version: 66.07
glider: 500
mission: 7
dive: 77
start: 9 20 110 18 56 30
data:
$ID,500
$MISSION,7
$DIVE,77
$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,-116862.71
$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,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,76
$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
$GPS1,200910,184415,2047.042,-15754.519,13,2.3,32,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.6
$GPS2,200910,185535,2047.056,-15754.660,18,2.2,37,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.152
$KALMAN_X,-35302.2,-126.1,-1042.7,32052.6,-17533.2
$KALMAN_Y,17139.7,1484.3,589.6,-69959.8,13008.3
$MHEAD_RNG_PITCHd_Wd,124.6,12118,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-65.65,0.000,2,0.000,0.000,126,1895,2968,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.1,-7.5,13,118,11.45,2.33,-4.55,0.000,4,0.242,0.051,3058,294,3229,0,0,0,0,0,0
$GC,279,-0.68,-116.8,45.4,-15.4,37,286,0.00,2.35,0.00,0.000,6,0.000,0.033,3049,1918,3230,0,0,0,0,0,0
$GC,540,-0.68,-116.8,83.6,-15.3,62,544,0.00,2.33,0.00,0.000,4,0.000,0.043,3049,295,3232,0,0,0,0,0,0
$GC,606,-0.68,-116.8,94.5,-15.9,67,613,0.10,2.30,0.00,0.000,6,0.166,0.033,3067,1917,3230,0,0,0,0,0,0
$GC,868,-0.68,-116.8,126.5,-12.5,92,872,0.00,2.33,0.00,0.000,4,0.000,0.043,3066,287,3230,0,0,0,0,0,0
$GC,919,-0.68,-116.8,132.3,-11.3,96,923,0.00,2.30,0.00,0.000,6,0.000,0.033,3058,1917,3230,0,0,0,0,0,0
$GC,1179,-0.68,-116.8,160.1,-11.1,120,1184,0.00,2.33,0.00,0.000,4,0.000,0.043,3058,284,3231,0,0,0,0,0,0
$GC,1263,-0.68,-116.8,169.8,-11.3,127,1267,0.00,2.28,0.00,0.000,6,0.000,0.033,3047,1902,3234,0,0,0,0,0,0
$GC,1526,-0.68,-116.8,196.2,-10.0,151,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1902,3232,0,0,0,0,0,0
$GC,1771,-0.68,-116.8,218.3,-8.6,165,1775,0.00,2.33,0.00,0.000,4,0.000,0.043,3047,290,3232,0,0,0,0,0,0
$GC,1826,-0.68,-116.8,224.2,-11.0,167,1833,0.12,2.28,0.00,0.000,6,0.140,0.033,3076,1903,3232,0,0,0,0,0,0
$GC,2142,-0.68,-116.8,248.3,-7.7,183,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1900,3231,0,0,0,0,0,0
$GC,2451,-0.68,-116.8,271.1,-7.0,198,2455,0.00,2.30,0.00,0.000,4,0.000,0.044,3076,298,3231,0,0,0,0,0,0
$GC,2528,-0.68,-116.8,277.1,-8.3,201,2534,0.00,2.28,0.00,0.000,6,0.000,0.033,3069,1905,3230,0,0,0,0,0,0
$GC,2863,-0.68,-116.8,304.0,-8.3,217,2867,0.00,2.30,0.00,0.000,4,0.000,0.044,3069,298,3228,0,0,0,0,0,0
$GC,2913,-0.68,-116.8,308.7,-9.1,218,2917,0.00,2.28,0.00,0.000,6,0.000,0.034,3069,1905,3228,0,0,0,0,0,0
$GC,3231,-0.68,-116.8,331.6,-6.6,226,3235,0.00,2.33,0.00,0.000,4,0.000,0.044,3069,297,3226,0,0,0,0,0,0
$GC,3280,-0.68,-116.8,334.9,-6.7,227,3284,0.00,2.30,0.00,0.000,6,0.000,0.034,3058,1906,3223,0,0,0,0,0,0
$GC,3599,-0.68,-116.8,357.9,-7.5,235,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1907,3223,0,0,0,0,0,0
$GC,3923,-0.68,-116.8,378.6,-6.0,243,3928,0.00,2.33,0.00,0.000,4,0.000,0.045,3059,289,3223,0,0,0,0,0,0
$GC,4023,-0.68,-116.8,386.1,-7.9,245,4028,0.00,2.30,0.00,0.000,6,0.000,0.035,3048,1893,3221,0,0,0,0,0,0
$GC,4336,-0.68,-116.8,411.0,-8.1,253,4340,0.00,2.33,0.00,0.000,4,0.000,0.044,3047,290,3219,0,0,0,0,0,0
$GC,4413,-0.68,-116.8,417.6,-8.0,254,4420,0.08,2.33,0.00,0.000,6,0.113,0.035,3070,1906,3219,0,0,0,0,0,0
$GC,4745,-0.68,-116.8,437.3,-6.0,263,4749,0.00,2.33,0.00,0.000,4,0.000,0.046,3070,298,3216,0,0,0,0,0,0
$GC,4817,-0.68,-116.8,442.8,-7.4,264,4822,0.00,2.30,0.00,0.000,6,0.000,0.035,3061,1895,3215,0,0,0,0,0,0
$GC,5160,-0.68,-116.8,466.9,-7.0,273,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1896,3212,0,0,0,0,0,0
$GC,5485,-0.68,-116.8,488.7,-6.4,281,5489,0.00,2.35,0.00,0.000,4,0.000,0.047,3060,287,3210,0,0,0,0,0,0
$GC,5511,-0.68,-116.8,490.6,-6.9,281,5516,0.00,2.33,0.00,0.000,6,0.000,0.035,3049,1893,3210,0,0,0,0,0,0
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5683,begin apogee
$GC,5688,-0.23,0.0,502.0,6.6,286,5777,0.47,0.00,86.30,0.921,6,0.096,0.000,3219,2026,2750,0,0,0,0,0,0
$STATE,5824,end apogee,CONTROL_FINISHED_OK
$STATE,5824,begin climb
$GC,5826,0.68,116.8,504.1,0.0,288,5932,0.73,2.45,96.05,0.900,4,0.038,0.046,3543,3568,2272,0,0,0,0,0,0
$GC,5988,0.68,116.8,502.0,11.0,291,5995,0.17,2.38,0.00,0.000,6,0.173,0.035,3510,1967,2268,0,0,0,0,0,0
$GC,6319,0.68,116.8,470.2,9.2,300,6322,0.00,2.28,0.00,0.000,4,0.000,0.046,3520,423,2261,0,0,0,0,0,0
$GC,6356,0.68,116.8,466.3,10.4,300,6363,0.00,2.28,0.00,0.000,6,0.000,0.036,3520,1973,2259,0,0,0,0,0,0
$GC,6687,0.68,116.8,434.9,9.2,309,6691,0.00,2.35,0.00,0.000,4,0.000,0.047,3520,3591,2258,0,0,0,0,0,0
$GC,6720,0.68,116.8,431.6,10.3,309,6726,0.00,2.30,0.00,0.000,6,0.000,0.035,3532,1992,2258,0,0,0,0,0,0
$GC,7051,0.68,116.8,401.1,8.8,318,7055,0.00,2.28,0.00,0.000,4,0.000,0.047,3544,422,2257,0,0,0,0,0,0
$GC,7173,0.69,122.2,391.3,7.8,320,7180,0.10,2.28,0.00,0.000,6,0.181,0.037,3516,2003,2257,0,0,0,0,0,0
$GC,7504,0.73,155.6,369.9,6.5,329,7539,0.00,2.38,29.92,0.841,4,0.000,0.047,3526,427,2116,0,0,0,0,0,0
$GC,7752,0.73,155.6,346.0,11.5,333,7757,0.00,2.30,0.00,0.000,6,0.000,0.036,3526,2003,2105,0,0,0,0,0,0
$GC,8089,0.73,155.6,312.6,10.3,342,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2000,2105,0,0,0,0,0,0
$GC,8396,0.73,155.6,281.7,10.0,354,8400,0.00,2.35,0.00,0.000,4,0.000,0.047,3526,3589,2105,0,0,0,0,0,0
$GC,8450,0.73,155.6,275.7,10.4,356,8456,0.00,2.30,0.00,0.000,6,0.000,0.035,3538,2004,2104,0,0,0,0,0,0
$GC,8766,0.73,155.6,245.0,9.3,372,8770,0.00,2.30,0.00,0.000,4,0.000,0.045,3547,423,2104,0,0,0,0,0,0
$GC,8854,0.73,155.6,236.3,9.9,376,8859,0.00,2.30,0.00,0.000,6,0.000,0.036,3550,2026,2103,0,0,0,0,0,0
$GC,9181,0.73,155.6,207.9,8.8,392,9185,0.00,2.33,0.00,0.000,4,0.000,0.045,3562,415,2103,0,0,0,0,0,0
$GC,9291,0.73,155.6,199.2,8.1,397,9298,0.10,2.28,0.00,0.000,6,0.147,0.035,3529,1996,2103,0,0,0,0,0,0
$GC,9554,0.74,168.9,180.9,7.4,422,9569,0.00,2.33,10.10,0.647,4,0.000,0.044,3529,3594,2061,0,0,0,0,0,0
$GC,9652,0.74,168.9,171.3,9.1,430,9659,0.00,2.30,0.00,0.000,6,0.000,0.033,3539,1999,2059,0,0,0,0,0,0
$GC,9915,0.77,192.3,148.9,6.9,455,9940,0.00,2.33,20.35,0.652,4,0.000,0.043,3552,418,1965,0,0,0,0,0,0
$GC,10135,0.77,192.3,130.4,8.6,474,10141,0.00,2.30,0.00,0.000,6,0.000,0.035,3551,2002,1961,0,0,0,0,0,0
$GC,10397,0.77,193.3,107.6,8.0,499,10401,0.00,2.30,0.00,0.000,4,0.000,0.043,3563,425,1960,0,0,0,0,0,0
$GC,10430,0.81,225.6,105.3,6.5,501,10466,0.00,2.28,27.15,0.611,6,0.000,0.035,3568,2014,1831,0,0,0,0,0,0
$GC,10720,0.81,225.6,79.2,10.2,529,10724,0.00,2.33,0.00,0.000,4,0.000,0.044,3563,3590,1825,0,0,0,0,0,0
$GC,10782,0.81,225.6,70.9,15.8,534,10786,0.00,2.28,0.00,0.000,6,0.000,0.032,3574,1995,1823,0,0,0,0,0,0
$GC,11043,0.81,225.6,43.4,10.4,558,11047,0.00,2.25,0.00,0.000,4,0.000,0.042,3586,422,1827,0,0,0,0,0,0
$GC,11165,0.81,225.6,29.9,10.4,568,11172,0.12,2.25,0.00,0.000,6,0.160,0.034,3552,2007,1823,0,0,0,0,0,0
$GC,11442,0.81,225.6,4.9,9.6,617,11447,0.00,2.28,0.00,0.000,4,0.000,0.042,3562,419,1823,0,0,0,0,0,0
$STATE,11468,end climb,SURFACE_DEPTH_REACHED
$STATE,11468,begin surface coast
$FINISH,0.3,1.023234
$STATE,11514,end surface coast,CONTROL_FINISHED_OK
$STATE,11514,begin surface
$SM_CCo,11600,88.15,0.074,0,0,1160,390.02
$SM_GC,1.06,0.00,0.00,88.15,0.000,0.000,0.074,136,1914,1160,-9.85,0.40,390.02
$IRIDIUM_FIX,2040.99,-15754.37,150312,131347
$TT8_MAMPS,0.263081
$HUMID,1078789023
$INTERNAL_PRESSURE,9.57923
$TCM_TEMP,24.80
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8421277696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57587269632
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,7.686
$10V_AH,10.3,6.745
$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,21.925,120.025,269.875,88.150,0.000,54.519,60.364,345.805,2.250,0.000,42.008,1185.390,8528.717,476.556,2014.810,187.056,33.316,1249.938,0.000,1370.862,0.000,0.544,0.000
$DEVICE_MAMPS,242.372,93.574,921.167,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,425.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334944
$DATA_FILE_SIZE,23403,630
$CAP_FILE_SIZE,120155,0
$CFSIZE,260165632,232800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200910,221237,2046.178,-15753.600,23,1.9,24,9.8