version: 66.07
glider: 500
mission: 7
dive: 90
start: 9 22 110 14 44 4
data:
$ID,500
$MISSION,7
$DIVE,90
$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,-117146.64
$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,89
$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
$GPS1,220910,143524,2041.763,-15751.454,35,1.5,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-78.2
$GPS2,220910,144308,2041.774,-15751.532,14,1.6,14,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.028
$KALMAN_X,-49736.2,-159.1,664.0,50216.3,-3635.6
$KALMAN_Y,9459.2,83.3,-445.5,-69631.1,599.9
$MHEAD_RNG_PITCHd_Wd,87.7,121259,-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,-66.30,0.000,2,0.000,0.000,129,1915,2989,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.1,-8.6,13,118,11.45,2.40,-4.05,0.000,4,0.239,0.050,3062,282,3229,0,0,0,0,0,0
$GC,220,-0.68,-116.8,40.7,-18.9,31,224,0.00,2.35,0.00,0.000,6,0.000,0.033,3052,1926,3231,0,0,0,0,0,0
$GC,480,-0.68,-116.8,88.1,-17.1,55,481,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1927,3232,0,0,0,0,0,0
$GC,736,-0.68,-116.8,119.9,-11.0,79,740,0.00,2.35,0.00,0.000,4,0.000,0.042,3051,298,3233,0,0,0,0,0,0
$GC,774,-0.68,-116.8,124.4,-11.4,82,779,0.10,2.30,0.00,0.000,6,0.153,0.032,3070,1919,3233,0,0,0,0,0,0
$GC,1037,-0.68,-116.8,149.3,-8.7,106,1041,0.00,2.33,0.00,0.000,4,0.000,0.042,3070,298,3234,0,0,0,0,0,0
$GC,1091,-0.68,-116.8,154.6,-8.8,110,1097,0.00,2.30,0.00,0.000,6,0.000,0.032,3061,1905,3233,0,0,0,0,0,0
$GC,1353,-0.68,-116.8,177.6,-9.2,135,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1905,3235,0,0,0,0,0,0
$GC,1607,-0.68,-116.8,200.5,-8.5,159,1611,0.00,2.30,0.00,0.000,4,0.000,0.042,3061,296,3235,0,0,0,0,0,0
$GC,1628,-0.68,-116.8,202.6,-9.6,160,1633,0.00,2.30,0.00,0.000,6,0.000,0.033,3054,1908,3235,0,0,0,0,0,0
$GC,1955,-0.68,-116.8,233.4,-9.3,176,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1902,3235,0,0,0,0,0,0
$GC,2264,-0.68,-116.8,263.4,-10.1,191,2268,0.00,2.35,0.00,0.000,4,0.000,0.043,3055,290,3235,0,0,0,0,0,0
$GC,2341,-0.68,-116.8,271.7,-10.6,194,2348,0.00,2.30,0.00,0.000,6,0.000,0.032,3045,1898,3235,0,0,0,0,0,0
$GC,2658,-0.68,-116.8,299.1,-7.7,210,2662,0.00,2.30,0.00,0.000,4,0.000,0.043,3043,297,3234,0,0,0,0,0,0
$GC,2747,-0.68,-116.8,306.2,-7.6,213,2752,0.12,2.25,0.00,0.000,6,0.133,0.032,3074,1903,3234,0,0,0,0,0,0
$GC,3071,-0.68,-116.8,322.6,-5.0,221,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1908,3233,0,0,0,0,0,0
$GC,3396,-0.68,-116.8,341.9,-6.0,229,3400,0.00,2.33,0.00,0.000,4,0.000,0.044,3074,289,3231,0,0,0,0,0,0
$GC,3501,-0.68,-116.8,349.4,-7.0,231,3505,0.00,2.30,0.00,0.000,6,0.000,0.033,3071,1893,3230,0,0,0,0,0,0
$GC,3850,-0.68,-116.8,370.3,-5.7,240,3854,0.00,2.33,0.00,0.000,4,0.000,0.044,3069,289,3229,0,0,0,0,0,0
$GC,3910,-0.68,-116.8,374.5,-7.1,241,3915,0.00,2.33,0.00,0.000,6,0.000,0.033,3059,1910,3228,0,0,0,0,0,0
$GC,4223,-0.68,-116.8,396.0,-7.0,249,4227,0.00,2.30,0.00,0.000,4,0.000,0.047,3047,3484,3224,0,0,0,0,0,0
$GC,4251,-0.68,-116.8,397.8,-7.4,249,4256,0.00,2.28,0.00,0.000,6,0.000,0.031,3047,1871,3224,0,0,0,0,0,0
$GC,4582,-0.68,-116.8,420.1,-6.4,257,4586,0.00,2.25,0.00,0.000,4,0.000,0.045,3047,316,3222,0,0,0,0,0,0
$GC,4677,-0.68,-116.8,426.9,-7.2,259,4681,0.12,2.22,0.00,0.000,6,0.132,0.033,3079,1900,3221,0,0,0,0,0,0
$GC,4994,-0.68,-116.8,441.8,-4.5,267,4998,0.00,2.33,0.00,0.000,4,0.000,0.046,3078,320,3220,0,0,0,0,0,0
$GC,5020,-0.68,-116.8,443.2,-5.4,267,5025,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,1901,3219,0,0,0,0,0,0
$GC,5363,-0.68,-116.8,459.3,-4.8,276,5367,0.00,2.33,0.00,0.000,4,0.000,0.045,3068,320,3218,0,0,0,0,0,0
$GC,5384,-0.68,-116.8,460.5,-5.3,276,5389,0.00,2.28,0.00,0.000,6,0.000,0.034,3057,1892,3218,0,0,0,0,0,0
$GC,5727,-0.68,-116.8,482.2,-7.1,285,5731,0.00,2.28,0.00,0.000,4,0.000,0.045,3057,321,3216,0,0,0,0,0,0
$GC,5776,-0.68,-116.8,486.2,-7.9,286,5780,0.00,2.22,0.00,0.000,6,0.000,0.034,3046,1902,3215,0,0,0,0,0,0
$STATE,6005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6005,begin apogee
$GC,6010,-0.23,0.0,502.7,6.9,292,6101,0.47,0.00,88.12,0.930,6,0.097,0.000,3215,2002,2751,0,0,0,0,0,0
$STATE,6148,end apogee,CONTROL_FINISHED_OK
$STATE,6148,begin climb
$GC,6150,0.68,116.8,504.3,0.0,294,6255,0.75,2.50,98.25,0.908,4,0.044,0.044,3547,429,2271,0,0,0,0,0,0
$GC,6441,0.68,116.8,485.1,12.7,300,6446,0.10,2.33,0.00,0.000,6,0.151,0.035,3515,1988,2264,0,0,0,0,0,0
$GC,6779,0.68,116.8,452.4,8.9,309,6783,0.00,2.30,0.00,0.000,4,0.000,0.044,3525,423,2258,0,0,0,0,0,0
$GC,6811,0.68,116.8,449.4,9.2,309,6817,0.00,2.33,0.00,0.000,6,0.000,0.035,3526,1999,2258,0,0,0,0,0,0
$GC,7142,0.68,116.8,420.7,9.0,318,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1999,2257,0,0,0,0,0,0
$GC,7467,0.68,116.8,394.0,8.4,326,7471,0.00,2.30,0.00,0.000,4,0.000,0.045,3537,424,2256,0,0,0,0,0,0
$GC,7589,0.68,116.8,382.8,9.6,328,7595,0.00,2.33,0.00,0.000,6,0.000,0.036,3537,2007,2256,0,0,0,0,0,0
$GC,7920,0.68,116.8,353.4,8.9,337,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2007,2256,0,0,0,0,0,0
$GC,8246,0.69,124.4,329.3,7.7,345,8256,0.00,2.38,4.32,0.582,4,0.000,0.046,3549,426,2244,0,0,0,0,0,0
$GC,8508,0.71,143.2,308.3,7.1,350,8530,0.00,2.30,17.08,0.783,6,0.000,0.035,3549,2007,2168,0,0,0,0,0,0
$GC,8841,0.71,143.2,281.2,8.9,364,8845,0.00,2.33,0.00,0.000,4,0.000,0.044,3560,415,2163,0,0,0,0,0,0
$GC,9098,0.71,143.2,256.8,8.1,375,9105,0.10,2.33,0.00,0.000,6,0.151,0.035,3527,2003,2162,0,0,0,0,0,0
$GC,9414,0.80,214.4,240.4,4.7,391,9478,0.00,2.45,57.97,0.752,4,0.000,0.045,3538,423,1876,0,0,0,0,0,0
$GC,9518,0.80,214.4,232.3,11.0,396,9522,0.00,2.33,0.00,0.000,6,0.000,0.035,3536,2001,1871,0,0,0,0,0,0
$GC,9833,0.80,214.4,197.4,11.1,412,9837,0.00,2.35,0.00,0.000,4,0.000,0.046,3538,3581,1865,0,0,0,0,0,0
$GC,9853,0.80,214.4,195.1,11.5,413,9860,0.00,2.33,0.00,0.000,6,0.000,0.032,3549,2001,1865,0,0,0,0,0,0
$GC,10116,0.80,214.4,163.8,12.3,438,10120,0.00,2.33,0.00,0.000,4,0.000,0.043,3563,414,1862,0,0,0,0,0,0
$GC,10273,0.80,214.4,142.9,13.3,452,10277,0.00,2.28,0.00,0.000,6,0.000,0.034,3561,2005,1862,0,0,0,0,0,0
$GC,10536,0.80,214.4,111.7,11.3,476,10540,0.00,2.30,0.00,0.000,4,0.000,0.043,3573,419,1862,0,0,0,0,0,0
$GC,10703,0.80,214.4,94.3,10.3,490,10709,0.00,2.28,0.00,0.000,6,0.000,0.034,3573,2005,1861,0,0,0,0,0,0
$GC,10965,0.84,248.7,71.3,6.4,515,10994,0.00,0.00,26.35,0.587,6,0.000,0.000,3572,2006,1733,0,0,0,0,0,0
$GC,11250,0.84,248.7,44.3,9.1,542,11254,0.00,2.33,0.00,0.000,4,0.000,0.043,3584,422,1729,0,0,0,0,0,0
$GC,11338,0.84,248.7,35.5,10.2,549,11344,0.00,2.30,0.00,0.000,6,0.000,0.033,3583,2005,1728,0,0,0,0,0,0
$GC,11611,0.84,248.7,7.2,11.2,593,11616,0.00,2.28,0.00,0.000,4,0.000,0.043,3584,3579,1728,0,0,0,0,0,0
$STATE,11648,end climb,SURFACE_DEPTH_REACHED
$STATE,11648,begin surface coast
$FINISH,0.2,1.022959
$STATE,11672,end surface coast,CONTROL_FINISHED_OK
$STATE,11672,begin surface
$SM_CCo,11740,73.35,0.455,1,0,1160,390.02
$SM_GC,1.25,0.00,0.00,73.35,0.000,0.000,0.455,135,1888,1160,-9.88,-0.34,390.02
$IRIDIUM_FIX,2036.38,-15752.23,170312,050509
$TT8_MAMPS,0.242372
$HUMID,1078685797
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.70
$XPDR_PINGS,0
$AR_DIVENUM,90
$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
$24V_AH,24.3,8.956
$10V_AH,10.2,8.732
$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,21.900,111.325,292.100,73.350,0.000,24.572,35.122,253.129,0.000,0.000,16.759,1156.507,8646.315,490.529,1816.184,182.667,33.356,1239.649,0.000,1354.325,0.000,0.541,0.000
$DEVICE_MAMPS,238.537,107.380,929.604,454.831,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,408.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335016
$DATA_FILE_SIZE,20154,604
$CAP_FILE_SIZE,112191,0
$CFSIZE,260165632,231755776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220910,180231,2041.301,-15751.478,38,0.9,39,9.7