version: 66.07
glider: 500
mission: 4
dive: 163
start: 7 24 110 15 24 45
data:
$ID,500
$MISSION,4
$DIVE,163
$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,-112262.84
$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,55
$R_STBD_OVSHOOT,48
$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,162
$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
$GPS1,240710,150836,2055.436,-15908.734,36,1.3,41,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.7
$GPS2,240710,152350,2055.617,-15908.807,12,1.2,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,-0.015
$KALMAN_X,-136127.9,236.9,24.8,225997.5,-2262.0
$KALMAN_Y,153670.3,-205.2,42.8,-102333.6,1197.1
$MHEAD_RNG_PITCHd_Wd,84.0,135345,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.83,0.000,2,0.000,0.000,133,2036,2541,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.0,-5.1,9,112,10.23,2.40,-18.27,0.000,4,0.232,0.056,2649,461,3300,0,0,0,0,0,0
$GC,140,-0.71,-116.8,13.5,-17.2,21,146,0.00,2.28,0.00,0.000,6,0.000,0.034,2640,2035,3302,0,0,0,0,0,0
$GC,341,-0.71,-116.8,54.7,-19.9,47,345,0.00,2.33,0.00,0.000,4,0.000,0.042,2628,3605,3301,0,0,0,0,0,0
$GC,418,-0.71,-116.8,68.0,-13.9,53,425,0.08,2.28,0.00,0.000,6,0.113,0.028,2657,2033,3302,0,0,0,0,0,0
$GC,680,-0.71,-116.8,103.5,-13.1,78,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2033,3303,0,0,0,0,0,0
$GC,934,-0.71,-116.8,133.5,-10.9,102,938,0.00,2.30,0.00,0.000,4,0.000,0.043,2657,453,3304,0,0,0,0,0,0
$GC,973,-0.71,-116.8,137.8,-11.0,105,977,0.00,2.25,0.00,0.000,6,0.000,0.032,2647,2044,3303,0,0,0,0,0,0
$GC,1234,-0.71,-116.8,165.8,-10.9,129,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2043,3303,0,0,0,0,0,0
$GC,1488,-0.71,-116.8,192.6,-10.8,153,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2043,3303,0,0,0,0,0,0
$GC,1748,-0.71,-116.8,220.7,-11.0,169,1752,0.00,2.30,0.00,0.000,4,0.000,0.042,2635,3603,3303,0,0,0,0,0,0
$GC,1876,-0.71,-116.8,234.2,-10.1,175,1880,0.00,2.22,0.00,0.000,6,0.000,0.028,2635,2033,3304,0,0,0,0,0,0
$GC,2203,-0.71,-116.8,266.2,-9.5,191,2207,0.00,2.28,0.00,0.000,4,0.000,0.043,2635,445,3302,0,0,0,0,0,0
$GC,2356,-0.71,-116.8,282.1,-11.1,198,2361,0.12,2.25,0.00,0.000,6,0.141,0.032,2663,2041,3303,0,0,0,0,0,0
$GC,2700,-0.71,-116.8,310.1,-7.4,212,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2041,3302,0,0,0,0,0,0
$GC,3025,-0.71,-116.8,331.8,-6.5,220,3029,0.00,2.28,0.00,0.000,4,0.000,0.043,2652,3612,3300,0,0,0,0,0,0
$GC,3058,-0.71,-116.8,334.3,-7.5,220,3064,0.00,2.25,0.00,0.000,6,0.000,0.029,2652,2028,3301,0,0,0,0,0,0
$GC,3388,-0.71,-116.8,361.9,-8.7,229,3392,0.00,2.28,0.00,0.000,4,0.000,0.043,2649,446,3299,0,0,0,0,0,0
$GC,3472,-0.71,-116.8,370.5,-10.2,231,3476,0.00,2.22,0.00,0.000,6,0.000,0.032,2640,2034,3298,0,0,0,0,0,0
$GC,3796,-0.71,-116.8,397.4,-7.6,239,3800,0.00,2.30,0.00,0.000,4,0.000,0.042,2640,449,3296,0,0,0,0,0,0
$GC,3817,-0.71,-116.8,399.1,-8.0,239,3821,0.08,2.28,0.00,0.000,6,0.115,0.031,2659,2039,3296,0,0,0,0,0,0
$GC,4165,-0.71,-116.8,421.6,-6.5,248,4169,0.00,2.28,0.00,0.000,4,0.000,0.043,2649,3606,3294,0,0,0,0,0,0
$GC,4192,-0.71,-116.8,423.5,-6.6,248,4196,0.00,2.22,0.00,0.000,6,0.000,0.029,2649,2029,3293,0,0,0,0,0,0
$GC,4528,-0.71,-116.8,447.6,-7.3,257,4532,0.00,2.28,0.00,0.000,4,0.000,0.043,2649,452,3290,0,0,0,0,0,0
$GC,4622,-0.71,-116.8,455.5,-7.9,259,4626,0.00,2.28,0.00,0.000,6,0.000,0.032,2643,2037,3290,0,0,0,0,0,0
$GC,4940,-0.71,-116.8,481.8,-8.6,267,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2037,3288,0,0,0,0,0,0
$GC,5265,-0.71,-116.8,511.3,-9.2,275,5269,0.00,2.33,0.00,0.000,4,0.000,0.043,2638,451,3285,0,0,0,0,0,0
$GC,5319,-0.71,-116.8,516.9,-10.1,276,5324,0.10,2.28,0.00,0.000,6,0.110,0.033,2681,2030,3285,0,0,0,0,0,0
$GC,5638,-0.71,-116.8,538.1,-6.2,284,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2030,3282,0,0,0,0,0,0
$GC,5962,-0.71,-116.8,555.9,-5.2,292,5966,0.00,2.33,0.00,0.000,4,0.000,0.044,2671,3610,3280,0,0,0,0,0,0
$GC,5995,-0.71,-116.8,557.5,-5.2,292,5999,0.00,2.30,0.00,0.000,6,0.000,0.030,2671,2024,3280,0,0,0,0,0,0
$GC,6332,-0.71,-116.8,573.7,-4.8,301,6336,0.00,2.28,0.00,0.000,4,0.000,0.045,2671,458,3277,0,0,0,0,0,0
$GC,6363,-0.71,-116.8,575.8,-6.6,301,6370,0.00,2.28,0.00,0.000,6,0.000,0.032,2660,2031,3277,0,0,0,0,0,0
$GC,6695,-0.71,-116.8,597.0,-6.6,310,6699,0.00,2.30,0.00,0.000,4,0.000,0.044,2660,456,3275,0,0,0,0,0,0
$GC,6739,-0.71,-116.8,600.4,-8.0,311,6743,0.00,2.25,0.00,0.000,6,0.000,0.032,2649,2043,3275,0,0,0,0,0,0
$GC,7063,-0.71,-116.8,622.8,-6.9,319,7067,0.00,2.30,0.00,0.000,4,0.000,0.044,2637,3613,3273,0,0,0,0,0,0
$GC,7089,-0.71,-116.8,624.9,-7.7,319,7093,0.00,2.30,0.00,0.000,6,0.000,0.031,2637,2029,3273,0,0,0,0,0,0
$GC,7426,-0.71,-116.8,649.3,-7.1,328,7430,0.00,2.30,0.00,0.000,4,0.000,0.045,2638,455,3272,0,0,0,0,0,0
$GC,7476,-0.71,-116.8,653.2,-8.1,329,7481,0.08,2.28,0.00,0.000,6,0.114,0.032,2657,2023,3271,0,0,0,0,0,0
$GC,7794,-0.71,-116.8,668.7,-4.4,337,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2021,3268,0,0,0,0,0,0
$GC,8120,-0.71,-116.8,682.0,-4.1,345,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2021,3268,0,0,0,0,0,0
$GC,8444,-0.71,-116.8,698.3,-5.2,353,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2021,3267,0,0,0,0,0,0
$GC,8769,-0.71,-116.8,717.5,-6.1,361,8773,0.00,2.38,0.00,0.000,4,0.000,0.046,2646,3609,3266,0,0,0,0,0,0
$GC,8835,-0.71,-116.8,722.1,-6.8,362,8839,0.00,2.30,0.00,0.000,6,0.000,0.031,2646,2041,3266,0,0,0,0,0,0
$GC,9177,-0.71,-116.8,745.6,-6.9,371,9181,0.00,2.35,0.00,0.000,4,0.000,0.046,2648,451,3265,0,0,0,0,0,0
$GC,9243,-0.71,-116.8,750.8,-7.9,372,9247,0.00,2.30,0.00,0.000,6,0.000,0.033,2635,2032,3263,0,0,0,0,0,0
$GC,9591,-0.71,-116.8,774.0,-6.5,381,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2032,3263,0,0,0,0,0,0
$GC,9915,-0.71,-116.8,792.2,-5.3,389,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2031,3262,0,0,0,0,0,0
$GC,10240,-0.71,-116.8,810.4,-5.7,397,10245,0.00,2.38,0.00,0.000,4,0.000,0.047,2635,446,3264,0,0,0,0,0,0
$GC,10280,-0.71,-116.8,813.0,-6.7,398,10285,0.12,2.28,0.00,0.000,6,0.145,0.035,2660,2036,3260,0,0,0,0,0,0
$GC,10603,-0.71,-116.8,829.1,-4.9,406,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2036,3260,0,0,0,0,0,0
$GC,10928,-0.71,-116.8,846.5,-5.4,414,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2036,3260,0,0,0,0,0,0
$GC,11254,-0.71,-116.8,865.1,-5.8,422,11258,0.00,2.35,0.00,0.000,4,0.000,0.047,2662,454,3259,0,0,0,0,0,0
$GC,11293,-0.71,-116.8,867.6,-6.1,423,11297,0.00,2.25,0.00,0.000,6,0.000,0.034,2652,2024,3259,0,0,0,0,0,0
$GC,11616,-0.71,-116.8,886.8,-5.8,431,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2022,3258,0,0,0,0,0,0
$GC,11941,-0.71,-116.8,905.4,-5.7,439,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2025,3258,0,0,0,0,0,0
$GC,12266,-0.71,-116.8,925.1,-6.2,447,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3258,0,0,0,0,0,0
$GC,12591,-0.71,-116.8,946.0,-6.4,455,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2025,3256,0,0,0,0,0,0
$GC,12916,-0.71,-116.8,964.8,-5.5,463,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3256,0,0,0,0,0,0
$GC,13241,-0.71,-116.8,981.1,-4.8,471,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2025,3256,0,0,0,0,0,0
$STATE,13442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13442,begin apogee
$GC,13446,-0.23,0.0,990.3,4.5,476,13543,0.47,0.00,93.55,1.292,6,0.107,0.000,2810,2027,2822,0,0,0,0,0,0
$STATE,13579,end apogee,CONTROL_FINISHED_OK
$STATE,13579,begin climb
$GC,13581,0.71,116.8,991.2,0.0,478,13704,0.82,2.62,110.25,1.263,4,0.063,0.044,3122,3610,2346,0,0,0,0,0,0
$GC,13731,0.71,116.8,979.6,14.8,481,13735,0.00,2.53,0.00,0.000,6,0.000,0.035,3133,2034,2340,0,0,0,0,0,0
$GC,14073,0.71,116.8,933.2,13.6,490,14078,0.00,2.42,0.00,0.000,4,0.000,0.048,3146,448,2330,0,0,0,0,0,0
$GC,14173,0.71,116.8,919.2,13.0,492,14178,0.00,2.38,0.00,0.000,6,0.000,0.033,3146,2039,2329,0,0,0,0,0,0
$GC,14486,0.71,116.8,876.8,13.7,500,14491,0.00,2.40,0.00,0.000,4,0.000,0.048,3158,451,2327,0,0,0,0,0,0
$GC,14530,0.71,116.8,870.5,14.0,501,14535,0.10,2.35,0.00,0.000,6,0.135,0.034,3125,2034,2325,0,0,0,0,0,0
$GC,14853,0.71,116.8,829.7,12.7,509,14857,0.00,2.40,0.00,0.000,4,0.000,0.048,3135,451,2325,0,0,0,0,0,0
$GC,14898,0.71,116.8,823.8,13.5,510,14902,0.00,2.30,0.00,0.000,6,0.000,0.034,3135,2038,2326,0,0,0,0,0,0
$GC,15226,0.71,116.8,781.1,13.2,518,15230,0.00,2.40,0.00,0.000,4,0.000,0.047,3148,451,2326,0,0,0,0,0,0
$GC,15254,0.71,116.8,777.4,13.6,518,15258,0.00,2.30,0.00,0.000,6,0.000,0.034,3147,2043,2325,0,0,0,0,0,0
$GC,15584,0.71,116.8,730.8,14.1,526,15588,0.00,2.40,0.00,0.000,4,0.000,0.048,3159,450,2324,0,0,0,0,0,0
$GC,15678,0.71,116.8,716.6,14.0,528,15684,0.10,2.33,0.00,0.000,6,0.140,0.034,3125,2030,2324,0,0,0,0,0,0
$GC,16003,0.71,116.8,676.7,11.9,536,16004,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2030,2324,0,0,0,0,0,0
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$STATE,23141,end climb,SURFACE_DEPTH_REACHED
$STATE,23141,begin surface coast
$FINISH,0.7,1.009865
$STATE,23170,end surface coast,CONTROL_FINISHED_OK
$STATE,23170,begin surface
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$TT8_MAMPS,0.250809
$HUMID,1078405797
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$TCM_TEMP,24.90
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8401420288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50776539136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,20.704
$10V_AH,9.6,21.145
$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
$DEVICE_SECS,20.375,181.475,335.300,54.525,0.000,26.376,31.317,641.448,0.750,0.000,15.152,1776.803,18739.027,536.263,2841.783,281.033,33.371,1677.868,0.000,2013.209,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,625.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335240
$DATA_FILE_SIZE,33307,916
$CAP_FILE_SIZE,187316,0
$CFSIZE,260165632,242167808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240710,215354,2056.125,-15907.285,37,0.9,37,9.7