version: 66.07
glider: 500
mission: 7
dive: 85
start: 9 21 110 22 13 40
data:
$ID,500
$MISSION,7
$DIVE,85
$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,-117002.5
$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,10
$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,84
$AR_SAMPLENUM,8
$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
$GPS1,210910,220537,2042.302,-15752.166,68,0.8,68,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.4
$GPS2,210910,221244,2042.347,-15752.231,13,1.1,13,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.121
$KALMAN_X,-38372.4,-1176.9,-398.4,39751.4,1217.6
$KALMAN_Y,9298.1,1362.0,670.5,-70823.2,-3104.2
$MHEAD_RNG_PITCHd_Wd,20.9,2670,-26.6,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.94,-46.4,0.0,0.0,0,90,0.00,0.00,-60.83,0.000,2,0.000,0.000,126,1888,2834,0,0,0,0,0,0
$GC,93,-0.96,-61.5,3.4,-6.3,12,115,11.05,2.40,-3.22,0.000,4,0.237,0.051,2957,3517,3005,0,0,0,0,0,0
$GC,199,-0.96,-61.5,34.2,-24.0,29,205,0.00,2.35,0.00,0.000,6,0.000,0.029,2957,1869,3006,0,0,0,0,0,0
$GC,459,-0.96,-61.5,99.3,-21.8,54,463,0.00,2.22,0.00,0.000,4,0.000,0.040,2957,320,3007,0,0,0,0,0,0
$GC,547,-0.96,-61.5,118.3,-20.1,61,554,0.08,2.33,0.00,0.000,6,0.147,0.031,2972,1929,3008,0,0,0,0,0,0
$GC,810,-0.96,-61.5,157.7,-13.8,86,814,0.00,2.30,0.00,0.000,4,0.000,0.039,2972,321,3009,0,0,0,0,0,0
$GC,870,-0.96,-61.5,166.8,-14.5,91,875,0.00,2.22,0.00,0.000,6,0.000,0.031,2962,1913,3009,0,0,0,0,0,0
$GC,1140,-0.96,-61.5,206.9,-14.8,114,1144,0.00,2.25,0.00,0.000,4,0.000,0.041,2950,3474,3010,0,0,0,0,0,0
$GC,1184,-0.96,-61.5,213.8,-14.9,116,1188,0.00,2.22,0.00,0.000,6,0.000,0.028,2950,1903,3010,0,0,0,0,0,0
$GC,1511,-0.96,-61.5,256.9,-13.3,132,1516,0.10,2.28,0.00,0.000,4,0.166,0.041,2979,313,3011,0,0,0,0,0,0
$GC,1600,-0.96,-61.5,268.3,-13.2,136,1604,0.00,2.25,0.00,0.000,6,0.000,0.031,2968,1912,3011,0,0,0,0,0,0
$GC,1940,-0.96,-61.5,305.1,-9.9,152,1943,0.00,2.25,0.00,0.000,4,0.000,0.043,2956,3474,3013,0,0,0,0,0,0
$GC,2057,-0.96,-61.5,317.2,-10.4,154,2061,0.00,2.22,0.00,0.000,6,0.000,0.028,2956,1894,3011,0,0,0,0,0,0
$GC,2398,-0.96,-61.5,357.3,-12.1,163,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1894,3010,0,0,0,0,0,0
$GC,2723,-0.96,-61.5,399.7,-13.1,171,2727,0.00,2.25,0.00,0.000,4,0.000,0.041,2956,319,3007,0,0,0,0,0,0
$GC,2763,-0.96,-61.5,405.0,-13.7,172,2767,0.12,2.22,0.00,0.000,6,0.161,0.032,2982,1912,3007,0,0,0,0,0,0
$GC,3085,-0.96,-61.5,441.4,-10.8,180,3089,0.00,2.33,0.00,0.000,4,0.000,0.042,2982,318,3005,0,0,0,0,0,0
$GC,3136,-0.96,-61.5,446.6,-10.4,181,3140,0.00,2.25,0.00,0.000,6,0.000,0.032,2972,1909,3004,0,0,0,0,0,0
$GC,3454,-0.96,-61.5,476.9,-9.5,189,3458,0.00,2.30,0.00,0.000,4,0.000,0.041,2972,319,3002,0,0,0,0,0,0
$GC,3531,-0.96,-61.5,484.8,-10.6,190,3537,0.00,2.25,0.00,0.000,6,0.000,0.032,2960,1895,3001,0,0,0,0,0,0
$STATE,3698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3698,begin apogee
$GC,3703,-0.23,0.0,500.5,9.3,195,3754,0.75,0.00,47.20,0.904,6,0.121,0.000,3219,2029,2751,0,0,0,0,0,0
$STATE,3801,end apogee,CONTROL_FINISHED_OK
$STATE,3801,begin climb
$GC,3802,0.96,61.5,501.4,0.0,196,3862,0.98,2.40,50.60,0.892,4,0.044,0.043,3622,3555,2502,0,0,0,0,0,0
$GC,3906,1.04,127.4,503.3,0.4,199,3967,0.00,2.33,55.42,0.881,6,0.000,0.031,3634,2000,2232,0,0,0,0,0,0
$GC,4292,1.04,127.4,456.0,13.8,208,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,3634,2000,2219,0,0,0,0,0,0
$GC,4618,1.04,127.4,412.0,13.2,216,4622,0.00,2.30,0.00,0.000,4,0.000,0.042,3646,415,2215,0,0,0,0,0,0
$GC,4701,1.04,127.4,399.6,15.1,218,4705,0.00,2.25,0.00,0.000,6,0.000,0.035,3644,1982,2214,0,0,0,0,0,0
$GC,5023,1.04,127.4,355.8,13.4,226,5027,0.00,2.35,0.00,0.000,4,0.000,0.044,3644,3583,2211,0,0,0,0,0,0
$GC,5113,1.04,127.4,343.4,13.2,228,5118,0.00,2.28,0.00,0.000,6,0.000,0.033,3654,2005,2210,0,0,0,0,0,0
$GC,5436,1.04,127.4,310.7,9.4,236,5440,0.00,2.33,0.00,0.000,4,0.000,0.044,3654,3589,2209,0,0,0,0,0,0
$GC,5508,1.04,127.4,301.8,12.6,237,5513,0.12,2.33,0.00,0.000,6,0.189,0.033,3629,2000,2208,0,0,0,0,0,0
$GC,5835,1.04,127.4,270.9,8.7,253,5839,0.00,2.30,0.00,0.000,4,0.000,0.044,3628,3586,2207,0,0,0,0,0,0
$GC,6092,1.04,127.4,247.9,8.2,264,6098,0.00,2.25,0.00,0.000,6,0.000,0.032,3639,1994,2205,0,0,0,0,0,0
$GC,6407,1.05,133.4,226.3,7.3,280,6411,0.00,2.28,0.00,0.000,4,0.000,0.041,3651,419,2204,0,0,0,0,0,0
$GC,6664,1.07,151.4,207.3,5.9,291,6685,0.00,2.28,15.98,0.693,6,0.000,0.034,3651,1996,2132,0,0,0,0,0,0
$GC,7006,1.07,151.4,178.1,8.7,318,7010,0.00,2.28,0.00,0.000,4,0.000,0.041,3663,420,2128,0,0,0,0,0,0
$GC,7263,1.07,151.4,151.3,10.7,340,7270,0.08,2.28,0.00,0.000,6,0.178,0.034,3640,1996,2127,0,0,0,0,0,0
$GC,7526,1.08,161.2,128.4,6.9,365,7540,0.00,2.35,8.18,0.568,4,0.000,0.044,3640,3575,2096,0,0,0,0,0,0
$GC,7551,1.09,168.9,126.3,7.1,367,7568,0.00,2.28,8.57,0.565,6,0.000,0.031,3650,2004,2062,0,0,0,0,0,0
$GC,7822,1.09,168.9,103.0,10.9,393,7826,0.00,2.28,0.00,0.000,4,0.000,0.041,3663,419,2060,0,0,0,0,0,0
$GC,8029,1.11,181.7,86.8,6.5,411,8045,0.00,2.25,11.15,0.556,6,0.000,0.034,3663,2011,2008,0,0,0,0,0,0
$GC,8299,1.12,193.0,67.8,6.7,436,8315,0.00,2.30,10.68,0.529,4,0.000,0.039,3675,425,1962,0,0,0,0,0,0
$GC,8404,1.12,193.0,60.2,8.2,445,8408,0.00,2.22,0.00,0.000,6,0.000,0.032,3675,1999,1960,0,0,0,0,0,0
$GC,8666,1.13,199.7,42.8,7.2,469,8680,0.00,2.35,6.90,0.467,4,0.000,0.041,3683,424,1935,0,0,0,0,0,0
$GC,8746,1.13,199.7,35.3,9.9,476,8754,0.08,2.28,0.00,0.000,6,0.173,0.032,3662,1998,1934,0,0,0,0,0,0
$GC,9019,1.13,199.7,8.5,10.2,520,9024,0.00,2.28,0.00,0.000,4,0.000,0.042,3662,3585,1937,0,0,0,0,0,0
$STATE,9073,end climb,SURFACE_DEPTH_REACHED
$STATE,9073,begin surface coast
$FINISH,0.2,1.022942
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9190,107.80,0.420,1,0,1159,390.02
$SM_GC,0.93,0.00,0.00,107.80,0.000,0.000,0.420,145,1896,1159,-9.81,-0.08,390.02
$IRIDIUM_FIX,2038.68,-15752.23,160312,131331
$TT8_MAMPS,0.25311
$HUMID,1078616119
$INTERNAL_PRESSURE,9.57923
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,9
$AR_CDRIVE_FREE,8423571456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56976343040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,8.466
$10V_AH,10.3,8.077
$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,22.225,96.225,214.675,107.800,0.000,29.846,30.537,225.156,0.000,0.000,15.621,1020.238,6462.255,421.596,1684.134,158.780,33.364,1102.943,0.000,1227.004,0.000,0.542,0.000
$DEVICE_MAMPS,237.003,90.506,903.526,419.549,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,360.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335020
$DATA_FILE_SIZE,20103,535
$CAP_FILE_SIZE,97975,0
$CFSIZE,260165632,232173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220910,005024,2042.694,-15752.332,27,1.1,45,9.7