version: 66.07
glider: 500
mission: 7
dive: 78
start: 9 20 110 22 21 39
data:
$ID,500
$MISSION,7
$DIVE,78
$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,-116879.41
$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,77
$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
$GPS1,200910,221237,2046.178,-15753.600,23,1.9,24,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.2
$GPS2,200910,222044,2046.184,-15753.687,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,-0.218
$KALMAN_X,-33509.2,-695.9,-1006.9,32470.7,2939.0
$KALMAN_Y,16659.9,1034.3,683.0,-70737.8,-2500.6
$MHEAD_RNG_PITCHd_Wd,173.5,9877,-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,26,-0.68,-116.8,0.0,0.0,0,93,0.00,0.00,-65.53,0.000,2,0.000,0.000,128,1914,2968,0,0,0,0,0,0
$GC,96,-0.68,-116.8,3.8,-7.5,13,118,11.50,2.38,-4.55,0.000,4,0.240,0.050,3061,288,3228,0,0,0,0,0,0
$GC,264,-0.68,-116.8,41.0,-15.7,37,268,0.00,2.33,0.00,0.000,6,0.000,0.034,3051,1923,3230,0,0,0,0,0,0
$GC,524,-0.68,-116.8,81.2,-15.5,61,529,0.00,2.35,0.00,0.000,4,0.000,0.043,3051,298,3230,0,0,0,0,0,0
$GC,590,-0.68,-116.8,91.6,-15.1,66,597,0.08,2.30,0.00,0.000,6,0.126,0.032,3068,1897,3231,0,0,0,0,0,0
$GC,854,-0.68,-116.8,121.2,-9.7,91,858,0.00,2.33,0.00,0.000,4,0.000,0.044,3058,3479,3232,0,0,0,0,0,0
$GC,893,-0.68,-116.8,125.1,-9.3,94,897,0.00,2.25,0.00,0.000,6,0.000,0.030,3057,1873,3233,0,0,0,0,0,0
$GC,1154,-0.68,-116.8,152.7,-10.3,118,1158,0.00,2.25,0.00,0.000,4,0.000,0.043,3057,313,3234,0,0,0,0,0,0
$GC,1262,-0.68,-116.8,163.6,-9.8,127,1266,0.00,2.22,0.00,0.000,6,0.000,0.033,3048,1906,3234,0,0,0,0,0,0
$GC,1523,-0.68,-116.8,190.1,-10.1,151,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1906,3237,0,0,0,0,0,0
$GC,1773,-0.68,-116.8,214.2,-8.9,168,1777,0.00,2.30,0.00,0.000,4,0.000,0.043,3047,319,3235,0,0,0,0,0,0
$GC,1827,-0.68,-116.8,220.0,-10.6,170,1834,0.08,2.25,0.00,0.000,6,0.114,0.033,3067,1899,3235,0,0,0,0,0,0
$GC,2142,-0.68,-116.8,248.1,-9.1,186,2147,0.00,2.28,0.00,0.000,4,0.000,0.043,3065,312,3235,0,0,0,0,0,0
$GC,2171,-0.68,-116.8,250.6,-9.4,187,2175,0.00,2.22,0.00,0.000,6,0.000,0.033,3059,1897,3236,0,0,0,0,0,0
$GC,2485,-0.68,-116.8,278.4,-8.5,202,2489,0.00,2.28,0.00,0.000,4,0.000,0.044,3059,312,3235,0,0,0,0,0,0
$GC,2512,-0.68,-116.8,280.8,-9.5,203,2516,0.00,2.28,0.00,0.000,6,0.000,0.034,3049,1905,3235,0,0,0,0,0,0
$GC,2832,-0.68,-116.8,306.4,-7.7,217,2836,0.00,2.30,0.00,0.000,4,0.000,0.044,3049,316,3235,0,0,0,0,0,0
$GC,2892,-0.68,-116.8,311.7,-8.1,218,2898,0.08,2.28,0.00,0.000,6,0.108,0.033,3070,1905,3235,0,0,0,0,0,0
$GC,3206,-0.68,-116.8,332.0,-6.3,226,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1905,3233,0,0,0,0,0,0
$GC,3530,-0.68,-116.8,350.2,-5.4,234,3534,0.00,2.30,0.00,0.000,4,0.000,0.044,3070,317,3232,0,0,0,0,0,0
$GC,3620,-0.68,-116.8,356.4,-7.1,236,3624,0.00,2.22,0.00,0.000,6,0.000,0.035,3069,1894,3231,0,0,0,0,0,0
$GC,3943,-0.68,-116.8,379.3,-7.2,244,3947,0.00,2.30,0.00,0.000,4,0.000,0.044,3069,309,3229,0,0,0,0,0,0
$GC,4004,-0.68,-116.8,383.9,-7.0,245,4008,0.00,2.28,0.00,0.000,6,0.000,0.034,3058,1896,3229,0,0,0,0,0,0
$GC,4317,-0.68,-116.8,403.9,-6.4,253,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1898,3226,0,0,0,0,0,0
$GC,4643,-0.68,-116.8,425.7,-6.5,261,4647,0.00,2.33,0.00,0.000,4,0.000,0.046,3058,321,3226,0,0,0,0,0,0
$GC,4720,-0.68,-116.8,431.0,-6.6,262,4724,0.00,2.28,0.00,0.000,6,0.000,0.035,3055,1902,3223,0,0,0,0,0,0
$GC,5057,-0.68,-116.8,448.6,-5.2,271,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1901,3222,0,0,0,0,0,0
$GC,5382,-0.68,-116.8,468.7,-6.5,279,5386,0.00,2.33,0.00,0.000,4,0.000,0.047,3055,314,3220,0,0,0,0,0,0
$GC,5415,-0.68,-116.8,471.2,-7.9,279,5421,0.00,2.28,0.00,0.000,6,0.000,0.035,3045,1895,3219,0,0,0,0,0,0
$GC,5746,-0.68,-116.8,495.2,-7.4,288,5750,0.00,2.33,0.00,0.000,4,0.000,0.047,3045,320,3218,0,0,0,0,0,0
$GC,5773,-0.68,-116.8,497.4,-8.6,288,5777,0.12,2.25,0.00,0.000,6,0.134,0.035,3075,1909,3218,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5834,-0.23,0.0,501.1,6.4,290,5924,0.40,0.00,87.97,0.927,6,0.094,0.000,3223,2009,2751,0,0,0,0,0,0
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5973,0.68,116.8,504.5,0.0,292,6080,0.73,2.53,97.32,0.906,4,0.040,0.045,3555,425,2273,0,0,0,0,0,0
$GC,6118,0.69,126.2,508.3,7.6,296,6134,0.08,2.38,8.35,0.756,6,0.156,0.035,3518,1986,2235,0,0,0,0,0,0
$GC,6471,0.69,126.2,478.3,8.4,305,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1986,2226,0,0,0,0,0,0
$GC,6795,0.69,126.2,449.5,9.3,313,6799,0.00,2.35,0.00,0.000,4,0.000,0.047,3518,3587,2223,0,0,0,0,0,0
$GC,6822,0.69,126.2,446.7,10.6,313,6826,0.00,2.33,0.00,0.000,6,0.000,0.035,3529,1994,2225,0,0,0,0,0,0
$GC,7153,0.69,126.2,412.0,10.4,321,7157,0.00,2.30,0.00,0.000,4,0.000,0.046,3540,424,2220,0,0,0,0,0,0
$GC,7332,0.69,126.2,394.9,9.2,325,7336,0.00,2.28,0.00,0.000,6,0.000,0.037,3541,2014,2220,0,0,0,0,0,0
$GC,7655,0.69,126.2,369.3,8.0,333,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2014,2220,0,0,0,0,0,0
$GC,7980,0.69,126.2,340.8,8.5,341,7984,0.00,2.33,0.00,0.000,4,0.000,0.046,3552,419,2218,0,0,0,0,0,0
$GC,8085,0.69,126.2,331.7,9.0,343,8090,0.10,2.30,0.00,0.000,6,0.147,0.037,3519,1992,2218,0,0,0,0,0,0
$GC,8433,0.73,154.7,307.4,6.7,352,8459,0.00,2.38,21.33,0.796,4,0.000,0.046,3520,3585,2120,0,0,0,0,0,0
$GC,8666,0.73,154.7,288.7,8.0,359,8672,0.00,2.33,0.00,0.000,6,0.000,0.035,3531,2002,2115,0,0,0,0,0,0
$GC,8982,0.73,156.2,263.3,7.9,375,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2001,2114,0,0,0,0,0,0
$GC,9291,0.74,169.6,241.2,7.4,390,9312,0.00,2.38,12.70,0.712,4,0.000,0.044,3543,424,2060,0,0,0,0,0,0
$GC,9530,0.74,169.6,219.1,9.7,400,9536,0.00,2.30,0.00,0.000,6,0.000,0.035,3542,1997,2059,0,0,0,0,0,0
$GC,9849,0.74,169.6,190.6,8.8,421,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1997,2055,0,0,0,0,0,0
$GC,10104,0.74,169.6,168.5,8.1,445,10108,0.00,2.35,0.00,0.000,4,0.000,0.046,3542,3599,2055,0,0,0,0,0,0
$GC,10225,0.74,169.6,157.4,8.7,455,10232,0.00,2.33,0.00,0.000,6,0.000,0.033,3554,1996,2054,0,0,0,0,0,0
$GC,10488,0.77,193.0,137.6,6.9,480,10513,0.00,2.33,19.98,0.635,4,0.000,0.044,3566,426,1963,0,0,0,0,0,0
$GC,10574,0.77,193.0,130.6,9.2,488,10579,0.00,2.28,0.00,0.000,6,0.000,0.035,3566,2016,1960,0,0,0,0,0,0
$GC,10836,0.80,215.6,111.5,7.0,512,10860,0.00,2.35,19.15,0.604,4,0.000,0.046,3566,3588,1871,0,0,0,0,0,0
$GC,10905,0.80,215.6,105.5,10.0,518,10912,0.00,2.33,0.00,0.000,6,0.000,0.033,3578,2004,1868,0,0,0,0,0,0
$GC,11168,0.80,215.6,80.2,9.7,543,11172,0.00,2.35,0.00,0.000,4,0.000,0.044,3590,412,1866,0,0,0,0,0,0
$GC,11364,0.80,215.6,62.6,8.8,560,11369,0.15,2.25,0.00,0.000,6,0.162,0.033,3545,2003,1867,0,0,0,0,0,0
$GC,11624,0.80,215.6,42.6,8.1,584,11628,0.00,2.30,0.00,0.000,4,0.000,0.044,3548,3581,1865,0,0,0,0,0,0
$GC,11743,0.80,215.6,31.7,8.9,594,11747,0.00,2.25,0.00,0.000,6,0.000,0.031,3558,1996,1865,0,0,0,0,0,0
$GC,12017,0.80,215.6,7.9,8.7,641,12022,0.00,2.30,0.00,0.000,4,0.000,0.042,3570,416,1865,0,0,0,0,0,0
$STATE,12066,end climb,SURFACE_DEPTH_REACHED
$STATE,12066,begin surface coast
$FINISH,0.3,1.023070
$STATE,12095,end surface coast,CONTROL_FINISHED_OK
$STATE,12095,begin surface
$SM_CCo,12181,93.05,0.407,1,0,1159,390.02
$SM_GC,0.87,0.00,0.00,93.05,0.000,0.000,0.407,134,1917,1159,-9.85,0.54,390.02
$IRIDIUM_FIX,2038.68,-15752.23,150312,131333
$TT8_MAMPS,0.237003
$HUMID,1078696119
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.10
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8425603072
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57501057024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,7.781
$10V_AH,10.2,6.799
$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,21.850,115.225,266.800,93.050,0.000,23.682,27.497,276.493,0.250,0.000,16.065,1240.523,8950.354,470.561,1928.498,189.894,33.330,1264.943,0.000,1421.955,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,106.613,927.303,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,442.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335012
$DATA_FILE_SIZE,23394,655
$CAP_FILE_SIZE,119588,0
$CFSIZE,260165632,232718336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210910,014754,2044.424,-15754.142,39,1.2,40,9.8