version: 66.07
glider: 500
mission: 7
dive: 79
start: 9 21 110 2 2 45
data:
$ID,500
$MISSION,7
$DIVE,79
$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,-116893.26
$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,78
$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
$GPS1,210910,014754,2044.424,-15754.142,39,1.2,40,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-78.0
$GPS2,210910,020149,2044.344,-15754.206,11,1.2,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,0.091
$KALMAN_X,-45194.2,7585.2,1832.2,32170.3,-10758.5
$KALMAN_Y,24979.6,-6219.7,-1164.4,-73383.3,6819.1
$MHEAD_RNG_PITCHd_Wd,55.6,7680,-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,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,93,0.00,0.00,-65.57,0.000,2,0.000,0.000,126,1919,2973,0,0,0,0,0,0
$GC,96,-0.68,-116.8,3.6,-7.1,13,118,11.52,2.40,-4.50,0.000,4,0.239,0.051,3059,288,3235,0,0,0,0,0,0
$GC,135,-0.68,-116.8,20.4,-42.0,20,141,0.00,2.38,0.00,0.000,6,0.000,0.036,3052,1920,3232,0,0,0,0,0,0
$GC,334,-0.68,-116.8,57.6,-17.0,43,338,0.00,2.38,0.00,0.000,4,0.000,0.043,3048,287,3231,0,0,0,0,0,0
$GC,383,-0.68,-116.8,66.2,-17.8,47,388,0.12,2.33,0.00,0.000,6,0.153,0.033,3073,1910,3235,0,0,0,0,0,0
$GC,645,-0.68,-116.8,102.7,-14.1,71,646,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1910,3233,0,0,0,0,0,0
$GC,899,-0.68,-116.8,135.6,-12.3,95,902,0.00,2.35,0.00,0.000,4,0.000,0.043,3073,297,3233,0,0,0,0,0,0
$GC,988,-0.68,-116.8,146.6,-11.8,103,992,0.00,2.28,0.00,0.000,6,0.000,0.033,3068,1910,3233,0,0,0,0,0,0
$GC,1249,-0.68,-116.8,174.1,-10.4,127,1253,0.00,2.33,0.00,0.000,4,0.000,0.043,3065,290,3233,0,0,0,0,0,0
$GC,1287,-0.68,-116.8,178.4,-11.4,130,1291,0.00,2.30,0.00,0.000,6,0.000,0.034,3057,1912,3235,0,0,0,0,0,0
$GC,1547,-0.68,-116.8,205.0,-9.8,152,1551,0.00,2.35,0.00,0.000,4,0.000,0.043,3057,295,3234,0,0,0,0,0,0
$GC,1601,-0.68,-116.8,210.8,-10.6,154,1607,0.00,2.30,0.00,0.000,6,0.000,0.033,3046,1904,3234,0,0,0,0,0,0
$GC,1917,-0.68,-116.8,243.6,-9.6,170,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1901,3234,0,0,0,0,0,0
$GC,2227,-0.68,-116.8,269.0,-7.7,185,2231,0.00,2.33,0.00,0.000,4,0.000,0.043,3046,287,3234,0,0,0,0,0,0
$GC,2292,-0.68,-116.8,274.9,-9.3,188,2297,0.08,2.30,0.00,0.000,6,0.116,0.033,3067,1896,3234,0,0,0,0,0,0
$GC,2619,-0.68,-116.8,297.9,-6.5,204,2623,0.00,2.35,0.00,0.000,4,0.000,0.044,3067,292,3233,0,0,0,0,0,0
$GC,2673,-0.68,-116.8,301.7,-7.0,206,2677,0.00,2.30,0.00,0.000,6,0.000,0.033,3058,1901,3233,0,0,0,0,0,0
$GC,2987,-0.68,-116.8,321.2,-6.4,214,2991,0.00,2.38,0.00,0.000,4,0.000,0.044,3058,286,3231,0,0,0,0,0,0
$GC,3025,-0.68,-116.8,323.9,-7.1,215,3029,0.00,2.30,0.00,0.000,6,0.000,0.035,3056,1906,3231,0,0,0,0,0,0
$GC,3349,-0.68,-116.8,345.2,-6.8,223,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1907,3229,0,0,0,0,0,0
$GC,3674,-0.68,-116.8,370.2,-7.9,231,3678,0.00,2.35,0.00,0.000,4,0.000,0.045,3052,297,3230,0,0,0,0,0,0
$GC,3785,-0.68,-116.8,380.0,-8.9,233,3790,0.00,2.30,0.00,0.000,6,0.000,0.034,3045,1902,3227,0,0,0,0,0,0
$GC,4128,-0.68,-116.8,405.8,-7.4,242,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1902,3223,0,0,0,0,0,0
$GC,4453,-0.68,-116.8,428.6,-7.0,250,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1902,3221,0,0,0,0,0,0
$GC,4777,-0.68,-116.8,453.8,-8.3,258,4781,0.00,2.38,0.00,0.000,4,0.000,0.046,3045,295,3224,0,0,0,0,0,0
$GC,4871,-0.68,-116.8,462.3,-8.4,260,4877,0.08,2.30,0.00,0.000,6,0.110,0.035,3066,1896,3221,0,0,0,0,0,0
$GC,5196,-0.68,-116.8,482.1,-6.1,268,5200,0.00,2.33,0.00,0.000,4,0.000,0.046,3067,293,3216,0,0,0,0,0,0
$GC,5223,-0.68,-116.8,484.1,-7.2,268,5227,0.00,2.33,0.00,0.000,6,0.000,0.035,3061,1900,3215,0,0,0,0,0,0
$STATE,5523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5523,begin apogee
$GC,5528,-0.23,0.0,501.2,5.6,276,5618,0.45,0.00,87.43,0.924,6,0.097,0.000,3219,2023,2750,0,0,0,0,0,0
$STATE,5665,end apogee,CONTROL_FINISHED_OK
$STATE,5665,begin climb
$GC,5667,0.68,116.8,503.6,0.0,278,5774,0.73,2.45,97.07,0.904,4,0.041,0.047,3533,3555,2272,0,0,0,0,0,0
$GC,5836,0.68,116.8,503.1,11.6,282,5841,0.12,2.38,0.00,0.000,6,0.179,0.035,3514,1977,2264,0,0,0,0,0,0
$GC,6159,0.68,116.8,473.9,8.2,290,6163,0.00,2.33,0.00,0.000,4,0.000,0.046,3525,411,2256,0,0,0,0,0,0
$GC,6225,0.68,116.8,468.3,8.2,291,6230,0.00,2.33,0.00,0.000,6,0.000,0.036,3525,1988,2256,0,0,0,0,0,0
$GC,6568,0.70,130.9,441.4,7.4,300,6582,0.00,2.35,9.45,0.792,4,0.000,0.047,3537,411,2216,0,0,0,0,0,0
$GC,6727,0.70,130.9,426.5,8.8,303,6732,0.00,2.35,0.00,0.000,6,0.000,0.037,3537,2004,2215,0,0,0,0,0,0
$GC,7070,0.70,130.9,394.8,9.3,312,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2004,2212,0,0,0,0,0,0
$GC,7395,0.70,130.9,362.4,9.9,320,7399,0.00,2.35,0.00,0.000,4,0.000,0.047,3548,413,2211,0,0,0,0,0,0
$GC,7584,0.70,130.9,343.4,10.8,324,7590,0.10,2.33,0.00,0.000,6,0.152,0.037,3515,2008,2210,0,0,0,0,0,0
$GC,7897,0.74,163.4,320.1,6.5,332,7930,0.00,2.42,26.42,0.808,4,0.000,0.047,3515,3587,2085,0,0,0,0,0,0
$GC,8037,0.74,163.4,309.4,8.9,335,8042,0.00,2.35,0.00,0.000,6,0.000,0.035,3526,1996,2080,0,0,0,0,0,0
$GC,8358,0.74,163.4,284.5,8.9,347,8362,0.00,2.30,0.00,0.000,4,0.000,0.045,3540,419,2077,0,0,0,0,0,0
$GC,8532,0.74,163.4,268.5,8.6,355,8536,0.00,2.30,0.00,0.000,6,0.000,0.036,3538,2010,2075,0,0,0,0,0,0
$GC,8863,0.74,163.4,238.7,9.5,371,8867,0.00,2.30,0.00,0.000,4,0.000,0.046,3536,3588,2074,0,0,0,0,0,0
$GC,8951,0.74,163.4,229.1,10.5,375,8955,0.00,2.33,0.00,0.000,6,0.000,0.033,3550,1994,2074,0,0,0,0,0,0
$GC,9268,0.74,163.4,197.9,8.5,391,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1994,2073,0,0,0,0,0,0
$GC,9522,0.74,163.4,176.9,8.5,415,9526,0.00,2.30,0.00,0.000,4,0.000,0.044,3550,3583,2073,0,0,0,0,0,0
$GC,9566,0.74,163.4,173.0,9.2,418,9573,0.12,2.30,0.00,0.000,6,0.178,0.033,3529,1983,2073,0,0,0,0,0,0
$GC,9829,0.77,192.6,155.1,6.7,443,9860,0.00,2.33,23.58,0.669,4,0.000,0.044,3539,429,1963,0,0,0,0,0,0
$GC,9882,0.77,192.6,151.2,8.2,448,9887,0.00,2.25,0.00,0.000,6,0.000,0.034,3539,1997,1961,0,0,0,0,0,0
$GC,10143,0.77,192.6,129.1,8.6,472,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1995,1959,0,0,0,0,0,0
$GC,10398,0.78,197.8,108.1,7.8,496,10408,0.00,0.00,5.00,0.481,6,0.000,0.000,3539,1997,1943,0,0,0,0,0,0
$GC,10663,0.84,245.9,90.8,5.8,521,10708,0.00,2.38,39.08,0.601,4,0.000,0.044,3550,428,1749,0,0,0,0,0,0
$GC,10830,0.84,245.9,76.8,10.5,536,10836,0.00,2.30,0.00,0.000,6,0.000,0.032,3550,1995,1742,0,0,0,0,0,0
$GC,11091,0.84,245.9,51.8,10.2,561,11095,0.00,2.33,0.00,0.000,4,0.000,0.042,3562,411,1741,0,0,0,0,0,0
$GC,11130,0.84,245.9,47.8,10.0,564,11134,0.00,2.28,0.00,0.000,6,0.000,0.032,3562,2015,1741,0,0,0,0,0,0
$GC,11394,0.84,245.9,21.7,11.3,595,11400,0.00,2.33,0.00,0.000,4,0.000,0.044,3571,413,1740,0,0,0,0,0,0
$GC,11462,0.84,245.9,14.2,11.1,607,11467,0.00,2.28,0.00,0.000,6,0.000,0.032,3573,2005,1740,0,0,0,0,0,0
$STATE,11568,end climb,SURFACE_DEPTH_REACHED
$STATE,11568,begin surface coast
$FINISH,0.3,1.023118
$STATE,11591,end surface coast,CONTROL_FINISHED_OK
$STATE,11591,begin surface
$SM_CCo,11675,72.03,0.073,0,0,1159,390.02
$SM_GC,1.13,0.00,0.00,72.03,0.000,0.000,0.073,125,1887,1159,-9.89,-0.37,390.02
$IRIDIUM_FIX,2036.38,-15754.37,150312,202053
$TT8_MAMPS,0.151099
$HUMID,1078712893
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,5
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8412430336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57429688320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,7.885
$10V_AH,10.2,6.855
$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,21.950,107.450,288.025,72.025,0.000,52.911,54.072,496.678,1.250,0.000,13.216,1180.868,8625.023,453.057,2140.984,194.928,33.326,1220.890,0.000,1362.279,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,92.807,924.235,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,426.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23429,630
$CAP_FILE_SIZE,120324,0
$CFSIZE,260165632,232636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,052007,2044.908,-15753.908,40,0.9,41,9.8