version: 66.07 glider: 500 mission: 4 dive: 198 start: 8 3 110 4 36 57 data: $ID,500 $MISSION,4 $DIVE,198 $D_SURF,3 $D_FLARE,3 $D_TGT,990 $D_ABORT,1025 $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,388 $T_MISSION,450 $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,51642 $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,375 $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,-112852.77 $T_RSLEEP,4 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,157 $PITCH_MAX,3893 $C_PITCH,2890 $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,2031 $C_ROLL_CLIMB,2031 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,56 $R_STBD_OVSHOOT,50 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,475 $VBD_MAX,3942 $C_VBD,2822 $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,-65.916748 $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,197 $AR_SAMPLENUM,9 $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 $GPS1,030810,043055,2106.185,-15802.392,35,1.3,35,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.63 $_SM_ANGLEo,-65.5 $GPS2,030810,043602,2106.156,-15802.461,11,2.0,11,9.8 $SPEED_LIMITS,0.147,0.223 $TGT_NAME,HOME2 $TGT_LATLONG,2116.430,-15753.630 $TGT_RADIUS,1000.000 $KALMAN_CONTROL,0.177,0.135 $KALMAN_X,-194959.1,121.7,-161.3,400245.0,-2386.0 $KALMAN_Y,175818.9,-145.8,-239.6,-104730.8,-979.5 $MHEAD_RNG_PITCHd_Wd,42.9,24379,-17.0,-8.505 $D_GRID,990 $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,25,begin dive $GC,27,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-50.55,0.000,2,0.000,0.000,145,2023,2656,0,0,0,0,0,0 $GC,82,-0.71,-116.8,3.3,-4.4,10,113,10.02,0.00,-14.70,0.000,6,0.229,0.000,2656,2023,3301,0,0,0,0,0,0 $GC,316,-0.71,-116.8,43.7,-18.4,46,320,0.00,2.38,0.00,0.000,4,0.000,0.040,2646,3613,3304,0,0,0,0,0,0 $GC,337,-0.71,-116.8,47.5,-17.1,47,343,0.00,2.30,0.00,0.000,6,0.000,0.028,2646,2035,3304,0,0,0,0,0,0 $GC,598,-0.71,-116.8,86.1,-15.1,72,602,0.00,2.33,0.00,0.000,4,0.000,0.041,2634,3608,3305,0,0,0,0,0,0 $GC,620,-0.71,-116.8,89.4,-14.6,74,624,0.00,2.25,0.00,0.000,6,0.000,0.028,2634,2019,3305,0,0,0,0,0,0 $GC,880,-0.71,-116.8,123.7,-13.1,98,884,0.00,2.25,0.00,0.000,4,0.000,0.041,2634,465,3306,0,0,0,0,0,0 $GC,934,-0.71,-116.8,131.2,-13.4,102,941,0.10,2.25,0.00,0.000,6,0.117,0.031,2660,2044,3306,0,0,0,0,0,0 $GC,1196,-0.71,-116.8,154.0,-8.4,127,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2049,3307,0,0,0,0,0,0 $GC,1450,-0.71,-116.8,177.7,-9.6,151,1454,0.00,2.28,0.00,0.000,4,0.000,0.041,2660,462,3308,0,0,0,0,0,0 $GC,1504,-0.71,-116.8,183.3,-10.3,155,1510,0.00,2.25,0.00,0.000,6,0.000,0.031,2649,2034,3308,0,0,0,0,0,0 $GC,1763,-0.71,-116.8,209.1,-10.2,176,1767,0.00,2.28,0.00,0.000,4,0.000,0.041,2650,452,3309,0,0,0,0,0,0 $GC,1868,-0.71,-116.8,220.8,-11.3,181,1872,0.00,2.20,0.00,0.000,6,0.000,0.031,2636,2030,3309,0,0,0,0,0,0 $GC,2194,-0.71,-116.8,257.0,-10.4,197,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2030,3307,0,0,0,0,0,0 $GC,2503,-0.71,-116.8,287.3,-10.5,212,2507,0.00,2.30,0.00,0.000,4,0.000,0.041,2626,3609,3309,0,0,0,0,0,0 $GC,2603,-0.71,-116.8,298.5,-11.9,216,2610,0.08,2.25,0.00,0.000,6,0.103,0.027,2655,2031,3307,0,0,0,0,0,0 $GC,2915,-0.71,-116.8,324.5,-7.4,225,2919,0.00,2.28,0.00,0.000,4,0.000,0.041,2660,448,3307,0,0,0,0,0,0 $GC,2986,-0.71,-116.8,330.2,-8.2,226,2990,0.00,2.20,0.00,0.000,6,0.000,0.031,2648,2026,3307,0,0,0,0,0,0 $GC,3323,-0.71,-116.8,356.4,-8.0,235,3327,0.00,2.33,0.00,0.000,4,0.000,0.041,2637,3618,3304,0,0,0,0,0,0 $GC,3354,-0.71,-116.8,359.3,-8.8,235,3361,0.00,2.28,0.00,0.000,6,0.000,0.028,2636,2032,3305,0,0,0,0,0,0 $GC,3686,-0.71,-116.8,387.5,-8.3,244,3690,0.00,2.30,0.00,0.000,4,0.000,0.041,2637,446,3303,0,0,0,0,0,0 $GC,3775,-0.71,-116.8,395.2,-8.9,246,3780,0.10,2.25,0.00,0.000,6,0.147,0.031,2658,2044,3303,0,0,0,0,0,0 $GC,4099,-0.71,-116.8,414.9,-6.1,254,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2046,3300,0,0,0,0,0,0 $GC,4423,-0.71,-116.8,440.2,-8.9,262,4427,0.00,2.33,0.00,0.000,4,0.000,0.043,2659,452,3298,0,0,0,0,0,0 $GC,4511,-0.71,-116.8,449.1,-10.0,264,4515,0.00,2.28,0.00,0.000,6,0.000,0.031,2648,2029,3297,0,0,0,0,0,0 $GC,4835,-0.71,-116.8,479.9,-9.8,272,4839,0.00,2.30,0.00,0.000,4,0.000,0.043,2649,449,3296,0,0,0,0,0,0 $GC,4895,-0.71,-116.8,486.4,-11.0,273,4899,0.00,2.28,0.00,0.000,6,0.000,0.031,2638,2031,3295,0,0,0,0,0,0 $GC,5243,-0.71,-116.8,527.6,-12.8,282,5247,0.00,2.33,0.00,0.000,4,0.000,0.043,2638,448,3295,0,0,0,0,0,0 $GC,5454,-0.71,-116.8,579.8,-31.2,286,5460,0.08,2.28,0.00,0.000,6,0.110,0.031,2657,2029,3291,0,0,0,0,0,0 $GC,5792,-0.71,-116.8,614.4,-1.9,295,5796,0.00,2.33,0.00,0.000,4,0.000,0.047,2658,3608,3287,0,0,0,0,0,0 $GC,6049,-0.71,-116.8,618.8,0.3,300,6055,0.00,2.30,0.00,0.000,6,0.000,0.030,2668,2022,3287,0,0,0,0,0,0 $STATE,6175,end dive,NO_VERTICAL_VELOCITY $STATE,6175,begin apogee $GC,6179,-0.23,0.0,618.8,0.0,304,6276,0.40,0.00,93.35,1.001,6,0.062,0.000,2832,2022,2822,0,0,0,0,0,0 $STATE,6322,end apogee,CONTROL_FINISHED_OK $STATE,6322,begin climb $GC,6324,0.71,116.8,618.7,0.0,306,6435,0.75,2.53,100.65,0.976,4,0.051,0.046,3148,462,2344,0,0,0,0,0,0 $GC,6462,0.71,116.8,613.4,10.4,309,6467,0.08,2.38,0.00,0.000,6,0.129,0.031,3120,2022,2340,0,0,0,0,0,0 $GC,6775,0.71,116.8,562.8,17.2,317,6779,0.00,2.33,0.00,0.000,4,0.000,0.045,3132,464,2331,0,0,0,0,0,0 $GC,6953,0.71,116.8,540.0,13.5,321,6957,0.00,2.30,0.00,0.000,6,0.000,0.033,3133,2027,2329,0,0,0,0,0,0 $GC,7277,0.71,116.8,486.0,18.0,329,7281,0.00,2.35,0.00,0.000,4,0.000,0.041,3137,3618,2327,0,0,0,0,0,0 $GC,7404,0.71,116.8,465.4,15.1,331,7411,0.00,2.30,0.00,0.000,6,0.000,0.032,3147,2035,2325,0,0,0,0,0,0 $GC,7735,0.72,120.6,432.0,8.3,340,7740,0.00,2.33,0.00,0.000,4,0.000,0.044,3157,451,2325,0,0,0,0,0,0 $GC,7913,0.77,165.7,419.2,6.3,344,7959,0.00,2.30,38.90,0.871,6,0.000,0.031,3157,2035,2146,0,0,0,0,0,0 $GC,8278,0.77,165.7,380.0,11.4,353,8281,0.00,2.35,0.00,0.000,4,0.000,0.044,3169,457,2136,0,0,0,0,0,0 $GC,8377,0.77,165.7,367.1,14.6,355,8383,0.08,2.30,0.00,0.000,6,0.128,0.032,3142,2027,2134,0,0,0,0,0,0 $GC,8695,0.77,165.7,325.5,12.8,363,8699,0.00,2.33,0.00,0.000,4,0.000,0.043,3142,3612,2133,0,0,0,0,0,0 $GC,8715,0.77,165.7,322.6,13.9,363,8720,0.00,2.33,0.00,0.000,6,0.000,0.031,3154,2032,2132,0,0,0,0,0,0 $GC,9039,0.77,165.7,284.0,11.7,374,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2033,2132,0,0,0,0,0,0 $GC,9348,0.77,165.7,247.8,10.9,389,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2033,2131,0,0,0,0,0,0 $GC,9658,0.77,165.7,215.0,9.7,404,9662,0.00,2.35,0.00,0.000,4,0.000,0.045,3165,449,2130,0,0,0,0,0,0 $GC,9820,0.77,165.7,199.8,9.3,411,9824,0.00,2.25,0.00,0.000,6,0.000,0.031,3164,2033,2130,0,0,0,0,0,0 $GC,10144,0.77,165.7,170.1,9.4,441,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2033,2130,0,0,0,0,0,0 $GC,10399,0.77,165.7,145.4,10.1,465,10403,0.00,2.33,0.00,0.000,4,0.000,0.042,3164,3611,2129,0,0,0,0,0,0 $GC,10544,0.77,165.7,129.7,10.7,477,10550,0.12,2.25,0.00,0.000,6,0.162,0.031,3142,2027,2129,0,0,0,0,0,0 $GC,10804,0.77,165.7,108.7,8.8,502,10808,0.00,2.28,0.00,0.000,4,0.000,0.043,3148,460,2128,0,0,0,0,0,0 $GC,10926,0.79,179.2,99.2,7.8,512,10943,0.00,2.20,9.68,0.556,6,0.000,0.031,3152,2035,2090,0,0,0,0,0,0 $GC,11197,0.81,193.6,77.7,7.8,538,11218,0.00,2.35,13.32,0.555,4,0.000,0.041,3152,3608,2033,0,0,0,0,0,0 $GC,11470,0.88,254.7,57.4,5.5,562,11527,0.00,2.30,50.15,0.564,6,0.000,0.029,3162,2023,1784,0,0,0,0,0,0 $GC,11781,0.93,295.9,35.7,6.5,592,11822,0.00,2.42,33.33,0.530,4,0.000,0.041,3163,3601,1614,0,0,0,0,0,0 $GC,11856,0.93,295.9,27.4,12.4,600,11862,0.00,2.28,0.00,0.000,6,0.000,0.030,3174,2033,1611,0,0,0,0,0,0 $STATE,12028,end climb,SURFACE_DEPTH_REACHED $STATE,12028,begin surface coast $FINISH,0.8,1.019379 $STATE,12052,end surface coast,CONTROL_FINISHED_OK $STATE,12052,begin surface $SM_CCo,12069,42.03,0.387,1,0,1294,375.06 $SM_GC,1.53,0.00,0.00,42.03,0.000,0.000,0.387,122,2029,1294,-8.64,-0.06,375.06 $IRIDIUM_FIX,2059.45,-15804.20,260112,181834 $TT8_MAMPS,0.059059 $HUMID,1078462571 $INTERNAL_PRESSURE,9.46204 $TCM_TEMP,24.80 $XPDR_PINGS,1 $AR_POSTDIVE_SAMPLENUM,7 $AR_CDRIVE_FREE,8428027904 $AR_CDRIVE_SIZE,8453062656 $AR_DDRIVE_FREE,48972791808 $AR_DDRIVE_SIZE,59996930048 $24V_AH,23.7,25.260 $10V_AH,9.8,30.842 $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,19.575,110.425,339.375,42.025,0.000,24.104,25.795,142.526,0.250,0.000,12.979,1212.162,8777.353,473.203,1816.109,148.936,33.377,1322.114,0.000,1528.158,0.000,0.542,0.000 $DEVICE_MAMPS,229.333,46.787,1000.935,387.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000 $SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil $SENSOR_SECS,428.915,0.000,0.000,0.000,0.000,0.000,0.000,12677.700,0.000,0.000 $SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.834,0.000,0.000 $MEM,334952 $DATA_FILE_SIZE,23379,635 $CAP_FILE_SIZE,114955,0 $CFSIZE,260165632,238202880 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,030810,080024,2106.954,-15802.147,22,2.0,40,9.8