version: 66.07
glider: 500
mission: 7
dive: 20
start: 9 17 110 1 28 44
data:
$ID,500
$MISSION,7
$DIVE,20
$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,120
$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,430
$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,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115626.46
$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,3290
$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,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$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,19
$AR_SAMPLENUM,10
$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
$GPS1,170910,011856,2108.869,-15755.628,39,1.9,39,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.5
$GPS2,170910,012750,2108.836,-15755.724,11,1.3,11,9.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,LINE1s
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.207,-0.078
$KALMAN_X,-2034.3,625.5,259.1,-5092.4,-847.0
$KALMAN_Y,-1216.3,-738.0,45.9,-8515.5,201.7
$MHEAD_RNG_PITCHd_Wd,239.4,7548,-16.7,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.70,-116.8,0.0,0.0,0,99,0.00,0.00,-70.82,0.000,2,0.000,0.000,127,1945,2880,0,0,0,0,0,0
$GC,101,-0.70,-116.8,3.5,-6.5,14,128,11.62,2.47,-6.43,0.000,4,0.245,0.055,3057,293,3231,0,0,0,0,0,0
$GC,336,-0.70,-116.8,52.3,-16.4,45,340,0.00,2.35,0.00,0.000,6,0.000,0.035,3047,1922,3233,0,0,0,0,0,0
$GC,596,-0.70,-116.8,98.2,-18.6,69,600,0.00,2.35,0.00,0.000,4,0.000,0.043,3047,296,3235,0,0,0,0,0,0
$GC,630,-0.70,-116.8,103.9,-17.0,71,635,0.00,2.30,0.00,0.000,6,0.000,0.035,3035,1910,3233,0,0,0,0,0,0
$GC,890,-0.70,-116.8,141.7,-13.0,96,894,0.00,2.35,0.00,0.000,4,0.000,0.043,3035,292,3235,0,0,0,0,0,0
$GC,951,-0.70,-116.8,150.5,-13.6,101,956,0.12,2.30,0.00,0.000,6,0.153,0.035,3061,1907,3235,0,0,0,0,0,0
$GC,1212,-0.70,-116.8,176.7,-9.8,125,1216,0.00,2.30,0.00,0.000,4,0.000,0.047,3051,3488,3237,0,0,0,0,0,0
$GC,1261,-0.70,-116.8,181.9,-9.9,129,1266,0.00,2.30,0.00,0.000,6,0.000,0.031,3051,1864,3236,0,0,0,0,0,0
$GC,1520,-0.70,-116.8,208.4,-9.5,149,1524,0.00,2.20,0.00,0.000,4,0.000,0.044,3051,323,3239,0,0,0,0,0,0
$GC,1625,-0.70,-116.8,219.6,-10.6,153,1631,0.00,2.25,0.00,0.000,6,0.000,0.035,3042,1897,3236,0,0,0,0,0,0
$GC,1940,-0.70,-116.8,250.7,-8.7,169,1944,0.00,2.30,0.00,0.000,4,0.000,0.047,3029,3484,3236,0,0,0,0,0,0
$GC,1980,-0.70,-116.8,253.9,-8.3,171,1985,0.12,2.25,0.00,0.000,6,0.133,0.031,3068,1889,3236,0,0,0,0,0,0
$GC,2306,-0.70,-116.8,275.9,-6.2,187,2310,0.00,2.22,0.00,0.000,4,0.000,0.044,3071,327,3236,0,0,0,0,0,0
$GC,2480,-0.70,-116.8,288.3,-6.5,195,2484,0.00,2.22,0.00,0.000,6,0.000,0.035,3068,1908,3233,0,0,0,0,0,0
$GC,2809,-0.70,-116.8,310.8,-7.6,208,2813,0.00,2.30,0.00,0.000,4,0.000,0.048,3057,3489,3235,0,0,0,0,0,0
$GC,2842,-0.70,-116.8,313.4,-8.2,208,2848,0.00,2.25,0.00,0.000,6,0.000,0.031,3061,1894,3234,0,0,0,0,0,0
$GC,3173,-0.70,-116.8,339.1,-7.4,217,3177,0.00,2.30,0.00,0.000,4,0.000,0.045,3057,321,3233,0,0,0,0,0,0
$GC,3222,-0.70,-116.8,342.8,-7.5,218,3226,0.00,2.28,0.00,0.000,6,0.000,0.036,3056,1903,3232,0,0,0,0,0,0
$GC,3541,-0.70,-116.8,365.9,-7.4,226,3545,0.00,2.33,0.00,0.000,4,0.000,0.046,3056,319,3230,0,0,0,0,0,0
$GC,3580,-0.70,-116.8,368.8,-7.8,227,3584,0.00,2.25,0.00,0.000,6,0.000,0.036,3044,1899,3230,0,0,0,0,0,0
$GC,3903,-0.70,-116.8,393.6,-7.4,235,3907,0.00,2.30,0.00,0.000,4,0.000,0.046,3044,320,3227,0,0,0,0,0,0
$GC,3942,-0.70,-116.8,396.7,-8.4,236,3947,0.10,2.25,0.00,0.000,6,0.150,0.036,3065,1899,3227,0,0,0,0,0,0
$GC,4265,-0.70,-116.8,416.9,-6.5,244,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1900,3224,0,0,0,0,0,0
$GC,4590,-0.70,-116.8,435.3,-5.5,252,4594,0.00,2.35,0.00,0.000,4,0.000,0.049,3065,319,3222,0,0,0,0,0,0
$GC,4639,-0.70,-116.8,438.3,-6.0,253,4643,0.00,2.25,0.00,0.000,6,0.000,0.037,3055,1902,3222,0,0,0,0,0,0
$STATE,4868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4868,begin apogee
$GC,4873,-0.23,0.0,450.6,5.4,259,4964,0.45,0.00,88.00,0.869,6,0.101,0.000,3212,2025,2751,0,0,0,0,0,0
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4967,begin climb
$GC,4969,0.70,116.8,452.0,0.0,261,5076,0.80,2.47,97.32,0.846,4,0.041,0.048,3549,3563,2270,0,0,0,0,0,0
$GC,5290,0.70,116.8,433.8,9.2,268,5296,0.15,2.33,0.00,0.000,6,0.182,0.035,3522,1994,2261,0,0,0,0,0,0
$GC,5620,0.74,151.3,410.0,6.7,277,5654,0.00,2.42,26.92,0.818,4,0.000,0.046,3533,423,2132,0,0,0,0,0,0
$GC,5711,0.74,151.3,402.7,9.1,279,5715,0.00,2.33,0.00,0.000,6,0.000,0.039,3533,1988,2131,0,0,0,0,0,0
$GC,6028,0.74,151.3,370.6,10.4,287,6032,0.00,2.33,0.00,0.000,4,0.000,0.048,3544,426,2124,0,0,0,0,0,0
$GC,6066,0.74,151.3,366.6,11.0,288,6070,0.00,2.30,0.00,0.000,6,0.000,0.040,3544,2002,2122,0,0,0,0,0,0
$GC,6390,0.74,151.3,333.8,10.0,296,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2002,2122,0,0,0,0,0,0
$GC,6714,0.74,151.3,301.8,9.7,304,6719,0.00,2.35,0.00,0.000,4,0.000,0.051,3544,3592,2120,0,0,0,0,0,0
$GC,6848,0.74,151.3,287.5,10.3,309,6852,0.00,2.33,0.00,0.000,6,0.000,0.036,3556,2006,2122,0,0,0,0,0,0
$GC,7175,0.74,151.3,257.6,8.7,325,7179,0.00,2.30,0.00,0.000,4,0.000,0.047,3573,418,2119,0,0,0,0,0,0
$GC,7348,0.74,151.3,242.4,9.1,333,7353,0.15,2.30,0.00,0.000,6,0.178,0.039,3528,2018,2119,0,0,0,0,0,0
$GC,7675,0.78,181.0,217.6,6.9,349,7704,0.00,2.35,22.70,0.709,4,0.000,0.048,3528,3563,2011,0,0,0,0,0,0
$GC,7731,0.78,181.0,213.0,8.9,351,7739,0.00,2.30,0.00,0.000,6,0.000,0.035,3540,2006,2009,0,0,0,0,0,0
$GC,8052,0.78,181.0,183.4,9.1,375,8056,0.00,2.33,0.00,0.000,4,0.000,0.047,3550,422,2004,0,0,0,0,0,0
$GC,8174,0.78,181.0,169.9,10.8,385,8181,0.00,2.30,0.00,0.000,6,0.000,0.037,3550,1993,2003,0,0,0,0,0,0
$GC,8437,0.78,181.0,147.0,8.9,410,8441,0.00,2.33,0.00,0.000,4,0.000,0.048,3550,3589,2003,0,0,0,0,0,0
$GC,8621,0.78,181.0,128.1,9.7,426,8625,0.00,2.30,0.00,0.000,6,0.000,0.035,3562,1995,2003,0,0,0,0,0,0
$GC,8883,0.81,204.1,107.8,7.2,450,8907,0.00,2.35,18.65,0.598,4,0.000,0.046,3570,424,1920,0,0,0,0,0,0
$GC,9162,0.81,204.1,80.7,9.0,475,9166,0.00,2.28,0.00,0.000,6,0.000,0.035,3573,2010,1913,0,0,0,0,0,0
$GC,9423,0.81,204.1,58.0,9.1,499,9427,0.00,2.33,0.00,0.000,4,0.000,0.044,3585,414,1913,0,0,0,0,0,0
$GC,9518,0.83,224.3,50.1,7.4,507,9542,0.00,2.28,17.10,0.538,6,0.000,0.035,3585,2003,1835,0,0,0,0,0,0
$GC,9801,0.83,224.3,24.5,8.9,538,9807,0.00,2.33,0.00,0.000,4,0.000,0.044,3597,412,1834,0,0,0,0,0,0
$GC,9908,0.83,224.3,13.7,9.7,557,9914,0.12,2.28,0.00,0.000,6,0.166,0.035,3564,2001,1832,0,0,0,0,0,0
$STATE,10059,end climb,SURFACE_DEPTH_REACHED
$STATE,10059,begin surface coast
$FINISH,0.2,1.016359
$STATE,10105,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10124,109.93,0.419,1,0,996,430.00
$SM_GC,0.97,0.00,0.00,109.93,0.000,0.000,0.419,130,1886,996,-9.86,-0.37,430.00
$IRIDIUM_FIX,2101.76,-15753.03,110312,171724
$TT8_MAMPS,0.059059
$HUMID,1078667732
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8441331712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59399897088
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,3.767
$10V_AH,10.4,3.200
$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,22.275,106.450,270.700,109.925,0.000,25.273,26.120,341.077,0.250,0.000,13.435,1122.561,7228.104,493.056,1777.387,162.743,33.351,1234.976,0.000,1331.662,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,95.875,869.011,418.782,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,399.239,0.000,0.000,0.000,0.000,0.000,0.000,11133.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.215,0.000,0.000
$MEM,335000
$DATA_FILE_SIZE,20071,592
$CAP_FILE_SIZE,108992,0
$CFSIZE,260165632,235593728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,042054,2108.390,-15756.635,24,0.8,41,9.8