version: 66.07
glider: 513
mission: 7
dive: 179
start: 8 1 111 12 28 2
data:
$ID,513
$MISSION,7
$DIVE,179
$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,-424647.16
$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,35
$R_STBD_OVSHOOT,37
$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,178
$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
$GPS1,010811,121606,1926.956,-15649.325,36,1.2,42,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.3
$GPS2,010811,122707,1927.220,-15649.503,11,1.5,16,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.227,-0.076
$KALMAN_X,-79197.3,491.2,575.9,60198.6,-7205.7
$KALMAN_Y,134123.2,-2045.0,-1102.9,-169879.0,17215.2
$MHEAD_RNG_PITCHd_Wd,98.8,51024,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,143,0.00,0.00,-113.28,0.000,2,0.000,0.000,41,1965,3785,0,0,0,0,0,0
$GC,147,-0.80,-136.7,4.1,-7.9,18,169,9.60,2.33,-2.47,0.000,4,0.247,0.068,2320,3394,3940,0,0,0,0,0,0
$GC,252,-0.80,-136.7,47.7,-28.8,31,256,0.00,2.15,0.00,0.000,6,0.000,0.037,2319,1990,3945,0,0,0,0,0,0
$GC,515,-0.80,-136.7,127.5,-28.9,55,519,0.00,2.20,0.00,0.000,4,0.000,0.052,2309,3395,3942,0,0,0,0,0,0
$GC,602,-0.80,-136.7,149.2,-22.1,62,610,0.08,2.17,0.00,0.000,6,0.166,0.033,2332,1981,3943,0,0,0,0,0,0
$GC,876,-0.80,-136.7,206.0,-20.3,87,880,0.00,2.22,0.00,0.000,4,0.000,0.050,2323,3404,3942,0,0,0,0,0,0
$GC,915,-0.80,-136.7,214.7,-20.3,89,919,0.00,2.12,0.00,0.000,6,0.000,0.032,2323,1980,3944,0,0,0,0,0,0
$GC,1180,-0.80,-136.7,271.5,-21.8,102,1184,0.00,2.20,0.00,0.000,4,0.000,0.051,2312,3399,3944,0,0,0,0,0,0
$GC,1263,-0.80,-136.7,288.3,-19.3,105,1269,0.00,2.10,0.00,0.000,6,0.000,0.033,2308,1994,3944,0,0,0,0,0,0
$GC,1534,-0.80,-136.7,339.4,-18.4,114,1538,0.00,2.22,0.00,0.000,4,0.000,0.055,2300,3400,3944,0,0,0,0,0,0
$GC,1579,-0.80,-136.7,347.1,-16.3,115,1583,0.15,2.15,0.00,0.000,6,0.166,0.035,2340,1988,3944,0,0,0,0,0,0
$GC,1856,-0.80,-136.7,386.9,-14.0,122,1860,0.00,2.20,0.00,0.000,4,0.000,0.052,2331,3402,3942,0,0,0,0,0,0
$GC,1872,-0.80,-136.7,389.3,-14.3,122,1876,0.00,2.15,0.00,0.000,6,0.000,0.034,2330,1987,3942,0,0,0,0,0,0
$GC,2134,-0.80,-136.7,429.4,-15.4,129,2138,0.00,2.20,0.00,0.000,4,0.000,0.051,2323,3401,3939,0,0,0,0,0,0
$GC,2173,-0.80,-136.7,436.0,-17.0,130,2177,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,1986,3937,0,0,0,0,0,0
$GC,2456,-0.80,-136.7,481.7,-16.1,137,2460,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3404,3937,0,0,0,0,0,0
$GC,2496,-0.80,-136.7,488.2,-16.4,138,2501,0.10,2.15,0.00,0.000,6,0.175,0.035,2334,1985,3936,0,0,0,0,0,0
$GC,2779,-0.80,-136.7,530.6,-15.0,145,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1983,3933,0,0,0,0,0,0
$GC,3023,-0.80,-136.7,569.5,-15.8,151,3027,0.00,2.22,0.00,0.000,4,0.000,0.055,2325,3395,3930,0,0,0,0,0,0
$GC,3051,-0.80,-136.7,573.9,-15.9,151,3055,0.00,2.12,0.00,0.000,6,0.000,0.036,2325,1992,3929,0,0,0,0,0,0
$GC,3306,-0.80,-136.7,613.1,-15.2,158,3310,0.00,2.20,0.00,0.000,4,0.000,0.054,2314,3393,3927,0,0,0,0,0,0
$GC,3360,-0.80,-136.7,621.5,-14.2,159,3364,0.00,2.12,0.00,0.000,6,0.000,0.036,2314,1985,3929,0,0,0,0,0,0
$GC,3634,-0.80,-136.7,662.4,-15.0,166,3638,0.00,2.22,0.00,0.000,4,0.000,0.054,2303,3394,3924,0,0,0,0,0,0
$GC,3678,-0.80,-136.7,669.5,-15.6,167,3682,0.15,2.12,0.00,0.000,6,0.166,0.036,2342,1986,3923,0,0,0,0,0,0
$GC,3955,-0.80,-136.7,706.4,-13.2,174,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1982,3918,0,0,0,0,0,0
$GC,4199,-0.80,-136.7,738.7,-13.2,180,4203,0.00,2.22,0.00,0.000,4,0.000,0.056,2330,3396,3917,0,0,0,0,0,0
$GC,4261,-0.80,-136.7,747.1,-12.9,181,4265,0.00,2.12,0.00,0.000,6,0.000,0.037,2333,1989,3916,0,0,0,0,0,0
$GC,4527,-0.80,-136.7,782.5,-13.2,188,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1984,3914,0,0,0,0,0,0
$GC,4771,-0.80,-136.7,815.5,-13.5,194,4775,0.00,2.25,0.00,0.000,4,0.000,0.055,2322,3396,3913,0,0,0,0,0,0
$GC,4799,-0.80,-136.7,819.1,-13.4,194,4803,0.00,2.15,0.00,0.000,6,0.000,0.034,2326,1988,3912,0,0,0,0,0,0
$GC,5048,-0.80,-136.7,852.9,-13.6,200,5053,0.00,2.22,0.00,0.000,4,0.000,0.055,2311,3399,3910,0,0,0,0,0,0
$GC,5098,-0.80,-136.7,859.8,-13.9,201,5102,0.00,2.15,0.00,0.000,6,0.000,0.033,2311,1986,3909,0,0,0,0,0,0
$GC,5377,-0.80,-136.7,898.7,-14.2,208,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1982,3908,0,0,0,0,0,0
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5421,-0.28,0.0,904.3,14.2,209,5532,0.65,0.00,108.10,1.115,6,0.156,0.000,2503,1981,3381,0,0,0,0,0,0
$STATE,5534,end apogee,CONTROL_FINISHED_OK
$STATE,5534,begin climb
$GC,5537,0.80,136.7,908.0,0.0,211,5666,1.02,2.33,118.40,1.081,4,0.093,0.044,2859,557,2822,0,0,0,0,0,0
$GC,5716,0.80,136.7,887.6,19.0,215,5720,0.00,2.25,0.00,0.000,6,0.000,0.038,2860,1981,2815,0,0,0,0,0,0
$GC,5988,0.80,136.7,835.8,19.2,222,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1977,2812,0,0,0,0,0,0
$GC,6233,0.80,136.7,789.3,19.3,228,6237,0.00,2.22,0.00,0.000,4,0.000,0.054,2859,3368,2811,0,0,0,0,0,0
$GC,6266,0.80,136.7,782.4,20.4,228,6270,0.00,2.17,0.00,0.000,6,0.000,0.032,2870,1943,2811,0,0,0,0,0,0
$GC,6521,0.80,136.7,734.0,19.0,235,6525,0.00,2.08,0.00,0.000,4,0.000,0.039,2881,556,2810,0,0,0,0,0,0
$GC,6542,0.80,136.7,729.6,20.2,235,6546,0.00,2.15,0.00,0.000,6,0.000,0.037,2881,1957,2809,0,0,0,0,0,0
$GC,6804,0.80,136.7,680.8,18.6,242,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1959,2808,0,0,0,0,0,0
$GC,7047,0.80,136.7,637.1,18.0,248,7051,0.00,2.22,0.00,0.000,4,0.000,0.052,2881,3360,2807,0,0,0,0,0,0
$GC,7124,0.80,136.7,622.5,19.6,249,7129,0.17,2.12,0.00,0.000,6,0.213,0.032,2853,1954,2807,0,0,0,0,0,0
$GC,7374,0.80,136.7,580.7,16.8,255,7378,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,550,2806,0,0,0,0,0,0
$GC,7413,0.80,136.7,573.9,17.0,255,7419,0.00,2.12,0.00,0.000,6,0.000,0.036,2850,1963,2804,0,0,0,0,0,0
$GC,7663,0.80,136.7,534.6,15.5,262,7667,0.00,2.22,0.00,0.000,4,0.000,0.053,2841,3367,2804,0,0,0,0,0,0
$GC,7714,0.80,136.7,526.5,15.6,263,7718,0.00,2.15,0.00,0.000,6,0.000,0.032,2850,1958,2804,0,0,0,0,0,0
$GC,7986,0.80,136.7,483.3,15.7,270,7990,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,559,2804,0,0,0,0,0,0
$GC,8025,0.80,136.7,476.7,17.2,271,8029,0.00,2.10,0.00,0.000,6,0.000,0.035,2861,1970,2802,0,0,0,0,0,0
$GC,8310,0.80,136.7,431.7,15.6,278,8314,0.00,2.17,0.00,0.000,4,0.000,0.052,2861,3364,2803,0,0,0,0,0,0
$GC,8349,0.80,136.7,425.3,16.4,279,8353,0.00,2.10,0.00,0.000,6,0.000,0.031,2871,1962,2803,0,0,0,0,0,0
$GC,8632,0.80,136.7,379.7,15.9,286,8636,0.00,2.12,0.00,0.000,4,0.000,0.039,2884,547,2803,0,0,0,0,0,0
$GC,8672,0.80,136.7,373.3,16.4,287,8676,0.00,2.10,0.00,0.000,6,0.000,0.035,2883,1960,2801,0,0,0,0,0,0
$GC,8956,0.80,136.7,330.7,15.1,294,8960,0.00,2.20,0.00,0.000,4,0.000,0.051,2882,3369,2801,0,0,0,0,0,0
$GC,9108,0.80,136.7,307.9,14.3,297,9113,0.15,2.12,0.00,0.000,6,0.210,0.031,2858,1949,2802,0,0,0,0,0,0
$GC,9372,0.80,136.7,271.0,13.9,308,9376,0.00,2.20,0.00,0.000,4,0.000,0.050,2848,3361,2801,0,0,0,0,0,0
$GC,9540,0.80,136.7,248.5,13.1,315,9546,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1950,2802,0,0,0,0,0,0
$GC,9795,0.80,136.7,222.8,10.1,328,9799,0.00,2.20,0.00,0.000,4,0.000,0.050,2848,3361,2804,0,0,0,0,0,0
$GC,10051,0.80,136.7,192.6,11.7,342,10058,0.00,2.15,0.00,0.000,6,0.000,0.031,2857,1952,2802,0,0,0,0,0,0
$GC,10315,0.80,136.7,165.7,9.1,367,10319,0.00,2.20,0.00,0.000,4,0.000,0.048,2848,3369,2801,0,0,0,0,0,0
$GC,10564,0.82,159.9,146.3,7.6,389,10584,0.00,2.12,15.43,0.588,6,0.000,0.029,2857,1962,2729,0,0,0,0,0,0
$GC,10840,0.82,159.9,119.1,8.7,415,10844,0.00,2.20,0.00,0.000,4,0.000,0.047,2849,3364,2727,0,0,0,0,0,0
$GC,11091,0.90,223.7,97.4,5.9,437,11148,0.00,2.12,52.03,0.560,6,0.000,0.029,2858,1966,2465,0,0,0,0,0,0
$GC,11407,0.90,223.7,61.3,12.5,466,11411,0.00,2.22,0.00,0.000,4,0.000,0.049,2857,3368,2461,0,0,0,0,0,0
$GC,11631,0.90,223.7,35.6,10.2,486,11635,0.00,2.12,0.00,0.000,6,0.000,0.030,2869,1953,2462,0,0,0,0,0,0
$GC,11891,0.90,223.7,8.7,10.5,529,11898,0.00,2.10,0.00,0.000,4,0.000,0.038,2880,565,2461,0,0,0,0,0,0
$GC,11923,0.90,223.7,4.9,11.7,534,11931,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,1967,2462,0,0,0,0,0,0
$STATE,11937,end climb,SURFACE_DEPTH_REACHED
$STATE,11937,begin surface coast
$FINISH,0.0,1.023169
$STATE,11964,end surface coast,CONTROL_FINISHED_OK
$STATE,11965,begin surface
$SM_CCo,12054,0.00,0.000,0,0,2457,225.67
$SM_GC,2.14,7.55,0.00,0.00,0.053,0.000,0.000,49,1965,2457,-7.90,-0.59,225.67
$IRIDIUM_FIX,1920.65,-15641.48,240113,030341
$TT8_MAMPS,0.156468
$HUMID,1078951603
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.70
$XPDR_PINGS,83
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6301876224
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50620366848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,24.466
$10V_AH,10.1,23.278
$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,19.625,130.150,293.950,0.000,0.000,27.643,32.003,386.849,20.750,0.000,18.555,1113.834,8395.626,375.687,2449.616,385.554,33.361,1240.269,0.000,1972.780,0.000,0.541,0.000
$DEVICE_MAMPS,246.974,68.263,1115.218,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.261,0.000,955.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353756
$DATA_FILE_SIZE,26918,541
$CAP_FILE_SIZE,123094,0
$CFSIZE,260165632,192659456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,155154,1927.792,-15648.814,107,1.0,121,9.6