version: 66.07
glider: 500
mission: 7
dive: 91
start: 9 22 110 18 10 46
data:
$ID,500
$MISSION,7
$DIVE,91
$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,-117160.36
$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,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
$GPS1,220910,180231,2041.301,-15751.478,38,0.9,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.8
$GPS2,220910,180950,2041.307,-15751.562,11,1.3,11,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.004
$KALMAN_X,-51051.4,-511.8,-377.0,52878.4,-1595.3
$KALMAN_Y,8243.9,490.3,-196.4,-69935.8,-238.4
$MHEAD_RNG_PITCHd_Wd,81.4,121090,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-60.78,0.000,2,0.000,0.000,128,1887,2822,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.3,-6.4,12,118,11.43,2.40,-7.43,0.000,4,0.237,0.054,3061,289,3231,0,0,0,0,0,0
$GC,152,-0.68,-116.8,23.0,-25.7,23,158,0.00,2.38,0.00,0.000,6,0.000,0.034,3051,1921,3232,0,0,0,0,0,0
$GC,350,-0.68,-116.8,58.4,-16.6,45,354,0.00,2.38,0.00,0.000,4,0.000,0.042,3051,294,3233,0,0,0,0,0,0
$GC,378,-0.68,-116.8,62.9,-16.6,47,383,0.10,2.30,0.00,0.000,6,0.161,0.033,3068,1913,3233,0,0,0,0,0,0
$GC,639,-0.68,-116.8,98.1,-13.3,71,640,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1911,3234,0,0,0,0,0,0
$GC,893,-0.68,-116.8,127.8,-10.1,95,897,0.00,2.38,0.00,0.000,4,0.000,0.043,3069,287,3236,0,0,0,0,0,0
$GC,958,-0.68,-116.8,134.8,-10.7,100,964,0.00,2.30,0.00,0.000,6,0.000,0.033,3063,1906,3236,0,0,0,0,0,0
$GC,1220,-0.68,-116.8,157.9,-8.8,125,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1908,3237,0,0,0,0,0,0
$GC,1474,-0.68,-116.8,180.4,-9.0,149,1479,0.00,2.33,0.00,0.000,4,0.000,0.042,3063,291,3237,0,0,0,0,0,0
$GC,1502,-0.68,-116.8,183.2,-10.2,151,1506,0.00,2.30,0.00,0.000,6,0.000,0.033,3055,1913,3237,0,0,0,0,0,0
$GC,1769,-0.68,-116.8,210.6,-10.1,171,1774,0.00,2.33,0.00,0.000,4,0.000,0.042,3055,291,3237,0,0,0,0,0,0
$GC,1836,-0.68,-116.8,217.8,-10.8,174,1840,0.00,2.25,0.00,0.000,6,0.000,0.032,3043,1903,3237,0,0,0,0,0,0
$GC,2162,-0.68,-116.8,249.5,-9.9,190,2166,0.00,2.30,0.00,0.000,4,0.000,0.043,3042,298,3236,0,0,0,0,0,0
$GC,2194,-0.68,-116.8,253.0,-10.6,191,2200,0.10,2.30,0.00,0.000,6,0.106,0.032,3073,1905,3237,0,0,0,0,0,0
$GC,2510,-0.68,-116.8,275.7,-7.2,207,2514,0.00,2.28,0.00,0.000,4,0.000,0.044,3062,3486,3237,0,0,0,0,0,0
$GC,2536,-0.68,-116.8,277.5,-7.2,208,2541,0.00,2.30,0.00,0.000,6,0.000,0.030,3063,1877,3237,0,0,0,0,0,0
$GC,2878,-0.68,-116.8,303.0,-7.6,224,2882,0.00,2.22,0.00,0.000,4,0.000,0.043,3062,320,3236,0,0,0,0,0,0
$GC,2950,-0.68,-116.8,308.8,-7.9,225,2954,0.00,2.25,0.00,0.000,6,0.000,0.033,3051,1915,3239,0,0,0,0,0,0
$GC,3286,-0.68,-116.8,332.6,-7.0,234,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1916,3237,0,0,0,0,0,0
$GC,3612,-0.68,-116.8,353.4,-6.2,242,3616,0.00,2.35,0.00,0.000,4,0.000,0.044,3051,310,3233,0,0,0,0,0,0
$GC,3705,-0.68,-116.8,360.1,-7.1,244,3710,0.00,2.28,0.00,0.000,6,0.000,0.033,3040,1899,3232,0,0,0,0,0,0
$GC,4024,-0.68,-116.8,382.8,-7.5,252,4029,0.10,2.30,0.00,0.000,4,0.145,0.045,3074,317,3231,0,0,0,0,0,0
$GC,4051,-0.68,-116.8,384.6,-6.3,252,4055,0.00,2.22,0.00,0.000,6,0.000,0.035,3064,1905,3230,0,0,0,0,0,0
$GC,4382,-0.68,-116.8,404.0,-5.9,260,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1905,3228,0,0,0,0,0,0
$GC,4707,-0.68,-116.8,425.1,-6.6,268,4711,0.00,2.33,0.00,0.000,4,0.000,0.045,3069,313,3225,0,0,0,0,0,0
$GC,4758,-0.68,-116.8,429.0,-7.7,269,4762,0.00,2.25,0.00,0.000,6,0.000,0.035,3053,1907,3223,0,0,0,0,0,0
$GC,5076,-0.68,-116.8,450.5,-6.6,277,5080,0.00,2.33,0.00,0.000,4,0.000,0.045,3053,319,3222,0,0,0,0,0,0
$GC,5170,-0.68,-116.8,457.4,-7.2,279,5174,0.00,2.25,0.00,0.000,6,0.000,0.034,3046,1916,3222,0,0,0,0,0,0
$GC,5489,-0.68,-116.8,476.5,-5.6,287,5493,0.00,2.35,0.00,0.000,4,0.000,0.045,3041,321,3219,0,0,0,0,0,0
$GC,5528,-0.68,-116.8,478.9,-6.5,288,5532,0.12,2.22,0.00,0.000,6,0.133,0.035,3071,1899,3219,0,0,0,0,0,0
$GC,5851,-0.68,-116.8,494.9,-5.3,296,5855,0.00,2.30,0.00,0.000,4,0.000,0.045,3071,311,3218,0,0,0,0,0,0
$GC,5890,-0.68,-116.8,497.4,-6.7,297,5895,0.00,2.28,0.00,0.000,6,0.000,0.035,3062,1907,3218,0,0,0,0,0,0
$STATE,5968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5968,begin apogee
$GC,5973,-0.23,0.0,502.3,6.2,299,6064,0.43,0.00,88.40,0.933,6,0.096,0.000,3214,2002,2752,0,0,0,0,0,0
$STATE,6111,end apogee,CONTROL_FINISHED_OK
$STATE,6111,begin climb
$GC,6114,0.68,116.8,505.5,0.0,301,6216,0.75,0.00,98.70,0.916,6,0.045,0.000,3528,2001,2273,0,0,0,0,0,0
$GC,6525,0.68,116.8,484.5,9.5,312,6529,0.00,2.35,0.00,0.000,4,0.000,0.045,3540,421,2258,0,0,0,0,0,0
$GC,6664,0.68,116.8,469.9,10.1,315,6669,0.12,2.30,0.00,0.000,6,0.170,0.035,3508,2001,2256,0,0,0,0,0,0
$GC,6982,0.68,116.8,443.6,8.1,323,6986,0.00,2.33,0.00,0.000,4,0.000,0.046,3519,420,2254,0,0,0,0,0,0
$GC,7121,0.68,116.8,431.8,8.8,326,7125,0.00,2.28,0.00,0.000,6,0.000,0.036,3519,2003,2253,0,0,0,0,0,0
$GC,7438,0.68,116.8,404.7,8.4,334,7442,0.00,2.35,0.00,0.000,4,0.000,0.046,3531,413,2252,0,0,0,0,0,0
$GC,7549,0.68,116.8,394.2,10.0,336,7553,0.00,2.30,0.00,0.000,6,0.000,0.036,3532,2011,2252,0,0,0,0,0,0
$GC,7891,0.69,121.7,366.4,7.8,345,7895,0.00,2.35,0.00,0.000,4,0.000,0.046,3530,3590,2250,0,0,0,0,0,0
$GC,7967,0.69,121.7,359.6,9.6,346,7974,0.08,2.33,0.00,0.000,6,0.160,0.031,3518,1993,2249,0,0,0,0,0,0
$GC,8299,0.72,153.7,336.2,6.5,355,8333,0.00,2.40,27.17,0.826,4,0.000,0.044,3529,420,2122,0,0,0,0,0,0
$GC,8587,0.72,153.7,309.5,9.6,361,8591,0.00,2.30,0.00,0.000,6,0.000,0.035,3529,2001,2116,0,0,0,0,0,0
$GC,8917,0.73,160.0,284.0,7.7,374,8927,0.00,2.33,4.82,0.597,4,0.000,0.045,3539,426,2098,0,0,0,0,0,0
$GC,9106,0.73,160.0,266.8,10.1,382,9112,0.00,2.33,0.00,0.000,6,0.000,0.035,3540,2010,2096,0,0,0,0,0,0
$GC,9423,0.74,165.6,239.3,7.8,398,9431,0.00,0.00,6.22,0.627,6,0.000,0.000,3540,2010,2074,0,0,0,0,0,0
$GC,9731,0.74,168.7,214.9,7.9,413,9736,0.00,0.00,3.83,0.483,6,0.000,0.000,3540,2010,2059,0,0,0,0,0,0
$GC,10044,0.74,168.7,187.6,8.7,434,10048,0.00,2.33,0.00,0.000,4,0.000,0.044,3551,418,2059,0,0,0,0,0,0
$GC,10083,0.75,172.6,184.4,7.8,437,10094,0.00,2.28,4.95,0.538,6,0.000,0.035,3551,2005,2048,0,0,0,0,0,0
$GC,10348,0.75,172.6,161.4,9.3,462,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2005,2049,0,0,0,0,0,0
$GC,10603,0.75,172.6,139.5,8.5,486,10607,0.00,2.33,0.00,0.000,4,0.000,0.045,3555,3580,2046,0,0,0,0,0,0
$GC,10631,0.75,172.6,136.8,10.2,488,10635,0.12,2.25,0.00,0.000,6,0.176,0.031,3530,1995,2047,0,0,0,0,0,0
$GC,10891,0.80,211.1,117.6,6.2,512,10932,0.00,2.35,33.08,0.630,4,0.000,0.042,3540,431,1887,0,0,0,0,0,0
$GC,11101,0.80,211.1,98.6,9.4,531,11105,0.00,2.25,0.00,0.000,6,0.000,0.032,3541,1994,1883,0,0,0,0,0,0
$GC,11362,0.82,230.7,75.6,7.1,555,11385,0.00,2.38,15.88,0.569,4,0.000,0.042,3552,414,1809,0,0,0,0,0,0
$GC,11458,0.82,230.7,66.7,9.7,564,11462,0.00,2.28,0.00,0.000,6,0.000,0.032,3552,2007,1807,0,0,0,0,0,0
$GC,11720,0.82,230.7,44.8,8.4,588,11724,0.00,2.28,0.00,0.000,4,0.000,0.041,3568,428,1805,0,0,0,0,0,0
$GC,11781,0.82,230.7,39.7,8.6,593,11785,0.00,2.25,0.00,0.000,6,0.000,0.032,3563,2012,1806,0,0,0,0,0,0
$GC,12050,0.82,230.7,17.7,8.3,630,12055,0.00,2.30,0.00,0.000,4,0.000,0.044,3563,3592,1805,0,0,0,0,0,0
$GC,12133,0.82,230.7,9.5,9.9,645,12139,0.00,2.25,0.00,0.000,6,0.000,0.029,3574,1990,1804,0,0,0,0,0,0
$STATE,12205,end climb,SURFACE_DEPTH_REACHED
$STATE,12205,begin surface coast
$FINISH,0.3,1.022759
$STATE,12241,end surface coast,CONTROL_FINISHED_OK
$STATE,12241,begin surface
$SM_CCo,12325,87.97,0.074,0,0,1160,390.02
$SM_GC,1.21,0.00,0.00,87.97,0.000,0.000,0.074,131,1867,1160,-9.86,-0.90,390.02
$IRIDIUM_FIX,2036.38,-15752.23,170312,080826
$TT8_MAMPS,0.142662
$HUMID,1078619990
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,25.00
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8421310464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56515624960
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.042
$10V_AH,10.2,8.787
$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,21.975,120.050,283.050,87.975,0.000,28.577,31.251,236.922,0.250,0.000,13.087,1262.891,9016.726,493.237,1908.585,184.339,33.355,1292.844,0.000,1445.114,0.000,0.541,0.000
$DEVICE_MAMPS,237.003,105.846,932.672,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,449.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334980
$DATA_FILE_SIZE,23433,664
$CAP_FILE_SIZE,121955,0
$CFSIZE,260165632,231669760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,213904,2041.021,-15750.996,9,3.7,29,9.7