version: 66.07
glider: 500
mission: 7
dive: 83
start: 9 21 110 15 51 7
data:
$ID,500
$MISSION,7
$DIVE,83
$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,-116973.09
$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,82
$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
$GPS1,210910,154152,2043.559,-15752.383,12,2.5,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-75.2
$GPS2,210910,155013,2043.588,-15752.434,11,1.9,28,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.039
$KALMAN_X,-37170.5,-1178.5,732.1,37030.3,-3547.3
$KALMAN_Y,11811.3,690.6,-885.1,-68765.5,1854.6
$MHEAD_RNG_PITCHd_Wd,90.5,4626,-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,-65.72,0.000,2,0.000,0.000,127,1904,2983,0,0,0,0,0,0
$GC,96,-0.68,-116.8,4.1,-8.5,13,118,11.50,2.35,-4.25,0.000,4,0.241,0.050,3055,291,3230,0,0,0,0,0,0
$GC,129,-0.68,-116.8,19.8,-44.0,19,135,0.00,2.38,0.00,0.000,6,0.000,0.032,3047,1929,3232,0,0,0,0,0,0
$GC,328,-0.68,-116.8,61.0,-18.8,41,332,0.00,2.30,0.00,0.000,4,0.000,0.044,3035,3483,3233,0,0,0,0,0,0
$GC,349,-0.68,-116.8,65.0,-19.4,42,356,0.12,2.30,0.00,0.000,6,0.142,0.031,3074,1872,3233,0,0,0,0,0,0
$GC,611,-0.68,-116.8,99.4,-12.0,67,615,0.00,2.22,0.00,0.000,4,0.000,0.043,3073,324,3235,0,0,0,0,0,0
$GC,688,-0.68,-116.8,109.2,-11.9,73,694,0.00,2.28,0.00,0.000,6,0.000,0.033,3069,1902,3235,0,0,0,0,0,0
$GC,949,-0.68,-116.8,137.4,-11.2,98,953,0.00,2.28,0.00,0.000,4,0.000,0.044,3057,3483,3236,0,0,0,0,0,0
$GC,970,-0.68,-116.8,140.0,-11.5,99,976,0.00,2.28,0.00,0.000,6,0.000,0.030,3062,1901,3238,0,0,0,0,0,0
$GC,1232,-0.68,-116.8,169.0,-10.9,124,1236,0.00,2.25,0.00,0.000,4,0.000,0.043,3057,323,3237,0,0,0,0,0,0
$GC,1417,-0.68,-116.8,188.3,-10.6,140,1421,0.00,2.25,0.00,0.000,6,0.000,0.032,3048,1918,3236,0,0,0,0,0,0
$GC,1683,-0.68,-116.8,215.5,-10.5,158,1688,0.00,2.30,0.00,0.000,4,0.000,0.042,3047,314,3236,0,0,0,0,0,0
$GC,1727,-0.68,-116.8,221.0,-12.6,160,1732,0.08,2.28,0.00,0.000,6,0.117,0.033,3067,1905,3235,0,0,0,0,0,0
$GC,2053,-0.68,-116.8,248.6,-7.3,176,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1905,3236,0,0,0,0,0,0
$GC,2363,-0.68,-116.8,268.3,-6.3,191,2367,0.00,2.30,0.00,0.000,4,0.000,0.043,3068,320,3236,0,0,0,0,0,0
$GC,2441,-0.68,-116.8,274.1,-7.3,194,2447,0.00,2.25,0.00,0.000,6,0.000,0.032,3058,1899,3236,0,0,0,0,0,0
$GC,2758,-0.68,-116.8,296.8,-7.4,210,2762,0.00,2.28,0.00,0.000,4,0.000,0.043,3059,315,3235,0,0,0,0,0,0
$GC,2801,-0.68,-116.8,300.6,-8.2,212,2805,0.00,2.28,0.00,0.000,6,0.000,0.033,3051,1908,3235,0,0,0,0,0,0
$GC,3125,-0.68,-116.8,326.7,-8.2,220,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1907,3234,0,0,0,0,0,0
$GC,3451,-0.68,-116.8,350.9,-7.5,228,3455,0.00,2.30,0.00,0.000,4,0.000,0.044,3048,322,3232,0,0,0,0,0,0
$GC,3595,-0.68,-116.8,362.8,-8.4,231,3601,0.08,2.25,0.00,0.000,6,0.107,0.033,3070,1896,3232,0,0,0,0,0,0
$GC,3914,-0.68,-116.8,385.4,-7.5,239,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1894,3229,0,0,0,0,0,0
$GC,4240,-0.68,-116.8,406.9,-6.1,247,4244,0.00,2.28,0.00,0.000,4,0.000,0.045,3070,320,3226,0,0,0,0,0,0
$GC,4294,-0.68,-116.8,410.6,-6.9,248,4298,0.00,2.28,0.00,0.000,6,0.000,0.033,3062,1902,3226,0,0,0,0,0,0
$GC,4607,-0.68,-116.8,430.5,-6.4,256,4611,0.00,2.33,0.00,0.000,4,0.000,0.044,3061,312,3227,0,0,0,0,0,0
$GC,4673,-0.68,-116.8,435.1,-7.1,257,4678,0.00,2.25,0.00,0.000,6,0.000,0.034,3051,1896,3223,0,0,0,0,0,0
$GC,5009,-0.68,-116.8,456.0,-6.0,266,5014,0.00,2.30,0.00,0.000,4,0.000,0.044,3051,324,3219,0,0,0,0,0,0
$GC,5031,-0.68,-116.8,457.5,-6.4,266,5036,0.10,2.25,0.00,0.000,6,0.147,0.035,3073,1915,3221,0,0,0,0,0,0
$GC,5367,-0.68,-116.8,475.5,-5.2,275,5371,0.00,2.33,0.00,0.000,4,0.000,0.045,3074,314,3218,0,0,0,0,0,0
$GC,5393,-0.68,-116.8,477.2,-6.7,275,5397,0.00,2.30,0.00,0.000,6,0.000,0.035,3063,1904,3218,0,0,0,0,0,0
$GC,5730,-0.68,-116.8,497.6,-6.0,284,5734,0.00,2.33,0.00,0.000,4,0.000,0.046,3063,320,3216,0,0,0,0,0,0
$GC,5757,-0.68,-116.8,499.3,-6.1,284,5762,0.00,2.28,0.00,0.000,6,0.000,0.035,3053,1915,3216,0,0,0,0,0,0
$STATE,5807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5808,begin apogee
$GC,5812,-0.23,0.0,502.3,6.0,286,5904,0.45,0.00,88.55,0.928,6,0.095,0.000,3214,2015,2748,0,0,0,0,0,0
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5953,0.68,116.8,503.9,0.0,288,6059,0.75,2.47,97.60,0.910,4,0.040,0.045,3539,3571,2270,0,0,0,0,0,0
$GC,6177,0.68,116.8,496.9,10.3,293,6182,0.17,2.30,0.00,0.000,6,0.170,0.031,3505,1997,2262,0,0,0,0,0,0
$GC,6489,0.68,116.8,471.5,8.1,301,6493,0.00,2.33,0.00,0.000,4,0.000,0.044,3516,417,2256,0,0,0,0,0,0
$GC,6528,0.68,116.8,468.1,9.0,302,6532,0.00,2.28,0.00,0.000,6,0.000,0.035,3516,1986,2255,0,0,0,0,0,0
$GC,6852,0.68,116.8,438.6,8.9,310,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1986,2253,0,0,0,0,0,0
$GC,7177,0.69,125.8,412.4,7.6,318,7186,0.00,2.33,4.80,0.630,4,0.000,0.046,3528,428,2237,0,0,0,0,0,0
$GC,7428,0.69,125.8,390.4,8.7,323,7432,0.00,2.28,0.00,0.000,6,0.000,0.035,3528,2011,2238,0,0,0,0,0,0
$GC,7764,0.69,125.8,360.0,9.5,332,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2013,2233,0,0,0,0,0,0
$GC,8089,0.70,134.5,332.7,7.6,340,8103,0.00,2.40,7.95,0.725,4,0.000,0.045,3538,423,2202,0,0,0,0,0,0
$GC,8358,0.73,155.8,313.2,7.0,346,8382,0.00,2.28,19.23,0.794,6,0.000,0.036,3539,2004,2114,0,0,0,0,0,0
$GC,8707,0.73,155.8,284.1,8.5,358,8711,0.00,2.35,0.00,0.000,4,0.000,0.046,3547,423,2107,0,0,0,0,0,0
$GC,8963,0.73,155.8,257.5,10.4,369,8970,0.00,2.33,0.00,0.000,6,0.000,0.035,3551,2002,2107,0,0,0,0,0,0
$GC,9280,0.74,163.6,228.7,7.7,385,9293,0.00,2.40,6.85,0.643,4,0.000,0.046,3550,3583,2081,0,0,0,0,0,0
$GC,9344,0.74,163.6,223.3,9.1,388,9349,0.12,2.30,0.00,0.000,6,0.177,0.035,3530,1999,2080,0,0,0,0,0,0
$GC,9676,0.74,164.6,199.6,8.0,404,9680,0.00,2.33,0.00,0.000,4,0.000,0.045,3529,3585,2076,0,0,0,0,0,0
$GC,9743,0.74,164.6,194.0,8.6,410,9747,0.00,2.28,0.00,0.000,6,0.000,0.033,3540,1987,2078,0,0,0,0,0,0
$GC,10004,0.74,166.9,173.9,7.9,434,10015,0.00,2.30,3.45,0.426,4,0.000,0.043,3552,435,2067,0,0,0,0,0,0
$GC,10207,0.78,195.8,157.9,6.7,452,10238,0.00,2.25,25.58,0.664,6,0.000,0.034,3552,2002,1950,0,0,0,0,0,0
$GC,10492,0.78,195.8,134.7,9.2,479,10496,0.00,2.30,0.00,0.000,4,0.000,0.044,3563,425,1945,0,0,0,0,0,0
$GC,10644,0.78,195.8,120.5,9.1,492,10648,0.00,2.28,0.00,0.000,6,0.000,0.034,3563,2018,1944,0,0,0,0,0,0
$GC,10905,0.78,195.8,96.4,9.8,516,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2021,1944,0,0,0,0,0,0
$GC,11159,0.80,215.7,73.5,7.1,540,11182,0.00,2.40,15.95,0.564,4,0.000,0.043,3575,428,1871,0,0,0,0,0,0
$GC,11226,0.80,215.7,67.8,8.7,546,11233,0.00,2.28,0.00,0.000,6,0.000,0.033,3575,1989,1869,0,0,0,0,0,0
$GC,11489,0.80,215.7,44.2,8.1,571,11493,0.00,2.25,0.00,0.000,4,0.000,0.042,3586,430,1868,0,0,0,0,0,0
$GC,11599,0.80,215.7,33.9,9.4,580,11606,0.10,2.28,0.00,0.000,6,0.141,0.033,3535,2009,1868,0,0,0,0,0,0
$GC,11872,0.86,264.2,20.2,5.8,623,11918,0.00,2.35,39.03,0.528,4,0.000,0.044,3535,3589,1672,0,0,0,0,0,0
$GC,11947,0.86,264.2,15.0,8.1,637,11952,0.00,2.30,0.00,0.000,6,0.000,0.031,3545,1999,1669,0,0,0,0,0,0
$STATE,12074,end climb,SURFACE_DEPTH_REACHED
$STATE,12074,begin surface coast
$FINISH,0.2,1.023160
$STATE,12109,end surface coast,CONTROL_FINISHED_OK
$STATE,12109,begin surface
$SM_CCo,12192,64.75,0.073,0,0,1161,390.27
$SM_GC,0.91,0.00,0.00,64.75,0.000,0.000,0.073,140,1901,1161,-9.85,0.03,390.27
$IRIDIUM_FIX,2034.08,-15750.10,160312,060654
$TT8_MAMPS,0.252343
$HUMID,1078618700
$INTERNAL_PRESSURE,9.5597
$TCM_TEMP,25.10
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8411873280
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57111117824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.295
$10V_AH,10.2,7.567
$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,22.100,119.800,308.975,64.750,0.000,29.364,27.934,275.199,0.250,0.000,29.887,1259.016,8823.319,473.603,2027.222,188.415,33.353,1314.835,0.000,1501.533,0.000,0.542,0.000
$DEVICE_MAMPS,240.838,105.079,928.070,72.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,449.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335020
$DATA_FILE_SIZE,23439,666
$CAP_FILE_SIZE,123835,0
$CFSIZE,260165632,232292352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,191700,2043.416,-15751.979,35,0.9,41,9.8