version: 66.07
glider: 500
mission: 7
dive: 94
start: 9 23 110 4 36 10
data:
$ID,500
$MISSION,7
$DIVE,94
$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,-117206.32
$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,93
$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
$GPS1,230910,042806,2041.206,-15751.169,31,0.9,32,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.3
$GPS2,230910,043514,2041.222,-15751.279,12,1.1,12,9.7
$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,-58903.9,-18.9,-129.8,60492.6,-2774.9
$KALMAN_Y,6698.1,-334.6,-144.6,-67786.7,-327.1
$MHEAD_RNG_PITCHd_Wd,73.0,120577,-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,-60.67,0.000,2,0.000,0.000,127,1881,2820,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.2,-5.4,12,118,11.40,2.42,-7.53,0.000,4,0.235,0.054,3052,3505,3230,0,0,0,0,0,0
$GC,218,-0.68,-116.8,31.7,-15.0,34,224,0.00,2.38,0.00,0.000,6,0.000,0.029,3052,1868,3232,0,0,0,0,0,0
$GC,479,-0.68,-116.8,73.9,-15.7,59,483,0.00,2.25,0.00,0.000,4,0.000,0.042,3053,313,3232,0,0,0,0,0,0
$GC,516,-0.68,-116.8,79.9,-15.5,62,522,0.00,2.33,0.00,0.000,6,0.000,0.032,3042,1924,3232,0,0,0,0,0,0
$GC,778,-0.68,-116.8,118.1,-14.6,87,782,0.00,2.33,0.00,0.000,4,0.000,0.041,3042,321,3234,0,0,0,0,0,0
$GC,843,-0.68,-116.8,127.2,-12.5,92,850,0.10,2.28,0.00,0.000,6,0.113,0.031,3070,1911,3232,0,0,0,0,0,0
$GC,1108,-0.68,-116.8,151.1,-7.8,117,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1911,3236,0,0,0,0,0,0
$GC,1360,-0.68,-116.8,170.8,-7.5,141,1364,0.00,2.28,0.00,0.000,4,0.000,0.041,3070,323,3236,0,0,0,0,0,0
$GC,1437,-0.68,-116.8,177.7,-9.1,147,1443,0.00,2.22,0.00,0.000,6,0.000,0.031,3067,1904,3236,0,0,0,0,0,0
$GC,1707,-0.68,-116.8,202.4,-9.9,172,1711,0.00,2.28,0.00,0.000,4,0.000,0.042,3065,313,3236,0,0,0,0,0,0
$GC,1774,-0.68,-116.8,209.8,-10.6,175,1778,0.00,2.22,0.00,0.000,6,0.000,0.032,3055,1909,3235,0,0,0,0,0,0
$GC,2100,-0.68,-116.8,242.9,-9.6,191,2104,0.00,2.30,0.00,0.000,4,0.000,0.041,3055,316,3235,0,0,0,0,0,0
$GC,2120,-0.68,-116.8,244.9,-9.7,192,2125,0.00,2.25,0.00,0.000,6,0.000,0.033,3046,1897,3235,0,0,0,0,0,0
$GC,2448,-0.68,-116.8,273.6,-8.3,208,2452,0.00,2.25,0.00,0.000,4,0.000,0.042,3045,321,3235,0,0,0,0,0,0
$GC,2537,-0.68,-116.8,282.0,-9.8,212,2542,0.12,2.20,0.00,0.000,6,0.132,0.031,3076,1901,3235,0,0,0,0,0,0
$GC,2857,-0.68,-116.8,304.3,-6.8,227,2861,0.00,2.25,0.00,0.000,4,0.000,0.043,3077,324,3234,0,0,0,0,0,0
$GC,2889,-0.68,-116.8,307.1,-8.2,227,2895,0.00,2.25,0.00,0.000,6,0.000,0.033,3069,1898,3234,0,0,0,0,0,0
$GC,3220,-0.68,-116.8,334.4,-8.4,236,3224,0.00,2.25,0.00,0.000,4,0.000,0.043,3069,323,3232,0,0,0,0,0,0
$GC,3247,-0.68,-116.8,336.8,-9.4,236,3251,0.00,2.25,0.00,0.000,6,0.000,0.032,3058,1918,3232,0,0,0,0,0,0
$GC,3578,-0.68,-116.8,360.9,-6.6,244,3582,0.00,2.33,0.00,0.000,4,0.000,0.043,3061,317,3231,0,0,0,0,0,0
$GC,3629,-0.68,-116.8,364.4,-6.9,245,3633,0.00,2.22,0.00,0.000,6,0.000,0.033,3056,1901,3230,0,0,0,0,0,0
$GC,3946,-0.68,-116.8,387.0,-7.5,253,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1902,3227,0,0,0,0,0,0
$GC,4272,-0.68,-116.8,409.7,-6.5,261,4276,0.00,2.30,0.00,0.000,4,0.000,0.044,3056,316,3225,0,0,0,0,0,0
$GC,4365,-0.68,-116.8,415.8,-6.4,263,4370,0.00,2.28,0.00,0.000,6,0.000,0.033,3045,1906,3224,0,0,0,0,0,0
$GC,4690,-0.68,-116.8,437.7,-7.3,271,4694,0.00,2.33,0.00,0.000,4,0.000,0.044,3046,314,3222,0,0,0,0,0,0
$GC,4728,-0.68,-116.8,441.0,-8.2,271,4735,0.08,2.28,0.00,0.000,6,0.106,0.033,3068,1896,3222,0,0,0,0,0,0
$GC,5060,-0.68,-116.8,463.1,-6.7,280,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1895,3220,0,0,0,0,0,0
$GC,5385,-0.68,-116.8,483.3,-6.0,288,5389,0.00,2.28,0.00,0.000,4,0.000,0.045,3068,323,3218,0,0,0,0,0,0
$GC,5434,-0.68,-116.8,487.3,-7.9,289,5438,0.00,2.28,0.00,0.000,6,0.000,0.033,3059,1905,3218,0,0,0,0,0,0
$STATE,5628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5628,begin apogee
$GC,5633,-0.23,0.0,501.1,6.9,294,5725,0.45,0.00,88.45,0.924,6,0.094,0.000,3221,2003,2751,0,0,0,0,0,0
$STATE,5727,end apogee,CONTROL_FINISHED_OK
$STATE,5727,begin climb
$GC,5730,0.68,116.8,504.3,0.0,296,5836,0.73,2.45,97.93,0.901,4,0.041,0.045,3534,3572,2272,0,0,0,0,0,0
$GC,5948,0.68,116.8,497.9,9.9,301,5953,0.12,2.38,0.00,0.000,6,0.158,0.031,3508,1988,2262,0,0,0,0,0,0
$GC,6271,0.68,116.8,471.4,8.1,309,6275,0.00,2.30,0.00,0.000,4,0.000,0.044,3518,419,2257,0,0,0,0,0,0
$GC,6347,0.68,116.8,464.9,8.9,310,6354,0.00,2.33,0.00,0.000,6,0.000,0.035,3519,1990,2255,0,0,0,0,0,0
$GC,6679,0.68,117.7,438.7,8.0,319,6683,0.00,2.35,0.00,0.000,4,0.000,0.044,3518,3586,2253,0,0,0,0,0,0
$GC,6734,0.68,117.7,433.6,9.9,320,6738,0.00,2.33,0.00,0.000,6,0.000,0.030,3530,1990,2252,0,0,0,0,0,0
$GC,7047,0.68,117.7,404.3,9.7,328,7051,0.00,2.25,0.00,0.000,4,0.000,0.042,3539,433,2252,0,0,0,0,0,0
$GC,7275,0.68,117.7,382.4,9.3,333,7281,0.08,2.30,0.00,0.000,6,0.150,0.034,3518,2015,2249,0,0,0,0,0,0
$GC,7594,0.73,154.4,360.2,6.3,341,7628,0.00,2.38,27.65,0.838,4,0.000,0.044,3518,3576,2121,0,0,0,0,0,0
$GC,7696,0.73,154.4,352.0,10.5,343,7700,0.00,2.28,0.00,0.000,6,0.000,0.030,3528,1996,2116,0,0,0,0,0,0
$GC,8043,0.73,154.4,316.7,10.3,352,8047,0.00,2.28,0.00,0.000,4,0.000,0.041,3541,425,2111,0,0,0,0,0,0
$GC,8149,0.73,154.4,305.4,10.2,354,8153,0.00,2.25,0.00,0.000,6,0.000,0.032,3540,2003,2110,0,0,0,0,0,0
$GC,8480,0.73,154.4,272.3,11.2,369,8484,0.00,2.30,0.00,0.000,4,0.000,0.044,3540,3586,2111,0,0,0,0,0,0
$GC,8658,0.73,154.4,252.2,12.2,377,8662,0.00,2.30,0.00,0.000,6,0.000,0.030,3551,1999,2114,0,0,0,0,0,0
$GC,8985,0.73,155.0,222.6,8.0,393,8989,0.00,2.25,0.00,0.000,4,0.000,0.041,3563,429,2107,0,0,0,0,0,0
$GC,9203,0.73,158.0,206.2,7.9,403,9208,0.12,2.25,0.00,0.000,6,0.168,0.031,3531,2011,2106,0,0,0,0,0,0
$GC,9525,0.73,160.3,182.4,7.9,429,9534,0.00,0.00,3.62,0.451,6,0.000,0.000,3530,2016,2097,0,0,0,0,0,0
$GC,9790,0.80,215.5,165.0,5.5,454,9839,0.00,0.00,46.38,0.683,6,0.000,0.000,3527,2011,1874,0,0,0,0,0,0
$GC,10094,0.80,215.5,139.6,8.8,483,10098,0.00,2.33,0.00,0.000,4,0.000,0.041,3541,428,1863,0,0,0,0,0,0
$GC,10204,0.80,215.5,128.5,10.9,492,10210,0.00,2.28,0.00,0.000,6,0.000,0.031,3541,2000,1864,0,0,0,0,0,0
$GC,10466,0.80,215.5,101.6,8.5,517,10471,0.00,2.30,0.00,0.000,4,0.000,0.042,3541,3577,1862,0,0,0,0,0,0
$GC,10521,0.80,215.5,96.4,9.0,521,10527,0.00,2.28,0.00,0.000,6,0.000,0.029,3552,2000,1861,0,0,0,0,0,0
$GC,10783,0.82,230.8,80.0,7.3,546,10804,0.00,2.35,12.30,0.559,4,0.000,0.040,3564,425,1807,0,0,0,0,0,0
$GC,10827,0.82,230.8,76.1,9.3,550,10831,0.00,2.25,0.00,0.000,6,0.000,0.031,3564,2002,1809,0,0,0,0,0,0
$GC,11088,0.82,230.8,49.8,13.6,574,11092,0.00,2.28,0.00,0.000,4,0.000,0.040,3575,419,1805,0,0,0,0,0,0
$GC,11116,0.82,230.8,45.3,16.2,576,11120,0.00,2.25,0.00,0.000,6,0.000,0.032,3575,2008,1805,0,0,0,0,0,0
$GC,11386,0.82,230.8,15.7,9.2,614,11391,0.00,2.33,0.00,0.000,4,0.000,0.041,3587,425,1805,0,0,0,0,0,0
$GC,11453,0.82,230.8,9.2,9.7,626,11459,0.12,2.22,0.00,0.000,6,0.163,0.031,3553,2009,1805,0,0,0,0,0,0
$STATE,11532,end climb,SURFACE_DEPTH_REACHED
$STATE,11532,begin surface coast
$FINISH,0.3,0.998310
$STATE,11572,end surface coast,CONTROL_FINISHED_OK
$STATE,11572,begin surface
$SM_CCo,11591,89.72,0.466,1,0,1161,390.02
$SM_GC,1.20,0.00,0.00,89.72,0.000,0.000,0.466,124,1882,1161,-9.89,-0.51,390.02
$IRIDIUM_FIX,2031.77,-15750.10,170312,191954
$TT8_MAMPS,0.059059
$HUMID,1078656119
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8437596160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56276353024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.325
$10V_AH,10.3,9.345
$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,21.875,119.275,276.325,89.725,0.000,30.665,28.642,225.610,0.000,0.000,14.453,1226.504,8458.396,490.254,1762.669,185.500,33.352,1286.822,0.000,1424.035,0.000,0.540,0.000
$DEVICE_MAMPS,235.469,104.312,924.235,466.336,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,437.066,0.000,0.000,0.000,0.000,0.000,0.000,12445.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,28.586,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,23409,647
$CAP_FILE_SIZE,115975,0
$CFSIZE,260165632,231456768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,075216,2041.148,-15751.163,9,3.8,29,9.7