version: 66.07
glider: 513
mission: 7
dive: 103
start: 7 19 111 17 11 14
data:
$ID,513
$MISSION,7
$DIVE,103
$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,135
$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,230
$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,-422557.06
$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,44
$R_STBD_OVSHOOT,39
$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,102
$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
$GPS1,190711,165254,1942.171,-15631.499,24,1.0,42,9.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.6
$GPS2,190711,171019,1942.445,-15631.859,9,1.3,14,9.7
$SPEED_LIMITS,0.104,0.206
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.072,0.193
$KALMAN_X,25757.8,-752.5,-627.1,-27901.7,-1663.1
$KALMAN_Y,-228737.2,195.3,-300.0,235429.4,-4797.3
$MHEAD_RNG_PITCHd_Wd,10.7,67031,-10.7,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
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$GC,2581,-0.59,-131.8,210.0,-5.5,235,2585,0.00,2.10,0.00,0.000,6,0.000,0.038,2514,2103,3711,0,0,0,0,0,0
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$GC,3134,-0.59,-131.8,241.3,-5.9,262,3138,0.00,2.10,0.00,0.000,4,0.000,0.039,2516,695,3710,0,0,0,0,0,0
$GC,3264,-0.59,-131.8,247.6,-3.5,267,3270,0.00,2.10,0.00,0.000,6,0.000,0.040,2508,2101,3711,0,0,0,0,0,0
$GC,3518,-0.59,-131.8,256.5,-3.7,280,3522,0.00,2.10,0.00,0.000,4,0.000,0.039,2509,694,3710,0,0,0,0,0,0
$GC,3685,-0.59,-131.8,264.6,-5.5,287,3691,0.00,2.10,0.00,0.000,6,0.000,0.040,2508,2104,3709,0,0,0,0,0,0
$GC,3939,-0.59,-131.8,279.5,-6.1,300,3942,0.00,2.12,0.00,0.000,4,0.000,0.054,2499,3506,3708,0,0,0,0,0,0
$GC,4197,-0.59,-131.8,292.9,-4.2,311,4201,0.00,2.05,0.00,0.000,6,0.000,0.030,2499,2091,3708,0,0,0,0,0,0
$GC,4455,-0.59,-131.8,302.4,-3.1,322,4459,0.00,2.05,0.00,0.000,4,0.000,0.041,2499,695,3707,0,0,0,0,0,0
$GC,4713,-0.59,-131.8,311.9,-4.8,327,4717,0.00,2.10,0.00,0.000,6,0.000,0.041,2499,2103,3705,0,0,0,0,0,0
$GC,4962,-0.59,-131.8,326.3,-6.1,333,4966,0.00,2.12,0.00,0.000,4,0.000,0.052,2498,3512,3704,0,0,0,0,0,0
$GC,5220,-0.59,-131.8,343.2,-6.3,338,5226,0.00,2.05,0.00,0.000,6,0.000,0.031,2498,2098,3702,0,0,0,0,0,0
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$GC,5715,-0.59,-131.8,368.7,-4.9,351,5719,0.00,2.10,0.00,0.000,4,0.000,0.042,2498,698,3699,0,0,0,0,0,0
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$GC,6840,-0.59,-131.8,423.0,-4.9,378,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2104,3697,0,0,0,0,0,0
$GC,7084,-0.59,-131.8,435.4,-4.9,384,7088,0.00,2.10,0.00,0.000,4,0.000,0.041,2498,701,3692,0,0,0,0,0,0
$GC,7341,-0.59,-131.8,449.1,-5.6,389,7346,0.00,2.10,0.00,0.000,6,0.000,0.042,2498,2102,3691,0,0,0,0,0,0
$GC,7591,-0.59,-131.8,460.6,-4.5,396,7595,0.00,2.10,0.00,0.000,4,0.000,0.041,2498,693,3690,0,0,0,0,0,0
$GC,7848,-0.59,-131.8,472.5,-4.5,401,7852,0.00,2.12,0.00,0.000,6,0.000,0.040,2498,2101,3689,0,0,0,0,0,0
$GC,8098,-0.59,-131.8,483.3,-4.4,407,8103,0.00,2.10,-0.10,0.000,4,0.000,0.058,2498,702,3710,0,0,0,0,0,0
$GC,8357,-0.59,-131.8,498.4,-5.6,412,8362,0.00,2.12,0.00,0.000,6,0.000,0.042,2498,2099,3710,0,0,0,0,0,0
$GC,8606,-0.59,-131.8,513.1,-6.0,419,8610,0.00,2.12,0.00,0.000,4,0.000,0.042,2500,704,3710,0,0,0,0,0,0
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$GC,13151,-0.59,-131.8,769.2,-6.3,528,13155,0.00,2.15,0.00,0.000,6,0.000,0.042,2497,2099,3696,0,0,0,0,0,0
$GC,13407,-0.59,-131.8,784.0,-5.9,535,13411,0.00,2.10,0.00,0.000,4,0.000,0.042,2498,697,3697,0,0,0,0,0,0
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$GC,13871,-0.59,-131.8,810.9,-5.5,546,13875,0.00,2.12,0.00,0.000,6,0.000,0.041,2498,2106,3696,0,0,0,0,0,0
$GC,14149,-0.59,-131.8,824.7,-4.8,553,14153,0.00,2.12,0.00,0.000,4,0.000,0.044,2498,714,3692,0,0,0,0,0,0
$GC,14170,-0.59,-131.8,825.8,-4.6,553,14174,0.00,2.10,0.00,0.000,6,0.000,0.041,2498,2102,3696,0,0,0,0,0,0
$GC,14427,-0.59,-131.8,839.1,-5.3,560,14431,0.00,2.10,0.00,0.000,4,0.000,0.042,2498,699,3695,0,0,0,0,0,0
$GC,14558,-0.59,-131.8,846.8,-5.2,563,14562,0.00,2.12,0.00,0.000,6,0.000,0.041,2498,2098,3695,0,0,0,0,0,0
$GC,14842,-0.59,-131.8,863.3,-5.9,570,14846,0.00,2.10,0.00,0.000,4,0.000,0.043,2498,702,3695,0,0,0,0,0,0
$GC,14931,-0.59,-131.8,869.0,-5.6,572,14935,0.00,2.12,0.00,0.000,6,0.000,0.042,2498,2104,3695,0,0,0,0,0,0
$GC,15208,-0.59,-131.8,884.6,-5.6,579,15212,0.00,2.12,0.00,0.000,4,0.000,0.044,2499,709,3694,0,0,0,0,0,0
$GC,15265,-0.59,-131.8,887.8,-5.3,580,15269,0.00,2.12,0.00,0.000,6,0.000,0.042,2498,2101,3694,0,0,0,0,0,0
$STATE,15529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15530,begin apogee
$GC,15536,-0.28,0.0,902.1,5.2,587,15652,0.32,0.00,111.30,1.161,6,0.071,0.000,2633,1963,3161,0,0,0,0,0,0
$STATE,15655,end apogee,CONTROL_FINISHED_OK
$STATE,15656,begin climb
$GC,15658,0.59,131.8,905.3,0.0,590,15782,0.73,2.28,115.53,1.121,4,0.074,0.040,2922,609,2620,0,0,0,0,0,0
$GC,15828,0.59,131.8,874.8,24.8,594,15832,0.00,2.20,0.00,0.000,6,0.000,0.042,2917,1987,2616,0,0,0,0,0,0
$GC,16112,0.59,131.8,800.5,26.1,601,16116,0.00,2.12,0.00,0.000,4,0.000,0.041,2927,613,2612,0,0,0,0,0,0
$GC,16127,0.59,131.8,795.9,25.5,601,16131,0.00,2.12,0.00,0.000,6,0.000,0.038,2927,1996,2611,0,0,0,0,0,0
$GC,16394,0.59,131.8,725.3,26.4,608,16398,0.00,2.20,0.00,0.000,4,0.000,0.053,2927,3403,2610,0,0,0,0,0,0
$GC,16416,0.59,131.8,719.5,28.3,608,16421,0.15,2.10,0.00,0.000,6,0.241,0.030,2905,2016,2611,0,0,0,0,0,0
$GC,16676,0.59,131.8,657.6,23.3,615,16680,0.00,2.20,0.00,0.000,4,0.000,0.040,2915,578,2610,0,0,0,0,0,0
$GC,16720,0.59,131.8,646.6,25.0,616,16724,0.00,2.15,0.00,0.000,6,0.000,0.037,2909,1989,2605,0,0,0,0,0,0
$GC,17005,0.59,131.8,580.2,22.9,623,17009,0.00,2.15,0.00,0.000,4,0.000,0.041,2918,578,2606,0,0,0,0,0,0
$GC,17037,0.59,131.8,571.7,24.9,623,17043,0.00,2.17,0.00,0.000,6,0.000,0.038,2918,1998,2608,0,0,0,0,0,0
$GC,17287,0.59,131.8,508.4,25.4,630,17288,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1998,2608,0,0,0,0,0,0
$GC,17532,0.59,131.8,448.6,24.5,636,17536,0.00,2.15,0.00,0.000,4,0.000,0.054,2918,3392,2605,0,0,0,0,0,0
$GC,17592,0.59,131.8,432.9,25.3,637,17596,0.00,2.10,0.00,0.000,6,0.000,0.031,2928,1984,2608,0,0,0,0,0,0
$GC,17859,0.59,131.8,368.9,24.1,644,17863,0.00,2.10,0.00,0.000,4,0.000,0.040,2940,583,2608,0,0,0,0,0,0
$GC,17888,0.59,131.8,362.7,23.2,644,17893,0.15,2.12,0.00,0.000,6,0.220,0.037,2906,1994,2605,0,0,0,0,0,0
$GC,18138,0.59,131.8,310.9,19.9,650,18142,0.00,2.12,0.00,0.000,4,0.000,0.041,2915,592,2605,0,0,0,0,0,0
$GC,18193,0.59,131.8,299.7,20.8,651,18197,0.00,2.15,0.00,0.000,6,0.000,0.037,2915,1985,2604,0,0,0,0,0,0
$GC,18450,0.59,131.8,253.5,18.0,663,18454,0.00,2.20,0.00,0.000,4,0.000,0.052,2919,3400,2604,0,0,0,0,0,0
$GC,18505,0.59,131.8,242.7,17.4,665,18511,0.00,2.08,0.00,0.000,6,0.000,0.031,2931,1990,2605,0,0,0,0,0,0
$GC,18759,0.59,131.8,196.5,17.1,678,18763,0.00,2.17,0.00,0.000,4,0.000,0.050,2925,3401,2604,0,0,0,0,0,0
$GC,18892,0.59,131.8,171.2,22.8,690,18896,0.15,2.08,0.00,0.000,6,0.219,0.028,2901,1980,2604,0,0,0,0,0,0
$GC,19154,0.59,131.8,123.1,16.7,714,19158,0.00,2.17,0.00,0.000,4,0.000,0.048,2891,3401,2604,0,0,0,0,0,0
$GC,19228,0.59,131.8,110.5,17.1,720,19232,0.00,2.08,0.00,0.000,6,0.000,0.029,2900,1979,2604,0,0,0,0,0,0
$GC,19493,0.59,131.8,72.3,13.8,744,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1973,2605,0,0,0,0,0,0
$GC,19757,0.59,131.8,41.8,9.4,769,19761,0.00,2.17,0.00,0.000,4,0.000,0.047,2900,3402,2605,0,0,0,0,0,0
$GC,19831,0.59,131.8,33.2,12.3,775,19839,0.00,2.10,0.00,0.000,6,0.000,0.029,2910,1992,2607,0,0,0,0,0,0
$GC,20090,0.59,131.8,10.8,8.1,821,20098,0.00,2.17,0.00,0.000,4,0.000,0.046,2911,3401,2608,0,0,0,0,0,0
$STATE,20179,end climb,SURFACE_DEPTH_REACHED
$STATE,20179,begin surface coast
$FINISH,0.1,1.022973
$STATE,20220,end surface coast,CONTROL_FINISHED_OK
$STATE,20220,begin surface
$SM_CCo,20241,53.95,0.498,0,0,2222,230.33
$SM_GC,1.29,0.00,0.00,53.95,0.000,0.000,0.498,52,2092,2222,-8.31,-0.20,230.33
$IRIDIUM_FIX,1936.66,-15631.55,110113,111116
$TT8_MAMPS,0.256178
$HUMID,1078950313
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.30
$XPDR_PINGS,107
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,4220321792
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59027816448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,13.881
$10V_AH,10.0,14.180
$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,19.550,203.200,226.825,53.950,0.000,74.272,71.663,605.563,26.750,0.000,16.431,1845.546,14483.987,418.448,4008.686,585.822,33.367,1777.962,0.000,3276.889,0.000,0.541,0.000
$DEVICE_MAMPS,250.042,69.797,1161.238,497.783,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,579.666,0.000,1295.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,43592,844
$CAP_FILE_SIZE,203271,0
$CFSIZE,260165632,198713344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,225137,1944.123,-15633.019,66,0.9,66,9.7