version: 66.07
glider: 513
mission: 7
dive: 128
start: 7 24 111 22 59 9
data:
$ID,513
$MISSION,7
$DIVE,128
$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,160
$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,-423248.97
$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,3100
$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,59
$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,127
$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
$GPS1,240711,224757,1922.468,-15642.646,57,1.0,57,9.6
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-80.2
$GPS2,240711,225814,1922.437,-15642.468,16,1.5,16,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.075,-0.242
$KALMAN_X,-37420.2,27.7,13.2,31736.8,11495.1
$KALMAN_Y,-21952.8,-938.9,-546.1,-24345.8,10131.3
$MHEAD_RNG_PITCHd_Wd,187.5,41788,-14.5,-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
$GC,28,-0.77,-156.2,0.0,0.0,0,82,0.00,0.00,-51.62,0.000,2,0.000,0.000,39,2118,3826,0,0,0,0,0,0
$GC,86,-0.77,-156.2,4.1,-7.9,8,108,11.68,2.17,-2.10,0.000,4,0.246,0.067,2833,3471,3963,0,0,0,0,0,0
$GC,195,-0.77,-156.2,25.9,-9.8,27,202,0.00,2.08,0.00,0.000,6,0.000,0.034,2839,2117,3966,0,0,0,0,0,0
$GC,468,-0.77,-156.2,47.8,-8.2,56,472,0.00,2.17,0.00,0.000,4,0.000,0.044,2839,690,3968,0,0,0,0,0,0
$GC,523,-0.77,-156.2,54.0,-8.0,60,530,0.00,2.12,0.00,0.000,6,0.000,0.043,2839,2058,3968,0,0,0,0,0,0
$GC,786,-0.77,-156.2,77.3,-8.9,85,790,0.00,2.05,0.00,0.000,4,0.000,0.037,2846,674,3973,0,0,0,0,0,0
$GC,948,-0.77,-156.2,93.9,-8.6,99,952,0.00,2.15,0.00,0.000,6,0.000,0.039,2846,2101,3971,0,0,0,0,0,0
$GC,1214,-0.77,-156.2,123.3,-11.5,123,1217,0.00,2.12,0.00,0.000,4,0.000,0.046,2846,3505,3971,0,0,0,0,0,0
$GC,1254,-0.77,-156.2,128.5,-11.5,126,1258,0.00,2.08,0.00,0.000,6,0.000,0.031,2846,2088,3972,0,0,0,0,0,0
$GC,1521,-0.77,-156.2,159.9,-11.5,150,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2083,3973,0,0,0,0,0,0
$GC,1784,-0.77,-156.2,187.4,-8.8,175,1788,0.00,2.08,0.00,0.000,4,0.000,0.034,2855,684,3971,0,0,0,0,0,0
$GC,1938,-0.77,-156.2,206.8,-10.2,186,1942,0.00,2.10,0.00,0.000,6,0.000,0.039,2855,2088,3973,0,0,0,0,0,0
$GC,2200,-0.77,-156.2,239.5,-14.8,199,2204,0.00,2.08,0.00,0.000,4,0.000,0.034,2873,676,3973,0,0,0,0,0,0
$GC,2458,-0.77,-156.2,278.3,-12.2,210,2464,0.00,2.15,0.00,0.000,6,0.000,0.041,2868,2094,3973,0,0,0,0,0,0
$GC,2710,-0.77,-156.2,311.3,-13.0,221,2714,0.00,2.12,0.00,0.000,4,0.000,0.044,2869,679,3972,0,0,0,0,0,0
$GC,2969,-0.77,-156.2,349.4,-15.8,226,2975,0.00,2.15,0.00,0.000,6,0.000,0.041,2870,2095,3974,0,0,0,0,0,0
$GC,3219,-0.77,-156.2,382.4,-14.1,233,3223,0.00,2.12,0.00,0.000,4,0.000,0.044,2870,691,3970,0,0,0,0,0,0
$GC,3425,-0.77,-156.2,411.7,-12.1,237,3429,0.00,2.15,0.00,0.000,6,0.000,0.045,2876,2094,3969,0,0,0,0,0,0
$GC,3681,-0.77,-156.2,446.8,-14.0,244,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2099,3966,0,0,0,0,0,0
$GC,3925,-0.77,-156.2,479.4,-13.7,250,3929,0.00,2.17,0.00,0.000,4,0.000,0.059,2872,3505,3964,0,0,0,0,0,0
$GC,4176,-0.77,-156.2,518.7,-15.1,255,4180,0.00,2.12,0.00,0.000,6,0.000,0.038,2878,2089,3962,0,0,0,0,0,0
$GC,4432,-0.77,-156.2,557.9,-15.3,262,4436,0.00,2.17,0.00,0.000,4,0.000,0.057,2879,3498,3960,0,0,0,0,0,0
$GC,4610,-0.77,-156.2,586.5,-14.5,266,4615,0.12,2.12,0.00,0.000,6,0.192,0.037,2859,2079,3958,0,0,0,0,0,0
$GC,4894,-0.77,-156.2,622.6,-12.1,273,4898,0.00,2.10,0.00,0.000,4,0.000,0.044,2866,676,3955,0,0,0,0,0,0
$GC,4904,-0.77,-156.2,623.2,-12.5,273,4908,0.00,2.17,0.00,0.000,6,0.000,0.042,2866,2101,3956,0,0,0,0,0,0
$GC,5178,-0.77,-156.2,658.9,-12.9,280,5181,0.00,2.12,0.00,0.000,4,0.000,0.031,2877,668,3953,0,0,0,0,0,0
$GC,5227,-0.77,-156.2,666.5,-13.3,281,5231,0.00,2.15,0.00,0.000,6,0.000,0.044,2877,2085,3953,0,0,0,0,0,0
$GC,5505,-0.77,-156.2,708.4,-15.5,288,5509,0.00,2.20,0.00,0.000,4,0.000,0.061,2877,3503,3953,0,0,0,0,0,0
$GC,5528,-0.77,-156.2,711.9,-13.8,288,5532,0.00,2.10,0.00,0.000,6,0.000,0.034,2881,2090,3950,0,0,0,0,0,0
$GC,5783,-0.77,-156.2,751.1,-15.2,295,5787,0.00,2.20,0.00,0.000,4,0.000,0.054,2882,3509,3949,0,0,0,0,0,0
$GC,5793,-0.77,-156.2,752.3,-15.2,295,5798,0.15,2.10,0.00,0.000,6,0.190,0.031,2854,2074,3949,0,0,0,0,0,0
$GC,6071,-0.77,-156.2,790.2,-13.5,302,6075,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3509,3945,0,0,0,0,0,0
$GC,6328,-0.77,-156.2,831.6,-16.3,307,6334,0.00,2.12,0.00,0.000,6,0.000,0.033,2864,2086,3944,0,0,0,0,0,0
$GC,6579,-0.77,-156.2,868.8,-14.7,314,6583,0.00,2.10,0.00,0.000,4,0.000,0.044,2876,684,3944,0,0,0,0,0,0
$GC,6595,-0.77,-156.2,871.4,-15.0,314,6599,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,2120,3944,0,0,0,0,0,0
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6825,-0.28,0.0,905.9,15.0,320,6948,0.38,0.00,119.15,1.151,6,0.081,0.000,3016,1943,3362,0,0,0,0,0,0
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6954,0.77,156.2,924.7,0.0,323,7096,0.98,2.20,134.82,1.112,4,0.085,0.030,3356,563,2722,0,0,0,0,0,0
$GC,7219,0.77,156.2,857.3,42.5,329,7223,0.00,2.15,0.00,0.000,6,0.000,0.031,3347,1954,2715,0,0,0,0,0,0
$GC,7492,0.77,156.2,743.4,42.1,336,7496,0.00,2.20,0.00,0.000,4,0.000,0.044,3336,3373,2713,0,0,0,0,0,0
$GC,7615,0.77,156.2,693.1,39.2,338,7621,0.00,2.12,0.00,0.000,6,0.000,0.027,3345,1951,2713,0,0,0,0,0,0
$GC,7865,0.77,156.2,595.3,39.0,345,7869,0.00,2.17,0.00,0.000,4,0.000,0.042,3332,3370,2710,0,0,0,0,0,0
$GC,7954,0.77,156.2,561.0,37.0,347,7958,0.00,2.10,0.00,0.000,6,0.000,0.027,3345,1967,2711,0,0,0,0,0,0
$GC,8238,0.77,156.2,456.1,37.0,354,8242,0.00,2.12,0.00,0.000,4,0.000,0.041,3336,3371,2710,0,0,0,0,0,0
$GC,8490,0.77,156.2,361.8,35.6,359,8494,0.00,2.08,0.00,0.000,6,0.000,0.026,3345,1950,2710,0,0,0,0,0,0
$GC,8753,0.77,156.2,278.5,29.6,367,8757,0.00,2.15,0.00,0.000,4,0.000,0.041,3336,3369,2708,0,0,0,0,0,0
$GC,9011,0.77,156.2,205.0,30.5,378,9017,0.00,2.05,0.00,0.000,6,0.000,0.025,3345,1961,2706,0,0,0,0,0,0
$GC,9275,0.77,156.2,136.0,25.4,402,9279,0.00,2.15,0.00,0.000,4,0.000,0.041,3333,3376,2706,0,0,0,0,0,0
$GC,9522,0.77,156.2,81.3,18.8,424,9530,0.00,2.08,0.00,0.000,6,0.000,0.027,3345,1967,2705,0,0,0,0,0,0
$GC,9789,0.77,156.2,40.8,12.9,449,9792,0.00,2.12,0.00,0.000,4,0.000,0.041,3336,3377,2705,0,0,0,0,0,0
$GC,10039,0.77,156.2,12.0,9.3,486,10047,0.00,2.10,0.00,0.000,6,0.000,0.025,3346,1937,2705,0,0,0,0,0,0
$STATE,10132,end climb,SURFACE_DEPTH_REACHED
$STATE,10132,begin surface coast
$FINISH,0.2,1.022657
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10191,28.48,0.489,0,0,2464,220.03
$SM_GC,3.04,0.00,0.00,28.48,0.000,0.000,0.489,59,2130,2464,-9.51,1.13,220.03
$IRIDIUM_FIX,1913.80,-15642.38,160113,141423
$TT8_MAMPS,0.24544
$HUMID,1079058476
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.30
$XPDR_PINGS,76
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2912550912
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57471303680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,17.606
$10V_AH,10.3,17.379
$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,23.825,98.450,253.975,28.475,0.000,31.143,32.431,347.284,19.000,0.000,18.160,1083.653,6520.712,349.909,2546.833,345.298,33.350,1167.296,0.000,2107.527,0.000,0.539,0.000
$DEVICE_MAMPS,246.207,66.729,1150.500,489.346,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.474,0.000,1031.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,26912,509
$CAP_FILE_SIZE,108979,0
$CFSIZE,260165632,196460544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,015147,1922.283,-15641.813,64,2.0,79,9.6