version: 66.07
glider: 500
mission: 7
dive: 31
start: 9 18 110 11 6 56
data:
$ID,500
$MISSION,7
$DIVE,31
$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,-115881.39
$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,30
$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
$GPS1,180910,105900,2105.842,-15753.624,43,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.1
$GPS2,180910,110602,2105.813,-15753.717,32,0.9,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.053
$KALMAN_X,-9747.0,-17.4,-232.1,7223.0,-1793.9
$KALMAN_Y,1488.9,-229.7,-168.6,-17103.4,440.5
$MHEAD_RNG_PITCHd_Wd,94.1,81584,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,94,0.00,0.00,-65.85,0.000,2,0.000,0.000,128,1925,2984,0,0,0,0,0,0
$GC,97,-0.68,-116.8,3.8,-7.3,13,119,11.52,2.38,-4.20,0.000,4,0.242,0.051,3058,293,3227,0,0,0,0,0,0
$GC,175,-0.68,-116.8,30.5,-23.6,27,179,0.00,2.33,0.00,0.000,6,0.000,0.032,3048,1928,3229,0,0,0,0,0,0
$GC,436,-0.68,-116.8,73.3,-14.7,51,440,0.00,2.40,0.00,0.000,4,0.000,0.043,3048,291,3230,0,0,0,0,0,0
$GC,479,-0.68,-116.8,79.3,-12.9,54,486,0.08,2.33,0.00,0.000,6,0.128,0.034,3068,1901,3230,0,0,0,0,0,0
$GC,741,-0.68,-116.8,110.4,-13.3,79,745,0.00,2.33,0.00,0.000,4,0.000,0.043,3066,293,3233,0,0,0,0,0,0
$GC,790,-0.68,-116.8,117.6,-14.0,83,795,0.00,2.28,0.00,0.000,6,0.000,0.034,3053,1905,3234,0,0,0,0,0,0
$GC,1051,-0.68,-116.8,152.8,-12.8,107,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1906,3236,0,0,0,0,0,0
$GC,1305,-0.68,-116.8,180.4,-8.8,131,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1906,3236,0,0,0,0,0,0
$GC,1570,-0.68,-116.8,205.1,-10.0,154,1574,0.00,2.35,0.00,0.000,4,0.000,0.044,3056,292,3236,0,0,0,0,0,0
$GC,1698,-0.68,-116.8,218.2,-9.6,160,1702,0.00,2.25,0.00,0.000,6,0.000,0.034,3045,1908,3236,0,0,0,0,0,0
$GC,2023,-0.68,-116.8,248.6,-8.4,176,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1908,3237,0,0,0,0,0,0
$GC,2333,-0.68,-116.8,272.8,-8.1,191,2337,0.00,2.35,0.00,0.000,4,0.000,0.044,3043,297,3237,0,0,0,0,0,0
$GC,2365,-0.68,-116.8,276.1,-9.8,192,2372,0.08,2.28,0.00,0.000,6,0.113,0.034,3067,1890,3237,0,0,0,0,0,0
$GC,2701,-0.68,-116.8,305.5,-9.1,208,2705,0.00,2.30,0.00,0.000,4,0.000,0.044,3068,292,3237,0,0,0,0,0,0
$GC,2733,-0.68,-116.8,308.7,-9.8,208,2739,0.00,2.25,0.00,0.000,6,0.000,0.034,3059,1905,3237,0,0,0,0,0,0
$GC,3063,-0.68,-116.8,339.1,-8.6,217,3068,0.00,2.33,0.00,0.000,4,0.000,0.044,3059,292,3236,0,0,0,0,0,0
$GC,3129,-0.68,-116.8,345.0,-8.5,218,3134,0.00,2.30,0.00,0.000,6,0.000,0.034,3052,1890,3234,0,0,0,0,0,0
$GC,3472,-0.68,-116.8,373.1,-8.3,227,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1887,3233,0,0,0,0,0,0
$GC,3796,-0.68,-116.8,402.1,-9.2,235,3801,0.00,2.33,0.00,0.000,4,0.000,0.046,3052,296,3231,0,0,0,0,0,0
$GC,3835,-0.68,-116.8,405.8,-9.5,236,3839,0.00,2.30,0.00,0.000,6,0.000,0.035,3042,1918,3229,0,0,0,0,0,0
$GC,4159,-0.68,-116.8,431.3,-7.4,244,4163,0.00,2.35,0.00,0.000,4,0.000,0.046,3041,295,3227,0,0,0,0,0,0
$GC,4197,-0.68,-116.8,434.7,-8.7,245,4202,0.12,2.28,0.00,0.000,6,0.137,0.036,3070,1911,3228,0,0,0,0,0,0
$GC,4520,-0.68,-116.8,454.7,-5.9,253,4524,0.00,2.35,0.00,0.000,4,0.000,0.047,3070,293,3225,0,0,0,0,0,0
$GC,4560,-0.68,-116.8,457.1,-6.6,254,4564,0.00,2.28,0.00,0.000,6,0.000,0.035,3060,1903,3223,0,0,0,0,0,0
$GC,4883,-0.68,-116.8,478.6,-7.3,262,4887,0.00,2.33,0.00,0.000,4,0.000,0.048,3060,301,3222,0,0,0,0,0,0
$GC,4920,-0.68,-116.8,481.9,-8.6,262,4926,0.00,2.30,0.00,0.000,6,0.000,0.035,3045,1897,3224,0,0,0,0,0,0
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5133,-0.23,0.0,500.3,8.8,268,5225,0.47,0.00,89.30,0.915,6,0.100,0.000,3218,2021,2751,0,0,0,0,0,0
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$GC,5229,0.68,116.8,503.8,0.0,270,5336,0.75,2.58,98.07,0.892,4,0.043,0.048,3546,399,2273,0,0,0,0,0,0
$GC,5392,0.70,131.1,504.0,7.3,273,5409,0.00,2.40,12.07,0.800,6,0.000,0.037,3547,1975,2216,0,0,0,0,0,0
$GC,5722,0.70,131.1,466.3,12.1,282,5726,0.00,2.45,0.00,0.000,4,0.000,0.049,3546,3592,2204,0,0,0,0,0,0
$GC,5891,0.70,131.1,443.4,13.4,285,5897,0.15,2.38,0.00,0.000,6,0.180,0.036,3520,1974,2203,0,0,0,0,0,0
$GC,6221,0.70,131.1,407.0,11.1,294,6225,0.00,2.28,0.00,0.000,4,0.000,0.048,3531,421,2202,0,0,0,0,0,0
$GC,6387,0.70,131.1,389.2,9.5,297,6394,0.00,2.33,0.00,0.000,6,0.000,0.038,3531,1998,2201,0,0,0,0,0,0
$GC,6718,0.70,131.1,359.5,8.6,306,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1999,2200,0,0,0,0,0,0
$GC,7044,0.72,153.0,335.3,7.0,314,7065,0.00,2.35,16.33,0.792,4,0.000,0.046,3542,429,2125,0,0,0,0,0,0
$GC,7178,0.72,153.0,323.9,9.1,317,7182,0.00,2.28,0.00,0.000,6,0.000,0.038,3542,2003,2125,0,0,0,0,0,0
$GC,7496,0.72,153.0,291.5,10.6,326,7500,0.00,2.33,0.00,0.000,4,0.000,0.047,3553,427,2120,0,0,0,0,0,0
$GC,7540,0.72,153.0,286.5,11.7,328,7544,0.00,2.33,0.00,0.000,6,0.000,0.038,3553,2010,2119,0,0,0,0,0,0
$GC,7867,0.73,154.4,254.4,7.9,344,7871,0.00,2.33,0.00,0.000,4,0.000,0.049,3553,3585,2118,0,0,0,0,0,0
$GC,8123,0.73,154.4,233.8,8.5,355,8130,0.10,2.33,0.00,0.000,6,0.160,0.035,3533,1996,2117,0,0,0,0,0,0
$GC,8439,0.73,154.4,207.4,8.4,371,8443,0.00,2.38,0.00,0.000,4,0.000,0.047,3532,3593,2116,0,0,0,0,0,0
$GC,8607,0.81,223.7,195.6,4.8,381,8669,0.00,2.30,56.35,0.706,6,0.000,0.035,3543,1996,1837,0,0,0,0,0,0
$GC,8922,0.81,223.7,163.7,14.5,411,8926,0.00,2.30,0.00,0.000,4,0.000,0.045,3555,432,1826,0,0,0,0,0,0
$GC,9011,0.81,223.7,150.6,14.8,418,9017,0.00,2.33,0.00,0.000,6,0.000,0.035,3555,2008,1825,0,0,0,0,0,0
$GC,9272,0.81,223.7,118.3,9.9,443,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2008,1825,0,0,0,0,0,0
$GC,9527,0.81,223.7,92.6,8.8,467,9531,0.00,2.33,0.00,0.000,4,0.000,0.044,3567,425,1823,0,0,0,0,0,0
$GC,9685,0.81,223.7,76.1,9.3,480,9691,0.00,2.25,0.00,0.000,6,0.000,0.035,3567,2007,1824,0,0,0,0,0,0
$GC,9945,0.81,223.7,52.1,9.4,505,9949,0.00,2.30,0.00,0.000,4,0.000,0.044,3578,428,1823,0,0,0,0,0,0
$GC,10044,0.81,223.7,41.5,12.0,513,10051,0.00,2.25,0.00,0.000,6,0.000,0.035,3578,2011,1824,0,0,0,0,0,0
$GC,10313,0.81,223.7,18.5,9.8,551,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2012,1824,0,0,0,0,0,0
$STATE,10457,end climb,SURFACE_DEPTH_REACHED
$STATE,10457,begin surface coast
$FINISH,0.1,1.011407
$STATE,10486,end surface coast,CONTROL_FINISHED_OK
$STATE,10486,begin surface
$SM_CCo,10505,85.97,0.457,1,0,1160,390.02
$SM_GC,0.92,0.00,0.00,85.97,0.000,0.000,0.457,144,1882,1160,-9.83,-0.45,390.02
$IRIDIUM_FIX,2059.45,-15751.76,130312,010143
$TT8_MAMPS,0.058292
$HUMID,1078657410
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8440971264
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58910179328
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.746
$10V_AH,10.4,3.994
$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,22.000,97.925,272.125,85.975,0.000,30.153,29.379,216.622,0.000,0.000,34.884,1091.712,7689.058,460.780,1642.606,141.778,33.358,1179.981,0.000,1286.600,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,92.040,915.031,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.549,0.000,0.000,0.000,0.000,0.000,0.000,11332.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.974,0.000,0.000
$MEM,334964
$DATA_FILE_SIZE,20090,582
$CAP_FILE_SIZE,102435,0
$CFSIZE,260165632,234856448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,140501,2105.391,-15753.248,39,1.1,39,9.8