version: 66.07
glider: 513
mission: 7
dive: 86
start: 7 15 111 20 59 34
data:
$ID,513
$MISSION,7
$DIVE,86
$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,500
$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,250
$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,-422240.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2710
$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,2100
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3160
$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,85
$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
$GPS1,150711,204255,1913.996,-15616.808,37,1.4,37,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-80.3
$GPS2,150711,205838,1914.248,-15616.691,12,1.8,12,9.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014,0.209
$KALMAN_X,20248.4,-1334.5,-495.3,4533.9,10511.1
$KALMAN_Y,-200379.8,-130.2,69.0,154817.2,-812.8
$MHEAD_RNG_PITCHd_Wd,346.6,112551,-10.4,-6.000
$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
$STATE,23,begin dive
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$GC,13594,-0.58,-136.7,846.6,-7.3,566,13595,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2108,3715,0,0,0,0,0,0
$GC,13837,-0.58,-136.7,864.0,-7.1,572,13841,0.00,2.12,0.00,0.000,4,0.000,0.043,2517,699,3715,0,0,0,0,0,0
$GC,13870,-0.58,-136.7,866.3,-6.6,572,13876,0.00,2.12,0.00,0.000,6,0.000,0.042,2517,2106,3714,0,0,0,0,0,0
$GC,14121,-0.58,-136.7,881.6,-6.1,579,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2109,3714,0,0,0,0,0,0
$GC,14364,-0.58,-136.7,895.2,-5.5,585,14368,0.00,2.12,0.00,0.000,4,0.000,0.044,2517,701,3714,0,0,0,0,0,0
$GC,14420,-0.58,-136.7,898.0,-5.4,586,14424,0.00,2.12,0.00,0.000,6,0.000,0.042,2518,2104,3713,0,0,0,0,0,0
$STATE,14488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14489,begin apogee
$GC,14496,-0.28,0.0,900.8,4.1,588,14614,0.30,0.00,115.05,1.155,6,0.077,0.000,2640,1970,3160,0,0,0,0,0,0
$STATE,14617,end apogee,CONTROL_FINISHED_OK
$STATE,14618,begin climb
$GC,14620,0.58,136.7,903.0,0.0,591,14748,0.70,2.38,119.22,1.113,4,0.059,0.052,2904,3394,2603,0,0,0,0,0,0
$GC,14893,0.58,136.7,838.7,29.0,597,14898,0.00,2.15,0.00,0.000,6,0.000,0.038,2914,2020,2598,0,0,0,0,0,0
$GC,15167,0.58,136.7,761.3,28.5,604,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2020,2595,0,0,0,0,0,0
$GC,15410,0.58,136.7,692.5,28.2,610,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2020,2594,0,0,0,0,0,0
$GC,15653,0.58,136.7,628.1,26.2,616,15657,0.00,2.15,0.00,0.000,4,0.000,0.048,2908,3402,2593,0,0,0,0,0,0
$GC,15693,0.58,136.7,618.1,25.4,617,15697,0.00,2.12,0.00,0.000,6,0.000,0.034,2918,1983,2595,0,0,0,0,0,0
$GC,15977,0.58,136.7,545.7,25.9,624,15981,0.00,2.20,0.00,0.000,4,0.000,0.051,2915,3400,2592,0,0,0,0,0,0
$GC,16016,0.58,136.7,535.0,26.3,625,16020,0.00,2.12,0.00,0.000,6,0.000,0.033,2924,1991,2587,0,0,0,0,0,0
$GC,16300,0.58,136.7,462.1,25.5,632,16304,0.00,2.20,0.00,0.000,4,0.000,0.049,2923,3403,2592,0,0,0,0,0,0
$GC,16328,0.58,136.7,455.0,24.1,632,16333,0.12,2.10,0.00,0.000,6,0.247,0.031,2906,1984,2592,0,0,0,0,0,0
$GC,16583,0.58,136.7,396.8,22.2,639,16586,0.00,2.12,0.00,0.000,4,0.000,0.041,2915,584,2591,0,0,0,0,0,0
$GC,16627,0.58,136.7,386.7,22.1,640,16631,0.00,2.12,0.00,0.000,6,0.000,0.038,2915,1998,2588,0,0,0,0,0,0
$GC,16911,0.58,136.7,325.8,21.6,647,16915,0.00,2.15,0.00,0.000,4,0.000,0.050,2915,3391,2592,0,0,0,0,0,0
$GC,16983,0.58,136.7,310.0,23.7,648,16987,0.00,2.08,0.00,0.000,6,0.000,0.032,2925,1988,2589,0,0,0,0,0,0
$GC,17243,0.58,136.7,252.8,23.5,660,17247,0.00,2.12,0.00,0.000,4,0.000,0.040,2936,577,2589,0,0,0,0,0,0
$GC,17292,0.58,136.7,241.5,23.5,662,17297,0.15,2.12,0.00,0.000,6,0.218,0.035,2902,1987,2590,0,0,0,0,0,0
$GC,17548,0.58,136.7,195.9,15.9,675,17550,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1996,2587,0,0,0,0,0,0
$GC,17804,0.58,136.7,155.1,17.4,699,17808,0.00,2.15,0.00,0.000,4,0.000,0.049,2902,3397,2588,0,0,0,0,0,0
$GC,17909,0.58,136.7,135.8,15.4,708,17913,0.00,2.10,0.00,0.000,6,0.000,0.031,2911,1980,2588,0,0,0,0,0,0
$GC,18176,0.58,136.7,93.0,16.2,732,18180,0.00,2.17,0.00,0.000,4,0.000,0.049,2911,3398,2587,0,0,0,0,0,0
$GC,18251,0.58,136.7,79.4,15.2,738,18259,0.00,2.10,0.00,0.000,6,0.000,0.029,2921,1999,2588,0,0,0,0,0,0
$GC,18517,0.58,136.7,43.2,11.6,763,18521,0.00,2.15,0.00,0.000,4,0.000,0.044,2921,3402,2588,0,0,0,0,0,0
$GC,18613,0.58,136.7,32.4,9.7,771,18621,0.08,2.10,0.00,0.000,6,0.211,0.027,2911,1988,2589,0,0,0,0,0,0
$GC,18872,0.58,136.7,9.6,8.0,818,18879,0.00,2.08,0.00,0.000,4,0.000,0.038,2920,600,2587,0,0,0,0,0,0
$STATE,18947,end climb,SURFACE_DEPTH_REACHED
$STATE,18947,begin surface coast
$FINISH,-0.1,1.022851
$STATE,18981,end surface coast,CONTROL_FINISHED_OK
$STATE,18981,begin surface
$SM_CCo,19014,62.28,0.501,0,0,2140,250.45
$SM_GC,2.04,0.00,0.00,62.28,0.000,0.000,0.501,54,2122,2140,-8.29,0.62,250.45
$IRIDIUM_FIX,1904.66,-15616.62,070113,151509
$TT8_MAMPS,0.148031
$HUMID,1078933539
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.50
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,4989648896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59289501696
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,11.926
$10V_AH,10.2,11.861
$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,19.750,182.350,234.275,62.275,0.000,58.414,65.432,520.774,24.000,0.000,14.177,1726.722,13768.485,422.114,3566.425,533.467,33.352,1604.131,0.000,2920.608,0.000,0.542,0.000
$DEVICE_MAMPS,256.178,70.564,1155.102,500.851,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,575.222,0.000,1384.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,43603,838
$CAP_FILE_SIZE,182493,0
$CFSIZE,260165632,200187904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,021906,1916.446,-15616.459,34,1.1,35,9.6