version: 66.07
glider: 500
mission: 4
dive: 28
start: 6 18 110 22 45 20
data:
$ID,500
$MISSION,4
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,176
$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,100
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110134.7
$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,2905
$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,45
$R_STBD_OVSHOOT,36
$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,80
$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,27
$AR_SAMPLENUM,8
$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
$GPS1,180610,223737,2106.559,-15804.091,39,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.7
$GPS2,180610,224425,2106.539,-15804.168,10,1.3,15,9.8
$SPEED_LIMITS,0.148,0.205
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,-0.199
$KALMAN_X,-9570.4,247.1,-197.9,-3977.0,-1213.4
$KALMAN_Y,8686.6,-6.9,-29.6,-17321.7,1044.0
$MHEAD_RNG_PITCHd_Wd,156.4,81162,-18.9,-8.523
$D_GRID,450
$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,24,-0.75,-97.3,0.0,0.0,0,78,0.00,0.00,-51.75,0.000,2,0.000,0.000,144,2032,2718,0,0,0,0,0,0
$GC,80,-0.75,-97.3,3.4,-6.6,10,112,10.23,2.40,-11.70,0.000,4,0.245,0.060,2652,450,3222,0,0,0,0,0,0
$GC,251,-0.75,-97.3,33.7,-18.4,39,257,0.00,2.33,0.00,0.000,6,0.000,0.035,2642,2045,3222,0,0,0,0,0,0
$GC,512,-0.75,-97.3,82.1,-17.5,64,516,0.00,2.30,0.00,0.000,4,0.000,0.047,2629,3610,3223,0,0,0,0,0,0
$GC,534,-0.75,-97.3,85.5,-15.6,66,539,0.12,2.25,0.00,0.000,6,0.149,0.035,2665,2029,3224,0,0,0,0,0,0
$GC,794,-0.75,-97.3,117.9,-12.0,90,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2030,3225,0,0,0,0,0,0
$GC,1049,-0.75,-97.3,145.4,-10.4,114,1053,0.00,2.30,0.00,0.000,4,0.000,0.047,2666,443,3230,0,0,0,0,0,0
$GC,1148,-0.75,-97.3,156.0,-9.6,122,1155,0.00,2.28,0.00,0.000,6,0.000,0.035,2656,2020,3227,0,0,0,0,0,0
$GC,1410,-0.75,-97.3,181.7,-10.1,147,1414,0.00,2.30,0.00,0.000,4,0.000,0.049,2656,444,3229,0,0,0,0,0,0
$GC,1515,-0.75,-97.3,193.7,-11.3,156,1519,0.00,2.25,0.00,0.000,6,0.000,0.036,2644,2041,3229,0,0,0,0,0,0
$GC,1785,-0.75,-97.3,224.7,-12.0,172,1789,0.00,2.30,0.00,0.000,4,0.000,0.048,2644,454,3229,0,0,0,0,0,0
$GC,1873,-0.75,-97.3,235.7,-11.1,176,1879,0.00,2.25,0.00,0.000,6,0.000,0.035,2630,2019,3230,0,0,0,0,0,0
$GC,2200,-0.75,-97.3,267.7,-9.2,192,2204,0.10,2.30,0.00,0.000,4,0.169,0.048,2662,448,3230,0,0,0,0,0,0
$GC,2335,-0.75,-97.3,279.5,-8.2,198,2339,0.00,2.25,0.00,0.000,6,0.000,0.036,2651,2045,3234,0,0,0,0,0,0
$GC,2680,-0.75,-97.3,302.4,-5.7,214,2684,0.00,2.28,0.00,0.000,4,0.000,0.048,2639,3610,3231,0,0,0,0,0,0
$GC,2809,-0.75,-97.3,310.6,-6.5,217,2813,0.00,2.25,0.00,0.000,6,0.000,0.035,2639,2029,3231,0,0,0,0,0,0
$GC,3132,-0.75,-97.3,335.9,-8.5,225,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2028,3232,0,0,0,0,0,0
$GC,3457,-0.75,-97.3,362.5,-8.0,233,3461,0.00,2.28,0.00,0.000,4,0.000,0.049,2639,455,3229,0,0,0,0,0,0
$GC,3507,-0.75,-97.3,367.0,-8.7,234,3512,0.12,2.22,0.00,0.000,6,0.152,0.037,2665,2024,3227,0,0,0,0,0,0
$GC,3824,-0.75,-97.3,390.3,-7.4,242,3828,0.00,2.30,0.00,0.000,4,0.000,0.048,2654,3613,3229,0,0,0,0,0,0
$GC,3863,-0.75,-97.3,393.2,-7.7,243,3867,0.00,2.28,0.00,0.000,6,0.000,0.036,2654,2025,3227,0,0,0,0,0,0
$GC,4186,-0.75,-97.3,416.2,-7.1,251,4190,0.00,2.33,0.00,0.000,4,0.000,0.050,2654,450,3224,0,0,0,0,0,0
$GC,4337,-0.75,-97.3,428.5,-8.2,254,4341,0.00,2.30,0.00,0.000,6,0.000,0.038,2643,2038,3223,0,0,0,0,0,0
$STATE,4642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4642,begin apogee
$GC,4646,-0.23,0.0,451.5,7.6,262,4725,0.55,0.00,76.35,0.889,6,0.117,0.000,2827,2038,2824,0,0,0,0,0,0
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4729,0.75,97.3,453.1,0.0,264,4820,0.85,2.55,81.22,0.860,4,0.070,0.051,3158,456,2424,0,0,0,0,0,0
$GC,4846,0.75,97.3,447.0,9.7,266,4853,0.00,2.40,0.00,0.000,6,0.000,0.038,3158,2025,2421,0,0,0,0,0,0
$GC,5178,0.75,97.3,411.9,10.6,275,5182,0.00,2.38,0.00,0.000,4,0.000,0.050,3159,3623,2413,0,0,0,0,0,0
$GC,5334,0.75,97.3,391.7,12.7,278,5339,0.00,2.35,0.00,0.000,6,0.000,0.038,3173,2038,2410,0,0,0,0,0,0
$GC,5676,0.75,97.3,353.3,11.1,287,5680,0.00,2.38,0.00,0.000,4,0.000,0.048,3170,3626,2408,0,0,0,0,0,0
$GC,5708,0.75,97.3,349.7,11.2,287,5714,0.10,2.38,0.00,0.000,6,0.170,0.039,3151,2022,2405,0,0,0,0,0,0
$GC,6045,0.75,97.3,318.5,8.9,296,6049,0.00,2.33,0.00,0.000,4,0.000,0.051,3162,444,2406,0,0,0,0,0,0
$GC,6105,0.75,97.3,313.0,9.1,297,6110,0.00,2.33,0.00,0.000,6,0.000,0.038,3162,2040,2405,0,0,0,0,0,0
$GC,6420,0.78,123.9,287.7,7.0,308,6444,0.00,2.40,18.83,0.781,4,0.000,0.049,3162,3610,2318,0,0,0,0,0,0
$GC,6606,0.78,123.9,267.1,12.9,316,6612,0.00,2.35,0.00,0.000,6,0.000,0.038,3173,2023,2314,0,0,0,0,0,0
$GC,6927,0.78,123.9,231.4,9.9,332,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2023,2310,0,0,0,0,0,0
$GC,7237,0.86,184.8,210.9,4.9,347,7292,0.00,2.40,49.67,0.742,4,0.000,0.052,3186,456,2067,0,0,0,0,0,0
$GC,7308,0.86,184.8,205.4,10.3,350,7313,0.00,2.35,0.00,0.000,6,0.000,0.037,3190,2017,2064,0,0,0,0,0,0
$GC,7637,0.86,184.8,163.8,13.6,379,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2018,2057,0,0,0,0,0,0
$GC,7892,0.86,184.8,134.7,10.9,403,7896,0.00,2.33,0.00,0.000,4,0.000,0.051,3197,456,2057,0,0,0,0,0,0
$GC,8126,0.86,184.8,107.2,10.2,423,8132,0.00,2.30,0.00,0.000,6,0.000,0.037,3197,2033,2056,0,0,0,0,0,0
$GC,8387,0.86,184.8,80.5,9.7,448,8391,0.00,2.33,0.00,0.000,4,0.000,0.050,3209,444,2056,0,0,0,0,0,0
$GC,8470,0.86,184.8,73.0,8.7,455,8474,0.00,2.28,0.00,0.000,6,0.000,0.036,3209,2035,2056,0,0,0,0,0,0
$GC,8736,0.86,184.9,47.3,8.5,480,8740,0.00,2.33,0.00,0.000,4,0.000,0.047,3209,3618,2056,0,0,0,0,0,0
$GC,8786,0.86,184.9,42.3,10.3,484,8791,0.15,2.28,0.00,0.000,6,0.163,0.037,3180,2022,2059,0,0,0,0,0,0
$GC,9053,0.86,186.9,18.9,8.4,519,9058,0.00,2.28,0.00,0.000,4,0.000,0.048,3187,457,2056,0,0,0,0,0,0
$STATE,9231,end climb,SURFACE_DEPTH_REACHED
$STATE,9231,begin surface coast
$FINISH,0.5,1.023259
$STATE,9260,end surface coast,CONTROL_FINISHED_OK
$STATE,9260,begin surface
$SM_CCo,9289,98.40,0.427,1,0,1295,375.06
$SM_GC,1.42,0.00,0.00,98.40,0.000,0.000,0.427,134,2044,1295,-8.66,0.40,375.06
$IRIDIUM_FIX,2059.45,-15801.19,121211,141407
$TT8_MAMPS,0.059059
$HUMID,1078472893
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,9.5
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8447721472
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58332381184
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,2.836
$10V_AH,10.2,3.781
$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,19.850,92.675,226.075,98.400,0.000,30.788,29.749,227.495,3.000,0.000,17.372,1051.030,6676.601,422.503,1584.942,78.003,33.366,1089.791,0.000,1204.483,0.000,22.179,0.000
$DEVICE_MAMPS,245.440,59.826,888.953,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.754,0.000,0.000,0.000,0.000,0.000,0.000,10141.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.366,0.000,0.000
$MEM,334816
$DATA_FILE_SIZE,20070,556
$CAP_FILE_SIZE,96751,0
$CFSIZE,260165632,256958464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190610,012255,2105.938,-15804.114,8,1.2,13,9.8