version: 66.07
glider: 500
mission: 7
dive: 93
start: 9 23 110 1 14 3
data:
$ID,500
$MISSION,7
$DIVE,93
$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,-117191.23
$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,92
$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
$GPS1,230910,010601,2040.952,-15750.791,37,1.5,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-78.1
$GPS2,230910,011307,2040.978,-15750.858,8,1.4,13,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,0.100
$KALMAN_X,-55976.4,-180.1,214.8,58114.3,-2146.1
$KALMAN_Y,6952.1,-9.2,92.0,-69055.7,-1318.2
$MHEAD_RNG_PITCHd_Wd,53.0,119756,-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,24,begin dive
$GC,25,-0.68,-116.8,0.0,0.0,0,93,0.00,0.00,-65.62,0.000,2,0.000,0.000,129,1884,2982,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.1,-8.3,13,118,11.45,2.35,-4.15,0.000,4,0.238,0.051,3061,284,3228,0,0,0,0,0,0
$GC,275,-0.68,-116.8,51.7,-17.4,36,279,0.00,2.35,0.00,0.000,6,0.000,0.032,3050,1923,3230,0,0,0,0,0,0
$GC,535,-0.68,-116.8,91.0,-12.4,60,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1924,3232,0,0,0,0,0,0
$GC,791,-0.68,-116.8,124.9,-12.5,84,792,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1924,3233,0,0,0,0,0,0
$GC,1045,-0.68,-116.8,155.6,-11.5,108,1049,0.00,2.35,0.00,0.000,4,0.000,0.042,3050,301,3236,0,0,0,0,0,0
$GC,1110,-0.68,-116.8,163.2,-11.5,113,1117,0.08,2.30,0.00,0.000,6,0.113,0.031,3070,1909,3234,0,0,0,0,0,0
$GC,1374,-0.68,-116.8,187.3,-8.8,138,1378,0.00,2.35,0.00,0.000,4,0.000,0.042,3070,292,3235,0,0,0,0,0,0
$GC,1417,-0.68,-116.8,191.5,-8.9,141,1423,0.00,2.30,0.00,0.000,6,0.000,0.032,3068,1900,3235,0,0,0,0,0,0
$GC,1684,-0.68,-116.8,214.9,-8.9,159,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1900,3235,0,0,0,0,0,0
$GC,1993,-0.68,-116.8,239.9,-8.2,174,1997,0.00,2.30,0.00,0.000,4,0.000,0.042,3068,298,3236,0,0,0,0,0,0
$GC,2081,-0.68,-116.8,248.0,-9.3,178,2085,0.00,2.25,0.00,0.000,6,0.000,0.032,3057,1912,3235,0,0,0,0,0,0
$GC,2407,-0.68,-116.8,276.0,-8.7,194,2411,0.00,2.33,0.00,0.000,4,0.000,0.043,3056,297,3235,0,0,0,0,0,0
$GC,2501,-0.68,-116.8,284.5,-9.1,198,2506,0.00,2.28,0.00,0.000,6,0.000,0.032,3043,1896,3234,0,0,0,0,0,0
$GC,2821,-0.68,-116.8,310.6,-8.3,211,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1896,3233,0,0,0,0,0,0
$GC,3145,-0.68,-116.8,338.8,-8.7,219,3149,0.00,2.33,0.00,0.000,4,0.000,0.044,3046,297,3232,0,0,0,0,0,0
$GC,3172,-0.68,-116.8,341.4,-9.5,219,3177,0.08,2.30,0.00,0.000,6,0.109,0.032,3070,1906,3231,0,0,0,0,0,0
$GC,3509,-0.68,-116.8,363.7,-6.3,228,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1906,3229,0,0,0,0,0,0
$GC,3833,-0.68,-116.8,384.8,-6.7,236,3837,0.00,2.33,0.00,0.000,4,0.000,0.044,3070,297,3226,0,0,0,0,0,0
$GC,3900,-0.68,-116.8,389.8,-7.4,237,3904,0.00,2.25,0.00,0.000,6,0.000,0.033,3061,1900,3226,0,0,0,0,0,0
$GC,4242,-0.68,-116.8,415.0,-7.3,246,4247,0.00,2.33,0.00,0.000,4,0.000,0.044,3063,292,3223,0,0,0,0,0,0
$GC,4336,-0.68,-116.8,422.9,-8.5,248,4341,0.00,2.30,0.00,0.000,6,0.000,0.035,3056,1896,3223,0,0,0,0,0,0
$GC,4655,-0.68,-116.8,446.2,-7.4,256,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1896,3219,0,0,0,0,0,0
$GC,4981,-0.68,-116.8,466.9,-6.2,264,4985,0.00,2.35,0.00,0.000,4,0.000,0.046,3055,293,3218,0,0,0,0,0,0
$GC,5031,-0.68,-116.8,470.5,-7.2,265,5036,0.00,2.30,0.00,0.000,6,0.000,0.035,3043,1905,3218,0,0,0,0,0,0
$GC,5349,-0.68,-116.8,490.9,-6.6,273,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1905,3215,0,0,0,0,0,0
$STATE,5510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5510,begin apogee
$GC,5515,-0.23,0.0,501.1,6.3,277,5606,0.47,0.00,88.07,0.923,6,0.097,0.000,3214,2004,2753,0,0,0,0,0,0
$STATE,5653,end apogee,CONTROL_FINISHED_OK
$STATE,5653,begin climb
$GC,5655,0.68,116.8,503.3,0.0,279,5762,0.75,2.55,97.32,0.904,4,0.039,0.044,3550,398,2277,0,0,0,0,0,0
$GC,5800,0.68,116.8,505.0,8.5,282,5805,0.12,2.42,0.00,0.000,6,0.152,0.035,3513,1991,2268,0,0,0,0,0,0
$GC,6147,0.68,116.8,475.5,8.5,291,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1988,2260,0,0,0,0,0,0
$GC,6473,0.68,116.8,447.2,8.6,299,6477,0.00,2.35,0.00,0.000,4,0.000,0.045,3523,392,2257,0,0,0,0,0,0
$GC,6549,0.68,116.8,440.3,8.4,300,6555,0.00,2.38,0.00,0.000,6,0.000,0.035,3523,2000,2259,0,0,0,0,0,0
$GC,6881,0.68,118.4,414.0,7.9,309,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2001,2255,0,0,0,0,0,0
$GC,7206,0.74,165.3,392.9,5.8,317,7250,0.00,2.47,37.60,0.857,4,0.000,0.046,3535,398,2074,0,0,0,0,0,0
$GC,7402,0.74,165.3,373.7,11.3,321,7407,0.00,2.40,0.00,0.000,6,0.000,0.035,3535,2005,2068,0,0,0,0,0,0
$GC,7751,0.74,165.3,334.0,11.8,330,7755,0.00,2.33,0.00,0.000,4,0.000,0.046,3535,3586,2064,0,0,0,0,0,0
$GC,7867,0.74,165.3,318.3,13.0,332,7872,0.00,2.38,0.00,0.000,6,0.000,0.034,3547,1972,2063,0,0,0,0,0,0
$GC,8187,0.74,165.3,281.0,12.7,344,8191,0.00,2.38,0.00,0.000,4,0.000,0.045,3547,3592,2061,0,0,0,0,0,0
$GC,8309,0.74,165.3,266.0,10.8,349,8315,0.00,2.30,0.00,0.000,6,0.000,0.031,3560,1993,2066,0,0,0,0,0,0
$GC,8624,0.74,165.3,236.5,8.7,365,8626,0.10,0.00,0.00,0.000,6,0.184,0.000,3534,1992,2058,0,0,0,0,0,0
$GC,8934,0.74,165.3,209.9,9.0,380,8938,0.00,2.25,0.00,0.000,4,0.000,0.042,3544,427,2058,0,0,0,0,0,0
$GC,9044,0.74,165.3,199.9,9.4,385,9049,0.00,2.30,0.00,0.000,6,0.000,0.033,3542,2012,2058,0,0,0,0,0,0
$GC,9369,0.74,168.2,171.7,7.9,415,9373,0.00,2.30,0.00,0.000,4,0.000,0.042,3556,417,2058,0,0,0,0,0,0
$GC,9452,0.75,175.4,165.3,7.7,422,9464,0.00,2.25,6.50,0.576,6,0.000,0.034,3553,2005,2034,0,0,0,0,0,0
$GC,9717,0.75,175.4,142.9,9.4,447,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2005,2034,0,0,0,0,0,0
$GC,9973,0.77,189.9,119.1,7.3,471,9994,0.00,2.35,13.30,0.605,4,0.000,0.044,3556,3577,1976,0,0,0,0,0,0
$GC,10079,0.78,195.1,111.6,7.8,480,10089,0.00,2.28,5.70,0.504,6,0.000,0.031,3565,1992,1955,0,0,0,0,0,0
$GC,10344,0.79,206.4,90.9,7.5,505,10360,0.00,2.28,10.93,0.562,4,0.000,0.040,3579,425,1906,0,0,0,0,0,0
$GC,10439,0.79,206.4,83.4,8.6,513,10444,0.12,2.28,0.00,0.000,6,0.166,0.033,3546,2009,1906,0,0,0,0,0,0
$GC,10699,0.83,236.8,63.9,6.6,537,10730,0.00,2.33,24.88,0.568,4,0.000,0.044,3545,3585,1785,0,0,0,0,0,0
$GC,10932,0.83,236.8,42.1,10.1,558,10936,0.00,2.28,0.00,0.000,6,0.000,0.030,3556,1995,1779,0,0,0,0,0,0
$GC,11197,0.83,236.8,20.6,8.5,592,11202,0.00,2.28,0.00,0.000,4,0.000,0.041,3568,424,1782,0,0,0,0,0,0
$GC,11281,0.83,236.8,13.4,8.6,607,11287,0.00,2.25,0.00,0.000,6,0.000,0.033,3567,2008,1779,0,0,0,0,0,0
$STATE,11403,end climb,SURFACE_DEPTH_REACHED
$STATE,11403,begin surface coast
$FINISH,0.2,1.022812
$STATE,11438,end surface coast,CONTROL_FINISHED_OK
$STATE,11438,begin surface
$SM_CCo,11473,83.15,0.456,1,0,1159,390.27
$SM_GC,1.30,0.00,0.00,83.15,0.000,0.000,0.456,128,1882,1159,-9.88,-0.51,390.27
$IRIDIUM_FIX,2031.77,-15752.23,170312,161659
$TT8_MAMPS,0.058292
$HUMID,1078631603
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8437694464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56351621120
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.230
$10V_AH,10.2,9.194
$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,21.825,93.200,284.300,83.150,0.000,27.397,26.771,226.769,0.000,0.000,15.426,1167.354,8483.927,459.435,1715.280,170.209,33.357,1196.949,0.000,1318.445,0.000,0.542,0.000
$DEVICE_MAMPS,237.770,105.846,922.701,455.598,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,429.146,0.000,0.000,0.000,0.000,0.000,0.000,38107.602,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,28.825,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,23373,635
$CAP_FILE_SIZE,106414,0
$CFSIZE,260165632,231538688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,042806,2041.206,-15751.169,31,0.9,32,9.7