version: 66.07
glider: 500
mission: 7
dive: 81
start: 9 21 110 8 49 33
data:
$ID,500
$MISSION,7
$DIVE,81
$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,-116926.04
$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,80
$AR_SAMPLENUM,10
$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
$GPS1,210910,083130,2045.157,-15753.111,40,1.3,40,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.3
$GPS2,210910,084838,2045.097,-15753.340,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.166
$KALMAN_X,-42878.1,5027.5,571.2,35124.1,-7513.5
$KALMAN_Y,21785.1,-5515.6,-809.2,-69820.9,6785.9
$MHEAD_RNG_PITCHd_Wd,129.6,7829,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-60.42,0.000,2,0.000,0.000,125,1891,2819,0,0,0,0,0,0
$GC,92,-0.68,-116.8,3.3,-6.8,12,118,11.40,2.38,-7.53,0.000,4,0.235,0.054,3063,304,3232,0,0,0,0,0,0
$GC,168,-0.68,-116.8,23.8,-16.8,26,174,0.00,2.35,0.00,0.000,6,0.000,0.034,3054,1923,3234,0,0,0,0,0,0
$GC,373,-0.68,-116.8,55.8,-15.5,49,377,0.00,2.40,0.00,0.000,4,0.000,0.043,3054,291,3233,0,0,0,0,0,0
$GC,394,-0.68,-116.8,59.4,-16.6,50,400,0.00,2.33,0.00,0.000,6,0.000,0.032,3042,1901,3233,0,0,0,0,0,0
$GC,655,-0.68,-116.8,99.6,-13.9,75,659,0.00,2.38,0.00,0.000,4,0.000,0.043,3042,293,3232,0,0,0,0,0,0
$GC,765,-0.68,-116.8,115.7,-15.7,84,772,0.10,2.30,0.00,0.000,6,0.119,0.032,3069,1894,3234,0,0,0,0,0,0
$GC,1028,-0.68,-116.8,145.4,-11.1,109,1032,0.00,2.33,0.00,0.000,4,0.000,0.043,3070,290,3237,0,0,0,0,0,0
$GC,1060,-0.68,-116.8,149.5,-12.0,111,1066,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,1894,3234,0,0,0,0,0,0
$GC,1322,-0.68,-116.8,175.6,-9.2,136,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1895,3235,0,0,0,0,0,0
$GC,1576,-0.68,-116.8,197.8,-9.0,160,1580,0.00,2.30,0.00,0.000,4,0.000,0.043,3069,293,3236,0,0,0,0,0,0
$GC,1639,-0.68,-116.8,203.8,-9.6,164,1643,0.00,2.28,0.00,0.000,6,0.000,0.033,3055,1917,3235,0,0,0,0,0,0
$GC,1964,-0.68,-116.8,233.3,-8.8,180,1968,0.00,2.35,0.00,0.000,4,0.000,0.043,3059,293,3235,0,0,0,0,0,0
$GC,1986,-0.68,-116.8,235.2,-8.4,181,1990,0.00,2.25,0.00,0.000,6,0.000,0.033,3048,1901,3235,0,0,0,0,0,0
$GC,2312,-0.68,-116.8,262.4,-7.6,197,2317,0.00,2.33,0.00,0.000,4,0.000,0.043,3048,297,3235,0,0,0,0,0,0
$GC,2374,-0.68,-116.8,267.6,-8.8,200,2379,0.12,2.28,0.00,0.000,6,0.134,0.033,3077,1905,3233,0,0,0,0,0,0
$GC,2700,-0.68,-116.8,289.0,-6.6,216,2704,0.00,2.33,0.00,0.000,4,0.000,0.044,3078,288,3234,0,0,0,0,0,0
$GC,2754,-0.68,-116.8,293.3,-7.5,218,2760,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,1897,3233,0,0,0,0,0,0
$GC,3067,-0.68,-116.8,317.1,-7.9,229,3071,0.00,2.30,0.00,0.000,4,0.000,0.043,3069,295,3232,0,0,0,0,0,0
$GC,3144,-0.68,-116.8,323.9,-8.2,230,3150,0.00,2.30,0.00,0.000,6,0.000,0.033,3059,1900,3231,0,0,0,0,0,0
$GC,3476,-0.68,-116.8,348.6,-7.2,239,3480,0.00,2.35,0.00,0.000,4,0.000,0.044,3059,299,3229,0,0,0,0,0,0
$GC,3541,-0.68,-116.8,354.3,-8.5,240,3546,0.00,2.30,0.00,0.000,6,0.000,0.033,3048,1903,3228,0,0,0,0,0,0
$GC,3884,-0.68,-116.8,378.9,-6.8,249,3888,0.00,2.33,0.00,0.000,4,0.000,0.044,3048,297,3226,0,0,0,0,0,0
$GC,3951,-0.68,-116.8,384.0,-7.9,250,3956,0.12,2.28,0.00,0.000,6,0.133,0.034,3078,1914,3225,0,0,0,0,0,0
$GC,4287,-0.68,-116.8,403.1,-5.7,259,4291,0.00,2.38,0.00,0.000,4,0.000,0.045,3078,287,3224,0,0,0,0,0,0
$GC,4336,-0.68,-116.8,406.4,-7.1,260,4340,0.00,2.30,0.00,0.000,6,0.000,0.034,3069,1918,3221,0,0,0,0,0,0
$GC,4655,-0.68,-116.8,427.7,-6.8,268,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1927,3219,0,0,0,0,0,0
$GC,4979,-0.68,-116.8,448.0,-6.0,276,4983,0.00,2.35,0.00,0.000,4,0.000,0.045,3069,301,3218,0,0,0,0,0,0
$GC,5068,-0.68,-116.8,454.4,-7.8,278,5072,0.00,2.28,0.00,0.000,6,0.000,0.035,3058,1903,3218,0,0,0,0,0,0
$GC,5391,-0.68,-116.8,476.2,-6.7,286,5395,0.00,2.35,0.00,0.000,4,0.000,0.046,3054,302,3216,0,0,0,0,0,0
$GC,5474,-0.68,-116.8,482.3,-7.4,288,5479,0.00,2.28,0.00,0.000,6,0.000,0.035,3046,1912,3215,0,0,0,0,0,0
$STATE,5755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5755,begin apogee
$GC,5761,-0.23,0.0,500.6,6.4,295,5851,0.47,0.00,87.65,0.921,6,0.096,0.000,3217,2013,2751,0,0,0,0,0,0
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5900,0.68,116.8,502.4,0.0,297,6005,0.73,2.58,97.95,0.899,4,0.038,0.046,3552,396,2272,0,0,0,0,0,0
$GC,6118,0.68,116.8,493.1,12.9,302,6124,0.12,2.40,0.00,0.000,6,0.152,0.036,3514,1989,2264,0,0,0,0,0,0
$GC,6442,0.68,116.8,463.3,8.6,310,6446,0.00,2.35,0.00,0.000,4,0.000,0.046,3524,399,2255,0,0,0,0,0,0
$GC,6508,0.68,116.8,457.6,8.9,311,6512,0.00,2.35,0.00,0.000,6,0.000,0.036,3524,2004,2256,0,0,0,0,0,0
$GC,6849,0.68,116.8,429.5,8.3,320,6854,0.00,2.38,0.00,0.000,4,0.000,0.046,3536,392,2253,0,0,0,0,0,0
$GC,7106,0.68,116.8,408.5,8.3,325,7113,0.00,2.38,0.00,0.000,6,0.000,0.036,3536,2012,2254,0,0,0,0,0,0
$GC,7438,0.68,116.8,380.2,8.9,334,7442,0.00,2.35,0.00,0.000,4,0.000,0.046,3547,401,2251,0,0,0,0,0,0
$GC,7583,0.68,116.8,366.3,9.5,337,7588,0.12,2.30,0.00,0.000,6,0.173,0.037,3515,2009,2251,0,0,0,0,0,0
$GC,7930,0.70,135.4,338.9,7.2,346,7944,0.00,0.00,11.82,0.780,6,0.000,0.000,3515,2009,2200,0,0,0,0,0,0
$GC,8255,0.70,135.4,312.5,8.1,354,8259,0.00,2.35,0.00,0.000,4,0.000,0.046,3526,400,2196,0,0,0,0,0,0
$GC,8511,0.70,135.4,292.8,8.1,361,8517,0.00,2.33,0.00,0.000,6,0.000,0.035,3526,1993,2194,0,0,0,0,0,0
$GC,8827,0.73,157.2,270.0,7.0,377,8848,0.00,0.00,18.60,0.759,6,0.000,0.000,3526,1993,2112,0,0,0,0,0,0
$GC,9156,0.73,157.2,241.4,8.9,393,9160,0.00,2.35,0.00,0.000,4,0.000,0.045,3538,391,2106,0,0,0,0,0,0
$GC,9413,0.75,172.9,219.7,7.3,404,9433,0.00,2.35,13.50,0.699,6,0.000,0.035,3538,1995,2047,0,0,0,0,0,0
$GC,9751,0.75,172.9,193.1,8.6,425,9755,0.00,2.35,0.00,0.000,4,0.000,0.046,3537,3588,2042,0,0,0,0,0,0
$GC,9856,0.75,172.9,181.8,10.5,434,9862,0.00,2.35,0.00,0.000,6,0.000,0.034,3554,1968,2043,0,0,0,0,0,0
$GC,10119,0.75,172.9,156.5,9.1,459,10123,0.00,2.22,0.00,0.000,4,0.000,0.044,3561,427,2040,0,0,0,0,0,0
$GC,10191,0.75,172.9,149.4,10.2,465,10196,0.00,2.28,0.00,0.000,6,0.000,0.035,3561,2008,2040,0,0,0,0,0,0
$GC,10453,0.75,176.0,125.4,7.9,489,10457,0.00,2.33,0.00,0.000,4,0.000,0.045,3561,3596,2040,0,0,0,0,0,0
$GC,10552,0.75,176.0,116.6,8.9,497,10559,0.15,2.30,0.00,0.000,6,0.173,0.034,3532,1994,2040,0,0,0,0,0,0
$GC,10813,0.80,211.6,99.3,6.4,522,10853,0.00,2.38,31.62,0.611,4,0.000,0.043,3542,423,1887,0,0,0,0,0,0
$GC,10993,0.80,211.6,85.3,8.3,538,10999,0.00,2.30,0.00,0.000,6,0.000,0.032,3543,1995,1882,0,0,0,0,0,0
$GC,11255,0.82,227.8,65.2,7.3,563,11276,0.00,2.35,13.73,0.545,4,0.000,0.043,3554,430,1821,0,0,0,0,0,0
$GC,11404,0.82,227.8,52.7,8.8,576,11411,0.00,2.30,0.00,0.000,6,0.000,0.032,3554,2015,1818,0,0,0,0,0,0
$GC,11668,0.82,227.8,28.5,9.2,602,11673,0.00,2.30,0.00,0.000,4,0.000,0.044,3554,3586,1818,0,0,0,0,0,0
$GC,11802,0.82,227.8,15.5,9.7,626,11808,0.00,2.28,0.00,0.000,6,0.000,0.031,3565,1996,1816,0,0,0,0,0,0
$STATE,11954,end climb,SURFACE_DEPTH_REACHED
$STATE,11954,begin surface coast
$FINISH,0.2,1.023048
$STATE,11992,end surface coast,CONTROL_FINISHED_OK
$STATE,11993,begin surface
$SM_CCo,12076,87.93,0.403,1,0,1159,390.27
$SM_GC,1.09,0.00,0.00,87.93,0.000,0.000,0.403,140,1887,1159,-9.84,-0.34,390.27
$IRIDIUM_FIX,2036.38,-15754.37,160312,030349
$TT8_MAMPS,0.243139
$HUMID,1078647087
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,24.80
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8419115008
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57264963584
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.115
$10V_AH,10.3,7.458
$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,21.950,121.300,274.875,87.925,0.000,75.927,94.889,567.118,1.500,0.000,15.926,1255.399,8825.021,503.074,2402.364,225.825,33.353,1325.043,0.000,1504.617,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,106.613,921.167,403.442,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,445.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,23425,660
$CAP_FILE_SIZE,131927,0
$CFSIZE,260165632,232452096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210910,121355,2043.739,-15752.713,37,1.0,38,9.8