version: 66.07
glider: 500
mission: 7
dive: 96
start: 9 23 110 11 32 15
data:
$ID,500
$MISSION,7
$DIVE,96
$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,-117260.3
$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,95
$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
$GPS1,230910,112619,2040.698,-15750.622,10,1.9,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-76.5
$GPS2,230910,113120,2040.672,-15750.681,14,1.9,14,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.042
$KALMAN_X,-63828.3,75.1,307.4,65908.8,-2518.9
$KALMAN_Y,5098.2,-191.1,-2.4,-67482.4,-563.7
$MHEAD_RNG_PITCHd_Wd,69.2,119319,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-65.47,0.000,2,0.000,0.000,132,1900,2974,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.0,-8.6,13,118,11.27,2.35,-4.32,0.000,4,0.236,0.048,3059,290,3229,0,0,0,0,0,0
$GC,246,-0.68,-116.8,46.5,-19.4,33,252,0.00,2.38,0.00,0.000,6,0.000,0.031,3049,1925,3230,0,0,0,0,0,0
$GC,507,-0.68,-116.8,91.0,-16.3,58,512,0.00,2.28,0.00,0.000,4,0.000,0.042,3037,3487,3232,0,0,0,0,0,0
$GC,551,-0.68,-116.8,98.0,-15.4,61,558,0.08,2.33,0.00,0.000,6,0.114,0.028,3067,1861,3233,0,0,0,0,0,0
$GC,813,-0.68,-116.8,123.8,-9.4,86,817,0.00,2.20,0.00,0.000,4,0.000,0.041,3067,320,3233,0,0,0,0,0,0
$GC,943,-0.68,-116.8,137.3,-11.3,97,947,0.00,2.22,0.00,0.000,6,0.000,0.031,3059,1911,3235,0,0,0,0,0,0
$GC,1204,-0.68,-116.8,163.5,-10.1,121,1208,0.00,2.30,0.00,0.000,4,0.000,0.040,3057,317,3237,0,0,0,0,0,0
$GC,1243,-0.68,-116.8,167.7,-11.2,124,1247,0.00,2.20,0.00,0.000,6,0.000,0.031,3047,1900,3237,0,0,0,0,0,0
$GC,1504,-0.68,-116.8,195.9,-11.0,148,1508,0.00,2.28,0.00,0.000,4,0.000,0.041,3047,325,3238,0,0,0,0,0,0
$GC,1536,-0.68,-116.8,199.8,-11.6,150,1543,0.12,2.22,0.00,0.000,6,0.137,0.031,3076,1905,3240,0,0,0,0,0,0
$GC,1790,-0.68,-116.8,219.9,-7.1,163,1794,0.00,2.28,0.00,0.000,4,0.000,0.041,3076,321,3238,0,0,0,0,0,0
$GC,1832,-0.68,-116.8,223.3,-8.1,165,1837,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1902,3240,0,0,0,0,0,0
$GC,2160,-0.68,-116.8,245.6,-6.6,181,2164,0.00,2.25,0.00,0.000,4,0.000,0.041,3069,327,3239,0,0,0,0,0,0
$GC,2214,-0.68,-116.8,249.3,-6.8,183,2220,0.00,2.22,0.00,0.000,6,0.000,0.031,3060,1893,3239,0,0,0,0,0,0
$GC,2530,-0.68,-116.8,268.9,-5.9,199,2534,0.00,2.30,0.00,0.000,4,0.000,0.044,3050,3482,3239,0,0,0,0,0,0
$GC,2563,-0.68,-116.8,271.1,-6.7,200,2568,0.00,2.22,0.00,0.000,6,0.000,0.028,3050,1903,3238,0,0,0,0,0,0
$GC,2877,-0.68,-116.8,294.4,-7.2,216,2881,0.00,2.25,0.00,0.000,4,0.000,0.041,3050,321,3238,0,0,0,0,0,0
$GC,2955,-0.68,-116.8,300.9,-8.6,219,2961,0.00,2.20,0.00,0.000,6,0.000,0.031,3041,1902,3241,0,0,0,0,0,0
$GC,3286,-0.68,-116.8,328.6,-8.6,228,3290,0.00,2.25,0.00,0.000,4,0.000,0.041,3041,327,3234,0,0,0,0,0,0
$GC,3391,-0.68,-116.8,338.2,-9.3,230,3396,0.10,2.25,0.00,0.000,6,0.103,0.031,3070,1909,3237,0,0,0,0,0,0
$GC,3739,-0.68,-116.8,360.2,-6.0,239,3743,0.00,2.30,0.00,0.000,4,0.000,0.042,3069,321,3234,0,0,0,0,0,0
$GC,3823,-0.68,-116.8,366.0,-7.7,241,3827,0.00,2.22,0.00,0.000,6,0.000,0.031,3061,1915,3233,0,0,0,0,0,0
$GC,4147,-0.68,-116.8,388.2,-6.8,249,4151,0.00,2.30,0.00,0.000,4,0.000,0.043,3061,328,3231,0,0,0,0,0,0
$GC,4185,-0.68,-116.8,391.2,-8.0,250,4190,0.00,2.20,0.00,0.000,6,0.000,0.033,3056,1896,3231,0,0,0,0,0,0
$GC,4509,-0.68,-116.8,413.7,-6.9,258,4513,0.00,2.30,0.00,0.000,4,0.000,0.043,3054,316,3229,0,0,0,0,0,0
$GC,4548,-0.68,-116.8,416.6,-7.4,259,4552,0.00,2.25,0.00,0.000,6,0.000,0.031,3045,1896,3228,0,0,0,0,0,0
$GC,4871,-0.68,-116.8,440.9,-7.6,267,4875,0.00,2.28,0.00,0.000,4,0.000,0.043,3045,315,3226,0,0,0,0,0,0
$GC,4897,-0.68,-116.8,443.0,-7.8,267,4902,0.08,2.28,0.00,0.000,6,0.103,0.033,3077,1903,3222,0,0,0,0,0,0
$GC,5234,-0.68,-116.8,462.6,-6.2,276,5238,0.00,2.28,0.00,0.000,4,0.000,0.044,3077,324,3227,0,0,0,0,0,0
$GC,5288,-0.68,-116.8,466.8,-7.7,277,5293,0.00,2.28,0.00,0.000,6,0.000,0.032,3067,1909,3223,0,0,0,0,0,0
$GC,5601,-0.68,-116.8,489.8,-7.2,285,5606,0.00,2.30,0.00,0.000,4,0.000,0.047,3055,3482,3221,0,0,0,0,0,0
$GC,5629,-0.68,-116.8,491.9,-7.4,285,5633,0.00,2.25,0.00,0.000,6,0.000,0.030,3059,1893,3221,0,0,0,0,0,0
$STATE,5754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5754,begin apogee
$GC,5759,-0.23,0.0,500.8,7.1,288,5852,0.45,0.00,89.90,0.931,6,0.094,0.000,3221,2003,2754,0,0,0,0,0,0
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5901,0.68,116.8,503.5,0.0,290,6007,0.73,2.50,97.40,0.913,4,0.044,0.045,3528,3573,2274,0,0,0,0,0,0
$GC,6074,0.68,116.8,500.7,11.7,294,6079,0.08,2.38,0.00,0.000,6,0.150,0.031,3516,2002,2266,0,0,0,0,0,0
$GC,6398,0.68,116.8,465.9,10.8,302,6402,0.00,2.35,0.00,0.000,4,0.000,0.044,3516,3589,2259,0,0,0,0,0,0
$GC,6508,0.68,116.8,452.5,12.2,304,6513,0.00,2.35,0.00,0.000,6,0.000,0.031,3526,1993,2258,0,0,0,0,0,0
$GC,6851,0.68,116.8,418.9,9.2,313,6855,0.00,2.28,0.00,0.000,4,0.000,0.043,3539,425,2256,0,0,0,0,0,0
$GC,6989,0.68,116.8,406.1,9.5,316,6995,0.08,2.30,0.00,0.000,6,0.152,0.034,3514,2003,2255,0,0,0,0,0,0
$GC,7308,0.71,144.5,382.8,6.7,324,7334,0.00,2.35,21.02,0.837,4,0.000,0.043,3514,3587,2160,0,0,0,0,0,0
$GC,7384,0.71,144.5,377.2,8.5,325,7390,0.00,2.35,0.00,0.000,6,0.000,0.032,3530,1993,2157,0,0,0,0,0,0
$GC,7715,0.71,144.5,348.5,9.0,334,7719,0.00,2.30,0.00,0.000,4,0.000,0.043,3537,413,2153,0,0,0,0,0,0
$GC,7787,0.71,144.5,341.0,11.0,335,7791,0.00,2.30,0.00,0.000,6,0.000,0.034,3538,2006,2153,0,0,0,0,0,0
$GC,8123,0.71,144.5,309.5,8.4,344,8127,0.00,2.33,0.00,0.000,4,0.000,0.043,3549,420,2151,0,0,0,0,0,0
$GC,8216,0.71,144.5,300.5,9.8,346,8221,0.00,2.30,0.00,0.000,6,0.000,0.034,3549,2001,2151,0,0,0,0,0,0
$GC,8540,0.71,144.5,274.4,8.1,361,8543,0.00,2.30,0.00,0.000,4,0.000,0.044,3549,3583,2148,0,0,0,0,0,0
$GC,8662,0.71,144.5,262.9,10.7,366,8667,0.12,2.30,0.00,0.000,6,0.154,0.032,3520,2000,2149,0,0,0,0,0,0
$GC,8983,0.73,161.2,237.7,7.2,382,9004,0.00,2.35,13.30,0.717,4,0.000,0.043,3531,424,2091,0,0,0,0,0,0
$GC,9188,0.73,161.2,222.0,8.1,391,9193,0.00,2.30,0.00,0.000,6,0.000,0.033,3531,1997,2087,0,0,0,0,0,0
$GC,9506,0.73,161.2,198.4,8.7,407,9510,0.00,2.30,0.00,0.000,4,0.000,0.041,3542,410,2086,0,0,0,0,0,0
$GC,9544,0.73,161.2,195.1,8.0,410,9548,0.00,2.30,0.00,0.000,6,0.000,0.033,3542,2025,2086,0,0,0,0,0,0
$GC,9806,0.74,163.1,174.5,7.9,434,9810,0.00,2.28,0.00,0.000,4,0.000,0.044,3542,3582,2086,0,0,0,0,0,0
$GC,10063,0.77,186.9,155.4,6.9,456,10090,0.00,2.30,21.58,0.657,6,0.000,0.030,3551,1985,1988,0,0,0,0,0,0
$GC,10344,0.77,186.9,133.0,9.1,483,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1984,1980,0,0,0,0,0,0
$GC,10599,0.77,186.9,108.3,9.0,507,10603,0.00,2.22,0.00,0.000,4,0.000,0.041,3565,429,1982,0,0,0,0,0,0
$GC,10856,0.79,205.7,85.7,7.1,529,10877,0.00,2.25,16.02,0.577,6,0.000,0.031,3566,2000,1910,0,0,0,0,0,0
$GC,11132,0.83,240.8,68.3,6.4,555,11166,0.00,2.38,28.30,0.571,4,0.000,0.043,3566,3581,1768,0,0,0,0,0,0
$GC,11241,0.83,240.8,58.2,10.4,565,11245,0.00,2.25,0.00,0.000,6,0.000,0.030,3577,2005,1766,0,0,0,0,0,0
$GC,11502,0.83,240.8,31.4,10.4,589,11506,0.00,2.28,0.00,0.000,4,0.000,0.041,3589,419,1764,0,0,0,0,0,0
$GC,11637,0.83,240.8,16.7,10.5,611,11643,0.12,2.25,0.00,0.000,6,0.157,0.031,3555,2004,1763,0,0,0,0,0,0
$STATE,11787,end climb,SURFACE_DEPTH_REACHED
$STATE,11788,begin surface coast
$FINISH,0.4,1.010565
$STATE,11823,end surface coast,CONTROL_FINISHED_OK
$STATE,11823,begin surface
$SM_CCo,11907,79.03,0.073,0,0,1162,390.27
$SM_GC,1.19,0.00,0.00,79.03,0.000,0.000,0.073,135,1866,1162,-9.86,-1.05,390.27
$IRIDIUM_FIX,2031.77,-15753.10,180312,020223
$TT8_MAMPS,0.058292
$HUMID,1078625152
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8437465088
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56170676224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.504
$10V_AH,10.3,9.650
$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,21.800,132.825,287.525,79.025,0.000,23.238,28.907,137.265,0.000,0.000,16.395,1242.568,8572.614,475.536,1844.456,159.848,33.357,1313.640,0.000,1494.723,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,85.137,931.138,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,435.330,0.000,0.000,0.000,0.000,0.000,0.000,12580.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.615,0.000,0.000
$MEM,334968
$DATA_FILE_SIZE,23436,644
$CAP_FILE_SIZE,121282,0
$CFSIZE,260165632,231321600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,145331,2040.362,-15750.328,39,1.0,40,9.7