version: 66.07
glider: 513
mission: 7
dive: 131
start: 7 25 111 8 49 5
data:
$ID,513
$MISSION,7
$DIVE,131
$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,-423360.03
$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,70
$R_STBD_OVSHOOT,73
$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,130
$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
$GPS1,250711,082536,1922.444,-15640.051,34,1.0,34,9.6
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.6
$GPS2,250711,084808,1922.863,-15639.856,10,1.6,10,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.094,-0.235
$KALMAN_X,-28082.2,-2202.1,-528.5,29772.5,14951.7
$KALMAN_Y,-8331.8,-809.1,-889.4,-36954.2,17338.3
$MHEAD_RNG_PITCHd_Wd,192.3,43290,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,144,0.00,0.00,-114.00,0.000,2,0.000,0.000,36,2135,3828,0,0,0,0,0,0
$GC,148,-0.77,-156.2,4.0,-7.3,18,170,11.73,2.20,-2.17,0.000,4,0.249,0.056,2853,725,3963,0,0,0,0,0,0
$GC,210,-0.77,-156.2,19.1,5.8,28,218,0.00,2.03,0.00,0.000,6,0.000,0.036,2853,2049,3964,0,0,0,0,0,0
$GC,473,-0.77,-156.2,40.5,-8.1,65,476,0.00,1.98,0.00,0.000,4,0.000,0.031,2863,705,3964,0,0,0,0,0,0
$GC,574,-0.77,-156.2,49.0,-9.8,74,578,0.00,2.10,0.00,0.000,6,0.000,0.041,2863,2087,3964,0,0,0,0,0,0
$GC,836,-0.77,-156.2,71.9,-8.7,98,840,0.00,2.17,0.00,0.000,4,0.000,0.051,2860,3503,3964,0,0,0,0,0,0
$GC,867,-0.77,-156.2,75.5,-10.0,100,871,0.00,2.03,0.00,0.000,6,0.000,0.032,2864,2115,3964,0,0,0,0,0,0
$GC,1132,-0.77,-156.2,105.0,-13.2,124,1136,0.00,2.08,0.00,0.000,4,0.000,0.029,2875,673,3964,0,0,0,0,0,0
$GC,1164,-0.77,-156.2,110.2,-14.4,126,1171,0.00,2.15,0.00,0.000,6,0.000,0.036,2875,2096,3964,0,0,0,0,0,0
$GC,1431,-0.77,-156.2,144.8,-13.3,151,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2101,3964,0,0,0,0,0,0
$GC,1694,-0.77,-156.2,177.9,-11.5,176,1698,0.00,2.10,0.00,0.000,4,0.000,0.041,2874,688,3963,0,0,0,0,0,0
$GC,1791,-0.77,-156.2,190.8,-12.6,184,1795,0.00,2.12,0.00,0.000,6,0.000,0.042,2876,2088,3960,0,0,0,0,0,0
$GC,2046,-0.77,-156.2,224.1,-12.9,199,2050,0.00,2.10,0.00,0.000,4,0.000,0.043,2881,681,3962,0,0,0,0,0,0
$GC,2137,-0.77,-156.2,236.5,-13.3,203,2141,0.00,2.12,0.00,0.000,6,0.000,0.042,2881,2098,3961,0,0,0,0,0,0
$GC,2401,-0.77,-156.2,269.6,-11.4,216,2406,0.00,2.12,-0.03,0.000,4,0.000,0.058,2889,692,3967,0,0,0,0,0,0
$GC,2450,-0.77,-156.2,276.2,-10.6,218,2454,0.00,2.08,0.00,0.000,6,0.000,0.039,2883,2085,3967,0,0,0,0,0,0
$GC,2709,-0.77,-156.2,311.5,-14.3,229,2713,0.00,2.17,0.00,0.000,4,0.000,0.056,2883,3495,3965,0,0,0,0,0,0
$GC,2782,-0.77,-156.2,324.7,-16.9,230,2786,0.10,2.05,0.00,0.000,6,0.148,0.032,2854,2091,3964,0,0,0,0,0,0
$GC,3031,-0.77,-156.2,358.8,-13.9,236,3035,0.00,2.08,0.00,0.000,4,0.000,0.044,2856,694,3962,0,0,0,0,0,0
$GC,3099,-0.77,-156.2,367.6,-13.0,237,3103,0.00,2.12,0.00,0.000,6,0.000,0.048,2857,2089,3961,0,0,0,0,0,0
$GC,3359,-0.77,-156.2,400.2,-12.0,244,3363,0.00,2.15,0.00,0.000,4,0.000,0.056,2858,3498,3962,0,0,0,0,0,0
$GC,3381,-0.77,-156.2,402.8,-10.4,244,3386,0.00,2.05,-0.05,0.000,6,0.000,0.031,2867,2093,3969,0,0,0,0,0,0
$GC,3643,-0.77,-156.2,434.4,-11.8,251,3647,0.00,2.08,0.00,0.000,4,0.000,0.037,2876,670,3968,0,0,0,0,0,0
$GC,3900,-0.77,-156.2,469.8,-15.9,256,3904,0.00,2.12,0.00,0.000,6,0.000,0.036,2879,2100,3965,0,0,0,0,0,0
$GC,4157,-0.77,-156.2,502.5,-12.3,263,4161,0.00,2.10,0.00,0.000,4,0.000,0.034,2891,672,3962,0,0,0,0,0,0
$GC,4415,-0.77,-156.2,541.7,-15.9,268,4422,0.15,2.12,0.00,0.000,6,0.264,0.042,2862,2088,3960,0,0,0,0,0,0
$GC,4665,-0.77,-156.2,579.7,-14.5,275,4669,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,669,3957,0,0,0,0,0,0
$GC,4923,-0.77,-156.2,622.7,-19.5,280,4927,0.00,2.15,0.00,0.000,6,0.000,0.041,2883,2090,3954,0,0,0,0,0,0
$GC,5173,-0.77,-156.2,659.9,-14.9,286,5177,0.00,2.10,0.00,0.000,4,0.000,0.039,2891,669,3951,0,0,0,0,0,0
$GC,5431,-0.77,-156.2,700.1,-17.0,291,5438,0.17,2.12,0.00,0.000,6,0.265,0.036,2858,2101,3949,0,0,0,0,0,0
$GC,5681,-0.77,-156.2,735.0,-13.5,298,5685,0.00,2.10,0.00,0.000,4,0.000,0.038,2873,669,3948,0,0,0,0,0,0
$GC,5741,-0.77,-156.2,743.6,-12.1,299,5746,0.00,2.17,0.00,0.000,6,0.000,0.041,2873,2078,3950,0,0,0,0,0,0
$GC,6009,-0.77,-156.2,781.3,-14.5,306,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2082,3944,0,0,0,0,0,0
$GC,6252,-0.77,-156.2,814.5,-13.9,312,6256,0.00,2.22,0.00,0.000,4,0.000,0.058,2874,3505,3943,0,0,0,0,0,0
$GC,6510,-0.77,-156.2,855.8,-15.8,317,6516,0.12,2.10,0.00,0.000,6,0.245,0.031,2861,2069,3941,0,0,0,0,0,0
$GC,6760,-0.77,-156.2,888.6,-12.8,324,6764,0.00,2.17,0.00,0.000,4,0.000,0.046,2861,3514,3943,0,0,0,0,0,0
$GC,6815,-0.77,-156.2,896.8,-13.7,325,6819,0.00,2.08,0.00,0.000,6,0.000,0.036,2869,2106,3939,0,0,0,0,0,0
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6849,-0.28,0.0,901.2,14.7,326,6971,0.38,0.00,119.05,1.146,6,0.069,0.000,3012,1934,3362,0,0,0,0,0,0
$STATE,6973,end apogee,CONTROL_FINISHED_OK
$STATE,6973,begin climb
$GC,6976,0.77,156.2,918.0,0.0,329,7118,0.95,2.17,134.77,1.108,4,0.077,0.032,3349,565,2723,0,0,0,0,0,0
$GC,7372,0.77,156.2,792.3,41.7,338,7376,0.00,2.15,0.00,0.000,6,0.000,0.033,3339,1982,2712,0,0,0,0,0,0
$GC,7651,0.77,156.2,676.4,42.3,345,7655,0.00,2.12,0.00,0.000,4,0.000,0.044,3329,3371,2711,0,0,0,0,0,0
$GC,7667,0.77,156.2,669.0,41.4,345,7671,0.00,2.08,0.00,0.000,6,0.000,0.027,3338,1969,2711,0,0,0,0,0,0
$GC,7933,0.77,156.2,561.8,39.9,352,7937,0.00,2.12,0.00,0.000,4,0.000,0.040,3330,3370,2709,0,0,0,0,0,0
$GC,7980,0.77,156.2,543.5,41.6,353,7984,0.00,2.08,0.00,0.000,6,0.000,0.026,3339,1943,2709,0,0,0,0,0,0
$GC,8269,0.77,156.2,433.9,37.1,360,8272,0.00,2.17,0.00,0.000,4,0.000,0.039,3330,3379,2708,0,0,0,0,0,0
$GC,8454,0.77,156.2,366.9,35.9,364,8458,0.00,2.08,0.00,0.000,6,0.000,0.028,3334,1969,2709,0,0,0,0,0,0
$GC,8706,0.77,156.2,284.7,32.4,371,8709,0.00,2.10,0.00,0.000,4,0.000,0.038,3330,3372,2706,0,0,0,0,0,0
$GC,8964,0.77,156.2,204.1,25.1,382,8970,0.00,2.08,0.00,0.000,6,0.000,0.024,3339,1938,2705,0,0,0,0,0,0
$GC,9228,0.77,156.2,136.1,26.3,406,9232,0.00,2.15,0.00,0.000,4,0.000,0.038,3326,3371,2703,0,0,0,0,0,0
$GC,9478,0.77,156.2,76.9,23.7,428,9486,0.00,2.05,0.00,0.000,6,0.000,0.023,3339,1965,2703,0,0,0,0,0,0
$GC,9743,0.77,156.2,35.5,14.5,453,9747,0.00,2.10,0.00,0.000,4,0.000,0.038,3330,3371,2705,0,0,0,0,0,0
$GC,9923,0.79,166.8,18.4,8.2,481,9939,0.00,2.05,6.12,0.439,6,0.000,0.023,3339,1955,2681,0,0,0,0,0,0
$STATE,10119,end climb,SURFACE_DEPTH_REACHED
$STATE,10119,begin surface coast
$FINISH,0.2,1.023379
$STATE,10147,end surface coast,CONTROL_FINISHED_OK
$STATE,10148,begin surface
$SM_CCo,10180,300.23,0.479,0,0,394,727.55
$SM_GC,0.86,0.00,0.00,300.23,0.000,0.000,0.479,41,2139,394,-9.51,1.41,727.55
$IRIDIUM_FIX,1913.80,-15640.29,170113,030327
$TT8_MAMPS,0.147264
$HUMID,1078927087
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,22.60
$XPDR_PINGS,82
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2874441728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57222397952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.091
$10V_AH,10.1,17.681
$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,24.025,101.625,259.950,300.225,0.000,134.494,221.376,526.189,20.500,0.000,14.883,1088.623,6666.623,647.650,3024.708,418.608,33.354,1511.813,0.000,2149.196,0.000,0.542,0.000
$DEVICE_MAMPS,265.382,67.496,1145.898,479.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.081,0.000,1080.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353752
$DATA_FILE_SIZE,27012,522
$CAP_FILE_SIZE,123846,0
$CFSIZE,260165632,196198400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,114516,1923.272,-15639.364,10,5.4,29,9.6