version: 66.07
glider: 500
mission: 7
dive: 84
start: 9 21 110 19 29 57
data:
$ID,500
$MISSION,7
$DIVE,84
$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,-116986.24
$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,83
$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
$GPS1,210910,191700,2043.416,-15751.979,35,0.9,41,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.5
$GPS2,210910,192902,2043.465,-15752.089,10,1.4,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.028,-0.147
$KALMAN_X,-36763.6,-2013.2,-830.0,39631.9,1540.2
$KALMAN_Y,9616.5,1853.0,297.9,-69167.3,-1857.7
$MHEAD_RNG_PITCHd_Wd,159.4,4132,-25.0,-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,-0.90,-52.1,0.0,0.0,0,88,0.00,0.00,-60.53,0.000,2,0.000,0.000,126,1900,2838,0,0,0,0,0,0
$GC,91,-0.91,-60.1,3.5,-7.2,12,113,11.23,2.38,-3.00,0.000,4,0.240,0.052,2984,283,2997,0,0,0,0,0,0
$GC,210,-0.91,-60.1,38.6,-25.3,30,215,0.00,2.35,0.00,0.000,6,0.000,0.033,2974,1924,2997,0,0,0,0,0,0
$GC,470,-0.91,-60.1,91.5,-16.3,55,474,0.00,2.38,0.00,0.000,4,0.000,0.041,2974,296,3000,0,0,0,0,0,0
$GC,536,-0.91,-60.1,103.8,-19.0,60,542,0.12,2.30,0.00,0.000,6,0.173,0.032,2997,1909,2999,0,0,0,0,0,0
$GC,798,-0.91,-60.1,144.4,-14.5,85,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1909,3002,0,0,0,0,0,0
$GC,1051,-0.91,-60.1,180.1,-11.5,109,1056,0.00,2.35,0.00,0.000,4,0.000,0.041,2996,286,3003,0,0,0,0,0,0
$GC,1090,-0.91,-60.1,185.0,-13.0,112,1094,0.00,2.28,0.00,0.000,6,0.000,0.032,2985,1910,3003,0,0,0,0,0,0
$GC,1357,-0.91,-60.1,213.6,-10.6,131,1361,0.00,2.28,0.00,0.000,4,0.000,0.044,2974,3476,3006,0,0,0,0,0,0
$GC,1390,-0.91,-60.1,217.3,-11.2,132,1396,0.00,2.28,0.00,0.000,6,0.000,0.028,2973,1861,3003,0,0,0,0,0,0
$GC,1705,-0.91,-60.1,253.2,-12.0,148,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1861,3004,0,0,0,0,0,0
$GC,2015,-0.91,-60.1,292.2,-12.4,163,2019,0.00,2.20,0.00,0.000,4,0.000,0.041,2973,313,3003,0,0,0,0,0,0
$GC,2165,-0.91,-60.1,310.4,-11.8,168,2170,0.12,2.22,0.00,0.000,6,0.159,0.032,2998,1906,3002,0,0,0,0,0,0
$GC,2507,-0.91,-60.1,343.4,-10.1,177,2511,0.00,2.28,0.00,0.000,4,0.000,0.041,2999,322,2999,0,0,0,0,0,0
$GC,2636,-0.91,-60.1,357.5,-10.9,180,2640,0.00,2.22,0.00,0.000,6,0.000,0.032,2987,1905,3000,0,0,0,0,0,0
$GC,2965,-0.91,-60.1,392.1,-10.5,188,2969,0.00,2.28,0.00,0.000,4,0.000,0.041,2988,321,2998,0,0,0,0,0,0
$GC,2986,-0.91,-60.1,394.7,-11.9,188,2990,0.00,2.25,0.00,0.000,6,0.000,0.032,2977,1895,2998,0,0,0,0,0,0
$GC,3328,-0.91,-60.1,428.9,-9.7,197,3332,0.00,2.28,0.00,0.000,4,0.000,0.042,2977,323,2993,0,0,0,0,0,0
$GC,3360,-0.91,-60.1,432.7,-11.9,197,3365,0.08,2.25,0.00,0.000,6,0.132,0.033,2997,1893,2994,0,0,0,0,0,0
$GC,3696,-0.91,-60.1,464.1,-9.0,206,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1894,2992,0,0,0,0,0,0
$GC,4021,-0.91,-60.1,491.8,-8.4,214,4025,0.00,2.30,0.00,0.000,4,0.000,0.044,2994,317,2990,0,0,0,0,0,0
$GC,4053,-0.91,-60.1,494.7,-9.2,214,4059,0.00,2.28,0.00,0.000,6,0.000,0.033,2983,1898,2990,0,0,0,0,0,0
$STATE,4138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4138,begin apogee
$GC,4144,-0.23,0.0,502.7,9.2,217,4192,0.68,0.00,45.38,0.907,6,0.114,0.000,3216,2029,2749,0,0,0,0,0,0
$STATE,4239,end apogee,CONTROL_FINISHED_OK
$STATE,4239,begin climb
$GC,4241,0.91,60.1,503.9,0.0,218,4297,0.93,2.35,49.85,0.893,4,0.044,0.043,3606,3556,2504,0,0,0,0,0,0
$GC,4330,1.01,146.0,506.7,-0.9,221,4408,0.00,2.35,71.97,0.891,6,0.000,0.031,3618,1989,2154,0,0,0,0,0,0
$GC,4731,1.01,146.0,450.1,16.3,231,4735,0.00,2.30,0.00,0.000,4,0.000,0.043,3630,428,2141,0,0,0,0,0,0
$GC,4809,1.01,146.0,437.9,15.2,232,4815,0.00,2.28,0.00,0.000,6,0.000,0.035,3630,1990,2140,0,0,0,0,0,0
$GC,5139,1.01,146.0,390.3,14.3,241,5143,0.00,2.30,0.00,0.000,4,0.000,0.043,3642,434,2136,0,0,0,0,0,0
$GC,5160,1.01,146.0,387.3,13.1,241,5165,0.00,2.30,0.00,0.000,6,0.000,0.035,3642,1993,2137,0,0,0,0,0,0
$GC,5508,1.01,146.0,337.0,14.8,250,5512,0.00,2.28,0.00,0.000,4,0.000,0.043,3653,428,2134,0,0,0,0,0,0
$GC,5675,1.01,146.0,311.2,15.1,253,5682,0.10,2.30,0.00,0.000,6,0.179,0.035,3620,2009,2133,0,0,0,0,0,0
$GC,5989,1.01,146.0,274.3,11.5,266,5993,0.00,2.30,0.00,0.000,4,0.000,0.043,3630,433,2131,0,0,0,0,0,0
$GC,6245,1.01,146.0,244.1,13.1,277,6250,0.00,2.28,0.00,0.000,6,0.000,0.035,3630,1996,2129,0,0,0,0,0,0
$GC,6567,1.01,146.0,213.1,9.7,293,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1996,2126,0,0,0,0,0,0
$GC,6879,1.01,146.0,188.4,8.0,314,6883,0.00,2.33,0.00,0.000,4,0.000,0.045,3634,3588,2126,0,0,0,0,0,0
$GC,7065,1.01,146.0,169.6,12.0,330,7069,0.00,2.25,0.00,0.000,6,0.000,0.032,3642,1998,2127,0,0,0,0,0,0
$GC,7326,1.03,163.7,150.6,6.2,354,7341,0.00,2.28,10.73,0.621,4,0.000,0.040,3654,419,2080,0,0,0,0,0,0
$GC,7432,1.03,163.7,142.5,10.2,363,7437,0.12,2.28,0.00,0.000,6,0.197,0.034,3624,2007,2079,0,0,0,0,0,0
$GC,7692,1.04,171.2,119.7,7.2,387,7706,0.00,2.38,6.90,0.538,4,0.000,0.044,3622,3591,2054,0,0,0,0,0,0
$GC,7769,1.04,171.2,112.7,9.0,394,7773,0.00,2.28,0.00,0.000,6,0.000,0.031,3634,1997,2053,0,0,0,0,0,0
$GC,8031,1.06,182.8,92.7,6.8,418,8051,0.00,2.33,11.52,0.560,4,0.000,0.040,3646,432,2003,0,0,0,0,0,0
$GC,8097,1.07,192.0,88.2,7.1,424,8111,0.00,2.25,8.82,0.531,6,0.000,0.033,3646,2010,1967,0,0,0,0,0,0
$GC,8372,1.07,192.0,62.4,10.2,450,8376,0.00,2.28,0.00,0.000,4,0.000,0.042,3646,3582,1964,0,0,0,0,0,0
$GC,8411,1.07,192.0,58.4,10.7,453,8415,0.00,2.25,0.00,0.000,6,0.000,0.031,3658,1996,1964,0,0,0,0,0,0
$GC,8672,1.07,195.0,35.3,7.7,477,8683,0.00,2.35,3.62,0.351,4,0.000,0.042,3658,3581,1955,0,0,0,0,0,0
$GC,8918,1.07,195.0,12.7,9.7,515,8924,0.12,2.25,0.00,0.000,6,0.202,0.030,3639,1989,1955,0,0,0,0,0,0
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9042,begin surface coast
$FINISH,0.3,1.023024
$STATE,9086,end surface coast,CONTROL_FINISHED_OK
$STATE,9086,begin surface
$SM_CCo,9106,111.68,0.470,1,0,1161,390.02
$SM_GC,0.92,0.00,0.00,111.68,0.000,0.000,0.470,129,1891,1161,-9.88,-0.25,390.02
$IRIDIUM_FIX,2036.38,-15754.37,160312,131300
$TT8_MAMPS,0.058292
$HUMID,1078630313
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,5
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8438546432
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57026281472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.388
$10V_AH,10.3,8.030
$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,22.275,91.825,208.800,111.675,0.000,55.976,60.997,386.510,1.250,0.000,12.525,1019.015,6592.996,417.955,1743.622,176.842,33.343,1066.301,0.000,1150.404,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,120.419,906.594,470.171,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.503,0.000,0.000,0.000,0.000,0.000,0.000,49642.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.107,0.000,0.000
$MEM,334972
$DATA_FILE_SIZE,20070,545
$CAP_FILE_SIZE,100787,0
$CFSIZE,260165632,232239104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210910,220537,2042.302,-15752.166,68,0.8,68,9.7