version: 66.07
glider: 513
mission: 7
dive: 135
start: 7 25 111 21 44 14
data:
$ID,513
$MISSION,7
$DIVE,135
$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,-423523.88
$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,42
$R_STBD_OVSHOOT,45
$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,134
$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
$GPS1,250711,211616,1926.404,-15637.139,139,4.3,158,9.6
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-81.8
$GPS2,250711,214320,1926.884,-15636.911,56,2.0,56,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.236,-0.093
$KALMAN_X,-22377.2,-879.5,-742.2,28082.0,12129.6
$KALMAN_Y,13554.9,-2458.4,-1572.7,-49018.2,27300.8
$MHEAD_RNG_PITCHd_Wd,238.8,51764,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.77,-156.2,0.0,0.0,0,69,0.00,0.00,-38.22,0.000,2,0.000,0.000,38,2124,3601,0,0,0,0,0,0
$GC,73,-0.77,-156.2,3.1,-5.1,6,102,11.57,2.20,-6.25,0.000,4,0.244,0.062,2832,3496,3964,0,0,0,0,0,0
$GC,151,-0.77,-156.2,17.2,-9.3,19,159,0.00,2.15,0.00,0.000,6,0.000,0.033,2836,2091,3966,0,0,0,0,0,0
$GC,416,-0.77,-156.2,38.9,-7.7,58,420,0.00,2.17,0.00,0.000,4,0.000,0.049,2824,3497,3967,0,0,0,0,0,0
$GC,467,-0.77,-156.2,44.6,-9.1,62,471,0.00,2.10,0.00,0.000,6,0.000,0.028,2829,2086,3967,0,0,0,0,0,0
$GC,734,-0.77,-156.2,67.5,-8.3,86,737,0.00,2.05,0.00,0.000,4,0.000,0.037,2828,681,3969,0,0,0,0,0,0
$GC,808,-0.77,-156.2,75.3,-11.2,92,812,0.00,2.08,0.00,0.000,6,0.000,0.035,2829,2094,3968,0,0,0,0,0,0
$GC,1074,-0.77,-156.2,99.9,-9.5,116,1078,0.00,2.10,0.00,0.000,4,0.000,0.041,2828,3504,3967,0,0,0,0,0,0
$GC,1108,-0.77,-156.2,103.0,-7.9,118,1115,0.00,2.12,0.00,0.000,6,0.000,0.033,2829,2103,3969,0,0,0,0,0,0
$GC,1372,-0.77,-156.2,125.6,-9.0,143,1376,0.00,2.10,0.00,0.000,4,0.000,0.040,2830,680,3969,0,0,0,0,0,0
$GC,1478,-0.77,-156.2,136.1,-7.6,152,1483,0.00,2.10,0.00,0.000,6,0.000,0.037,2831,2095,3969,0,0,0,0,0,0
$GC,1745,-0.77,-156.2,162.0,-9.6,176,1748,0.00,2.08,0.00,0.000,4,0.000,0.035,2831,679,3970,0,0,0,0,0,0
$GC,1755,-0.77,-156.2,163.2,-9.5,176,1763,0.00,2.10,0.00,0.000,6,0.000,0.035,2831,2084,3970,0,0,0,0,0,0
$GC,2021,-0.77,-156.2,190.7,-9.1,201,2025,0.00,2.15,0.00,0.000,4,0.000,0.051,2825,3493,3970,0,0,0,0,0,0
$GC,2113,-0.77,-156.2,203.2,-11.8,208,2117,0.00,2.10,0.00,0.000,6,0.000,0.035,2840,2091,3970,0,0,0,0,0,0
$GC,2374,-0.77,-156.2,236.4,-12.2,221,2378,0.00,2.08,0.00,0.000,4,0.000,0.036,2835,675,3970,0,0,0,0,0,0
$GC,2423,-0.77,-156.2,243.4,-11.8,223,2427,0.00,2.10,0.00,0.000,6,0.000,0.038,2835,2090,3970,0,0,0,0,0,0
$GC,2684,-0.77,-156.2,273.2,-12.3,236,2688,0.00,2.08,0.00,0.000,4,0.000,0.038,2836,674,3969,0,0,0,0,0,0
$GC,2942,-0.77,-156.2,299.8,-8.5,247,2948,0.00,2.12,0.00,0.000,6,0.000,0.038,2836,2093,3970,0,0,0,0,0,0
$GC,3192,-0.77,-156.2,328.6,-12.5,254,3196,0.00,2.15,0.00,0.000,4,0.000,0.050,2837,3498,3968,0,0,0,0,0,0
$GC,3339,-0.77,-156.2,351.5,-13.2,257,3343,0.00,2.08,0.00,0.000,6,0.000,0.030,2837,2081,3966,0,0,0,0,0,0
$GC,3606,-0.77,-156.2,384.0,-11.5,264,3610,0.00,2.17,0.00,0.000,4,0.000,0.048,2837,3514,3963,0,0,0,0,0,0
$GC,3736,-0.77,-156.2,402.1,-17.3,267,3740,0.00,2.10,0.00,0.000,6,0.000,0.028,2848,2078,3963,0,0,0,0,0,0
$GC,4024,-0.77,-156.2,443.1,-14.3,274,4029,0.00,2.22,-0.03,0.000,4,0.000,0.068,2849,3504,3969,0,0,0,0,0,0
$GC,4231,-0.77,-156.2,476.6,-15.1,278,4235,0.00,2.10,0.00,0.000,6,0.000,0.035,2860,2100,3968,0,0,0,0,0,0
$GC,4487,-0.77,-156.2,512.1,-13.7,285,4491,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,676,3965,0,0,0,0,0,0
$GC,4721,-0.77,-156.2,545.1,-13.1,290,4725,0.00,2.10,0.00,0.000,6,0.000,0.041,2862,2090,3963,0,0,0,0,0,0
$GC,4994,-0.77,-156.2,578.0,-12.3,297,4998,0.00,2.12,0.00,0.000,4,0.000,0.041,2862,689,3960,0,0,0,0,0,0
$GC,5251,-0.77,-156.2,610.7,-12.4,302,5257,0.00,2.10,0.00,0.000,6,0.000,0.040,2862,2090,3959,0,0,0,0,0,0
$GC,5501,-0.77,-156.2,643.6,-13.0,309,5504,0.00,2.05,0.00,0.000,4,0.000,0.028,2878,667,3956,0,0,0,0,0,0
$GC,5759,-0.77,-156.2,684.1,-14.5,314,5762,0.00,2.15,0.00,0.000,6,0.000,0.044,2880,2089,3954,0,0,0,0,0,0
$GC,6014,-0.77,-156.2,722.9,-15.4,321,6018,0.00,2.10,0.00,0.000,4,0.000,0.042,2880,682,3952,0,0,0,0,0,0
$GC,6271,-0.77,-156.2,764.1,-13.8,326,6277,0.00,2.12,0.00,0.000,6,0.000,0.042,2881,2092,3951,0,0,0,0,0,0
$GC,6521,-0.77,-156.2,799.2,-14.2,333,6525,0.00,2.17,0.00,0.000,4,0.000,0.050,2881,3508,3949,0,0,0,0,0,0
$GC,6778,-0.77,-156.2,838.5,-14.8,338,6784,0.15,2.12,0.00,0.000,6,0.240,0.034,2859,2089,3947,0,0,0,0,0,0
$GC,7028,-0.77,-156.2,871.2,-12.6,345,7032,0.00,2.17,0.00,0.000,4,0.000,0.047,2860,3508,3946,0,0,0,0,0,0
$STATE,7221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7221,begin apogee
$GC,7230,-0.28,0.0,900.5,14.3,349,7353,0.35,0.00,120.40,1.141,6,0.067,0.000,3019,1953,3361,0,0,0,0,0,0
$STATE,7356,end apogee,CONTROL_FINISHED_OK
$STATE,7356,begin climb
$GC,7358,0.77,156.2,916.3,0.0,352,7500,0.93,2.22,134.40,1.109,4,0.074,0.031,3351,543,2723,0,0,0,0,0,0
$GC,7752,0.77,156.2,791.3,42.6,361,7756,0.00,2.17,0.00,0.000,6,0.000,0.030,3342,1982,2713,0,0,0,0,0,0
$GC,8030,0.77,156.2,676.9,41.3,368,8034,0.00,2.15,0.00,0.000,4,0.000,0.032,3351,541,2711,0,0,0,0,0,0
$GC,8047,0.77,156.2,670.2,40.1,368,8051,0.00,2.12,0.00,0.000,6,0.000,0.031,3343,1957,2710,0,0,0,0,0,0
$GC,8308,0.77,156.2,564.6,40.0,375,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1958,2710,0,0,0,0,0,0
$GC,8551,0.77,156.2,470.5,38.3,381,8555,0.00,2.15,0.00,0.000,4,0.000,0.042,3332,3363,2709,0,0,0,0,0,0
$GC,8752,0.77,156.2,395.3,36.6,385,8756,0.00,2.10,0.00,0.000,6,0.000,0.029,3341,1947,2709,0,0,0,0,0,0
$GC,9007,0.77,156.2,303.6,36.5,392,9011,0.00,2.17,0.00,0.000,4,0.000,0.041,3332,3364,2707,0,0,0,0,0,0
$GC,9266,0.77,156.2,221.0,27.3,402,9271,0.00,2.10,0.00,0.000,6,0.000,0.028,3340,1944,2706,0,0,0,0,0,0
$GC,9526,0.77,156.2,150.2,26.7,423,9530,0.00,2.15,0.00,0.000,4,0.000,0.039,3332,3365,2704,0,0,0,0,0,0
$GC,9773,0.77,156.2,88.6,21.4,445,9781,0.00,2.10,0.00,0.000,6,0.000,0.026,3340,1951,2704,0,0,0,0,0,0
$GC,10038,0.77,156.2,50.1,11.2,470,10042,0.00,2.15,0.00,0.000,4,0.000,0.039,3332,3373,2704,0,0,0,0,0,0
$GC,10113,0.77,156.2,40.0,13.8,476,10117,0.00,2.05,0.00,0.000,6,0.000,0.024,3341,1950,2704,0,0,0,0,0,0
$GC,10377,0.83,201.1,15.1,6.9,515,10417,0.00,2.05,33.50,0.509,4,0.000,0.031,3351,581,2539,0,0,0,0,0,0
$GC,10456,0.83,201.1,4.9,20.3,528,10464,0.00,2.08,0.00,0.000,6,0.000,0.031,3343,1964,2536,0,0,0,0,0,0
$STATE,10469,end climb,SURFACE_DEPTH_REACHED
$STATE,10470,begin surface coast
$FINISH,0.1,1.022773
$STATE,10482,end surface coast,CONTROL_FINISHED_OK
$STATE,10482,begin surface
$SM_CCo,10515,7.15,0.423,0,0,2462,220.03
$SM_GC,2.40,0.00,0.00,7.15,0.000,0.000,0.423,64,2138,2462,-9.49,1.36,220.03
$IRIDIUM_FIX,1918.37,-15651.69,170113,151517
$TT8_MAMPS,0.256178
$HUMID,1079075250
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.50
$XPDR_PINGS,70
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2681667584
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57020284928
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.664
$10V_AH,10.2,18.081
$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,23.500,106.425,288.300,7.150,0.000,152.296,243.898,714.731,17.500,0.000,58.417,1141.432,6771.500,339.007,3458.148,447.710,33.361,1243.432,0.000,2313.341,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,75.933,1140.529,422.617,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.605,0.000,1094.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,26952,532
$CAP_FILE_SIZE,128428,0
$CFSIZE,260165632,195928064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,004325,1927.975,-15636.800,168,1.4,168,9.6