version: 66.07
glider: 500
mission: 4
dive: 212
start: 8 4 110 23 51 0
data:
$ID,500
$MISSION,4
$DIVE,212
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,45
$T_MISSION,110
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-113116
$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,48
$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,211
$AR_SAMPLENUM,3
$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
$GPS1,040810,233736,2114.814,-15752.156,12,1.8,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.7
$GPS2,040810,235007,2114.784,-15752.111,13,1.8,30,9.8
$SPEED_LIMITS,0.154,0.226
$TGT_NAME,TEMP2
$TGT_LATLONG,2116.200,-15753.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.115,0.194
$KALMAN_X,-216296.3,1375.2,863.7,437233.9,-706.6
$KALMAN_Y,162869.1,18.1,592.4,-76822.0,-484.9
$MHEAD_RNG_PITCHd_Wd,319.6,3671,-17.8,-8.889
$D_GRID,120
$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,-0.74,-116.8,0.0,0.0,0,73,0.00,0.00,-45.83,0.000,2,0.000,0.000,124,2039,2515,0,0,0,0,0,0
$GC,76,-0.74,-116.8,3.2,-4.8,9,113,10.05,2.33,-20.08,0.000,4,0.231,0.054,2635,3619,3298,0,0,0,0,0,0
$GC,280,-0.74,-116.8,34.2,-15.9,44,286,0.00,2.30,0.00,0.000,6,0.000,0.031,2635,2032,3297,0,0,0,0,0,0
$GC,542,-0.74,-116.8,76.3,-14.5,69,546,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,443,3298,0,0,0,0,0,0
$GC,607,-0.74,-116.8,86.9,-16.5,74,613,0.00,2.28,0.00,0.000,6,0.000,0.033,2625,2030,3298,0,0,0,0,0,0
$STATE,834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,839,-0.23,0.0,120.4,14.4,96,929,0.57,0.00,86.28,0.555,6,0.117,0.000,2815,2030,2822,0,0,0,0,0,0
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,933,0.74,116.8,124.3,0.0,105,1029,0.82,2.42,88.32,0.545,4,0.074,0.044,3124,3615,2347,0,0,0,0,0,0
$GC,1051,0.77,141.5,119.3,7.6,116,1078,0.00,2.35,19.65,0.512,6,0.000,0.034,3136,2027,2245,0,0,0,0,0,0
$GC,1332,0.82,189.0,97.9,6.5,143,1377,0.00,2.40,37.03,0.522,4,0.000,0.045,3148,451,2050,0,0,0,0,0,0
$GC,1450,0.82,189.0,87.7,10.6,154,1454,0.00,2.25,0.00,0.000,6,0.000,0.033,3148,2035,2050,0,0,0,0,0,0
$GC,1711,0.82,189.0,60.8,10.0,178,1715,0.00,2.33,0.00,0.000,4,0.000,0.044,3148,3612,2045,0,0,0,0,0,0
$GC,1754,0.82,189.0,56.0,11.0,181,1760,0.00,2.30,0.00,0.000,6,0.000,0.033,3165,2007,2045,0,0,0,0,0,0
$GC,2016,0.88,232.7,32.4,6.6,206,2057,0.00,2.30,34.33,0.487,4,0.000,0.045,3172,442,1872,0,0,0,0,0,0
$GC,2115,0.88,237.3,24.7,8.7,220,2126,0.00,2.28,5.05,0.367,6,0.000,0.032,3173,2034,1853,0,0,0,0,0,0
$GC,2329,0.92,268.0,5.2,7.3,258,2355,0.00,0.45,23.42,0.466,3,0.000,0.048,3171,2370,1729,0,0,0,0,0,0
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,1.0,1.023100
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2415,50.22,0.068,0,0,1292,375.06
$SM_GC,1.65,0.00,0.00,50.22,0.000,0.000,0.068,130,2014,1292,-8.63,-0.48,375.06
$IRIDIUM_FIX,2108.69,-15752.16,280112,181836
$TT8_MAMPS,0.060593
$HUMID,1078351603
$INTERNAL_PRESSURE,9.62806
$TCM_TEMP,25.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8427405312
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48859676672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,26.433
$10V_AH,9.9,31.777
$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,19.125,28.750,294.075,50.225,0.000,57.006,56.885,398.245,0.000,0.000,32.606,435.809,1267.118,367.420,1028.147,132.430,33.337,668.453,0.000,460.819,0.000,0.544,0.000
$DEVICE_MAMPS,230.867,53.690,554.541,68.263,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,175.580,0.000,0.000,0.000,0.000,0.000,0.000,3501.880,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.934,0.000,0.000
$MEM,335132
$DATA_FILE_SIZE,6837,269
$CAP_FILE_SIZE,48466,0
$CFSIZE,260165632,237473792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,003327,2114.923,-15752.104,12,2.1,31,9.8