version: 66.07
glider: 513
mission: 7
dive: 178
start: 8 1 111 8 48 16
data:
$ID,513
$MISSION,7
$DIVE,178
$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,732.45386
$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,-424627.97
$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,45
$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,177
$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
$GPS1,010811,081701,1926.723,-15648.517,279,1.1,279,9.6
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,2
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-81.5
$GPS2,010811,084720,1927.324,-15649.071,20,1.7,20,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.058,-0.232
$KALMAN_X,-78789.7,1149.6,732.3,59734.2,-9091.8
$KALMAN_Y,129314.4,-1337.2,-634.2,-166050.3,14666.7
$MHEAD_RNG_PITCHd_Wd,156.5,51105,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,68,0.00,0.00,-39.10,0.000,2,0.000,0.000,36,1973,3656,0,0,0,0,0,0
$GC,72,-0.80,-136.7,3.4,-5.8,6,94,9.75,2.25,-4.80,0.000,4,0.251,0.065,2318,3394,3940,0,0,0,0,0,0
$GC,339,-0.80,-136.7,96.3,-27.0,35,343,0.00,2.15,0.00,0.000,6,0.000,0.035,2318,1989,3943,0,0,0,0,0,0
$GC,606,-0.80,-136.7,165.7,-22.1,59,610,0.00,2.12,0.00,0.000,4,0.000,0.045,2318,580,3948,0,0,0,0,0,0
$GC,636,-0.80,-136.7,173.1,-21.0,61,641,0.12,2.15,0.00,0.000,6,0.185,0.047,2338,1993,3945,0,0,0,0,0,0
$GC,904,-0.80,-136.7,222.0,-17.2,80,908,0.00,2.12,0.00,0.000,4,0.000,0.041,2338,582,3946,0,0,0,0,0,0
$GC,926,-0.80,-136.7,225.9,-17.6,81,930,0.00,2.15,0.00,0.000,6,0.000,0.045,2330,1998,3945,0,0,0,0,0,0
$GC,1185,-0.80,-136.7,273.9,-19.8,94,1189,0.00,2.20,0.00,0.000,4,0.000,0.051,2319,3410,3946,0,0,0,0,0,0
$GC,1339,-0.80,-136.7,306.0,-19.9,100,1343,0.00,2.12,0.00,0.000,6,0.000,0.034,2318,1982,3946,0,0,0,0,0,0
$GC,1599,-0.80,-136.7,358.3,-19.9,107,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1976,3946,0,0,0,0,0,0
$GC,1843,-0.80,-136.7,402.0,-17.7,113,1847,0.00,2.20,0.00,0.000,4,0.000,0.054,2308,3400,3944,0,0,0,0,0,0
$GC,1875,-0.80,-136.7,407.8,-17.0,113,1882,0.12,2.10,0.00,0.000,6,0.169,0.034,2340,1986,3944,0,0,0,0,0,0
$GC,2126,-0.80,-136.7,444.4,-14.4,120,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1981,3942,0,0,0,0,0,0
$GC,2370,-0.80,-136.7,480.1,-14.7,126,2374,0.00,2.22,0.00,0.000,4,0.000,0.057,2330,3404,3940,0,0,0,0,0,0
$GC,2442,-0.80,-136.7,490.9,-14.3,127,2446,0.00,2.12,0.00,0.000,6,0.000,0.035,2331,1994,3939,0,0,0,0,0,0
$GC,2698,-0.80,-136.7,527.4,-14.4,134,2702,0.00,2.22,0.00,0.000,4,0.000,0.057,2320,3399,3936,0,0,0,0,0,0
$GC,2765,-0.80,-136.7,537.5,-14.5,135,2769,0.00,2.12,0.00,0.000,6,0.000,0.035,2320,1989,3935,0,0,0,0,0,0
$GC,3026,-0.80,-136.7,574.7,-14.2,142,3030,0.00,2.12,0.00,0.000,4,0.000,0.048,2320,592,3931,0,0,0,0,0,0
$GC,3055,-0.80,-136.7,578.6,-14.1,142,3059,0.00,2.12,0.00,0.000,6,0.000,0.048,2305,1992,3932,0,0,0,0,0,0
$GC,3305,-0.80,-136.7,615.6,-14.8,148,3306,0.12,0.00,0.00,0.000,6,0.185,0.000,2340,1995,3930,0,0,0,0,0,0
$GC,3548,-0.80,-136.7,647.2,-12.7,154,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1995,3927,0,0,0,0,0,0
$GC,3792,-0.80,-136.7,677.2,-12.3,160,3796,0.00,2.20,0.00,0.000,4,0.000,0.055,2331,3404,3925,0,0,0,0,0,0
$GC,3870,-0.80,-136.7,687.1,-12.0,161,3876,0.00,2.15,0.00,0.000,6,0.000,0.036,2330,1997,3923,0,0,0,0,0,0
$GC,4120,-0.80,-136.7,718.5,-12.6,168,4124,0.00,2.20,0.00,0.000,4,0.000,0.056,2320,3396,3918,0,0,0,0,0,0
$GC,4175,-0.80,-136.7,725.6,-12.3,169,4179,0.00,2.15,0.00,0.000,6,0.000,0.037,2321,1984,3920,0,0,0,0,0,0
$GC,4448,-0.80,-136.7,761.8,-13.3,176,4452,0.00,2.22,0.00,0.000,4,0.000,0.057,2309,3396,3918,0,0,0,0,0,0
$GC,4509,-0.80,-136.7,770.4,-13.1,177,4514,0.10,2.15,0.00,0.000,6,0.177,0.036,2334,1987,3917,0,0,0,0,0,0
$GC,4776,-0.80,-136.7,802.0,-11.7,184,4780,0.00,2.22,0.00,0.000,4,0.000,0.059,2325,3394,3915,0,0,0,0,0,0
$GC,4821,-0.80,-136.7,807.5,-12.2,185,4825,0.00,2.12,0.00,0.000,6,0.000,0.037,2325,1990,3914,0,0,0,0,0,0
$GC,5098,-0.80,-136.7,842.7,-12.9,192,5103,0.00,2.22,0.00,0.000,4,0.000,0.057,2315,3398,3912,0,0,0,0,0,0
$GC,5171,-0.80,-136.7,852.5,-13.1,193,5175,0.00,2.15,0.00,0.000,6,0.000,0.035,2315,1986,3916,0,0,0,0,0,0
$GC,5427,-0.80,-136.7,888.2,-13.9,200,5431,0.00,2.25,0.00,0.000,4,0.000,0.055,2303,3402,3910,0,0,0,0,0,0
$GC,5467,-0.80,-136.7,894.1,-15.0,201,5472,0.15,2.15,0.00,0.000,6,0.176,0.035,2341,1984,3910,0,0,0,0,0,0
$STATE,5544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5544,begin apogee
$GC,5551,-0.28,0.0,904.4,12.4,203,5662,0.52,0.00,107.95,1.123,6,0.148,0.000,2501,1980,3382,0,0,0,0,0,0
$STATE,5665,end apogee,CONTROL_FINISHED_OK
$STATE,5665,begin climb
$GC,5668,0.80,136.7,908.2,0.0,205,5791,1.05,0.00,118.88,1.083,6,0.094,0.000,2859,1980,2821,0,0,0,0,0,0
$GC,6034,0.80,136.7,855.0,18.3,214,6038,0.00,2.25,0.00,0.000,4,0.000,0.054,2854,3362,2811,0,0,0,0,0,0
$GC,6060,0.80,136.7,849.6,19.2,214,6065,0.00,2.20,0.00,0.000,6,0.000,0.031,2860,1972,2812,0,0,0,0,0,0
$GC,6316,0.80,136.7,801.9,18.7,221,6320,0.00,2.22,0.00,0.000,4,0.000,0.055,2864,3364,2809,0,0,0,0,0,0
$GC,6348,0.80,136.7,795.4,19.6,221,6354,0.00,2.15,0.00,0.000,6,0.000,0.034,2875,1957,2809,0,0,0,0,0,0
$GC,6599,0.80,136.7,747.0,19.3,228,6603,0.00,2.12,0.00,0.000,4,0.000,0.043,2886,557,2807,0,0,0,0,0,0
$GC,6615,0.80,136.7,743.5,19.4,228,6620,0.12,2.12,0.00,0.000,6,0.212,0.039,2859,1958,2807,0,0,0,0,0,0
$GC,6887,0.80,136.7,695.2,17.6,235,6891,0.00,2.25,0.00,0.000,4,0.000,0.054,2859,3368,2806,0,0,0,0,0,0
$GC,6989,0.80,136.7,677.3,17.6,237,6993,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,1957,2806,0,0,0,0,0,0
$GC,7255,0.80,136.7,631.5,17.4,244,7259,0.00,2.10,0.00,0.000,4,0.000,0.043,2876,560,2810,0,0,0,0,0,0
$GC,7327,0.80,136.7,618.9,17.9,245,7331,0.00,2.15,0.00,0.000,6,0.000,0.039,2879,1954,2803,0,0,0,0,0,0
$GC,7583,0.80,136.7,572.1,18.5,252,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1954,2803,0,0,0,0,0,0
$GC,7825,0.80,136.7,527.0,18.3,258,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1954,2804,0,0,0,0,0,0
$GC,8069,0.80,136.7,481.3,18.7,264,8073,0.00,2.22,0.00,0.000,4,0.000,0.053,2879,3373,2803,0,0,0,0,0,0
$GC,8193,0.80,136.7,457.5,19.5,266,8199,0.15,2.12,0.00,0.000,6,0.205,0.031,2854,1956,2803,0,0,0,0,0,0
$GC,8443,0.80,136.7,417.5,15.4,273,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1952,2802,0,0,0,0,0,0
$GC,8686,0.80,136.7,385.3,12.8,279,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1950,2801,0,0,0,0,0,0
$GC,8930,0.80,136.7,356.2,11.9,285,8934,0.00,2.10,0.00,0.000,4,0.000,0.044,2863,553,2801,0,0,0,0,0,0
$GC,9048,0.80,136.7,340.4,14.0,287,9052,0.00,2.12,0.00,0.000,6,0.000,0.040,2863,1961,2799,0,0,0,0,0,0
$GC,9304,0.80,136.7,305.0,13.6,294,9308,0.00,2.22,0.00,0.000,4,0.000,0.054,2863,3372,2799,0,0,0,0,0,0
$GC,9458,0.80,136.7,284.3,13.7,300,9462,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1960,2800,0,0,0,0,0,0
$GC,9723,0.80,136.7,250.8,11.9,313,9727,0.00,2.25,0.00,0.000,4,0.000,0.052,2877,3376,2800,0,0,0,0,0,0
$GC,9935,0.80,136.7,223.1,13.7,322,9941,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1950,2800,0,0,0,0,0,0
$GC,10192,0.80,136.7,194.7,11.7,337,10195,0.00,2.10,0.00,0.000,4,0.000,0.041,2895,554,2800,0,0,0,0,0,0
$GC,10442,0.80,136.7,167.5,10.5,360,10446,0.15,2.10,0.00,0.000,6,0.197,0.038,2856,1967,2799,0,0,0,0,0,0
$GC,10706,0.80,136.7,142.2,9.4,384,10710,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,559,2799,0,0,0,0,0,0
$GC,10955,0.80,136.7,119.6,9.1,406,10963,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1962,2799,0,0,0,0,0,0
$GC,11223,0.89,212.6,100.6,5.4,431,11285,0.00,2.17,57.03,0.561,4,0.000,0.041,2876,556,2513,0,0,0,0,0,0
$GC,11400,0.89,212.6,79.2,16.4,446,11404,0.00,2.12,0.00,0.000,6,0.000,0.033,2875,1963,2508,0,0,0,0,0,0
$GC,11665,0.89,212.6,42.6,12.8,470,11669,0.00,2.17,0.00,0.000,4,0.000,0.049,2875,3362,2508,0,0,0,0,0,0
$GC,11867,0.89,212.6,17.9,10.9,498,11874,0.00,2.15,0.00,0.000,6,0.000,0.033,2885,1973,2509,0,0,0,0,0,0
$STATE,12013,end climb,SURFACE_DEPTH_REACHED
$STATE,12013,begin surface coast
$FINISH,0.1,1.023114
$STATE,12046,end surface coast,CONTROL_FINISHED_OK
$STATE,12046,begin surface
$SM_CCo,12076,296.48,0.456,0,0,394,732.45
$SM_GC,0.93,0.00,0.00,296.48,0.000,0.000,0.456,50,1964,394,-7.94,-0.74,732.45
$IRIDIUM_FIX,1920.65,-15441.73,240113,020220
$TT8_MAMPS,0.064428
$HUMID,1078777410
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.50
$XPDR_PINGS,70
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6340345856
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50697666560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,24.355
$10V_AH,10.1,23.187
$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,19.950,116.850,283.850,296.475,0.000,138.803,201.343,973.356,17.500,0.000,25.333,1109.548,8775.482,642.490,3183.158,485.003,33.358,1426.709,0.000,1897.478,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,65.195,1122.888,455.598,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.861,0.000,896.431,0.000,0.000,0.000,0.000,87309.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,31.701,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,26937,531
$CAP_FILE_SIZE,138335,0
$CFSIZE,260165632,192716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,121606,1926.956,-15649.325,36,1.2,42,9.6