version: 66.07
glider: 513
mission: 7
dive: 96
start: 7 18 111 2 27 51
data:
$ID,513
$MISSION,7
$DIVE,96
$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,-422440.47
$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,53
$R_STBD_OVSHOOT,36
$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,95
$AR_SAMPLENUM,6
$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
$GPS1,180711,021531,1930.503,-15625.488,65,1.0,66,9.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.0
$GPS2,180711,022656,1930.496,-15625.566,12,1.5,12,9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.128,0.166
$KALMAN_X,30688.9,890.2,-128.0,-24002.8,3414.1
$KALMAN_Y,-216133.7,1020.1,400.2,199164.2,-6822.7
$MHEAD_RNG_PITCHd_Wd,312.7,84442,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
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$GC,3628,-0.58,-136.7,260.7,-5.0,294,3632,0.00,2.10,0.00,0.000,4,0.000,0.040,2529,702,3729,0,0,0,0,0,0
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$GC,4030,-0.58,-136.7,284.9,-6.7,313,4034,0.00,2.10,0.00,0.000,4,0.000,0.040,2530,696,3728,0,0,0,0,0,0
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$GC,4701,-0.58,-136.7,337.4,-8.0,335,4705,0.00,2.12,0.00,0.000,4,0.000,0.055,2530,3501,3724,0,0,0,0,0,0
$GC,4745,-0.58,-136.7,341.1,-8.6,336,4749,0.00,2.03,0.00,0.000,6,0.000,0.030,2530,2097,3724,0,0,0,0,0,0
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$GC,6600,-0.58,-136.7,458.6,-6.0,381,6604,0.00,2.12,0.00,0.000,6,0.000,0.042,2530,2106,3714,0,0,0,0,0,0
$GC,6868,-0.58,-136.7,471.6,-4.6,388,6872,0.00,2.08,0.00,0.000,4,0.000,0.041,2531,701,3715,0,0,0,0,0,0
$GC,6958,-0.58,-136.7,476.1,-5.2,390,6962,0.00,2.10,0.00,0.000,6,0.000,0.039,2531,2098,3712,0,0,0,0,0,0
$GC,7236,-0.58,-136.7,491.8,-6.1,397,7240,0.00,2.12,0.00,0.000,4,0.000,0.042,2530,697,3711,0,0,0,0,0,0
$GC,7264,-0.58,-136.7,493.8,-6.8,397,7268,0.00,2.12,0.00,0.000,6,0.000,0.038,2530,2109,3711,0,0,0,0,0,0
$GC,7513,-0.58,-136.7,511.7,-7.5,403,7517,0.00,2.15,0.00,0.000,4,0.000,0.055,2531,3504,3709,0,0,0,0,0,0
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$GC,12742,-0.58,-136.7,834.7,-6.7,527,12746,0.00,2.10,0.00,0.000,4,0.000,0.044,2530,713,3692,0,0,0,0,0,0
$GC,12774,-0.58,-136.7,837.0,-7.0,527,12780,0.00,2.08,0.00,0.000,6,0.000,0.041,2533,2101,3692,0,0,0,0,0,0
$GC,13025,-0.58,-136.7,853.2,-6.7,534,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2104,3691,0,0,0,0,0,0
$GC,13268,-0.58,-136.7,869.8,-6.8,540,13272,0.00,2.08,0.00,0.000,4,0.000,0.045,2530,718,3691,0,0,0,0,0,0
$GC,13526,-0.58,-136.7,886.2,-7.2,545,13532,0.00,2.10,0.00,0.000,6,0.000,0.041,2530,2100,3690,0,0,0,0,0,0
$STATE,13774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13774,begin apogee
$GC,13780,-0.28,0.0,901.9,6.5,552,13896,0.25,0.00,110.15,1.162,6,0.078,0.000,2637,1996,3159,0,0,0,0,0,0
$STATE,13899,end apogee,CONTROL_FINISHED_OK
$STATE,13899,begin climb
$GC,13901,0.58,136.7,906.3,0.0,555,14030,0.70,2.35,118.97,1.121,4,0.061,0.051,2892,3391,2603,0,0,0,0,0,0
$GC,14171,0.58,136.7,849.6,25.4,561,14175,0.00,2.15,0.00,0.000,6,0.000,0.038,2905,2001,2597,0,0,0,0,0,0
$GC,14443,0.58,136.7,777.4,26.6,568,14447,0.00,2.15,0.00,0.000,4,0.000,0.041,2916,588,2593,0,0,0,0,0,0
$GC,14470,0.58,136.7,769.8,27.0,568,14474,0.00,2.17,0.00,0.000,6,0.000,0.039,2917,1986,2591,0,0,0,0,0,0
$GC,14726,0.58,136.7,699.9,27.7,575,14730,0.00,2.20,0.00,0.000,4,0.000,0.051,2916,3397,2589,0,0,0,0,0,0
$GC,14782,0.58,136.7,684.1,26.6,576,14786,0.00,2.10,0.00,0.000,6,0.000,0.032,2927,1990,2591,0,0,0,0,0,0
$GC,15054,0.58,136.7,612.3,26.4,583,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1986,2590,0,0,0,0,0,0
$GC,15298,0.58,136.7,548.0,26.3,589,15302,0.00,2.12,0.00,0.000,4,0.000,0.042,2938,577,2590,0,0,0,0,0,0
$GC,15360,0.58,136.7,530.3,28.5,590,15365,0.15,2.15,0.00,0.000,6,0.221,0.036,2902,1995,2588,0,0,0,0,0,0
$GC,15620,0.58,136.7,465.4,24.7,597,15624,0.00,2.12,0.00,0.000,4,0.000,0.041,2913,585,2586,0,0,0,0,0,0
$GC,15641,0.58,136.7,460.0,25.2,597,15645,0.00,2.15,0.00,0.000,6,0.000,0.038,2914,1983,2587,0,0,0,0,0,0
$GC,15903,0.58,136.7,397.3,24.3,604,15907,0.00,2.20,0.00,0.000,4,0.000,0.050,2917,3400,2587,0,0,0,0,0,0
$GC,15930,0.58,136.7,390.2,24.2,604,15934,0.00,2.08,0.00,0.000,6,0.000,0.031,2925,1987,2588,0,0,0,0,0,0
$GC,16186,0.58,136.7,333.0,22.5,611,16190,0.00,2.17,0.00,0.000,4,0.000,0.048,2924,3395,2587,0,0,0,0,0,0
$GC,16208,0.58,136.7,327.9,23.3,611,16213,0.15,2.10,0.00,0.000,6,0.227,0.031,2901,1983,2588,0,0,0,0,0,0
$GC,16470,0.58,136.7,276.8,18.8,620,16474,0.00,2.17,0.00,0.000,4,0.000,0.050,2890,3397,2587,0,0,0,0,0,0
$GC,16538,0.58,136.7,263.5,22.5,623,16542,0.00,2.10,0.00,0.000,6,0.000,0.033,2899,1992,2587,0,0,0,0,0,0
$GC,16798,0.58,136.7,217.9,16.5,636,16799,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1985,2586,0,0,0,0,0,0
$GC,17050,0.58,136.7,175.3,16.0,654,17054,0.00,2.17,0.00,0.000,4,0.000,0.051,2899,3393,2586,0,0,0,0,0,0
$GC,17168,0.58,136.7,156.3,15.9,664,17175,0.00,2.12,0.00,0.000,6,0.000,0.031,2910,1984,2586,0,0,0,0,0,0
$GC,17434,0.58,136.7,111.9,17.0,689,17438,0.00,2.08,0.00,0.000,4,0.000,0.039,2921,577,2586,0,0,0,0,0,0
$GC,17507,0.58,136.7,98.8,18.1,695,17511,0.00,2.12,0.00,0.000,6,0.000,0.035,2921,1997,2583,0,0,0,0,0,0
$GC,17772,0.58,136.7,58.8,16.0,719,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2000,2585,0,0,0,0,0,0
$GC,18033,0.58,136.7,17.6,13.2,752,18040,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2000,2584,0,0,0,0,0,0
$STATE,18186,end climb,SURFACE_DEPTH_REACHED
$STATE,18188,begin surface coast
$FINISH,-0.1,1.000863
$STATE,18226,end surface coast,CONTROL_FINISHED_OK
$STATE,18226,begin surface
$SM_CCo,18246,59.55,0.502,0,0,2140,250.20
$SM_GC,1.79,0.00,0.00,59.55,0.000,0.000,0.502,53,2123,2140,-8.31,0.65,250.20
$IRIDIUM_FIX,1922.94,-15626.17,090113,151502
$TT8_MAMPS,0.158769
$HUMID,1078959345
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.80
$XPDR_PINGS,64
$AR_DIVENUM,96
$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
$24V_AH,24.1,13.025
$10V_AH,10.3,13.293
$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,19.425,181.725,229.125,59.550,0.000,25.385,37.319,395.613,16.000,0.000,14.095,1646.192,13167.387,414.103,3268.747,498.956,33.396,1560.835,0.000,2797.491,0.000,0.539,0.000
$DEVICE_MAMPS,250.042,83.603,1162.005,502.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,540.945,0.000,1295.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,40293,788
$CAP_FILE_SIZE,173802,0
$CFSIZE,260165632,199385088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,073537,1931.635,-15625.984,95,1.1,96,9.7