version: 66.07
glider: 500
mission: 7
dive: 99
start: 9 23 110 21 46 21
data:
$ID,500
$MISSION,7
$DIVE,99
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,412
$T_MISSION,500
$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,-117307.3
$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,98
$AR_SAMPLENUM,24
$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
$GPS1,230910,214037,2039.968,-15750.409,26,1.0,27,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.6
$GPS2,230910,214526,2039.955,-15750.487,11,1.5,11,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,0.115
$KALMAN_X,-70832.3,43.1,-185.2,73772.2,-4795.6
$KALMAN_Y,1286.1,21.1,144.8,-65362.7,-2783.2
$MHEAD_RNG_PITCHd_Wd,48.6,118677,-16.1,-8.010
$D_GRID,990
$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
$STATE,24,begin dive
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$GC,3052,-0.68,-116.8,310.9,-6.1,223,3056,0.00,2.28,0.00,0.000,4,0.000,0.042,3069,325,3235,0,0,0,0,0,0
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$GC,3419,-0.68,-116.8,335.8,-7.0,232,3423,0.00,2.28,0.00,0.000,4,0.000,0.042,3058,327,3233,0,0,0,0,0,0
$GC,3459,-0.68,-116.8,338.9,-7.8,233,3463,0.00,2.20,0.00,0.000,6,0.000,0.031,3047,1905,3235,0,0,0,0,0,0
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$GC,4145,-0.68,-116.8,387.1,-5.8,250,4149,0.00,2.28,0.00,0.000,4,0.000,0.042,3078,317,3227,0,0,0,0,0,0
$GC,4171,-0.68,-116.8,388.9,-6.4,250,4176,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,1892,3227,0,0,0,0,0,0
$GC,4508,-0.68,-116.8,409.1,-5.9,259,4512,0.00,2.33,0.00,0.000,4,0.000,0.045,3056,3475,3225,0,0,0,0,0,0
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$GC,6388,-0.68,-116.8,535.6,-7.0,305,6392,0.00,2.28,0.00,0.000,4,0.000,0.044,3048,327,3214,0,0,0,0,0,0
$GC,6447,-0.68,-116.8,540.4,-8.3,306,6453,0.08,2.25,0.00,0.000,6,0.104,0.033,3070,1889,3214,0,0,0,0,0,0
$GC,6796,-0.68,-116.8,558.8,-5.2,315,6800,0.00,2.28,0.00,0.000,4,0.000,0.044,3070,325,3211,0,0,0,0,0,0
$GC,6829,-0.68,-116.8,560.7,-6.1,315,6833,0.00,2.25,0.00,0.000,6,0.000,0.033,3060,1908,3211,0,0,0,0,0,0
$GC,7159,-0.68,-116.8,578.6,-5.5,323,7163,0.00,2.28,0.00,0.000,4,0.000,0.044,3060,326,3209,0,0,0,0,0,0
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$GC,13324,-0.68,-116.8,905.3,-4.2,472,13328,0.00,2.30,0.00,0.000,4,0.000,0.045,3071,327,3194,0,0,0,0,0,0
$GC,13368,-0.68,-116.8,907.5,-4.4,473,13372,0.00,2.28,0.00,0.000,6,0.000,0.034,3058,1896,3194,0,0,0,0,0,0
$GC,13693,-0.68,-116.8,922.4,-4.6,481,13697,0.00,2.30,0.00,0.000,4,0.000,0.046,3050,3479,3193,0,0,0,0,0,0
$GC,13748,-0.68,-116.8,924.9,-5.3,482,13752,0.00,2.22,0.00,0.000,6,0.000,0.028,3050,1887,3193,0,0,0,0,0,0
$GC,14066,-0.68,-116.8,939.6,-4.5,490,14070,0.00,2.25,0.00,0.000,4,0.000,0.044,3050,326,3193,0,0,0,0,0,0
$GC,14171,-0.68,-116.8,944.9,-4.9,492,14176,0.10,2.25,0.00,0.000,6,0.141,0.031,3073,1909,3193,0,0,0,0,0,0
$GC,14513,-0.68,-116.8,961.1,-4.9,501,14517,0.00,2.30,0.00,0.000,4,0.000,0.044,3074,321,3192,0,0,0,0,0,0
$GC,14573,-0.68,-116.8,963.9,-4.3,502,14577,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1900,3192,0,0,0,0,0,0
$GC,14921,-0.68,-116.8,979.5,-4.5,511,14925,0.00,2.28,0.00,0.000,4,0.000,0.044,3078,334,3192,0,0,0,0,0,0
$GC,14960,-0.68,-116.8,981.2,-4.5,512,14964,0.00,2.22,0.00,0.000,6,0.000,0.032,3073,1909,3192,0,0,0,0,0,0
$STATE,15037,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15037,begin apogee
$GC,15043,-0.23,0.0,984.5,4.3,514,15137,0.40,0.00,91.50,1.316,6,0.079,0.000,3227,2003,2751,0,0,0,0,0,0
$STATE,15184,end apogee,CONTROL_FINISHED_OK
$STATE,15184,begin climb
$GC,15186,0.68,116.8,987.6,0.0,516,15303,0.73,2.58,107.53,1.293,4,0.044,0.045,3528,3581,2272,0,0,0,0,0,0
$GC,15313,0.68,116.8,985.5,8.8,519,15318,0.08,2.45,0.00,0.000,6,0.158,0.032,3517,2013,2265,0,0,0,0,0,0
$GC,15636,0.68,116.8,943.0,13.2,527,15640,0.00,2.40,0.00,0.000,4,0.000,0.043,3529,420,2255,0,0,0,0,0,0
$GC,15753,0.68,116.8,926.8,14.1,529,15757,0.00,2.33,0.00,0.000,6,0.000,0.034,3529,2005,2256,0,0,0,0,0,0
$GC,16089,0.68,116.8,883.8,12.1,538,16094,0.00,2.35,0.00,0.000,4,0.000,0.046,3529,3588,2253,0,0,0,0,0,0
$GC,16189,0.68,116.8,870.4,13.1,540,16194,0.00,2.33,0.00,0.000,6,0.000,0.032,3540,1998,2253,0,0,0,0,0,0
$GC,16502,0.68,116.8,832.3,12.0,548,16507,0.12,2.33,0.00,0.000,4,0.185,0.044,3523,410,2253,0,0,0,0,0,0
$GC,16562,0.68,116.8,825.4,12.0,549,16567,0.00,2.35,0.00,0.000,6,0.000,0.034,3519,2002,2252,0,0,0,0,0,0
$GC,16910,0.68,116.8,788.0,10.8,558,16914,0.00,2.35,0.00,0.000,4,0.000,0.045,3516,3593,2251,0,0,0,0,0,0
$GC,16953,0.68,116.8,782.8,11.5,559,16957,0.00,2.35,0.00,0.000,6,0.000,0.032,3530,1998,2251,0,0,0,0,0,0
$GC,17277,0.68,116.8,746.1,11.4,567,17281,0.00,2.30,0.00,0.000,4,0.000,0.044,3542,423,2252,0,0,0,0,0,0
$GC,17433,0.68,116.8,726.2,13.4,570,17438,0.12,2.30,0.00,0.000,6,0.177,0.035,3511,2013,2254,0,0,0,0,0,0
$GC,17769,0.68,116.8,686.8,11.8,579,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2012,2250,0,0,0,0,0,0
$GC,18094,0.68,116.8,652.9,10.0,587,18098,0.00,2.33,0.00,0.000,4,0.000,0.043,3522,421,2251,0,0,0,0,0,0
$GC,18188,0.68,116.8,643.9,9.7,589,18193,0.00,2.30,0.00,0.000,6,0.000,0.034,3521,1992,2251,0,0,0,0,0,0
$GC,18507,0.68,116.8,617.0,8.3,597,18511,0.00,2.35,0.00,0.000,4,0.000,0.045,3522,3589,2251,0,0,0,0,0,0
$GC,18763,0.68,116.8,592.8,9.9,602,18770,0.00,2.33,0.00,0.000,6,0.000,0.031,3534,1993,2250,0,0,0,0,0,0
$GC,19095,0.68,116.8,563.9,8.8,611,19099,0.00,2.30,0.00,0.000,4,0.000,0.043,3545,419,2251,0,0,0,0,0,0
$GC,19154,0.68,116.8,557.9,10.1,612,19160,0.10,2.30,0.00,0.000,6,0.159,0.033,3514,2002,2251,0,0,0,0,0,0
$GC,19467,0.68,117.5,532.3,8.0,620,19471,0.00,2.30,0.00,0.000,4,0.000,0.045,3513,3584,2250,0,0,0,0,0,0
$GC,19608,0.68,117.5,518.9,11.0,623,19612,0.00,2.28,0.00,0.000,6,0.000,0.033,3524,1996,2248,0,0,0,0,0,0
$GC,19925,0.68,117.5,487.7,9.7,631,19929,0.00,2.28,0.00,0.000,4,0.000,0.043,3536,426,2250,0,0,0,0,0,0
$GC,20159,0.68,117.5,466.1,8.2,636,20163,0.00,2.30,0.00,0.000,6,0.000,0.033,3536,2003,2250,0,0,0,0,0,0
$GC,20472,0.69,127.5,442.1,7.5,644,20486,0.00,2.38,6.57,0.792,4,0.000,0.044,3547,429,2229,0,0,0,0,0,0
$GC,20564,0.70,133.7,434.9,7.7,646,20579,0.12,2.25,7.18,0.802,6,0.176,0.033,3515,2010,2205,0,0,0,0,0,0
$GC,20887,0.71,141.2,410.6,7.7,654,20901,0.00,2.38,7.88,0.806,4,0.000,0.043,3526,433,2175,0,0,0,0,0,0
$GC,20951,0.71,141.2,404.6,10.6,655,20956,0.00,2.28,0.00,0.000,6,0.000,0.033,3526,1988,2171,0,0,0,0,0,0
$GC,21298,0.71,141.2,375.7,8.3,664,21302,0.00,2.35,0.00,0.000,4,0.000,0.044,3526,3585,2173,0,0,0,0,0,0
$GC,21370,0.71,141.2,369.0,9.2,665,21374,0.00,2.30,0.00,0.000,6,0.000,0.031,3538,2002,2173,0,0,0,0,0,0
$GC,21707,0.71,143.8,341.4,7.9,674,21716,0.00,2.35,4.10,0.595,4,0.000,0.042,3549,433,2163,0,0,0,0,0,0
$GC,21879,0.71,143.8,327.1,9.0,677,21886,0.08,2.28,0.00,0.000,6,0.148,0.031,3525,2007,2162,0,0,0,0,0,0
$GC,22211,0.71,143.8,300.1,8.2,686,22215,0.00,2.30,0.00,0.000,4,0.000,0.043,3524,3585,2163,0,0,0,0,0,0
$GC,22468,0.71,143.8,277.7,9.0,696,22474,0.00,2.28,0.00,0.000,6,0.000,0.030,3535,1986,2162,0,0,0,0,0,0
$GC,22783,0.71,143.8,247.5,8.8,712,22787,0.00,2.25,0.00,0.000,4,0.000,0.041,3547,425,2163,0,0,0,0,0,0
$GC,22967,0.78,202.4,235.0,5.3,720,23022,0.00,2.22,49.55,0.768,6,0.000,0.031,3547,2002,1924,0,0,0,0,0,0
$GC,23348,0.78,202.4,198.2,10.9,739,23352,0.00,2.35,0.00,0.000,4,0.000,0.043,3547,3588,1914,0,0,0,0,0,0
$GC,23470,0.78,202.4,182.9,11.5,749,23476,0.00,2.30,0.00,0.000,6,0.000,0.031,3558,1996,1913,0,0,0,0,0,0
$GC,23732,0.78,202.4,157.5,10.1,774,23736,0.00,2.33,0.00,0.000,4,0.000,0.041,3570,415,1912,0,0,0,0,0,0
$GC,23793,0.78,202.4,151.4,9.3,779,23797,0.00,2.28,0.00,0.000,6,0.000,0.031,3570,2016,1910,0,0,0,0,0,0
$GC,24054,0.78,202.4,125.6,10.9,803,24058,0.00,2.35,0.00,0.000,4,0.000,0.041,3582,424,1910,0,0,0,0,0,0
$GC,24153,0.78,202.4,114.2,10.4,811,24160,0.15,2.28,0.00,0.000,6,0.163,0.031,3541,2009,1910,0,0,0,0,0,0
$GC,24414,0.78,202.4,86.6,10.4,836,24418,0.00,2.30,0.00,0.000,4,0.000,0.042,3540,3586,1910,0,0,0,0,0,0
$GC,24598,0.78,202.4,69.2,8.0,852,24602,0.00,2.25,0.00,0.000,6,0.000,0.028,3555,1988,1910,0,0,0,0,0,0
$GC,24860,0.83,240.0,51.1,6.3,876,24894,0.00,2.33,28.58,0.568,4,0.000,0.040,3562,432,1774,0,0,0,0,0,0
$GC,25028,0.83,242.0,36.6,7.9,891,25034,0.00,2.25,0.00,0.000,6,0.000,0.029,3563,2007,1769,0,0,0,0,0,0
$GC,25299,0.83,242.0,11.8,8.6,933,25304,0.00,2.30,0.00,0.000,4,0.000,0.041,3563,3567,1769,0,0,0,0,0,0
$STATE,25393,end climb,SURFACE_DEPTH_REACHED
$STATE,25393,begin surface coast
$FINISH,0.5,1.022830
$STATE,25412,end surface coast,CONTROL_FINISHED_OK
$STATE,25412,begin surface
$SM_CCo,25498,79.80,0.457,1,0,1160,390.02
$SM_GC,0.93,0.00,0.00,79.80,0.000,0.000,0.457,123,1890,1160,-9.90,-0.28,390.02
$IRIDIUM_FIX,2031.77,-15747.97,180312,121226
$TT8_MAMPS,0.056758
$HUMID,1078579990
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.6,9.799
$10V_AH,10.0,9.979
$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,23.000,279.375,302.875,79.800,0.000,23.997,26.967,131.328,2.250,0.000,13.639,2023.571,20069.154,600.885,2945.829,265.387,33.364,2040.609,0.000,2555.655,0.000,0.542,0.000
$DEVICE_MAMPS,237.003,105.079,1316.172,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,651.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335008
$DATA_FILE_SIZE,33348,953
$CAP_FILE_SIZE,223635,0
$CFSIZE,260165632,231034880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240910,045437,2040.679,-15749.572,38,1.1,38,9.7