version: 66.07
glider: 513
mission: 7
dive: 130
start: 7 25 111 5 32 15
data:
$ID,513
$MISSION,7
$DIVE,130
$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,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,-423344.53
$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,63
$R_STBD_OVSHOOT,43
$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,129
$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
$GPS1,250711,050407,1922.115,-15641.098,167,1.3,167,9.6
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-78.6
$GPS2,250711,053121,1922.439,-15640.882,48,1.5,48,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.095,-0.235
$KALMAN_X,-30576.3,-1492.6,-1215.8,30454.6,15600.2
$KALMAN_Y,-13247.5,-829.0,-662.7,-33039.6,14935.6
$MHEAD_RNG_PITCHd_Wd,192.4,42178,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-0.77,-156.2,0.0,0.0,0,77,0.00,0.00,-44.50,0.000,2,0.000,0.000,36,2107,3838,0,0,0,0,0,0
$GC,81,-0.77,-156.2,4.4,-8.2,7,103,11.60,2.20,-1.95,0.000,4,0.245,0.060,2849,718,3962,0,0,0,0,0,0
$GC,162,-0.77,-156.2,21.9,-6.0,21,170,0.00,2.12,0.00,0.000,6,0.000,0.043,2849,2080,3965,0,0,0,0,0,0
$GC,431,-0.77,-156.2,44.1,-8.5,55,435,0.00,2.05,0.00,0.000,4,0.000,0.037,2855,707,3963,0,0,0,0,0,0
$GC,485,-0.77,-156.2,50.3,-10.4,59,492,0.00,2.12,0.00,0.000,6,0.000,0.041,2858,2081,3966,0,0,0,0,0,0
$GC,750,-0.77,-156.2,78.6,-10.1,84,754,0.00,2.08,0.00,0.000,4,0.000,0.040,2858,706,3967,0,0,0,0,0,0
$GC,966,-0.77,-156.2,103.5,-12.2,103,970,0.00,2.10,0.00,0.000,6,0.000,0.039,2858,2096,3968,0,0,0,0,0,0
$GC,1230,-0.77,-156.2,131.2,-13.1,127,1234,0.00,2.08,0.00,0.000,4,0.000,0.041,2858,3499,3967,0,0,0,0,0,0
$GC,1260,-0.77,-156.2,135.9,-11.6,129,1264,0.00,2.05,0.00,0.000,6,0.000,0.033,2858,2106,3968,0,0,0,0,0,0
$GC,1526,-0.77,-156.2,174.9,-13.1,153,1530,0.00,2.12,0.00,0.000,4,0.000,0.038,2858,670,3968,0,0,0,0,0,0
$GC,1709,-0.77,-156.2,199.4,-10.9,169,1713,0.00,2.12,0.00,0.000,6,0.000,0.038,2859,2100,3969,0,0,0,0,0,0
$GC,1962,-0.77,-156.2,226.2,-10.4,181,1966,0.00,2.12,0.00,0.000,4,0.000,0.041,2860,674,3968,0,0,0,0,0,0
$GC,2006,-0.77,-156.2,231.1,-9.7,183,2010,0.00,2.12,0.00,0.000,6,0.000,0.042,2860,2085,3968,0,0,0,0,0,0
$GC,2272,-0.77,-156.2,267.9,-15.4,196,2275,0.00,2.08,0.00,0.000,4,0.000,0.039,2862,674,3966,0,0,0,0,0,0
$GC,2310,-0.77,-156.2,273.9,-14.7,197,2316,0.00,2.15,0.00,0.000,6,0.000,0.041,2862,2100,3967,0,0,0,0,0,0
$GC,2583,-0.77,-156.2,313.7,-13.4,209,2587,0.00,2.08,0.00,0.000,4,0.000,0.037,2863,3514,3966,0,0,0,0,0,0
$GC,2839,-0.77,-156.2,349.3,-13.8,214,2845,0.00,2.10,0.00,0.000,6,0.000,0.028,2877,2066,3965,0,0,0,0,0,0
$GC,3089,-0.77,-156.2,384.1,-14.0,221,3093,0.00,2.00,0.00,0.000,4,0.000,0.031,2890,676,3963,0,0,0,0,0,0
$GC,3105,-0.77,-156.2,387.9,-16.2,221,3110,0.12,2.15,0.00,0.000,6,0.146,0.040,2854,2097,3963,0,0,0,0,0,0
$GC,3378,-0.77,-156.2,427.9,-15.2,228,3382,0.00,2.15,0.00,0.000,4,0.000,0.055,2854,3494,3961,0,0,0,0,0,0
$GC,3563,-0.77,-156.2,455.5,-11.8,232,3567,0.00,2.05,-0.05,0.000,6,0.000,0.032,2864,2093,3971,0,0,0,0,0,0
$GC,3842,-0.77,-156.2,488.6,-11.7,239,3846,0.00,2.17,0.00,0.000,4,0.000,0.055,2865,3505,3969,0,0,0,0,0,0
$GC,3988,-0.77,-156.2,510.1,-12.6,242,3992,0.00,2.08,0.00,0.000,6,0.000,0.035,2868,2091,3970,0,0,0,0,0,0
$GC,4255,-0.77,-156.2,545.6,-13.1,249,4259,0.00,2.08,0.00,0.000,4,0.000,0.037,2879,674,3965,0,0,0,0,0,0
$GC,4512,-0.77,-156.2,588.4,-18.4,254,4516,0.00,2.15,0.00,0.000,6,0.000,0.041,2880,2091,3961,0,0,0,0,0,0
$GC,4769,-0.77,-156.2,629.7,-16.4,261,4773,0.00,2.17,0.00,0.000,4,0.000,0.058,2880,3494,3959,0,0,0,0,0,0
$GC,5026,-0.77,-156.2,674.1,-20.2,266,5032,0.15,2.08,0.00,0.000,6,0.227,0.030,2857,2071,3958,0,0,0,0,0,0
$GC,5277,-0.77,-156.2,705.4,-12.2,273,5281,0.00,2.17,0.00,0.000,4,0.000,0.045,2857,3524,3956,0,0,0,0,0,0
$GC,5287,-0.77,-156.2,706.5,-12.5,273,5291,0.00,2.08,0.00,0.000,6,0.000,0.033,2867,2106,3955,0,0,0,0,0,0
$GC,5553,-0.77,-156.2,742.3,-13.0,280,5557,0.00,2.12,0.00,0.000,4,0.000,0.048,2868,3504,3953,0,0,0,0,0,0
$GC,5809,-0.77,-156.2,780.8,-16.7,285,5814,0.00,2.10,0.00,0.000,6,0.000,0.028,2883,2064,3951,0,0,0,0,0,0
$GC,6065,-0.77,-156.2,813.5,-12.1,292,6069,0.00,2.20,0.00,0.000,4,0.000,0.048,2881,3502,3950,0,0,0,0,0,0
$GC,6322,-0.77,-156.2,850.4,-13.4,297,6328,0.15,2.08,0.00,0.000,6,0.194,0.033,2854,2103,3949,0,0,0,0,0,0
$GC,6572,-0.77,-156.2,880.1,-11.9,304,6576,0.00,2.12,0.00,0.000,4,0.000,0.043,2865,679,3947,0,0,0,0,0,0
$GC,6594,-0.77,-156.2,882.8,-11.2,304,6598,0.00,2.12,0.00,0.000,6,0.000,0.041,2860,2086,3946,0,0,0,0,0,0
$STATE,6730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6730,begin apogee
$GC,6737,-0.28,0.0,901.3,13.0,308,6859,0.38,0.00,119.57,1.143,6,0.060,0.000,3024,1946,3362,0,0,0,0,0,0
$STATE,6882,end apogee,CONTROL_FINISHED_OK
$STATE,6882,begin climb
$GC,6885,0.77,156.2,918.8,0.0,311,7027,0.90,2.33,134.20,1.110,4,0.071,0.041,3333,3374,2724,0,0,0,0,0,0
$GC,7280,0.77,156.2,795.7,41.7,320,7284,0.00,2.12,0.00,0.000,6,0.000,0.025,3342,1949,2717,0,0,0,0,0,0
$GC,7558,0.77,156.2,682.8,40.8,327,7562,0.00,2.20,0.00,0.000,4,0.000,0.039,3330,3385,2719,0,0,0,0,0,0
$GC,7815,0.77,156.2,575.8,41.9,332,7820,0.00,2.10,0.00,0.000,6,0.000,0.028,3341,1967,2714,0,0,0,0,0,0
$GC,8065,0.77,156.2,478.1,38.8,339,8069,0.00,2.15,0.00,0.000,4,0.000,0.040,3334,3380,2711,0,0,0,0,0,0
$GC,8132,0.77,156.2,453.2,36.0,340,8136,0.00,2.12,0.00,0.000,6,0.000,0.027,3343,1945,2711,0,0,0,0,0,0
$GC,8393,0.77,156.2,363.1,34.4,347,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1941,2710,0,0,0,0,0,0
$GC,8637,0.77,156.2,281.6,32.3,354,8641,0.00,2.17,0.00,0.000,4,0.000,0.038,3333,3385,2709,0,0,0,0,0,0
$GC,8894,0.77,156.2,204.8,27.4,365,8900,0.00,2.10,0.00,0.000,6,0.000,0.028,3342,1954,2708,0,0,0,0,0,0
$GC,9157,0.77,156.2,135.7,25.3,389,9161,0.00,2.17,0.00,0.000,4,0.000,0.042,3333,3382,2704,0,0,0,0,0,0
$GC,9406,0.77,156.2,79.0,20.8,411,9414,0.00,2.10,0.00,0.000,6,0.000,0.025,3339,1954,2706,0,0,0,0,0,0
$GC,9671,0.77,156.2,30.6,14.0,436,9674,0.00,2.15,0.00,0.000,4,0.000,0.040,3334,3385,2706,0,0,0,0,0,0
$GC,9914,0.84,211.0,4.7,6.5,481,9944,0.00,2.10,24.52,0.501,2,0.000,0.026,3340,1958,2573,0,0,0,0,0,0
$STATE,9944,end climb,SURFACE_DEPTH_REACHED
$STATE,9944,begin surface coast
$FINISH,0.1,1.023245
$STATE,9971,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9994,312.35,0.485,0,0,394,727.55
$SM_GC,0.91,0.00,0.00,312.35,0.000,0.000,0.485,41,2134,394,-9.52,1.24,727.55
$IRIDIUM_FIX,1913.80,-15638.19,160113,232343
$TT8_MAMPS,0.250042
$HUMID,1078947732
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,21.70
$XPDR_PINGS,84
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2836037632
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57364709376
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,17.920
$10V_AH,10.2,17.578
$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,22.900,97.975,278.300,312.350,0.000,147.643,221.799,736.301,21.000,0.000,50.124,1051.781,6605.245,636.278,3238.542,418.694,33.356,1461.920,0.000,2074.336,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,69.797,1142.830,484.744,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.275,0.000,962.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,26933,490
$CAP_FILE_SIZE,123549,0
$CFSIZE,260165632,196284416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,082536,1922.444,-15640.051,34,1.0,34,9.6