version: 66.07
glider: 500
mission: 7
dive: 82
start: 9 21 110 12 22 27
data:
$ID,500
$MISSION,7
$DIVE,82
$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,-116942.56
$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,81
$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
$GPS1,210910,121355,2043.739,-15752.713,37,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.8
$GPS2,210910,122132,2043.757,-15752.779,14,1.0,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.014
$KALMAN_X,-39621.5,1524.2,1659.3,35245.2,-6754.9
$KALMAN_Y,16754.3,-2160.2,-1306.6,-70117.7,5354.2
$MHEAD_RNG_PITCHd_Wd,76.4,5224,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-65.60,0.000,2,0.000,0.000,127,1887,2977,0,0,0,0,0,0
$GC,96,-0.68,-116.8,3.9,-7.9,13,118,11.48,2.35,-4.28,0.000,4,0.239,0.051,3059,290,3229,0,0,0,0,0,0
$GC,179,-0.68,-116.8,32.6,-19.2,27,185,0.00,2.35,0.00,0.000,6,0.000,0.033,3048,1929,3231,0,0,0,0,0,0
$GC,440,-0.68,-116.8,78.9,-16.5,52,444,0.00,2.40,0.00,0.000,4,0.000,0.042,3049,293,3232,0,0,0,0,0,0
$GC,460,-0.68,-116.8,82.6,-17.7,53,467,0.08,2.33,0.00,0.000,6,0.126,0.032,3066,1904,3230,0,0,0,0,0,0
$GC,723,-0.68,-116.8,115.0,-11.5,78,727,0.00,2.33,0.00,0.000,4,0.000,0.042,3070,299,3233,0,0,0,0,0,0
$GC,755,-0.68,-116.8,118.7,-10.9,80,761,0.00,2.30,0.00,0.000,6,0.000,0.032,3057,1899,3234,0,0,0,0,0,0
$GC,1016,-0.68,-116.8,148.0,-10.4,105,1020,0.00,2.33,0.00,0.000,4,0.000,0.042,3056,290,3233,0,0,0,0,0,0
$GC,1043,-0.68,-116.8,151.2,-11.6,107,1049,0.00,2.33,0.00,0.000,6,0.000,0.033,3049,1909,3237,0,0,0,0,0,0
$GC,1305,-0.68,-116.8,178.9,-10.3,132,1309,0.00,2.33,0.00,0.000,4,0.000,0.042,3046,292,3236,0,0,0,0,0,0
$GC,1366,-0.68,-116.8,185.8,-12.9,137,1371,0.12,2.30,0.00,0.000,6,0.140,0.033,3074,1919,3236,0,0,0,0,0,0
$GC,1636,-0.68,-116.8,209.8,-9.2,157,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1919,3236,0,0,0,0,0,0
$GC,1944,-0.68,-116.8,235.2,-7.1,172,1948,0.00,2.35,0.00,0.000,4,0.000,0.042,3074,286,3235,0,0,0,0,0,0
$GC,1992,-0.68,-116.8,239.3,-8.2,174,1997,0.00,2.30,0.00,0.000,6,0.000,0.033,3069,1892,3239,0,0,0,0,0,0
$GC,2314,-0.68,-116.8,264.8,-8.1,190,2318,0.00,2.30,0.00,0.000,4,0.000,0.043,3069,299,3236,0,0,0,0,0,0
$GC,2375,-0.68,-116.8,270.2,-9.3,193,2380,0.00,2.28,0.00,0.000,6,0.000,0.034,3062,1905,3236,0,0,0,0,0,0
$GC,2707,-0.68,-116.8,296.4,-7.8,209,2711,0.00,2.35,0.00,0.000,4,0.000,0.044,3062,290,3233,0,0,0,0,0,0
$GC,2773,-0.68,-116.8,302.1,-8.6,212,2777,0.00,2.30,0.00,0.000,6,0.000,0.033,3055,1911,3235,0,0,0,0,0,0
$GC,3115,-0.68,-116.8,330.7,-8.4,221,3119,0.00,2.35,0.00,0.000,4,0.000,0.044,3056,298,3239,0,0,0,0,0,0
$GC,3141,-0.68,-116.8,333.1,-8.3,221,3146,0.00,2.30,0.00,0.000,6,0.000,0.033,3041,1901,3233,0,0,0,0,0,0
$GC,3478,-0.68,-116.8,360.6,-8.1,230,3482,0.00,2.38,0.00,0.000,4,0.000,0.044,3046,290,3232,0,0,0,0,0,0
$GC,3589,-0.68,-116.8,370.4,-8.6,232,3594,0.08,2.33,0.00,0.000,6,0.108,0.034,3067,1907,3230,0,0,0,0,0,0
$GC,3932,-0.68,-116.8,393.1,-6.4,241,3936,0.00,2.33,0.00,0.000,4,0.000,0.044,3067,298,3228,0,0,0,0,0,0
$GC,3959,-0.68,-116.8,394.8,-6.7,241,3963,0.00,2.30,0.00,0.000,6,0.000,0.034,3057,1915,3228,0,0,0,0,0,0
$GC,4289,-0.68,-116.8,415.0,-6.1,249,4293,0.00,2.35,0.00,0.000,4,0.000,0.044,3056,292,3225,0,0,0,0,0,0
$GC,4328,-0.68,-116.8,417.6,-7.3,250,4332,0.00,2.28,0.00,0.000,6,0.000,0.035,3054,1905,3226,0,0,0,0,0,0
$GC,4652,-0.68,-116.8,437.7,-6.0,258,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1906,3223,0,0,0,0,0,0
$GC,4977,-0.68,-116.8,457.1,-6.2,266,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1906,3221,0,0,0,0,0,0
$GC,5302,-0.68,-116.8,480.6,-7.7,274,5306,0.00,2.38,0.00,0.000,4,0.000,0.047,3054,291,3219,0,0,0,0,0,0
$GC,5373,-0.68,-116.8,486.8,-8.8,275,5377,0.00,2.28,0.00,0.000,6,0.000,0.035,3042,1902,3219,0,0,0,0,0,0
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5550,-0.23,0.0,500.2,7.7,280,5641,0.50,0.00,88.25,0.919,6,0.097,0.000,3222,2028,2751,0,0,0,0,0,0
$STATE,5688,end apogee,CONTROL_FINISHED_OK
$STATE,5688,begin climb
$GC,5690,0.68,116.8,502.5,0.0,282,5797,0.73,2.45,97.82,0.901,4,0.043,0.045,3532,3562,2272,0,0,0,0,0,0
$GC,6048,0.68,116.8,478.3,12.5,290,6054,0.10,2.38,0.00,0.000,6,0.153,0.034,3513,1974,2257,0,0,0,0,0,0
$GC,6367,0.68,116.8,448.3,8.9,298,6371,0.00,2.35,0.00,0.000,4,0.000,0.046,3512,3562,2255,0,0,0,0,0,0
$GC,6513,0.69,122.7,435.9,7.7,301,6517,0.00,2.28,0.00,0.000,6,0.000,0.034,3523,1990,2254,0,0,0,0,0,0
$GC,6859,0.69,122.7,409.7,8.1,310,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,1989,2252,0,0,0,0,0,0
$GC,7185,0.71,139.0,385.7,7.3,318,7205,0.00,2.33,15.60,0.821,4,0.000,0.044,3535,417,2183,0,0,0,0,0,0
$GC,7255,0.71,139.0,380.2,8.2,319,7260,0.00,2.33,0.00,0.000,6,0.000,0.037,3536,1983,2183,0,0,0,0,0,0
$GC,7591,0.71,139.0,351.7,8.5,328,7595,0.00,2.30,0.00,0.000,4,0.000,0.046,3547,423,2177,0,0,0,0,0,0
$GC,7848,0.71,139.0,328.9,10.2,333,7852,0.00,2.33,0.00,0.000,6,0.000,0.036,3546,2011,2175,0,0,0,0,0,0
$GC,8184,0.71,139.0,298.2,9.1,342,8189,0.00,2.30,0.00,0.000,4,0.000,0.047,3547,3584,2174,0,0,0,0,0,0
$GC,8262,0.71,139.0,290.6,9.3,345,8268,0.10,2.33,0.00,0.000,6,0.156,0.035,3526,1993,2173,0,0,0,0,0,0
$GC,8578,0.73,156.8,266.2,7.2,361,8597,0.00,0.00,14.55,0.742,6,0.000,0.000,3525,1992,2110,0,0,0,0,0,0
$GC,8907,0.75,171.8,240.1,7.3,377,8928,0.00,2.38,12.85,0.709,4,0.000,0.045,3542,421,2050,0,0,0,0,0,0
$GC,9000,0.75,171.8,231.3,9.8,381,9005,0.00,2.28,0.00,0.000,6,0.000,0.035,3538,2003,2048,0,0,0,0,0,0
$GC,9327,0.75,176.4,206.4,7.8,397,9337,0.00,2.33,4.85,0.542,4,0.000,0.046,3548,425,2030,0,0,0,0,0,0
$GC,9387,0.75,176.4,200.6,10.7,400,9391,0.00,2.30,0.00,0.000,6,0.000,0.035,3548,2008,2029,0,0,0,0,0,0
$GC,9717,0.75,176.4,168.8,8.5,430,9721,0.00,2.30,0.00,0.000,4,0.000,0.044,3560,428,2029,0,0,0,0,0,0
$GC,9802,0.75,176.4,161.6,9.0,437,9806,0.00,2.25,0.00,0.000,6,0.000,0.035,3559,2004,2028,0,0,0,0,0,0
$GC,10063,0.75,176.4,140.9,8.6,461,10067,0.00,2.30,0.00,0.000,4,0.000,0.044,3571,428,2028,0,0,0,0,0,0
$GC,10169,0.75,176.4,131.7,8.2,470,10174,0.15,2.25,0.00,0.000,6,0.163,0.035,3530,2011,2028,0,0,0,0,0,0
$GC,10429,0.77,194.0,111.8,7.2,494,10451,0.00,2.30,15.80,0.601,4,0.000,0.043,3530,3588,1958,0,0,0,0,0,0
$GC,10603,0.77,194.0,96.1,8.9,509,10608,0.00,2.28,0.00,0.000,6,0.000,0.031,3541,1989,1955,0,0,0,0,0,0
$GC,10864,0.81,220.1,74.8,6.8,534,10894,0.00,2.35,21.92,0.574,4,0.000,0.043,3551,426,1852,0,0,0,0,0,0
$GC,11067,0.85,252.9,60.0,6.5,552,11099,0.00,2.30,26.50,0.558,6,0.000,0.033,3551,2006,1719,0,0,0,0,0,0
$GC,11353,0.85,252.9,34.9,8.2,579,11357,0.00,2.33,0.00,0.000,4,0.000,0.044,3551,3586,1713,0,0,0,0,0,0
$GC,11459,0.85,252.9,25.0,9.7,592,11464,0.00,2.28,0.00,0.000,6,0.000,0.031,3563,1987,1712,0,0,0,0,0,0
$GC,11666,0.85,252.9,5.1,10.0,629,11672,0.00,2.28,0.00,0.000,4,0.000,0.041,3575,425,1712,0,0,0,0,0,0
$STATE,11687,end climb,SURFACE_DEPTH_REACHED
$STATE,11687,begin surface coast
$FINISH,0.2,1.020274
$STATE,11717,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11804,73.90,0.074,0,0,1161,390.02
$SM_GC,0.98,0.00,0.00,73.90,0.000,0.000,0.074,131,1901,1161,-9.87,0.03,390.02
$IRIDIUM_FIX,2038.68,-15752.23,160312,030338
$TT8_MAMPS,0.143429
$HUMID,1078641926
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,24.90
$XPDR_PINGS,15
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8412463104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57192513536
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.204
$10V_AH,10.3,7.511
$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,21.875,120.550,298.150,73.900,0.000,29.481,28.034,249.093,3.750,0.000,15.901,1205.491,8583.885,478.367,1900.992,176.225,33.340,1273.150,0.000,1414.708,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,91.273,918.866,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,431.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334996
$DATA_FILE_SIZE,23412,638
$CAP_FILE_SIZE,117210,0
$CFSIZE,260165632,232386560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,154152,2043.559,-15752.383,12,2.5,32,9.8