version: 66.07
glider: 513
mission: 7
dive: 118
start: 7 23 111 0 31 27
data:
$ID,513
$MISSION,7
$DIVE,118
$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,150
$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,220
$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,-422974.84
$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,2900
$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,67
$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,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,117
$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
$GPS1,230711,000437,1938.014,-15650.621,28,1.5,29,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.2
$GPS2,230711,003032,1937.682,-15650.623,13,1.7,13,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.069,-0.237
$KALMAN_X,-53430.0,838.1,567.6,32152.0,-8739.1
$KALMAN_Y,-42112.4,571.3,-43.7,22000.2,-6333.3
$MHEAD_RNG_PITCHd_Wd,154.1,70478,-15.1,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
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$GC,2958,-0.78,-146.5,208.0,-7.0,279,2962,0.00,2.10,0.00,0.000,6,0.000,0.037,2635,2087,3964,0,0,0,0,0,0
$GC,3212,-0.78,-146.5,224.9,-7.1,291,3216,0.00,2.17,0.00,0.000,4,0.000,0.052,2635,3510,3962,0,0,0,0,0,0
$GC,3291,-0.78,-146.5,230.3,-7.2,294,3296,0.00,2.08,0.00,0.000,6,0.000,0.030,2640,2084,3962,0,0,0,0,0,0
$GC,3545,-0.78,-146.5,245.6,-6.2,307,3548,0.00,2.08,0.00,0.000,4,0.000,0.039,2640,686,3961,0,0,0,0,0,0
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$GC,3816,-0.78,-146.5,262.1,-6.7,320,3820,0.00,2.08,0.00,0.000,4,0.000,0.038,2640,688,3959,0,0,0,0,0,0
$GC,3844,-0.78,-146.5,263.8,-5.8,321,3848,0.00,2.08,0.00,0.000,6,0.000,0.036,2640,2088,3959,0,0,0,0,0,0
$GC,4098,-0.78,-146.5,278.1,-5.7,333,4101,0.00,2.10,0.00,0.000,4,0.000,0.042,2641,693,3957,0,0,0,0,0,0
$GC,4177,-0.78,-146.5,282.7,-6.2,336,4182,0.00,2.10,0.00,0.000,6,0.000,0.039,2641,2087,3955,0,0,0,0,0,0
$GC,4431,-0.78,-146.5,298.2,-5.9,349,4435,0.00,2.17,0.00,0.000,4,0.000,0.053,2641,3502,3955,0,0,0,0,0,0
$GC,4521,-0.78,-146.5,304.8,-9.4,352,4525,0.00,2.08,0.00,0.000,6,0.000,0.031,2640,2081,3955,0,0,0,0,0,0
$GC,4799,-0.78,-146.5,324.4,-7.3,359,4803,0.00,2.05,0.00,0.000,4,0.000,0.040,2641,685,3953,0,0,0,0,0,0
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$GC,5586,-0.78,-146.5,377.6,-5.2,378,5590,0.00,2.10,0.00,0.000,6,0.000,0.038,2644,2080,3968,0,0,0,0,0,0
$GC,5869,-0.78,-146.5,394.0,-5.9,385,5873,0.00,2.20,0.00,0.000,4,0.000,0.054,2645,3504,3971,0,0,0,0,0,0
$GC,5881,-0.78,-146.5,394.6,-6.0,385,5885,0.00,2.10,0.00,0.000,6,0.000,0.031,2646,2089,3967,0,0,0,0,0,0
$GC,6148,-0.78,-146.5,410.1,-5.9,392,6152,0.00,2.08,0.00,0.000,4,0.000,0.040,2643,682,3965,0,0,0,0,0,0
$GC,6181,-0.78,-146.5,412.1,-5.5,392,6185,0.00,2.10,0.00,0.000,6,0.000,0.036,2645,2102,3966,0,0,0,0,0,0
$GC,6432,-0.78,-146.5,427.9,-6.6,398,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2101,3965,0,0,0,0,0,0
$GC,6675,-0.78,-146.5,444.0,-6.5,404,6679,0.00,2.10,0.00,0.000,4,0.000,0.040,2645,682,3963,0,0,0,0,0,0
$GC,6736,-0.78,-146.5,448.5,-8.1,405,6740,0.00,2.12,0.00,0.000,6,0.000,0.038,2647,2097,3963,0,0,0,0,0,0
$GC,7003,-0.78,-146.5,463.3,-5.4,412,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2096,3961,0,0,0,0,0,0
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$GC,7927,-0.78,-146.5,514.8,-8.0,434,7932,0.00,2.12,0.00,0.000,6,0.000,0.041,2647,2081,3956,0,0,0,0,0,0
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$GC,10918,-0.78,-146.5,685.1,-4.6,508,10922,0.00,2.12,0.00,0.000,4,0.000,0.043,2668,684,3944,0,0,0,0,0,0
$GC,10968,-0.78,-146.5,687.6,-4.7,509,10972,0.00,2.15,0.00,0.000,6,0.000,0.041,2668,2093,3945,0,0,0,0,0,0
$GC,11241,-0.78,-146.5,701.4,-5.2,516,11245,0.00,2.17,0.00,0.000,4,0.000,0.058,2662,3499,3943,0,0,0,0,0,0
$GC,11308,-0.78,-146.5,705.6,-7.9,517,11312,0.00,2.08,0.00,0.000,6,0.000,0.030,2671,2085,3943,0,0,0,0,0,0
$GC,11564,-0.78,-146.5,720.8,-5.9,524,11568,0.00,2.10,0.00,0.000,4,0.000,0.043,2671,694,3943,0,0,0,0,0,0
$GC,11620,-0.78,-146.5,725.0,-7.6,525,11624,0.00,2.10,0.00,0.000,6,0.000,0.041,2671,2092,3943,0,0,0,0,0,0
$GC,11887,-0.78,-146.5,743.5,-6.9,532,11891,0.00,2.15,0.00,0.000,4,0.000,0.054,2671,3496,3945,0,0,0,0,0,0
$GC,11976,-0.78,-146.5,751.7,-8.0,534,11980,0.00,2.08,0.00,0.000,6,0.000,0.033,2671,2091,3942,0,0,0,0,0,0
$GC,12255,-0.78,-146.5,772.1,-7.3,541,12259,0.00,2.17,0.00,0.000,4,0.000,0.054,2671,3494,3942,0,0,0,0,0,0
$GC,12367,-0.78,-146.5,781.8,-6.4,543,12371,0.00,2.08,0.00,0.000,6,0.000,0.032,2671,2088,3941,0,0,0,0,0,0
$GC,12623,-0.78,-146.5,796.9,-5.7,550,12627,0.00,2.17,0.00,0.000,4,0.000,0.054,2665,3492,3940,0,0,0,0,0,0
$GC,12724,-0.78,-146.5,803.5,-6.0,552,12728,0.00,2.08,0.00,0.000,6,0.000,0.033,2665,2092,3941,0,0,0,0,0,0
$GC,12990,-0.78,-146.5,814.1,-3.6,559,12994,0.00,2.10,0.00,0.000,4,0.000,0.040,2669,680,3940,0,0,0,0,0,0
$GC,13087,-0.78,-146.5,818.1,-4.9,561,13091,0.00,2.15,0.00,0.000,6,0.000,0.041,2669,2085,3940,0,0,0,0,0,0
$GC,13365,-0.78,-146.5,828.5,-3.8,568,13369,0.00,2.22,0.00,0.000,4,0.000,0.058,2661,3504,3939,0,0,0,0,0,0
$GC,13466,-0.78,-146.5,833.1,-3.8,570,13471,0.00,2.10,0.00,0.000,6,0.000,0.034,2664,2090,3939,0,0,0,0,0,0
$GC,13733,-0.78,-146.5,844.0,-4.2,577,13737,0.00,2.10,0.00,0.000,4,0.000,0.040,2666,685,3938,0,0,0,0,0,0
$GC,13813,-0.78,-146.5,848.2,-7.5,578,13818,0.00,2.15,0.00,0.000,6,0.000,0.039,2666,2097,3939,0,0,0,0,0,0
$GC,14063,-0.78,-146.5,861.2,-5.2,585,14067,0.00,2.17,0.00,0.000,4,0.000,0.054,2666,3493,3937,0,0,0,0,0,0
$GC,14238,-0.78,-146.5,874.8,-7.5,589,14242,0.00,2.08,0.00,0.000,6,0.000,0.031,2666,2088,3937,0,0,0,0,0,0
$GC,14522,-0.78,-146.5,891.8,-6.1,596,14526,0.00,2.10,0.00,0.000,4,0.000,0.045,2666,691,3936,0,0,0,0,0,0
$GC,14539,-0.78,-146.5,892.6,-5.6,596,14543,0.00,2.15,0.00,0.000,6,0.000,0.041,2666,2099,3937,0,0,0,0,0,0
$STATE,14675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14675,begin apogee
$GC,14683,-0.28,0.0,901.4,6.0,600,14805,0.40,0.00,119.12,1.158,6,0.076,0.000,2814,1933,3362,0,0,0,0,0,0
$STATE,14807,end apogee,CONTROL_FINISHED_OK
$STATE,14808,begin climb
$GC,14810,0.78,146.5,912.6,0.0,603,14946,0.95,2.22,127.75,1.119,4,0.075,0.035,3154,557,2762,0,0,0,0,0,0
$GC,15199,0.78,146.5,813.8,34.0,612,15203,0.00,2.17,0.00,0.000,6,0.000,0.036,3146,1965,2753,0,0,0,0,0,0
$GC,15483,0.78,146.5,719.0,33.1,619,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1965,2750,0,0,0,0,0,0
$GC,15726,0.78,146.5,638.7,32.4,625,15730,0.00,2.20,0.00,0.000,4,0.000,0.047,3134,3374,2750,0,0,0,0,0,0
$GC,15754,0.78,146.5,629.6,31.8,625,15758,0.00,2.12,0.00,0.000,6,0.000,0.027,3143,1970,2751,0,0,0,0,0,0
$GC,16010,0.78,146.5,550.0,31.1,632,16013,0.00,2.17,0.00,0.000,4,0.000,0.042,3135,3374,2752,0,0,0,0,0,0
$GC,16042,0.78,146.5,539.1,30.0,632,16048,0.00,2.10,0.00,0.000,6,0.000,0.026,3144,1956,2750,0,0,0,0,0,0
$GC,16292,0.78,146.5,461.6,30.7,639,16296,0.00,2.10,0.00,0.000,4,0.000,0.035,3155,554,2750,0,0,0,0,0,0
$GC,16338,0.78,146.5,448.1,29.3,640,16342,0.00,2.12,0.00,0.000,6,0.000,0.031,3145,1968,2748,0,0,0,0,0,0
$GC,16628,0.78,146.5,366.8,27.7,647,16631,0.00,2.15,0.00,0.000,4,0.000,0.043,3135,3371,2749,0,0,0,0,0,0
$GC,16683,0.78,146.5,350.0,28.5,648,16687,0.00,2.10,0.00,0.000,6,0.000,0.027,3141,1947,2749,0,0,0,0,0,0
$GC,16936,0.78,146.5,283.4,24.8,656,16940,0.00,2.17,0.00,0.000,4,0.000,0.041,3135,3371,2748,0,0,0,0,0,0
$GC,17194,0.78,146.5,220.9,22.9,667,17200,0.00,2.08,0.00,0.000,6,0.000,0.026,3144,1958,2748,0,0,0,0,0,0
$GC,17455,0.78,146.5,168.3,19.8,687,17459,0.00,2.08,0.00,0.000,4,0.000,0.032,3155,560,2746,0,0,0,0,0,0
$GC,17490,0.78,146.5,160.9,20.5,690,17494,0.00,2.10,0.00,0.000,6,0.000,0.030,3146,1968,2745,0,0,0,0,0,0
$GC,17757,0.78,146.5,111.5,15.3,714,17764,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1968,2745,0,0,0,0,0,0
$GC,18020,0.78,146.5,72.5,12.4,739,18024,0.00,2.10,0.00,0.000,4,0.000,0.035,3155,559,2746,0,0,0,0,0,0
$GC,18093,0.78,146.5,63.8,11.9,745,18097,0.00,2.08,0.00,0.000,6,0.000,0.031,3147,1959,2746,0,0,0,0,0,0
$GC,18358,0.78,146.5,35.5,12.0,769,18362,0.00,2.08,0.00,0.000,4,0.000,0.032,3155,569,2747,0,0,0,0,0,0
$GC,18606,0.84,196.5,19.3,6.6,809,18652,0.00,2.10,37.95,0.505,6,0.000,0.031,3147,1957,2558,0,0,0,0,0,0
$STATE,18742,end climb,SURFACE_DEPTH_REACHED
$STATE,18742,begin surface coast
$FINISH,0.1,1.023287
$STATE,18759,end surface coast,CONTROL_FINISHED_OK
$STATE,18759,begin surface
$SM_CCo,18781,10.38,0.447,0,0,2462,220.52
$SM_GC,3.75,0.00,0.00,10.38,0.000,0.000,0.447,57,2113,2462,-8.89,0.54,220.52
$IRIDIUM_FIX,1929.80,-15650.79,140113,181849
$TT8_MAMPS,0.257712
$HUMID,1079000411
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.30
$XPDR_PINGS,106
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,3605037056
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57901088768
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,16.264
$10V_AH,10.3,16.165
$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,20.650,212.075,284.825,10.375,0.000,115.176,140.326,860.720,26.500,0.000,15.273,1770.413,13424.670,409.297,4052.846,687.670,33.353,1666.848,0.000,3042.758,0.000,0.541,0.000
$DEVICE_MAMPS,253.110,81.302,1158.170,447.161,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,572.885,0.000,1440.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43569,836
$CAP_FILE_SIZE,206515,0
$CFSIZE,260165632,197242880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230711,054725,1935.485,-15650.720,105,1.0,106,9.6