version: 66.07
glider: 500
mission: 7
dive: 24
start: 9 17 110 13 1 31
data:
$ID,500
$MISSION,7
$DIVE,24
$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,-115715.8
$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,23
$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
$GPS1,170910,125437,2107.802,-15758.625,25,1.6,25,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.4
$GPS2,170910,130037,2107.792,-15758.647,7,1.3,12,9.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.059
$KALMAN_X,-1891.0,322.2,-180.3,-9535.7,-468.3
$KALMAN_Y,-1622.6,683.6,10.3,-11430.4,135.8
$MHEAD_RNG_PITCHd_Wd,95.6,90765,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-70.88,0.000,2,0.000,0.000,128,1876,2935,0,0,0,0,0,0
$GC,102,-0.70,-116.8,3.6,-6.8,14,124,11.52,2.38,-5.18,0.000,4,0.245,0.054,3056,282,3230,0,0,0,0,0,0
$GC,135,-0.70,-116.8,17.6,-38.2,20,140,0.00,2.35,0.00,0.000,6,0.000,0.035,3046,1926,3231,0,0,0,0,0,0
$GC,335,-0.70,-116.8,53.6,-17.9,45,340,0.00,2.38,0.00,0.000,4,0.000,0.044,3046,289,3230,0,0,0,0,0,0
$GC,363,-0.70,-116.8,58.5,-17.2,47,367,0.00,2.30,0.00,0.000,6,0.000,0.034,3036,1911,3231,0,0,0,0,0,0
$GC,623,-0.70,-116.8,105.9,-16.8,71,628,0.10,2.38,0.00,0.000,4,0.172,0.043,3062,291,3232,0,0,0,0,0,0
$GC,689,-0.70,-116.8,116.1,-15.0,76,695,0.00,2.30,0.00,0.000,6,0.000,0.034,3054,1913,3232,0,0,0,0,0,0
$GC,949,-0.70,-116.8,150.7,-13.1,101,951,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1913,3234,0,0,0,0,0,0
$GC,1205,-0.70,-116.8,177.6,-9.9,125,1209,0.00,2.33,0.00,0.000,4,0.000,0.043,3054,291,3235,0,0,0,0,0,0
$GC,1281,-0.70,-116.8,185.8,-9.9,131,1288,0.00,2.30,0.00,0.000,6,0.000,0.033,3042,1898,3235,0,0,0,0,0,0
$GC,1540,-0.70,-116.8,210.9,-10.2,151,1544,0.00,2.28,0.00,0.000,4,0.000,0.045,3030,3476,3236,0,0,0,0,0,0
$GC,1583,-0.70,-116.8,215.5,-10.4,153,1588,0.08,2.30,0.00,0.000,6,0.111,0.030,3062,1865,3236,0,0,0,0,0,0
$GC,1909,-0.70,-116.8,246.8,-9.2,169,1913,0.00,2.22,0.00,0.000,4,0.000,0.044,3062,319,3234,0,0,0,0,0,0
$GC,1963,-0.70,-116.8,252.2,-9.9,171,1969,0.00,2.25,0.00,0.000,6,0.000,0.034,3056,1897,3236,0,0,0,0,0,0
$GC,2278,-0.70,-116.8,281.8,-8.7,187,2283,0.00,2.30,0.00,0.000,4,0.000,0.046,3044,3484,3239,0,0,0,0,0,0
$GC,2310,-0.70,-116.8,284.6,-8.5,188,2317,0.00,2.28,0.00,0.000,6,0.000,0.031,3043,1888,3237,0,0,0,0,0,0
$GC,2646,-0.70,-116.8,309.8,-6.9,202,2650,0.00,2.25,0.00,0.000,4,0.000,0.044,3044,329,3236,0,0,0,0,0,0
$GC,2717,-0.70,-116.8,315.5,-7.9,203,2722,0.00,2.25,0.00,0.000,6,0.000,0.035,3034,1911,3234,0,0,0,0,0,0
$GC,3054,-0.70,-116.8,337.3,-6.2,212,3058,0.10,2.33,0.00,0.000,4,0.152,0.045,3066,317,3235,0,0,0,0,0,0
$GC,3143,-0.70,-116.8,342.5,-5.6,214,3147,0.00,2.22,0.00,0.000,6,0.000,0.035,3056,1900,3234,0,0,0,0,0,0
$GC,3466,-0.70,-116.8,358.4,-4.8,222,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1901,3233,0,0,0,0,0,0
$GC,3791,-0.70,-116.8,377.0,-5.9,230,3795,0.00,2.30,0.00,0.000,4,0.000,0.046,3056,321,3229,0,0,0,0,0,0
$GC,3840,-0.70,-116.8,380.6,-7.6,231,3845,0.00,2.28,0.00,0.000,6,0.000,0.036,3055,1909,3232,0,0,0,0,0,0
$GC,4159,-0.70,-116.8,403.7,-7.4,239,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1908,3227,0,0,0,0,0,0
$GC,4485,-0.70,-116.8,427.1,-7.1,247,4489,0.00,2.30,0.00,0.000,4,0.000,0.047,3056,327,3224,0,0,0,0,0,0
$GC,4550,-0.70,-116.8,432.4,-8.4,248,4555,0.00,2.25,0.00,0.000,6,0.000,0.035,3044,1894,3225,0,0,0,0,0,0
$STATE,4810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4810,begin apogee
$GC,4815,-0.23,0.0,452.0,7.2,255,4907,0.50,0.00,88.62,0.872,6,0.104,0.000,3221,2012,2750,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4911,0.70,116.8,453.3,0.0,257,5018,0.77,2.47,96.80,0.850,4,0.041,0.047,3545,3559,2272,0,0,0,0,0,0
$GC,5269,0.70,116.8,428.7,10.2,265,5274,0.12,2.33,0.00,0.000,6,0.166,0.035,3520,1999,2261,0,0,0,0,0,0
$GC,5606,0.71,126.9,400.0,7.8,274,5620,0.00,2.40,7.15,0.693,4,0.000,0.047,3531,423,2233,0,0,0,0,0,0
$GC,5735,0.71,127.4,389.8,8.3,276,5740,0.00,2.28,0.00,0.000,6,0.000,0.038,3529,1980,2233,0,0,0,0,0,0
$GC,6065,0.72,130.7,363.6,8.2,285,6074,0.00,2.33,4.40,0.572,4,0.000,0.048,3541,424,2219,0,0,0,0,0,0
$GC,6164,0.75,159.4,356.5,7.0,287,6196,0.00,2.30,25.25,0.798,6,0.000,0.038,3541,2008,2103,0,0,0,0,0,0
$GC,6520,0.75,159.4,322.5,10.4,296,6524,0.00,2.35,0.00,0.000,4,0.000,0.048,3553,428,2091,0,0,0,0,0,0
$GC,6776,0.75,159.4,289.2,12.0,303,6783,0.00,2.30,0.00,0.000,6,0.000,0.038,3554,1994,2090,0,0,0,0,0,0
$GC,7092,0.75,159.4,257.6,8.7,319,7096,0.00,2.30,0.00,0.000,4,0.000,0.047,3563,422,2089,0,0,0,0,0,0
$GC,7191,0.75,159.4,247.3,9.2,323,7198,0.12,2.30,0.00,0.000,6,0.176,0.038,3533,2024,2087,0,0,0,0,0,0
$GC,7506,0.75,159.4,224.2,8.5,339,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2024,2088,0,0,0,0,0,0
$GC,7817,0.77,173.8,200.6,7.6,354,7837,0.00,2.38,11.50,0.663,4,0.000,0.048,3532,3586,2040,0,0,0,0,0,0
$GC,7944,0.77,173.8,188.6,9.6,364,7949,0.00,2.30,0.00,0.000,6,0.000,0.035,3543,1999,2037,0,0,0,0,0,0
$GC,8205,0.79,188.6,165.5,7.6,389,8226,0.00,2.38,12.90,0.637,4,0.000,0.047,3555,418,1980,0,0,0,0,0,0
$GC,8305,0.79,188.6,156.1,11.7,398,8309,0.00,2.28,0.00,0.000,6,0.000,0.037,3559,2003,1979,0,0,0,0,0,0
$GC,8567,0.82,214.3,133.9,7.1,422,8591,0.00,0.00,22.05,0.627,6,0.000,0.000,3555,2004,1876,0,0,0,0,0,0
$GC,8842,0.82,214.3,108.0,10.3,448,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2004,1870,0,0,0,0,0,0
$GC,9097,0.84,231.6,86.6,7.5,472,9118,0.00,2.33,14.30,0.564,4,0.000,0.045,3567,423,1807,0,0,0,0,0,0
$GC,9359,0.84,231.6,62.2,10.8,495,9365,0.00,2.28,0.00,0.000,6,0.000,0.035,3566,1992,1802,0,0,0,0,0,0
$GC,9620,0.84,231.6,35.0,9.9,520,9624,0.00,2.28,0.00,0.000,4,0.000,0.044,3582,421,1802,0,0,0,0,0,0
$GC,9641,0.84,231.6,32.3,12.2,521,9648,0.00,2.30,0.00,0.000,6,0.000,0.035,3578,2004,1802,0,0,0,0,0,0
$STATE,9914,end climb,SURFACE_DEPTH_REACHED
$STATE,9915,begin surface coast
$FINISH,0.3,1.013313
$STATE,9955,end surface coast,CONTROL_FINISHED_OK
$STATE,9955,begin surface
$SM_CCo,9974,100.70,0.463,1,0,997,430.00
$SM_GC,1.01,0.00,0.00,100.70,0.000,0.000,0.463,144,1879,997,-9.83,-0.59,430.00
$IRIDIUM_FIX,2059.45,-15759.05,120312,040443
$TT8_MAMPS,0.058292
$HUMID,1078659990
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8441200640
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59232714752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.121
$10V_AH,10.4,3.476
$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,22.000,92.600,282.975,100.700,0.000,25.840,32.515,178.291,0.000,0.000,14.775,1070.773,7196.837,499.198,1549.874,133.098,33.351,1202.319,0.000,1257.996,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,91.273,872.079,462.501,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.036,0.000,0.000,0.000,0.000,0.000,0.000,10762.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.722,0.000,0.000
$MEM,335036
$DATA_FILE_SIZE,20110,575
$CAP_FILE_SIZE,99397,0
$CFSIZE,260165632,235335680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,155104,2107.698,-15757.388,41,1.7,43,9.8