version: 66.07
glider: 500
mission: 7
dive: 92
start: 9 22 110 21 47 4
data:
$ID,500
$MISSION,7
$DIVE,92
$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,-117175.19
$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,91
$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
$GPS1,220910,213904,2041.021,-15750.996,9,3.7,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.3
$GPS2,220910,214608,2041.014,-15751.085,12,1.4,12,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,0.074
$KALMAN_X,-53011.3,-422.7,-396.7,55601.5,-374.3
$KALMAN_Y,7364.1,416.2,258.0,-69986.5,-1477.7
$MHEAD_RNG_PITCHd_Wd,60.6,120153,-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,25,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.50,0.000,2,0.000,0.000,128,1866,2810,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.0,-5.2,12,118,11.43,2.42,-7.85,0.000,4,0.238,0.053,3052,3502,3231,0,0,0,0,0,0
$GC,141,-0.68,-116.8,19.2,-29.0,21,146,0.00,2.35,0.00,0.000,6,0.000,0.029,3052,1872,3233,0,0,0,0,0,0
$GC,345,-0.68,-116.8,58.9,-18.0,45,349,0.00,2.25,0.00,0.000,4,0.000,0.041,3055,325,3234,0,0,0,0,0,0
$GC,383,-0.68,-116.8,66.1,-18.4,48,389,0.00,2.30,0.00,0.000,6,0.000,0.032,3042,1918,3234,0,0,0,0,0,0
$GC,645,-0.68,-116.8,108.0,-15.3,73,649,0.00,2.30,0.00,0.000,4,0.000,0.041,3042,320,3235,0,0,0,0,0,0
$GC,672,-0.68,-116.8,112.3,-15.1,75,677,0.12,2.25,0.00,0.000,6,0.146,0.031,3066,1907,3234,0,0,0,0,0,0
$GC,934,-0.68,-116.8,141.3,-10.2,99,935,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1908,3239,0,0,0,0,0,0
$GC,1187,-0.68,-116.8,163.7,-8.0,123,1191,0.00,2.28,0.00,0.000,4,0.000,0.041,3070,320,3240,0,0,0,0,0,0
$GC,1270,-0.68,-116.8,170.9,-8.7,130,1274,0.00,2.25,0.00,0.000,6,0.000,0.033,3069,1910,3237,0,0,0,0,0,0
$GC,1532,-0.68,-116.8,191.9,-8.1,154,1536,0.00,2.28,0.00,0.000,4,0.000,0.041,3069,319,3237,0,0,0,0,0,0
$GC,1592,-0.68,-116.8,197.1,-8.3,159,1596,0.00,2.25,0.00,0.000,6,0.000,0.032,3058,1914,3237,0,0,0,0,0,0
$GC,1857,-0.68,-116.8,219.7,-8.4,173,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1914,3237,0,0,0,0,0,0
$GC,2166,-0.68,-116.8,246.9,-8.9,188,2170,0.00,2.30,0.00,0.000,4,0.000,0.042,3058,318,3236,0,0,0,0,0,0
$GC,2237,-0.68,-116.8,254.2,-10.0,191,2242,0.00,2.28,0.00,0.000,6,0.000,0.034,3055,1904,3236,0,0,0,0,0,0
$GC,2559,-0.68,-116.8,282.2,-7.8,207,2563,0.00,2.30,0.00,0.000,4,0.000,0.043,3056,313,3239,0,0,0,0,0,0
$GC,2619,-0.68,-116.8,287.3,-8.4,209,2625,0.00,2.28,0.00,0.000,6,0.000,0.033,3044,1909,3234,0,0,0,0,0,0
$GC,2953,-0.68,-116.8,313.5,-7.9,222,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1910,3235,0,0,0,0,0,0
$GC,3278,-0.68,-116.8,340.6,-7.9,230,3282,0.00,2.30,0.00,0.000,4,0.000,0.044,3044,316,3234,0,0,0,0,0,0
$GC,3304,-0.68,-116.8,343.0,-8.7,230,3309,0.08,2.25,0.00,0.000,6,0.110,0.033,3066,1888,3233,0,0,0,0,0,0
$GC,3640,-0.68,-116.8,363.5,-6.3,239,3645,0.00,2.30,0.00,0.000,4,0.000,0.044,3067,321,3231,0,0,0,0,0,0
$GC,3673,-0.68,-116.8,365.7,-6.9,239,3679,0.00,2.25,0.00,0.000,6,0.000,0.033,3057,1912,3231,0,0,0,0,0,0
$GC,4004,-0.68,-116.8,389.9,-7.8,248,4008,0.00,2.33,0.00,0.000,4,0.000,0.044,3057,317,3227,0,0,0,0,0,0
$GC,4081,-0.68,-116.8,397.1,-9.3,249,4087,0.00,2.25,0.00,0.000,6,0.000,0.034,3052,1905,3228,0,0,0,0,0,0
$GC,4412,-0.68,-116.8,424.3,-7.6,258,4416,0.00,2.33,0.00,0.000,4,0.000,0.045,3052,327,3225,0,0,0,0,0,0
$GC,4443,-0.68,-116.8,427.0,-8.1,258,4448,0.00,2.28,0.00,0.000,6,0.000,0.034,3046,1902,3225,0,0,0,0,0,0
$GC,4781,-0.68,-116.8,449.8,-6.4,267,4785,0.00,2.30,0.00,0.000,4,0.000,0.044,3041,327,3222,0,0,0,0,0,0
$GC,4842,-0.68,-116.8,454.5,-8.0,268,4847,0.12,2.22,0.00,0.000,6,0.135,0.034,3071,1903,3224,0,0,0,0,0,0
$GC,5189,-0.68,-116.8,475.3,-6.2,277,5193,0.00,2.28,0.00,0.000,4,0.000,0.045,3071,329,3221,0,0,0,0,0,0
$GC,5244,-0.68,-116.8,479.1,-6.8,278,5248,0.00,2.22,0.00,0.000,6,0.000,0.035,3058,1901,3219,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5594,-0.23,0.0,502.2,6.6,287,5685,0.43,0.00,88.25,0.928,6,0.095,0.000,3214,2029,2752,0,0,0,0,0,0
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5693,begin climb
$GC,5695,0.68,116.8,504.9,0.0,289,5802,0.75,2.42,98.28,0.904,4,0.041,0.045,3536,3567,2271,0,0,0,0,0,0
$GC,5925,0.68,116.8,496.9,10.2,294,5930,0.10,2.35,0.00,0.000,6,0.156,0.031,3518,1997,2262,0,0,0,0,0,0
$GC,6238,0.68,116.8,470.0,8.7,302,6242,0.00,2.33,0.00,0.000,4,0.000,0.044,3527,425,2257,0,0,0,0,0,0
$GC,6343,0.68,116.8,461.0,8.7,304,6347,0.00,2.28,0.00,0.000,6,0.000,0.035,3527,1972,2256,0,0,0,0,0,0
$GC,6691,0.68,116.8,430.7,8.9,313,6695,0.00,2.25,0.00,0.000,4,0.000,0.044,3538,428,2254,0,0,0,0,0,0
$GC,6842,0.68,116.8,416.6,9.4,316,6846,0.00,2.30,0.00,0.000,6,0.000,0.035,3538,2015,2253,0,0,0,0,0,0
$GC,7184,0.69,123.6,388.1,7.7,325,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2015,2252,0,0,0,0,0,0
$GC,7510,0.71,138.2,362.9,7.3,333,7529,0.00,2.35,14.95,0.803,4,0.000,0.044,3549,429,2185,0,0,0,0,0,0
$GC,7557,0.71,138.2,358.6,9.7,334,7562,0.08,2.33,0.00,0.000,6,0.150,0.035,3524,2008,2186,0,0,0,0,0,0
$GC,7881,0.71,138.2,327.1,9.4,342,7885,0.00,2.33,0.00,0.000,4,0.000,0.046,3528,3582,2181,0,0,0,0,0,0
$GC,8026,0.71,138.2,313.1,9.6,345,8030,0.00,2.30,0.00,0.000,6,0.000,0.032,3535,1989,2181,0,0,0,0,0,0
$GC,8358,0.72,152.3,286.1,7.4,357,8378,0.00,2.42,12.20,0.747,4,0.000,0.045,3535,3582,2128,0,0,0,0,0,0
$GC,8518,0.72,152.3,269.7,11.1,364,8522,0.00,2.30,0.00,0.000,6,0.000,0.032,3547,2004,2126,0,0,0,0,0,0
$GC,8844,0.72,152.3,242.3,8.5,380,8848,0.00,2.28,0.00,0.000,4,0.000,0.042,3559,426,2124,0,0,0,0,0,0
$GC,9102,0.73,155.1,220.4,7.9,391,9108,0.10,2.30,0.00,0.000,6,0.146,0.033,3525,2010,2124,0,0,0,0,0,0
$GC,9418,0.78,196.4,200.2,6.1,407,9459,0.00,2.35,36.05,0.713,4,0.000,0.041,3536,426,1950,0,0,0,0,0,0
$GC,9475,0.78,196.4,195.4,9.8,411,9481,0.00,2.33,0.00,0.000,6,0.000,0.033,3536,1992,1947,0,0,0,0,0,0
$GC,9737,0.78,196.4,167.4,10.5,436,9741,0.00,2.30,0.00,0.000,4,0.000,0.042,3547,422,1942,0,0,0,0,0,0
$GC,9810,0.78,196.4,159.8,10.2,442,9814,0.00,2.28,0.00,0.000,6,0.000,0.034,3547,2011,1941,0,0,0,0,0,0
$GC,10076,0.78,197.3,135.8,8.0,467,10080,0.00,2.30,0.00,0.000,4,0.000,0.042,3559,422,1940,0,0,0,0,0,0
$GC,10184,0.78,197.3,126.5,8.8,476,10188,0.00,2.25,0.00,0.000,6,0.000,0.033,3563,2005,1939,0,0,0,0,0,0
$GC,10445,0.80,211.8,104.8,7.3,500,10459,0.00,0.00,12.23,0.586,6,0.000,0.000,3559,2006,1887,0,0,0,0,0,0
$GC,10710,0.80,211.8,82.2,9.0,525,10714,0.00,2.28,0.00,0.000,4,0.000,0.044,3559,3577,1885,0,0,0,0,0,0
$GC,10879,0.80,211.8,65.8,9.0,539,10884,0.00,2.25,0.00,0.000,6,0.000,0.030,3570,1997,1885,0,0,0,0,0,0
$GC,11140,0.81,218.9,44.3,7.7,564,11154,0.00,2.35,7.45,0.487,4,0.000,0.041,3582,421,1856,0,0,0,0,0,0
$GC,11194,0.82,228.2,40.2,7.6,569,11209,0.00,2.25,9.23,0.501,6,0.000,0.032,3582,2011,1818,0,0,0,0,0,0
$GC,11473,0.82,228.2,17.7,8.9,607,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2011,1816,0,0,0,0,0,0
$STATE,11633,end climb,SURFACE_DEPTH_REACHED
$STATE,11633,begin surface coast
$FINISH,0.2,1.011682
$STATE,11667,end surface coast,CONTROL_FINISHED_OK
$STATE,11667,begin surface
$SM_CCo,11751,87.38,0.460,1,0,1161,390.02
$SM_GC,1.11,0.00,0.00,87.38,0.000,0.000,0.460,136,1884,1161,-9.86,-0.45,390.02
$IRIDIUM_FIX,2034.08,-15755.23,170312,121230
$TT8_MAMPS,0.148798
$HUMID,1078622571
$INTERNAL_PRESSURE,9.52063
$TCM_TEMP,25.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8422588416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56440258560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,9.136
$10V_AH,10.2,8.839
$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,21.875,115.075,278.625,87.375,0.000,27.956,24.009,226.384,0.000,0.000,14.195,1211.770,8599.216,474.804,1807.911,186.318,33.381,1263.110,0.000,1403.257,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,92.040,928.070,460.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,433.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,23413,642
$CAP_FILE_SIZE,115783,0
$CFSIZE,260165632,231600128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230910,010601,2040.952,-15750.791,37,1.5,38,9.7