version: 66.07
glider: 500
mission: 7
dive: 21
start: 9 17 110 4 28 19
data:
$ID,500
$MISSION,7
$DIVE,21
$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,-115643.79
$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,20
$AR_SAMPLENUM,12
$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
$GPS1,170910,042054,2108.390,-15756.635,24,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.8
$GPS2,170910,042725,2108.400,-15756.682,9,1.2,14,9.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,LINE1s
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.213,-0.058
$KALMAN_X,-1975.8,797.6,636.4,-7358.8,-1316.9
$KALMAN_Y,-1407.0,-618.9,154.6,-9358.8,157.3
$MHEAD_RNG_PITCHd_Wd,245.0,5781,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.70,-116.8,0.0,0.0,0,94,0.00,0.00,-65.38,0.000,2,0.000,0.000,128,1887,2792,0,0,0,0,0,0
$GC,97,-0.70,-116.8,3.2,-6.3,13,124,11.62,2.35,-8.30,0.000,4,0.245,0.057,3057,298,3230,0,0,0,0,0,0
$GC,343,-0.70,-116.8,53.6,-16.6,45,347,0.00,2.33,0.00,0.000,6,0.000,0.035,3047,1925,3230,0,0,0,0,0,0
$GC,603,-0.70,-116.8,98.0,-15.6,69,607,0.00,2.38,0.00,0.000,4,0.000,0.044,3047,299,3232,0,0,0,0,0,0
$GC,623,-0.70,-116.8,101.2,-15.6,70,630,0.00,2.33,0.00,0.000,6,0.000,0.035,3035,1920,3232,0,0,0,0,0,0
$GC,884,-0.70,-116.8,139.3,-13.5,95,888,0.00,2.38,0.00,0.000,4,0.000,0.044,3035,292,3233,0,0,0,0,0,0
$GC,933,-0.70,-116.8,146.2,-13.7,99,938,0.12,2.30,0.00,0.000,6,0.158,0.035,3062,1913,3233,0,0,0,0,0,0
$GC,1193,-0.70,-116.8,173.6,-10.1,123,1198,0.00,2.35,0.00,0.000,4,0.000,0.043,3062,287,3234,0,0,0,0,0,0
$GC,1210,-0.70,-116.8,175.2,-9.8,124,1214,0.00,2.30,0.00,0.000,6,0.000,0.035,3055,1908,3234,0,0,0,0,0,0
$GC,1486,-0.70,-116.8,203.1,-11.0,149,1490,0.00,2.33,0.00,0.000,4,0.000,0.047,3043,3485,3235,0,0,0,0,0,0
$GC,1513,-0.70,-116.8,206.2,-10.7,150,1517,0.00,2.30,0.00,0.000,6,0.000,0.031,3043,1878,3235,0,0,0,0,0,0
$GC,1834,-0.70,-116.8,239.0,-10.1,166,1838,0.00,2.22,0.00,0.000,4,0.000,0.044,3043,320,3236,0,0,0,0,0,0
$GC,1905,-0.70,-116.8,245.7,-9.1,169,1910,0.08,2.25,0.00,0.000,6,0.116,0.035,3073,1898,3235,0,0,0,0,0,0
$GC,2226,-0.70,-116.8,267.7,-6.8,185,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1898,3235,0,0,0,0,0,0
$GC,2535,-0.70,-116.8,287.6,-6.5,200,2539,0.00,2.28,0.00,0.000,4,0.000,0.044,3074,320,3234,0,0,0,0,0,0
$GC,2580,-0.70,-116.8,290.7,-6.7,202,2584,0.00,2.22,0.00,0.000,6,0.000,0.035,3069,1900,3235,0,0,0,0,0,0
$GC,2909,-0.70,-116.8,311.3,-6.7,214,2913,0.00,2.30,0.00,0.000,4,0.000,0.045,3069,314,3234,0,0,0,0,0,0
$GC,2941,-0.70,-116.8,314.3,-9.4,214,2947,0.00,2.28,0.00,0.000,6,0.000,0.036,3059,1916,3233,0,0,0,0,0,0
$GC,3272,-0.70,-116.8,339.2,-7.7,223,3276,0.00,2.30,0.00,0.000,4,0.000,0.049,3047,3480,3232,0,0,0,0,0,0
$GC,3293,-0.70,-116.8,340.9,-7.9,223,3297,0.00,2.28,0.00,0.000,6,0.000,0.032,3047,1897,3232,0,0,0,0,0,0
$GC,3641,-0.70,-116.8,370.4,-8.1,232,3645,0.00,2.30,0.00,0.000,4,0.000,0.046,3047,318,3229,0,0,0,0,0,0
$GC,3775,-0.70,-116.8,380.7,-6.6,235,3779,0.00,2.25,0.00,0.000,6,0.000,0.035,3036,1910,3228,0,0,0,0,0,0
$GC,4092,-0.70,-116.8,408.4,-9.5,243,4096,0.00,2.33,0.00,0.000,4,0.000,0.046,3036,318,3224,0,0,0,0,0,0
$GC,4176,-0.70,-116.8,416.6,-9.9,245,4181,0.12,2.25,0.00,0.000,6,0.144,0.036,3068,1901,3226,0,0,0,0,0,0
$GC,4499,-0.70,-116.8,437.8,-6.2,253,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1902,3224,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4705,-0.23,0.0,450.2,6.1,258,4797,0.43,0.00,88.35,0.865,6,0.100,0.000,3222,2027,2750,0,0,0,0,0,0
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4801,0.70,116.8,452.7,0.0,260,4907,0.75,2.47,96.30,0.844,4,0.046,0.048,3535,3570,2275,0,0,0,0,0,0
$GC,4990,0.70,116.8,448.0,9.7,264,4996,0.08,2.38,0.00,0.000,6,0.165,0.035,3523,2000,2267,0,0,0,0,0,0
$GC,5338,0.70,116.8,415.0,9.5,273,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2000,2260,0,0,0,0,0,0
$GC,5664,0.70,116.8,385.2,8.6,281,5668,0.00,2.35,0.00,0.000,4,0.000,0.047,3535,417,2257,0,0,0,0,0,0
$GC,5747,0.70,116.8,378.0,8.4,283,5751,0.00,2.28,0.00,0.000,6,0.000,0.038,3535,1981,2257,0,0,0,0,0,0
$GC,6071,0.75,153.7,355.0,6.6,291,6105,0.00,2.40,28.23,0.802,4,0.000,0.048,3545,417,2122,0,0,0,0,0,0
$GC,6127,0.75,153.7,350.5,9.0,292,6131,0.00,2.33,0.00,0.000,6,0.000,0.038,3546,1999,2120,0,0,0,0,0,0
$GC,6440,0.75,153.7,318.4,10.5,300,6444,0.00,2.38,0.00,0.000,4,0.000,0.049,3546,3595,2114,0,0,0,0,0,0
$GC,6545,0.75,153.7,306.7,11.3,302,6549,0.00,2.35,0.00,0.000,6,0.000,0.037,3558,1992,2112,0,0,0,0,0,0
$GC,6876,0.75,153.7,272.9,9.5,317,6880,0.00,2.33,0.00,0.000,4,0.000,0.048,3570,413,2111,0,0,0,0,0,0
$GC,7132,0.75,153.7,247.4,9.6,328,7139,0.10,2.33,0.00,0.000,6,0.166,0.037,3538,2011,2110,0,0,0,0,0,0
$GC,7448,0.76,161.4,222.8,8.0,344,7458,0.00,2.35,5.28,0.568,4,0.000,0.046,3550,405,2089,0,0,0,0,0,0
$GC,7525,0.76,161.4,216.0,9.0,347,7531,0.00,2.30,0.00,0.000,6,0.000,0.038,3550,1997,2090,0,0,0,0,0,0
$GC,7844,0.76,165.2,188.1,8.2,369,7853,0.00,0.00,4.18,0.487,6,0.000,0.000,3549,1998,2078,0,0,0,0,0,0
$GC,8110,0.78,182.0,169.0,7.5,394,8131,0.00,2.35,16.17,0.653,4,0.000,0.046,3549,3593,2006,0,0,0,0,0,0
$GC,8259,0.78,182.0,155.1,9.6,407,8266,0.00,2.35,0.00,0.000,6,0.000,0.035,3557,1992,2002,0,0,0,0,0,0
$GC,8522,0.78,182.0,130.0,9.0,432,8526,0.00,2.28,0.00,0.000,4,0.000,0.045,3574,421,2004,0,0,0,0,0,0
$GC,8779,0.80,195.6,107.5,7.7,454,8796,0.00,2.28,11.43,0.575,6,0.000,0.035,3572,2007,1952,0,0,0,0,0,0
$GC,9049,0.80,195.6,84.3,8.9,480,9054,0.00,2.30,0.00,0.000,4,0.000,0.044,3585,417,1947,0,0,0,0,0,0
$GC,9124,0.80,199.6,78.4,8.1,486,9136,0.12,2.28,4.32,0.420,6,0.170,0.035,3551,2002,1936,0,0,0,0,0,0
$GC,9389,0.86,246.5,59.9,6.1,511,9434,0.00,2.38,38.25,0.561,4,0.000,0.045,3561,430,1744,0,0,0,0,0,0
$GC,9529,0.86,246.5,46.7,11.1,524,9534,0.00,2.28,0.00,0.000,6,0.000,0.035,3561,2006,1739,0,0,0,0,0,0
$GC,9796,0.86,246.5,16.5,13.4,558,9801,0.00,2.30,0.00,0.000,4,0.000,0.044,3573,422,1737,0,0,0,0,0,0
$GC,9903,0.86,246.5,3.8,10.8,577,9908,0.00,2.28,0.00,0.000,6,0.000,0.035,3577,2008,1736,0,0,0,0,0,0
$STATE,9912,end climb,SURFACE_DEPTH_REACHED
$STATE,9912,begin surface coast
$FINISH,0.2,0.998188
$STATE,9942,end surface coast,CONTROL_FINISHED_OK
$STATE,9942,begin surface
$SM_CCo,9960,96.95,0.459,1,0,997,430.00
$SM_GC,0.84,0.00,0.00,96.95,0.000,0.000,0.459,143,1878,997,-9.83,-0.54,430.00
$IRIDIUM_FIX,2059.45,-15758.18,110312,191946
$TT8_MAMPS,0.059826
$HUMID,1078680635
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8441298944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59357134848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,3.859
$10V_AH,10.4,3.271
$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,22.300,102.100,292.500,96.950,0.000,23.527,38.318,204.991,0.000,0.000,16.694,1092.168,7146.027,487.340,1594.932,141.757,33.356,1206.811,0.000,1272.577,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,95.108,865.176,458.666,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,393.654,0.000,0.000,0.000,0.000,0.000,0.000,10799.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.825,0.000,0.000
$MEM,334984
$DATA_FILE_SIZE,20089,584
$CAP_FILE_SIZE,103675,0
$CFSIZE,260165632,235528192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,071701,2108.177,-15758.033,9,1.8,10,9.8