version: 66.07
glider: 513
mission: 7
dive: 134
start: 7 25 111 18 25 58
data:
$ID,513
$MISSION,7
$DIVE,134
$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,-423464.84
$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,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,66
$R_STBD_OVSHOOT,60
$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,133
$AR_SAMPLENUM,2
$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
$GPS1,250711,181357,1925.569,-15637.909,40,2.3,59,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-79.6
$GPS2,250711,182504,1925.803,-15637.701,17,1.8,18,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.082,-0.240
$KALMAN_X,-24250.1,-901.1,-651.4,28519.2,12863.0
$KALMAN_Y,8893.7,-2214.2,-1541.4,-46645.6,27474.5
$MHEAD_RNG_PITCHd_Wd,189.2,49467,-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,-156.2,0.0,0.0,0,87,0.00,0.00,-57.95,0.000,2,0.000,0.000,37,2107,3828,0,0,0,0,0,0
$GC,91,-0.77,-156.2,4.2,-7.8,9,112,11.82,2.17,-2.08,0.000,4,0.252,0.061,2853,712,3963,0,0,0,0,0,0
$GC,194,-0.77,-156.2,26.3,-9.9,27,202,0.00,2.08,0.00,0.000,6,0.000,0.035,2854,2069,3967,0,0,0,0,0,0
$GC,466,-0.77,-156.2,47.2,-8.4,57,470,0.00,2.25,0.00,0.000,4,0.000,0.052,2851,3506,3968,0,0,0,0,0,0
$GC,562,-0.77,-156.2,59.2,-10.0,65,566,0.00,2.10,0.00,0.000,6,0.000,0.031,2851,2108,3969,0,0,0,0,0,0
$GC,824,-0.77,-156.2,86.4,-10.1,89,828,0.00,2.10,0.00,0.000,4,0.000,0.038,2850,687,3970,0,0,0,0,0,0
$GC,889,-0.77,-156.2,93.0,-8.7,94,897,0.00,2.12,0.00,0.000,6,0.000,0.038,2850,2089,3971,0,0,0,0,0,0
$GC,1152,-0.77,-156.2,119.2,-9.7,119,1156,0.00,2.08,0.00,0.000,4,0.000,0.036,2855,673,3971,0,0,0,0,0,0
$GC,1369,-0.77,-156.2,145.1,-10.1,138,1373,0.00,2.10,0.00,0.000,6,0.000,0.035,2851,2098,3972,0,0,0,0,0,0
$GC,1633,-0.77,-156.2,176.2,-12.1,162,1637,0.00,2.12,0.00,0.000,4,0.000,0.043,2851,3511,3972,0,0,0,0,0,0
$GC,1696,-0.77,-156.2,183.5,-10.8,167,1700,0.00,2.12,0.00,0.000,6,0.000,0.034,2850,2091,3974,0,0,0,0,0,0
$GC,1964,-0.77,-156.2,215.4,-12.3,186,1968,0.00,2.05,0.00,0.000,4,0.000,0.036,2855,672,3973,0,0,0,0,0,0
$GC,2215,-0.77,-156.2,253.7,-15.8,197,2219,0.00,2.10,0.00,0.000,6,0.000,0.041,2857,2088,3971,0,0,0,0,0,0
$GC,2474,-0.77,-156.2,287.9,-13.4,210,2477,0.00,2.10,0.00,0.000,4,0.000,0.039,2857,679,3974,0,0,0,0,0,0
$GC,2658,-0.77,-156.2,313.4,-14.2,217,2662,0.00,2.10,0.00,0.000,6,0.000,0.040,2858,2094,3976,0,0,0,0,0,0
$GC,2936,-0.77,-156.2,350.6,-13.9,224,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2098,3971,0,0,0,0,0,0
$GC,3179,-0.77,-156.2,385.3,-14.6,230,3183,0.00,2.12,0.00,0.000,4,0.000,0.043,2858,3513,3969,0,0,0,0,0,0
$GC,3436,-0.77,-156.2,426.8,-15.6,235,3442,0.00,2.10,0.00,0.000,6,0.000,0.028,2881,2073,3967,0,0,0,0,0,0
$GC,3686,-0.77,-156.2,462.8,-13.7,242,3690,0.00,2.00,0.00,0.000,4,0.000,0.029,2893,663,3964,0,0,0,0,0,0
$GC,3698,-0.77,-156.2,464.6,-13.9,242,3703,0.12,2.15,0.00,0.000,6,0.145,0.039,2856,2092,3966,0,0,0,0,0,0
$GC,3970,-0.77,-156.2,501.0,-13.4,249,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2096,3963,0,0,0,0,0,0
$GC,4213,-0.77,-156.2,532.5,-13.0,255,4217,0.00,2.15,0.00,0.000,4,0.000,0.048,2857,3497,3961,0,0,0,0,0,0
$GC,4470,-0.77,-156.2,572.5,-12.2,260,4476,0.00,2.10,0.00,0.000,6,0.000,0.036,2867,2099,3958,0,0,0,0,0,0
$GC,4720,-0.77,-156.2,606.9,-13.3,267,4724,0.00,2.17,0.00,0.000,4,0.000,0.049,2867,3511,3954,0,0,0,0,0,0
$GC,4977,-0.77,-156.2,647.4,-14.7,272,4981,0.00,2.12,0.00,0.000,6,0.000,0.035,2878,2080,3954,0,0,0,0,0,0
$GC,5233,-0.77,-156.2,683.8,-14.5,279,5237,0.00,2.22,0.00,0.000,4,0.000,0.053,2878,3504,3951,0,0,0,0,0,0
$GC,5318,-0.77,-156.2,696.7,-15.6,281,5322,0.00,2.10,0.00,0.000,6,0.000,0.033,2879,2081,3953,0,0,0,0,0,0
$GC,5601,-0.77,-156.2,736.6,-13.7,288,5604,0.00,2.05,0.00,0.000,4,0.000,0.035,2890,682,3949,0,0,0,0,0,0
$GC,5859,-0.77,-156.2,777.1,-15.4,293,5863,0.15,2.12,0.00,0.000,6,0.216,0.044,2858,2094,3948,0,0,0,0,0,0
$GC,6114,-0.77,-156.2,811.7,-13.5,300,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2097,3945,0,0,0,0,0,0
$GC,6357,-0.77,-156.2,843.5,-13.5,306,6361,0.00,2.20,0.00,0.000,4,0.000,0.056,2859,3496,3941,0,0,0,0,0,0
$GC,6586,-0.77,-156.2,876.9,-13.2,311,6590,0.00,2.10,0.00,0.000,6,0.000,0.034,2870,2093,3943,0,0,0,0,0,0
$STATE,6781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6781,begin apogee
$GC,6788,-0.28,0.0,903.3,12.8,316,6911,0.38,0.00,119.68,1.146,6,0.085,0.000,3010,1932,3360,0,0,0,0,0,0
$STATE,6913,end apogee,CONTROL_FINISHED_OK
$STATE,6913,begin climb
$GC,6916,0.77,156.2,921.2,0.0,319,7058,0.98,2.15,134.38,1.111,4,0.085,0.030,3351,572,2724,0,0,0,0,0,0
$GC,7270,0.77,156.2,812.1,42.5,327,7274,0.00,2.12,0.00,0.000,6,0.000,0.031,3342,1973,2713,0,0,0,0,0,0
$GC,7544,0.77,156.2,697.0,42.3,334,7548,0.00,2.15,0.00,0.000,4,0.000,0.040,3331,3363,2713,0,0,0,0,0,0
$GC,7571,0.77,156.2,684.4,43.3,334,7575,0.00,2.10,0.00,0.000,6,0.000,0.027,3340,1960,2712,0,0,0,0,0,0
$GC,7827,0.77,156.2,581.2,39.9,341,7831,0.00,2.12,0.00,0.000,4,0.000,0.037,3331,3369,2711,0,0,0,0,0,0
$GC,8051,0.77,156.2,495.3,36.6,346,8055,0.00,2.10,0.00,0.000,6,0.000,0.027,3340,1959,2710,0,0,0,0,0,0
$GC,8334,0.77,156.2,392.4,36.4,353,8338,0.00,2.15,0.00,0.000,4,0.000,0.038,3331,3375,2708,0,0,0,0,0,0
$GC,8591,0.77,156.2,299.3,35.8,358,8596,0.00,2.08,0.00,0.000,6,0.000,0.024,3337,1953,2713,0,0,0,0,0,0
$GC,8844,0.77,156.2,222.5,29.0,371,8848,0.00,2.15,0.00,0.000,4,0.000,0.038,3332,3369,2706,0,0,0,0,0,0
$GC,9097,0.77,156.2,155.4,23.0,390,9105,0.00,2.08,0.00,0.000,6,0.000,0.025,3340,1960,2705,0,0,0,0,0,0
$GC,9365,0.77,156.2,93.6,21.4,415,9369,0.00,2.15,0.00,0.000,4,0.000,0.040,3331,3374,2702,0,0,0,0,0,0
$GC,9613,0.77,156.2,41.3,19.9,437,9621,0.00,2.08,0.00,0.000,6,0.000,0.022,3340,1954,2704,0,0,0,0,0,0
$GC,9875,0.84,207.9,13.2,6.7,478,9924,0.00,2.20,38.58,0.515,4,0.000,0.038,3332,3358,2513,0,0,0,0,0,0
$STATE,9957,end climb,SURFACE_DEPTH_REACHED
$STATE,9957,begin surface coast
$FINISH,0.2,1.023115
$STATE,9971,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9994,4.47,0.368,0,0,2463,220.28
$SM_GC,3.03,0.00,0.00,4.47,0.000,0.000,0.368,57,2123,2463,-9.51,0.93,220.28
$IRIDIUM_FIX,1918.37,-15637.28,170113,121253
$TT8_MAMPS,0.246974
$HUMID,1079099121
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.70
$XPDR_PINGS,85
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2759032832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57022644224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.515
$10V_AH,10.1,17.970
$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,22.200,89.050,292.625,4.475,0.000,58.507,111.741,228.937,21.250,0.000,20.043,1047.062,6412.346,336.140,2546.867,334.213,33.362,1179.542,0.000,2113.845,0.000,0.539,0.000
$DEVICE_MAMPS,252.343,62.127,1145.898,368.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.149,0.000,982.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353732
$DATA_FILE_SIZE,26906,493
$CAP_FILE_SIZE,104461,0
$CFSIZE,260165632,196022272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,211616,1926.404,-15637.139,139,4.3,158,9.6