version: 66.07
glider: 500
mission: 7
dive: 22
start: 9 17 110 7 24 52
data:
$ID,500
$MISSION,7
$DIVE,22
$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,-115678.05
$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,21
$AR_SAMPLENUM,11
$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
$GPS1,170910,071701,2108.177,-15758.033,9,1.8,10,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.9
$GPS2,170910,072359,2108.174,-15758.070,11,2.7,30,9.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,LINE1s
$TGT_LATLONG,2108.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.064
$KALMAN_X,-1661.3,811.4,237.8,-9685.1,-1216.2
$KALMAN_Y,-1451.4,-162.9,-48.4,-9986.2,367.7
$MHEAD_RNG_PITCHd_Wd,242.1,3349,-18.3,-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,-0.73,-99.2,0.0,0.0,0,93,0.00,0.00,-65.40,0.000,2,0.000,0.000,128,1883,2796,0,0,0,0,0,0
$GC,96,-0.75,-116.8,3.3,-6.6,13,123,11.48,2.35,-8.07,0.000,4,0.244,0.057,3034,287,3228,0,0,0,0,0,0
$GC,218,-0.75,-116.8,33.6,-17.8,34,223,0.00,2.38,0.00,0.000,6,0.000,0.035,3024,1926,3230,0,0,0,0,0,0
$GC,478,-0.75,-116.8,80.4,-17.7,58,482,0.00,2.38,0.00,0.000,4,0.000,0.044,3024,299,3232,0,0,0,0,0,0
$GC,533,-0.75,-116.8,90.5,-18.2,62,540,0.08,2.30,0.00,0.000,6,0.137,0.033,3040,1898,3235,0,0,0,0,0,0
$GC,795,-0.75,-116.8,129.2,-13.2,87,799,0.00,2.33,0.00,0.000,4,0.000,0.044,3040,298,3233,0,0,0,0,0,0
$GC,827,-0.75,-116.8,133.9,-13.6,89,834,0.00,2.30,0.00,0.000,6,0.000,0.033,3029,1899,3233,0,0,0,0,0,0
$GC,1089,-0.75,-116.8,167.7,-14.1,114,1093,0.00,2.33,0.00,0.000,4,0.000,0.044,3030,288,3234,0,0,0,0,0,0
$GC,1154,-0.75,-116.8,177.6,-14.2,119,1161,0.00,2.33,0.00,0.000,6,0.000,0.034,3015,1913,3234,0,0,0,0,0,0
$GC,1413,-0.75,-116.8,209.7,-11.3,140,1417,0.00,2.33,0.00,0.000,4,0.000,0.043,3016,298,3235,0,0,0,0,0,0
$GC,1435,-0.75,-116.8,212.5,-12.5,141,1440,0.12,2.28,0.00,0.000,6,0.156,0.035,3044,1905,3235,0,0,0,0,0,0
$GC,1760,-0.75,-116.8,244.9,-9.2,157,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1905,3235,0,0,0,0,0,0
$GC,2070,-0.75,-116.8,274.9,-9.9,172,2074,0.00,2.33,0.00,0.000,4,0.000,0.044,3045,297,3235,0,0,0,0,0,0
$GC,2096,-0.75,-116.8,277.9,-11.2,173,2101,0.00,2.30,0.00,0.000,6,0.000,0.035,3036,1905,3236,0,0,0,0,0,0
$GC,2441,-0.75,-116.8,312.0,-9.4,187,2446,0.00,2.33,0.00,0.000,4,0.000,0.044,3036,299,3235,0,0,0,0,0,0
$GC,2474,-0.75,-116.8,315.3,-10.5,187,2480,0.00,2.28,0.00,0.000,6,0.000,0.034,3027,1908,3235,0,0,0,0,0,0
$GC,2805,-0.75,-116.8,347.3,-10.0,196,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1908,3234,0,0,0,0,0,0
$GC,3130,-0.75,-116.8,377.8,-9.4,204,3134,0.00,2.35,0.00,0.000,4,0.000,0.046,3026,294,3232,0,0,0,0,0,0
$GC,3173,-0.75,-116.8,382.0,-9.5,205,3178,0.08,2.30,0.00,0.000,6,0.123,0.035,3046,1898,3231,0,0,0,0,0,0
$GC,3497,-0.75,-116.8,404.9,-7.4,213,3501,0.00,2.33,0.00,0.000,4,0.000,0.046,3046,293,3229,0,0,0,0,0,0
$GC,3597,-0.75,-116.8,414.6,-10.2,215,3601,0.00,2.30,0.00,0.000,6,0.000,0.035,3036,1901,3228,0,0,0,0,0,0
$GC,3917,-0.75,-116.8,434.8,-5.7,223,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1900,3226,0,0,0,0,0,0
$STATE,4117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4117,begin apogee
$GC,4122,-0.23,0.0,452.7,9.5,228,4213,0.50,0.00,88.40,0.864,6,0.105,0.000,3211,2030,2752,0,0,0,0,0,0
$STATE,4216,end apogee,CONTROL_FINISHED_OK
$STATE,4216,begin climb
$GC,4218,0.75,116.8,456.1,0.0,230,4324,0.82,2.42,96.65,0.842,4,0.049,0.047,3546,3552,2272,0,0,0,0,0,0
$GC,4386,0.75,116.8,453.0,10.2,234,4391,0.00,2.35,0.00,0.000,6,0.000,0.035,3560,1977,2265,0,0,0,0,0,0
$GC,4710,0.75,116.8,419.9,10.0,242,4714,0.00,2.33,0.00,0.000,4,0.000,0.047,3572,415,2259,0,0,0,0,0,0
$GC,4967,0.76,118.8,395.7,8.2,247,4974,0.10,2.30,0.00,0.000,6,0.164,0.037,3541,1981,2256,0,0,0,0,0,0
$GC,5298,0.78,139.5,371.7,7.2,256,5322,0.00,2.40,16.52,0.785,4,0.000,0.047,3552,416,2181,0,0,0,0,0,0
$GC,5569,0.78,139.5,344.4,9.4,262,5573,0.00,2.33,0.00,0.000,6,0.000,0.037,3552,2010,2176,0,0,0,0,0,0
$GC,5893,0.80,156.5,319.2,7.4,270,5912,0.00,2.38,14.40,0.752,4,0.000,0.049,3552,3591,2112,0,0,0,0,0,0
$GC,5962,0.80,156.5,312.1,12.0,271,5967,0.00,2.35,0.00,0.000,6,0.000,0.036,3564,2001,2112,0,0,0,0,0,0
$GC,6287,0.80,156.5,276.5,10.4,284,6291,0.00,2.35,0.00,0.000,4,0.000,0.048,3564,3588,2106,0,0,0,0,0,0
$GC,6506,0.80,156.5,252.9,11.4,294,6510,0.00,2.30,0.00,0.000,6,0.000,0.036,3575,1998,2104,0,0,0,0,0,0
$GC,6832,0.80,156.5,221.4,9.4,310,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1998,2102,0,0,0,0,0,0
$GC,7141,0.82,169.4,199.8,7.6,325,7156,0.00,2.35,10.38,0.653,4,0.000,0.046,3575,3593,2060,0,0,0,0,0,0
$GC,7369,0.82,169.4,176.4,11.0,345,7374,0.12,2.30,0.00,0.000,6,0.188,0.035,3556,1997,2057,0,0,0,0,0,0
$GC,7629,0.82,169.4,152.1,9.4,369,7633,0.00,2.35,0.00,0.000,4,0.000,0.047,3556,3601,2055,0,0,0,0,0,0
$GC,7651,0.82,169.4,149.9,9.8,371,7655,0.00,2.30,0.00,0.000,6,0.000,0.035,3566,2000,2055,0,0,0,0,0,0
$GC,7912,0.82,169.4,124.6,10.2,395,7916,0.00,2.33,0.00,0.000,4,0.000,0.046,3578,419,2055,0,0,0,0,0,0
$GC,8090,0.84,185.2,109.1,7.4,410,8110,0.00,2.30,13.93,0.592,6,0.000,0.036,3578,2006,1992,0,0,0,0,0,0
$GC,8372,0.87,209.5,90.1,7.0,437,8398,0.00,2.33,20.90,0.584,4,0.000,0.043,3590,426,1894,0,0,0,0,0,0
$GC,8454,0.88,216.1,83.8,8.0,444,8465,0.00,2.28,6.25,0.486,6,0.000,0.035,3589,1997,1866,0,0,0,0,0,0
$GC,8719,0.88,216.1,61.0,9.5,469,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2000,1864,0,0,0,0,0,0
$GC,8974,0.88,216.1,38.2,9.1,493,8978,0.00,2.33,0.00,0.000,4,0.000,0.044,3602,422,1864,0,0,0,0,0,0
$GC,9080,0.88,216.1,27.7,10.3,504,9086,0.00,2.28,0.00,0.000,6,0.000,0.035,3602,2011,1863,0,0,0,0,0,0
$GC,9288,0.88,216.1,6.9,11.1,541,9293,0.00,2.33,0.00,0.000,4,0.000,0.045,3602,3592,1863,0,0,0,0,0,0
$STATE,9320,end climb,SURFACE_DEPTH_REACHED
$STATE,9320,begin surface coast
$FINISH,1.9,1.023188
$STATE,9326,end surface coast,CONTROL_FINISHED_OK
$STATE,9326,begin surface
$SM_CCo,9347,116.75,0.469,1,0,996,430.25
$SM_GC,0.87,0.00,0.00,116.75,0.000,0.000,0.469,142,1898,996,-9.83,0.03,430.25
$IRIDIUM_FIX,2101.76,-15758.18,110312,222234
$TT8_MAMPS,0.057525
$HUMID,1078648377
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8441266176
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59318239232
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,3.950
$10V_AH,10.4,3.338
$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,22.375,93.300,267.425,116.750,0.000,30.224,34.245,210.648,0.000,0.000,33.630,1029.856,6678.740,479.973,1568.253,137.802,33.358,1164.553,0.000,1218.140,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,94.341,863.642,468.637,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.552,0.000,0.000,0.000,0.000,0.000,0.000,10189.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.784,0.000,0.000
$MEM,334992
$DATA_FILE_SIZE,20121,548
$CAP_FILE_SIZE,96729,0
$CFSIZE,260165632,235470848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,100406,2107.874,-15759.498,35,1.4,36,9.8