version: 66.07
glider: 500
mission: 7
dive: 51
start: 9 19 110 17 19 58
data:
$ID,500
$MISSION,7
$DIVE,51
$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,-116303.04
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,40
$ALTIM_PING_DELTA,10
$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,50
$AR_SAMPLENUM,4
$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
$GPS1,190910,171237,2055.605,-15755.485,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.9
$GPS2,190910,171902,2055.579,-15755.486,13,0.9,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.191
$KALMAN_X,-28060.1,-918.3,-823.6,23963.6,-15056.7
$KALMAN_Y,11649.7,3086.5,772.5,-50472.8,15692.0
$MHEAD_RNG_PITCHd_Wd,141.6,27244,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-66.30,0.000,2,0.000,0.000,127,1908,2981,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.0,-7.5,13,118,11.43,2.35,-4.35,0.000,4,0.242,0.051,3062,282,3230,0,0,0,0,0,0
$GC,265,-0.68,-116.8,43.1,-16.1,36,269,0.00,2.35,0.00,0.000,6,0.000,0.034,3056,1920,3230,0,0,0,0,0,0
$GC,524,-0.68,-116.8,84.2,-16.4,60,526,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1919,3230,0,0,0,0,0,0
$GC,781,-0.68,-116.8,123.5,-13.9,84,785,0.00,2.35,0.00,0.000,4,0.000,0.043,3051,293,3230,0,0,0,0,0,0
$GC,823,-0.68,-116.8,129.4,-13.0,87,831,0.08,2.30,0.00,0.000,6,0.121,0.033,3070,1911,3231,0,0,0,0,0,0
$STATE,842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,842,begin apogee
$GC,847,-0.23,0.0,131.2,11.8,89,935,0.38,0.00,84.88,0.565,6,0.111,0.000,3206,2021,2749,0,0,0,0,0,0
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,985,0.68,116.8,134.6,0.0,98,1083,0.80,2.45,88.38,0.558,4,0.073,0.043,3525,398,2273,0,0,0,0,0,0
$GC,1178,0.74,165.2,131.0,5.8,116,1220,0.00,2.30,37.00,0.545,6,0.000,0.034,3525,1980,2076,0,0,0,0,0,0
$GC,1475,0.81,220.0,108.4,5.5,144,1525,0.00,2.42,42.75,0.538,4,0.000,0.044,3525,3582,1852,0,0,0,0,0,0
$GC,1547,0.81,220.0,102.9,9.7,151,1551,0.00,2.33,0.00,0.000,6,0.000,0.031,3536,1972,1850,0,0,0,0,0,0
$GC,1808,0.81,220.0,77.5,9.4,175,1812,0.00,2.25,0.00,0.000,4,0.000,0.044,3547,419,1846,0,0,0,0,0,0
$GC,2054,0.81,220.0,58.8,8.2,196,2061,0.00,2.28,0.00,0.000,6,0.000,0.033,3547,1999,1844,0,0,0,0,0,0
$GC,2317,0.83,240.3,38.4,7.1,221,2336,0.00,0.00,15.18,0.478,6,0.000,0.000,3547,1999,1771,0,0,0,0,0,0
$GC,2601,0.83,240.3,13.2,9.4,263,2606,0.00,2.25,0.00,0.000,4,0.000,0.042,3558,425,1768,0,0,0,0,0,0
$GC,2662,0.83,240.3,7.0,10.2,274,2668,0.00,2.25,0.00,0.000,6,0.000,0.035,3558,2015,1767,0,0,0,0,0,0
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,0.3,1.023145
$STATE,2730,end surface coast,CONTROL_FINISHED_OK
$STATE,2730,begin surface
$SM_CCo,2814,73.53,0.067,0,0,1158,390.02
$SM_GC,1.35,0.00,0.00,73.53,0.000,0.000,0.067,150,1872,1158,-9.81,-0.79,390.02
$IRIDIUM_FIX,2047.91,-15800.78,140312,101021
$TT8_MAMPS,0.057525
$HUMID,1078574829
$INTERNAL_PRESSURE,9.74525
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.2,9.6
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8440119296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58269171712
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,6.076
$10V_AH,10.5,5.357
$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,21.175,28.125,268.175,73.525,0.000,27.548,29.742,207.099,2.750,0.000,15.531,480.774,1403.548,388.313,921.884,98.939,33.322,700.950,0.000,507.485,0.000,19.075,0.000
$DEVICE_MAMPS,242.372,108.147,564.512,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,187.612,0.000,0.000,0.000,0.000,0.000,0.000,3585.810,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,31.429,0.000,0.000
$MEM,335012
$DATA_FILE_SIZE,10120,286
$CAP_FILE_SIZE,47360,0
$CFSIZE,260165632,233951232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,180902,2055.138,-15755.319,6,1.4,6,9.8