version: 66.07
glider: 513
mission: 7
dive: 176
start: 8 1 111 0 55 3
data:
$ID,513
$MISSION,7
$DIVE,176
$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,140
$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,220
$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,-424532.69
$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,2597
$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,39
$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,175
$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
$GPS1,010811,003401,1925.908,-15647.348,241,1.4,241,9.6
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,6
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-80.6
$GPS2,010811,005408,1926.387,-15647.636,13,1.5,13,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.054,-0.233
$KALMAN_X,-75882.2,1393.8,787.6,59015.3,-10258.7
$KALMAN_Y,119583.5,-1104.3,-675.0,-158259.0,14772.9
$MHEAD_RNG_PITCHd_Wd,157.2,49086,-15.7,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,75,0.00,0.00,-45.20,0.000,2,0.000,0.000,36,1963,3774,0,0,0,0,0,0
$GC,79,-0.80,-136.7,4.3,-7.9,7,101,9.57,2.12,-2.67,0.000,4,0.244,0.055,2346,587,3939,0,0,0,0,0,0
$GC,225,-0.80,-136.7,61.3,-27.8,24,230,0.00,2.15,0.00,0.000,6,0.000,0.044,2337,1981,3940,0,0,0,0,0,0
$GC,490,-0.80,-136.7,127.8,-23.3,48,494,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3403,3942,0,0,0,0,0,0
$GC,531,-0.80,-136.7,137.2,-22.1,51,535,0.00,2.15,0.00,0.000,6,0.000,0.033,2326,1984,3944,0,0,0,0,0,0
$GC,797,-0.80,-136.7,192.8,-21.2,75,801,0.00,2.05,0.00,0.000,4,0.000,0.038,2325,585,3946,0,0,0,0,0,0
$GC,835,-0.80,-136.7,202.7,-22.6,78,839,0.00,2.12,0.00,0.000,6,0.000,0.041,2316,2008,3946,0,0,0,0,0,0
$GC,1106,-0.80,-136.7,260.6,-22.1,91,1110,0.00,2.12,0.00,0.000,4,0.000,0.048,2305,3400,3947,0,0,0,0,0,0
$GC,1127,-0.80,-136.7,265.7,-22.4,92,1132,0.12,2.10,0.00,0.000,6,0.179,0.033,2336,1986,3950,0,0,0,0,0,0
$GC,1406,-0.80,-136.7,317.2,-18.1,104,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1981,3946,0,0,0,0,0,0
$GC,1649,-0.80,-136.7,358.7,-16.6,110,1653,0.00,2.17,0.00,0.000,4,0.000,0.053,2327,3394,3946,0,0,0,0,0,0
$GC,1692,-0.80,-136.7,366.1,-16.6,111,1696,0.00,2.10,0.00,0.000,6,0.000,0.033,2327,1990,3944,0,0,0,0,0,0
$GC,1976,-0.80,-136.7,414.4,-17.2,118,1980,0.00,2.17,0.00,0.000,4,0.000,0.054,2316,3394,3945,0,0,0,0,0,0
$GC,2009,-0.80,-136.7,420.2,-18.0,118,2015,0.00,2.12,0.00,0.000,6,0.000,0.034,2316,1985,3945,0,0,0,0,0,0
$GC,2260,-0.80,-136.7,464.1,-17.6,125,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1984,3941,0,0,0,0,0,0
$GC,2503,-0.80,-136.7,507.9,-17.9,131,2507,0.00,2.22,0.00,0.000,4,0.000,0.054,2305,3396,3938,0,0,0,0,0,0
$GC,2553,-0.80,-136.7,516.9,-18.4,132,2558,0.12,2.10,0.00,0.000,6,0.173,0.034,2336,1988,3939,0,0,0,0,0,0
$GC,2825,-0.80,-136.7,559.5,-15.3,139,2828,0.00,2.10,0.00,0.000,4,0.000,0.046,2334,590,3937,0,0,0,0,0,0
$GC,2869,-0.80,-136.7,566.5,-14.3,140,2873,0.00,2.12,0.00,0.000,6,0.000,0.046,2329,1995,3937,0,0,0,0,0,0
$GC,3153,-0.80,-136.7,610.9,-15.7,147,3157,0.00,2.17,0.00,0.000,4,0.000,0.053,2317,3397,3934,0,0,0,0,0,0
$GC,3248,-0.80,-136.7,626.0,-15.5,149,3252,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,1987,3933,0,0,0,0,0,0
$GC,3526,-0.80,-136.7,669.1,-15.5,156,3530,0.00,2.20,0.00,0.000,4,0.000,0.055,2306,3395,3930,0,0,0,0,0,0
$GC,3571,-0.80,-136.7,676.0,-14.5,157,3576,0.12,2.12,0.00,0.000,6,0.173,0.035,2344,1994,3929,0,0,0,0,0,0
$GC,3848,-0.80,-136.7,710.9,-12.2,164,3852,0.00,2.20,0.00,0.000,4,0.000,0.055,2326,3393,3926,0,0,0,0,0,0
$GC,3887,-0.80,-136.7,715.5,-11.8,165,3891,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,1984,3925,0,0,0,0,0,0
$GC,4171,-0.80,-136.7,750.0,-12.1,172,4175,0.00,2.20,0.00,0.000,4,0.000,0.052,2318,3394,3923,0,0,0,0,0,0
$GC,4192,-0.80,-136.7,753.0,-13.0,172,4196,0.00,2.15,0.00,0.000,6,0.000,0.035,2318,1982,3923,0,0,0,0,0,0
$GC,4453,-0.80,-136.7,787.7,-13.6,179,4457,0.00,2.22,0.00,0.000,4,0.000,0.052,2307,3394,3921,0,0,0,0,0,0
$GC,4486,-0.80,-136.7,792.5,-14.4,179,4491,0.12,2.15,0.00,0.000,6,0.176,0.034,2338,1982,3921,0,0,0,0,0,0
$GC,4736,-0.80,-136.7,824.2,-12.5,185,4740,0.00,2.22,0.00,0.000,4,0.000,0.052,2330,3394,3919,0,0,0,0,0,0
$GC,4757,-0.80,-136.7,826.9,-12.3,185,4761,0.00,2.15,0.00,0.000,6,0.000,0.034,2330,1978,3918,0,0,0,0,0,0
$GC,5018,-0.80,-136.7,862.9,-14.3,192,5022,0.00,2.22,0.00,0.000,4,0.000,0.052,2318,3401,3914,0,0,0,0,0,0
$GC,5079,-0.80,-136.7,871.8,-14.5,193,5083,0.00,2.15,0.00,0.000,6,0.000,0.034,2318,1984,3916,0,0,0,0,0,0
$STATE,5303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5303,begin apogee
$GC,5309,-0.28,0.0,903.1,14.0,199,5425,0.62,0.00,109.60,1.119,6,0.156,0.000,2504,1978,3380,0,0,0,0,0,0
$STATE,5428,end apogee,CONTROL_FINISHED_OK
$STATE,5428,begin climb
$GC,5431,0.80,136.7,907.8,0.0,202,5559,1.02,2.30,118.32,1.078,4,0.091,0.038,2862,556,2821,0,0,0,0,0,0
$GC,5576,0.80,136.7,894.0,16.1,205,5580,0.00,2.25,0.00,0.000,6,0.000,0.037,2862,1955,2817,0,0,0,0,0,0
$GC,5838,0.80,136.7,844.0,19.2,212,5842,0.00,2.28,0.00,0.000,4,0.000,0.054,2853,3367,2814,0,0,0,0,0,0
$GC,5889,0.80,136.7,834.0,20.6,213,5893,0.00,2.17,0.00,0.000,6,0.000,0.032,2862,1950,2814,0,0,0,0,0,0
$GC,6166,0.80,136.7,779.4,19.6,220,6170,0.00,2.10,0.00,0.000,4,0.000,0.041,2873,560,2811,0,0,0,0,0,0
$GC,6193,0.80,136.7,773.8,20.5,220,6198,0.00,2.15,0.00,0.000,6,0.000,0.037,2864,1972,2809,0,0,0,0,0,0
$GC,6449,0.80,136.7,720.7,21.3,227,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1970,2806,0,0,0,0,0,0
$GC,6693,0.80,136.7,670.1,20.5,233,6697,0.00,2.20,0.00,0.000,4,0.000,0.054,2868,3371,2808,0,0,0,0,0,0
$GC,6727,0.80,136.7,663.1,21.2,233,6732,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1955,2807,0,0,0,0,0,0
$GC,6976,0.80,136.7,609.7,21.4,240,6980,0.00,2.10,0.00,0.000,4,0.000,0.040,2889,560,2807,0,0,0,0,0,0
$GC,7031,0.80,136.7,597.6,21.1,241,7036,0.15,2.12,0.00,0.000,6,0.210,0.035,2855,1965,2805,0,0,0,0,0,0
$GC,7304,0.80,136.7,545.9,18.7,248,7308,0.00,2.20,0.00,0.000,4,0.000,0.054,2854,3358,2806,0,0,0,0,0,0
$GC,7332,0.80,136.7,540.5,18.6,248,7336,0.00,2.10,0.00,0.000,6,0.000,0.031,2863,1950,2806,0,0,0,0,0,0
$GC,7583,0.80,136.7,497.2,16.6,254,7587,0.00,2.08,0.00,0.000,4,0.000,0.040,2874,563,2805,0,0,0,0,0,0
$GC,7616,0.80,136.7,491.4,16.1,254,7622,0.00,2.08,0.00,0.000,6,0.000,0.036,2874,1958,2803,0,0,0,0,0,0
$GC,7867,0.80,136.7,451.0,16.2,261,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1958,2803,0,0,0,0,0,0
$GC,8109,0.80,136.7,412.3,15.6,267,8113,0.00,2.20,0.00,0.000,4,0.000,0.053,2874,3362,2803,0,0,0,0,0,0
$GC,8170,0.80,136.7,401.1,18.9,268,8175,0.12,2.10,0.00,0.000,6,0.215,0.032,2857,1963,2804,0,0,0,0,0,0
$GC,8438,0.80,136.7,359.4,15.5,275,8442,0.00,2.20,0.00,0.000,4,0.000,0.051,2846,3363,2802,0,0,0,0,0,0
$GC,8493,0.80,136.7,349.6,17.7,276,8497,0.00,2.10,0.00,0.000,6,0.000,0.032,2855,1959,2803,0,0,0,0,0,0
$GC,8765,0.80,136.7,307.0,15.5,283,8769,0.00,2.20,0.00,0.000,4,0.000,0.050,2847,3365,2802,0,0,0,0,0,0
$GC,8816,0.80,136.7,299.3,15.7,284,8820,0.00,2.10,0.00,0.000,6,0.000,0.031,2856,1960,2802,0,0,0,0,0,0
$GC,9072,0.80,136.7,266.9,12.2,296,9076,0.00,2.10,0.00,0.000,4,0.000,0.040,2867,552,2801,0,0,0,0,0,0
$GC,9189,0.80,136.7,252.8,13.3,301,9193,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,1970,2799,0,0,0,0,0,0
$GC,9450,0.80,136.7,221.6,12.8,314,9454,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3361,2803,0,0,0,0,0,0
$GC,9709,0.80,136.7,190.9,10.1,329,9713,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1946,2800,0,0,0,0,0,0
$GC,9973,0.80,136.7,162.6,10.8,353,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1945,2800,0,0,0,0,0,0
$GC,10238,0.80,136.7,134.3,10.9,378,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1943,2800,0,0,0,0,0,0
$GC,10503,0.83,161.7,111.4,7.5,403,10527,0.00,2.25,17.12,0.558,4,0.000,0.048,2877,3355,2719,0,0,0,0,0,0
$GC,10769,0.84,171.6,87.9,8.2,427,10789,0.00,2.10,9.62,0.502,6,0.000,0.030,2887,1959,2682,0,0,0,0,0,0
$GC,11045,0.84,171.6,62.8,9.3,453,11049,0.00,2.17,0.00,0.000,4,0.000,0.047,2887,3370,2677,0,0,0,0,0,0
$GC,11293,0.88,208.6,42.9,7.0,475,11328,0.00,2.12,30.42,0.499,6,0.000,0.028,2898,1962,2528,0,0,0,0,0,0
$GC,11586,0.88,208.6,15.6,11.0,515,11594,0.00,2.20,0.00,0.000,4,0.000,0.045,2898,3355,2528,0,0,0,0,0,0
$STATE,11699,end climb,SURFACE_DEPTH_REACHED
$STATE,11699,begin surface coast
$FINISH,-0.1,1.002728
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11724,begin surface
$SM_CCo,11755,3.83,0.310,0,0,2483,220.28
$SM_GC,2.67,0.00,0.00,3.83,0.000,0.000,0.310,52,2004,2483,-7.94,0.28,220.28
$IRIDIUM_FIX,1918.37,-15649.58,230113,191924
$TT8_MAMPS,0.247741
$HUMID,1078972248
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.90
$XPDR_PINGS,71
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6270124032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50979831808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,23.986
$10V_AH,10.1,22.206
$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,19.400,129.225,285.100,3.825,0.000,86.387,131.747,625.353,17.750,0.000,15.799,1113.743,8315.833,351.753,2782.819,409.738,33.360,1150.364,0.000,1913.956,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,55.224,1119.053,309.868,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.677,0.000,972.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,26917,540
$CAP_FILE_SIZE,126049,0
$CFSIZE,260165632,192888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,041540,1926.296,-15647.708,218,1.3,218,9.6