version: 66.07
glider: 500
mission: 7
dive: 19
start: 9 16 110 22 49 1
data:
$ID,500
$MISSION,7
$DIVE,19
$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,-115612.39
$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,67
$R_STBD_OVSHOOT,51
$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,18
$AR_SAMPLENUM,9
$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
$GPS1,160910,223931,2109.091,-15754.547,39,1.7,39,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.6
$GPS2,160910,224807,2109.037,-15754.649,8,1.1,13,9.8
$SPEED_LIMITS,0.144,0.184
$TGT_NAME,LINE1s
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.026
$KALMAN_X,-1186.5,264.0,-351.9,-3111.6,-423.7
$KALMAN_Y,-1267.0,-446.2,-109.2,-8230.3,-214.9
$MHEAD_RNG_PITCHd_Wd,252.1,9440,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.79,-77.9,0.0,0.0,0,99,0.00,0.00,-71.10,0.000,2,0.000,0.000,128,1916,2862,0,0,0,0,0,0
$GC,102,-0.79,-77.9,3.2,-5.9,14,124,11.40,2.25,-3.92,0.000,4,0.245,0.053,2994,385,3069,0,0,0,0,0,0
$GC,353,-0.79,-77.9,64.6,-19.7,45,360,0.00,2.28,0.00,0.000,6,0.000,0.037,2984,1945,3073,0,0,0,0,0,0
$GC,615,-0.79,-77.9,119.5,-18.3,70,619,0.00,2.35,0.00,0.000,4,0.000,0.047,2972,3537,3074,0,0,0,0,0,0
$GC,687,-0.79,-77.9,132.7,-17.3,76,692,0.12,2.25,0.00,0.000,6,0.152,0.031,3008,1956,3074,0,0,0,0,0,0
$GC,948,-0.79,-77.9,169.0,-12.3,100,952,0.00,2.25,0.00,0.000,4,0.000,0.043,3008,376,3076,0,0,0,0,0,0
$GC,1032,-0.79,-77.9,180.1,-13.3,107,1036,0.00,2.25,0.00,0.000,6,0.000,0.035,2997,1963,3076,0,0,0,0,0,0
$GC,1300,-0.79,-77.9,214.2,-12.6,127,1304,0.00,2.30,0.00,0.000,4,0.000,0.043,2998,368,3077,0,0,0,0,0,0
$GC,1327,-0.79,-77.9,217.8,-13.0,128,1331,0.00,2.28,0.00,0.000,6,0.000,0.035,2986,1951,3077,0,0,0,0,0,0
$GC,1648,-0.79,-77.9,257.0,-12.1,144,1652,0.00,2.28,0.00,0.000,4,0.000,0.043,2987,376,3078,0,0,0,0,0,0
$GC,1675,-0.79,-77.9,260.7,-13.8,145,1679,0.00,2.28,0.00,0.000,6,0.000,0.036,2975,1960,3080,0,0,0,0,0,0
$GC,1995,-0.79,-77.9,297.2,-11.6,161,1999,0.00,2.30,0.00,0.000,4,0.000,0.044,2975,366,3078,0,0,0,0,0,0
$GC,2067,-0.79,-77.9,305.9,-12.7,163,2072,0.10,2.28,0.00,0.000,6,0.134,0.035,2999,1956,3076,0,0,0,0,0,0
$GC,2403,-0.79,-77.9,338.1,-8.9,172,2407,0.00,2.30,0.00,0.000,4,0.000,0.045,2998,368,3076,0,0,0,0,0,0
$GC,2469,-0.79,-77.9,345.3,-11.0,173,2474,0.00,2.28,0.00,0.000,6,0.000,0.037,2990,1951,3077,0,0,0,0,0,0
$GC,2812,-0.79,-77.9,384.3,-11.4,182,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1952,3076,0,0,0,0,0,0
$GC,3137,-0.79,-77.9,420.3,-10.9,190,3141,0.00,2.33,0.00,0.000,4,0.000,0.046,2989,370,3073,0,0,0,0,0,0
$GC,3236,-0.79,-77.9,431.1,-10.8,192,3240,0.00,2.28,0.00,0.000,6,0.000,0.037,2977,1947,3072,0,0,0,0,0,0
$STATE,3425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3425,begin apogee
$GC,3431,-0.23,0.0,451.4,10.7,197,3494,0.60,0.00,59.92,0.847,6,0.123,0.000,3180,2054,2750,0,0,0,0,0,0
$STATE,3496,end apogee,CONTROL_FINISHED_OK
$STATE,3496,begin climb
$GC,3498,0.79,77.9,453.6,0.0,198,3570,0.88,2.38,64.93,0.830,4,0.069,0.046,3514,3598,2433,0,0,0,0,0,0
$GC,3822,0.85,127.5,446.0,4.8,205,3868,0.00,2.33,40.17,0.825,6,0.000,0.036,3526,2026,2227,0,0,0,0,0,0
$GC,4211,0.85,127.5,410.4,10.0,215,4215,0.00,2.35,0.00,0.000,4,0.000,0.050,3527,3602,2220,0,0,0,0,0,0
$GC,4266,0.85,127.5,404.7,10.1,216,4271,0.00,2.33,0.00,0.000,6,0.000,0.036,3538,2031,2219,0,0,0,0,0,0
$GC,4585,0.85,128.7,376.8,8.2,224,4589,0.00,2.30,0.00,0.000,4,0.000,0.047,3550,447,2218,0,0,0,0,0,0
$GC,4707,0.85,128.7,366.3,9.1,226,4713,0.00,2.28,0.00,0.000,6,0.000,0.039,3550,2013,2217,0,0,0,0,0,0
$GC,5037,0.85,128.7,338.9,8.5,235,5041,0.00,2.38,0.00,0.000,4,0.000,0.049,3550,3619,2215,0,0,0,0,0,0
$GC,5114,0.85,128.7,331.0,10.3,236,5121,0.00,2.33,0.00,0.000,6,0.000,0.035,3562,2031,2215,0,0,0,0,0,0
$GC,5446,0.86,134.8,302.3,7.9,245,5455,0.00,2.30,4.38,0.551,4,0.000,0.046,3574,451,2201,0,0,0,0,0,0
$GC,5709,0.89,157.4,281.3,6.7,255,5735,0.00,2.30,20.58,0.749,6,0.000,0.038,3574,2048,2108,0,0,0,0,0,0
$GC,6045,0.89,157.4,249.2,9.7,272,6049,0.00,2.33,0.00,0.000,4,0.000,0.045,3585,452,2101,0,0,0,0,0,0
$GC,6211,0.89,157.4,230.4,10.7,279,6218,0.10,2.30,0.00,0.000,6,0.167,0.038,3554,2032,2103,0,0,0,0,0,0
$GC,6526,0.89,157.4,202.9,9.3,295,6531,0.00,2.33,0.00,0.000,4,0.000,0.049,3554,3611,2099,0,0,0,0,0,0
$GC,6621,0.89,157.4,193.4,9.7,302,6626,0.00,2.28,0.00,0.000,6,0.000,0.035,3564,2029,2099,0,0,0,0,0,0
$GC,6885,0.93,193.9,175.9,5.7,326,6919,0.00,2.35,29.52,0.672,4,0.000,0.047,3576,451,1958,0,0,0,0,0,0
$GC,6952,0.93,193.9,169.2,12.3,332,6958,0.00,2.33,0.00,0.000,6,0.000,0.038,3576,2024,1959,0,0,0,0,0,0
$GC,7214,0.93,193.9,140.3,10.2,357,7218,0.00,2.30,0.00,0.000,4,0.000,0.045,3587,443,1952,0,0,0,0,0,0
$GC,7411,0.93,193.9,118.6,10.9,374,7415,0.00,2.30,0.00,0.000,6,0.000,0.037,3587,2042,1951,0,0,0,0,0,0
$GC,7672,0.96,216.4,95.8,6.7,398,7696,0.00,2.38,18.15,0.582,4,0.000,0.048,3587,3612,1868,0,0,0,0,0,0
$GC,7793,0.96,216.4,84.0,11.9,409,7798,0.00,2.30,0.00,0.000,6,0.000,0.035,3599,2018,1865,0,0,0,0,0,0
$GC,8060,0.97,218.9,61.0,8.2,434,8064,0.00,2.25,0.00,0.000,4,0.000,0.044,3612,452,1863,0,0,0,0,0,0
$GC,8132,0.97,218.9,54.4,9.7,440,8137,0.15,2.28,0.00,0.000,6,0.169,0.037,3570,2040,1863,0,0,0,0,0,0
$GC,8393,0.97,226.1,33.9,7.8,464,8407,0.00,2.35,9.02,0.483,4,0.000,0.045,3581,459,1828,0,0,0,0,0,0
$GC,8536,0.97,226.1,21.7,9.0,485,8541,0.00,2.25,0.00,0.000,6,0.000,0.037,3580,2031,1826,0,0,0,0,0,0
$STATE,8731,end climb,SURFACE_DEPTH_REACHED
$STATE,8731,begin surface coast
$FINISH,0.1,1.023243
$STATE,8767,end surface coast,CONTROL_FINISHED_OK
$STATE,8767,begin surface
$SM_CCo,8786,116.22,0.464,1,0,916,450.12
$SM_GC,1.14,0.00,0.00,116.22,0.000,0.000,0.464,134,1943,916,-9.77,-0.20,450.12
$IRIDIUM_FIX,2101.76,-15753.03,110312,141458
$TT8_MAMPS,0.058292
$HUMID,1078681926
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8441364480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59446525952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,3.668
$10V_AH,10.5,3.125
$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,22.075,92.225,246.675,116.225,0.000,29.583,27.217,320.991,0.000,0.000,14.938,1001.106,6176.409,454.986,1641.983,158.991,33.344,1133.333,0.000,1215.384,0.000,0.543,0.000
$DEVICE_MAMPS,245.440,118.118,846.768,464.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.189,0.000,0.000,0.000,0.000,0.000,0.000,9774.880,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.794,0.000,0.000
$MEM,335028
$DATA_FILE_SIZE,16793,526
$CAP_FILE_SIZE,96772,0
$CFSIZE,260165632,235671552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,011856,2108.869,-15755.628,39,1.9,39,9.8