version: 66.07
glider: 511
mission: 7
dive: 9
start: 8 31 111 8 1 50
data:
$ID,511
$MISSION,7
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,200
$T_MISSION,500
$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,-70266.922
$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,40
$R_STBD_OVSHOOT,27
$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,300
$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,8
$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
$GPS1,310811,074738,2120.006,-15809.986,13,2.0,13,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-76.9
$GPS2,310811,080055,2120.026,-15810.041,42,1.4,42,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W4
$TGT_LATLONG,2119.900,-15810.400
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.045,-0.167
$KALMAN_X,-308.2,-222.1,-358.3,4598.0,-136.1
$KALMAN_Y,1149.2,-217.0,389.4,-5197.8,1551.9
$MHEAD_RNG_PITCHd_Wd,185.4,663,-27.2,-10.000
$D_GRID,600
$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,-77.47,0.000,6,0.000,0.000,51,2043,2854,0,0,0,0,0,0
$GC,111,-1.23,-110.1,3.2,-5.0,8,131,10.20,2.12,-3.92,0.000,4,0.258,0.065,2510,635,3052,0,0,0,0,0,0
$GC,396,-1.23,-110.1,97.7,-27.7,38,401,0.00,2.10,0.00,0.000,6,0.000,0.036,2500,2057,3055,0,0,0,0,0,0
$GC,656,-1.23,-110.1,161.9,-23.0,63,660,0.00,2.15,0.00,0.000,4,0.000,0.043,2500,624,3057,0,0,0,0,0,0
$GC,924,-1.23,-110.1,214.6,-19.4,86,929,0.00,2.12,0.00,0.000,6,0.000,0.037,2490,2051,3058,0,0,0,0,0,0
$GC,1239,-1.23,-110.1,284.1,-19.8,102,1243,0.00,2.10,0.00,0.000,4,0.000,0.044,2490,633,3059,0,0,0,0,0,0
$GC,1294,-1.23,-110.1,295.3,-19.0,104,1298,0.00,2.10,0.00,0.000,6,0.000,0.038,2480,2042,3058,0,0,0,0,0,0
$GC,1609,-1.23,-110.1,358.4,-19.4,113,1612,0.00,2.12,0.00,0.000,4,0.000,0.044,2480,628,3059,0,0,0,0,0,0
$GC,1751,-1.23,-110.1,386.9,-20.5,116,1756,0.12,2.10,0.00,0.000,6,0.222,0.041,2498,2036,3058,0,0,0,0,0,0
$GC,2069,-1.23,-110.1,444.4,-18.2,124,2073,0.00,2.12,0.00,0.000,4,0.000,0.048,2498,625,3058,0,0,0,0,0,0
$GC,2115,-1.23,-110.1,453.0,-16.6,125,2119,0.00,2.12,0.00,0.000,6,0.000,0.041,2490,2044,3058,0,0,0,0,0,0
$GC,2437,-1.23,-110.1,505.2,-16.8,133,2441,0.00,2.12,0.00,0.000,4,0.000,0.050,2490,635,3055,0,0,1,0,0,0
$GC,2515,-1.23,-110.1,518.6,-15.8,134,2519,0.00,2.12,0.00,0.000,6,0.000,0.043,2477,2047,3057,0,0,0,0,0,0
$GC,2850,-1.23,-110.1,576.8,-17.9,143,2854,0.00,2.12,0.00,0.000,4,0.000,0.051,2480,637,3052,0,0,0,0,0,0
$GC,2910,-1.23,-110.1,586.5,-15.8,144,2914,0.15,2.12,0.00,0.000,6,0.217,0.044,2505,2044,3049,0,0,0,0,0,0
$STATE,3013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3013,begin apogee
$GC,3018,-0.28,0.0,602.9,15.6,147,3113,1.00,0.00,89.85,1.039,6,0.173,0.000,2809,2049,2604,0,0,0,0,0,0
$STATE,3121,end apogee,CONTROL_FINISHED_OK
$STATE,3121,begin climb
$GC,3123,1.23,110.1,604.7,0.0,149,3227,1.33,2.40,92.00,1.008,4,0.074,0.060,3290,3448,2150,0,0,0,0,0,0
$GC,3287,1.23,110.1,572.7,30.1,152,3291,0.00,2.22,0.00,0.000,6,0.000,0.048,3301,2057,2145,0,0,0,0,0,0
$GC,3618,1.23,110.1,482.5,26.5,160,3622,0.00,2.22,0.00,0.000,4,0.000,0.064,3301,3449,2138,0,0,0,0,0,0
$GC,3709,1.23,110.1,457.3,27.9,162,3714,0.00,2.22,0.00,0.000,6,0.000,0.050,3312,2035,2138,0,0,0,0,0,0
$GC,4031,1.23,110.1,380.2,23.8,170,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2035,2134,0,0,0,0,0,0
$GC,4357,1.23,110.1,307.0,21.0,178,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2028,2131,0,0,0,0,0,0
$GC,4665,1.23,110.1,243.9,20.7,192,4669,0.00,2.17,0.00,0.000,4,0.000,0.059,3322,628,2128,0,0,0,0,0,0
$GC,4702,1.23,110.1,236.0,20.6,193,4706,0.12,2.20,0.00,0.000,6,0.245,0.054,3296,2037,2127,0,0,0,0,0,0
$GC,5025,1.23,110.1,184.2,15.8,213,5029,0.00,2.20,0.00,0.000,4,0.000,0.060,3286,3455,2126,0,0,0,0,0,0
$GC,5197,1.23,110.1,154.1,16.0,231,5201,0.00,2.12,0.00,0.000,6,0.000,0.044,3296,2032,2124,0,0,1,0,0,0
$GC,5458,1.23,110.1,122.0,11.8,255,5462,0.00,2.25,0.00,0.000,4,0.000,0.063,3296,3460,2123,0,0,0,0,0,0
$GC,5547,1.23,110.1,109.2,11.8,264,5551,0.00,2.15,0.00,0.000,6,0.000,0.046,3306,2037,2124,0,0,0,0,0,0
$GC,5809,1.27,148.7,90.8,5.9,288,5843,0.00,2.33,25.83,0.699,4,0.000,0.060,3306,3453,1993,0,0,0,0,0,0
$GC,5931,1.27,148.7,77.5,12.5,301,5937,0.00,2.17,0.00,0.000,6,0.000,0.044,3317,2042,1990,0,0,0,0,0,0
$GC,6192,1.27,148.7,48.8,10.0,326,6196,0.00,2.17,0.00,0.000,4,0.000,0.054,3327,633,1988,0,0,0,0,0,0
$GC,6349,1.28,151.7,33.1,9.7,342,6355,0.00,2.17,0.00,0.000,6,0.000,0.048,3328,2052,1986,0,0,0,0,0,0
$STATE,6608,end climb,SURFACE_DEPTH_REACHED
$STATE,6609,begin surface coast
$FINISH,-0.5,1.022963
$STATE,6630,end surface coast,CONTROL_FINISHED_OK
$STATE,6630,begin surface
$SM_CCo,6654,175.75,0.585,0,0,765,450.12
$SM_GC,0.56,0.00,0.00,175.75,0.000,0.000,0.585,56,2061,765,-8.89,0.48,450.12
$IRIDIUM_FIX,2113.32,-15811.92,230213,020248
$TT8_MAMPS,0.056758
$HUMID,1078881926
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.60
$XPDR_PINGS,109
$ALTIM_TOP_PING,299.4,0.0
$ALTIM_BOTTOM_PING,60.8,10.3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7440629760
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53640855552
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,4.178
$10V_AH,10.3,3.608
$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,21.475,60.700,207.675,175.750,0.000,56.474,118.311,365.599,29.250,0.000,45.540,750.958,4644.186,472.346,1572.057,200.816,33.325,1006.748,0.000,954.329,0.000,17.735,0.000
$DEVICE_MAMPS,258.479,65.195,1038.518,585.221,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,246.809,0.000,0.000,0.000,0.000,0.000,0.000,7207.070,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,60.532,0.000,0.000
$MEM,304500
$DATA_FILE_SIZE,13453,369
$CAP_FILE_SIZE,80045,0
$CFSIZE,260165632,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310811,095704,2119.541,-15810.048,12,7.5,31,9.8