version: 66.07
glider: 500
mission: 7
dive: 89
start: 9 22 110 11 16 39
data:
$ID,500
$MISSION,7
$DIVE,89
$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,-117129.26
$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,88
$AR_SAMPLENUM,10
$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
$GPS1,220910,110714,2042.890,-15751.613,11,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.8
$GPS2,220910,111544,2042.887,-15751.709,15,1.9,15,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.122
$KALMAN_X,-48398.1,480.8,551.7,48046.7,-3254.2
$KALMAN_Y,10280.3,-554.2,-23.4,-68177.1,405.0
$MHEAD_RNG_PITCHd_Wd,114.1,2880,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.68,-116.8,0.0,0.0,0,90,0.00,0.00,-61.10,0.000,2,0.000,0.000,128,1876,2835,0,0,0,0,0,0
$GC,93,-0.68,-116.8,3.3,-6.2,12,120,11.45,2.38,-7.20,0.000,4,0.238,0.054,3061,293,3231,0,0,0,0,0,0
$GC,210,-0.68,-116.8,33.1,-18.2,31,215,0.00,2.35,0.00,0.000,6,0.000,0.034,3051,1923,3235,0,0,0,0,0,0
$GC,470,-0.68,-116.8,76.9,-14.4,56,472,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1924,3232,0,0,0,0,0,0
$GC,725,-0.68,-116.8,111.8,-12.3,80,729,0.00,2.38,0.00,0.000,4,0.000,0.041,3050,296,3234,0,0,0,0,0,0
$GC,797,-0.68,-116.8,120.7,-11.9,86,801,0.00,2.30,0.00,0.000,6,0.000,0.033,3039,1918,3234,0,0,0,0,0,0
$GC,1058,-0.68,-116.8,153.9,-11.9,110,1063,0.10,2.33,0.00,0.000,4,0.157,0.042,3071,295,3236,0,0,0,0,0,0
$GC,1085,-0.68,-116.8,157.2,-11.2,112,1090,0.00,2.25,0.00,0.000,6,0.000,0.033,3058,1900,3236,0,0,0,0,0,0
$GC,1347,-0.68,-116.8,181.4,-10.1,136,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1900,3236,0,0,0,0,0,0
$GC,1609,-0.68,-116.8,206.8,-9.5,158,1613,0.00,2.35,0.00,0.000,4,0.000,0.044,3061,287,3237,0,0,0,0,0,0
$GC,1663,-0.68,-116.8,211.9,-9.3,160,1670,0.00,2.28,0.00,0.000,6,0.000,0.034,3056,1899,3237,0,0,0,0,0,0
$GC,1979,-0.68,-116.8,237.3,-7.8,176,1983,0.00,2.30,0.00,0.000,4,0.000,0.042,3055,295,3237,0,0,0,0,0,0
$GC,1999,-0.68,-116.8,239.1,-8.4,177,2004,0.00,2.30,0.00,0.000,6,0.000,0.032,3045,1907,3237,0,0,0,0,0,0
$GC,2326,-0.68,-116.8,268.9,-9.1,193,2331,0.00,2.33,0.00,0.000,4,0.000,0.042,3045,290,3237,0,0,0,0,0,0
$GC,2393,-0.68,-116.8,275.5,-10.2,196,2397,0.12,2.30,0.00,0.000,6,0.136,0.033,3074,1904,3237,0,0,0,0,0,0
$GC,2720,-0.68,-116.8,300.8,-8.3,212,2725,0.00,2.33,0.00,0.000,4,0.000,0.043,3074,287,3236,0,0,0,0,0,0
$GC,2742,-0.68,-116.8,302.8,-8.4,212,2746,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,1913,3236,0,0,0,0,0,0
$GC,3084,-0.68,-116.8,327.4,-6.8,221,3088,0.00,2.33,0.00,0.000,4,0.000,0.043,3069,295,3235,0,0,0,0,0,0
$GC,3161,-0.68,-116.8,333.6,-7.9,222,3167,0.00,2.30,0.00,0.000,6,0.000,0.033,3059,1905,3235,0,0,0,0,0,0
$GC,3493,-0.68,-116.8,358.8,-7.5,231,3497,0.00,2.35,0.00,0.000,4,0.000,0.044,3059,294,3233,0,0,0,0,0,0
$GC,3519,-0.68,-116.8,361.1,-7.8,231,3524,0.00,2.30,0.00,0.000,6,0.000,0.034,3056,1897,3233,0,0,0,0,0,0
$GC,3856,-0.68,-116.8,387.1,-7.9,240,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1896,3229,0,0,0,0,0,0
$GC,4181,-0.68,-116.8,412.4,-7.6,248,4185,0.00,2.35,0.00,0.000,4,0.000,0.045,3056,288,3228,0,0,0,0,0,0
$GC,4235,-0.68,-116.8,416.7,-7.7,249,4240,0.00,2.33,0.00,0.000,6,0.000,0.034,3045,1920,3227,0,0,0,0,0,0
$GC,4548,-0.68,-116.8,435.9,-6.0,257,4553,0.00,2.40,0.00,0.000,4,0.000,0.044,3045,293,3225,0,0,0,0,0,0
$GC,4615,-0.68,-116.8,440.4,-6.6,258,4620,0.12,2.30,0.00,0.000,6,0.133,0.034,3076,1905,3226,0,0,0,0,0,0
$GC,4951,-0.68,-116.8,458.2,-5.4,267,4955,0.00,2.35,0.00,0.000,4,0.000,0.045,3081,300,3222,0,0,0,0,0,0
$GC,4973,-0.68,-116.8,459.5,-6.2,267,4977,0.00,2.28,0.00,0.000,6,0.000,0.034,3065,1903,3222,0,0,0,0,0,0
$GC,5309,-0.68,-116.8,477.0,-4.8,276,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1905,3220,0,0,0,0,0,0
$GC,5634,-0.68,-116.8,492.9,-5.6,284,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1903,3218,0,0,0,0,0,0
$STATE,5755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5755,begin apogee
$GC,5760,-0.23,0.0,500.4,6.2,287,5852,0.43,0.00,88.53,0.922,6,0.094,0.000,3219,2000,2751,0,0,0,0,0,0
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5900,0.68,116.8,502.9,0.0,289,6006,0.73,2.55,97.50,0.905,4,0.044,0.045,3539,401,2273,0,0,0,0,0,0
$GC,6079,0.68,116.8,500.8,10.1,293,6084,0.12,2.35,0.00,0.000,6,0.170,0.035,3508,1986,2268,0,0,0,0,0,0
$GC,6396,0.68,116.8,471.6,9.1,301,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1989,2261,0,0,0,0,0,0
$GC,6721,0.68,116.8,443.7,8.4,309,6726,0.00,2.38,0.00,0.000,4,0.000,0.045,3508,3589,2255,0,0,0,0,0,0
$GC,6810,0.68,116.8,435.2,9.9,311,6815,0.00,2.38,0.00,0.000,6,0.000,0.031,3519,1969,2254,0,0,0,0,0,0
$GC,7134,0.68,116.8,405.1,9.2,319,7138,0.00,2.25,0.00,0.000,4,0.000,0.044,3531,421,2252,0,0,0,0,0,0
$GC,7390,0.68,116.8,380.2,9.5,324,7397,0.00,2.30,0.00,0.000,6,0.000,0.035,3531,1999,2251,0,0,0,0,0,0
$GC,7722,0.68,118.7,353.4,7.9,333,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1999,2249,0,0,0,0,0,0
$GC,8047,0.72,147.4,332.9,6.7,341,8071,0.00,0.00,22.10,0.809,6,0.000,0.000,3531,1999,2149,0,0,0,0,0,0
$GC,8371,0.72,147.4,300.2,10.9,349,8375,0.00,2.33,0.00,0.000,4,0.000,0.044,3543,427,2144,0,0,0,0,0,0
$GC,8510,0.72,147.4,288.4,8.1,354,8515,0.00,2.30,0.00,0.000,6,0.000,0.035,3542,1999,2143,0,0,0,0,0,0
$GC,8832,0.77,190.9,268.0,6.0,370,8874,0.00,2.35,36.17,0.769,4,0.000,0.044,3554,429,1970,0,0,0,0,0,0
$GC,9013,0.77,190.9,249.7,11.6,378,9018,0.00,2.33,0.00,0.000,6,0.000,0.035,3554,2001,1964,0,0,0,0,0,0
$GC,9340,0.77,190.9,212.3,11.5,394,9344,0.00,2.33,0.00,0.000,4,0.000,0.046,3554,3585,1959,0,0,0,0,0,0
$GC,9389,0.77,190.9,205.4,14.3,396,9394,0.00,2.33,0.00,0.000,6,0.000,0.032,3565,2003,1958,0,0,0,0,0,0
$GC,9720,0.77,190.9,169.5,10.7,425,9724,0.00,2.30,0.00,0.000,4,0.000,0.044,3577,418,1958,0,0,0,0,0,0
$GC,9792,0.77,190.9,161.0,11.7,431,9797,0.15,2.28,0.00,0.000,6,0.166,0.035,3536,2014,1957,0,0,0,0,0,0
$GC,10052,0.77,190.9,137.0,9.0,455,10056,0.00,2.33,0.00,0.000,4,0.000,0.043,3547,418,1957,0,0,0,0,0,0
$GC,10106,0.77,190.9,132.2,8.8,459,10112,0.00,2.30,0.00,0.000,6,0.000,0.034,3547,1998,1956,0,0,0,0,0,0
$GC,10368,0.77,190.9,109.0,8.7,484,10372,0.00,2.28,0.00,0.000,4,0.000,0.043,3558,424,1957,0,0,0,0,0,0
$GC,10547,0.78,199.9,94.3,7.6,499,10558,0.00,2.28,6.12,0.510,6,0.000,0.033,3558,1998,1935,0,0,0,0,0,0
$GC,10813,0.80,216.1,71.9,7.3,524,10833,0.00,0.00,14.62,0.564,6,0.000,0.000,3558,1999,1870,0,0,0,0,0,0
$GC,11089,0.83,238.3,52.4,7.0,550,11113,0.00,2.38,19.02,0.551,4,0.000,0.044,3558,3579,1777,0,0,0,0,0,0
$GC,11217,0.84,245.6,42.8,7.7,561,11232,0.00,2.28,7.12,0.476,6,0.000,0.031,3569,1994,1748,0,0,0,0,0,0
$GC,11491,0.84,245.6,20.5,9.9,595,11497,0.00,2.28,0.00,0.000,4,0.000,0.041,3581,427,1748,0,0,0,0,0,0
$STATE,11658,end climb,SURFACE_DEPTH_REACHED
$STATE,11658,begin surface coast
$FINISH,0.6,1.022998
$STATE,11677,end surface coast,CONTROL_FINISHED_OK
$STATE,11677,begin surface
$SM_CCo,11763,71.62,0.074,0,0,1159,390.02
$SM_GC,1.22,0.00,0.00,71.62,0.000,0.000,0.074,139,1914,1159,-9.85,0.40,390.02
$IRIDIUM_FIX,2036.38,-15754.37,170312,020220
$TT8_MAMPS,0.232401
$HUMID,1078634184
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8400568320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56693751808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.858
$10V_AH,10.3,8.680
$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,21.850,106.775,291.200,71.625,0.000,24.158,28.224,304.792,0.000,0.000,17.515,1176.321,8687.237,466.637,1844.128,183.953,33.346,1207.117,0.000,1316.922,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,105.079,921.934,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,424.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335012
$DATA_FILE_SIZE,23464,628
$CAP_FILE_SIZE,113495,0
$CFSIZE,260165632,231833600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,143524,2041.763,-15751.454,35,1.5,36,9.7