version: 66.07
glider: 500
mission: 7
dive: 27
start: 9 17 110 21 44 51
data:
$ID,500
$MISSION,7
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,208
$T_MISSION,220
$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,390
$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,-115779.39
$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,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,26
$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
$GPS1,170910,213754,2108.266,-15755.483,56,0.9,56,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.1
$GPS2,170910,214356,2108.260,-15755.545,11,1.3,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.096
$KALMAN_X,-2607.7,-650.3,-206.7,-2462.3,-194.1
$KALMAN_Y,618.1,25.0,30.6,-12173.2,519.2
$MHEAD_RNG_PITCHd_Wd,106.2,85839,-16.1,-8.013
$D_GRID,500
$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,-0.68,-116.8,0.0,0.0,0,99,0.00,0.00,-70.62,0.000,2,0.000,0.000,128,1875,2947,0,0,0,0,0,0
$GC,101,-0.68,-116.8,3.7,-7.3,14,123,11.50,2.33,-4.97,0.000,4,0.243,0.050,3062,282,3229,0,0,0,0,0,0
$GC,229,-0.68,-116.8,34.8,-15.5,34,235,0.00,2.38,0.00,0.000,6,0.000,0.035,3051,1918,3229,0,0,0,0,0,0
$GC,490,-0.68,-116.8,76.3,-15.9,59,494,0.00,2.35,0.00,0.000,4,0.000,0.042,3051,289,3230,0,0,0,0,0,0
$GC,544,-0.68,-116.8,84.8,-15.9,63,551,0.08,2.33,0.00,0.000,6,0.130,0.034,3068,1903,3230,0,0,0,0,0,0
$GC,806,-0.68,-116.8,118.7,-13.2,88,810,0.00,2.33,0.00,0.000,4,0.000,0.044,3068,291,3232,0,0,0,0,0,0
$GC,856,-0.68,-116.8,125.7,-14.1,92,860,0.00,2.28,0.00,0.000,6,0.000,0.034,3059,1909,3233,0,0,0,0,0,0
$GC,1118,-0.68,-116.8,156.4,-10.9,116,1122,0.00,2.33,0.00,0.000,4,0.000,0.043,3059,289,3231,0,0,0,0,0,0
$GC,1191,-0.68,-116.8,164.2,-10.1,122,1195,0.00,2.28,0.00,0.000,6,0.000,0.034,3048,1900,3233,0,0,0,0,0,0
$GC,1453,-0.68,-116.8,191.5,-10.8,146,1457,0.00,2.33,0.00,0.000,4,0.000,0.044,3047,298,3234,0,0,0,0,0,0
$GC,1473,-0.68,-116.8,193.8,-9.8,147,1480,0.08,2.30,0.00,0.000,6,0.120,0.033,3066,1906,3237,0,0,0,0,0,0
$GC,1740,-0.68,-116.8,217.2,-9.1,164,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1906,3235,0,0,0,0,0,0
$GC,2049,-0.68,-116.8,244.2,-8.1,179,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1906,3235,0,0,0,0,0,0
$GC,2359,-0.68,-116.8,266.8,-7.4,194,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1906,3235,0,0,0,0,0,0
$GC,2668,-0.68,-116.8,289.3,-7.3,209,2672,0.00,2.33,0.00,0.000,4,0.000,0.044,3066,288,3235,0,0,0,0,0,0
$GC,2706,-0.68,-116.8,292.4,-8.1,211,2711,0.00,2.25,0.00,0.000,6,0.000,0.034,3057,1898,3234,0,0,0,0,0,0
$GC,3049,-0.68,-116.8,319.6,-8.0,222,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1896,3234,0,0,0,0,0,0
$GC,3374,-0.68,-116.8,345.9,-7.7,230,3378,0.00,2.33,0.00,0.000,4,0.000,0.046,3057,301,3233,0,0,0,0,0,0
$GC,3418,-0.68,-116.8,349.5,-8.0,231,3422,0.00,2.25,0.00,0.000,6,0.000,0.035,3060,1907,3231,0,0,0,0,0,0
$GC,3742,-0.68,-116.8,371.9,-6.7,239,3746,0.00,2.38,0.00,0.000,4,0.000,0.045,3056,287,3231,0,0,0,0,0,0
$GC,3780,-0.68,-116.8,375.0,-8.1,239,3786,0.00,2.30,0.00,0.000,6,0.000,0.035,3046,1883,3231,0,0,0,0,0,0
$GC,4112,-0.68,-116.8,400.0,-7.6,248,4116,0.00,2.30,0.00,0.000,4,0.000,0.046,3046,291,3226,0,0,0,0,0,0
$GC,4143,-0.68,-116.8,402.8,-8.4,248,4150,0.08,2.33,0.00,0.000,6,0.110,0.035,3068,1905,3227,0,0,0,0,0,0
$GC,4475,-0.68,-116.8,423.8,-6.4,257,4479,0.00,2.33,0.00,0.000,4,0.000,0.047,3068,298,3226,0,0,0,0,0,0
$GC,4507,-0.68,-116.8,426.4,-8.0,257,4513,0.00,2.28,0.00,0.000,6,0.000,0.035,3058,1907,3225,0,0,0,0,0,0
$GC,4838,-0.68,-116.8,449.6,-6.7,266,4842,0.00,2.33,0.00,0.000,4,0.000,0.050,3046,3482,3222,0,0,0,0,0,0
$GC,4870,-0.68,-116.8,451.9,-7.1,266,4874,0.00,2.30,0.00,0.000,6,0.000,0.034,3046,1883,3221,0,0,0,0,0,0
$GC,5207,-0.68,-116.8,475.6,-7.1,275,5211,0.00,2.28,0.00,0.000,4,0.000,0.048,3046,324,3219,0,0,0,0,0,0
$GC,5266,-0.68,-116.8,480.8,-8.2,276,5272,0.08,2.28,0.00,0.000,6,0.107,0.036,3067,1899,3219,0,0,0,0,0,0
$STATE,5572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5572,begin apogee
$GC,5577,-0.23,0.0,501.6,6.6,284,5668,0.40,0.00,88.57,0.917,6,0.098,0.000,3213,2023,2749,0,0,0,0,0,0
$STATE,5691,end apogee,CONTROL_FINISHED_OK
$STATE,5691,begin climb
$GC,5693,0.68,116.8,504.9,0.0,286,5799,0.75,2.42,97.97,0.895,4,0.045,0.048,3527,3567,2272,0,0,0,0,0,0
$GC,6051,0.68,116.8,483.1,9.9,295,6056,0.00,2.35,0.00,0.000,6,0.000,0.036,3539,1997,2259,0,0,0,0,0,0
$GC,6376,0.68,116.8,449.1,10.9,303,6380,0.00,2.33,0.00,0.000,4,0.000,0.048,3551,416,2254,0,0,0,0,0,0
$GC,6487,0.68,116.8,438.4,9.0,305,6492,0.12,2.30,0.00,0.000,6,0.159,0.038,3512,1978,2252,0,0,0,0,0,0
$GC,6828,0.70,129.6,412.6,7.4,314,6843,0.00,2.42,7.88,0.747,4,0.000,0.049,3512,3578,2222,0,0,0,0,0,0
$GC,6933,0.70,129.6,403.6,9.1,316,6937,0.00,2.33,0.00,0.000,6,0.000,0.037,3522,1993,2220,0,0,0,0,0,0
$GC,7246,0.70,131.9,378.7,7.9,324,7250,0.00,2.33,0.00,0.000,4,0.000,0.048,3535,419,2218,0,0,0,0,0,0
$GC,7503,0.71,138.3,358.8,7.7,329,7517,0.00,2.30,7.72,0.727,6,0.000,0.038,3534,1992,2188,0,0,0,0,0,0
$GC,7836,0.71,138.3,329.0,9.2,338,7839,0.00,2.33,0.00,0.000,4,0.000,0.048,3546,419,2186,0,0,0,0,0,0
$GC,7925,0.71,138.3,320.9,9.6,340,7929,0.00,2.30,0.00,0.000,6,0.000,0.038,3546,2003,2186,0,0,0,0,0,0
$GC,8249,0.71,145.5,293.3,7.7,350,8263,0.00,2.40,7.32,0.689,4,0.000,0.049,3546,3585,2157,0,0,0,0,0,0
$GC,8516,0.71,145.5,270.9,8.8,362,8521,0.15,2.28,0.00,0.000,6,0.179,0.035,3518,1996,2155,0,0,0,0,0,0
$GC,8842,0.79,207.3,249.8,5.1,378,8902,0.00,2.42,51.35,0.749,4,0.000,0.047,3529,430,1902,0,0,0,0,0,0
$GC,8935,0.79,207.3,244.6,8.0,382,8939,0.00,2.33,0.00,0.000,6,0.000,0.037,3529,1995,1900,0,0,0,0,0,0
$GC,9255,0.79,207.3,212.3,10.4,398,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,1996,1894,0,0,0,0,0,0
$GC,9570,0.79,207.3,179.8,9.6,421,9574,0.00,2.33,0.00,0.000,4,0.000,0.046,3540,424,1892,0,0,0,0,0,0
$GC,9636,0.79,207.3,173.5,9.7,426,9642,0.00,2.30,0.00,0.000,6,0.000,0.036,3540,1994,1890,0,0,0,0,0,0
$GC,9897,0.79,207.3,145.7,8.8,451,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1995,1892,0,0,0,0,0,0
$GC,10152,0.79,207.3,122.1,9.5,475,10156,0.00,2.30,0.00,0.000,4,0.000,0.045,3552,423,1895,0,0,0,0,0,0
$GC,10293,0.79,207.3,108.9,10.1,487,10297,0.00,2.25,0.00,0.000,6,0.000,0.035,3551,2007,1895,0,0,0,0,0,0
$GC,10554,0.79,207.3,81.5,12.2,511,10558,0.00,2.30,0.00,0.000,4,0.000,0.045,3563,427,1891,0,0,0,0,0,0
$GC,10672,0.79,207.3,68.8,9.3,521,10676,0.00,2.25,0.00,0.000,6,0.000,0.035,3563,2005,1891,0,0,0,0,0,0
$GC,10933,0.83,243.2,48.7,6.3,545,10967,0.00,2.38,27.30,0.549,4,0.000,0.044,3574,427,1757,0,0,0,0,0,0
$GC,11101,0.83,243.2,32.6,10.8,560,11108,0.00,2.30,0.00,0.000,6,0.000,0.035,3574,2010,1753,0,0,0,0,0,0
$GC,11376,0.83,243.2,4.0,9.0,607,11382,0.00,2.33,0.00,0.000,4,0.000,0.044,3586,413,1753,0,0,0,0,0,0
$STATE,11386,end climb,SURFACE_DEPTH_REACHED
$STATE,11386,begin surface coast
$FINISH,0.1,1.023153
$STATE,11415,end surface coast,CONTROL_FINISHED_OK
$STATE,11415,begin surface
$SM_CCo,11435,76.95,0.074,0,0,1160,390.27
$SM_GC,1.16,0.00,0.00,76.95,0.000,0.000,0.074,135,1910,1160,-9.86,0.28,390.27
$IRIDIUM_FIX,2101.76,-15803.33,120312,131349
$TT8_MAMPS,0.064428
$HUMID,1078684506
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8441102336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59100561408
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.371
$10V_AH,10.4,3.692
$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,21.925,111.250,288.125,76.950,0.000,25.655,30.453,183.135,0.000,0.000,13.532,1165.941,8387.904,475.476,1706.754,148.802,33.351,1253.179,0.000,1391.411,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,92.807,916.565,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,414.301,0.000,0.000,0.000,0.000,0.000,0.000,12234.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.387,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,20148,614
$CAP_FILE_SIZE,110837,0
$CFSIZE,260165632,235126784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,005827,2107.866,-15754.806,33,4.1,53,9.8