version: 66.07
glider: 513
mission: 7
dive: 139
start: 7 26 111 10 24 45
data:
$ID,513
$MISSION,7
$DIVE,139
$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,732.45386
$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,-423675.69
$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,72
$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,138
$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
$GPS1,260711,095010,1931.875,-15636.991,42,6.3,61,9.6
$_CALLS,5
$_XMS_NAKs,73
$_XMS_TOUTs,4
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-81.3
$GPS2,260711,102351,1932.955,-15637.099,51,4.0,70,9.6
$SPEED_LIMITS,0.148,0.260
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.169,-0.198
$KALMAN_X,-17640.1,-1641.6,-555.2,23601.9,9247.2
$KALMAN_Y,31240.3,-1866.5,-1755.6,-55872.0,29353.4
$MHEAD_RNG_PITCHd_Wd,210.9,62581,-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,27,-0.76,-166.0,0.0,0.0,0,68,0.00,0.00,-38.30,0.000,2,0.000,0.000,37,1974,3629,0,0,0,0,0,0
$GC,72,-0.76,-166.0,3.3,-4.8,6,100,11.57,2.15,-5.78,0.000,4,0.242,0.059,2854,616,3963,0,0,0,0,0,0
$GC,115,-0.76,-166.0,16.6,-29.2,12,122,0.00,2.05,0.00,0.000,6,0.000,0.031,2854,1971,3966,0,0,0,0,0,0
$GC,384,-0.76,-166.0,34.4,-7.1,56,388,0.00,2.20,0.00,0.000,4,0.000,0.048,2851,3395,3967,0,0,0,0,0,0
$GC,435,-0.76,-166.0,39.7,-8.1,60,439,0.00,2.05,0.00,0.000,6,0.000,0.029,2851,2009,3967,0,0,0,0,0,0
$GC,700,-0.76,-166.0,63.2,-9.5,84,704,0.00,2.10,0.00,0.000,4,0.000,0.044,2851,3395,3968,0,0,0,0,0,0
$GC,806,-0.76,-166.0,74.8,-9.5,93,810,0.00,2.10,0.00,0.000,6,0.000,0.033,2855,1996,3967,0,0,0,0,0,0
$GC,1069,-0.76,-166.0,105.4,-12.5,117,1073,0.00,2.12,0.00,0.000,4,0.000,0.047,2855,3392,3969,0,0,0,0,0,0
$GC,1089,-0.76,-166.0,107.8,-11.0,118,1093,0.00,2.10,0.00,0.000,6,0.000,0.031,2855,1977,3969,0,0,0,0,0,0
$GC,1356,-0.76,-166.0,140.6,-13.1,142,1360,0.00,2.17,0.00,0.000,4,0.000,0.044,2856,3398,3970,0,0,0,0,0,0
$GC,1439,-0.76,-166.0,152.8,-11.1,149,1443,0.00,2.08,0.00,0.000,6,0.000,0.031,2855,1998,3969,0,0,0,0,0,0
$GC,1704,-0.76,-166.0,185.5,-12.6,173,1708,0.00,2.08,0.00,0.000,4,0.000,0.037,2866,562,3969,0,0,0,0,0,0
$GC,1788,-0.76,-166.0,195.1,-10.6,180,1792,0.00,2.15,0.00,0.000,6,0.000,0.045,2868,1977,3969,0,0,0,0,0,0
$GC,2042,-0.76,-166.0,226.0,-10.1,193,2046,0.00,2.15,0.00,0.000,4,0.000,0.048,2868,3400,3969,0,0,0,0,0,0
$GC,2087,-0.76,-166.0,231.6,-11.8,195,2091,0.00,2.10,0.00,0.000,6,0.000,0.035,2879,1987,3969,0,0,0,0,0,0
$GC,2348,-0.76,-166.0,263.7,-11.7,208,2352,0.00,2.05,0.00,0.000,4,0.000,0.040,2889,577,3972,0,0,0,0,0,0
$GC,2410,-0.76,-166.0,270.8,-11.3,211,2415,0.10,2.10,0.00,0.000,6,0.123,0.037,2853,2000,3968,0,0,0,0,0,0
$GC,2675,-0.76,-166.0,302.3,-13.2,224,2679,0.00,2.08,0.00,0.000,4,0.000,0.031,2891,556,3966,0,0,0,0,0,0
$GC,2933,-0.76,-166.0,347.6,-21.6,229,2938,0.15,2.12,0.00,0.000,6,0.239,0.032,2862,2008,3965,0,0,0,0,0,0
$GC,3190,-0.76,-166.0,382.3,-12.6,236,3193,0.00,2.10,0.00,0.000,4,0.000,0.032,2882,563,3964,0,0,0,0,0,0
$GC,3448,-0.76,-166.0,417.7,-14.9,241,3453,0.00,2.10,0.00,0.000,6,0.000,0.034,2882,1987,3961,0,0,0,0,0,0
$GC,3697,-0.76,-166.0,453.2,-14.0,248,3702,0.00,2.10,-0.05,0.000,4,0.000,0.051,2892,571,3971,0,0,0,0,0,0
$GC,3713,-0.76,-166.0,455.7,-14.7,248,3717,0.12,2.12,0.00,0.000,6,0.100,0.036,2843,1988,3971,0,0,0,0,0,0
$GC,3980,-0.76,-166.0,487.7,-11.8,255,3984,0.00,2.10,0.00,0.000,4,0.000,0.038,2843,3402,3969,0,0,0,0,0,0
$GC,4012,-0.76,-166.0,492.5,-11.8,255,4016,0.00,2.10,0.00,0.000,6,0.000,0.033,2843,1975,3969,0,0,0,0,0,0
$GC,4268,-0.76,-166.0,522.2,-11.9,262,4272,0.00,2.22,0.00,0.000,4,0.000,0.054,2843,3397,3966,0,0,0,0,0,0
$GC,4278,-0.76,-166.0,523.9,-12.1,262,4282,0.00,2.05,0.00,0.000,6,0.000,0.028,2854,1982,3967,0,0,0,0,0,0
$GC,4551,-0.76,-166.0,557.8,-12.3,269,4555,0.00,2.15,0.00,0.000,4,0.000,0.046,2854,3397,3964,0,0,0,0,0,0
$GC,4690,-0.76,-166.0,578.1,-12.6,272,4694,0.00,2.08,0.00,0.000,6,0.000,0.032,2854,1998,3959,0,0,0,0,0,0
$GC,4969,-0.76,-166.0,615.1,-13.3,279,4973,0.00,2.10,0.00,0.000,4,0.000,0.041,2869,586,3963,0,0,0,0,0,0
$GC,5036,-0.76,-166.0,624.7,-14.2,280,5040,0.00,2.10,0.00,0.000,6,0.000,0.040,2869,1987,3959,0,0,0,0,0,0
$GC,5297,-0.76,-166.0,659.5,-13.1,287,5301,0.00,2.08,0.00,0.000,4,0.000,0.034,2880,574,3956,0,0,0,0,0,0
$GC,5554,-0.76,-166.0,698.7,-17.3,292,5559,0.00,2.12,0.00,0.000,6,0.000,0.037,2881,2000,3955,0,0,0,0,0,0
$GC,5804,-0.76,-166.0,735.1,-14.7,299,5808,0.00,2.17,0.00,0.000,4,0.000,0.058,2881,3381,3956,0,0,0,0,0,0
$GC,5905,-0.76,-166.0,751.3,-19.8,301,5910,0.15,2.08,0.00,0.000,6,0.252,0.033,2861,1988,3951,0,0,0,0,0,0
$GC,6171,-0.76,-166.0,788.8,-13.7,308,6175,0.00,2.10,0.00,0.000,4,0.000,0.039,2871,575,3950,0,0,0,0,0,0
$GC,6428,-0.76,-166.0,827.3,-16.1,313,6433,0.00,2.12,0.00,0.000,6,0.000,0.036,2876,1991,3948,0,0,0,0,0,0
$GC,6678,-0.76,-166.0,862.7,-14.0,320,6682,0.00,2.10,0.00,0.000,4,0.000,0.041,2882,589,3946,0,0,0,0,0,0
$GC,6688,-0.76,-166.0,863.6,-14.1,320,6692,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,1987,3947,0,0,0,0,0,0
$STATE,6964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6964,begin apogee
$GC,6971,-0.28,0.0,901.6,13.4,327,7089,0.35,0.00,115.50,1.142,6,0.080,0.000,3012,1992,3380,0,0,0,0,0,0
$STATE,7093,end apogee,CONTROL_FINISHED_OK
$STATE,7093,begin climb
$GC,7095,0.76,166.0,918.5,0.0,330,7246,0.95,2.33,141.95,1.105,4,0.083,0.031,3347,554,2704,0,0,0,0,0,0
$GC,7324,0.76,166.0,867.5,45.7,335,7328,0.00,2.20,0.00,0.000,6,0.000,0.033,3339,1969,2697,0,0,0,0,0,0
$GC,7591,0.76,166.0,752.0,43.5,342,7595,0.00,2.17,0.00,0.000,4,0.000,0.044,3331,3371,2694,0,0,0,0,0,0
$GC,7631,0.76,166.0,735.0,43.1,343,7636,0.00,2.15,0.00,0.000,6,0.000,0.028,3337,1943,2694,0,0,0,0,0,0
$GC,7915,0.76,166.0,617.8,41.4,350,7919,0.00,2.20,0.00,0.000,4,0.000,0.042,3328,3371,2695,0,0,0,0,0,0
$GC,8033,0.76,166.0,571.1,39.5,352,8037,0.00,2.10,0.00,0.000,6,0.000,0.027,3337,1953,2692,0,0,0,0,0,0
$GC,8282,0.76,166.0,475.0,38.4,358,8286,0.00,2.15,0.00,0.000,4,0.000,0.041,3328,3370,2691,0,0,0,0,0,0
$GC,8377,0.76,166.0,438.6,37.8,360,8381,0.00,2.10,0.00,0.000,6,0.000,0.028,3337,1951,2690,0,0,0,0,0,0
$GC,8662,0.76,166.0,334.0,36.9,367,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1947,2689,0,0,0,0,0,0
$GC,8906,0.76,166.0,251.6,31.2,376,8910,0.00,2.15,0.00,0.000,4,0.000,0.041,3328,3372,2688,0,0,0,0,0,0
$GC,9162,0.76,166.0,174.8,31.6,391,9170,0.00,2.10,0.00,0.000,6,0.000,0.027,3337,1962,2687,0,0,0,0,0,0
$GC,9427,0.76,166.0,104.1,24.1,416,9431,0.00,2.15,0.00,0.000,4,0.000,0.041,3328,3377,2685,0,0,0,0,0,0
$GC,9645,0.76,166.0,52.7,23.8,435,9649,0.00,2.08,0.00,0.000,6,0.000,0.026,3337,1958,2686,0,0,0,0,0,0
$GC,9905,0.81,203.7,20.8,7.3,469,9939,0.00,2.08,28.23,0.524,4,0.000,0.032,3349,550,2547,0,0,0,0,0,0
$STATE,10030,end climb,SURFACE_DEPTH_REACHED
$STATE,10030,begin surface coast
$FINISH,0.2,1.023115
$STATE,10042,end surface coast,CONTROL_FINISHED_OK
$STATE,10042,begin surface
$SM_CCo,10065,291.12,0.483,0,0,394,732.45
$SM_GC,0.95,0.00,0.00,291.12,0.000,0.000,0.483,47,1997,394,-9.51,0.20,732.45
$IRIDIUM_FIX,1925.22,-15636.38,180113,040437
$TT8_MAMPS,0.147264
$HUMID,1078987508
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,21.50
$XPDR_PINGS,76
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2450587648
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56878235648
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,19.275
$10V_AH,10.3,18.477
$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,23.425,110.300,285.675,291.125,0.000,148.202,191.217,1130.187,19.000,0.000,73.406,1050.000,6810.718,619.326,3496.903,420.331,33.361,1412.715,0.000,1960.447,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,59.059,1142.063,483.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.473,0.000,959.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353616
$DATA_FILE_SIZE,26910,493
$CAP_FILE_SIZE,133262,0
$CFSIZE,260165632,195629056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,131927,1933.981,-15637.853,36,2.4,55,9.6