version: 66.07
glider: 500
mission: 5
dive: 216
start: 12 22 110 15 41 50
data:
$ID,500
$MISSION,5
$DIVE,216
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,550
$T_MISSION,720
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,500
$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,-125157.24
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3150
$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,2190
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2945
$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,-66.543793
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,215
$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
$GPS1,221210,153137,2120.293,12654.299,34,1.1,34,-2.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.7
$GPS2,221210,154056,2120.267,12654.172,8,1.9,8,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,0.192
$KALMAN_X,-330708.6,-979.0,-114.0,707311.1,-3326.7
$KALMAN_Y,79592.9,305.8,-621.6,-59648.8,-5228.2
$MHEAD_RNG_PITCHd_Wd,31.3,200935,-9.6,-6.000
$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
$STATE,23,begin dive
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$GC,2530,-0.51,-155.7,203.9,-5.6,253,2534,0.00,2.40,0.00,0.000,4,0.000,0.050,2983,618,3587,0,0,0,0,0,0
$GC,2595,-0.51,-155.7,208.2,-6.0,256,2600,0.00,2.35,0.00,0.000,6,0.000,0.048,2972,2222,3587,0,0,0,0,0,0
$GC,2925,-0.51,-155.7,222.3,-3.3,272,2929,0.00,2.42,0.00,0.000,4,0.000,0.048,2973,615,3587,0,0,0,0,0,0
$GC,2968,-0.51,-155.7,224.1,-4.1,274,2972,0.00,2.33,0.00,0.000,6,0.000,0.048,2962,2209,3587,0,0,0,0,0,0
$GC,3294,-0.51,-155.7,237.1,-4.8,290,3299,0.00,2.38,0.00,0.000,4,0.000,0.049,2958,611,3587,0,0,0,0,0,0
$GC,3344,-0.51,-155.7,240.2,-6.5,292,3349,0.10,2.30,0.00,0.000,6,0.145,0.047,2984,2194,3587,0,0,0,0,0,0
$GC,3659,-0.51,-155.7,256.0,-4.2,307,3663,0.00,2.40,0.00,0.000,4,0.000,0.052,2975,3775,3587,0,0,0,0,0,0
$GC,3694,-0.51,-155.7,257.3,-4.5,308,3700,0.00,2.33,0.00,0.000,6,0.000,0.037,2975,2180,3587,0,0,0,0,0,0
$GC,4009,-0.51,-155.7,270.1,-3.7,324,4013,0.00,2.33,0.00,0.000,4,0.000,0.048,2974,610,3586,0,0,0,0,0,0
$GC,4080,-0.51,-155.7,273.2,-4.6,327,4085,0.00,2.33,0.00,0.000,6,0.000,0.045,2963,2197,3586,0,0,0,0,0,0
$GC,4408,-0.51,-155.7,289.3,-5.0,343,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2198,3585,0,0,0,0,0,0
$GC,4716,-0.51,-155.7,300.3,-3.4,358,4720,0.00,2.42,0.00,0.000,4,0.000,0.051,2951,3777,3584,0,0,0,0,0,0
$GC,4743,-0.51,-155.7,301.3,-3.8,358,4748,0.10,2.33,0.00,0.000,6,0.123,0.035,2989,2179,3584,0,0,0,0,0,0
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$GC,6662,-0.51,-155.7,394.5,-5.6,406,6666,0.00,2.38,0.00,0.000,4,0.000,0.048,2989,610,3578,0,0,0,0,0,0
$GC,6898,-0.51,-155.7,404.9,-3.9,411,6903,0.00,2.30,0.00,0.000,6,0.000,0.042,2986,2196,3577,0,0,0,0,0,0
$GC,7246,-0.51,-155.7,416.8,-3.4,420,7250,0.00,2.35,0.00,0.000,4,0.000,0.045,2987,610,3576,0,0,0,0,0,0
$GC,7392,-0.51,-155.7,422.5,-3.8,423,7397,0.00,2.33,0.00,0.000,6,0.000,0.042,2983,2197,3576,0,0,0,0,0,0
$GC,7740,-0.51,-155.7,436.6,-4.1,432,7744,0.00,2.35,0.00,0.000,4,0.000,0.045,2984,611,3575,0,0,0,0,0,0
$GC,7998,-0.51,-155.7,447.7,-4.6,437,8003,0.00,2.30,0.00,0.000,6,0.000,0.042,2978,2196,3574,0,0,0,0,0,0
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$GC,15079,-0.51,-155.7,726.8,-3.0,605,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2177,3549,0,0,0,0,0,0
$GC,15404,-0.51,-155.7,736.5,-3.0,613,15408,0.00,2.42,0.00,0.000,4,0.000,0.053,2975,3766,3549,0,0,0,0,0,0
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$GC,15999,-0.51,-155.7,759.2,-3.9,627,16003,0.00,2.42,0.00,0.000,4,0.000,0.053,2974,3781,3547,0,0,0,0,0,0
$GC,16070,-0.51,-155.7,762.3,-4.3,628,16074,0.00,2.35,0.00,0.000,6,0.000,0.037,2975,2181,3547,0,0,0,0,0,0
$GC,16407,-0.51,-155.7,774.3,-3.7,637,16411,0.00,2.45,0.00,0.000,4,0.000,0.055,2974,3775,3546,0,0,0,0,0,0
$GC,16663,-0.51,-155.7,783.2,-3.4,642,16669,0.00,2.35,0.00,0.000,6,0.000,0.038,2974,2177,3545,0,0,0,0,0,0
$GC,16995,-0.51,-155.7,794.9,-3.7,651,16999,0.00,2.47,0.00,0.000,4,0.000,0.057,2974,3763,3545,0,0,0,0,0,0
$GC,17251,-0.51,-155.7,804.9,-3.5,656,17257,0.00,2.33,0.00,0.000,6,0.000,0.038,2971,2192,3544,0,0,0,0,0,0
$GC,17583,-0.51,-155.7,818.5,-4.3,665,17588,0.00,2.38,0.00,0.000,4,0.000,0.050,2974,605,3545,0,0,0,0,0,0
$GC,17841,-0.51,-155.7,829.4,-4.1,670,17847,0.00,2.38,0.00,0.000,6,0.000,0.044,2975,2196,3543,0,0,0,0,0,0
$GC,18173,-0.51,-155.7,842.8,-4.1,679,18177,0.00,2.38,0.00,0.000,4,0.000,0.045,2975,602,3542,0,0,0,0,0,0
$GC,18227,-0.51,-155.7,845.0,-3.9,680,18231,0.00,2.35,0.00,0.000,6,0.000,0.044,2974,2191,3542,0,0,0,0,0,0
$GC,18540,-0.51,-155.7,855.5,-3.3,688,18541,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2191,3542,0,0,0,0,0,0
$GC,18866,-0.51,-155.7,865.2,-2.9,696,18870,0.00,2.42,0.00,0.000,4,0.000,0.054,2973,3776,3541,0,0,0,0,0,0
$GC,19101,-0.51,-155.7,872.8,-3.6,701,19105,0.00,2.35,0.00,0.000,6,0.000,0.036,2972,2183,3539,0,0,0,0,0,0
$GC,19448,-0.51,-155.7,884.4,-3.4,710,19451,0.00,2.38,0.00,0.000,4,0.000,0.048,2975,605,3540,0,0,0,0,0,0
$GC,19706,-0.51,-155.7,892.0,-2.7,715,19710,0.00,2.38,0.00,0.000,6,0.000,0.045,2973,2197,3539,0,0,0,0,0,0
$GC,20036,-0.51,-155.7,899.7,-2.1,723,20040,0.00,2.42,0.00,0.000,4,0.000,0.054,2969,3772,3539,0,0,0,0,0,0
$GC,20255,-0.51,-155.7,904.8,-2.7,728,20260,0.00,2.35,0.00,0.000,6,0.000,0.037,2976,2182,3539,0,0,0,0,0,0
$GC,20579,-0.51,-155.7,914.7,-3.3,736,20583,0.00,2.35,0.00,0.000,4,0.000,0.048,2973,613,3538,0,0,0,0,0,0
$GC,20836,-0.51,-155.7,923.8,-3.0,741,20840,0.00,2.35,0.00,0.000,6,0.000,0.045,2973,2198,3538,0,0,0,0,0,0
$GC,21172,-0.51,-155.7,933.4,-2.5,750,21177,0.00,2.40,0.00,0.000,4,0.000,0.048,2973,604,3537,0,0,0,0,0,0
$GC,21391,-0.51,-155.7,938.3,-2.8,755,21396,0.00,2.38,0.00,0.000,6,0.000,0.048,2973,2193,3537,0,0,0,0,0,0
$STATE,21632,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,21632,begin apogee
$GC,21638,-0.23,0.0,943.4,2.1,761,21767,0.28,0.00,126.55,1.329,6,0.067,0.000,3093,1862,2946,0,0,0,0,0,0
$STATE,21775,end apogee,CONTROL_FINISHED_OK
$STATE,21775,begin climb
$GC,21777,0.51,155.7,941.9,0.0,764,21925,0.57,0.00,142.73,1.288,6,0.041,0.000,3347,1862,2312,0,0,0,0,0,0
$GC,22224,0.51,155.7,841.7,24.6,775,22228,0.00,2.55,0.00,0.000,4,0.000,0.053,3347,3452,2295,0,0,0,0,0,0
$GC,22307,0.51,155.7,820.4,23.6,777,22312,0.15,2.50,0.00,0.000,6,0.157,0.043,3319,1862,2292,0,0,0,0,0,0
$GC,22631,0.51,155.7,752.3,20.3,785,22632,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1865,2290,0,0,0,0,0,0
$GC,22955,0.51,155.7,690.8,18.3,793,22960,0.00,2.47,0.00,0.000,4,0.000,0.055,3318,3455,2287,0,0,0,0,0,0
$GC,23004,0.51,155.7,681.2,20.2,794,23009,0.00,2.47,0.00,0.000,6,0.000,0.043,3329,1861,2288,0,0,0,0,0,0
$GC,23324,0.51,155.7,618.8,19.9,802,23328,0.00,2.45,0.00,0.000,4,0.000,0.057,3344,274,2287,0,0,0,0,0,0
$GC,23395,0.51,155.7,605.0,17.7,803,23399,0.00,2.42,0.00,0.000,6,0.000,0.049,3341,1862,2287,0,0,0,0,0,0
$GC,23731,0.51,155.7,537.0,21.0,812,23736,0.00,2.45,0.00,0.000,4,0.000,0.054,3341,3452,2285,0,0,0,0,0,0
$GC,23884,0.51,155.7,502.9,20.3,815,23889,0.12,2.42,0.00,0.000,6,0.161,0.043,3319,1846,2285,0,0,0,0,0,0
$GC,24225,0.51,155.7,441.0,17.6,824,24229,0.00,2.47,0.00,0.000,4,0.000,0.054,3319,3446,2284,0,0,0,0,0,0
$GC,24263,0.51,155.7,434.1,21.0,825,24268,0.00,2.40,0.00,0.000,6,0.000,0.045,3329,1863,2283,0,0,0,0,0,0
$GC,24587,0.51,155.7,380.2,16.3,833,24591,0.00,2.47,0.00,0.000,4,0.000,0.055,3341,265,2283,0,0,0,0,0,0
$GC,24602,0.51,155.7,377.4,16.5,833,24606,0.00,2.40,0.00,0.000,6,0.000,0.047,3342,1869,2283,0,0,0,0,0,0
$GC,24950,0.51,155.7,317.7,17.1,842,24955,0.00,2.42,0.00,0.000,4,0.000,0.053,3345,3456,2283,0,0,0,0,0,0
$GC,25027,0.51,155.7,303.3,16.2,843,25034,0.10,2.45,0.00,0.000,6,0.128,0.041,3318,1860,2282,0,0,0,0,0,0
$GC,25342,0.51,155.7,258.8,13.2,858,25344,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1860,2281,0,0,0,0,0,0
$GC,25654,0.51,155.7,212.4,14.3,873,25658,0.00,2.42,0.00,0.000,4,0.000,0.051,3318,3455,2283,0,0,0,0,0,0
$GC,25719,0.51,155.7,202.6,16.7,876,25724,0.00,2.42,0.00,0.000,6,0.000,0.041,3330,1862,2283,0,0,0,0,0,0
$GC,26044,0.51,155.7,161.3,11.5,905,26048,0.00,2.42,0.00,0.000,4,0.000,0.051,3341,267,2282,0,0,0,0,0,0
$GC,26060,0.51,155.7,159.3,11.9,906,26064,0.00,2.35,0.00,0.000,6,0.000,0.044,3341,1860,2280,0,0,0,0,0,0
$GC,26321,0.51,155.7,128.1,11.0,930,26325,0.00,2.40,0.00,0.000,4,0.000,0.051,3341,3455,2282,0,0,0,0,0,0
$GC,26577,0.51,155.7,100.5,12.4,952,26584,0.10,2.42,0.00,0.000,6,0.117,0.038,3316,1846,2284,0,0,0,0,0,0
$GC,26838,0.51,155.7,78.0,9.5,977,26842,0.00,2.42,0.00,0.000,4,0.000,0.050,3311,3450,2285,0,0,0,0,0,0
$GC,26933,0.51,155.7,68.2,10.6,985,26937,0.00,2.38,0.00,0.000,6,0.000,0.040,3325,1859,2286,0,0,0,0,0,0
$GC,27194,0.51,155.7,38.4,12.1,1009,27199,0.00,2.40,0.00,0.000,4,0.000,0.049,3328,3457,2287,0,0,0,0,0,0
$GC,27222,0.51,155.7,35.5,10.3,1011,27226,0.00,2.38,0.00,0.000,6,0.000,0.041,3338,1855,2288,0,0,0,0,0,0
$GC,27494,0.51,155.7,11.4,12.0,1053,27500,0.00,2.38,0.00,0.000,4,0.000,0.054,3350,277,2289,0,0,0,0,0,0
$GC,27511,0.51,155.7,9.5,11.0,1056,27517,0.12,2.33,0.00,0.000,6,0.139,0.042,3312,1868,2290,0,0,0,0,0,0
$STATE,27582,end climb,SURFACE_DEPTH_REACHED
$STATE,27583,begin surface coast
$FINISH,0.5,1.022902
$STATE,27620,end surface coast,CONTROL_FINISHED_OK
$STATE,27620,begin surface
$SM_CCo,27637,161.68,0.559,0,0,906,500.40
$SM_GC,1.21,0.00,0.00,161.68,0.000,0.000,0.559,104,2201,906,-9.51,0.34,500.40
$IRIDIUM_FIX,2111.01,12655.89,160612,020203
$TT8_MAMPS,0.059059
$HUMID,1078627732
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,25.20
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8275296256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55003414528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,35.797
$10V_AH,10.1,28.500
$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,20.825,262.750,269.275,161.675,0.000,24.010,34.052,323.207,0.250,0.000,10.709,2324.197,21156.461,670.090,3829.063,368.438,33.375,2417.021,0.000,3342.553,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,58.292,1329.211,559.143,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,731.739,0.000,0.000,0.000,0.000,0.000,0.000,28686.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.894,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,36672,1075
$CAP_FILE_SIZE,244644,0
$CFSIZE,260165632,206041088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221210,232638,2121.743,12654.568,36,1.2,37,-2.9