version: 66.07
glider: 511
mission: 10
dive: 8
start: 9 7 111 3 46 35
data:
$ID,511
$MISSION,10
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$D_BOOST,0
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2128
$TGT_DEFAULT_LON,15786
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-72026.383
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2044
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-49.327217
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,450
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,10
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043997332
$SEABIRD_T_H,0.00064299116
$SEABIRD_T_I,2.7328302e-05
$SEABIRD_T_J,3.0913354e-06
$SEABIRD_C_G,-10.108667
$SEABIRD_C_H,1.1476576
$SEABIRD_C_I,-0.002108841
$SEABIRD_C_J,0.00023981143
$AR_DIVENUM,7
$AR_SAMPLENUM,2
$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
$GPS1,070911,033514,2123.348,-15813.998,6,2.0,6,9.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.1
$GPS2,070911,034532,2123.480,-15813.948,33,2.0,33,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W1
$TGT_LATLONG,2121.100,-15814.900
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.047,-0.230
$KALMAN_X,-430.1,-357.3,8.9,-1347.5,503.7
$KALMAN_Y,6476.7,1740.1,237.8,-2750.3,2859.6
$MHEAD_RNG_PITCHd_Wd,181.7,4704,-19.8,-10.000
$D_GRID,725
$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,26,-0.93,-116.8,0.0,0.0,0,108,0.00,0.00,-80.60,0.000,2,0.000,0.000,41,2052,2996,0,0,0,0,0,0
$GC,111,-0.93,-116.8,3.7,-6.0,8,130,11.10,0.00,-1.55,0.000,6,0.268,0.000,2602,2052,3080,0,0,0,0,0,0
$GC,320,-0.93,-116.8,70.6,-30.0,28,324,0.00,2.10,0.00,0.000,4,0.000,0.044,2602,628,3082,0,0,0,0,0,0
$GC,375,-0.93,-116.8,84.6,-20.6,33,380,0.00,2.08,0.00,0.000,6,0.000,0.036,2593,2046,3082,0,0,0,0,0,0
$GC,635,-0.93,-116.8,144.3,-18.7,58,639,0.00,2.12,0.00,0.000,4,0.000,0.041,2593,621,3083,0,0,0,0,0,0
$GC,801,-0.93,-116.8,176.7,-17.5,75,806,0.00,2.10,0.00,0.000,6,0.000,0.036,2584,2049,3084,0,0,0,0,0,0
$GC,1069,-0.93,-116.8,219.2,-14.0,95,1074,0.00,2.10,0.00,0.000,4,0.000,0.043,2584,633,3085,0,0,0,0,0,0
$GC,1328,-0.93,-116.8,261.2,-15.4,106,1333,0.12,2.10,0.00,0.000,6,0.202,0.038,2603,2042,3086,0,0,0,0,0,0
$GC,1675,-0.93,-116.8,313.7,-14.9,121,1679,0.00,2.10,0.00,0.000,4,0.000,0.046,2603,631,3086,0,0,0,0,0,0
$GC,1697,-0.93,-116.8,317.6,-15.3,121,1702,0.00,2.10,0.00,0.000,6,0.000,0.041,2595,2040,3087,0,0,0,0,0,0
$GC,2039,-0.93,-116.8,373.1,-16.2,130,2043,0.00,2.12,0.00,0.000,4,0.000,0.048,2595,631,3085,0,0,0,0,0,0
$GC,2306,-0.93,-116.8,416.1,-15.3,135,2310,0.00,2.12,0.00,0.000,6,0.000,0.044,2586,2037,3083,0,0,0,0,0,0
$GC,2639,-0.93,-116.8,460.9,-13.4,143,2643,0.00,2.15,0.00,0.000,4,0.000,0.051,2585,631,3080,0,0,0,0,0,0
$GC,2776,-0.93,-116.8,482.1,-14.7,146,2781,0.12,2.12,0.00,0.000,6,0.196,0.044,2606,2047,3078,0,0,0,0,0,0
$GC,3102,-0.93,-116.8,522.6,-12.6,154,3106,0.00,2.15,0.00,0.000,4,0.000,0.051,2606,636,3075,0,0,0,0,0,0
$GC,3227,-0.93,-116.8,539.7,-13.4,156,3232,0.00,2.12,0.00,0.000,6,0.000,0.046,2598,2044,3074,0,0,0,0,0,0
$GC,3563,-0.93,-116.8,587.2,-13.9,165,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2048,3070,0,0,0,0,0,0
$GC,3888,-0.93,-116.8,627.0,-12.3,173,3892,0.00,2.15,0.00,0.000,4,0.000,0.054,2598,638,3067,0,0,1,0,0,0
$GC,3906,-0.93,-116.8,629.5,-12.8,173,3913,0.00,2.15,0.00,0.000,6,0.000,0.048,2591,2046,3066,0,0,0,0,0,0
$GC,4260,-0.93,-116.8,674.2,-12.4,182,4264,0.00,2.20,0.00,0.000,4,0.000,0.064,2577,3451,3063,0,0,0,0,0,0
$GC,4301,-0.93,-116.8,679.8,-12.7,182,4308,0.12,2.10,0.00,0.000,6,0.192,0.040,2608,2040,3062,0,0,0,0,0,0
$GC,4632,-0.93,-116.8,717.7,-11.5,191,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2033,3060,0,0,0,0,0,0
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4716,-0.28,0.0,727.1,11.5,193,4813,0.68,0.00,94.25,1.154,6,0.156,0.000,2818,2033,2602,0,0,0,0,0,0
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4824,0.93,116.8,729.8,0.0,195,4934,1.12,2.47,99.60,1.115,4,0.083,0.067,3214,3458,2123,0,0,0,0,0,0
$GC,4948,0.93,116.8,714.6,21.1,198,4953,0.00,2.28,0.00,0.000,6,0.000,0.045,3228,2047,2121,0,0,0,0,0,0
$GC,5279,0.93,116.8,641.2,22.0,206,5283,0.00,2.28,0.00,0.000,4,0.000,0.064,3224,3455,2112,0,0,0,0,0,0
$GC,5435,0.93,116.8,602.1,24.9,209,5439,0.00,2.20,0.00,0.000,6,0.000,0.046,3235,2043,2111,0,0,0,0,0,0
$GC,5779,0.93,116.8,527.5,21.3,218,5783,0.00,2.25,0.00,0.000,4,0.000,0.064,3235,3452,2108,0,0,0,0,0,0
$GC,5807,0.93,116.8,521.3,21.8,218,5812,0.12,2.17,0.00,0.000,6,0.243,0.046,3217,2032,2108,0,0,0,0,0,0
$GC,6147,0.93,116.8,450.5,20.5,227,6151,0.00,2.25,0.00,0.000,4,0.000,0.064,3216,3453,2106,0,0,0,0,0,0
$GC,6278,0.93,116.8,423.3,20.9,229,6283,0.00,2.17,0.00,0.000,6,0.000,0.045,3226,2039,2105,0,0,0,0,0,0
$GC,6608,0.93,116.8,358.7,19.2,238,6612,0.00,2.25,0.00,0.000,4,0.000,0.065,3225,3458,2103,0,0,0,0,0,0
$GC,6669,0.93,116.8,346.0,20.2,239,6673,0.00,2.15,0.00,0.000,6,0.000,0.046,3236,2044,2103,0,0,0,0,0,0
$GC,6999,0.93,116.8,282.4,18.4,249,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2036,2101,0,0,0,0,0,0
$GC,7309,0.93,116.8,236.6,14.4,264,7313,0.00,2.25,0.00,0.000,4,0.000,0.064,3239,3457,2100,0,0,0,0,0,0
$GC,7576,0.93,116.8,189.3,15.0,280,7583,0.15,2.15,0.00,0.000,6,0.225,0.048,3211,2049,2098,0,0,1,0,0,0
$GC,7837,0.93,116.8,161.2,11.6,305,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2049,2097,0,0,0,0,0,0
$GC,8092,0.93,116.8,129.0,13.4,329,8096,0.00,2.20,0.00,0.000,4,0.000,0.059,3220,625,2096,0,0,0,0,0,0
$GC,8349,0.99,163.4,106.1,7.3,356,8388,0.00,2.20,32.28,0.712,6,0.000,0.051,3221,2043,1932,0,0,0,0,0,0
$GC,8643,1.01,175.9,78.3,9.3,385,8661,0.00,2.25,10.20,0.624,4,0.000,0.058,3221,3445,1882,0,0,0,0,0,0
$GC,8924,1.01,175.9,37.9,15.1,415,8929,0.00,2.17,0.00,0.000,6,0.000,0.044,3231,2031,1881,0,0,0,0,0,0
$STATE,9172,end climb,SURFACE_DEPTH_REACHED
$STATE,9172,begin surface coast
$FINISH,-0.5,1.022890
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9194,begin surface
$SM_CCo,9218,159.75,0.582,0,0,764,450.12
$SM_GC,0.45,0.00,0.00,159.75,0.000,0.000,0.582,59,2023,764,-8.91,-0.57,450.12
$IRIDIUM_FIX,2113.32,-15816.21,010313,212117
$TT8_MAMPS,0.055224
$HUMID,1078991379
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,286.3,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8070496256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54011559936
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,6.519
$10V_AH,10.2,5.744
$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,21.900,73.900,236.325,159.750,0.000,32.840,59.927,362.435,18.750,0.000,36.104,956.318,6525.499,508.930,1820.316,212.576,33.342,1175.290,0.000,1234.857,0.000,141.226,0.000
$DEVICE_MAMPS,268.450,67.496,1153.568,582.153,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,295.683,0.000,0.000,0.000,0.000,0.000,0.000,9429.030,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,55.250,0.000,0.000
$MEM,304496
$DATA_FILE_SIZE,16833,441
$CAP_FILE_SIZE,103628,0
$CFSIZE,260165632,256892928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070911,062424,2122.280,-15813.836,38,1.2,39,9.8