version: 66.07
glider: 500
mission: 7
dive: 23
start: 9 17 110 10 11 13
data:
$ID,500
$MISSION,7
$DIVE,23
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,180
$T_MISSION,200
$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,430
$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,-115700.4
$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,22
$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
$GPS1,170910,100406,2107.874,-15759.498,35,1.4,36,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.7
$GPS2,170910,101020,2107.842,-15759.539,19,1.4,19,9.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.070
$KALMAN_X,-1410.9,661.5,-276.4,-11805.6,-413.2
$KALMAN_Y,-1781.4,372.8,-181.3,-10671.8,257.2
$MHEAD_RNG_PITCHd_Wd,98.6,92279,-16.7,-8.333
$D_GRID,450
$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,-0.70,-116.8,0.0,0.0,0,98,0.00,0.00,-70.75,0.000,2,0.000,0.000,128,1896,2943,0,0,0,0,0,0
$GC,102,-0.70,-116.8,3.4,-6.2,14,122,11.50,0.00,-5.12,0.000,6,0.242,0.000,3049,1896,3229,0,0,0,0,0,0
$GC,317,-0.70,-116.8,52.7,-17.0,42,321,0.00,2.35,0.00,0.000,4,0.000,0.044,3052,299,3231,0,0,0,0,0,0
$GC,351,-0.70,-116.8,58.9,-19.5,44,357,0.00,2.35,0.00,0.000,6,0.000,0.035,3042,1922,3232,0,0,0,0,0,0
$GC,611,-0.70,-116.8,102.6,-14.2,69,615,0.00,2.35,0.00,0.000,4,0.000,0.044,3042,301,3231,0,0,0,0,0,0
$GC,654,-0.70,-116.8,109.5,-15.5,72,661,0.12,2.28,0.00,0.000,6,0.152,0.035,3067,1914,3233,0,0,0,0,0,0
$GC,916,-0.70,-116.8,140.7,-11.7,97,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1912,3235,0,0,0,0,0,0
$GC,1170,-0.70,-116.8,167.8,-10.1,121,1174,0.00,2.35,0.00,0.000,4,0.000,0.044,3067,299,3235,0,0,0,0,0,0
$GC,1197,-0.70,-116.8,170.6,-10.4,123,1201,0.00,2.28,0.00,0.000,6,0.000,0.035,3058,1908,3236,0,0,0,0,0,0
$GC,1458,-0.70,-116.8,195.9,-9.1,147,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1908,3236,0,0,0,0,0,0
$GC,1717,-0.70,-116.8,218.8,-8.4,162,1721,0.00,2.33,0.00,0.000,4,0.000,0.044,3058,288,3236,0,0,0,0,0,0
$GC,1749,-0.70,-116.8,221.4,-8.1,163,1755,0.00,2.30,0.00,0.000,6,0.000,0.035,3056,1898,3236,0,0,0,0,0,0
$GC,2064,-0.70,-116.8,245.5,-8.5,179,2068,0.00,2.30,0.00,0.000,4,0.000,0.044,3056,294,3236,0,0,0,0,0,0
$GC,2090,-0.70,-116.8,248.0,-9.5,180,2095,0.00,2.30,0.00,0.000,6,0.000,0.035,3046,1905,3236,0,0,0,0,0,0
$GC,2411,-0.70,-116.8,273.8,-7.9,196,2415,0.00,2.30,0.00,0.000,4,0.000,0.044,3046,299,3236,0,0,0,0,0,0
$GC,2540,-0.70,-116.8,286.7,-10.2,202,2544,0.00,2.28,0.00,0.000,6,0.000,0.034,3040,1908,3238,0,0,0,0,0,0
$GC,2883,-0.70,-116.8,319.7,-9.1,214,2888,0.00,2.33,0.00,0.000,4,0.000,0.044,3036,289,3235,0,0,0,0,0,0
$GC,2983,-0.70,-116.8,329.7,-9.8,216,2988,0.10,2.30,0.00,0.000,6,0.114,0.033,3066,1901,3234,0,0,0,0,0,0
$GC,3296,-0.70,-116.8,354.3,-7.5,224,3300,0.00,2.33,0.00,0.000,4,0.000,0.046,3066,300,3233,0,0,0,0,0,0
$GC,3362,-0.70,-116.8,359.9,-8.6,225,3367,0.00,2.30,0.00,0.000,6,0.000,0.035,3053,1903,3233,0,0,0,0,0,0
$GC,3704,-0.70,-116.8,384.0,-6.9,234,3708,0.00,2.33,0.00,0.000,4,0.000,0.048,3044,3490,3231,0,0,0,0,0,0
$GC,3731,-0.70,-116.8,385.9,-7.2,234,3735,0.00,2.28,0.00,0.000,6,0.000,0.032,3045,1872,3231,0,0,0,0,0,0
$GC,4066,-0.70,-116.8,411.9,-8.2,243,4071,0.00,2.25,0.00,0.000,4,0.000,0.047,3045,324,3228,0,0,0,0,0,0
$GC,4087,-0.70,-116.8,413.9,-8.9,243,4092,0.00,2.28,0.00,0.000,6,0.000,0.035,3034,1909,3227,0,0,0,0,0,0
$GC,4430,-0.70,-116.8,447.2,-10.1,252,4434,0.00,2.33,0.00,0.000,4,0.000,0.048,3034,318,3225,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4462,-0.23,0.0,450.1,10.6,252,4554,0.50,0.00,88.72,0.862,6,0.109,0.000,3208,2004,2751,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4559,0.70,116.8,454.9,0.0,255,4665,0.80,2.50,96.72,0.843,4,0.051,0.047,3531,3578,2272,0,0,0,0,0,0
$GC,4917,0.70,116.8,435.7,10.4,263,4922,0.00,2.35,0.00,0.000,6,0.000,0.035,3542,1999,2260,0,0,0,0,0,0
$GC,5236,0.70,116.8,404.7,9.8,271,5240,0.00,2.35,0.00,0.000,4,0.000,0.047,3542,3596,2256,0,0,0,0,0,0
$GC,5290,0.70,116.8,399.1,10.0,272,5295,0.10,2.35,0.00,0.000,6,0.163,0.035,3523,1997,2255,0,0,0,0,0,0
$GC,5603,0.70,116.8,370.7,9.3,280,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1997,2253,0,0,0,0,0,0
$GC,5927,0.74,147.8,346.4,6.8,288,5952,0.00,0.00,22.85,0.788,6,0.000,0.000,3524,1997,2147,0,0,0,0,0,0
$GC,6252,0.74,147.8,316.0,9.7,296,6256,0.00,2.30,0.00,0.000,4,0.000,0.047,3534,428,2140,0,0,0,0,0,0
$GC,6508,0.74,147.8,289.1,10.5,303,6515,0.00,2.30,0.00,0.000,6,0.000,0.037,3533,1993,2138,0,0,0,0,0,0
$GC,6826,0.74,149.2,263.3,8.3,319,6830,0.00,2.30,0.00,0.000,4,0.000,0.047,3545,418,2139,0,0,0,0,0,0
$GC,6942,0.74,149.2,252.7,9.0,324,6947,0.00,2.33,0.00,0.000,6,0.000,0.038,3545,2008,2136,0,0,0,0,0,0
$GC,7263,0.78,182.9,227.5,6.7,340,7298,0.00,2.40,28.02,0.722,4,0.000,0.048,3545,3587,2002,0,0,0,0,0,0
$GC,7551,0.78,182.9,198.2,11.8,353,7556,0.00,2.30,0.00,0.000,6,0.000,0.035,3557,2002,1995,0,0,0,0,0,0
$GC,7813,0.78,182.9,172.3,9.3,377,7817,0.00,2.35,0.00,0.000,4,0.000,0.047,3556,3592,1993,0,0,0,0,0,0
$GC,7874,0.78,182.9,166.1,10.4,382,7878,0.00,2.30,0.00,0.000,6,0.000,0.035,3565,1994,1992,0,0,0,0,0,0
$GC,8135,0.82,210.7,143.7,7.0,406,8159,0.00,0.00,22.23,0.637,6,0.000,0.000,3568,1993,1889,0,0,0,0,0,0
$GC,8411,0.82,210.7,116.9,11.1,432,8415,0.00,2.35,0.00,0.000,4,0.000,0.046,3568,3585,1885,0,0,0,0,0,0
$GC,8438,0.82,210.7,113.9,11.1,434,8442,0.00,2.28,0.00,0.000,6,0.000,0.035,3579,1999,1884,0,0,0,0,0,0
$GC,8699,0.85,240.0,92.5,6.9,458,8730,0.00,2.38,23.77,0.585,4,0.000,0.045,3592,421,1770,0,0,0,0,0,0
$GC,8921,0.85,240.0,72.1,9.8,478,8925,0.00,2.25,0.00,0.000,6,0.000,0.035,3592,2001,1764,0,0,0,0,0,0
$GC,9182,0.85,240.0,42.8,11.4,502,9186,0.00,2.33,0.00,0.000,4,0.000,0.044,3603,411,1765,0,0,0,0,0,0
$GC,9237,0.85,240.0,35.7,13.1,506,9243,0.12,2.30,0.00,0.000,6,0.166,0.035,3569,1998,1763,0,0,0,0,0,0
$GC,9509,0.85,240.0,8.3,9.7,550,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1998,1763,0,0,0,0,0,0
$STATE,9575,end climb,SURFACE_DEPTH_REACHED
$STATE,9575,begin surface coast
$FINISH,0.3,1.023269
$STATE,9619,end surface coast,CONTROL_FINISHED_OK
$STATE,9620,begin surface
$SM_CCo,9639,91.25,0.073,0,0,998,430.00
$SM_GC,1.03,0.00,0.00,91.25,0.000,0.000,0.073,141,1872,998,-9.83,-0.79,430.00
$IRIDIUM_FIX,2059.45,-15759.05,120312,010143
$TT8_MAMPS,0.058292
$HUMID,1078670313
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8441233408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59275476992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,4.030
$10V_AH,10.4,3.407
$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,21.875,93.025,282.325,91.250,0.000,30.087,33.863,181.408,0.000,0.000,21.724,1066.990,6875.016,470.501,1562.645,138.127,33.348,1171.249,0.000,1254.500,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,91.273,862.108,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.384,0.000,0.000,0.000,0.000,0.000,0.000,10436.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.908,0.000,0.000
$MEM,334984
$DATA_FILE_SIZE,20058,570
$CAP_FILE_SIZE,98157,0
$CFSIZE,260165632,235405312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,125437,2107.802,-15758.625,25,1.6,25,9.8