version: 66.07
glider: 513
mission: 7
dive: 121
start: 7 23 111 17 27 13
data:
$ID,513
$MISSION,7
$DIVE,121
$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,-423108.47
$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,75
$R_STBD_OVSHOOT,46
$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,120
$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
$GPS1,230711,170331,1930.521,-15649.895,60,2.0,61,9.6
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-80.1
$GPS2,230711,172619,1930.245,-15649.713,18,2.1,37,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.061,-0.239
$KALMAN_X,-56125.5,605.8,1003.2,36219.0,-4979.4
$KALMAN_Y,-41918.9,822.3,950.2,6757.5,-3992.4
$MHEAD_RNG_PITCHd_Wd,156.1,56619,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
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$GC,3625,-0.78,-146.5,268.3,-6.5,289,3628,0.00,2.08,0.00,0.000,4,0.000,0.036,2640,685,3962,0,0,0,0,0,0
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$GC,4343,-0.78,-146.5,319.0,-6.9,315,4349,0.00,2.08,0.00,0.000,6,0.000,0.034,2649,2088,3957,0,0,0,0,0,0
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$GC,5864,-0.78,-146.5,393.0,-8.6,353,5868,0.00,2.12,0.00,0.000,6,0.000,0.037,2657,2102,3969,0,0,0,0,0,0
$GC,6143,-0.78,-146.5,409.6,-5.3,360,6147,0.00,2.12,0.00,0.000,4,0.000,0.041,2668,687,3968,0,0,0,0,0,0
$GC,6238,-0.78,-146.5,415.1,-6.9,362,6242,0.00,2.12,0.00,0.000,6,0.000,0.039,2667,2090,3968,0,0,0,0,0,0
$GC,6511,-0.78,-146.5,427.4,-4.4,369,6515,0.00,2.10,0.00,0.000,4,0.000,0.041,2667,695,3967,0,0,0,0,0,0
$GC,6545,-0.78,-146.5,429.3,-3.9,369,6549,0.00,2.10,0.00,0.000,6,0.000,0.039,2667,2100,3966,0,0,0,0,0,0
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$GC,12374,-0.78,-146.5,735.9,-5.6,511,12378,0.00,2.10,0.00,0.000,6,0.000,0.031,2679,2088,3945,0,0,0,0,0,0
$GC,12631,-0.78,-146.5,748.4,-4.7,518,12635,0.00,2.10,0.00,0.000,4,0.000,0.043,2680,685,3944,0,0,0,0,0,0
$GC,12675,-0.78,-146.5,750.5,-5.0,519,12679,0.00,2.15,0.00,0.000,6,0.000,0.041,2679,2088,3944,0,0,0,0,0,0
$GC,12954,-0.78,-146.5,762.9,-4.3,526,12958,0.00,2.20,0.00,0.000,4,0.000,0.058,2679,3497,3943,0,0,0,0,0,0
$GC,13038,-0.78,-146.5,768.5,-5.4,528,13042,0.00,2.08,0.00,0.000,6,0.000,0.031,2679,2088,3943,0,0,0,0,0,0
$GC,13322,-0.78,-146.5,782.8,-5.2,535,13326,0.00,2.10,0.00,0.000,4,0.000,0.043,2680,686,3943,0,0,0,0,0,0
$GC,13396,-0.78,-146.5,786.8,-5.0,536,13400,0.00,2.17,0.00,0.000,6,0.000,0.044,2679,2101,3943,0,0,0,0,0,0
$GC,13651,-0.78,-146.5,800.8,-5.6,543,13655,0.00,2.17,0.00,0.000,4,0.000,0.055,2672,3498,3943,0,0,0,0,0,0
$GC,13702,-0.78,-146.5,803.5,-5.6,544,13706,0.00,2.08,0.00,0.000,6,0.000,0.029,2672,2083,3942,0,0,0,0,0,0
$GC,13976,-0.78,-146.5,817.4,-5.1,551,13980,0.00,2.08,0.00,0.000,4,0.000,0.041,2681,691,3943,0,0,0,0,0,0
$GC,14037,-0.78,-146.5,821.9,-6.6,552,14041,0.00,2.15,0.00,0.000,6,0.000,0.044,2681,2093,3942,0,0,0,0,0,0
$GC,14304,-0.78,-146.5,837.4,-5.9,559,14308,0.00,2.17,0.00,0.000,4,0.000,0.053,2681,3499,3939,0,0,0,0,0,0
$GC,14316,-0.78,-146.5,838.2,-5.7,559,14320,0.00,2.08,0.00,0.000,6,0.000,0.033,2680,2093,3941,0,0,0,0,0,0
$GC,14582,-0.78,-146.5,853.9,-5.7,566,14587,0.00,2.20,0.00,0.000,4,0.000,0.054,2681,3509,3944,0,0,0,0,0,0
$GC,14778,-0.78,-146.5,868.6,-6.3,570,14782,0.00,2.15,0.00,0.000,6,0.000,0.035,2681,2078,3941,0,0,0,0,0,0
$GC,15044,-0.78,-146.5,883.9,-5.8,577,15048,0.00,2.08,0.00,0.000,4,0.000,0.044,2683,692,3940,0,0,0,0,0,0
$GC,15141,-0.78,-146.5,889.8,-6.3,579,15145,0.10,2.12,0.00,0.000,6,0.118,0.042,2647,2093,3940,0,0,0,0,0,0
$STATE,15369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15369,begin apogee
$GC,15376,-0.28,0.0,902.2,5.5,585,15499,0.45,0.00,120.45,1.159,6,0.078,0.000,2814,1927,3361,0,0,0,0,0,0
$STATE,15502,end apogee,CONTROL_FINISHED_OK
$STATE,15502,begin climb
$GC,15505,0.78,146.5,912.5,0.0,588,15642,0.95,2.22,128.48,1.122,4,0.075,0.041,3155,569,2761,0,0,0,0,0,0
$GC,15759,0.78,146.5,861.0,34.7,594,15763,0.00,2.20,0.00,0.000,6,0.000,0.034,3147,1963,2753,0,0,0,0,0,0
$GC,16042,0.78,146.5,763.2,34.4,601,16046,0.00,2.20,0.00,0.000,4,0.000,0.047,3136,3367,2752,0,0,0,0,0,0
$GC,16092,0.78,146.5,745.4,34.9,602,16096,0.00,2.12,0.00,0.000,6,0.000,0.028,3144,1966,2752,0,0,0,0,0,0
$GC,16371,0.78,146.5,652.2,33.5,609,16375,0.00,2.17,0.00,0.000,4,0.000,0.042,3132,3372,2750,0,0,0,0,0,0
$GC,16438,0.78,146.5,628.9,36.9,610,16442,0.00,2.15,0.00,0.000,6,0.000,0.027,3145,1955,2750,0,0,0,0,0,0
$GC,16698,0.78,146.5,544.6,32.9,617,16702,0.00,2.17,0.00,0.000,4,0.000,0.042,3136,3372,2749,0,0,0,0,0,0
$GC,16721,0.78,146.5,537.2,33.9,617,16725,0.00,2.10,0.00,0.000,6,0.000,0.026,3145,1956,2750,0,0,0,0,0,0
$GC,16976,0.78,146.5,457.3,30.9,624,16977,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1952,2749,0,0,0,0,0,0
$GC,17219,0.78,146.5,384.9,29.2,630,17223,0.00,2.17,0.00,0.000,4,0.000,0.044,3137,3372,2748,0,0,0,0,0,0
$GC,17298,0.78,146.5,361.5,30.5,631,17302,0.00,2.10,0.00,0.000,6,0.000,0.027,3146,1951,2749,0,0,0,0,0,0
$GC,17548,0.78,146.5,296.0,25.7,637,17552,0.00,2.17,0.00,0.000,4,0.000,0.044,3137,3370,2748,0,0,0,0,0,0
$GC,17687,0.78,146.5,257.5,25.6,643,17691,0.00,2.08,0.00,0.000,6,0.000,0.027,3146,1962,2747,0,0,0,0,0,0
$GC,17954,0.78,146.5,200.0,18.1,656,17958,0.00,2.17,0.00,0.000,4,0.000,0.043,3137,3374,2747,0,0,0,0,0,0
$GC,18038,0.78,146.5,184.8,14.0,663,18042,0.00,2.08,0.00,0.000,6,0.000,0.025,3146,1956,2750,0,0,0,0,0,0
$GC,18304,0.78,146.5,136.1,19.2,687,18307,0.00,2.05,0.00,0.000,4,0.000,0.033,3157,568,2746,0,0,0,0,0,0
$GC,18317,0.78,146.5,132.8,19.6,688,18321,0.00,2.10,0.00,0.000,6,0.000,0.031,3149,1973,2745,0,0,0,0,0,0
$GC,18583,0.78,146.5,84.9,15.8,712,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1972,2745,0,0,0,0,0,0
$GC,18846,0.78,146.5,49.9,11.1,737,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1972,2746,0,0,0,0,0,0
$GC,19100,0.78,146.5,27.7,9.5,763,19108,0.00,2.12,0.00,0.000,4,0.000,0.042,3143,3359,2748,0,0,0,0,0,0
$GC,19344,0.94,274.2,7.0,3.5,809,19411,0.12,2.08,60.83,0.499,2,0.075,0.026,3203,1954,2419,0,0,0,0,0,0
$STATE,19412,end climb,SURFACE_DEPTH_REACHED
$STATE,19412,begin surface coast
$FINISH,0.0,1.011854
$STATE,19448,end surface coast,CONTROL_FINISHED_OK
$STATE,19448,begin surface
$SM_CCo,19529,0.00,0.000,0,0,2411,232.54
$SM_GC,2.31,8.60,0.00,0.00,0.059,0.000,0.000,55,2110,2411,-8.84,0.59,232.54
$IRIDIUM_FIX,1925.22,-15650.79,150113,111149
$TT8_MAMPS,0.246207
$HUMID,1078976119
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.50
$XPDR_PINGS,101
$AR_DIVENUM,121
$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,24.0,16.743
$10V_AH,10.3,16.584
$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,21.300,220.800,309.750,0.000,0.000,83.300,108.152,780.069,25.250,0.000,40.144,1774.275,14160.011,401.650,3916.022,647.879,33.356,1675.436,0.000,2978.855,0.000,0.540,0.000
$DEVICE_MAMPS,249.275,73.632,1158.937,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,566.054,0.000,1328.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43484,825
$CAP_FILE_SIZE,208082,0
$CFSIZE,260165632,196935680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,225555,1928.372,-15649.143,126,1.1,127,9.6