version: 66.07
glider: 500
mission: 7
dive: 97
start: 9 23 110 14 59 21
data:
$ID,500
$MISSION,7
$DIVE,97
$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,-117275.02
$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,96
$AR_SAMPLENUM,12
$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
$GPS1,230910,145331,2040.362,-15750.328,39,1.0,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-78.7
$GPS2,230910,145826,2040.354,-15750.398,12,1.0,12,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.052
$KALMAN_X,-66083.6,122.0,339.5,68571.5,-3174.9
$KALMAN_Y,3974.5,37.4,-233.9,-66945.2,-522.2
$MHEAD_RNG_PITCHd_Wd,66.4,118702,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-60.35,0.000,2,0.000,0.000,129,1864,2813,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.4,-6.7,12,118,11.23,2.33,-7.53,0.000,4,0.234,0.053,3060,303,3230,0,0,0,0,0,0
$GC,168,-0.68,-116.8,26.5,-21.1,26,174,0.00,2.35,0.00,0.000,6,0.000,0.031,3050,1934,3231,0,0,0,0,0,0
$GC,371,-0.68,-116.8,63.6,-16.2,47,375,0.00,2.38,0.00,0.000,4,0.000,0.041,3050,294,3231,0,0,0,0,0,0
$GC,415,-0.68,-116.8,70.9,-16.8,50,422,0.12,2.30,0.00,0.000,6,0.150,0.032,3075,1912,3233,0,0,0,0,0,0
$GC,676,-0.68,-116.8,101.5,-9.1,75,677,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1912,3236,0,0,0,0,0,0
$GC,931,-0.68,-116.8,127.8,-10.1,99,935,0.00,2.33,0.00,0.000,4,0.000,0.041,3076,296,3236,0,0,0,0,0,0
$GC,1037,-0.68,-116.8,138.2,-9.8,108,1041,0.00,2.25,0.00,0.000,6,0.000,0.032,3069,1902,3235,0,0,0,0,0,0
$GC,1298,-0.68,-116.8,161.3,-8.5,132,1302,0.00,2.30,0.00,0.000,4,0.000,0.044,3056,3488,3236,0,0,0,0,0,0
$GC,1336,-0.68,-116.8,164.7,-8.9,135,1340,0.00,2.28,0.00,0.000,6,0.000,0.028,3056,1877,3238,0,0,0,0,0,0
$GC,1597,-0.68,-116.8,189.5,-9.9,159,1601,0.00,2.22,0.00,0.000,4,0.000,0.041,3056,313,3236,0,0,0,0,0,0
$GC,1686,-0.68,-116.8,199.4,-11.2,166,1691,0.00,2.22,0.00,0.000,6,0.000,0.031,3047,1913,3239,0,0,0,0,0,0
$GC,1949,-0.68,-116.8,225.2,-9.3,180,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1913,3237,0,0,0,0,0,0
$GC,2259,-0.68,-116.8,251.7,-8.3,195,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1913,3238,0,0,0,0,0,0
$GC,2568,-0.68,-116.8,277.3,-7.9,210,2572,0.00,2.33,0.00,0.000,4,0.000,0.042,3046,312,3238,0,0,0,0,0,0
$GC,2622,-0.68,-116.8,282.4,-9.6,212,2628,0.00,2.25,0.00,0.000,6,0.000,0.032,3038,1897,3237,0,0,0,0,0,0
$GC,2957,-0.68,-116.8,311.8,-8.8,226,2961,0.10,2.30,0.00,0.000,4,0.150,0.043,3071,320,3235,0,0,0,0,0,0
$GC,3033,-0.68,-116.8,318.6,-9.2,227,3038,0.00,2.25,0.00,0.000,6,0.000,0.032,3069,1899,3237,0,0,0,0,0,0
$GC,3370,-0.68,-116.8,346.3,-8.0,236,3374,0.00,2.28,0.00,0.000,4,0.000,0.042,3069,310,3233,0,0,0,0,0,0
$GC,3469,-0.68,-116.8,354.5,-8.5,238,3474,0.00,2.22,0.00,0.000,6,0.000,0.033,3059,1910,3232,0,0,0,0,0,0
$GC,3782,-0.68,-116.8,378.1,-7.8,246,3786,0.00,2.33,0.00,0.000,4,0.000,0.043,3059,309,3233,0,0,0,0,0,0
$GC,3899,-0.68,-116.8,388.3,-8.8,248,3904,0.00,2.28,0.00,0.000,6,0.000,0.033,3055,1897,3235,0,0,0,0,0,0
$GC,4236,-0.68,-116.8,412.6,-7.0,257,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1898,3230,0,0,0,0,0,0
$GC,4561,-0.68,-116.8,432.3,-5.9,265,4565,0.00,2.30,0.00,0.000,4,0.000,0.044,3056,313,3227,0,0,0,0,0,0
$GC,4610,-0.68,-116.8,435.8,-7.2,266,4614,0.00,2.25,0.00,0.000,6,0.000,0.035,3046,1919,3227,0,0,0,0,0,0
$GC,4923,-0.68,-116.8,457.3,-7.1,274,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1914,3224,0,0,0,0,0,0
$GC,5247,-0.68,-116.8,481.4,-7.7,282,5252,0.00,2.33,0.00,0.000,4,0.000,0.044,3046,320,3222,0,0,0,0,0,0
$GC,5287,-0.68,-116.8,484.6,-8.9,283,5292,0.12,2.22,0.00,0.000,6,0.132,0.034,3077,1897,3221,0,0,0,0,0,0
$STATE,5567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5567,begin apogee
$GC,5572,-0.23,0.0,501.9,6.0,290,5664,0.38,0.00,89.07,0.930,6,0.094,0.000,3215,2023,2752,0,0,0,0,0,0
$STATE,5711,end apogee,CONTROL_FINISHED_OK
$STATE,5711,begin climb
$GC,5713,0.68,116.8,504.8,0.0,292,5820,0.73,2.40,98.10,0.913,4,0.044,0.045,3528,3557,2272,0,0,0,0,0,0
$GC,5863,0.68,116.8,505.6,10.1,295,5869,0.08,2.38,0.00,0.000,6,0.148,0.032,3516,1993,2266,0,0,0,0,0,0
$GC,6206,0.68,116.8,468.3,11.1,304,6210,0.00,2.33,0.00,0.000,4,0.000,0.043,3527,423,2258,0,0,0,0,0,0
$GC,6335,0.68,116.8,454.4,10.1,307,6339,0.00,2.28,0.00,0.000,6,0.000,0.035,3526,1985,2256,0,0,0,0,0,0
$GC,6658,0.68,116.8,426.9,8.1,315,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1986,2254,0,0,0,0,0,0
$GC,6983,0.70,135.4,403.9,7.1,323,6998,0.00,0.00,13.07,0.819,6,0.000,0.000,3526,1986,2197,0,0,0,0,0,0
$GC,7308,0.70,135.4,371.4,10.5,331,7312,0.00,2.38,0.00,0.000,4,0.000,0.045,3527,3591,2193,0,0,0,0,0,0
$GC,7396,0.70,135.4,361.7,10.6,333,7400,0.00,2.28,0.00,0.000,6,0.000,0.031,3539,1995,2189,0,0,0,0,0,0
$GC,7720,0.72,147.9,333.7,7.4,341,7736,0.00,2.30,10.98,0.771,4,0.000,0.041,3550,424,2146,0,0,0,0,0,0
$GC,7988,0.72,147.9,311.0,9.5,347,7992,0.00,2.28,0.00,0.000,6,0.000,0.035,3551,2010,2142,0,0,0,0,0,0
$GC,8315,0.72,147.9,278.1,9.9,360,8319,0.00,2.33,0.00,0.000,4,0.000,0.043,3562,426,2141,0,0,0,0,0,0
$GC,8500,0.72,147.9,259.9,9.0,368,8505,0.15,2.28,0.00,0.000,6,0.165,0.034,3521,2006,2140,0,0,0,0,0,0
$GC,8814,0.72,148.3,233.6,8.0,383,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2007,2139,0,0,0,0,0,0
$GC,9124,0.78,195.2,213.3,5.8,398,9165,0.00,0.00,38.10,0.729,6,0.000,0.000,3521,2007,1955,0,0,0,0,0,0
$GC,9479,0.78,195.2,185.1,9.9,422,9483,0.00,2.35,0.00,0.000,4,0.000,0.043,3532,421,1946,0,0,0,0,0,0
$GC,9601,0.78,195.2,172.0,11.6,432,9607,0.00,2.30,0.00,0.000,6,0.000,0.034,3531,2005,1945,0,0,0,0,0,0
$GC,9862,0.78,195.2,147.9,9.2,457,9866,0.00,2.30,0.00,0.000,4,0.000,0.044,3532,3586,1945,0,0,0,0,0,0
$GC,10020,0.78,195.2,132.0,10.7,470,10025,0.00,2.28,0.00,0.000,6,0.000,0.031,3543,1995,1944,0,0,0,0,0,0
$GC,10280,0.78,195.2,106.5,8.7,495,10284,0.00,2.25,0.00,0.000,4,0.000,0.042,3554,425,1945,0,0,0,0,0,0
$GC,10465,0.80,213.1,90.6,7.2,511,10487,0.00,2.22,14.65,0.584,6,0.000,0.032,3559,2007,1881,0,0,0,0,0,0
$GC,10741,0.84,251.2,72.8,6.2,537,10778,0.00,2.35,31.27,0.584,4,0.000,0.041,3566,426,1725,0,0,0,0,0,0
$GC,10958,0.84,251.2,51.9,11.3,556,10962,0.00,2.25,0.00,0.000,6,0.000,0.032,3566,2010,1719,0,0,0,0,0,0
$GC,11220,0.84,251.2,24.8,10.7,584,11225,0.00,2.30,0.00,0.000,4,0.000,0.042,3575,430,1718,0,0,0,0,0,0
$GC,11276,0.84,251.2,18.4,11.7,594,11281,0.00,2.25,0.00,0.000,6,0.000,0.032,3577,2014,1718,0,0,0,0,0,0
$STATE,11422,end climb,SURFACE_DEPTH_REACHED
$STATE,11422,begin surface coast
$FINISH,0.2,1.022968
$STATE,11449,end surface coast,CONTROL_FINISHED_OK
$STATE,11449,begin surface
$SM_CCo,11467,73.22,0.454,1,0,1158,390.02
$SM_GC,1.31,0.00,0.00,73.22,0.000,0.000,0.454,130,1884,1158,-9.88,-0.45,390.02
$IRIDIUM_FIX,2031.77,-15753.10,180312,050534
$TT8_MAMPS,0.058292
$HUMID,1078640635
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,15
$AR_CDRIVE_FREE,8437366784
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56162811904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.593
$10V_AH,10.2,9.769
$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,21.525,96.575,295.250,73.225,0.000,22.501,26.609,134.827,0.250,0.000,14.098,1169.040,8415.533,463.936,1647.288,152.689,33.360,1222.545,0.000,1374.650,0.000,0.541,0.000
$DEVICE_MAMPS,233.935,90.506,930.371,454.064,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,422.336,0.000,0.000,0.000,0.000,0.000,0.000,12166.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,20.679,0.000,0.000
$MEM,335044
$DATA_FILE_SIZE,23397,625
$CAP_FILE_SIZE,106225,0
$CFSIZE,260165632,231280640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,181306,2039.970,-15750.553,29,0.9,30,9.7