version: 66.07
glider: 513
mission: 7
dive: 136
start: 7 26 111 0 59 45
data:
$ID,513
$MISSION,7
$DIVE,136
$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,170
$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,-423539.19
$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,3250
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,135
$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
$GPS1,260711,004325,1927.975,-15636.800,168,1.4,168,9.6
$_CALLS,2
$_XMS_NAKs,45
$_XMS_TOUTs,4
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.5
$GPS2,260711,005850,1928.172,-15636.750,11,2.0,11,9.6
$SPEED_LIMITS,0.148,0.260
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.090,-0.244
$KALMAN_X,-18113.8,-1080.9,-438.8,23986.8,14254.8
$KALMAN_Y,15639.1,-2728.3,-1859.5,-48147.4,25508.6
$MHEAD_RNG_PITCHd_Wd,190.6,54137,-14.0,-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,-0.76,-166.0,0.0,0.0,0,70,0.00,0.00,-38.50,0.000,2,0.000,0.000,59,2135,3600,0,0,0,0,0,0
$GC,74,-0.76,-166.0,3.1,-4.7,6,102,12.27,1.95,-6.22,0.000,4,0.245,0.068,2988,3333,3963,0,0,0,0,0,0
$GC,162,-0.76,-166.0,17.4,-12.0,21,169,0.00,2.03,0.00,0.000,6,0.000,0.028,2990,2007,3966,0,0,0,0,0,0
$GC,425,-0.76,-166.0,53.8,-14.0,54,429,0.00,2.10,0.00,0.000,4,0.000,0.051,2991,3337,3967,0,0,0,0,0,0
$GC,446,-0.76,-166.0,55.5,-9.5,55,449,0.00,2.00,0.00,0.000,6,0.000,0.032,2996,1992,3968,0,0,0,0,0,0
$GC,716,-0.76,-166.0,94.7,-16.6,80,720,0.00,2.08,0.00,0.000,4,0.000,0.049,2991,3344,3969,0,0,0,0,0,0
$GC,963,-0.76,-166.0,141.8,-16.5,102,971,0.00,2.05,0.00,0.000,6,0.000,0.031,3003,1979,3970,0,0,0,0,0,0
$GC,1229,-0.76,-166.0,182.7,-16.1,127,1233,0.00,2.12,0.00,0.000,4,0.000,0.051,3006,3339,3968,0,0,0,0,0,0
$GC,1339,-0.76,-166.0,204.4,-18.1,136,1342,0.00,1.98,0.00,0.000,6,0.000,0.023,3018,1983,3971,0,0,0,0,0,0
$GC,1603,-0.76,-166.0,252.9,-17.8,149,1607,0.00,1.98,0.00,0.000,4,0.000,0.023,3030,570,3972,0,0,0,0,0,0
$GC,1649,-0.76,-166.0,261.6,-17.6,151,1653,0.00,2.10,0.00,0.000,6,0.000,0.049,3031,1937,3972,0,0,0,0,0,0
$GC,1913,-0.76,-166.0,309.3,-17.6,163,1917,0.00,1.98,0.00,0.000,4,0.000,0.027,3043,563,3971,0,0,0,0,0,0
$GC,2172,-0.76,-166.0,356.0,-19.9,168,2177,0.17,2.03,0.00,0.000,6,0.272,0.033,3013,1950,3970,0,0,0,0,0,0
$GC,2422,-0.76,-166.0,397.7,-16.7,174,2425,0.00,2.00,0.00,0.000,4,0.000,0.040,3022,599,3969,0,0,0,0,0,0
$GC,2499,-0.76,-166.0,410.4,-16.3,175,2503,0.00,2.05,0.00,0.000,6,0.000,0.039,3023,1974,3968,0,0,0,0,0,0
$GC,2756,-0.76,-166.0,457.6,-18.8,182,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1978,3966,0,0,0,0,0,0
$GC,2999,-0.76,-166.0,504.1,-19.5,188,3003,0.00,2.20,0.00,0.000,4,0.000,0.049,3025,3403,3964,0,0,0,0,0,0
$GC,3257,-0.76,-166.0,560.5,-19.7,193,3264,0.12,2.10,0.00,0.000,6,0.174,0.031,3006,1990,3963,0,0,0,0,0,0
$GC,3507,-0.76,-166.0,605.3,-17.3,200,3511,0.00,2.20,0.00,0.000,4,0.000,0.055,3006,3395,3957,0,0,0,0,0,0
$GC,3680,-0.76,-166.0,636.7,-16.7,204,3684,0.00,2.08,0.00,0.000,6,0.000,0.035,3017,1996,3957,0,0,0,0,0,0
$GC,3964,-0.76,-166.0,684.8,-16.8,211,3968,0.00,2.10,0.00,0.000,4,0.000,0.037,3029,569,3955,0,0,0,0,0,0
$GC,4222,-0.76,-166.0,730.3,-18.9,216,4228,0.00,2.10,0.00,0.000,6,0.000,0.033,3025,1997,3952,0,0,0,0,0,0
$GC,4472,-0.76,-166.0,774.6,-17.8,223,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2003,3950,0,0,0,0,0,0
$GC,4716,-0.76,-166.0,818.4,-17.9,229,4720,0.00,2.17,0.00,0.000,4,0.000,0.056,3025,3390,3948,0,0,0,0,0,0
$GC,4973,-0.76,-166.0,869.1,-19.9,234,4979,0.00,2.10,0.00,0.000,6,0.000,0.033,3038,1972,3946,0,0,0,0,0,0
$STATE,5139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5139,begin apogee
$GC,5145,-0.28,0.0,900.2,18.7,239,5263,0.32,0.00,114.70,1.137,6,0.068,0.000,3168,1966,3381,0,0,0,0,0,0
$STATE,5265,end apogee,CONTROL_FINISHED_OK
$STATE,5265,begin climb
$GC,5269,0.76,166.0,922.0,0.0,242,5419,0.95,2.28,142.70,1.100,4,0.086,0.033,3502,558,2703,0,0,0,0,0,0
$GC,5672,0.76,166.0,787.9,46.4,251,5676,0.00,2.15,0.00,0.000,6,0.000,0.031,3493,1981,2694,0,0,0,0,0,0
$GC,5944,0.76,166.0,668.3,44.4,258,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1981,2692,0,0,0,0,0,0
$GC,6189,0.76,166.0,564.9,42.2,264,6193,0.00,2.12,0.00,0.000,4,0.000,0.042,3481,3372,2691,0,0,0,0,0,0
$GC,6353,0.76,166.0,496.0,42.2,267,6357,0.00,2.12,0.00,0.000,6,0.000,0.027,3491,1934,2690,0,0,0,0,0,0
$GC,6602,0.76,166.0,393.0,41.4,273,6606,0.00,2.20,0.00,0.000,4,0.000,0.041,3482,3375,2688,0,0,0,0,0,0
$GC,6860,0.76,166.0,295.9,34.3,278,6865,0.00,2.08,0.00,0.000,6,0.000,0.025,3491,1953,2687,0,0,0,0,0,0
$GC,7114,0.76,166.0,213.6,30.7,291,7118,0.00,2.15,0.00,0.000,4,0.000,0.039,3481,3371,2686,0,0,0,0,0,0
$GC,7366,0.76,166.0,137.3,27.3,311,7374,0.00,2.08,0.00,0.000,6,0.000,0.024,3491,1965,2685,0,0,0,0,0,0
$GC,7633,0.76,166.0,74.7,20.0,336,7637,0.00,2.05,0.00,0.000,4,0.000,0.032,3502,571,2683,0,0,0,0,0,0
$GC,7884,0.76,166.0,34.4,12.6,359,7889,0.00,2.05,0.00,0.000,6,0.000,0.028,3498,1968,2682,0,0,0,0,0,0
$GC,8143,0.76,166.0,11.0,9.6,404,8150,0.00,2.08,0.00,0.000,4,0.000,0.030,3502,560,2682,0,0,0,0,0,0
$STATE,8212,end climb,SURFACE_DEPTH_REACHED
$STATE,8212,begin surface coast
$FINISH,0.2,1.023212
$STATE,8241,end surface coast,CONTROL_FINISHED_OK
$STATE,8241,begin surface
$SM_CCo,8268,23.25,0.482,0,0,2487,220.03
$SM_GC,3.50,0.00,0.00,23.25,0.000,0.000,0.482,66,2008,2487,-9.96,0.51,220.03
$IRIDIUM_FIX,1920.65,-15634.28,170113,191921
$TT8_MAMPS,0.269217
$HUMID,1079075895
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.30
$XPDR_PINGS,27
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,2642870272
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57007177728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.787
$10V_AH,10.1,18.166
$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,24.950,70.950,257.400,23.250,0.000,51.718,122.605,483.215,6.750,0.000,14.688,904.261,5208.301,324.230,2483.400,304.788,33.363,1022.308,0.000,1796.825,0.000,0.541,0.000
$DEVICE_MAMPS,271.518,68.263,1137.461,481.676,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,287.686,0.000,866.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353748
$DATA_FILE_SIZE,23591,422
$CAP_FILE_SIZE,93605,0
$CFSIZE,260165632,195891200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,032204,1929.052,-15636.744,167,9.1,186,9.6