version: 66.07
glider: 513
mission: 7
dive: 113
start: 7 21 111 21 49 25
data:
$ID,513
$MISSION,7
$DIVE,113
$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,350
$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,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,-422770.44
$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,2950
$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,2090
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3360
$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,112
$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
$GPS1,210711,213136,1945.412,-15646.612,30,0.8,31,9.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,7
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.2
$GPS2,210711,214831,1945.344,-15646.926,10,1.3,10,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209,0.117
$KALMAN_X,-23668.7,313.5,70.2,9893.7,-8973.3
$KALMAN_Y,-17825.3,297.5,313.5,11828.1,-6977.9
$MHEAD_RNG_PITCHd_Wd,51.1,78061,-15.7,-8.571
$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,3421,-0.80,-136.7,243.0,-6.9,297,3425,0.00,2.05,0.00,0.000,6,0.000,0.029,2712,2091,3914,0,0,0,0,0,0
$GC,3680,-0.80,-136.7,263.0,-8.1,310,3684,0.00,2.17,0.00,0.000,4,0.000,0.053,2706,3497,3915,0,0,0,0,0,0
$GC,3792,-0.80,-136.7,271.6,-8.3,315,3795,0.00,2.05,0.00,0.000,6,0.000,0.028,2716,2088,3912,0,0,0,0,0,0
$GC,4053,-0.80,-136.7,286.4,-5.7,328,4056,0.00,2.08,0.00,0.000,4,0.000,0.039,2716,690,3911,0,0,0,0,0,0
$GC,4171,-0.80,-136.7,295.4,-9.0,333,4175,0.00,2.08,0.00,0.000,6,0.000,0.038,2716,2086,3909,0,0,0,0,0,0
$GC,4442,-0.80,-136.7,314.6,-6.9,341,4447,0.00,2.10,-0.10,0.000,4,0.000,0.053,2726,683,3928,0,0,0,0,0,0
$GC,4459,-0.80,-136.7,316.3,-6.9,341,4463,0.00,2.10,0.00,0.000,6,0.000,0.037,2727,2094,3928,0,0,0,0,0,0
$GC,4725,-0.80,-136.7,334.1,-6.3,348,4729,0.00,2.15,0.00,0.000,4,0.000,0.055,2727,3487,3926,0,0,0,0,0,0
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$GC,6031,-0.80,-136.7,415.2,-5.4,380,6035,0.00,2.15,0.00,0.000,4,0.000,0.055,2706,3509,3916,0,0,0,0,0,0
$GC,6115,-0.80,-136.7,421.8,-6.7,382,6119,0.00,2.12,0.00,0.000,6,0.000,0.034,2708,2084,3916,0,0,0,0,0,0
$GC,6400,-0.80,-136.7,443.4,-7.8,389,6404,0.00,2.17,0.00,0.000,4,0.000,0.056,2697,3493,3913,0,0,0,0,0,0
$GC,6417,-0.80,-136.7,444.5,-7.4,389,6421,0.00,2.10,0.00,0.000,6,0.000,0.032,2704,2085,3911,0,0,0,0,0,0
$GC,6678,-0.80,-136.7,464.7,-7.8,396,6682,0.00,2.20,0.00,0.000,4,0.000,0.058,2700,3496,3912,0,0,0,0,0,0
$GC,6802,-0.80,-136.7,475.2,-7.0,398,6806,0.00,2.08,0.00,0.000,6,0.000,0.032,2700,2082,3911,0,0,0,0,0,0
$GC,7052,-0.80,-136.7,491.6,-6.2,404,7056,0.00,2.08,0.00,0.000,4,0.000,0.039,2709,684,3910,0,0,0,0,0,0
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$GC,11147,-0.80,-136.7,758.3,-5.6,504,11151,0.00,2.10,0.00,0.000,4,0.000,0.037,2731,670,3892,0,0,0,0,0,0
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$GC,11884,-0.80,-136.7,805.8,-8.3,522,11888,0.00,2.12,0.00,0.000,6,0.000,0.034,2691,2083,3888,0,0,0,0,0,0
$GC,12169,-0.80,-136.7,827.8,-7.8,529,12173,0.00,2.22,0.00,0.000,4,0.000,0.058,2688,3498,3889,0,0,0,0,0,0
$GC,12218,-0.80,-136.7,832.6,-9.4,530,12222,0.00,2.08,0.00,0.000,6,0.000,0.031,2686,2087,3889,0,0,0,0,0,0
$GC,12497,-0.80,-136.7,854.4,-8.0,537,12501,0.00,2.10,0.00,0.000,4,0.000,0.043,2693,681,3889,0,0,0,0,0,0
$GC,12559,-0.80,-136.7,860.1,-9.9,538,12563,0.00,2.15,0.00,0.000,6,0.000,0.043,2693,2092,3889,0,0,0,0,0,0
$GC,12825,-0.80,-136.7,880.1,-7.3,545,12829,0.00,2.17,0.00,0.000,4,0.000,0.053,2693,3498,3887,0,0,0,0,0,0
$GC,12841,-0.80,-136.7,881.9,-7.0,545,12845,0.00,2.10,0.00,0.000,6,0.000,0.031,2702,2089,3887,0,0,0,0,0,0
$STATE,13099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13099,begin apogee
$GC,13107,-0.28,0.0,902.2,7.5,552,13223,0.43,0.00,108.90,1.151,6,0.080,0.000,2860,1922,3361,0,0,0,0,0,0
$STATE,13226,end apogee,CONTROL_FINISHED_OK
$STATE,13226,begin climb
$GC,13228,0.80,136.7,914.9,0.0,555,13357,0.95,2.35,119.30,1.121,4,0.066,0.039,3191,3372,2802,0,0,0,0,0,0
$GC,13531,0.80,136.7,841.3,36.0,562,13535,0.00,2.12,0.00,0.000,6,0.000,0.025,3200,1970,2797,0,0,0,0,0,0
$GC,13815,0.80,136.7,743.5,34.1,569,13819,0.00,2.20,0.00,0.000,4,0.000,0.041,3191,3386,2792,0,0,0,0,0,0
$GC,13915,0.80,136.7,708.0,33.1,571,13919,0.00,2.12,0.00,0.000,6,0.000,0.028,3201,1968,2792,0,0,0,0,0,0
$GC,14187,0.80,136.7,616.5,33.4,578,14191,0.00,2.17,0.00,0.000,4,0.000,0.042,3192,3376,2791,0,0,0,0,0,0
$GC,14215,0.80,136.7,606.9,34.6,578,14219,0.00,2.12,0.00,0.000,6,0.000,0.027,3197,1950,2791,0,0,0,0,0,0
$GC,14470,0.80,136.7,520.5,33.4,585,14474,0.00,2.20,0.00,0.000,4,0.000,0.041,3192,3387,2790,0,0,0,0,0,0
$GC,14617,0.80,136.7,473.9,30.4,588,14621,0.00,2.12,0.00,0.000,6,0.000,0.028,3201,1953,2790,0,0,0,0,0,0
$GC,14883,0.80,136.7,396.8,27.9,595,14887,0.00,2.20,0.00,0.000,4,0.000,0.041,3192,3389,2790,0,0,0,0,0,0
$GC,14898,0.80,136.7,392.3,26.9,595,14903,0.00,2.15,0.00,0.000,6,0.000,0.028,3201,1959,2790,0,0,0,0,0,0
$GC,15165,0.80,136.7,322.5,25.5,602,15169,0.00,2.17,0.00,0.000,4,0.000,0.041,3192,3378,2788,0,0,0,0,0,0
$GC,15313,0.80,136.7,286.6,23.6,605,15319,0.00,2.10,0.00,0.000,6,0.000,0.026,3201,1950,2790,0,0,0,0,0,0
$GC,15567,0.80,136.7,234.0,19.0,618,15571,0.00,2.05,0.00,0.000,4,0.000,0.032,3212,561,2787,0,0,0,0,0,0
$GC,15578,0.80,136.7,231.5,19.1,618,15582,0.00,2.12,0.00,0.000,6,0.000,0.034,3210,1979,2786,0,0,0,0,0,0
$GC,15836,0.80,136.7,180.9,18.0,634,15839,0.00,2.10,0.00,0.000,4,0.000,0.041,3200,3361,2786,0,0,0,0,0,0
$GC,16088,0.80,136.7,134.4,18.9,657,16092,0.00,2.08,0.00,0.000,6,0.000,0.027,3208,1951,2787,0,0,0,0,0,0
$GC,16352,0.80,136.7,90.5,12.3,681,16356,0.00,2.15,0.00,0.000,4,0.000,0.043,3200,3364,2786,0,0,0,0,0,0
$GC,16600,0.80,136.7,61.7,9.5,703,16607,0.00,2.08,0.00,0.000,6,0.000,0.025,3208,1949,2787,0,0,0,0,0,0
$GC,16866,0.87,194.6,40.7,6.1,728,16915,0.00,2.22,43.92,0.526,4,0.000,0.040,3200,3369,2567,0,0,0,0,0,0
$STATE,17076,end climb,SURFACE_DEPTH_REACHED
$STATE,17076,begin surface coast
$FINISH,0.2,1.022709
$STATE,17088,end surface coast,CONTROL_FINISHED_OK
$STATE,17088,begin surface
$SM_CCo,17111,1.75,0.071,0,0,2544,200.16
$SM_GC,2.58,0.00,0.00,1.75,0.000,0.000,0.071,55,2092,2544,-9.05,0.03,200.16
$IRIDIUM_FIX,1936.66,-15643.88,130113,101054
$TT8_MAMPS,0.256945
$HUMID,1079034605
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.80
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,3835920384
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58239844352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,15.450
$10V_AH,10.3,15.448
$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,21.300,204.125,272.125,1.750,0.000,25.256,34.501,725.629,23.500,0.000,12.184,1625.473,11948.653,406.743,3575.320,568.020,33.347,1611.612,0.000,2834.623,0.000,0.540,0.000
$DEVICE_MAMPS,251.576,70.564,1151.267,70.564,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,520.463,0.000,1311.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,40272,761
$CAP_FILE_SIZE,186530,0
$CFSIZE,260165632,197775360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,024257,1944.636,-15647.461,440,1.8,440,9.7