version: 66.07
glider: 500
mission: 7
dive: 80
start: 9 21 110 5 32 9
data:
$ID,500
$MISSION,7
$DIVE,80
$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,-116909.48
$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,79
$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
$GPS1,210910,052007,2044.908,-15753.908,40,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.2
$GPS2,210910,053114,2044.831,-15754.048,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.043
$KALMAN_X,-44049.1,7102.6,-163.6,33748.4,-8279.0
$KALMAN_Y,23636.6,-6933.0,-59.3,-71512.1,6080.5
$MHEAD_RNG_PITCHd_Wd,68.9,8149,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-65.97,0.000,2,0.000,0.000,123,1888,2980,0,0,0,0,0,0
$GC,97,-0.68,-116.8,3.9,-7.7,13,119,11.52,2.38,-4.28,0.000,4,0.239,0.053,3062,287,3228,0,0,0,0,0,0
$GC,221,-0.68,-116.8,36.2,-17.4,32,226,0.00,2.35,0.00,0.000,6,0.000,0.035,3052,1922,3230,0,0,0,0,0,0
$GC,481,-0.68,-116.8,77.3,-15.2,56,485,0.00,2.38,0.00,0.000,4,0.000,0.043,3051,291,3231,0,0,0,0,0,0
$GC,514,-0.68,-116.8,82.8,-16.7,58,520,0.10,2.30,0.00,0.000,6,0.160,0.033,3068,1914,3231,0,0,0,0,0,0
$GC,775,-0.68,-116.8,115.9,-11.2,83,779,0.00,2.35,0.00,0.000,4,0.000,0.043,3069,289,3232,0,0,0,0,0,0
$GC,848,-0.68,-116.8,124.1,-10.3,89,852,0.00,2.28,0.00,0.000,6,0.000,0.034,3069,1901,3232,0,0,0,0,0,0
$GC,1113,-0.68,-116.8,148.7,-8.1,114,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1901,3234,0,0,0,0,0,0
$GC,1368,-0.68,-116.8,172.9,-9.7,138,1372,0.00,2.33,0.00,0.000,4,0.000,0.043,3069,295,3235,0,0,0,0,0,0
$GC,1429,-0.68,-116.8,179.0,-10.1,143,1433,0.00,2.25,0.00,0.000,6,0.000,0.033,3057,1904,3238,0,0,0,0,0,0
$GC,1688,-0.68,-116.8,204.7,-9.8,165,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1905,3235,0,0,0,0,0,0
$GC,1998,-0.68,-116.8,232.0,-8.6,180,2002,0.00,2.33,0.00,0.000,4,0.000,0.043,3058,292,3236,0,0,0,0,0,0
$GC,2046,-0.68,-116.8,237.0,-10.2,182,2051,0.00,2.30,0.00,0.000,6,0.000,0.033,3048,1910,3235,0,0,0,0,0,0
$GC,2367,-0.68,-116.8,265.7,-8.7,198,2371,0.00,2.38,0.00,0.000,4,0.000,0.044,3048,288,3235,0,0,0,0,0,0
$GC,2422,-0.68,-116.8,271.1,-9.2,200,2429,0.12,2.28,0.00,0.000,6,0.135,0.033,3078,1909,3235,0,0,0,0,0,0
$GC,2738,-0.68,-116.8,291.8,-6.4,216,2742,0.00,2.38,0.00,0.000,4,0.000,0.044,3083,288,3234,0,0,0,0,0,0
$GC,2798,-0.68,-116.8,296.5,-8.5,219,2802,0.00,2.28,0.00,0.000,6,0.000,0.033,3069,1903,3234,0,0,0,0,0,0
$GC,3141,-0.68,-116.8,322.3,-7.8,229,3145,0.00,2.33,0.00,0.000,4,0.000,0.044,3070,290,3232,0,0,0,0,0,0
$GC,3189,-0.68,-116.8,326.8,-8.8,230,3194,0.00,2.30,0.00,0.000,6,0.000,0.035,3069,1897,3233,0,0,0,0,0,0
$GC,3509,-0.68,-116.8,350.6,-7.0,238,3513,0.00,2.33,0.00,0.000,4,0.000,0.044,3069,298,3230,0,0,0,0,0,0
$GC,3546,-0.68,-116.8,353.6,-8.1,238,3553,0.00,2.30,0.00,0.000,6,0.000,0.033,3057,1899,3230,0,0,0,0,0,0
$GC,3878,-0.68,-116.8,377.7,-7.4,247,3882,0.00,2.33,0.00,0.000,4,0.000,0.044,3062,289,3227,0,0,0,0,0,0
$GC,3904,-0.68,-116.8,379.9,-8.5,247,3908,0.00,2.33,0.00,0.000,6,0.000,0.034,3047,1909,3227,0,0,0,0,0,0
$GC,4241,-0.68,-116.8,405.7,-7.8,256,4245,0.00,2.35,0.00,0.000,4,0.000,0.045,3047,300,3225,0,0,0,0,0,0
$GC,4290,-0.68,-116.8,410.1,-8.8,257,4295,0.08,2.30,0.00,0.000,6,0.106,0.034,3069,1903,3224,0,0,0,0,0,0
$GC,4610,-0.68,-116.8,432.3,-6.9,265,4614,0.00,2.33,0.00,0.000,4,0.000,0.045,3069,298,3222,0,0,0,0,0,0
$GC,4641,-0.68,-116.8,434.6,-7.2,265,4648,0.00,2.30,0.00,0.000,6,0.000,0.034,3059,1902,3221,0,0,0,0,0,0
$GC,4973,-0.68,-116.8,454.9,-6.0,274,4977,0.00,2.35,0.00,0.000,4,0.000,0.045,3059,298,3220,0,0,0,0,0,0
$GC,5029,-0.68,-116.8,458.1,-5.9,275,5033,0.00,2.28,0.00,0.000,6,0.000,0.035,3048,1906,3220,0,0,0,0,0,0
$GC,5376,-0.68,-116.8,476.1,-5.3,284,5380,0.00,2.38,0.00,0.000,4,0.000,0.047,3048,291,3218,0,0,0,0,0,0
$GC,5464,-0.68,-116.8,482.4,-7.6,286,5469,0.12,2.28,0.00,0.000,6,0.133,0.035,3077,1903,3217,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5786,begin apogee
$GC,5792,-0.23,0.0,501.5,6.0,294,5882,0.38,0.00,88.07,0.925,6,0.093,0.000,3215,2008,2750,0,0,0,0,0,0
$STATE,5929,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5931,0.68,116.8,504.8,0.0,296,6038,0.75,2.55,97.28,0.905,4,0.042,0.046,3548,404,2274,0,0,0,0,0,0
$GC,6060,0.77,193.7,511.3,4.4,299,6130,0.00,2.42,62.90,0.889,6,0.000,0.035,3548,1987,1962,0,0,0,0,0,0
$GC,6461,0.77,193.7,458.8,14.2,309,6465,0.00,2.38,0.00,0.000,4,0.000,0.046,3560,392,1950,0,0,0,0,0,0
$GC,6548,0.77,193.7,444.7,16.5,311,6553,0.00,2.40,0.00,0.000,6,0.000,0.037,3560,2003,1947,0,0,0,0,0,0
$GC,6873,0.77,193.7,396.8,13.7,319,6877,0.00,2.35,0.00,0.000,4,0.000,0.048,3560,3586,1947,0,0,0,0,0,0
$GC,6912,0.77,193.7,391.0,15.6,320,6917,0.12,2.35,0.00,0.000,6,0.179,0.036,3540,1965,1946,0,0,0,0,0,0
$GC,7235,0.77,193.7,347.9,13.3,328,7239,0.00,2.28,0.00,0.000,4,0.000,0.047,3550,419,1945,0,0,0,0,0,0
$GC,7357,0.77,193.7,331.8,13.2,330,7361,0.00,2.28,0.00,0.000,6,0.000,0.036,3550,1999,1943,0,0,0,0,0,0
$GC,7674,0.77,193.7,291.7,12.2,340,7678,0.00,2.33,0.00,0.000,4,0.000,0.046,3562,423,1944,0,0,0,0,0,0
$GC,7789,0.77,193.7,277.3,11.5,345,7794,0.00,2.33,0.00,0.000,6,0.000,0.036,3562,2008,1943,0,0,0,0,0,0
$GC,8111,0.77,193.7,239.1,12.1,361,8115,0.00,2.30,0.00,0.000,4,0.000,0.046,3573,422,1943,0,0,0,0,0,0
$GC,8138,0.77,193.7,235.7,12.4,362,8143,0.10,2.30,0.00,0.000,6,0.151,0.037,3539,1997,1944,0,0,0,0,0,0
$GC,8459,0.77,193.7,200.8,10.2,378,8463,0.00,2.30,0.00,0.000,4,0.000,0.048,3545,3587,1942,0,0,0,0,0,0
$GC,8543,0.77,193.7,192.2,11.6,385,8548,0.00,2.28,0.00,0.000,6,0.000,0.035,3550,1995,1943,0,0,0,0,0,0
$GC,8804,0.77,193.7,165.1,10.7,409,8809,0.00,2.28,0.00,0.000,4,0.000,0.045,3563,414,1943,0,0,0,0,0,0
$GC,8963,0.77,193.7,146.1,12.2,422,8969,0.00,2.28,0.00,0.000,6,0.000,0.035,3562,2009,1942,0,0,0,0,0,0
$GC,9225,0.77,193.7,120.5,10.7,447,9229,0.00,2.30,0.00,0.000,4,0.000,0.046,3563,3586,1943,0,0,0,0,0,0
$GC,9308,0.77,193.7,110.6,11.9,454,9313,0.12,2.25,0.00,0.000,6,0.177,0.033,3541,1998,1943,0,0,0,0,0,0
$GC,9569,0.82,234.5,88.8,6.1,478,9605,0.00,2.30,30.95,0.607,4,0.000,0.041,3552,422,1793,0,0,0,0,0,0
$GC,9763,0.82,234.5,71.8,10.7,495,9767,0.00,2.28,0.00,0.000,6,0.000,0.033,3549,1994,1786,0,0,0,0,0,0
$GC,10024,0.82,234.5,47.3,8.6,519,10028,0.00,2.28,0.00,0.000,4,0.000,0.043,3563,421,1786,0,0,0,0,0,0
$GC,10107,0.82,234.5,38.9,10.8,526,10111,0.00,2.28,0.00,0.000,6,0.000,0.033,3563,2012,1786,0,0,0,0,0,0
$GC,10377,0.82,234.5,14.4,9.3,565,10382,0.00,2.30,0.00,0.000,4,0.000,0.044,3563,3592,1785,0,0,0,0,0,0
$GC,10438,0.82,234.5,7.7,11.4,576,10444,0.00,2.28,0.00,0.000,6,0.000,0.031,3574,1994,1786,0,0,0,0,0,0
$STATE,10481,end climb,SURFACE_DEPTH_REACHED
$STATE,10481,begin surface coast
$FINISH,0.3,1.023156
$STATE,10511,end surface coast,CONTROL_FINISHED_OK
$STATE,10511,begin surface
$SM_CCo,10581,83.82,0.459,1,0,1159,390.02
$SM_GC,1.16,0.00,0.00,83.82,0.000,0.000,0.459,132,1890,1159,-9.86,-0.31,390.02
$IRIDIUM_FIX,2036.38,-15756.50,150312,202000
$TT8_MAMPS,0.058292
$HUMID,1078706442
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.60
$XPDR_PINGS,57
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8438906880
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57334136832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,7.998
$10V_AH,10.1,7.397
$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,22.000,120.800,279.200,83.825,0.000,26.095,27.764,449.572,14.250,0.000,15.584,1118.458,7642.763,466.997,1936.530,182.521,33.349,1196.279,0.000,1270.768,0.000,0.541,0.000
$DEVICE_MAMPS,238.537,106.613,925.002,458.666,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.267,0.000,0.000,0.000,0.000,0.000,0.000,58132.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.394,0.000,0.000
$MEM,334996
$DATA_FILE_SIZE,20065,589
$CAP_FILE_SIZE,114106,0
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210910,083130,2045.157,-15753.111,40,1.3,40,9.8