version: 66.07
glider: 500
mission: 7
dive: 18
start: 9 16 110 20 15 40
data:
$ID,500
$MISSION,7
$DIVE,18
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$D_NO_BLEED,200
$D_BOOST,4
$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,180
$T_MISSION,200
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115596.82
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.799538
$PRESSURE_SLOPE,0.00011603366
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,17
$AR_SAMPLENUM,8
$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
$GPS1,160910,195457,2109.104,-15752.976,41,1.0,44,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.8
$GPS2,160910,201444,2109.025,-15753.191,14,0.8,14,9.8
$SPEED_LIMITS,0.144,0.184
$TGT_NAME,LINE1s
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.176,0.050
$KALMAN_X,-94.1,-240.0,-332.6,-1197.5,-743.7
$KALMAN_Y,-1526.5,189.5,12.3,-8746.3,-972.0
$MHEAD_RNG_PITCHd_Wd,276.1,11914,-20.9,-8.333
$D_GRID,450
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.79,-77.9,0.0,0.0,0,118,0.00,0.00,-90.90,0.000,2,0.000,0.000,125,2042,3017,0,0,0,0,0,0
$GC,120,-0.79,-77.9,4.0,-8.3,18,141,11.45,2.25,-0.88,0.000,4,0.248,0.054,2982,3541,3071,0,0,0,0,0,0
$GC,393,-0.79,-77.9,71.6,-19.7,49,400,0.00,2.30,0.00,0.000,6,0.000,0.031,2982,1955,3072,0,0,0,0,0,0
$GC,655,-0.79,-77.9,120.8,-16.7,74,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1954,3072,0,0,0,0,0,0
$GC,909,-0.79,-77.9,160.3,-13.0,98,913,0.00,2.30,0.00,0.000,4,0.000,0.045,2982,368,3073,0,0,0,0,0,0
$GC,1009,-0.79,-77.9,176.1,-15.1,106,1016,0.08,2.28,0.00,0.000,6,0.145,0.036,3007,1947,3073,0,0,0,0,0,0
$GC,1279,-0.79,-77.9,208.8,-12.9,129,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1945,3073,0,0,0,0,0,0
$GC,1588,-0.79,-77.9,250.1,-12.6,144,1592,0.00,2.28,0.00,0.000,4,0.000,0.044,3007,373,3073,0,0,0,0,0,0
$GC,1642,-0.79,-77.9,257.1,-12.6,146,1648,0.00,2.25,0.00,0.000,6,0.000,0.036,2997,1957,3071,0,0,0,0,0,0
$GC,1957,-0.79,-77.9,296.7,-12.7,162,1961,0.00,2.30,0.00,0.000,4,0.000,0.048,2985,3541,3073,0,0,0,0,0,0
$GC,2001,-0.79,-77.9,301.8,-10.8,164,2005,0.00,2.28,0.00,0.000,6,0.000,0.032,2984,1947,3072,0,0,0,0,0,0
$GC,2325,-0.79,-77.9,336.0,-10.9,172,2329,0.00,2.25,0.00,0.000,4,0.000,0.044,2984,368,3072,0,0,0,0,0,0
$GC,2409,-0.79,-77.9,345.2,-10.6,174,2414,0.10,2.25,0.00,0.000,6,0.167,0.036,3001,1946,3072,0,0,0,0,0,0
$GC,2732,-0.79,-77.9,376.2,-9.3,182,2736,0.00,2.30,0.00,0.000,4,0.000,0.045,3001,362,3070,0,0,0,0,0,0
$GC,2798,-0.79,-77.9,383.6,-11.0,183,2803,0.00,2.30,0.00,0.000,6,0.000,0.036,2991,1968,3069,0,0,0,0,0,0
$GC,3140,-0.79,-77.9,420.8,-10.6,192,3144,0.00,2.30,0.00,0.000,4,0.000,0.047,2991,372,3069,0,0,0,0,0,0
$GC,3252,-0.79,-77.9,433.1,-11.0,194,3257,0.00,2.22,0.00,0.000,6,0.000,0.037,2979,1947,3066,0,0,0,0,0,0
$STATE,3429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3430,begin apogee
$GC,3434,-0.23,0.0,452.4,10.7,199,3496,0.60,0.00,58.55,0.848,6,0.122,0.000,3183,2057,2750,0,0,0,0,0,0
$STATE,3499,end apogee,CONTROL_FINISHED_OK
$STATE,3499,begin climb
$GC,3501,0.79,77.9,454.2,0.0,200,3572,0.88,2.40,63.92,0.830,4,0.068,0.048,3519,3594,2433,0,0,0,0,0,0
$GC,3605,0.89,158.6,454.8,2.5,202,3678,0.00,2.38,66.62,0.824,6,0.000,0.035,3531,2025,2104,0,0,0,0,0,0
$GC,3984,0.89,158.6,415.0,11.9,212,3988,0.00,2.35,0.00,0.000,4,0.000,0.048,3543,449,2091,0,0,0,0,0,0
$GC,4068,0.89,158.6,404.8,11.5,214,4072,0.00,2.28,0.00,0.000,6,0.000,0.039,3543,2014,2090,0,0,0,0,0,0
$GC,4391,0.89,158.6,369.7,10.4,222,4395,0.00,2.30,0.00,0.000,4,0.000,0.048,3554,446,2088,0,0,0,0,0,0
$GC,4490,0.89,158.6,358.4,10.8,224,4495,0.00,2.33,0.00,0.000,6,0.000,0.039,3555,2034,2087,0,0,0,0,0,0
$GC,4803,0.89,158.6,320.1,12.5,232,4807,0.00,2.33,0.00,0.000,4,0.000,0.050,3555,3609,2086,0,0,0,0,0,0
$GC,4818,0.89,158.6,318.0,12.3,232,4822,0.00,2.30,0.00,0.000,6,0.000,0.038,3570,2024,2085,0,0,0,0,0,0
$GC,5147,0.89,158.6,284.1,8.5,244,5152,0.00,2.30,0.00,0.000,4,0.000,0.046,3578,444,2085,0,0,0,0,0,0
$GC,5168,0.89,158.6,282.2,8.6,245,5174,0.08,2.30,0.00,0.000,6,0.169,0.039,3554,2027,2085,0,0,0,0,0,0
$GC,5496,0.89,158.6,255.8,8.4,261,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2028,2084,0,0,0,0,0,0
$GC,5804,0.89,158.6,227.8,8.8,276,5808,0.00,2.28,0.00,0.000,4,0.000,0.048,3564,452,2082,0,0,0,0,0,0
$GC,5882,0.89,158.6,220.5,9.1,279,5888,0.00,2.30,0.00,0.000,6,0.000,0.039,3565,2051,2082,0,0,0,0,0,0
$GC,6200,0.89,158.6,189.8,8.9,300,6204,0.00,2.30,0.00,0.000,4,0.000,0.049,3564,3615,2083,0,0,0,0,0,0
$GC,6456,0.89,158.6,160.3,11.9,322,6463,0.00,2.30,0.00,0.000,6,0.000,0.035,3576,2028,2082,0,0,0,0,0,0
$GC,6718,0.91,171.3,140.2,7.4,347,6733,0.00,2.33,8.05,0.567,4,0.000,0.045,3588,451,2052,0,0,0,0,0,0
$GC,6807,0.91,172.5,133.3,8.2,355,6812,0.12,2.28,0.00,0.000,6,0.181,0.038,3557,2041,2052,0,0,0,0,0,0
$GC,7067,0.95,209.2,117.7,5.7,379,7108,0.00,2.40,31.65,0.605,4,0.000,0.045,3567,454,1897,0,0,0,0,0,0
$GC,7164,0.95,209.2,110.8,8.5,388,7169,0.00,2.28,0.00,0.000,6,0.000,0.037,3564,2027,1893,0,0,0,0,0,0
$GC,7425,0.95,209.2,86.5,9.1,412,7429,0.00,2.33,0.00,0.000,4,0.000,0.048,3567,3610,1891,0,0,0,0,0,0
$GC,7491,0.96,215.9,81.1,7.9,417,7502,0.00,2.28,5.75,0.463,6,0.000,0.035,3578,2025,1871,0,0,0,0,0,0
$GC,7757,0.96,217.0,58.3,8.2,442,7761,0.00,2.35,0.00,0.000,4,0.000,0.047,3578,3619,1867,0,0,0,0,0,0
$GC,7789,0.96,217.0,55.3,10.4,444,7795,0.00,2.25,0.00,0.000,6,0.000,0.035,3589,2035,1868,0,0,0,0,0,0
$GC,8050,0.96,217.0,32.3,8.9,469,8054,0.00,2.28,0.00,0.000,4,0.000,0.045,3602,445,1868,0,0,0,0,0,0
$GC,8212,0.96,217.0,16.2,9.1,495,8218,0.12,2.28,0.00,0.000,6,0.173,0.036,3569,2049,1867,0,0,0,0,0,0
$STATE,8346,end climb,SURFACE_DEPTH_REACHED
$STATE,8346,begin surface coast
$FINISH,0.5,1.023219
$STATE,8374,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8414,124.18,0.425,1,0,914,450.12
$SM_GC,1.18,0.00,0.00,124.18,0.000,0.000,0.425,132,1915,914,-9.76,-0.99,450.12
$IRIDIUM_FIX,2059.45,-15753.90,110312,141438
$TT8_MAMPS,0.058292
$HUMID,1078662571
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,9
$AR_CDRIVE_FREE,8441397248
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59481554944
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,3.576
$10V_AH,10.5,3.058
$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,22.075,87.525,234.550,124.175,0.000,117.270,118.498,604.809,0.000,0.000,15.894,967.826,6102.589,472.529,2021.958,180.045,33.328,1105.588,0.000,1114.686,0.000,0.543,0.000
$DEVICE_MAMPS,247.741,106.613,848.302,424.918,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.089,0.000,0.000,0.000,0.000,0.000,0.000,10139.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.804,0.000,0.000
$MEM,335024
$DATA_FILE_SIZE,16784,524
$CAP_FILE_SIZE,104682,0
$CFSIZE,260165632,235720704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,223931,2109.091,-15754.547,39,1.7,39,9.8