version: 66.07
glider: 513
mission: 7
dive: 140
start: 7 26 111 13 41 51
data:
$ID,513
$MISSION,7
$DIVE,140
$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,-423687.97
$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,61
$R_STBD_OVSHOOT,43
$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,139
$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
$GPS1,260711,131927,1933.981,-15637.853,36,2.4,55,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.1
$GPS2,260711,134056,1934.688,-15637.998,9,1.7,9,9.7
$SPEED_LIMITS,0.148,0.260
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,-0.157
$KALMAN_X,-16762.4,-1531.2,-507.0,20982.1,9157.8
$KALMAN_Y,35996.7,-2279.0,-1530.4,-57216.6,28559.8
$MHEAD_RNG_PITCHd_Wd,223.2,65401,-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,28,-0.76,-166.0,0.0,0.0,0,145,0.00,0.00,-114.72,0.000,2,0.000,0.000,37,2001,3809,0,0,0,0,0,0
$GC,149,-0.76,-166.0,3.8,-6.1,18,171,11.50,2.17,-2.45,0.000,4,0.243,0.059,2854,613,3962,0,0,0,0,0,0
$GC,207,-0.76,-166.0,20.0,1.3,27,214,0.00,2.08,0.00,0.000,6,0.000,0.031,2853,1987,3963,0,0,0,0,0,0
$GC,468,-0.76,-166.0,41.4,-9.5,65,472,0.00,2.20,0.00,0.000,4,0.000,0.057,2854,3381,3962,0,0,0,0,0,0
$GC,586,-0.76,-166.0,56.3,-12.2,75,594,0.00,2.10,0.00,0.000,6,0.000,0.035,2853,1999,3963,0,0,0,0,0,0
$GC,850,-0.76,-166.0,83.1,-9.6,100,854,0.00,2.12,0.00,0.000,4,0.000,0.048,2853,3387,3963,0,0,0,0,0,0
$GC,891,-0.76,-166.0,86.8,-6.7,103,895,0.00,2.08,0.00,0.000,6,0.000,0.032,2852,1983,3963,0,0,0,0,0,0
$GC,1156,-0.76,-166.0,109.6,-9.0,127,1159,0.00,2.15,0.00,0.000,4,0.000,0.048,2854,3397,3962,0,0,0,0,0,0
$GC,1317,-0.76,-166.0,131.2,-12.7,141,1324,0.00,2.12,0.00,0.000,6,0.000,0.035,2854,2001,3963,0,0,0,0,0,0
$GC,1583,-0.76,-166.0,167.7,-13.9,166,1586,0.00,2.08,0.00,0.000,4,0.000,0.033,2865,563,3963,0,0,0,0,0,0
$GC,1614,-0.76,-166.0,173.1,-13.3,168,1622,0.00,2.15,0.00,0.000,6,0.000,0.041,2865,1973,3960,0,0,0,0,0,0
$GC,1886,-0.76,-166.0,204.5,-9.1,192,1890,0.00,2.03,0.00,0.000,4,0.000,0.028,2876,560,3962,0,0,0,0,0,0
$GC,1901,-0.76,-166.0,206.9,-11.8,192,1907,0.00,2.12,0.00,0.000,6,0.000,0.033,2881,2003,3962,0,0,0,0,0,0
$GC,2155,-0.76,-166.0,230.6,-9.5,205,2159,0.00,2.10,0.00,0.000,4,0.000,0.034,2889,563,3961,0,0,0,0,0,0
$GC,2333,-0.76,-166.0,258.2,-12.9,213,2338,0.12,2.15,0.00,0.000,6,0.109,0.042,2846,1985,3961,0,0,0,0,0,0
$GC,2592,-0.76,-166.0,290.5,-11.8,226,2596,0.00,2.15,-0.08,0.000,4,0.000,0.060,2846,586,3972,0,0,0,0,0,0
$GC,2848,-0.76,-166.0,323.0,-12.8,233,2854,0.00,2.12,0.00,0.000,6,0.000,0.040,2846,1987,3971,0,0,0,0,0,0
$GC,3098,-0.76,-166.0,353.7,-12.0,240,3102,0.00,2.10,0.00,0.000,4,0.000,0.041,2853,576,3969,0,0,0,0,0,0
$GC,3355,-0.76,-166.0,387.2,-8.6,245,3359,0.00,2.15,0.00,0.000,6,0.000,0.042,2854,1993,3966,0,0,0,0,0,0
$GC,3611,-0.76,-166.0,416.1,-11.7,252,3615,0.00,2.15,0.00,0.000,4,0.000,0.054,2855,3399,3963,0,0,0,0,0,0
$GC,3662,-0.76,-166.0,423.0,-19.0,253,3666,0.00,2.10,0.00,0.000,6,0.000,0.028,2867,1968,3963,0,0,0,0,0,0
$GC,3934,-0.76,-166.0,462.3,-14.2,260,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1960,3959,0,0,0,0,0,0
$GC,4177,-0.76,-166.0,497.4,-14.8,266,4182,0.00,2.10,-0.08,0.000,4,0.000,0.061,2868,592,3974,0,0,0,0,0,0
$GC,4322,-0.76,-166.0,519.6,-11.7,269,4326,0.00,2.15,0.00,0.000,6,0.000,0.043,2869,2003,3973,0,0,0,0,0,0
$GC,4594,-0.76,-166.0,551.7,-12.0,276,4598,0.00,2.12,0.00,0.000,4,0.000,0.046,2872,592,3970,0,0,0,0,0,0
$GC,4851,-0.76,-166.0,586.7,-13.3,281,4856,0.00,2.12,0.00,0.000,6,0.000,0.044,2871,1988,3967,0,0,0,0,0,0
$GC,5101,-0.76,-166.0,620.4,-13.2,288,5104,0.00,2.10,0.00,0.000,4,0.000,0.041,2882,595,3965,0,0,0,0,0,0
$GC,5358,-0.76,-166.0,660.9,-16.6,293,5361,0.00,2.12,0.00,0.000,6,0.000,0.044,2882,1989,3963,0,0,0,0,0,0
$GC,5613,-0.76,-166.0,698.6,-15.0,300,5617,0.00,2.20,0.00,0.000,4,0.000,0.061,2882,3398,3960,0,0,0,0,0,0
$GC,5624,-0.76,-166.0,700.5,-14.6,300,5628,0.15,2.08,0.00,0.000,6,0.237,0.029,2861,1981,3960,0,0,0,0,0,0
$GC,5896,-0.76,-166.0,738.2,-13.8,307,5900,0.00,2.22,0.00,0.000,4,0.000,0.055,2861,3404,3958,0,0,0,0,0,0
$GC,5986,-0.76,-166.0,751.9,-12.9,309,5990,0.00,2.12,0.00,0.000,6,0.000,0.040,2871,2000,3956,0,0,0,0,0,0
$GC,6270,-0.76,-166.0,794.2,-14.7,316,6274,0.00,2.17,0.00,0.000,4,0.000,0.050,2872,3415,3956,0,0,0,0,0,0
$GC,6528,-0.76,-166.0,837.1,-17.6,321,6534,0.00,2.15,0.00,0.000,6,0.000,0.031,2884,1959,3954,0,0,0,0,0,0
$GC,6779,-0.76,-166.0,873.1,-13.8,328,6783,0.00,2.20,0.00,0.000,4,0.000,0.044,2884,3400,3949,0,0,0,0,0,0
$GC,6806,-0.76,-166.0,877.6,-13.3,328,6810,0.15,2.10,0.00,0.000,6,0.179,0.035,2855,2005,3951,0,0,0,0,0,0
$STATE,6983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6983,begin apogee
$GC,6988,-0.28,0.0,901.2,12.9,333,7108,0.43,0.00,117.03,1.139,6,0.066,0.000,3021,1998,3380,0,0,0,0,0,0
$STATE,7111,end apogee,CONTROL_FINISHED_OK
$STATE,7111,begin climb
$GC,7114,0.76,166.0,919.0,0.0,336,7265,0.93,2.30,141.52,1.108,4,0.074,0.043,3336,3372,2704,0,0,0,0,0,0
$GC,7405,0.76,166.0,838.1,44.5,342,7411,0.00,2.17,0.00,0.000,6,0.000,0.026,3345,1944,2698,0,0,0,0,0,0
$GC,7655,0.76,166.0,731.8,42.6,349,7659,0.00,2.22,0.00,0.000,4,0.000,0.041,3336,3377,2695,0,0,0,0,0,0
$GC,7761,0.76,166.0,687.2,41.9,351,7765,0.00,2.12,0.00,0.000,6,0.000,0.028,3345,1959,2694,0,0,0,0,0,0
$GC,8022,0.76,166.0,580.2,40.8,358,8026,0.00,2.20,0.00,0.000,4,0.000,0.044,3336,3383,2692,0,0,0,0,0,0
$GC,8100,0.76,166.0,548.2,40.1,359,8104,0.00,2.12,0.00,0.000,6,0.000,0.030,3345,1962,2693,0,0,0,0,0,0
$GC,8357,0.76,166.0,446.5,39.9,366,8361,0.00,2.17,0.00,0.000,4,0.000,0.042,3336,3378,2692,0,0,0,0,0,0
$GC,8367,0.76,166.0,441.6,39.5,366,8371,0.00,2.12,0.00,0.000,6,0.000,0.029,3345,1949,2691,0,0,0,0,0,0
$GC,8640,0.76,166.0,341.0,36.2,373,8644,0.00,2.20,0.00,0.000,4,0.000,0.042,3336,3383,2690,0,0,0,0,0,0
$GC,8650,0.76,166.0,337.1,36.2,373,8654,0.00,2.15,0.00,0.000,6,0.000,0.028,3344,1956,2691,0,0,0,0,0,0
$GC,8906,0.76,166.0,255.7,29.7,383,8910,0.00,2.17,0.00,0.000,4,0.000,0.041,3336,3379,2688,0,0,0,0,0,0
$GC,8923,0.76,166.0,250.4,29.4,384,8927,0.00,2.12,0.00,0.000,6,0.000,0.029,3345,1953,2689,0,0,0,0,0,0
$GC,9181,0.76,166.0,181.5,28.2,399,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1949,2687,0,0,0,0,0,0
$GC,9436,0.76,166.0,115.4,21.2,423,9440,0.00,2.17,0.00,0.000,4,0.000,0.042,3336,3375,2685,0,0,0,0,0,0
$GC,9501,0.76,166.0,100.3,21.8,428,9508,0.00,2.12,0.00,0.000,6,0.000,0.027,3345,1954,2685,0,0,0,0,0,0
$GC,9766,0.76,166.0,50.0,14.7,453,9770,0.00,2.17,0.00,0.000,4,0.000,0.041,3337,3378,2685,0,0,0,0,0,0
$GC,10018,0.76,166.0,18.4,10.0,484,10026,0.00,2.10,0.00,0.000,6,0.000,0.025,3345,1953,2685,0,0,0,0,0,0
$STATE,10195,end climb,SURFACE_DEPTH_REACHED
$STATE,10195,begin surface coast
$FINISH,0.2,1.023284
$STATE,10223,end surface coast,CONTROL_FINISHED_OK
$STATE,10223,begin surface
$SM_CCo,10245,23.73,0.482,0,0,2483,220.03
$SM_GC,3.33,0.00,0.00,23.73,0.000,0.000,0.482,56,1953,2483,-9.51,-1.05,220.03
$IRIDIUM_FIX,1927.51,-15635.47,180113,070727
$TT8_MAMPS,0.257712
$HUMID,1079088799
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.60
$XPDR_PINGS,78
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2335244288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56857755648
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,19.405
$10V_AH,10.1,18.575
$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,24.000,107.075,258.550,23.725,0.000,129.482,317.285,389.166,19.500,0.000,11.650,1076.824,6810.281,381.566,2931.445,369.372,33.359,1224.436,0.000,2083.850,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,61.360,1138.995,482.443,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.852,0.000,1047.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,26984,522
$CAP_FILE_SIZE,115511,0
$CFSIZE,260165632,195575808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,163554,1935.787,-15638.720,113,1.1,113,9.7