version: 66.07
glider: 500
mission: 7
dive: 95
start: 9 23 110 8 5 1
data:
$ID,500
$MISSION,7
$DIVE,95
$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,-117243.27
$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,94
$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
$GPS1,230910,075216,2041.148,-15751.163,9,3.8,29,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.1
$GPS2,230910,080406,2041.169,-15751.274,34,0.9,34,9.7
$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,-61462.9,49.1,-337.8,63192.4,-2004.3
$KALMAN_Y,6143.8,-376.4,12.0,-67441.4,-134.0
$MHEAD_RNG_PITCHd_Wd,81.4,120543,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,89,0.00,0.00,-61.30,0.000,2,0.000,0.000,124,1883,2863,0,0,0,0,0,0
$GC,92,-0.68,-116.8,3.7,-7.8,12,119,11.35,2.42,-6.50,0.000,4,0.235,0.054,3049,3493,3230,0,0,0,0,0,0
$GC,131,-0.68,-116.8,18.8,-38.5,19,136,0.00,2.35,0.00,0.000,6,0.000,0.029,3047,1866,3232,0,0,0,0,0,0
$GC,330,-0.68,-116.8,58.5,-17.5,42,334,0.00,2.25,0.00,0.000,4,0.000,0.042,3048,323,3233,0,0,0,0,0,0
$GC,357,-0.68,-116.8,63.4,-18.1,44,362,0.12,2.30,0.00,0.000,6,0.149,0.031,3075,1932,3231,0,0,0,0,0,0
$GC,620,-0.68,-116.8,96.7,-12.9,68,624,0.00,2.35,0.00,0.000,4,0.000,0.041,3075,320,3233,0,0,0,0,0,0
$GC,681,-0.68,-116.8,104.7,-12.7,73,685,0.00,2.22,0.00,0.000,6,0.000,0.031,3068,1904,3233,0,0,0,0,0,0
$GC,942,-0.68,-116.8,133.7,-9.0,97,946,0.00,2.33,0.00,0.000,4,0.000,0.044,3057,3487,3234,0,0,0,0,0,0
$GC,992,-0.68,-116.8,138.4,-9.3,101,996,0.00,2.25,0.00,0.000,6,0.000,0.028,3057,1891,3235,0,0,0,0,0,0
$GC,1254,-0.68,-116.8,164.0,-9.3,125,1258,0.00,2.25,0.00,0.000,4,0.000,0.041,3058,313,3235,0,0,0,0,0,0
$GC,1331,-0.68,-116.8,172.7,-11.5,131,1337,0.00,2.25,0.00,0.000,6,0.000,0.031,3047,1896,3234,0,0,0,0,0,0
$GC,1593,-0.68,-116.8,200.5,-10.6,156,1597,0.00,2.28,0.00,0.000,4,0.000,0.041,3048,311,3236,0,0,0,0,0,0
$GC,1637,-0.68,-116.8,205.9,-11.6,158,1641,0.10,2.22,0.00,0.000,6,0.149,0.031,3070,1912,3236,0,0,0,0,0,0
$GC,1963,-0.68,-116.8,230.6,-6.3,174,1967,0.00,2.30,0.00,0.000,4,0.000,0.041,3070,313,3236,0,0,0,0,0,0
$GC,2031,-0.68,-116.8,234.9,-6.4,177,2035,0.00,2.22,0.00,0.000,6,0.000,0.033,3069,1909,3236,0,0,0,0,0,0
$GC,2351,-0.68,-116.8,255.0,-6.8,193,2355,0.00,2.28,0.00,0.000,4,0.000,0.041,3069,324,3236,0,0,0,0,0,0
$GC,2373,-0.68,-116.8,256.7,-7.6,194,2377,0.00,2.20,0.00,0.000,6,0.000,0.031,3059,1902,3239,0,0,0,0,0,0
$GC,2698,-0.68,-116.8,283.0,-8.4,210,2703,0.00,2.30,0.00,0.000,4,0.000,0.042,3059,310,3236,0,0,0,0,0,0
$GC,2731,-0.68,-116.8,286.1,-9.3,211,2737,0.00,2.28,0.00,0.000,6,0.000,0.033,3055,1906,3235,0,0,0,0,0,0
$GC,3064,-0.68,-116.8,314.5,-8.4,224,3068,0.00,2.28,0.00,0.000,4,0.000,0.042,3055,313,3234,0,0,0,0,0,0
$GC,3148,-0.68,-116.8,322.4,-9.5,226,3152,0.00,2.25,0.00,0.000,6,0.000,0.032,3046,1908,3233,0,0,0,0,0,0
$GC,3470,-0.68,-116.8,351.7,-9.5,234,3474,0.00,2.30,0.00,0.000,4,0.000,0.043,3045,321,3232,0,0,0,0,0,0
$GC,3559,-0.68,-116.8,360.8,-10.0,236,3564,0.12,2.22,0.00,0.000,6,0.132,0.032,3076,1900,3232,0,0,0,0,0,0
$GC,3883,-0.68,-116.8,381.3,-5.6,244,3887,0.00,2.30,0.00,0.000,4,0.000,0.043,3076,314,3229,0,0,0,0,0,0
$GC,3921,-0.68,-116.8,383.4,-5.7,245,3925,0.00,2.22,0.00,0.000,6,0.000,0.032,3068,1904,3226,0,0,0,0,0,0
$GC,4245,-0.68,-116.8,397.8,-4.3,253,4250,0.00,2.30,0.00,0.000,4,0.000,0.043,3068,320,3226,0,0,0,0,0,0
$GC,4312,-0.68,-116.8,401.6,-5.8,254,4316,0.00,2.22,0.00,0.000,6,0.000,0.032,3057,1900,3226,0,0,0,0,0,0
$GC,4654,-0.68,-116.8,423.5,-6.7,263,4658,0.00,2.30,0.00,0.000,4,0.000,0.043,3057,315,3223,0,0,0,0,0,0
$GC,4686,-0.68,-116.8,426.0,-7.9,263,4692,0.00,2.22,0.00,0.000,6,0.000,0.033,3046,1901,3223,0,0,0,0,0,0
$GC,5018,-0.68,-116.8,448.8,-6.5,272,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1901,3221,0,0,0,0,0,0
$GC,5342,-0.68,-116.8,469.7,-6.1,280,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1900,3219,0,0,0,0,0,0
$GC,5667,-0.68,-116.8,489.3,-6.2,288,5672,0.00,2.28,0.00,0.000,4,0.000,0.044,3046,322,3217,0,0,0,0,0,0
$GC,5734,-0.68,-116.8,494.0,-7.0,289,5739,0.08,2.28,0.00,0.000,6,0.104,0.034,3077,1903,3217,0,0,0,0,0,0
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5876,-0.23,0.0,501.2,5.1,293,5968,0.38,0.00,88.85,0.930,6,0.094,0.000,3216,2010,2750,0,0,0,0,0,0
$STATE,6015,end apogee,CONTROL_FINISHED_OK
$STATE,6015,begin climb
$GC,6016,0.68,116.8,503.8,0.0,295,6122,0.75,2.50,98.10,0.913,4,0.044,0.044,3543,421,2272,0,0,0,0,0,0
$GC,6201,0.68,116.8,503.2,10.2,300,6206,0.12,2.35,0.00,0.000,6,0.169,0.034,3513,1993,2268,0,0,0,0,0,0
$GC,6519,0.68,116.8,472.6,9.4,308,6523,0.00,2.33,0.00,0.000,4,0.000,0.043,3524,421,2257,0,0,0,0,0,0
$GC,6602,0.68,116.8,465.0,9.0,310,6606,0.00,2.30,0.00,0.000,6,0.000,0.035,3525,2014,2257,0,0,0,0,0,0
$GC,6925,0.68,116.8,438.9,8.1,318,6929,0.00,2.30,0.00,0.000,4,0.000,0.045,3523,3579,2253,0,0,0,0,0,0
$GC,7114,0.68,116.8,421.8,8.6,322,7119,0.00,2.33,0.00,0.000,6,0.000,0.032,3535,1987,2250,0,0,0,0,0,0
$GC,7428,0.68,116.8,394.2,9.1,330,7432,0.00,2.28,0.00,0.000,4,0.000,0.044,3546,428,2251,0,0,0,0,0,0
$GC,7662,0.69,125.2,373.5,7.6,335,7673,0.10,2.30,3.45,0.505,6,0.155,0.035,3514,2000,2241,0,0,0,0,0,0
$GC,8015,0.71,145.0,348.3,7.1,344,8036,0.00,0.00,18.58,0.816,6,0.000,0.000,3514,2000,2159,0,0,0,0,0,0
$GC,8339,0.71,145.0,316.5,10.1,352,8344,0.00,2.33,0.00,0.000,4,0.000,0.044,3525,428,2153,0,0,0,0,0,0
$GC,8503,0.72,146.5,302.6,7.9,355,8507,0.00,2.28,0.00,0.000,6,0.000,0.034,3525,2012,2152,0,0,0,0,0,0
$GC,8816,0.72,146.5,276.4,8.8,369,8820,0.00,2.30,0.00,0.000,4,0.000,0.043,3537,430,2151,0,0,0,0,0,0
$GC,8843,0.72,146.5,273.9,9.5,370,8848,0.00,2.30,0.00,0.000,6,0.000,0.034,3537,2004,2151,0,0,0,0,0,0
$GC,9164,0.72,146.5,246.4,9.4,386,9169,0.00,2.33,0.00,0.000,4,0.000,0.045,3537,3586,2151,0,0,0,0,0,0
$GC,9298,0.72,146.5,232.4,10.1,392,9302,0.00,2.30,0.00,0.000,6,0.000,0.031,3553,1999,2150,0,0,0,0,0,0
$GC,9625,0.77,190.4,205.9,6.0,408,9669,0.00,2.40,36.83,0.730,4,0.000,0.042,3558,425,1975,0,0,0,0,0,0
$GC,9787,0.77,190.4,192.1,8.8,419,9792,0.00,2.30,0.00,0.000,6,0.000,0.032,3560,2003,1966,0,0,0,0,0,0
$GC,10049,0.77,190.4,167.4,10.4,443,10053,0.00,2.33,0.00,0.000,4,0.000,0.044,3560,3581,1964,0,0,0,0,0,0
$GC,10082,0.77,190.4,163.4,11.5,446,10087,0.12,2.28,0.00,0.000,6,0.175,0.031,3539,1995,1962,0,0,0,0,0,0
$GC,10342,0.77,190.4,138.4,9.0,470,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1994,1965,0,0,0,0,0,0
$GC,10597,0.77,193.5,117.1,7.9,494,10601,0.00,2.28,0.00,0.000,4,0.000,0.041,3549,424,1962,0,0,0,0,0,0
$GC,10618,0.77,193.5,115.2,8.9,495,10624,0.00,2.22,0.00,0.000,6,0.000,0.031,3549,2001,1961,0,0,0,0,0,0
$GC,10879,0.84,247.4,99.9,5.5,520,10931,0.00,2.38,44.72,0.617,4,0.000,0.042,3560,414,1740,0,0,0,0,0,0
$GC,11099,0.84,247.4,77.9,11.8,540,11104,0.00,2.28,0.00,0.000,6,0.000,0.031,3561,2011,1734,0,0,0,0,0,0
$GC,11362,0.84,247.4,52.6,8.8,564,11366,0.00,2.30,0.00,0.000,4,0.000,0.041,3572,423,1733,0,0,0,0,0,0
$GC,11523,0.84,247.4,36.5,9.4,578,11528,0.00,2.22,0.00,0.000,6,0.000,0.031,3572,2003,1731,0,0,0,0,0,0
$GC,11795,0.84,247.4,9.2,10.0,620,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2003,1731,0,0,0,0,0,0
$STATE,11849,end climb,SURFACE_DEPTH_REACHED
$STATE,11849,begin surface coast
$FINISH,0.2,1.020570
$STATE,11878,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11942,74.38,0.074,0,0,1159,390.02
$SM_GC,1.14,0.00,0.00,74.38,0.000,0.000,0.074,136,1901,1159,-9.86,0.03,390.02
$IRIDIUM_FIX,2036.38,-15752.23,180312,020211
$TT8_MAMPS,0.058292
$HUMID,1078654829
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8437563392
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56200888320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.423
$10V_AH,10.3,9.504
$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,21.875,123.925,290.525,74.375,0.000,59.734,58.847,357.258,0.000,0.000,36.310,1224.565,8744.246,479.409,2080.680,206.942,33.361,1285.330,0.000,1445.091,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,104.312,930.371,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,429.743,0.000,0.000,0.000,0.000,0.000,0.000,13053.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,28.277,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,23421,635
$CAP_FILE_SIZE,124479,0
$CFSIZE,260165632,231374848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,112619,2040.698,-15750.622,10,1.9,11,9.7