version: 66.07
glider: 500
mission: 5
dive: 218
start: 12 23 110 7 40 8
data:
$ID,500
$MISSION,5
$DIVE,218
$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,-125185.09
$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,33
$R_STBD_OVSHOOT,39
$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,217
$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
$GPS1,231210,072631,2120.454,12654.993,37,1.0,38,-2.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.8
$GPS2,231210,073914,2120.317,12654.856,12,1.4,12,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,0.030
$KALMAN_X,-341006.5,-115.2,331.1,717486.8,-7808.1
$KALMAN_Y,70282.7,474.6,296.1,-51358.7,-7497.6
$MHEAD_RNG_PITCHd_Wd,85.2,200748,-9.2,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
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$GC,2833,-0.50,-155.7,224.1,-4.4,257,2839,0.00,2.38,0.00,0.000,6,0.000,0.047,2986,2199,3590,0,0,0,0,0,0
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$GC,3604,-0.50,-155.7,259.1,-4.8,294,3608,0.00,2.42,0.00,0.000,4,0.000,0.058,2964,3778,3589,0,0,0,0,0,0
$GC,3682,-0.50,-155.7,262.9,-4.8,297,3686,0.00,2.35,0.00,0.000,6,0.000,0.038,2964,2172,3590,0,0,0,0,0,0
$GC,3997,-0.50,-155.7,276.9,-4.6,312,4001,0.00,2.47,0.00,0.000,4,0.000,0.055,2953,3782,3590,0,0,0,0,0,0
$GC,4058,-0.50,-155.7,279.9,-5.4,315,4063,0.12,2.33,0.00,0.000,6,0.113,0.038,2998,2189,3589,0,0,0,0,0,0
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$GC,4530,-0.50,-155.7,299.1,-4.7,337,4535,0.00,2.38,0.00,0.000,6,0.000,0.038,2989,2177,3588,0,0,0,0,0,0
$GC,4862,-0.50,-155.7,311.5,-4.0,347,4866,0.00,2.47,0.00,0.000,4,0.000,0.054,2988,3780,3587,0,0,0,0,0,0
$GC,5119,-0.50,-155.7,321.3,-4.0,352,5125,0.00,2.35,0.00,0.000,6,0.000,0.036,2988,2180,3586,0,0,0,0,0,0
$GC,5451,-0.50,-155.7,333.2,-3.7,361,5455,0.00,2.33,0.00,0.000,4,0.000,0.048,2988,593,3584,0,0,0,0,0,0
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$GC,7159,-0.50,-155.7,410.4,-3.4,402,7163,0.00,2.30,0.00,0.000,6,0.000,0.044,2988,2193,3579,0,0,0,0,0,0
$GC,7497,-0.50,-155.7,422.2,-3.6,411,7501,0.00,2.45,0.00,0.000,4,0.000,0.054,2977,3773,3578,0,0,0,0,0,0
$GC,7753,-0.50,-155.7,433.8,-4.6,416,7759,0.00,2.35,0.00,0.000,6,0.000,0.034,2977,2168,3577,0,0,0,0,0,0
$GC,8085,-0.50,-155.7,449.4,-4.7,425,8090,0.00,2.33,0.00,0.000,4,0.000,0.048,2976,613,3576,0,0,0,0,0,0
$GC,8242,-0.50,-155.7,456.8,-4.7,428,8246,0.00,2.33,0.00,0.000,6,0.000,0.044,2970,2196,3575,0,0,0,0,0,0
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$GC,16044,-0.50,-155.7,741.2,-3.6,615,16049,0.00,2.38,0.00,0.000,6,0.000,0.036,2975,2181,3550,0,0,0,0,0,0
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$GC,17062,-0.50,-155.7,780.4,-3.4,640,17066,0.00,2.33,0.00,0.000,6,0.000,0.044,2975,2193,3548,0,0,0,0,0,0
$GC,17386,-0.50,-155.7,792.3,-3.4,648,17390,0.00,2.45,0.00,0.000,4,0.000,0.056,2975,3782,3547,0,0,0,0,0,0
$GC,17643,-0.50,-155.7,800.7,-3.0,653,17649,0.00,2.35,0.00,0.000,6,0.000,0.035,2974,2182,3546,0,0,0,0,0,0
$GC,17975,-0.50,-155.7,809.2,-2.5,662,17979,0.00,2.47,0.00,0.000,4,0.000,0.054,2974,3771,3545,0,0,0,0,0,0
$GC,18232,-0.50,-155.7,817.0,-3.1,667,18238,0.00,2.33,0.00,0.000,6,0.000,0.035,2974,2186,3545,0,0,0,0,0,0
$GC,18564,-0.50,-155.7,827.3,-3.3,676,18568,0.00,2.47,0.00,0.000,4,0.000,0.055,2975,3771,3544,0,0,0,0,0,0
$GC,18822,-0.50,-155.7,836.3,-3.2,681,18828,0.00,2.35,0.00,0.000,6,0.000,0.035,2974,2196,3544,0,0,0,0,0,0
$GC,19153,-0.50,-155.7,846.8,-3.2,690,19157,0.00,2.45,0.00,0.000,4,0.000,0.055,2974,3778,3542,0,0,0,0,0,0
$GC,19411,-0.50,-155.7,855.3,-4.3,695,19416,0.00,2.38,0.00,0.000,6,0.000,0.036,2974,2184,3543,0,0,0,0,0,0
$GC,19741,-0.50,-155.7,865.7,-3.1,704,19745,0.00,2.45,0.00,0.000,4,0.000,0.055,2974,3770,3542,0,0,0,0,0,0
$GC,19762,-0.50,-155.7,866.5,-3.5,704,19766,0.00,2.38,0.00,0.000,6,0.000,0.038,2973,2186,3542,0,0,0,0,0,0
$GC,20111,-0.50,-155.7,878.6,-3.6,713,20115,0.00,2.47,0.00,0.000,4,0.000,0.056,2974,3774,3542,0,0,0,0,0,0
$GC,20368,-0.50,-155.7,888.9,-3.6,718,20374,0.00,2.40,0.00,0.000,6,0.000,0.037,2974,2174,3542,0,0,0,0,0,0
$GC,20699,-0.50,-155.7,901.5,-3.9,727,20703,0.00,2.50,0.00,0.000,4,0.000,0.056,2974,3776,3542,0,0,0,0,0,0
$GC,20957,-0.50,-155.7,912.1,-4.8,732,20962,0.00,2.38,0.00,0.000,6,0.000,0.035,2976,2183,3541,0,0,0,0,0,0
$GC,21287,-0.50,-155.7,924.4,-3.6,741,21288,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2183,3541,0,0,0,0,0,0
$STATE,21610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,21610,begin apogee
$GC,21615,-0.23,0.0,935.9,3.6,749,21745,0.28,0.00,127.28,1.330,6,0.061,0.000,3105,1863,2946,0,0,0,0,0,0
$STATE,21748,end apogee,CONTROL_FINISHED_OK
$STATE,21748,begin climb
$GC,21751,0.50,155.7,936.0,0.0,752,21901,0.52,2.70,142.32,1.290,4,0.041,0.051,3350,294,2310,0,0,0,0,0,0
$GC,21975,0.50,155.7,895.4,20.6,757,21980,0.15,2.47,0.00,0.000,6,0.140,0.042,3310,1851,2300,0,0,0,0,0,0
$GC,22322,0.50,155.7,832.1,17.7,766,22326,0.00,2.50,0.00,0.000,4,0.000,0.052,3309,3455,2291,0,0,0,0,0,0
$GC,22416,0.50,155.7,814.4,19.4,768,22421,0.00,2.45,0.00,0.000,6,0.000,0.041,3320,1869,2290,0,0,0,0,0,0
$GC,22728,0.50,155.7,755.2,19.2,776,22730,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1868,2288,0,0,0,0,0,0
$GC,23053,0.50,155.7,691.6,19.7,784,23054,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1868,2286,0,0,0,0,0,0
$GC,23379,0.50,155.7,627.9,19.5,792,23380,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1868,2286,0,0,0,0,0,0
$GC,23703,0.50,155.7,564.5,19.3,800,23708,0.00,2.47,0.00,0.000,4,0.000,0.053,3318,3454,2285,0,0,0,0,0,0
$GC,23792,0.50,155.7,545.9,20.7,802,23796,0.00,2.47,0.00,0.000,6,0.000,0.042,3332,1857,2282,0,0,0,0,0,0
$GC,24117,0.50,155.7,482.4,18.9,810,24121,0.00,2.42,0.00,0.000,4,0.000,0.053,3345,272,2284,0,0,0,0,0,0
$GC,24155,0.50,155.7,475.3,14.8,811,24160,0.12,2.40,0.00,0.000,6,0.144,0.046,3308,1860,2283,0,0,0,0,0,0
$GC,24478,0.50,155.7,425.4,15.1,819,24482,0.00,2.47,0.00,0.000,4,0.000,0.055,3308,3455,2280,0,0,0,0,0,0
$GC,24583,0.50,155.7,408.7,15.7,821,24588,0.00,2.42,0.00,0.000,6,0.000,0.042,3319,1843,2282,0,0,0,0,0,0
$GC,24924,0.50,155.7,355.5,15.4,830,24929,0.00,2.47,0.00,0.000,4,0.000,0.054,3319,3451,2285,0,0,0,0,0,0
$GC,24985,0.50,155.7,345.7,15.3,831,24990,0.00,2.42,0.00,0.000,6,0.000,0.043,3331,1858,2281,0,0,0,0,0,0
$GC,25313,0.50,155.7,292.0,16.7,840,25317,0.00,2.42,0.00,0.000,4,0.000,0.052,3343,264,2281,0,0,0,0,0,0
$GC,25333,0.50,155.7,288.3,18.3,841,25338,0.08,2.42,0.00,0.000,6,0.116,0.045,3314,1855,2282,0,0,0,0,0,0
$GC,25661,0.50,155.7,238.5,15.1,857,25665,0.00,2.42,0.00,0.000,4,0.000,0.055,3315,3450,2281,0,0,0,0,0,0
$GC,25800,0.50,155.7,215.2,14.9,863,25804,0.00,2.38,0.00,0.000,6,0.000,0.041,3326,1858,2281,0,0,0,0,0,0
$GC,26123,0.50,155.7,170.1,12.2,888,26127,0.00,2.45,0.00,0.000,4,0.000,0.051,3326,3456,2281,0,0,0,0,0,0
$GC,26199,0.50,155.7,159.6,16.5,894,26206,0.00,2.42,0.00,0.000,6,0.000,0.039,3337,1852,2281,0,0,0,0,0,0
$GC,26464,0.50,155.7,128.1,11.2,919,26468,0.00,2.40,0.00,0.000,4,0.000,0.051,3349,271,2281,0,0,0,0,0,0
$GC,26529,0.50,155.7,119.6,10.2,924,26536,0.10,2.40,0.00,0.000,6,0.107,0.041,3312,1870,2282,0,0,0,0,0,0
$GC,26790,0.50,155.7,96.0,9.7,949,26795,0.00,2.40,0.00,0.000,4,0.000,0.051,3312,3448,2282,0,0,0,0,0,0
$GC,26852,0.50,155.7,90.2,9.0,954,26856,0.00,2.38,0.00,0.000,6,0.000,0.040,3328,1851,2283,0,0,0,0,0,0
$GC,27113,0.50,155.7,66.5,11.2,978,27117,0.00,2.38,0.00,0.000,4,0.000,0.052,3335,270,2284,0,0,0,0,0,0
$GC,27134,0.50,155.7,64.7,8.2,979,27140,0.00,2.35,0.00,0.000,6,0.000,0.043,3335,1862,2283,0,0,0,0,0,0
$GC,27395,0.50,155.7,38.7,9.2,1004,27399,0.00,2.40,0.00,0.000,4,0.000,0.051,3336,3448,2286,0,0,0,0,0,0
$GC,27468,0.50,155.7,29.4,12.5,1010,27474,0.12,2.38,0.00,0.000,6,0.137,0.041,3308,1858,2286,0,0,0,0,0,0
$GC,27676,0.50,155.7,7.5,11.0,1047,27681,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1858,2287,0,0,0,0,0,0
$STATE,27735,end climb,SURFACE_DEPTH_REACHED
$STATE,27735,begin surface coast
$FINISH,0.3,1.012019
$STATE,27781,end surface coast,CONTROL_FINISHED_OK
$STATE,27781,begin surface
$SM_CCo,27807,160.93,0.568,0,0,904,500.65
$SM_GC,1.10,0.00,0.00,160.93,0.000,0.000,0.568,105,2213,904,-9.52,0.65,500.65
$IRIDIUM_FIX,2113.32,12655.89,170612,010105
$TT8_MAMPS,0.058292
$HUMID,1078625152
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,25.00
$XPDR_PINGS,4
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8259829760
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54879027200
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,36.118
$10V_AH,10.1,28.970
$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,20.700,258.950,269.600,160.925,0.000,52.534,71.622,390.399,1.000,0.000,14.027,2289.833,21464.070,671.982,3914.941,379.352,33.387,2401.153,0.000,3295.898,0.000,0.541,0.000
$DEVICE_MAMPS,222.430,58.292,1329.978,568.347,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,725.428,0.000,0.000,0.000,0.000,0.000,0.000,29060.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.805,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,36758,1066
$CAP_FILE_SIZE,245479,0
$CFSIZE,260165632,205795328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,152737,2120.301,12653.664,30,1.2,30,-2.9