version: 66.07
glider: 511
mission: 7
dive: 13
start: 8 31 111 18 9 16
data:
$ID,511
$MISSION,7
$DIVE,13
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$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,250
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2128
$TGT_DEFAULT_LON,15786
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-70326.648
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2900
$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,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2044
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2600
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.442791
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,375
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,10
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,-1
$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,0.0043997332
$SEABIRD_T_H,0.00064299116
$SEABIRD_T_I,2.7328302e-05
$SEABIRD_T_J,3.0913354e-06
$SEABIRD_C_G,-10.108667
$SEABIRD_C_H,1.1476576
$SEABIRD_C_I,-0.002108841
$SEABIRD_C_J,0.00023981143
$AR_DIVENUM,12
$AR_SAMPLENUM,2
$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
$GPS1,310811,175707,2119.901,-15810.802,31,1.2,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-76.9
$GPS2,310811,180820,2119.922,-15810.849,13,1.5,13,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W4
$TGT_LATLONG,2119.900,-15810.400
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.086,0.150
$KALMAN_X,-947.5,640.7,-417.1,3042.5,-315.6
$KALMAN_Y,-636.0,-265.1,84.4,-3253.7,-1935.2
$MHEAD_RNG_PITCHd_Wd,20.0,775,-27.2,-10.000
$D_GRID,750
$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,26,-1.17,-63.0,0.0,0.0,0,108,0.00,0.00,-76.95,0.000,6,0.000,0.000,55,2032,2855,0,0,0,0,0,0
$GC,111,-1.22,-102.5,3.7,-5.8,8,131,10.25,2.17,-3.17,0.000,4,0.258,0.062,2493,3469,3016,0,0,0,0,0,0
$GC,312,-1.22,-102.5,79.8,-28.8,29,318,0.00,2.15,0.00,0.000,6,0.000,0.037,2493,2033,3020,0,0,0,0,0,0
$GC,573,-1.22,-102.5,142.7,-22.1,54,576,0.00,2.12,0.00,0.000,4,0.000,0.047,2493,630,3022,0,0,0,0,0,0
$GC,794,-1.22,-102.5,206.1,-26.5,76,799,0.00,2.12,0.00,0.000,6,0.000,0.040,2483,2058,3023,0,0,0,0,0,0
$GC,1109,-1.22,-102.5,276.7,-20.3,92,1113,0.00,2.15,0.00,0.000,4,0.000,0.051,2473,3452,3024,0,0,0,0,0,0
$GC,1151,-1.22,-102.5,284.8,-19.0,94,1155,0.12,2.08,0.00,0.000,6,0.214,0.034,2502,2027,3024,0,0,0,0,0,0
$GC,1476,-1.22,-102.5,345.3,-18.7,104,1480,0.00,2.08,0.00,0.000,4,0.000,0.047,2502,648,3025,0,0,0,0,0,0
$GC,1743,-1.22,-102.5,393.8,-18.5,109,1747,0.00,2.08,0.00,0.000,6,0.000,0.039,2493,2048,3024,0,0,0,0,0,0
$GC,2074,-1.22,-102.5,455.6,-19.5,117,2078,0.00,2.12,0.00,0.000,4,0.000,0.049,2493,655,3024,0,0,0,0,0,0
$GC,2267,-1.22,-102.5,492.6,-20.7,121,2271,0.00,2.10,0.00,0.000,6,0.000,0.044,2484,2037,3022,0,0,0,0,0,0
$GC,2580,-1.22,-102.5,545.4,-17.1,129,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2037,3020,0,0,0,0,0,0
$GC,2905,-1.22,-102.5,609.4,-20.4,137,2909,0.00,2.10,0.00,0.000,4,0.000,0.052,2484,659,3017,0,0,0,0,0,0
$GC,3041,-1.22,-102.5,637.3,-21.6,140,3046,0.12,2.12,0.00,0.000,6,0.223,0.045,2502,2050,3016,0,0,0,0,0,0
$GC,3368,-1.22,-102.5,692.2,-15.5,148,3372,0.00,2.12,0.00,0.000,4,0.000,0.054,2503,660,3016,0,0,0,0,0,0
$GC,3525,-1.22,-102.5,717.8,-16.9,151,3529,0.00,2.12,0.00,0.000,6,0.000,0.048,2494,2046,3012,0,0,0,0,0,0
$STATE,3745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3745,begin apogee
$GC,3750,-0.28,0.0,753.0,15.8,157,3839,1.05,0.00,84.85,1.158,6,0.184,0.000,2804,2046,2601,0,0,0,0,0,0
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3850,1.22,102.5,755.6,0.0,159,3949,1.38,2.45,88.78,1.133,4,0.082,0.066,3288,3444,2181,0,0,0,0,0,0
$GC,3968,1.22,102.5,739.2,23.4,161,3972,0.00,2.20,0.00,0.000,6,0.000,0.044,3298,2066,2178,0,0,1,0,0,0
$GC,4298,1.22,102.5,654.1,26.1,169,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2059,2169,0,0,0,0,0,0
$GC,4623,1.22,102.5,575.5,22.9,177,4627,0.00,2.25,0.00,0.000,4,0.000,0.057,3309,635,2163,0,0,0,0,0,0
$GC,4655,1.22,102.5,567.8,23.0,177,4659,0.00,2.20,0.00,0.000,6,0.000,0.051,3309,2039,2166,0,0,0,0,0,0
$GC,4990,1.22,102.5,492.4,23.2,186,4994,0.00,2.28,0.00,0.000,4,0.000,0.066,3310,3459,2161,0,0,0,0,0,0
$GC,5188,1.22,102.5,443.3,23.8,190,5192,0.00,2.20,0.00,0.000,6,0.000,0.052,3320,2053,2164,0,0,0,0,0,0
$GC,5502,1.22,102.5,370.9,23.9,198,5507,0.12,2.28,0.00,0.000,4,0.255,0.070,3284,3451,2160,0,0,0,0,0,0
$GC,5772,1.22,102.5,311.2,19.9,203,5777,0.00,2.20,0.00,0.000,6,0.000,0.051,3293,2034,2159,0,0,0,0,0,0
$GC,6085,1.22,102.5,255.0,17.2,217,6089,0.00,2.28,0.00,0.000,4,0.000,0.069,3284,3455,2157,0,0,0,0,0,0
$GC,6131,1.22,102.5,247.2,16.5,219,6135,0.00,2.20,0.00,0.000,6,0.000,0.051,3289,2046,2157,0,0,0,0,0,0
$GC,6460,1.22,102.5,205.1,11.8,235,6464,0.00,2.28,0.00,0.000,4,0.000,0.067,3285,3461,2155,0,0,0,0,0,0
$GC,6691,1.22,102.5,168.1,15.9,257,6695,0.00,2.17,0.00,0.000,6,0.000,0.048,3294,2045,2155,0,0,0,0,0,0
$GC,6953,1.22,102.5,136.3,12.2,281,6957,0.00,2.22,0.00,0.000,4,0.000,0.065,3294,3453,2154,0,0,0,0,0,0
$GC,7014,1.22,102.5,128.3,13.3,287,7018,0.00,2.17,0.00,0.000,6,0.000,0.047,3305,2028,2154,0,0,0,0,0,0
$GC,7276,1.22,102.5,94.0,13.6,311,7280,0.00,2.12,0.00,0.000,4,0.000,0.052,3315,633,2154,0,0,0,0,0,0
$GC,7543,1.24,124.9,71.6,7.6,339,7566,0.00,2.17,14.07,0.663,6,0.000,0.047,3313,2049,2090,0,0,0,0,0,0
$GC,7821,1.37,227.5,54.1,-0.9,366,7906,0.00,2.30,76.47,0.661,4,0.000,0.056,3326,637,1671,0,0,0,0,0,0
$GC,8027,1.37,227.5,23.0,23.2,389,8031,0.00,2.22,0.00,0.000,6,0.000,0.048,3325,2043,1662,0,0,0,0,0,0
$STATE,8116,end climb,SURFACE_DEPTH_REACHED
$STATE,8116,begin surface coast
$FINISH,-0.6,1.022903
$STATE,8127,end surface coast,CONTROL_FINISHED_OK
$STATE,8128,begin surface
$SM_CCo,8153,130.90,0.591,0,0,765,450.12
$SM_GC,0.42,0.00,0.00,130.90,0.000,0.000,0.591,58,2046,765,-8.88,0.06,450.12
$IRIDIUM_FIX,2111.01,-15811.92,230213,090951
$TT8_MAMPS,0.056758
$HUMID,1078839345
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.10
$XPDR_PINGS,121
$ALTIM_TOP_PING,370.9,0.0
$ALTIM_BOTTOM_PING,30.6,9.8
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7331807232
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50282856448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,4.692
$10V_AH,10.2,4.383
$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,21.825,69.850,264.175,130.900,0.000,27.237,40.887,429.595,31.500,0.000,15.455,843.101,5657.807,466.075,1782.738,218.729,33.328,1137.067,0.000,1229.809,0.000,12.358,0.000
$DEVICE_MAMPS,257.712,69.797,1158.170,591.357,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,266.323,0.000,0.000,0.000,0.000,0.000,0.000,8379.190,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,68.236,0.000,0.000
$MEM,304456
$DATA_FILE_SIZE,13500,398
$CAP_FILE_SIZE,92698,0
$CFSIZE,260165632,257359872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310811,202837,2121.098,-15810.943,25,1.5,26,9.8