version: 66.07
glider: 500
mission: 4
dive: 195
start: 8 2 110 13 1 21
data:
$ID,500
$MISSION,4
$DIVE,195
$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,-112807.47
$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,60
$R_STBD_OVSHOOT,49
$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,194
$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
$GPS1,020810,125406,2104.995,-15806.781,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.8
$GPS2,020810,130026,2104.963,-15806.878,11,1.1,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.047
$KALMAN_X,-189883.1,-140.0,-277.0,387886.2,63.8
$KALMAN_Y,178513.2,16.2,-70.4,-109968.5,-96.8
$MHEAD_RNG_PITCHd_Wd,67.8,5072,-17.6,-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,24,begin dive
$GC,26,-0.72,-110.0,0.0,0.0,0,78,0.00,0.00,-50.38,0.000,2,0.000,0.000,130,2034,2682,0,0,0,0,0,0
$GC,81,-0.73,-116.8,3.3,-5.2,10,112,10.12,0.00,-14.52,0.000,6,0.231,0.000,2645,2034,3299,0,0,0,0,0,0
$GC,310,-0.73,-116.8,45.7,-17.9,45,314,0.00,2.33,0.00,0.000,4,0.000,0.042,2645,463,3303,0,0,0,0,0,0
$GC,342,-0.73,-116.8,52.3,-20.2,47,348,0.00,2.30,0.00,0.000,6,0.000,0.035,2636,2037,3302,0,0,0,0,0,0
$GC,603,-0.73,-116.8,97.3,-15.9,72,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2038,3304,0,0,0,0,0,0
$GC,858,-0.73,-116.8,137.0,-14.8,96,862,0.00,2.30,0.00,0.000,4,0.000,0.041,2635,451,3304,0,0,0,0,0,0
$GC,890,-0.73,-116.8,141.7,-14.7,98,896,0.00,2.28,0.00,0.000,6,0.000,0.031,2628,2037,3304,0,0,0,0,0,0
$GC,1151,-0.73,-116.8,176.3,-14.1,123,1156,0.10,2.30,0.00,0.000,4,0.160,0.042,2654,456,3306,0,0,0,0,0,0
$GC,1205,-0.73,-116.8,183.4,-12.2,127,1211,0.00,2.25,0.00,0.000,6,0.000,0.031,2643,2026,3305,0,0,0,0,0,0
$GC,1463,-0.73,-116.8,212.5,-10.9,147,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2027,3307,0,0,0,0,0,0
$GC,1774,-0.73,-116.8,244.0,-9.4,162,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2024,3308,0,0,0,0,0,0
$GC,2082,-0.73,-116.8,271.9,-8.6,177,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2027,3308,0,0,0,0,0,0
$GC,2391,-0.73,-116.8,299.8,-9.7,192,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2027,3308,0,0,0,0,0,0
$GC,2696,-0.73,-116.8,327.3,-8.7,200,2700,0.00,2.30,0.00,0.000,4,0.000,0.043,2644,453,3307,0,0,0,0,0,0
$GC,2762,-0.73,-116.8,333.3,-8.9,201,2766,0.00,2.22,0.00,0.000,6,0.000,0.032,2632,2038,3306,0,0,0,0,0,0
$GC,3104,-0.73,-116.8,359.7,-7.6,210,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2039,3305,0,0,0,0,0,0
$GC,3429,-0.73,-116.8,386.4,-8.3,218,3433,0.00,2.33,0.00,0.000,4,0.000,0.043,2632,459,3302,0,0,0,0,0,0
$GC,3472,-0.73,-116.8,390.2,-8.6,219,3477,0.05,2.25,0.00,0.000,6,0.125,0.032,2660,2018,3302,0,0,0,0,0,0
$GC,3796,-0.73,-116.8,411.0,-6.3,227,3800,0.00,2.28,0.00,0.000,4,0.000,0.043,2660,463,3300,0,0,0,0,0,0
$GC,3840,-0.73,-116.8,414.5,-8.1,228,3844,0.00,2.25,0.00,0.000,6,0.000,0.033,2650,2045,3301,0,0,0,0,0,0
$GC,4169,-0.73,-116.8,441.4,-8.4,236,4173,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,463,3296,0,0,0,0,0,0
$GC,4195,-0.73,-116.8,444.0,-9.5,236,4200,0.00,2.25,0.00,0.000,6,0.000,0.032,2639,2018,3296,0,0,0,0,0,0
$GC,4532,-0.73,-116.8,473.1,-8.2,245,4536,0.00,2.35,0.00,0.000,4,0.000,0.044,2627,3614,3294,0,0,0,0,0,0
$GC,4581,-0.73,-116.8,477.3,-8.4,246,4585,0.00,2.22,0.00,0.000,6,0.000,0.029,2627,2042,3294,0,0,0,0,0,0
$GC,4899,-0.73,-116.8,503.1,-8.0,254,4903,0.00,2.35,0.00,0.000,4,0.000,0.044,2625,445,3292,0,0,0,0,0,0
$GC,5005,-0.73,-116.8,512.6,-8.9,256,5010,0.08,2.30,0.00,0.000,6,0.112,0.033,2655,2037,3291,0,0,0,0,0,0
$GC,5352,-0.73,-116.8,536.0,-6.7,265,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3288,0,0,0,0,0,0
$GC,5677,-0.73,-116.8,557.3,-6.3,273,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3287,0,0,0,0,0,0
$GC,6003,-0.73,-116.8,579.7,-7.1,281,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3282,0,0,0,0,0,0
$GC,6327,-0.73,-116.8,600.5,-6.0,289,6331,0.00,2.33,0.00,0.000,4,0.000,0.045,2657,455,3282,0,0,0,0,0,0
$GC,6360,-0.73,-116.8,602.7,-7.1,289,6366,0.00,2.30,0.00,0.000,6,0.000,0.033,2646,2065,3282,0,0,0,0,0,0
$GC,6691,-0.73,-116.8,622.7,-6.2,298,6695,0.00,2.40,0.00,0.000,4,0.000,0.044,2646,449,3281,0,0,0,0,0,0
$GC,6757,-0.73,-116.8,627.8,-7.6,299,6762,0.00,2.30,0.00,0.000,6,0.000,0.033,2634,2027,3280,0,0,0,0,0,0
$GC,7100,-0.73,-116.8,651.7,-6.9,308,7104,0.00,2.33,0.00,0.000,4,0.000,0.044,2634,448,3278,0,0,0,0,0,0
$GC,7149,-0.73,-116.8,655.2,-7.3,309,7154,0.10,2.25,0.00,0.000,6,0.151,0.033,2652,2040,3278,0,0,0,0,0,0
$GC,7461,-0.73,-116.8,671.8,-5.2,317,7465,0.00,2.33,0.00,0.000,4,0.000,0.044,2653,455,3274,0,0,0,0,0,0
$GC,7538,-0.73,-116.8,676.7,-6.4,318,7544,0.00,2.28,0.00,0.000,6,0.000,0.033,2643,2015,3276,0,0,0,0,0,0
$GC,7869,-0.73,-116.8,698.5,-7.6,327,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2015,3275,0,0,0,0,0,0
$GC,8194,-0.73,-116.8,726.0,-8.1,335,8198,0.00,2.30,0.00,0.000,4,0.000,0.045,2643,455,3274,0,0,0,0,0,0
$GC,8232,-0.73,-116.8,729.3,-8.7,336,8236,0.00,2.25,0.00,0.000,6,0.000,0.034,2632,2039,3272,0,0,0,0,0,0
$GC,8556,-0.73,-116.8,753.6,-7.3,344,8560,0.00,2.35,0.00,0.000,4,0.000,0.045,2633,452,3273,0,0,0,0,0,0
$GC,8634,-0.73,-116.8,759.8,-8.2,345,8639,0.08,2.30,0.00,0.000,6,0.117,0.033,2661,2029,3272,0,0,0,0,0,0
$GC,8971,-0.73,-116.8,779.7,-5.9,354,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2029,3272,0,0,0,0,0,0
$GC,9296,-0.73,-116.8,796.8,-5.3,362,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2029,3270,0,0,0,0,0,0
$GC,9621,-0.73,-116.8,813.0,-4.7,370,9625,0.00,2.35,0.00,0.000,4,0.000,0.046,2661,456,3270,0,0,0,0,0,0
$GC,9654,-0.73,-116.8,814.7,-5.1,370,9660,0.00,2.30,0.00,0.000,6,0.000,0.033,2651,2034,3269,0,0,0,0,0,0
$GC,9985,-0.73,-116.8,831.5,-5.6,379,9989,0.00,2.35,0.00,0.000,4,0.000,0.045,2639,3612,3268,0,0,0,0,0,0
$GC,10029,-0.73,-116.8,834.3,-5.9,380,10033,0.00,2.30,0.00,0.000,6,0.000,0.030,2639,2035,3268,0,0,0,0,0,0
$GC,10353,-0.73,-116.8,855.6,-6.7,388,10357,0.00,2.35,0.00,0.000,4,0.000,0.046,2639,458,3268,0,0,0,0,0,0
$GC,10420,-0.73,-116.8,860.7,-7.8,389,10425,0.00,2.28,0.00,0.000,6,0.000,0.034,2628,2047,3268,0,0,0,0,0,0
$GC,10756,-0.73,-116.8,888.4,-8.3,398,10761,0.00,2.38,0.00,0.000,4,0.000,0.046,2628,448,3265,0,0,0,0,0,0
$GC,10856,-0.73,-116.8,897.7,-8.9,400,10861,0.12,2.28,0.00,0.000,6,0.140,0.033,2655,2039,3267,0,0,0,0,0,0
$GC,11169,-0.73,-116.8,919.8,-7.1,408,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2040,3267,0,0,0,0,0,0
$GC,11494,-0.73,-116.8,942.6,-7.1,416,11497,0.00,2.38,0.00,0.000,4,0.000,0.047,2656,457,3267,0,0,0,0,0,0
$GC,11566,-0.73,-116.8,948.3,-7.9,417,11570,0.00,2.28,0.00,0.000,6,0.000,0.034,2646,2036,3264,0,0,0,0,0,0
$GC,11902,-0.73,-116.8,969.4,-5.9,426,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3266,0,0,0,0,0,0
$GC,12227,-0.73,-116.8,988.6,-5.9,434,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3266,0,0,0,0,0,0
$STATE,12265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12265,begin apogee
$GC,12270,-0.23,0.0,990.8,5.7,435,12368,0.50,0.00,95.60,1.288,6,0.104,0.000,2812,2043,2824,0,0,0,0,0,0
$STATE,12415,end apogee,CONTROL_FINISHED_OK
$STATE,12415,begin climb
$GC,12417,0.73,116.8,991.9,0.0,437,12539,0.82,2.65,110.90,1.256,4,0.057,0.045,3131,3607,2345,0,0,0,0,0,0
$GC,12582,0.73,116.8,976.6,15.7,441,12589,0.00,2.50,0.00,0.000,6,0.000,0.035,3143,2031,2337,0,0,0,0,0,0
$GC,12914,0.73,116.8,927.3,14.7,450,12918,0.00,2.40,0.00,0.000,4,0.000,0.048,3156,449,2329,0,0,0,0,0,0
$GC,12952,0.73,116.8,921.6,15.2,451,12956,0.00,2.33,0.00,0.000,6,0.000,0.035,3156,2036,2326,0,0,0,0,0,0
$GC,13275,0.73,116.8,872.5,15.1,459,13279,0.00,2.40,0.00,0.000,4,0.000,0.047,3167,447,2325,0,0,0,0,0,0
$GC,13323,0.73,116.8,865.0,15.2,460,13328,0.12,2.35,0.00,0.000,6,0.134,0.035,3126,2027,2323,0,0,0,0,0,0
$GC,13641,0.73,116.8,828.3,11.2,468,13646,0.00,2.38,0.00,0.000,4,0.000,0.044,3126,3618,2324,0,0,0,0,0,0
$GC,13696,0.73,116.8,821.7,11.7,469,13701,0.00,2.38,0.00,0.000,6,0.000,0.034,3137,1990,2323,0,0,0,0,0,0
$GC,14009,0.73,116.8,787.4,11.0,477,14013,0.00,2.30,0.00,0.000,4,0.000,0.048,3149,454,2323,0,0,0,0,0,0
$GC,14063,0.73,116.8,780.5,11.9,478,14068,0.00,2.33,0.00,0.000,6,0.000,0.035,3149,2029,2322,0,0,0,0,0,0
$GC,14376,0.73,116.8,742.2,11.9,486,14377,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2027,2321,0,0,0,0,0,0
$GC,14701,0.73,116.8,703.3,12.3,494,14705,0.00,2.35,0.00,0.000,4,0.000,0.046,3157,457,2322,0,0,0,0,0,0
$GC,14761,0.73,116.8,695.7,12.3,495,14766,0.12,2.33,0.00,0.000,6,0.160,0.034,3126,2040,2322,0,0,0,0,0,0
$GC,15073,0.73,116.8,661.1,10.9,503,15077,0.00,2.35,0.00,0.000,4,0.000,0.048,3137,458,2321,0,0,0,0,0,0
$GC,15111,0.73,116.8,656.7,11.8,504,15115,0.00,2.30,0.00,0.000,6,0.000,0.034,3137,2045,2321,0,0,0,0,0,0
$GC,15434,0.73,116.8,620.0,11.5,512,15438,0.00,2.35,0.00,0.000,4,0.000,0.048,3150,458,2321,0,0,0,0,0,0
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$STATE,21945,end climb,SURFACE_DEPTH_REACHED
$STATE,21945,begin surface coast
$FINISH,0.9,1.023135
$STATE,21974,end surface coast,CONTROL_FINISHED_OK
$STATE,21974,begin surface
$SM_CCo,21994,76.20,0.453,1,0,1291,375.55
$SM_GC,1.49,0.00,0.00,76.20,0.000,0.000,0.453,130,2040,1291,-8.63,0.25,375.55
$IRIDIUM_FIX,2057.14,-15811.49,260112,000032
$TT8_MAMPS,0.059826
$HUMID,1078409668
$INTERNAL_PRESSURE,9.41321
$TCM_TEMP,24.60
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8428224512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48974299136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,24.965
$10V_AH,9.7,30.529
$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
$DEVICE_SECS,20.400,190.750,310.400,76.200,0.000,24.634,36.687,196.060,0.250,0.000,13.666,1730.686,17589.127,552.684,2367.652,214.727,33.363,1690.012,0.000,2009.237,0.000,0.541,0.000
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$SENSOR_SECS,600.286,0.000,0.000,0.000,0.000,0.000,0.000,22476.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.274,0.000,0.000
$MEM,334952
$DATA_FILE_SIZE,30031,879
$CAP_FILE_SIZE,176194,0
$CFSIZE,260165632,238329856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020810,191037,2105.251,-15804.946,30,0.8,30,9.8