version: 66.07
glider: 500
mission: 7
dive: 34
start: 9 18 110 20 54 3
data:
$ID,500
$MISSION,7
$DIVE,34
$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,-115941.52
$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,5
$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,33
$AR_SAMPLENUM,13
$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
$GPS1,180910,204455,2104.771,-15751.684,39,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.9
$GPS2,180910,205308,2104.718,-15751.754,8,1.7,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.010
$KALMAN_X,-14933.6,60.3,235.6,15246.4,-2180.7
$KALMAN_Y,292.7,-70.9,-67.2,-18199.9,-257.7
$MHEAD_RNG_PITCHd_Wd,77.5,77803,-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,25,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.62,0.000,2,0.000,0.000,128,1914,2818,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.1,-6.0,12,118,11.43,2.40,-7.75,0.000,4,0.238,0.056,3060,287,3230,0,0,0,0,0,0
$GC,129,-0.68,-116.8,16.1,-33.0,19,135,0.00,2.40,0.00,0.000,6,0.000,0.035,3050,1929,3231,0,0,0,0,0,0
$GC,330,-0.68,-116.8,53.5,-17.9,44,334,0.00,2.30,0.00,0.000,4,0.000,0.045,3038,3484,3232,0,0,0,0,0,0
$GC,346,-0.68,-116.8,56.4,-17.5,45,351,0.12,2.30,0.00,0.000,6,0.143,0.031,3075,1868,3232,0,0,0,0,0,0
$GC,608,-0.68,-116.8,93.4,-12.2,69,612,0.00,2.25,0.00,0.000,4,0.000,0.044,3075,321,3232,0,0,0,0,0,0
$GC,736,-0.68,-116.8,110.7,-13.5,80,741,0.00,2.25,0.00,0.000,6,0.000,0.034,3069,1912,3231,0,0,0,0,0,0
$GC,997,-0.68,-116.8,142.0,-10.2,104,1001,0.00,2.30,0.00,0.000,4,0.000,0.044,3056,3484,3235,0,0,0,0,0,0
$GC,1052,-0.68,-116.8,147.4,-9.4,108,1058,0.00,2.28,0.00,0.000,6,0.000,0.030,3056,1901,3235,0,0,0,0,0,0
$GC,1313,-0.68,-116.8,171.8,-9.8,133,1317,0.00,2.28,0.00,0.000,4,0.000,0.044,3055,312,3234,0,0,0,0,0,0
$GC,1413,-0.68,-116.8,183.2,-11.4,141,1419,0.00,2.28,0.00,0.000,6,0.000,0.033,3047,1903,3235,0,0,0,0,0,0
$GC,1671,-0.68,-116.8,210.3,-9.8,161,1675,0.00,2.28,0.00,0.000,4,0.000,0.043,3051,312,3238,0,0,0,0,0,0
$GC,1725,-0.68,-116.8,216.4,-11.2,163,1732,0.08,2.28,0.00,0.000,6,0.117,0.034,3065,1903,3237,0,0,0,0,0,0
$GC,2041,-0.68,-116.8,238.2,-6.5,179,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1903,3237,0,0,0,0,0,0
$GC,2350,-0.68,-116.8,261.5,-8.0,194,2354,0.00,2.28,0.00,0.000,4,0.000,0.043,3069,317,3237,0,0,0,0,0,0
$GC,2389,-0.68,-116.8,264.7,-8.7,196,2393,0.00,2.22,0.00,0.000,6,0.000,0.034,3059,1914,3237,0,0,0,0,0,0
$GC,2716,-0.68,-116.8,293.2,-8.5,212,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1914,3237,0,0,0,0,0,0
$GC,3021,-0.68,-116.8,314.8,-7.1,222,3025,0.00,2.30,0.00,0.000,4,0.000,0.044,3059,320,3237,0,0,0,0,0,0
$GC,3098,-0.68,-116.8,321.2,-8.4,223,3102,0.00,2.25,0.00,0.000,6,0.000,0.033,3048,1896,3236,0,0,0,0,0,0
$GC,3435,-0.68,-116.8,345.4,-7.0,232,3439,0.00,2.30,0.00,0.000,4,0.000,0.044,3048,315,3233,0,0,0,0,0,0
$GC,3474,-0.68,-116.8,348.4,-7.5,233,3479,0.12,2.22,0.00,0.000,6,0.136,0.035,3081,1902,3236,0,0,0,0,0,0
$GC,3798,-0.68,-116.8,361.1,-3.7,241,3802,0.00,2.30,0.00,0.000,4,0.000,0.045,3078,320,3231,0,0,0,0,0,0
$GC,3853,-0.68,-116.8,363.6,-4.5,242,3857,0.00,2.25,0.00,0.000,6,0.000,0.034,3069,1894,3230,0,0,0,0,0,0
$GC,4166,-0.68,-116.8,379.6,-5.5,250,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1894,3228,0,0,0,0,0,0
$GC,4490,-0.68,-116.8,398.5,-5.7,258,4495,0.00,2.30,0.00,0.000,4,0.000,0.046,3069,317,3226,0,0,0,0,0,0
$GC,4540,-0.68,-116.8,401.8,-6.9,259,4544,0.00,2.25,0.00,0.000,6,0.000,0.035,3058,1896,3226,0,0,0,0,0,0
$GC,4853,-0.68,-116.8,419.1,-5.2,267,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1896,3222,0,0,0,0,0,0
$GC,5178,-0.68,-116.8,435.3,-5.2,275,5182,0.00,2.33,0.00,0.000,4,0.000,0.047,3058,323,3220,0,0,0,0,0,0
$GC,5243,-0.68,-116.8,440.0,-7.5,276,5248,0.00,2.25,0.00,0.000,6,0.000,0.036,3048,1905,3220,0,0,0,0,0,0
$GC,5585,-0.68,-116.8,466.1,-8.2,285,5589,0.00,2.30,0.00,0.000,4,0.000,0.047,3049,318,3218,0,0,0,0,0,0
$GC,5663,-0.68,-116.8,473.6,-9.7,286,5669,0.12,2.25,0.00,0.000,6,0.134,0.036,3077,1899,3221,0,0,0,0,0,0
$GC,5994,-0.68,-116.8,497.2,-6.9,295,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1899,3216,0,0,0,0,0,0
$STATE,6073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6073,begin apogee
$GC,6078,-0.23,0.0,502.6,6.7,297,6170,0.38,0.00,88.70,0.924,6,0.097,0.000,3214,2025,2753,0,0,0,0,0,0
$STATE,6195,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6197,0.68,116.8,506.1,0.0,299,6300,0.75,0.00,99.05,0.905,6,0.044,0.000,3525,2025,2274,0,0,0,0,0,0
$GC,6608,0.69,128.7,492.1,7.5,310,6622,0.00,2.47,9.20,0.786,4,0.000,0.048,3541,419,2225,0,0,0,0,0,0
$GC,6672,0.69,128.7,486.4,9.6,311,6677,0.00,2.33,0.00,0.000,6,0.000,0.038,3541,1973,2223,0,0,0,0,0,0
$GC,7020,0.69,128.7,449.5,11.1,320,7024,0.00,2.33,0.00,0.000,4,0.000,0.048,3552,416,2220,0,0,0,0,0,0
$GC,7203,0.69,128.7,427.2,12.0,324,7209,0.10,2.35,0.00,0.000,6,0.152,0.038,3518,2005,2220,0,0,0,0,0,0
$GC,7522,0.69,128.7,393.5,10.9,332,7526,0.00,2.35,0.00,0.000,4,0.000,0.047,3530,416,2219,0,0,0,0,0,0
$GC,7549,0.69,128.7,390.6,10.1,332,7553,0.00,2.33,0.00,0.000,6,0.000,0.038,3531,1994,2219,0,0,0,0,0,0
$GC,7891,0.69,128.7,357.5,9.4,341,7895,0.00,2.38,0.00,0.000,4,0.000,0.048,3531,3585,2220,0,0,0,0,0,0
$GC,7962,0.69,128.7,350.8,8.9,342,7967,0.00,2.28,0.00,0.000,6,0.000,0.035,3543,1997,2215,0,0,0,0,0,0
$GC,8299,0.72,148.1,326.0,7.1,351,8318,0.00,0.00,16.90,0.791,6,0.000,0.000,3543,2000,2146,0,0,0,0,0,0
$GC,8624,0.72,148.1,299.3,8.4,359,8628,0.00,2.33,0.00,0.000,4,0.000,0.047,3555,418,2140,0,0,0,0,0,0
$GC,8842,0.72,148.1,276.6,11.3,369,8847,0.12,2.28,0.00,0.000,6,0.169,0.038,3522,2005,2143,0,0,0,0,0,0
$GC,9168,0.80,216.5,253.7,4.8,385,9231,0.00,2.47,55.65,0.763,4,0.000,0.048,3522,3588,1866,0,0,0,0,0,0
$GC,9315,0.80,216.5,242.4,10.3,392,9320,0.00,2.35,0.00,0.000,6,0.000,0.035,3530,1995,1858,0,0,0,0,0,0
$GC,9642,0.80,216.5,205.4,12.2,408,9646,0.00,2.33,0.00,0.000,4,0.000,0.046,3544,418,1855,0,0,0,0,0,0
$GC,9853,0.80,216.5,176.3,11.9,425,9860,0.00,2.33,0.00,0.000,6,0.000,0.035,3544,1995,1853,0,0,0,0,0,0
$GC,10116,0.80,216.5,148.5,11.5,450,10120,0.00,2.33,0.00,0.000,4,0.000,0.045,3557,416,1853,0,0,0,0,0,0
$GC,10244,0.80,216.5,133.0,11.1,461,10248,0.00,2.28,0.00,0.000,6,0.000,0.035,3556,2009,1851,0,0,0,0,0,0
$GC,10506,0.80,216.5,108.6,9.7,485,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2009,1852,0,0,0,0,0,0
$GC,10759,0.80,217.4,87.9,8.0,509,10763,0.00,2.30,0.00,0.000,4,0.000,0.046,3556,3594,1852,0,0,0,0,0,0
$GC,10814,0.80,217.4,82.6,9.1,513,10820,0.00,2.28,0.00,0.000,6,0.000,0.033,3567,1991,1854,0,0,0,0,0,0
$GC,11076,0.80,217.4,59.5,10.7,538,11080,0.00,2.25,0.00,0.000,4,0.000,0.044,3579,424,1852,0,0,0,0,0,0
$GC,11205,0.80,217.4,45.4,10.1,549,11209,0.12,2.25,0.00,0.000,6,0.163,0.035,3544,2001,1852,0,0,0,0,0,0
$GC,11468,0.81,225.9,24.3,7.6,579,11479,0.00,0.00,6.65,0.459,6,0.000,0.000,3545,2001,1827,0,0,0,0,0,0
$GC,11681,0.81,225.9,8.1,8.9,617,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2002,1830,0,0,0,0,0,0
$STATE,11740,end climb,SURFACE_DEPTH_REACHED
$STATE,11740,begin surface coast
$FINISH,0.2,1.000585
$STATE,11775,end surface coast,CONTROL_FINISHED_OK
$STATE,11775,begin surface
$SM_CCo,11839,88.85,0.074,0,0,1162,390.02
$SM_GC,0.89,0.00,0.00,88.85,0.000,0.000,0.074,140,1875,1162,-9.84,-0.74,390.02
$IRIDIUM_FIX,2057.14,-15751.76,130312,111131
$TT8_MAMPS,0.263081
$HUMID,1078625152
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8425766912
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58683031552
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,5.014
$10V_AH,10.3,4.171
$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,21.925,106.175,276.150,88.850,0.000,25.340,28.848,292.465,0.000,0.000,10.541,1192.373,8762.695,497.526,1809.893,171.363,33.361,1230.244,0.000,1333.024,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,93.574,924.235,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,428.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334944
$DATA_FILE_SIZE,23469,634
$CAP_FILE_SIZE,113232,0
$CFSIZE,260165632,234627072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,001425,2104.341,-15751.361,39,1.0,40,9.8