version: 66.07
glider: 500
mission: 7
dive: 33
start: 9 18 110 17 22 46
data:
$ID,500
$MISSION,7
$DIVE,33
$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,-115930.35
$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,32
$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
$GPS1,180910,171452,2105.103,-15752.430,9,3.1,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.7
$GPS2,180910,172152,2105.075,-15752.451,13,2.2,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.005
$KALMAN_X,-13324.6,-116.6,302.9,12543.3,-2130.2
$KALMAN_Y,868.3,-129.6,22.5,-18147.7,-76.9
$MHEAD_RNG_PITCHd_Wd,81.6,79130,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-66.22,0.000,2,0.000,0.000,129,1873,2981,0,0,0,0,0,0
$GC,96,-0.68,-116.8,3.6,-6.4,13,118,11.52,2.33,-4.38,0.000,4,0.244,0.054,3059,291,3230,0,0,0,0,0,0
$GC,129,-0.68,-116.8,18.9,-42.9,19,135,0.00,2.35,0.00,0.000,6,0.000,0.031,3050,1933,3233,0,0,0,0,0,0
$GC,329,-0.68,-116.8,56.7,-17.7,42,333,0.00,2.40,0.00,0.000,4,0.000,0.043,3049,299,3234,0,0,0,0,0,0
$GC,360,-0.68,-116.8,62.6,-17.7,44,367,0.08,2.33,0.00,0.000,6,0.130,0.034,3065,1902,3233,0,0,0,0,0,0
$GC,623,-0.68,-116.8,98.3,-12.8,69,627,0.00,2.33,0.00,0.000,4,0.000,0.043,3065,294,3235,0,0,0,0,0,0
$GC,650,-0.68,-116.8,102.3,-13.8,71,654,0.00,2.30,0.00,0.000,6,0.000,0.035,3056,1904,3235,0,0,0,0,0,0
$GC,910,-0.68,-116.8,138.8,-14.5,95,911,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1905,3240,0,0,0,0,0,0
$GC,1165,-0.68,-116.8,166.9,-8.6,119,1169,0.00,2.33,0.00,0.000,4,0.000,0.043,3056,290,3237,0,0,0,0,0,0
$GC,1264,-0.68,-116.8,176.2,-8.9,127,1270,0.00,2.30,0.00,0.000,6,0.000,0.034,3046,1899,3238,0,0,0,0,0,0
$GC,1535,-0.68,-116.8,205.6,-11.9,151,1539,0.00,2.33,0.00,0.000,4,0.000,0.043,3046,289,3238,0,0,0,0,0,0
$GC,1573,-0.68,-116.8,210.7,-13.2,153,1578,0.12,2.28,0.00,0.000,6,0.143,0.033,3075,1905,3239,0,0,0,0,0,0
$GC,1900,-0.68,-116.8,243.8,-9.0,169,1904,0.00,2.30,0.00,0.000,4,0.000,0.044,3075,298,3238,0,0,0,0,0,0
$GC,1972,-0.68,-116.8,250.1,-7.8,172,1976,0.00,2.28,0.00,0.000,6,0.000,0.034,3069,1896,3238,0,0,0,0,0,0
$GC,2293,-0.68,-116.8,268.3,-5.1,188,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1896,3238,0,0,0,0,0,0
$GC,2603,-0.68,-116.8,282.1,-4.8,203,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1896,3238,0,0,0,0,0,0
$GC,2912,-0.68,-116.8,299.8,-5.7,218,2916,0.00,2.33,0.00,0.000,4,0.000,0.044,3069,297,3237,0,0,0,0,0,0
$GC,2950,-0.68,-116.8,302.4,-7.1,220,2955,0.00,2.28,0.00,0.000,6,0.000,0.034,3061,1920,3238,0,0,0,0,0,0
$GC,3274,-0.68,-116.8,326.2,-7.5,228,3279,0.00,2.35,0.00,0.000,4,0.000,0.044,3059,287,3236,0,0,0,0,0,0
$GC,3368,-0.68,-116.8,334.6,-9.0,230,3373,0.00,2.30,0.00,0.000,6,0.000,0.035,3055,1896,3236,0,0,0,0,0,0
$GC,3688,-0.68,-116.8,359.8,-7.8,238,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1896,3233,0,0,0,0,0,0
$GC,4012,-0.68,-116.8,385.2,-7.7,246,4016,0.00,2.35,0.00,0.000,4,0.000,0.046,3055,291,3232,0,0,0,0,0,0
$GC,4096,-0.68,-116.8,391.0,-6.2,248,4100,0.00,2.30,0.00,0.000,6,0.000,0.035,3045,1913,3231,0,0,0,0,0,0
$GC,4426,-0.68,-116.8,408.6,-5.0,256,4430,0.00,2.38,0.00,0.000,4,0.000,0.046,3045,290,3228,0,0,0,0,0,0
$GC,4452,-0.68,-116.8,410.2,-6.0,256,4457,0.12,2.30,0.00,0.000,6,0.137,0.035,3071,1902,3229,0,0,0,0,0,0
$GC,4788,-0.68,-116.8,423.6,-4.3,265,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1902,3226,0,0,0,0,0,0
$GC,5114,-0.68,-116.8,441.1,-5.8,273,5118,0.00,2.33,0.00,0.000,4,0.000,0.046,3075,297,3225,0,0,0,0,0,0
$GC,5181,-0.68,-116.8,445.5,-6.8,274,5185,0.00,2.28,0.00,0.000,6,0.000,0.035,3062,1904,3223,0,0,0,0,0,0
$GC,5517,-0.68,-116.8,460.6,-4.3,283,5521,0.00,2.38,0.00,0.000,4,0.000,0.048,3065,289,3221,0,0,0,0,0,0
$GC,5571,-0.68,-116.8,463.6,-5.5,284,5575,0.00,2.33,0.00,0.000,6,0.000,0.035,3053,1904,3221,0,0,0,0,0,0
$GC,5884,-0.68,-116.8,483.6,-6.7,292,5888,0.00,2.38,0.00,0.000,4,0.000,0.047,3054,301,3219,0,0,0,0,0,0
$GC,5916,-0.68,-116.8,486.2,-8.6,292,5922,0.00,2.30,0.00,0.000,6,0.000,0.035,3043,1912,3220,0,0,0,0,0,0
$STATE,6123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6123,begin apogee
$GC,6128,-0.23,0.0,502.4,7.7,298,6220,0.50,0.00,89.35,0.927,6,0.099,0.000,3220,2011,2748,0,0,0,0,0,0
$STATE,6257,end apogee,CONTROL_FINISHED_OK
$STATE,6258,begin climb
$GC,6259,0.68,116.8,505.2,0.0,300,6366,0.73,2.55,98.18,0.906,4,0.043,0.047,3542,399,2272,0,0,0,0,0,0
$GC,6444,0.68,116.8,503.1,10.3,304,6448,0.00,2.40,0.00,0.000,6,0.000,0.036,3545,1984,2265,0,0,0,0,0,0
$GC,6757,0.68,116.8,471.4,10.0,312,6762,0.12,2.35,0.00,0.000,4,0.176,0.048,3522,398,2256,0,0,0,0,0,0
$GC,6806,0.68,116.8,466.7,9.7,313,6810,0.00,2.35,0.00,0.000,6,0.000,0.038,3522,2013,2258,0,0,0,0,0,0
$GC,7124,0.68,120.6,440.1,7.8,321,7128,0.00,2.40,0.00,0.000,4,0.000,0.048,3532,395,2257,0,0,0,0,0,0
$GC,7329,0.68,120.6,424.2,8.1,325,7334,0.00,2.35,0.00,0.000,6,0.000,0.038,3533,1991,2254,0,0,0,0,0,0
$GC,7672,0.68,120.6,396.8,8.3,334,7676,0.00,2.38,0.00,0.000,4,0.000,0.048,3533,3599,2252,0,0,0,0,0,0
$GC,7878,0.71,138.0,381.1,7.2,338,7898,0.00,2.38,14.85,0.815,6,0.000,0.036,3545,1984,2186,0,0,0,0,0,0
$GC,8216,0.71,138.0,351.9,9.2,347,8220,0.00,2.35,0.00,0.000,4,0.000,0.048,3557,407,2182,0,0,0,0,0,0
$GC,8351,0.71,138.0,339.0,9.3,350,8356,0.15,2.30,0.00,0.000,6,0.171,0.038,3521,2012,2180,0,0,0,0,0,0
$GC,8675,0.76,181.7,317.7,6.0,358,8717,0.00,2.40,36.00,0.810,4,0.000,0.045,3528,418,2008,0,0,0,0,0,0
$GC,8795,0.76,181.7,307.3,10.7,360,8800,0.00,2.33,0.00,0.000,6,0.000,0.038,3528,2003,2003,0,0,0,0,0,0
$GC,9109,0.76,181.7,274.6,11.3,373,9113,0.00,2.38,0.00,0.000,4,0.000,0.048,3528,3596,1999,0,0,0,0,0,0
$GC,9197,0.76,181.7,264.6,11.1,377,9202,0.00,2.33,0.00,0.000,6,0.000,0.035,3539,1992,1998,0,0,0,0,0,0
$GC,9524,0.76,181.7,228.9,10.8,393,9528,0.00,2.33,0.00,0.000,4,0.000,0.047,3558,411,1997,0,0,0,0,0,0
$GC,9713,0.76,181.7,208.8,9.4,401,9719,0.00,2.33,0.00,0.000,6,0.000,0.035,3549,2002,1998,0,0,0,0,0,0
$GC,10036,0.76,181.7,177.0,9.9,427,10040,0.00,2.35,0.00,0.000,4,0.000,0.046,3563,405,1995,0,0,0,0,0,0
$GC,10131,0.76,181.7,167.2,11.1,435,10135,0.00,2.28,0.00,0.000,6,0.000,0.036,3563,2006,1995,0,0,0,0,0,0
$GC,10392,0.76,181.7,138.7,10.0,459,10396,0.00,2.30,0.00,0.000,4,0.000,0.045,3575,415,1993,0,0,0,0,0,0
$GC,10457,0.76,182.0,132.5,8.0,464,10464,0.10,2.28,0.00,0.000,6,0.153,0.035,3541,1993,1995,0,0,0,0,0,0
$GC,10720,0.79,203.1,115.4,7.0,489,10741,0.00,2.40,16.42,0.607,4,0.000,0.046,3541,3579,1925,0,0,0,0,0,0
$GC,10845,0.79,203.1,103.3,10.8,500,10850,0.00,2.30,0.00,0.000,6,0.000,0.034,3552,1990,1921,0,0,0,0,0,0
$GC,11106,0.80,214.8,79.4,7.5,524,11122,0.00,2.28,10.62,0.545,4,0.000,0.043,3564,424,1874,0,0,0,0,0,0
$GC,11268,0.85,252.7,69.2,6.3,538,11304,0.00,2.28,31.25,0.571,6,0.000,0.035,3560,2011,1719,0,0,0,0,0,0
$GC,11559,0.85,252.7,42.8,9.3,565,11563,0.00,2.35,0.00,0.000,4,0.000,0.045,3564,3586,1712,0,0,0,0,0,0
$GC,11597,0.85,252.7,38.5,11.5,568,11601,0.00,2.28,0.00,0.000,6,0.000,0.033,3575,1999,1711,0,0,0,0,0,0
$GC,11868,0.85,252.7,6.7,12.7,609,11873,0.00,2.33,0.00,0.000,4,0.000,0.044,3587,420,1711,0,0,0,0,0,0
$STATE,11900,end climb,SURFACE_DEPTH_REACHED
$STATE,11900,begin surface coast
$FINISH,0.7,1.023181
$STATE,11929,end surface coast,CONTROL_FINISHED_OK
$STATE,11929,begin surface
$SM_CCo,11957,70.72,0.443,1,0,1159,390.02
$SM_GC,1.08,0.00,0.00,70.72,0.000,0.000,0.443,148,1913,1159,-9.81,0.34,390.02
$IRIDIUM_FIX,2059.45,-15750.89,130312,080841
$TT8_MAMPS,0.246207
$HUMID,1078652248
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8418656256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58788216832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,4.924
$10V_AH,10.2,4.119
$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,22.100,125.900,296.675,70.725,0.000,28.456,24.808,216.823,0.000,0.000,35.590,1203.629,8783.306,471.415,1846.122,163.783,33.361,1284.033,0.000,1445.118,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,105.846,926.536,443.326,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,419.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335004
$DATA_FILE_SIZE,20137,620
$CAP_FILE_SIZE,118908,0
$CFSIZE,260165632,234708992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,204455,2104.771,-15751.684,39,1.0,40,9.8