version: 66.07
glider: 513
mission: 7
dive: 137
start: 7 26 111 3 42 30
data:
$ID,513
$MISSION,7
$DIVE,137
$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,-423584.44
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,64
$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,136
$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
$GPS1,260711,032204,1929.052,-15636.744,167,9.1,186,9.6
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.9
$GPS2,260711,034136,1929.469,-15636.790,42,1.8,42,9.6
$SPEED_LIMITS,0.148,0.260
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.088,-0.245
$KALMAN_X,-16876.7,-1335.5,-1119.6,23638.7,16123.0
$KALMAN_Y,20301.6,-2776.4,-1198.3,-51039.5,30326.7
$MHEAD_RNG_PITCHd_Wd,190.1,56438,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.76,-166.0,0.0,0.0,0,68,0.00,0.00,-38.97,0.000,2,0.000,0.000,56,2005,3647,0,0,0,0,0,0
$GC,72,-0.76,-166.0,3.3,-5.2,6,94,11.50,2.22,-5.32,0.000,4,0.242,0.063,2860,620,3963,0,0,0,0,0,0
$GC,187,-0.76,-166.0,21.1,-9.3,26,194,0.00,2.08,0.00,0.000,6,0.000,0.040,2856,1957,3966,0,0,0,0,0,0
$GC,450,-0.76,-166.0,40.2,-5.9,61,454,0.00,2.20,0.00,0.000,4,0.000,0.045,2856,3405,3967,0,0,0,0,0,0
$GC,492,-0.76,-166.0,43.0,-6.7,64,496,0.00,2.10,0.00,0.000,6,0.000,0.030,2856,2001,3967,0,0,0,0,0,0
$GC,755,-0.76,-166.0,61.4,-9.0,88,759,0.00,2.15,0.00,0.000,4,0.000,0.048,2850,3398,3969,0,0,0,0,0,0
$GC,828,-0.76,-166.0,69.6,-13.2,94,832,0.00,2.10,0.00,0.000,6,0.000,0.028,2851,1981,3968,0,0,0,0,0,0
$GC,1093,-0.76,-166.0,100.6,-11.0,118,1097,0.00,2.15,0.00,0.000,4,0.000,0.041,2850,3411,3970,0,0,0,0,0,0
$GC,1328,-0.76,-166.0,132.0,-11.7,139,1332,0.00,2.08,0.00,0.000,6,0.000,0.032,2851,2001,3970,0,0,0,0,0,0
$GC,1593,-0.76,-166.0,161.5,-9.3,163,1597,0.00,2.10,0.00,0.000,4,0.000,0.035,2851,3420,3971,0,0,0,0,0,0
$GC,1841,-0.76,-166.0,196.1,-13.5,185,1849,0.00,2.15,0.00,0.000,6,0.000,0.035,2863,1998,3971,0,0,0,0,0,0
$GC,2096,-0.76,-166.0,227.0,-10.3,199,2100,0.00,2.15,0.00,0.000,4,0.000,0.047,2863,3397,3971,0,0,0,0,0,0
$GC,2146,-0.76,-166.0,234.4,-13.7,201,2150,0.00,2.10,0.00,0.000,6,0.000,0.035,2863,1977,3971,0,0,0,0,0,0
$GC,2405,-0.76,-166.0,265.7,-12.6,214,2409,0.00,2.17,0.00,0.000,4,0.000,0.049,2863,3396,3971,0,0,0,0,0,0
$GC,2663,-0.76,-166.0,305.3,-16.2,225,2667,0.00,2.10,0.00,0.000,6,0.000,0.031,2863,1975,3970,0,0,0,0,0,0
$GC,2919,-0.76,-166.0,339.6,-13.2,232,2923,0.00,2.17,0.00,0.000,4,0.000,0.050,2864,3401,3968,0,0,0,0,0,0
$GC,3176,-0.76,-166.0,382.8,-13.1,237,3182,0.00,2.10,0.00,0.000,6,0.000,0.031,2864,1989,3966,0,0,0,0,0,0
$GC,3426,-0.76,-166.0,413.0,-12.2,244,3430,0.00,2.17,0.00,0.000,4,0.000,0.051,2865,3399,3965,0,0,0,0,0,0
$GC,3521,-0.76,-166.0,425.4,-11.2,246,3525,0.00,2.08,0.00,0.000,6,0.000,0.031,2865,1985,3963,0,0,0,0,0,0
$GC,3793,-0.76,-166.0,458.0,-12.5,253,3797,0.00,2.08,0.00,0.000,4,0.000,0.046,2865,596,3961,0,0,0,0,0,0
$GC,3984,-0.76,-166.0,485.4,-12.4,257,3987,0.00,2.08,0.00,0.000,6,0.000,0.042,2866,1989,3960,0,0,0,0,0,0
$GC,4256,-0.76,-166.0,524.0,-14.7,264,4260,0.00,2.12,0.00,0.000,4,0.000,0.044,2865,588,3956,0,0,0,0,0,0
$GC,4513,-0.76,-166.0,565.7,-14.4,269,4518,0.00,2.12,0.00,0.000,6,0.000,0.042,2865,1990,3954,0,0,0,0,0,0
$GC,4763,-0.76,-166.0,600.5,-14.0,276,4767,0.00,2.17,0.00,0.000,4,0.000,0.051,2862,3397,3953,0,0,0,0,0,0
$GC,5020,-0.76,-166.0,640.6,-15.1,281,5026,0.00,2.10,0.00,0.000,6,0.000,0.034,2866,1993,3950,0,0,0,0,0,0
$GC,5270,-0.76,-166.0,674.6,-14.1,288,5274,0.00,2.12,0.00,0.000,4,0.000,0.048,2866,592,3948,0,0,0,0,0,0
$GC,5476,-0.76,-166.0,706.1,-14.4,292,5480,0.00,2.12,0.00,0.000,6,0.000,0.045,2866,1988,3945,0,0,0,0,0,0
$GC,5732,-0.76,-166.0,742.0,-14.0,299,5736,0.00,2.12,0.00,0.000,4,0.000,0.043,2865,581,3948,0,0,0,0,0,0
$GC,5989,-0.76,-166.0,779.6,-15.3,304,5995,0.00,2.15,0.00,0.000,6,0.000,0.047,2866,1993,3946,0,0,0,0,0,0
$GC,6239,-0.76,-166.0,811.5,-12.6,311,6243,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,3416,3941,0,0,0,0,0,0
$GC,6497,-0.76,-166.0,849.6,-14.0,316,6502,0.00,2.15,0.00,0.000,6,0.000,0.035,2876,1989,3939,0,0,0,0,0,0
$GC,6747,-0.76,-166.0,883.1,-13.6,323,6751,0.00,2.20,0.00,0.000,4,0.000,0.056,2876,3399,3938,0,0,0,0,0,0
$GC,6786,-0.76,-166.0,888.3,-13.1,324,6790,0.00,2.15,0.00,0.000,6,0.000,0.038,2888,1981,3934,0,0,0,0,0,0
$STATE,6863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6870,-0.28,0.0,902.0,16.2,326,6987,0.35,0.00,113.95,1.139,6,0.084,0.000,3016,1975,3380,0,0,0,0,0,0
$STATE,6989,end apogee,CONTROL_FINISHED_OK
$STATE,6989,begin climb
$GC,6992,0.76,166.0,919.8,0.0,329,7143,0.93,2.30,141.88,1.108,4,0.071,0.033,3352,553,2704,0,0,0,0,0,0
$GC,7396,0.76,166.0,793.7,43.1,338,7400,0.00,2.17,0.00,0.000,6,0.000,0.031,3343,1982,2695,0,0,0,0,0,0
$GC,7663,0.76,166.0,679.6,43.2,345,7667,0.00,2.17,0.00,0.000,4,0.000,0.035,3353,534,2693,0,0,0,0,0,0
$GC,7712,0.76,166.0,658.4,43.0,346,7716,0.00,2.15,0.00,0.000,6,0.000,0.034,3344,1955,2691,0,0,0,0,0,0
$GC,7991,0.76,166.0,545.5,40.4,353,7995,0.00,2.17,0.00,0.000,4,0.000,0.042,3333,3375,2691,0,0,0,0,0,0
$GC,8030,0.76,166.0,529.1,40.3,354,8034,0.00,2.12,0.00,0.000,6,0.000,0.027,3342,1946,2691,0,0,0,0,0,0
$GC,8314,0.76,166.0,423.4,36.4,361,8318,0.00,2.20,0.00,0.000,4,0.000,0.044,3333,3367,2689,0,0,0,0,0,0
$GC,8571,0.76,166.0,328.2,36.1,366,8577,0.00,2.10,0.00,0.000,6,0.000,0.028,3342,1952,2689,0,0,0,0,0,0
$GC,8823,0.76,166.0,246.0,30.6,377,8827,0.00,2.17,0.00,0.000,4,0.000,0.042,3333,3373,2688,0,0,0,0,0,0
$GC,9033,0.76,166.0,183.8,28.7,388,9041,0.00,2.12,0.00,0.000,6,0.000,0.028,3343,1952,2686,0,0,0,0,0,0
$GC,9301,0.76,166.0,113.4,27.1,413,9305,0.00,2.17,0.00,0.000,4,0.000,0.041,3333,3381,2686,0,0,0,0,0,0
$GC,9550,0.76,166.0,61.2,17.8,435,9558,0.00,2.12,0.00,0.000,6,0.000,0.028,3342,1958,2686,0,0,0,0,0,0
$GC,9814,0.76,166.0,28.7,10.3,461,9822,0.00,2.08,0.00,0.000,4,0.000,0.034,3353,564,2685,0,0,0,0,0,0
$GC,10059,0.76,166.0,6.8,11.3,507,10067,0.00,2.10,0.00,0.000,6,0.000,0.031,3340,1979,2685,0,0,0,0,0,0
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10093,begin surface coast
$FINISH,0.2,1.022824
$STATE,10121,end surface coast,CONTROL_FINISHED_OK
$STATE,10121,begin surface
$SM_CCo,10143,21.23,0.482,0,0,2484,220.03
$SM_GC,2.76,0.00,0.00,21.23,0.000,0.000,0.482,59,1985,2484,-9.51,0.03,220.03
$IRIDIUM_FIX,1922.94,-15638.47,170113,212151
$TT8_MAMPS,0.250042
$HUMID,1079072024
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.60
$XPDR_PINGS,79
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2527526912
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57012420608
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.920
$10V_AH,10.2,18.271
$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,23.250,98.375,255.825,21.225,0.000,84.358,114.779,621.121,19.750,0.000,44.625,1110.567,6412.304,339.683,3121.759,364.066,33.357,1210.166,0.000,2260.050,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,62.894,1138.995,482.443,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.365,0.000,1057.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353708
$DATA_FILE_SIZE,26954,518
$CAP_FILE_SIZE,118513,0
$CFSIZE,260165632,195805184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,063606,1930.495,-15636.762,192,0.9,192,9.6