version: 66.07
glider: 513
mission: 7
dive: 116
start: 7 22 111 13 37 31
data:
$ID,513
$MISSION,7
$DIVE,116
$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,727.54791
$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,-422934.72
$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,69
$R_STBD_OVSHOOT,60
$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,115
$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
$GPS1,220711,131236,1941.461,-15649.582,419,1.5,420,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-81.4
$GPS2,220711,133638,1941.005,-15649.950,93,1.6,104,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.231,0.063
$KALMAN_X,-42759.0,259.4,823.4,22979.3,-10039.3
$KALMAN_Y,-32046.7,-202.6,223.7,18591.1,-6697.2
$MHEAD_RNG_PITCHd_Wd,65.0,87474,-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,2928,-0.80,-136.7,199.6,-7.1,281,2932,0.00,2.15,0.00,0.000,4,0.000,0.052,2717,3497,3925,0,0,0,0,0,0
$GC,3057,-0.80,-136.7,209.8,-6.1,287,3061,0.00,2.08,0.00,0.000,6,0.000,0.029,2718,2085,3924,0,0,0,0,0,0
$GC,3324,-0.80,-136.7,225.6,-4.9,300,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2079,3923,0,0,0,0,0,0
$GC,3569,-0.80,-136.7,237.4,-4.0,312,3573,0.00,2.17,0.00,0.000,4,0.000,0.049,2717,3500,3923,0,0,0,0,0,0
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$GC,3902,-0.80,-136.7,258.3,-6.2,328,3905,0.00,2.05,0.00,0.000,4,0.000,0.041,2698,695,3921,0,0,0,0,0,0
$GC,3953,-0.80,-136.7,262.1,-8.0,330,3957,0.00,2.08,0.00,0.000,6,0.000,0.036,2698,2098,3921,0,0,0,0,0,0
$GC,4213,-0.80,-136.7,277.2,-5.7,343,4217,0.00,2.08,0.00,0.000,4,0.000,0.041,2698,696,3919,0,0,0,0,0,0
$GC,4275,-0.80,-136.7,281.0,-7.3,346,4279,0.00,2.08,0.00,0.000,6,0.000,0.038,2697,2089,3919,0,0,0,0,0,0
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$GC,5561,-0.80,-136.7,351.2,-3.7,385,5565,0.00,2.10,0.00,0.000,4,0.000,0.039,2698,675,3916,0,0,0,0,0,0
$GC,5616,-0.80,-136.7,354.9,-5.1,386,5620,0.00,2.12,0.00,0.000,6,0.000,0.038,2699,2090,3911,0,0,0,0,0,0
$GC,5883,-0.80,-136.7,373.9,-7.7,393,5887,0.00,2.15,0.00,0.000,4,0.000,0.052,2699,3504,3910,0,0,0,0,0,0
$GC,6042,-0.80,-136.7,388.7,-10.8,396,6047,0.00,2.10,-0.10,0.000,6,0.000,0.033,2703,2088,3930,0,0,0,0,0,0
$GC,6297,-0.80,-136.7,406.3,-6.4,403,6301,0.00,2.17,0.00,0.000,4,0.000,0.055,2703,3496,3929,0,0,0,0,0,0
$GC,6370,-0.80,-136.7,412.0,-8.7,404,6374,0.00,2.10,0.00,0.000,6,0.000,0.030,2714,2076,3929,0,0,0,0,0,0
$GC,6620,-0.80,-136.7,429.8,-7.0,410,6623,0.00,2.03,0.00,0.000,4,0.000,0.038,2725,689,3925,0,0,0,0,0,0
$GC,6717,-0.80,-136.7,437.7,-9.1,412,6721,0.00,2.12,0.00,0.000,6,0.000,0.040,2721,2091,3927,0,0,0,0,0,0
$GC,6995,-0.80,-136.7,458.6,-7.7,419,6999,0.00,2.08,0.00,0.000,4,0.000,0.042,2723,696,3925,0,0,0,0,0,0
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$GC,10683,-0.80,-136.7,693.9,-6.5,508,10687,0.00,2.20,0.00,0.000,4,0.000,0.058,2704,3498,3909,0,0,0,0,0,0
$GC,10779,-0.80,-136.7,701.7,-6.4,510,10783,0.00,2.12,0.00,0.000,6,0.000,0.031,2704,2083,3906,0,0,0,0,0,0
$GC,11052,-0.80,-136.7,719.7,-6.3,517,11056,0.00,2.08,0.00,0.000,4,0.000,0.039,2713,675,3911,0,0,0,0,0,0
$GC,11130,-0.80,-136.7,725.7,-7.5,518,11135,0.00,2.15,0.00,0.000,6,0.000,0.038,2712,2096,3907,0,0,0,0,0,0
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$GC,11639,-0.80,-136.7,768.6,-7.3,530,11644,0.00,2.12,0.00,0.000,6,0.000,0.033,2723,2086,3905,0,0,0,0,0,0
$GC,11890,-0.80,-136.7,787.6,-7.1,537,11894,0.00,2.20,0.00,0.000,4,0.000,0.056,2723,3494,3905,0,0,0,0,0,0
$GC,11973,-0.80,-136.7,796.0,-9.4,538,11979,0.10,2.12,0.00,0.000,6,0.139,0.036,2689,2089,3905,0,0,0,0,0,0
$GC,12223,-0.80,-136.7,811.5,-6.0,545,12227,0.00,2.20,0.00,0.000,4,0.000,0.059,2689,3492,3904,0,0,0,0,0,0
$GC,12284,-0.80,-136.7,816.6,-8.6,546,12288,0.00,2.12,0.00,0.000,6,0.000,0.035,2688,2092,3904,0,0,0,0,0,0
$GC,12546,-0.80,-136.7,832.7,-6.2,553,12549,0.00,2.10,0.00,0.000,4,0.000,0.045,2688,687,3902,0,0,0,0,0,0
$GC,12659,-0.80,-136.7,839.7,-7.6,555,12663,0.00,2.15,0.00,0.000,6,0.000,0.042,2688,2089,3904,0,0,0,0,0,0
$GC,12914,-0.80,-136.7,854.9,-5.7,562,12918,0.00,2.20,0.00,0.000,4,0.000,0.058,2689,3498,3903,0,0,0,0,0,0
$GC,13004,-0.80,-136.7,862.2,-8.3,564,13008,0.00,2.12,0.00,0.000,6,0.000,0.031,2689,2081,3902,0,0,0,0,0,0
$GC,13283,-0.80,-136.7,877.9,-5.7,571,13287,0.00,2.28,0.00,0.000,4,0.000,0.061,2689,3507,3901,0,0,0,0,0,0
$GC,13310,-0.80,-136.7,879.9,-4.7,571,13314,0.00,2.12,0.00,0.000,6,0.000,0.035,2689,2101,3904,0,0,0,0,0,0
$GC,13566,-0.80,-136.7,894.8,-5.9,578,13570,0.00,2.22,0.00,0.000,4,0.000,0.058,2688,3501,3901,0,0,0,0,0,0
$GC,13617,-0.80,-136.7,898.5,-6.6,579,13621,0.00,2.12,0.00,0.000,6,0.000,0.031,2688,2076,3901,0,0,0,0,0,0
$STATE,13643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13643,begin apogee
$GC,13649,-0.28,0.0,900.5,6.1,580,13765,0.47,0.00,111.45,1.154,6,0.081,0.000,2863,1933,3363,0,0,0,0,0,0
$STATE,13768,end apogee,CONTROL_FINISHED_OK
$STATE,13768,begin climb
$GC,13772,0.80,136.7,911.8,0.0,583,13899,0.98,2.33,119.43,1.120,4,0.077,0.044,3192,3365,2801,0,0,0,0,0,0
$GC,14152,0.80,136.7,811.9,34.2,591,14156,0.00,2.15,0.00,0.000,6,0.000,0.029,3201,1963,2794,0,0,0,0,0,0
$GC,14407,0.80,136.7,724.6,34.0,598,14411,0.00,2.25,0.00,0.000,4,0.000,0.045,3189,3387,2791,0,0,0,0,0,0
$GC,14602,0.80,136.7,656.4,32.8,602,14607,0.00,2.17,0.00,0.000,6,0.000,0.029,3203,1964,2791,0,0,0,0,0,0
$GC,14869,0.80,136.7,572.2,31.8,609,14873,0.00,2.20,0.00,0.000,4,0.000,0.043,3188,3377,2789,0,0,0,0,0,0
$GC,15044,0.80,136.7,517.9,29.4,613,15048,0.00,2.12,0.00,0.000,6,0.000,0.027,3202,1955,2790,0,0,0,0,0,0
$GC,15327,0.80,136.7,435.9,28.1,620,15331,0.00,2.20,0.00,0.000,4,0.000,0.041,3192,3382,2788,0,0,0,0,0,0
$GC,15457,0.80,136.7,398.5,30.2,623,15461,0.00,2.12,0.00,0.000,6,0.000,0.028,3202,1955,2788,0,0,0,0,0,0
$GC,15740,0.80,136.7,324.4,25.9,630,15743,0.00,2.08,0.00,0.000,4,0.000,0.035,3212,564,2785,0,0,0,0,0,0
$GC,15886,0.80,136.7,289.3,23.8,633,15890,0.00,2.12,0.00,0.000,6,0.000,0.031,3210,1984,2787,0,0,0,0,0,0
$GC,16139,0.80,136.7,230.5,22.6,645,16143,0.00,2.12,0.00,0.000,4,0.000,0.043,3199,3373,2786,0,0,0,0,0,0
$GC,16224,0.80,136.7,213.7,20.7,649,16228,0.00,2.10,0.00,0.000,6,0.000,0.026,3208,1954,2786,0,0,0,0,0,0
$GC,16489,0.80,136.7,163.3,22.4,670,16493,0.00,2.08,0.00,0.000,4,0.000,0.034,3219,556,2785,0,0,0,0,0,0
$GC,16740,0.80,136.7,113.7,15.8,693,16744,0.00,2.08,0.00,0.000,6,0.000,0.028,3210,1968,2784,0,0,0,0,0,0
$GC,17005,0.80,136.7,76.6,13.6,717,17009,0.00,2.12,0.00,0.000,4,0.000,0.041,3200,3366,2784,0,0,0,0,0,0
$GC,17056,0.81,151.1,72.1,8.0,721,17072,0.00,2.08,9.73,0.520,6,0.000,0.025,3209,1935,2744,0,0,0,0,0,0
$GC,17335,0.81,151.1,42.7,10.1,747,17339,0.00,2.00,0.00,0.000,4,0.000,0.032,3219,569,2744,0,0,0,0,0,0
$GC,17349,0.81,151.1,41.3,10.3,748,17353,0.00,2.05,0.00,0.000,6,0.000,0.028,3216,1964,2743,0,0,0,0,0,0
$GC,17610,0.86,192.2,18.5,6.8,786,17650,0.00,2.08,34.10,0.500,4,0.000,0.030,3224,578,2576,0,0,0,0,0,0
$GC,17686,0.86,192.2,10.5,15.8,798,17693,0.00,2.08,0.00,0.000,6,0.000,0.029,3215,1953,2574,0,0,0,0,0,0
$STATE,17721,end climb,SURFACE_DEPTH_REACHED
$STATE,17721,begin surface coast
$FINISH,0.5,1.023237
$STATE,17733,end surface coast,CONTROL_FINISHED_OK
$STATE,17733,begin surface
$SM_CCo,17754,304.00,0.472,0,0,392,727.55
$SM_GC,0.87,0.00,0.00,304.00,0.000,0.000,0.472,44,2115,392,-9.05,0.71,727.55
$IRIDIUM_FIX,1934.38,-15651.99,140113,070709
$TT8_MAMPS,0.149565
$HUMID,1078819990
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.40
$XPDR_PINGS,100
$AR_DIVENUM,116
$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,24.1,15.951
$10V_AH,10.0,15.884
$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,21.425,213.025,274.700,304.000,0.000,144.121,265.311,434.941,25.000,0.000,106.656,1751.985,12442.264,679.473,4077.616,547.924,33.357,1952.236,0.000,3116.219,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,74.399,1153.568,472.472,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,552.115,0.000,1433.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,43453,806
$CAP_FILE_SIZE,197499,0
$CFSIZE,260165632,197410816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,184006,1939.605,-15650.396,33,0.9,34,9.7