version: 66.07
glider: 500
mission: 7
dive: 86
start: 9 22 110 0 58 57
data:
$ID,500
$MISSION,7
$DIVE,86
$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,-117038.26
$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,85
$AR_SAMPLENUM,9
$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
$GPS1,220910,005024,2042.694,-15752.332,27,1.1,45,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.7
$GPS2,220910,005802,2042.693,-15752.377,33,2.0,33,9.7
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,0.089
$KALMAN_X,-41170.7,33.8,278.3,40413.5,-1661.6
$KALMAN_Y,9776.3,312.3,149.8,-69095.0,-1885.4
$MHEAD_RNG_PITCHd_Wd,56.3,3277,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.40,0.000,2,0.000,0.000,127,1899,2803,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.1,-5.5,12,118,11.38,2.35,-8.07,0.000,4,0.236,0.053,3058,291,3231,0,0,0,0,0,0
$GC,147,-0.68,-116.8,18.9,-22.1,22,152,0.00,2.35,0.00,0.000,6,0.000,0.034,3048,1922,3232,0,0,0,0,0,0
$GC,348,-0.68,-116.8,56.5,-18.5,46,349,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1922,3233,0,0,0,0,0,0
$GC,601,-0.68,-116.8,95.3,-14.9,70,605,0.00,2.35,0.00,0.000,4,0.000,0.041,3053,297,3233,0,0,0,0,0,0
$GC,629,-0.68,-116.8,99.2,-14.2,72,634,0.12,2.30,0.00,0.000,6,0.145,0.032,3074,1914,3234,0,0,0,0,0,0
$GC,890,-0.68,-116.8,127.3,-10.7,96,894,0.00,2.33,0.00,0.000,4,0.000,0.041,3074,296,3235,0,0,0,0,0,0
$GC,956,-0.68,-116.8,134.3,-9.8,101,962,0.00,2.28,0.00,0.000,6,0.000,0.031,3069,1908,3235,0,0,0,0,0,0
$GC,1216,-0.68,-116.8,158.3,-8.6,126,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1909,3236,0,0,0,0,0,0
$GC,1472,-0.68,-116.8,181.2,-9.1,150,1476,0.00,2.30,0.00,0.000,4,0.000,0.041,3069,299,3236,0,0,0,0,0,0
$GC,1521,-0.68,-116.8,186.0,-9.7,154,1525,0.00,2.28,0.00,0.000,6,0.000,0.031,3063,1914,3237,0,0,0,0,0,0
$GC,1788,-0.68,-116.8,211.7,-9.2,173,1792,0.00,2.33,0.00,0.000,4,0.000,0.041,3063,287,3236,0,0,0,0,0,0
$GC,1860,-0.68,-116.8,218.5,-9.8,176,1864,0.00,2.28,0.00,0.000,6,0.000,0.031,3055,1900,3236,0,0,0,0,0,0
$GC,2181,-0.68,-116.8,247.7,-9.1,192,2185,0.00,2.30,0.00,0.000,4,0.000,0.041,3055,291,3236,0,0,0,0,0,0
$GC,2252,-0.68,-116.8,254.9,-10.2,195,2257,0.00,2.30,0.00,0.000,6,0.000,0.031,3044,1906,3236,0,0,0,0,0,0
$GC,2574,-0.68,-116.8,282.8,-8.6,211,2578,0.00,2.25,0.00,0.000,4,0.000,0.044,3032,3477,3236,0,0,0,0,0,0
$GC,2622,-0.68,-116.8,287.2,-8.3,213,2628,0.10,2.28,0.00,0.000,6,0.095,0.028,3075,1875,3236,0,0,0,0,0,0
$GC,2943,-0.68,-116.8,309.1,-7.0,226,2947,0.00,2.22,0.00,0.000,4,0.000,0.042,3075,321,3235,0,0,0,0,0,0
$GC,3025,-0.68,-116.8,316.0,-8.5,227,3032,0.00,2.25,0.00,0.000,6,0.000,0.031,3069,1902,3235,0,0,0,0,0,0
$GC,3357,-0.68,-116.8,342.9,-7.9,236,3361,0.00,2.30,0.00,0.000,4,0.000,0.042,3069,315,3234,0,0,0,0,0,0
$GC,3400,-0.68,-116.8,346.4,-8.2,237,3404,0.00,2.22,0.00,0.000,6,0.000,0.032,3058,1900,3237,0,0,0,0,0,0
$GC,3724,-0.68,-116.8,369.3,-6.9,245,3728,0.00,2.30,0.00,0.000,4,0.000,0.043,3059,317,3231,0,0,0,0,0,0
$GC,3751,-0.68,-116.8,371.4,-7.9,245,3755,0.00,2.28,0.00,0.000,6,0.000,0.032,3047,1904,3231,0,0,0,0,0,0
$GC,4088,-0.68,-116.8,399.6,-8.7,254,4092,0.00,2.30,0.00,0.000,4,0.000,0.043,3047,323,3229,0,0,0,0,0,0
$GC,4153,-0.68,-116.8,405.8,-9.2,255,4159,0.08,2.25,0.00,0.000,6,0.105,0.031,3069,1897,3228,0,0,0,0,0,0
$GC,4496,-0.68,-116.8,430.4,-6.8,264,4500,0.00,2.28,0.00,0.000,4,0.000,0.043,3069,315,3226,0,0,0,0,0,0
$GC,4540,-0.68,-116.8,433.3,-6.8,265,4544,0.00,2.25,0.00,0.000,6,0.000,0.033,3060,1906,3226,0,0,0,0,0,0
$GC,4858,-0.68,-116.8,451.7,-5.5,273,4862,0.00,2.33,0.00,0.000,4,0.000,0.044,3057,320,3224,0,0,0,0,0,0
$GC,4918,-0.68,-116.8,455.1,-5.3,274,4922,0.00,2.25,0.00,0.000,6,0.000,0.033,3049,1894,3222,0,0,0,0,0,0
$GC,5232,-0.68,-116.8,469.4,-4.9,282,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1894,3221,0,0,0,0,0,0
$GC,5556,-0.68,-116.8,488.3,-6.0,290,5560,0.00,2.33,0.00,0.000,4,0.000,0.044,3049,312,3218,0,0,0,0,0,0
$GC,5600,-0.68,-116.8,491.4,-6.8,291,5605,0.12,2.25,0.00,0.000,6,0.130,0.034,3080,1900,3218,0,0,0,0,0,0
$STATE,5805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5805,begin apogee
$GC,5811,-0.23,0.0,501.1,4.6,296,5902,0.38,0.00,88.62,0.923,6,0.094,0.000,3218,2009,2751,0,0,0,0,0,0
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5949,begin climb
$GC,5951,0.68,116.8,503.6,0.0,298,6057,0.75,2.47,97.85,0.905,4,0.044,0.044,3535,3596,2272,0,0,0,0,0,0
$GC,6310,0.68,116.8,480.1,10.1,306,6315,0.15,2.33,0.00,0.000,6,0.175,0.031,3505,1996,2259,0,0,0,0,0,0
$GC,6628,0.68,116.8,452.9,9.0,314,6632,0.00,2.33,0.00,0.000,4,0.000,0.044,3509,3574,2255,0,0,0,0,0,0
$GC,6744,0.68,116.8,442.3,9.2,316,6749,0.00,2.30,0.00,0.000,6,0.000,0.031,3519,1999,2254,0,0,0,0,0,0
$GC,7081,0.68,116.8,412.4,9.0,325,7085,0.00,2.30,0.00,0.000,4,0.000,0.044,3531,426,2252,0,0,0,0,0,0
$GC,7186,0.68,116.8,402.4,9.6,327,7191,0.00,2.28,0.00,0.000,6,0.000,0.034,3536,1989,2251,0,0,0,0,0,0
$GC,7499,0.68,116.8,375.9,8.1,335,7503,0.00,2.30,0.00,0.000,4,0.000,0.044,3543,415,2249,0,0,0,0,0,0
$GC,7655,0.72,146.1,364.5,6.7,338,7681,0.00,2.28,20.62,0.822,6,0.000,0.035,3543,2010,2156,0,0,0,0,0,0
$GC,8002,0.72,146.1,331.3,10.2,347,8006,0.00,2.35,0.00,0.000,4,0.000,0.045,3543,3582,2148,0,0,0,0,0,0
$GC,8090,0.72,146.1,322.1,10.0,349,8095,0.10,2.30,0.00,0.000,6,0.160,0.031,3522,2002,2147,0,0,0,0,0,0
$GC,8416,0.72,146.1,293.3,8.6,358,8420,0.00,2.28,0.00,0.000,4,0.000,0.043,3534,430,2146,0,0,0,0,0,0
$GC,8657,0.72,151.8,273.7,7.7,369,8666,0.00,2.25,4.57,0.574,6,0.000,0.034,3534,2004,2131,0,0,0,0,0,0
$GC,8989,0.73,155.5,249.3,7.8,385,8999,0.00,2.33,5.07,0.587,4,0.000,0.044,3534,3582,2116,0,0,0,0,0,0
$GC,9065,0.73,155.5,242.3,9.1,388,9071,0.00,2.30,0.00,0.000,6,0.000,0.032,3545,2003,2115,0,0,0,0,0,0
$GC,9380,0.73,155.5,215.5,8.5,404,9384,0.00,2.33,0.00,0.000,4,0.000,0.044,3545,3587,2115,0,0,0,0,0,0
$GC,9543,0.74,165.7,201.9,7.5,411,9558,0.00,2.28,9.73,0.657,6,0.000,0.031,3557,1992,2073,0,0,0,0,0,0
$GC,9876,0.74,165.7,172.6,11.8,441,9880,0.00,2.30,0.00,0.000,4,0.000,0.042,3569,422,2070,0,0,0,0,0,0
$GC,10010,0.74,165.7,159.0,9.9,452,10017,0.10,2.28,0.00,0.000,6,0.149,0.032,3535,2002,2070,0,0,0,0,0,0
$GC,10272,0.74,165.7,137.0,8.3,477,10276,0.00,2.30,0.00,0.000,4,0.000,0.044,3540,3584,2070,0,0,0,0,0,0
$GC,10350,0.79,205.7,131.7,6.2,483,10390,0.00,2.28,33.33,0.640,6,0.000,0.031,3545,2000,1910,0,0,0,0,0,0
$GC,10651,0.79,205.7,105.1,11.1,512,10655,0.00,2.30,0.00,0.000,4,0.000,0.041,3557,426,1904,0,0,0,0,0,0
$GC,10807,0.79,205.7,89.2,9.1,525,10813,0.00,2.28,0.00,0.000,6,0.000,0.031,3556,2011,1903,0,0,0,0,0,0
$GC,11069,0.79,205.7,64.4,8.7,550,11073,0.00,2.28,0.00,0.000,4,0.000,0.041,3568,429,1903,0,0,0,0,0,0
$GC,11236,0.80,218.5,50.4,7.4,564,11253,0.00,2.22,10.40,0.518,6,0.000,0.031,3569,2000,1860,0,0,0,0,0,0
$GC,11507,0.81,224.6,30.9,7.7,590,11518,0.00,2.35,6.57,0.457,4,0.000,0.041,3580,427,1834,0,0,0,0,0,0
$GC,11569,0.81,224.6,25.6,9.4,599,11575,0.00,2.22,0.00,0.000,6,0.000,0.032,3579,2000,1832,0,0,0,0,0,0
$GC,11778,0.81,224.6,6.2,9.7,636,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2000,1832,0,0,0,0,0,0
$STATE,11820,end climb,SURFACE_DEPTH_REACHED
$STATE,11820,begin surface coast
$FINISH,0.3,1.006110
$STATE,11867,end surface coast,CONTROL_FINISHED_OK
$STATE,11867,begin surface
$SM_CCo,11952,89.05,0.403,1,0,1161,390.02
$SM_GC,1.28,0.00,0.00,89.05,0.000,0.000,0.403,135,1901,1161,-9.87,0.03,390.02
$IRIDIUM_FIX,2034.08,-15817.90,160312,161629
$TT8_MAMPS,0.248508
$HUMID,1078639345
$INTERNAL_PRESSURE,9.54993
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8421965824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56898486272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,8.559
$10V_AH,10.2,8.133
$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,21.900,124.025,276.775,89.050,0.000,30.032,33.876,232.698,0.000,0.000,35.135,1258.157,8567.937,474.086,2029.845,191.208,33.374,1325.874,0.000,1535.580,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,105.846,922.701,402.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,440.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23402,652
$CAP_FILE_SIZE,122588,0
$CFSIZE,260165632,232075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220910,042131,2043.057,-15752.508,51,1.2,52,9.8