version: 66.07
glider: 500
mission: 7
dive: 28
start: 9 18 110 1 6 47
data:
$ID,500
$MISSION,7
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,208
$T_MISSION,220
$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,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,390
$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,-115812.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3290
$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,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$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,-66.799538
$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,27
$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
$GPS1,180910,005827,2107.866,-15754.806,33,4.1,53,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.0
$GPS2,180910,010552,2107.848,-15754.942,10,3.4,29,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE1e
$TGT_LATLONG,2055.000,-15708.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.121
$KALMAN_X,-3983.1,-393.5,-512.3,5.7,247.6
$KALMAN_Y,1367.8,-253.2,-2.4,-13364.4,774.7
$MHEAD_RNG_PITCHd_Wd,114.0,84623,-16.1,-8.013
$D_GRID,500
$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,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.80,0.000,2,0.000,0.000,128,1911,2810,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.0,-5.0,12,118,11.45,2.38,-8.02,0.000,4,0.240,0.057,3063,294,3230,0,0,0,0,0,0
$GC,164,-0.68,-116.8,21.4,-18.0,25,170,0.00,2.35,0.00,0.000,6,0.000,0.034,3053,1921,3229,0,0,0,0,0,0
$GC,369,-0.68,-116.8,56.1,-17.4,49,373,0.00,2.33,0.00,0.000,4,0.000,0.044,3041,3491,3232,0,0,0,0,0,0
$GC,378,-0.68,-116.8,57.9,-17.9,49,384,0.00,2.35,0.00,0.000,6,0.000,0.031,3041,1874,3233,0,0,0,0,0,0
$GC,639,-0.68,-116.8,98.3,-15.3,74,643,0.00,2.25,0.00,0.000,4,0.000,0.044,3042,309,3234,0,0,0,0,0,0
$GC,739,-0.68,-116.8,115.4,-16.6,82,746,0.10,2.30,0.00,0.000,6,0.120,0.034,3067,1911,3234,0,0,0,0,0,0
$GC,1001,-0.68,-116.8,147.5,-10.8,107,1005,0.00,2.33,0.00,0.000,4,0.000,0.043,3068,309,3235,0,0,0,0,0,0
$GC,1033,-0.68,-116.8,151.3,-11.1,109,1040,0.00,2.28,0.00,0.000,6,0.000,0.034,3064,1902,3236,0,0,0,0,0,0
$GC,1296,-0.68,-116.8,177.5,-11.0,134,1300,0.00,2.28,0.00,0.000,4,0.000,0.044,3058,313,3239,0,0,0,0,0,0
$GC,1316,-0.68,-116.8,180.2,-12.0,135,1323,0.00,2.28,0.00,0.000,6,0.000,0.035,3052,1898,3236,0,0,0,0,0,0
$GC,1575,-0.68,-116.8,209.4,-11.0,156,1579,0.00,2.28,0.00,0.000,4,0.000,0.044,3055,310,3237,0,0,0,0,0,0
$GC,1601,-0.68,-116.8,212.4,-11.3,157,1606,0.00,2.28,0.00,0.000,6,0.000,0.034,3044,1899,3236,0,0,0,0,0,0
$GC,1928,-0.68,-116.8,245.1,-9.2,173,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1899,3237,0,0,0,0,0,0
$GC,2237,-0.68,-116.8,274.2,-9.9,188,2241,0.00,2.28,0.00,0.000,4,0.000,0.044,3044,311,3237,0,0,0,0,0,0
$GC,2342,-0.68,-116.8,285.2,-9.8,192,2348,0.12,2.28,0.00,0.000,6,0.143,0.034,3074,1917,3237,0,0,0,0,0,0
$GC,2676,-0.68,-116.8,308.4,-6.4,206,2680,0.00,2.30,0.00,0.000,4,0.000,0.044,3074,317,3237,0,0,0,0,0,0
$GC,2725,-0.68,-116.8,311.7,-6.7,207,2730,0.00,2.25,0.00,0.000,6,0.000,0.034,3069,1905,3237,0,0,0,0,0,0
$GC,3038,-0.68,-116.8,330.6,-5.7,215,3042,0.00,2.28,0.00,0.000,4,0.000,0.044,3068,318,3236,0,0,0,0,0,0
$GC,3070,-0.68,-116.8,332.5,-6.1,215,3076,0.00,2.28,0.00,0.000,6,0.000,0.035,3060,1905,3236,0,0,0,0,0,0
$GC,3401,-0.68,-116.8,350.0,-5.1,224,3405,0.00,2.33,0.00,0.000,4,0.000,0.045,3060,308,3234,0,0,0,0,0,0
$GC,3434,-0.68,-116.8,351.8,-5.7,224,3440,0.00,2.30,0.00,0.000,6,0.000,0.035,3052,1912,3234,0,0,0,0,0,0
$GC,3765,-0.68,-116.8,368.9,-5.2,233,3769,0.00,2.35,0.00,0.000,4,0.000,0.045,3056,312,3231,0,0,0,0,0,0
$GC,3809,-0.68,-116.8,371.7,-6.5,234,3813,0.00,2.28,0.00,0.000,6,0.000,0.035,3048,1917,3231,0,0,0,0,0,0
$GC,4126,-0.68,-116.8,393.9,-7.3,242,4130,0.00,2.30,0.00,0.000,4,0.000,0.048,3034,3478,3229,0,0,0,0,0,0
$GC,4147,-0.68,-116.8,395.5,-7.8,242,4152,0.08,2.28,0.00,0.000,6,0.105,0.032,3068,1894,3229,0,0,0,0,0,0
$GC,4489,-0.68,-116.8,417.8,-6.9,251,4493,0.00,2.28,0.00,0.000,4,0.000,0.046,3068,324,3226,0,0,0,0,0,0
$GC,4527,-0.68,-116.8,420.9,-7.6,251,4533,0.00,2.28,0.00,0.000,6,0.000,0.035,3058,1899,3225,0,0,0,0,0,0
$GC,4857,-0.68,-116.8,449.1,-8.8,260,4861,0.00,2.33,0.00,0.000,4,0.000,0.047,3058,324,3224,0,0,0,0,0,0
$GC,4890,-0.68,-116.8,452.0,-8.6,260,4896,0.00,2.28,0.00,0.000,6,0.000,0.035,3047,1921,3224,0,0,0,0,0,0
$GC,5221,-0.68,-116.8,475.6,-7.2,269,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1920,3221,0,0,0,0,0,0
$GC,5546,-0.68,-116.8,498.2,-7.3,277,5550,0.00,2.35,0.00,0.000,4,0.000,0.048,3046,325,3219,0,0,0,0,0,0
$STATE,5565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5565,begin apogee
$GC,5572,-0.23,0.0,500.1,9.0,277,5664,0.47,0.00,88.75,0.912,6,0.105,0.000,3208,1998,2751,0,0,0,0,0,0
$STATE,5667,end apogee,CONTROL_FINISHED_OK
$STATE,5667,begin climb
$GC,5668,0.68,116.8,503.2,0.0,279,5775,0.77,2.50,98.22,0.888,4,0.041,0.048,3539,3580,2271,0,0,0,0,0,0
$GC,5808,0.68,116.8,504.8,8.2,282,5813,0.15,2.40,0.00,0.000,6,0.179,0.036,3514,2001,2266,0,0,0,0,0,0
$GC,6120,0.68,116.8,478.4,8.9,290,6124,0.00,2.38,0.00,0.000,4,0.000,0.047,3525,411,2257,0,0,0,0,0,0
$GC,6377,0.69,123.8,453.6,7.7,295,6388,0.00,2.35,3.78,0.535,6,0.000,0.037,3527,1994,2246,0,0,0,0,0,0
$GC,6712,0.69,129.0,430.4,7.8,304,6720,0.00,0.00,5.97,0.690,6,0.000,0.000,3525,1995,2224,0,0,0,0,0,0
$GC,7038,0.70,137.2,406.9,7.6,312,7052,0.00,2.40,8.20,0.748,4,0.000,0.048,3537,419,2189,0,0,0,0,0,0
$GC,7226,0.70,137.2,389.2,9.6,316,7231,0.00,2.35,0.00,0.000,6,0.000,0.038,3537,2007,2187,0,0,0,0,0,0
$GC,7545,0.70,137.2,360.5,8.9,324,7549,0.00,2.35,0.00,0.000,4,0.000,0.048,3538,3593,2186,0,0,0,0,0,0
$GC,7571,0.70,137.2,358.1,9.2,324,7576,0.08,2.35,0.00,0.000,6,0.168,0.036,3521,1996,2186,0,0,0,0,0,0
$GC,7907,0.70,137.2,330.0,8.4,333,7911,0.00,2.30,0.00,0.000,4,0.000,0.047,3535,417,2185,0,0,0,0,0,0
$GC,7968,0.70,137.2,324.0,9.8,334,7972,0.00,2.30,0.00,0.000,6,0.000,0.038,3536,2005,2185,0,0,0,0,0,0
$GC,8295,0.70,137.2,298.1,8.4,343,8299,0.00,2.33,0.00,0.000,4,0.000,0.048,3536,3583,2182,0,0,0,0,0,0
$GC,8552,0.70,137.2,273.0,9.0,354,8559,0.00,2.30,0.00,0.000,6,0.000,0.035,3548,2004,2182,0,0,0,0,0,0
$GC,8868,0.77,190.0,252.9,5.6,370,8917,0.00,2.40,42.95,0.752,4,0.000,0.047,3560,431,1974,0,0,0,0,0,0
$GC,8953,0.77,190.0,246.5,10.6,374,8957,0.00,2.33,0.00,0.000,6,0.000,0.037,3562,2004,1970,0,0,0,0,0,0
$GC,9278,0.77,190.0,210.3,10.9,390,9282,0.00,2.35,0.00,0.000,4,0.000,0.047,3571,429,1967,0,0,0,0,0,0
$GC,9310,0.77,190.0,206.6,11.1,391,9317,0.08,2.33,0.00,0.000,6,0.158,0.037,3546,2007,1964,0,0,0,0,0,0
$GC,9632,0.77,190.0,170.9,10.3,418,9637,0.00,2.33,0.00,0.000,4,0.000,0.045,3557,426,1963,0,0,0,0,0,0
$GC,9654,0.77,190.0,168.7,9.4,419,9660,0.00,2.30,0.00,0.000,6,0.000,0.036,3557,1994,1963,0,0,0,0,0,0
$GC,9915,0.77,190.0,141.4,9.8,444,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1994,1965,0,0,0,0,0,0
$GC,10170,0.78,202.1,117.7,7.5,468,10184,0.00,2.38,8.88,0.567,4,0.000,0.047,3557,3579,1927,0,0,0,0,0,0
$GC,10247,0.78,202.1,111.0,10.1,475,10251,0.00,2.30,0.00,0.000,6,0.000,0.034,3569,1993,1926,0,0,0,0,0,0
$GC,10509,0.78,202.1,86.0,10.5,499,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1992,1926,0,0,0,0,0,0
$GC,10762,0.81,224.0,66.4,7.0,523,10786,0.00,2.33,19.58,0.562,4,0.000,0.044,3581,421,1835,0,0,0,0,0,0
$GC,10932,0.81,224.0,50.9,10.3,538,10939,0.00,2.30,0.00,0.000,6,0.000,0.035,3581,2001,1831,0,0,0,0,0,0
$GC,11196,0.81,224.0,25.8,9.1,567,11201,0.00,2.35,0.00,0.000,4,0.000,0.045,3580,3589,1833,0,0,0,0,0,0
$GC,11342,0.81,224.0,9.5,11.7,593,11349,0.15,2.30,0.00,0.000,6,0.167,0.035,3548,1987,1830,0,0,0,0,0,0
$STATE,11431,end climb,SURFACE_DEPTH_REACHED
$STATE,11431,begin surface coast
$FINISH,0.2,1.012569
$STATE,11472,end surface coast,CONTROL_FINISHED_OK
$STATE,11472,begin surface
$SM_CCo,11490,89.93,0.402,1,0,1158,390.51
$SM_GC,0.98,0.00,0.00,89.93,0.000,0.000,0.402,144,1886,1158,-9.81,-0.45,390.51
$IRIDIUM_FIX,2101.76,-15758.18,120312,161631
$TT8_MAMPS,0.059059
$HUMID,1078679345
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8441069568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59050065920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,4.464
$10V_AH,10.4,3.769
$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,21.950,125.425,276.325,89.925,0.000,32.756,39.629,230.350,0.000,0.000,32.501,1165.595,8520.099,487.628,1708.336,158.287,33.360,1254.818,0.000,1332.720,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,108.147,911.963,401.908,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,415.307,0.000,0.000,0.000,0.000,0.000,0.000,12382.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.816,0.000,0.000
$MEM,334968
$DATA_FILE_SIZE,20135,616
$CAP_FILE_SIZE,115075,0
$CFSIZE,260165632,235053056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,042107,2107.258,-15754.116,24,1.3,25,9.8