version: 66.07
glider: 500
mission: 7
dive: 32
start: 9 18 110 14 12 9
data:
$ID,500
$MISSION,7
$DIVE,32
$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,-115894.13
$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,31
$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
$GPS1,180910,140501,2105.391,-15753.248,39,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.9
$GPS2,180910,141114,2105.385,-15753.304,10,1.1,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.033
$KALMAN_X,-11658.9,-134.4,-133.8,9865.8,-1721.7
$KALMAN_Y,1182.1,-174.3,-66.8,-17750.3,167.9
$MHEAD_RNG_PITCHd_Wd,88.8,80699,-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,26,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.45,0.000,2,0.000,0.000,129,1882,2818,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.4,-6.9,12,116,11.43,0.00,-7.62,0.000,6,0.239,0.000,3061,1883,3230,0,0,0,0,0,0
$GC,318,-0.68,-116.8,49.3,-17.0,44,323,0.00,2.33,0.00,0.000,4,0.000,0.044,3061,291,3232,0,0,0,0,0,0
$GC,346,-0.68,-116.8,54.1,-17.0,46,350,0.00,2.35,0.00,0.000,6,0.000,0.035,3053,1918,3232,0,0,0,0,0,0
$GC,606,-0.68,-116.8,97.4,-13.7,70,610,0.00,2.38,0.00,0.000,4,0.000,0.043,3053,292,3233,0,0,0,0,0,0
$GC,638,-0.68,-116.8,101.6,-12.5,72,644,0.00,2.30,0.00,0.000,6,0.000,0.034,3042,1916,3234,0,0,0,0,0,0
$GC,898,-0.68,-116.8,134.3,-12.2,97,903,0.00,2.38,0.00,0.000,4,0.000,0.044,3042,286,3235,0,0,0,0,0,0
$GC,948,-0.68,-116.8,140.8,-13.3,101,953,0.12,2.30,0.00,0.000,6,0.150,0.034,3069,1908,3235,0,0,0,0,0,0
$GC,1208,-0.68,-116.8,165.5,-8.5,125,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1908,3236,0,0,0,0,0,0
$GC,1463,-0.68,-116.8,188.5,-8.7,149,1467,0.00,2.35,0.00,0.000,4,0.000,0.044,3069,292,3237,0,0,0,0,0,0
$GC,1525,-0.68,-116.8,194.4,-9.1,154,1529,0.00,2.25,0.00,0.000,6,0.000,0.034,3060,1898,3237,0,0,0,0,0,0
$GC,1779,-0.68,-116.8,219.8,-10.5,169,1783,0.00,2.33,0.00,0.000,4,0.000,0.044,3057,290,3237,0,0,0,0,0,0
$GC,1857,-0.68,-116.8,228.7,-11.8,172,1861,0.00,2.28,0.00,0.000,6,0.000,0.034,3051,1914,3237,0,0,0,0,0,0
$GC,2177,-0.68,-116.8,266.4,-12.0,188,2182,0.00,2.33,0.00,0.000,4,0.000,0.044,3050,293,3239,0,0,0,0,0,0
$GC,2205,-0.68,-116.8,269.5,-11.1,189,2210,0.10,2.28,0.00,0.000,6,0.151,0.034,3070,1902,3238,0,0,0,0,0,0
$GC,2520,-0.68,-116.8,291.6,-6.0,204,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1905,3238,0,0,0,0,0,0
$GC,2827,-0.68,-116.8,311.1,-6.4,215,2831,0.00,2.33,0.00,0.000,4,0.000,0.044,3070,291,3238,0,0,0,0,0,0
$GC,2865,-0.68,-116.8,314.1,-8.2,216,2869,0.00,2.28,0.00,0.000,6,0.000,0.035,3069,1911,3238,0,0,0,0,0,0
$GC,3188,-0.68,-116.8,340.0,-8.5,224,3192,0.00,2.35,0.00,0.000,4,0.000,0.044,3069,292,3237,0,0,0,0,0,0
$GC,3243,-0.68,-116.8,345.3,-9.5,225,3247,0.00,2.30,0.00,0.000,6,0.000,0.035,3059,1901,3237,0,0,0,0,0,0
$GC,3561,-0.68,-116.8,373.6,-9.1,233,3565,0.00,2.33,0.00,0.000,4,0.000,0.046,3059,290,3235,0,0,0,0,0,0
$GC,3627,-0.68,-116.8,380.2,-10.0,234,3631,0.00,2.30,0.00,0.000,6,0.000,0.036,3055,1919,3235,0,0,0,0,0,0
$GC,3969,-0.68,-116.8,407.5,-7.2,243,3973,0.00,2.35,0.00,0.000,4,0.000,0.045,3055,293,3235,0,0,0,0,0,0
$GC,4023,-0.68,-116.8,411.6,-7.4,244,4028,0.00,2.33,0.00,0.000,6,0.000,0.035,3043,1912,3232,0,0,0,0,0,0
$GC,4337,-0.68,-116.8,431.3,-6.3,252,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1912,3230,0,0,0,0,0,0
$GC,4661,-0.68,-116.8,451.0,-6.0,260,4665,0.00,2.38,0.00,0.000,4,0.000,0.047,3044,292,3228,0,0,0,0,0,0
$GC,4738,-0.68,-116.8,456.5,-7.1,261,4745,0.08,2.33,0.00,0.000,6,0.110,0.036,3066,1905,3227,0,0,0,0,0,0
$GC,5070,-0.68,-116.8,476.8,-6.3,270,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1905,3225,0,0,0,0,0,0
$STATE,5392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5392,begin apogee
$GC,5397,-0.23,0.0,500.1,7.5,278,5490,0.43,0.00,89.57,0.917,6,0.097,0.000,3220,2031,2750,0,0,0,0,0,0
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5495,0.68,116.8,503.6,0.0,280,5601,0.75,2.42,98.07,0.893,4,0.042,0.047,3539,3559,2273,0,0,0,0,0,0
$GC,5853,0.69,123.8,491.1,7.7,288,5864,0.10,2.38,5.00,0.637,6,0.159,0.035,3519,1970,2244,0,0,0,0,0,0
$GC,6171,0.74,166.2,471.2,6.0,296,6212,0.00,2.35,35.60,0.873,4,0.000,0.046,3530,422,2073,0,0,0,0,0,0
$GC,6239,0.74,166.2,465.3,10.2,297,6244,0.00,2.30,0.00,0.000,6,0.000,0.037,3530,1977,2067,0,0,0,0,0,0
$GC,6581,0.74,166.2,423.5,13.2,306,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1977,2062,0,0,0,0,0,0
$GC,6906,0.74,166.2,379.4,13.6,314,6910,0.00,2.30,0.00,0.000,4,0.000,0.048,3541,418,2059,0,0,0,0,0,0
$GC,6995,0.74,166.2,367.6,12.8,316,7000,0.00,2.33,0.00,0.000,6,0.000,0.038,3541,1999,2058,0,0,0,0,0,0
$GC,7319,0.74,166.2,331.3,10.1,324,7323,0.00,2.33,0.00,0.000,4,0.000,0.048,3553,414,2056,0,0,0,0,0,0
$GC,7378,0.74,166.2,325.8,9.0,325,7383,0.00,2.33,0.00,0.000,6,0.000,0.038,3553,2002,2055,0,0,0,0,0,0
$GC,7707,0.74,166.2,297.5,9.7,334,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2002,2054,0,0,0,0,0,0
$GC,8017,0.74,166.2,267.0,10.4,349,8021,0.00,2.33,0.00,0.000,4,0.000,0.048,3553,3586,2053,0,0,0,0,0,0
$GC,8117,0.74,166.2,254.3,13.1,353,8124,0.08,2.33,0.00,0.000,6,0.163,0.036,3525,1999,2052,0,0,0,0,0,0
$GC,8433,0.74,166.2,220.0,10.5,369,8437,0.00,2.30,0.00,0.000,4,0.000,0.047,3536,422,2051,0,0,0,0,0,0
$GC,8662,0.75,172.8,200.6,7.7,379,8666,0.00,2.28,0.00,0.000,6,0.000,0.036,3536,2004,2051,0,0,0,0,0,0
$GC,8987,0.75,172.8,171.0,10.3,409,8998,0.00,2.35,2.85,0.342,4,0.000,0.045,3547,427,2046,0,0,0,0,0,0
$GC,9133,0.75,172.8,157.6,9.2,422,9137,0.00,2.25,0.00,0.000,6,0.000,0.035,3547,2013,2046,0,0,0,0,0,0
$GC,9394,0.81,224.3,137.2,5.6,446,9445,0.00,2.42,43.05,0.644,4,0.000,0.045,3555,417,1834,0,0,0,0,0,0
$GC,9512,0.81,224.3,125.8,12.1,457,9516,0.00,2.30,0.00,0.000,6,0.000,0.035,3560,2010,1831,0,0,0,0,0,0
$GC,9773,0.81,224.3,95.3,11.8,481,9777,0.00,2.35,0.00,0.000,4,0.000,0.046,3555,3587,1827,0,0,0,0,0,0
$GC,9868,0.81,224.3,81.8,13.2,489,9872,0.00,2.30,0.00,0.000,6,0.000,0.033,3570,1984,1827,0,0,0,0,0,0
$GC,10129,0.81,225.3,58.5,8.0,513,10133,0.00,2.28,0.00,0.000,4,0.000,0.044,3582,424,1826,0,0,0,0,0,0
$GC,10190,0.81,225.3,53.4,9.0,518,10194,0.00,2.25,0.00,0.000,6,0.000,0.034,3582,2012,1826,0,0,0,0,0,0
$GC,10452,0.82,232.8,32.7,7.7,542,10465,0.00,2.38,7.07,0.468,4,0.000,0.043,3593,421,1799,0,0,0,0,0,0
$GC,10540,0.82,232.8,23.3,11.7,555,10546,0.12,2.28,0.00,0.000,6,0.166,0.034,3560,2012,1798,0,0,0,0,0,0
$GC,10748,0.82,232.8,4.1,11.2,592,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2013,1798,0,0,0,0,0,0
$STATE,10757,end climb,SURFACE_DEPTH_REACHED
$STATE,10757,begin surface coast
$FINISH,0.3,1.013004
$STATE,10786,end surface coast,CONTROL_FINISHED_OK
$STATE,10786,begin surface
$SM_CCo,10805,78.72,0.074,0,0,1161,390.02
$SM_GC,1.15,0.00,0.00,78.72,0.000,0.000,0.074,146,1870,1161,-9.82,-0.85,390.02
$IRIDIUM_FIX,2059.45,-15753.90,130312,050542
$TT8_MAMPS,0.059826
$HUMID,1078652248
$INTERNAL_PRESSURE,9.52063
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8440938496
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58863550464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.829
$10V_AH,10.4,4.066
$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,21.825,102.450,281.225,78.725,0.000,31.205,26.067,194.476,0.000,0.000,12.112,1126.701,7941.617,449.293,1604.088,145.420,33.353,1184.019,0.000,1298.428,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,92.807,916.565,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,404.594,0.000,0.000,0.000,0.000,0.000,0.000,11582.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.698,0.000,0.000
$MEM,334960
$DATA_FILE_SIZE,20087,599
$CAP_FILE_SIZE,105581,0
$CFSIZE,260165632,234790912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,171452,2105.103,-15752.430,9,3.1,28,9.8