version: 66.07
glider: 500
mission: 7
dive: 29
start: 9 18 110 4 28 44
data:
$ID,500
$MISSION,7
$DIVE,29
$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,-115829.45
$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,28
$AR_SAMPLENUM,13
$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
$GPS1,180910,042107,2107.258,-15754.116,24,1.3,25,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.3
$GPS2,180910,042749,2107.209,-15754.194,9,1.9,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.107
$KALMAN_X,-5742.2,-97.6,-25.4,2273.9,-664.8
$KALMAN_Y,1828.4,-306.2,-80.5,-14874.1,845.4
$MHEAD_RNG_PITCHd_Wd,109.5,83052,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-60.62,0.000,2,0.000,0.000,128,1885,2826,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.5,-7.9,12,113,11.60,0.00,-7.30,0.000,6,0.243,0.000,3061,1885,3228,0,0,0,0,0,0
$GC,314,-0.68,-116.8,49.4,-15.3,42,315,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1885,3232,0,0,0,0,0,0
$GC,568,-0.68,-116.8,86.5,-13.6,66,572,0.00,2.30,0.00,0.000,4,0.000,0.044,3061,300,3233,0,0,0,0,0,0
$GC,641,-0.68,-116.8,96.3,-13.3,72,645,0.00,2.33,0.00,0.000,6,0.000,0.034,3054,1924,3233,0,0,0,0,0,0
$GC,902,-0.68,-116.8,130.8,-12.9,96,906,0.00,2.38,0.00,0.000,4,0.000,0.044,3054,294,3235,0,0,0,0,0,0
$GC,929,-0.68,-116.8,134.0,-10.9,98,933,0.00,2.30,0.00,0.000,6,0.000,0.034,3043,1911,3235,0,0,0,0,0,0
$GC,1190,-0.68,-116.8,163.0,-11.6,122,1194,0.00,2.28,0.00,0.000,4,0.000,0.045,3027,3479,3235,0,0,0,0,0,0
$GC,1211,-0.68,-116.8,165.8,-12.2,123,1218,0.10,2.30,0.00,0.000,6,0.110,0.030,3070,1875,3235,0,0,0,0,0,0
$GC,1473,-0.68,-116.8,189.6,-8.6,148,1477,0.00,2.25,0.00,0.000,4,0.000,0.044,3070,312,3236,0,0,0,0,0,0
$GC,1516,-0.68,-116.8,193.5,-8.7,151,1522,0.00,2.28,0.00,0.000,6,0.000,0.034,3062,1903,3236,0,0,0,0,0,0
$GC,1782,-0.68,-116.8,218.0,-8.9,168,1786,0.00,2.30,0.00,0.000,4,0.000,0.044,3062,316,3236,0,0,0,0,0,0
$GC,1870,-0.68,-116.8,227.0,-9.9,172,1875,0.00,2.28,0.00,0.000,6,0.000,0.034,3055,1905,3237,0,0,0,0,0,0
$GC,2197,-0.68,-116.8,256.4,-9.0,188,2201,0.00,2.28,0.00,0.000,4,0.000,0.044,3055,320,3237,0,0,0,0,0,0
$GC,2240,-0.68,-116.8,260.4,-8.8,190,2245,0.00,2.28,0.00,0.000,6,0.000,0.033,3044,1911,3237,0,0,0,0,0,0
$GC,2568,-0.68,-116.8,284.6,-7.6,206,2572,0.00,2.30,0.00,0.000,4,0.000,0.044,3044,324,3237,0,0,0,0,0,0
$GC,2644,-0.68,-116.8,291.7,-9.7,209,2651,0.10,2.25,0.00,0.000,6,0.109,0.034,3073,1901,3237,0,0,0,0,0,0
$GC,2978,-0.68,-116.8,319.3,-9.0,221,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1901,3236,0,0,0,0,0,0
$GC,3302,-0.68,-116.8,346.1,-7.8,229,3306,0.00,2.28,0.00,0.000,4,0.000,0.045,3074,323,3234,0,0,0,0,0,0
$GC,3334,-0.68,-116.8,349.0,-8.8,229,3341,0.00,2.25,0.00,0.000,6,0.000,0.035,3069,1891,3234,0,0,0,0,0,0
$GC,3666,-0.68,-116.8,373.7,-7.3,238,3670,0.00,2.30,0.00,0.000,4,0.000,0.046,3069,314,3232,0,0,0,0,0,0
$GC,3709,-0.68,-116.8,377.3,-8.4,239,3713,0.00,2.28,0.00,0.000,6,0.000,0.035,3056,1897,3231,0,0,0,0,0,0
$GC,4033,-0.68,-116.8,402.6,-7.8,247,4037,0.00,2.28,0.00,0.000,4,0.000,0.046,3059,321,3228,0,0,0,0,0,0
$GC,4072,-0.68,-116.8,406.1,-9.2,248,4076,0.00,2.25,0.00,0.000,6,0.000,0.035,3054,1906,3227,0,0,0,0,0,0
$GC,4395,-0.68,-116.8,434.2,-8.7,256,4399,0.00,2.30,0.00,0.000,4,0.000,0.046,3054,318,3226,0,0,0,0,0,0
$GC,4438,-0.68,-116.8,438.2,-9.4,257,4442,0.00,2.28,0.00,0.000,6,0.000,0.035,3042,1890,3226,0,0,0,0,0,0
$GC,4763,-0.68,-116.8,463.3,-7.3,265,4767,0.00,2.33,0.00,0.000,4,0.000,0.047,3043,317,3224,0,0,0,0,0,0
$GC,4800,-0.68,-116.8,466.8,-8.8,265,4807,0.10,2.30,0.00,0.000,6,0.106,0.036,3072,1912,3224,0,0,0,0,0,0
$GC,5132,-0.68,-116.8,487.0,-5.8,274,5136,0.00,2.33,0.00,0.000,4,0.000,0.047,3072,324,3221,0,0,0,0,0,0
$GC,5216,-0.68,-116.8,492.0,-6.0,276,5220,0.00,2.25,0.00,0.000,6,0.000,0.036,3062,1898,3220,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5379,-0.23,0.0,501.3,5.8,280,5471,0.43,0.00,89.05,0.911,6,0.101,0.000,3213,2022,2750,0,0,0,0,0,0
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5476,0.68,116.8,503.3,0.0,282,5582,0.75,2.42,97.90,0.888,4,0.046,0.047,3523,3563,2273,0,0,0,0,0,0
$GC,5699,0.68,116.8,494.0,10.7,287,5704,0.00,2.38,0.00,0.000,6,0.000,0.035,3535,2000,2261,0,0,0,0,0,0
$GC,6018,0.68,116.8,464.4,9.3,295,6022,0.00,2.35,0.00,0.000,4,0.000,0.047,3547,423,2257,0,0,0,0,0,0
$GC,6276,0.68,119.3,441.1,7.9,300,6282,0.12,2.28,0.00,0.000,6,0.173,0.038,3516,1982,2254,0,0,0,0,0,0
$GC,6607,0.72,152.1,419.3,6.5,309,6640,0.00,2.42,26.38,0.848,4,0.000,0.048,3526,416,2131,0,0,0,0,0,0
$GC,6737,0.72,152.1,407.3,11.1,312,6741,0.00,2.33,0.00,0.000,6,0.000,0.038,3526,2008,2124,0,0,0,0,0,0
$GC,7060,0.72,152.1,373.9,10.3,320,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2008,2121,0,0,0,0,0,0
$GC,7384,0.72,152.1,340.6,10.6,328,7388,0.00,2.35,0.00,0.000,4,0.000,0.048,3538,422,2121,0,0,0,0,0,0
$GC,7523,0.72,152.1,323.4,11.3,331,7527,0.00,2.28,0.00,0.000,6,0.000,0.038,3538,2006,2121,0,0,0,0,0,0
$GC,7842,0.72,152.1,288.8,10.7,341,7847,0.00,2.30,0.00,0.000,4,0.000,0.048,3538,3582,2121,0,0,0,0,0,0
$GC,8005,0.72,152.1,273.8,9.2,348,8009,0.00,2.33,0.00,0.000,6,0.000,0.036,3546,1989,2119,0,0,0,0,0,0
$GC,8320,0.73,154.9,249.7,7.9,363,8324,0.00,2.28,0.00,0.000,4,0.000,0.047,3562,421,2118,0,0,0,0,0,0
$GC,8419,0.73,154.9,240.2,10.7,367,8426,0.12,2.30,0.00,0.000,6,0.153,0.037,3518,1997,2119,0,0,0,0,0,0
$GC,8735,0.75,174.5,214.2,7.1,383,8760,0.00,2.38,17.73,0.701,4,0.000,0.047,3532,423,2039,0,0,0,0,0,0
$GC,8855,0.75,174.5,205.4,8.9,388,8859,0.00,2.28,0.00,0.000,6,0.000,0.036,3532,2011,2035,0,0,0,0,0,0
$GC,9185,0.75,174.5,177.5,9.6,416,9190,0.00,2.35,0.00,0.000,4,0.000,0.046,3543,417,2033,0,0,0,0,0,0
$GC,9387,0.78,197.6,161.4,6.9,433,9413,0.00,2.25,19.50,0.651,6,0.000,0.036,3543,1999,1945,0,0,0,0,0,0
$GC,9667,0.78,197.6,139.2,8.1,460,9671,0.00,2.35,0.00,0.000,4,0.000,0.047,3540,3589,1940,0,0,0,0,0,0
$GC,9796,0.78,197.6,127.6,8.8,471,9801,0.00,2.30,0.00,0.000,6,0.000,0.034,3555,1996,1939,0,0,0,0,0,0
$GC,10057,0.78,197.6,105.1,8.5,495,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1997,1939,0,0,0,0,0,0
$GC,10312,0.78,197.6,80.4,10.7,519,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1996,1939,0,0,0,0,0,0
$GC,10567,0.92,313.7,62.1,2.6,543,10664,0.00,2.35,89.90,0.568,4,0.000,0.043,3566,428,1469,0,0,0,0,0,0
$GC,10776,0.92,313.7,43.9,14.2,562,10780,0.00,2.28,0.00,0.000,6,0.000,0.034,3566,2007,1464,0,0,0,0,0,0
$GC,11045,0.92,313.7,7.6,12.1,601,11051,0.00,2.33,0.00,0.000,4,0.000,0.042,3578,422,1462,0,0,0,0,0,0
$STATE,11077,end climb,SURFACE_DEPTH_REACHED
$STATE,11077,begin surface coast
$FINISH,0.2,1.023230
$STATE,11102,end surface coast,CONTROL_FINISHED_OK
$STATE,11102,begin surface
$SM_CCo,11123,39.40,0.074,0,0,1160,390.02
$SM_GC,1.00,0.00,0.00,39.40,0.000,0.000,0.074,137,1909,1160,-9.85,0.25,390.02
$IRIDIUM_FIX,2059.45,-15753.90,120312,191921
$TT8_MAMPS,0.062127
$HUMID,1078680635
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8441036800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59003437056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.556
$10V_AH,10.4,3.844
$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,21.975,110.600,340.450,39.400,0.000,30.842,28.488,211.906,0.000,0.000,16.287,1158.276,8061.427,458.994,1744.075,150.648,33.359,1252.676,0.000,1406.297,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,92.807,911.196,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,412.158,0.000,0.000,0.000,0.000,0.000,0.000,11876.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.515,0.000,0.000
$MEM,334980
$DATA_FILE_SIZE,20124,611
$CAP_FILE_SIZE,111192,0
$CFSIZE,260165632,234987520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,073607,2106.560,-15753.808,30,1.0,31,9.8