,0,0,0,0,0
$GC,2402,-0.78,-146.5,473.9,-17.9,126,2406,0.00,2.15,0.00,0.000,4,0.000,0.050,2332,3393,3963,0,0,0,0,0,0
$GC,2453,-0.78,-146.5,482.6,-16.3,127,2457,0.00,2.10,0.00,0.000,6,0.000,0.034,2332,1988,3962,0,0,0,0,0,0
$GC,2730,-0.78,-146.5,526.8,-15.4,134,2734,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3394,3959,0,0,0,0,0,0
$GC,2781,-0.78,-146.5,534.8,-15.2,135,2785,0.00,2.10,0.00,0.000,6,0.000,0.035,2322,1990,3958,0,0,0,0,0,0
$GC,3053,-0.78,-146.5,576.0,-15.1,142,3058,0.10,2.20,0.00,0.000,4,0.197,0.054,2335,3391,3953,0,0,0,0,0,0
$GC,3086,-0.78,-146.5,581.0,-14.4,142,3091,0.00,2.10,0.00,0.000,6,0.000,0.036,2335,1988,3955,0,0,0,0,0,0
$GC,3336,-0.78,-146.5,617.8,-15.2,149,3339,0.00,2.08,0.00,0.000,4,0.000,0.044,2335,590,3956,0,0,0,0,0,0
$GC,3370,-0.78,-146.5,623.3,-17.3,149,3375,0.00,2.10,0.00,0.000,6,0.000,0.044,2330,1990,3951,0,0,0,0,0,0
$GC,3619,-0.78,-146.5,663.1,-16.1,156,3623,0.00,2.20,0.00,0.000,4,0.000,0.054,2314,3390,3949,0,0,0,0,0,0
$GC,3710,-0.78,-146.5,677.6,-15.7,158,3715,0.12,2.12,0.00,0.000,6,0.173,0.036,2345,1987,3949,0,0,0,0,0,0
$GC,3988,-0.78,-146.5,715.5,-13.3,165,3992,0.00,2.22,0.00,0.000,4,0.000,0.053,2336,3395,3946,0,0,0,0,0,0
$GC,4065,-0.78,-146.5,725.8,-12.7,166,4071,0.00,2.15,0.00,0.000,6,0.000,0.034,2336,1984,3945,0,0,0,0,0,0
$GC,4315,-0.78,-146.5,758.2,-12.9,173,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1979,3943,0,0,0,0,0,0
$GC,4560,-0.78,-146.5,789.0,-12.6,179,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1979,3941,0,0,0,0,0,0
$GC,4803,-0.78,-146.5,819.0,-12.2,185,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1979,3939,0,0,0,0,0,0
$GC,5048,-0.78,-146.5,848.6,-12.1,191,5052,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3393,3937,0,0,0,0,0,0
$GC,5075,-0.78,-146.5,852.4,-13.2,191,5079,0.00,2.12,0.00,0.000,6,0.000,0.035,2326,1985,3937,0,0,0,0,0,0
$GC,5337,-0.78,-146.5,886.6,-13.2,198,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1980,3935,0,0,0,0,0,0
$STATE,5455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5456,begin apogee
$GC,5461,-0.28,0.0,903.1,13.5,201,5578,0.60,0.00,113.47,1.125,6,0.153,0.000,2505,1980,3384,0,0,0,0,0,0
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5583,0.78,146.5,907.8,0.0,204,5717,1.02,2.30,126.65,1.082,4,0.091,0.037,2858,556,2784,0,0,0,0,0,0
$GC,5736,0.78,146.5,893.2,15.9,207,5742,0.00,2.20,0.00,0.000,6,0.000,0.034,2849,1953,2780,0,0,0,0,0,0
$GC,5986,0.78,146.5,847.7,18.1,214,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,2776,0,0,0,0,0,0
$GC,6230,0.78,146.5,801.5,19.2,220,6234,0.00,2.15,0.00,0.000,4,0.000,0.039,2859,542,2774,0,0,0,0,0,0
$GC,6303,0.78,146.5,786.9,21.4,221,6307,0.00,2.17,0.00,0.000,6,0.000,0.038,2850,1964,2771,0,0,0,0,0,0
$GC,6558,0.78,146.5,737.1,19.3,228,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1965,2771,0,0,0,0,0,0
$GC,6802,0.78,146.5,692.4,18.2,234,6806,0.00,2.20,0.00,0.000,4,0.000,0.054,2839,3366,2770,0,0,0,0,0,0
$GC,6836,0.78,146.5,686.1,19.7,234,6841,0.00,2.15,0.00,0.000,6,0.000,0.034,2848,1957,2770,0,0,0,0,0,0
$GC,7085,0.78,146.5,639.2,18.8,241,7089,0.00,2.20,0.00,0.000,4,0.000,0.051,2839,3364,2769,0,0,0,0,0,0
$GC,7135,0.78,146.5,629.2,19.6,242,7139,0.00,2.12,0.00,0.000,6,0.000,0.033,2848,1953,2769,0,0,0,0,0,0
$GC,7414,0.78,146.5,579.5,17.9,249,7418,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,552,2768,0,0,0,0,0,0
$GC,7458,0.78,146.5,571.5,18.3,250,7462,0.00,2.10,0.00,0.000,6,0.000,0.036,2859,1970,2766,0,0,0,0,0,0
$GC,7741,0.78,146.5,522.3,17.1,257,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1970,2766,0,0,0,0,0,0
$GC,7986,0.78,146.5,481.7,16.7,263,7990,0.00,2.17,0.00,0.000,4,0.000,0.054,2859,3358,2767,0,0,0,0,0,0
$GC,8086,0.78,146.5,463.8,17.6,265,8090,0.00,2.15,0.00,0.000,6,0.000,0.033,2870,1953,2765,0,0,0,0,0,0
$GC,8364,0.78,146.5,416.9,17.1,272,8368,0.00,2.08,0.00,0.000,4,0.000,0.040,2881,555,2766,0,0,0,0,0,0
$GC,8443,0.78,146.5,403.3,16.8,273,8446,0.00,2.08,0.00,0.000,6,0.000,0.034,2881,1961,2763,0,0,0,0,0,0
$GC,8692,0.78,146.5,361.3,16.7,279,8696,0.00,2.20,0.00,0.000,4,0.000,0.053,2881,3361,2761,0,0,0,0,0,0
$GC,8850,0.78,146.5,334.2,15.6,282,8855,0.15,2.12,0.00,0.000,6,0.209,0.032,2856,1947,2764,0,0,0,0,0,0
$GC,9118,0.78,146.5,298.0,13.6,289,9122,0.00,2.22,0.00,0.000,4,0.000,0.050,2846,3370,2766,0,0,0,0,0,0
$GC,9235,0.78,146.5,281.3,14.4,294,9239,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1967,2764,0,0,0,0,0,0
$GC,9495,0.78,146.5,246.7,12.7,307,9499,0.00,2.10,0.00,0.000,4,0.000,0.039,2866,544,2763,0,0,0,0,0,0
$GC,9527,0.78,146.5,242.6,12.5,308,9533,0.00,2.08,0.00,0.000,6,0.000,0.034,2866,1960,2762,0,0,0,0,0,0
$GC,9781,0.78,146.5,213.5,12.7,321,9785,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3363,2761,0,0,0,0,0,0
$GC,10035,0.78,146.5,180.6,11.0,339,10042,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1964,2761,0,0,0,0,0,0
$GC,10301,0.78,146.5,155.0,9.9,364,10305,0.00,2.15,0.00,0.000,4,0.000,0.048,2870,3360,2762,0,0,0,0,0,0
$GC,10428,0.78,146.5,138.8,12.9,375,10432,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,1956,2762,0,0,0,0,0,0
$GC,10695,0.78,146.5,107.9,12.3,399,10699,0.00,2.17,0.00,0.000,4,0.000,0.048,2879,3364,2765,0,0,0,0,0,0
$GC,10944,0.78,146.5,82.3,8.7,421,10952,0.12,2.12,0.00,0.000,6,0.176,0.029,2853,1960,2763,0,0,0,0,0,0
$GC,11210,0.93,264.6,70.1,3.9,446,11307,0.12,2.25,89.53,0.533,4,0.097,0.046,2905,3362,2299,0,0,0,0,0,0
$GC,11527,0.93,264.6,25.7,14.8,476,11535,0.00,2.15,0.00,0.000,6,0.000,0.031,2916,1973,2298,0,0,0,0,0,0
$STATE,11667,end climb,SURFACE_DEPTH_REACHED
$STATE,11667,begin surface coast
$FINISH,-0.1,1.011306
$STATE,11684,end surface coast,CONTROL_FINISHED_OK
$STATE,11684,begin surface
$SM_CCo,11767,0.00,0.000,0,0,2290,266.88
$SM_GC,1.37,7.65,0.00,0.00,0.051,0.000,0.000,58,1968,2290,-7.89,-0.62,266.88
$IRIDIUM_FIX,1918.37,-15646.58,230113,080825
$TT8_MAMPS,0.246207
$HUMID,1078871603
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.90
$XPDR_PINGS,22
$AR_DIVENUM,173
$AR_SAMPLENUM,1
$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,24.1,23.604
$10V_AH,9.9,21.919
$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,19.625,120.275,329.650,0.000,0.000,133.053,198.102,1233.739,5.500,0.000,10.649,1056.397,8588.771,388.395,3325.303,507.164,33.362,1166.278,0.000,1803.849,0.000,0.541,0.000
$DEVICE_MAMPS,240.071,56.758,1125.189,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.794,0.000,833.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353596
$DATA_FILE_SIZE,26857,505
$CAP_FILE_SIZE,137532,0
$CFSIZE,260165632,193110016
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,170931,1925.356,-15645.968,59,0.9,59,9.6