version: 66.07
glider: 513
mission: 7
dive: 138
start: 7 26 111 7 0 27
data:
$ID,513
$MISSION,7
$DIVE,138
$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,-423601.66
$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,62
$R_STBD_OVSHOOT,53
$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,137
$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
$GPS1,260711,063606,1930.495,-15636.762,192,0.9,192,9.6
$_CALLS,4
$_XMS_NAKs,30
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-82.0
$GPS2,260711,065932,1931.145,-15636.751,14,1.6,14,9.6
$SPEED_LIMITS,0.148,0.260
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.079,-0.248
$KALMAN_X,-16752.3,-1383.8,-1206.8,23718.2,13166.2
$KALMAN_Y,25188.1,-2272.0,-1325.0,-53193.4,28225.7
$MHEAD_RNG_PITCHd_Wd,188.2,59462,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.76,-166.0,0.0,0.0,0,69,0.00,0.00,-38.12,0.000,2,0.000,0.000,54,1987,3636,0,0,0,0,0,0
$GC,73,-0.76,-166.0,3.4,-5.7,6,101,11.65,2.17,-5.45,0.000,4,0.246,0.059,2853,609,3966,0,0,0,0,0,0
$GC,130,-0.76,-166.0,16.2,0.6,15,138,0.00,2.08,0.00,0.000,6,0.000,0.033,2853,1971,3965,0,0,0,0,0,0
$GC,400,-0.76,-166.0,37.6,-8.8,57,404,0.00,2.17,0.00,0.000,4,0.000,0.048,2853,3392,3966,0,0,0,0,0,0
$GC,463,-0.76,-166.0,44.3,-10.4,62,467,0.00,2.08,0.00,0.000,6,0.000,0.034,2853,2004,3967,0,0,0,0,0,0
$GC,728,-0.76,-166.0,68.7,-9.7,86,732,0.00,2.10,0.00,0.000,4,0.000,0.038,2860,575,3968,0,0,0,0,0,0
$GC,790,-0.76,-166.0,76.1,-12.4,91,794,0.00,2.10,0.00,0.000,6,0.000,0.039,2860,1979,3968,0,0,0,0,0,0
$GC,1056,-0.76,-166.0,103.0,-11.0,115,1059,0.00,2.12,0.00,0.000,4,0.000,0.038,2860,3413,3969,0,0,0,0,0,0
$GC,1075,-0.76,-166.0,105.4,-10.1,116,1079,0.00,2.10,0.00,0.000,6,0.000,0.029,2871,1968,3972,0,0,0,0,0,0
$GC,1341,-0.76,-166.0,137.6,-12.9,140,1345,0.00,2.20,0.00,0.000,4,0.000,0.052,2872,3397,3970,0,0,0,0,0,0
$GC,1436,-0.76,-166.0,152.1,-13.7,148,1440,0.00,2.08,0.00,0.000,6,0.000,0.033,2873,2002,3970,0,0,0,0,0,0
$GC,1702,-0.76,-166.0,184.4,-13.1,172,1706,0.00,2.12,0.00,0.000,4,0.000,0.044,2874,3399,3968,0,0,0,0,0,0
$GC,1713,-0.76,-166.0,187.3,-14.4,172,1721,0.00,2.12,0.00,0.000,6,0.000,0.031,2883,1975,3970,0,0,0,0,0,0
$GC,1981,-0.76,-166.0,224.5,-14.1,190,1985,0.00,2.22,0.00,0.000,4,0.000,0.053,2885,3404,3971,0,0,0,0,0,0
$GC,2025,-0.76,-166.0,231.4,-12.9,192,2029,0.00,2.08,0.00,0.000,6,0.000,0.033,2885,2002,3970,0,0,0,0,0,0
$GC,2290,-0.76,-166.0,269.2,-12.9,205,2294,0.00,2.08,0.00,0.000,4,0.000,0.035,2886,3409,3970,0,0,0,0,0,0
$GC,2357,-0.76,-166.0,279.7,-16.2,208,2362,0.17,2.12,0.00,0.000,6,0.229,0.031,2860,1973,3970,0,0,0,0,0,0
$GC,2635,-0.76,-166.0,318.3,-13.3,219,2638,0.00,2.00,0.00,0.000,4,0.000,0.030,2873,575,3969,0,0,0,0,0,0
$GC,2892,-0.76,-166.0,360.9,-19.4,224,2897,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,1989,3967,0,0,0,0,0,0
$GC,3148,-0.76,-166.0,398.5,-14.0,231,3152,0.00,2.08,0.00,0.000,4,0.000,0.036,2885,581,3965,0,0,0,0,0,0
$GC,3159,-0.76,-166.0,399.5,-14.2,231,3163,0.00,2.10,0.00,0.000,6,0.000,0.038,2886,1992,3965,0,0,0,0,0,0
$GC,3431,-0.76,-166.0,438.3,-14.0,238,3435,0.00,2.15,0.00,0.000,4,0.000,0.054,2887,3394,3962,0,0,0,0,0,0
$GC,3441,-0.76,-166.0,440.0,-13.6,238,3446,0.17,2.08,0.00,0.000,6,0.230,0.027,2859,1971,3963,0,0,0,0,0,0
$GC,3707,-0.76,-166.0,474.8,-13.5,245,3711,0.00,2.05,0.00,0.000,4,0.000,0.044,2859,605,3960,0,0,0,0,0,0
$GC,3824,-0.76,-166.0,491.5,-13.3,247,3828,0.00,2.08,-0.08,0.000,6,0.000,0.041,2859,1990,3976,0,0,0,0,0,0
$GC,4084,-0.76,-166.0,525.7,-12.7,254,4088,0.00,2.05,0.00,0.000,4,0.000,0.034,2871,590,3973,0,0,0,0,0,0
$GC,4107,-0.76,-166.0,529.0,-15.7,254,4111,0.00,2.10,0.00,0.000,6,0.000,0.034,2871,2006,3973,0,0,0,0,0,0
$GC,4367,-0.76,-166.0,564.8,-14.0,261,4371,0.00,2.05,0.00,0.000,4,0.000,0.027,2883,590,3968,0,0,0,0,0,0
$GC,4625,-0.76,-166.0,605.6,-16.6,266,4629,0.00,2.12,0.00,0.000,6,0.000,0.039,2884,1972,3969,0,0,0,0,0,0
$GC,4881,-0.76,-166.0,642.9,-14.4,273,4884,0.00,2.03,0.00,0.000,4,0.000,0.038,2895,599,3966,0,0,0,0,0,0
$GC,4903,-0.76,-166.0,646.5,-14.5,273,4907,0.15,2.08,0.00,0.000,6,0.166,0.041,2854,1988,3966,0,0,0,0,0,0
$GC,5164,-0.76,-166.0,682.8,-13.8,280,5168,0.00,2.05,0.00,0.000,4,0.000,0.038,2859,596,3964,0,0,0,0,0,0
$GC,5421,-0.76,-166.0,724.6,-17.7,285,5425,0.00,2.10,0.00,0.000,6,0.000,0.041,2861,2001,3964,0,0,0,0,0,0
$GC,5678,-0.76,-166.0,759.1,-13.1,292,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2009,3962,0,0,0,0,0,0
$GC,5921,-0.76,-166.0,791.8,-13.0,298,5924,0.00,2.10,0.00,0.000,4,0.000,0.041,2860,3407,3957,0,0,0,0,0,0
$GC,6179,-0.76,-166.0,832.0,-13.2,303,6185,0.00,2.08,0.00,0.000,6,0.000,0.036,2872,2008,3958,0,0,0,0,0,0
$GC,6429,-0.76,-166.0,866.5,-13.8,310,6433,0.00,2.15,0.00,0.000,4,0.000,0.048,2876,582,3954,0,0,0,0,0,0
$GC,6439,-0.76,-166.0,868.0,-13.2,310,6443,0.00,2.10,0.00,0.000,6,0.000,0.034,2876,2001,3955,0,0,0,0,0,0
$STATE,6709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6709,begin apogee
$GC,6716,-0.28,0.0,905.1,13.5,317,6835,0.38,0.00,116.45,1.144,6,0.075,0.000,3018,2007,3381,0,0,0,0,0,0
$STATE,6859,end apogee,CONTROL_FINISHED_OK
$STATE,6859,begin climb
$GC,6861,0.76,166.0,923.7,0.0,320,7012,0.93,2.25,141.88,1.114,4,0.080,0.043,3328,3351,2703,0,0,0,0,0,0
$GC,7180,0.76,166.0,834.1,45.4,327,7184,0.00,2.15,0.00,0.000,6,0.000,0.027,3339,1949,2697,0,0,0,0,0,0
$GC,7447,0.76,166.0,721.4,42.2,334,7451,0.00,2.20,0.00,0.000,4,0.000,0.042,3330,3373,2693,0,0,0,0,0,0
$GC,7570,0.76,166.0,669.1,40.1,336,7575,0.00,2.12,0.00,0.000,6,0.000,0.027,3340,1947,2693,0,0,0,0,0,0
$GC,7819,0.76,166.0,568.0,40.6,343,7823,0.00,2.17,0.00,0.000,4,0.000,0.041,3331,3371,2691,0,0,0,0,0,0
$GC,7937,0.76,166.0,519.7,38.9,345,7942,0.00,2.08,0.00,0.000,6,0.000,0.027,3340,1955,2692,0,0,0,0,0,0
$GC,8193,0.76,166.0,422.3,37.3,352,8197,0.00,2.17,0.00,0.000,4,0.000,0.045,3331,3361,2690,0,0,0,0,0,0
$GC,8352,0.76,166.0,362.6,37.2,355,8356,0.00,2.08,0.00,0.000,6,0.000,0.028,3340,1954,2689,0,0,0,0,0,0
$GC,8607,0.76,166.0,273.2,33.9,363,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1950,2688,0,0,0,0,0,0
$GC,8855,0.76,166.0,196.2,31.7,375,8859,0.00,2.17,0.00,0.000,4,0.000,0.042,3331,3373,2687,0,0,0,0,0,0
$GC,9102,0.76,166.0,127.9,24.7,397,9109,0.00,2.08,0.00,0.000,6,0.000,0.024,3339,1966,2685,0,0,0,0,0,0
$GC,9368,0.76,166.0,70.3,19.8,422,9372,0.00,2.12,0.00,0.000,4,0.000,0.041,3331,3366,2686,0,0,0,0,0,0
$GC,9419,0.76,166.0,59.4,20.3,426,9423,0.00,2.05,0.00,0.000,6,0.000,0.025,3340,1951,2684,0,0,0,0,0,0
$GC,9683,0.76,166.0,26.1,10.1,453,9690,0.00,2.03,0.00,0.000,4,0.000,0.031,3351,575,2684,0,0,0,0,0,0
$GC,9928,0.76,166.0,9.1,8.6,499,9936,0.00,2.05,0.00,0.000,6,0.000,0.028,3341,1970,2684,0,0,0,0,0,0
$STATE,9983,end climb,SURFACE_DEPTH_REACHED
$STATE,9983,begin surface coast
$FINISH,0.3,1.023180
$STATE,10011,end surface coast,CONTROL_FINISHED_OK
$STATE,10011,begin surface
$SM_CCo,10034,26.58,0.486,0,0,2486,220.03
$SM_GC,3.96,0.00,0.00,26.58,0.000,0.000,0.486,61,1977,2486,-9.50,-0.37,220.03
$IRIDIUM_FIX,1920.65,-15636.38,180113,010140
$TT8_MAMPS,0.247741
$HUMID,1079073315
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.70
$XPDR_PINGS,71
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2412183552
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57007702016
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,19.064
$10V_AH,10.2,18.373
$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,24.350,105.325,258.325,26.575,0.000,109.179,144.856,736.957,17.750,0.000,16.580,1070.354,6648.209,343.525,3001.962,412.829,33.364,1120.335,0.000,2003.914,0.000,0.542,0.000
$DEVICE_MAMPS,246.207,59.059,1144.364,486.278,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.927,0.000,1057.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26928,514
$CAP_FILE_SIZE,121279,0
$CFSIZE,260165632,195723264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,095010,1931.875,-15636.991,42,6.3,61,9.6