version: 66.07
glider: 513
mission: 7
dive: 106
start: 7 20 111 9 17 14
data:
$ID,513
$MISSION,7
$DIVE,106
$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,300
$T_MISSION,600
$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,120
$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,200
$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,-422623.06
$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,2750
$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,45
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3260
$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,105
$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
$GPS1,200711,085806,1947.014,-15634.779,31,1.2,32,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.4
$GPS2,200711,091620,1946.973,-15635.462,11,1.4,11,9.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.109
$KALMAN_X,9560.2,-452.2,-64.7,-18865.3,-4711.7
$KALMAN_Y,-232062.6,243.3,755.6,246040.9,-3356.6
$MHEAD_RNG_PITCHd_Wd,52.8,62915,-19.7,-10.000
$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,2642,-0.93,-117.2,295.4,-8.5,201,2648,0.00,2.08,0.00,0.000,6,0.000,0.031,2426,2089,3742,0,0,0,0,0,0
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$GC,3481,-0.93,-117.2,363.6,-5.6,224,3485,0.00,2.17,0.00,0.000,4,0.000,0.057,2441,3502,3735,0,0,0,0,0,0
$GC,3502,-0.93,-117.2,365.1,-5.8,224,3506,0.00,2.08,0.00,0.000,6,0.000,0.032,2442,2103,3734,0,0,0,0,0,0
$GC,3758,-0.93,-117.2,378.7,-5.3,231,3762,0.00,2.10,0.00,0.000,4,0.000,0.045,2441,699,3732,0,0,0,0,0,0
$GC,3837,-0.93,-117.2,383.8,-6.8,232,3841,0.00,2.12,0.00,0.000,6,0.000,0.044,2432,2101,3732,0,0,0,0,0,0
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$GC,4138,-0.93,-117.2,405.4,-8.9,239,4143,0.00,2.10,-0.10,0.000,6,0.000,0.035,2421,2091,3750,0,0,0,0,0,0
$GC,4417,-0.93,-117.2,430.1,-9.1,246,4421,0.00,2.08,0.00,0.000,4,0.000,0.041,2421,695,3748,0,0,0,0,0,0
$GC,4451,-0.93,-117.2,433.2,-8.8,246,4457,0.12,2.12,0.00,0.000,6,0.160,0.044,2445,2099,3748,0,0,0,0,0,0
$GC,4701,-0.93,-117.2,449.9,-6.3,253,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2099,3746,0,0,0,0,0,0
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$GC,5189,-0.93,-117.2,477.1,-5.4,265,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2099,3743,0,0,0,0,0,0
$GC,5432,-0.93,-117.2,491.8,-6.1,271,5436,0.00,2.12,0.00,0.000,4,0.000,0.046,2449,696,3742,0,0,0,0,0,0
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$GC,6007,-0.93,-117.2,532.2,-7.4,285,6011,0.00,2.12,0.00,0.000,4,0.000,0.044,2426,696,3738,0,0,0,0,0,0
$GC,6053,-0.93,-117.2,536.2,-8.9,286,6057,0.12,2.12,0.00,0.000,6,0.156,0.044,2451,2101,3738,0,0,0,0,0,0
$GC,6330,-0.93,-117.2,554.7,-6.4,293,6334,0.00,2.15,0.00,0.000,4,0.000,0.056,2442,3504,3735,0,0,0,0,0,0
$GC,6381,-0.93,-117.2,558.2,-7.3,294,6385,0.00,2.08,0.00,0.000,6,0.000,0.034,2442,2108,3735,0,0,0,0,0,0
$GC,6654,-0.93,-117.2,574.7,-5.9,301,6658,0.00,2.12,0.00,0.000,4,0.000,0.044,2442,690,3734,0,0,0,0,0,0
$GC,6710,-0.93,-117.2,578.1,-6.2,302,6714,0.00,2.12,0.00,0.000,6,0.000,0.045,2432,2100,3734,0,0,0,0,0,0
$GC,6977,-0.93,-117.2,592.2,-5.3,309,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2101,3731,0,0,0,0,0,0
$GC,7220,-0.93,-117.2,605.9,-5.8,315,7224,0.00,2.15,0.00,0.000,4,0.000,0.044,2432,690,3731,0,0,1,0,0,0
$GC,7258,-0.93,-117.2,608.7,-7.2,315,7264,0.00,2.17,0.00,0.000,6,0.000,0.044,2421,2102,3730,0,0,0,0,0,0
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$GC,12168,-0.93,-117.2,887.5,-3.9,432,12172,0.00,2.15,0.00,0.000,4,0.000,0.054,2437,3509,3716,0,0,0,0,0,0
$GC,12201,-0.93,-117.2,888.8,-4.1,432,12206,0.00,2.10,0.00,0.000,6,0.000,0.033,2437,2100,3716,0,0,0,0,0,0
$GC,12451,-0.93,-117.2,897.8,-3.5,439,12455,0.00,2.12,0.00,0.000,4,0.000,0.049,2437,694,3714,0,0,0,0,0,0
$GC,12495,-0.93,-117.2,899.7,-3.6,440,12499,0.00,2.10,0.00,0.000,3,0.000,0.043,2427,2059,3715,0,0,0,0,0,0
$STATE,12500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12500,begin apogee
$GC,12507,-0.28,0.0,900.0,3.7,440,12606,0.68,0.00,94.90,1.152,6,0.127,0.000,2651,1971,3261,0,0,0,0,0,0
$STATE,12608,end apogee,CONTROL_FINISHED_OK
$STATE,12608,begin climb
$GC,12611,0.93,117.2,900.3,0.0,442,12726,1.12,2.42,103.40,1.121,4,0.057,0.048,3050,3393,2782,0,0,0,0,0,0
$GC,12805,0.93,117.2,856.4,34.6,447,12810,0.00,2.17,0.00,0.000,6,0.000,0.028,3057,1993,2777,0,0,0,0,0,0
$GC,13078,0.93,117.2,769.8,31.1,454,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1987,2775,0,0,0,0,0,0
$GC,13323,0.93,117.2,696.2,30.6,460,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1987,2772,0,0,0,0,0,0
$GC,13565,0.93,117.2,626.6,28.7,466,13569,0.00,2.22,0.00,0.000,4,0.000,0.050,3048,3401,2770,0,0,0,0,0,0
$GC,13587,0.93,117.2,620.1,29.5,466,13591,0.00,2.12,0.00,0.000,6,0.000,0.028,3057,1979,2771,0,0,0,0,0,0
$GC,13844,0.93,117.2,547.1,27.9,473,13848,0.00,2.22,0.00,0.000,4,0.000,0.051,3048,3399,2772,0,0,0,0,0,0
$GC,13899,0.93,117.2,532.0,26.4,474,13903,0.00,2.10,0.00,0.000,6,0.000,0.028,3057,1980,2770,0,0,0,0,0,0
$GC,14171,0.93,117.2,463.3,25.1,481,14174,0.00,2.08,0.00,0.000,4,0.000,0.036,3068,598,2769,0,0,0,0,0,0
$GC,14188,0.93,117.2,459.1,23.8,481,14192,0.00,2.12,0.00,0.000,6,0.000,0.036,3059,1993,2767,0,0,0,0,0,0
$GC,14456,0.93,117.2,395.6,23.7,488,14460,0.00,2.10,0.00,0.000,4,0.000,0.038,3069,597,2767,0,0,0,0,0,0
$GC,14483,0.93,117.2,388.4,25.5,488,14487,0.00,2.12,0.00,0.000,6,0.000,0.036,3060,1996,2765,0,0,0,0,0,0
$GC,14744,0.93,117.2,321.5,25.3,495,14748,0.00,2.12,0.00,0.000,4,0.000,0.046,3048,3396,2765,0,0,0,0,0,0
$GC,14930,0.93,117.2,276.7,22.1,500,14934,0.00,2.08,0.00,0.000,6,0.000,0.028,3058,1995,2766,0,0,0,0,0,0
$GC,15183,0.93,117.2,229.8,16.0,512,15187,0.00,2.15,0.00,0.000,4,0.000,0.044,3049,3397,2765,0,0,0,0,0,0
$GC,15438,0.93,117.2,178.3,17.6,528,15445,0.00,2.10,0.00,0.000,6,0.000,0.027,3058,1986,2768,0,0,0,0,0,0
$GC,15705,0.93,117.2,135.7,12.5,553,15709,0.00,2.15,0.00,0.000,4,0.000,0.047,3046,3397,2765,0,0,0,0,0,0
$GC,15956,0.93,117.2,94.8,14.7,575,15964,0.00,2.10,0.00,0.000,6,0.000,0.026,3058,1979,2765,0,0,0,0,0,0
$GC,16222,0.93,117.2,60.9,10.2,600,16226,0.00,2.17,0.00,0.000,4,0.000,0.044,3049,3400,2768,0,0,0,0,0,0
$GC,16362,1.03,198.9,52.2,5.3,612,16432,0.00,2.05,61.95,0.547,6,0.000,0.025,3058,1976,2449,0,0,0,0,0,0
$STATE,16628,end climb,SURFACE_DEPTH_REACHED
$STATE,16628,begin surface coast
$FINISH,0.1,1.023198
$STATE,16640,end surface coast,CONTROL_FINISHED_OK
$STATE,16640,begin surface
$SM_CCo,16723,0.00,0.000,0,0,2438,200.65
$SM_GC,2.01,8.00,0.00,0.00,0.048,0.000,0.000,57,2132,2438,-8.37,0.90,200.65
$IRIDIUM_FIX,1938.95,-15636.66,120113,030321
$TT8_MAMPS,0.151099
$HUMID,1079012024
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,22.70
$XPDR_PINGS,101
$AR_DIVENUM,106
$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,24.1,14.338
$10V_AH,10.2,14.503
$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,21.000,179.400,260.250,0.000,0.000,54.742,70.294,678.151,25.250,0.000,13.533,1391.159,12570.887,377.764,2938.784,543.669,33.360,1394.477,0.000,2180.735,0.000,0.540,0.000
$DEVICE_MAMPS,250.809,86.671,1152.034,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,446.088,0.000,922.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,33539,651
$CAP_FILE_SIZE,169690,0
$CFSIZE,260165632,198479872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200711,140407,1947.829,-15635.447,429,1.4,430,9.7