version: 66.07
glider: 511
mission: 10
dive: 13
start: 9 7 111 19 56 39
data:
$ID,511
$MISSION,10
$DIVE,13
$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,-72136.758
$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,37
$R_STBD_OVSHOOT,22
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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,12
$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
$GPS1,070911,194122,2118.490,-15814.730,8,2.4,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-79.6
$GPS2,070911,195536,2118.474,-15814.732,13,1.5,29,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W1
$TGT_LATLONG,2121.100,-15814.900
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.232,-0.037
$KALMAN_X,6039.2,-480.6,60.9,-9097.1,3856.4
$KALMAN_Y,16936.0,-840.2,-706.2,-18943.0,5943.5
$MHEAD_RNG_PITCHd_Wd,251.1,4872,-19.8,-10.000
$D_GRID,1444
$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,-0.93,-116.8,0.0,0.0,0,108,0.00,0.00,-80.80,0.000,2,0.000,0.000,58,2042,3040,0,0,0,0,0,0
$GC,111,-0.93,-116.8,4.0,-6.6,8,130,10.57,2.20,-0.62,0.000,4,0.255,0.056,2607,627,3079,0,0,0,0,0,0
$GC,283,-0.93,-116.8,58.9,-24.2,26,288,0.00,2.20,0.00,0.000,6,0.000,0.041,2599,2062,3082,0,0,0,0,0,0
$GC,543,-0.93,-116.8,118.6,-19.6,51,547,0.00,2.17,0.00,0.000,4,0.000,0.045,2598,635,3083,0,0,0,0,0,0
$GC,617,-0.93,-116.8,134.2,-21.0,58,622,0.00,2.15,0.00,0.000,6,0.000,0.040,2585,2045,3084,0,0,0,0,0,0
$GC,877,-0.93,-116.8,181.7,-18.5,83,881,0.00,2.12,0.00,0.000,4,0.000,0.044,2589,635,3085,0,0,0,0,0,0
$GC,942,-0.93,-116.8,194.6,-19.1,90,947,0.12,2.15,0.00,0.000,6,0.195,0.041,2609,2046,3085,0,0,0,0,0,0
$GC,1207,-0.93,-116.8,238.2,-15.1,104,1211,0.00,2.17,0.00,0.000,4,0.000,0.053,2600,3456,3086,0,0,0,0,0,0
$GC,1322,-0.93,-116.8,254.7,-14.0,109,1326,0.00,2.10,0.00,0.000,6,0.000,0.035,2600,2042,3086,0,0,0,0,0,0
$GC,1646,-0.93,-116.8,303.0,-15.2,125,1650,0.00,2.12,0.00,0.000,4,0.000,0.048,2605,636,3087,0,0,0,0,0,0
$GC,1784,-0.93,-116.8,324.9,-16.1,128,1788,0.00,2.15,0.00,0.000,6,0.000,0.041,2587,2054,3086,0,0,0,0,0,0
$GC,2106,-0.93,-116.8,371.4,-14.9,136,2110,0.00,2.15,0.00,0.000,4,0.000,0.047,2593,637,3085,0,0,0,0,0,0
$GC,2300,-0.93,-116.8,402.4,-15.5,140,2304,0.00,2.15,0.00,0.000,6,0.000,0.043,2579,2049,3086,0,0,0,0,0,0
$GC,2617,-0.93,-116.8,452.6,-15.6,148,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2049,3083,0,0,0,0,0,0
$GC,2942,-0.93,-116.8,497.1,-13.6,156,2946,0.00,2.15,0.00,0.000,4,0.000,0.051,2579,644,3080,0,0,0,0,0,0
$GC,2969,-0.93,-116.8,500.9,-13.7,156,2974,0.15,2.15,0.00,0.000,6,0.186,0.045,2609,2044,3078,0,0,0,0,0,0
$GC,3310,-0.93,-116.8,540.9,-11.9,165,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2048,3076,0,0,0,0,0,0
$GC,3635,-0.93,-116.8,578.7,-11.4,173,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2042,3070,0,0,0,0,0,0
$GC,3960,-0.93,-116.8,618.6,-12.4,181,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2044,3069,0,0,0,0,0,0
$GC,4285,-0.93,-116.8,658.2,-12.1,189,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2045,3067,0,0,0,0,0,0
$GC,4610,-0.93,-116.8,695.3,-11.5,197,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2044,3063,0,0,0,0,0,0
$GC,4935,-0.93,-116.8,732.9,-11.4,205,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2044,3061,0,0,0,0,0,0
$GC,5260,-0.93,-116.8,767.7,-10.2,213,5264,0.00,2.22,0.00,0.000,4,0.000,0.063,2599,3456,3056,0,0,0,0,0,0
$GC,5324,-0.93,-116.8,774.6,-10.8,214,5328,0.00,2.15,0.00,0.000,6,0.000,0.044,2599,2046,3057,0,0,0,0,0,0
$GC,5673,-0.93,-116.8,810.0,-10.1,223,5677,0.00,2.17,0.00,0.000,4,0.000,0.053,2599,625,3055,0,0,0,0,0,0
$GC,5746,-0.93,-116.8,817.7,-10.2,224,5750,0.00,2.17,0.00,0.000,6,0.000,0.046,2589,2052,3054,0,0,0,0,0,0
$GC,6081,-0.93,-116.8,852.6,-10.4,233,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2052,3053,0,0,0,0,0,0
$GC,6407,-0.93,-116.8,883.4,-9.5,241,6411,0.00,2.17,0.00,0.000,4,0.000,0.064,2579,3446,3052,0,0,0,0,0,0
$GC,6443,-0.93,-116.8,887.3,-10.4,241,6449,0.00,2.15,0.00,0.000,6,0.000,0.044,2579,2031,3051,0,0,0,0,0,0
$STATE,6609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6609,begin apogee
$GC,6614,-0.28,0.0,904.2,10.1,246,6714,0.77,0.00,96.53,1.288,6,0.165,0.000,2815,2024,2603,0,0,0,0,0,0
$STATE,6724,end apogee,CONTROL_FINISHED_OK
$STATE,6724,begin climb
$GC,6726,0.93,116.8,905.3,0.0,248,6839,1.10,2.47,104.45,1.247,4,0.078,0.067,3206,3445,2123,0,0,0,0,0,0
$GC,6859,0.93,116.8,885.1,25.2,252,6864,0.00,2.25,0.00,0.000,6,0.000,0.042,3216,2055,2120,0,0,1,0,0,0
$GC,7182,0.93,116.8,805.3,24.5,260,7186,0.00,2.30,0.00,0.000,4,0.000,0.066,3216,3450,2112,0,0,0,0,0,0
$GC,7255,0.93,116.8,786.3,26.6,261,7259,0.00,2.22,0.00,0.000,6,0.000,0.044,3226,2038,2111,0,0,0,0,0,0
$GC,7595,0.93,116.8,707.0,23.2,270,7599,0.00,2.30,0.00,0.000,4,0.000,0.065,3227,3447,2108,0,0,0,0,0,0
$GC,7655,0.93,116.8,691.0,26.6,271,7659,0.00,2.17,0.00,0.000,6,0.000,0.044,3237,2043,2108,0,0,1,0,0,0
$GC,8004,0.93,116.8,608.0,23.0,280,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2036,2107,0,0,0,0,0,0
$GC,8329,0.93,116.8,535.6,21.2,288,8333,0.00,2.25,0.00,0.000,4,0.000,0.065,3236,3444,2106,0,0,0,0,0,0
$GC,8449,0.93,116.8,507.2,24.4,290,8454,0.15,2.15,0.00,0.000,6,0.235,0.044,3213,2047,2106,0,0,0,0,0,0
$GC,8790,0.93,116.8,441.9,18.9,299,8794,0.00,2.22,0.00,0.000,4,0.000,0.064,3213,3448,2104,0,0,0,0,0,0
$GC,8905,0.93,116.8,417.6,21.6,301,8909,0.00,2.15,0.00,0.000,6,0.000,0.044,3222,2035,2104,0,0,0,0,0,0
$GC,9245,0.93,116.8,352.9,18.7,310,9249,0.00,2.25,0.00,0.000,4,0.000,0.065,3222,3449,2102,0,0,0,0,0,0
$GC,9392,0.93,116.8,319.7,21.2,313,9396,0.00,2.15,0.00,0.000,6,0.000,0.044,3233,2044,2102,0,0,0,0,0,0
$GC,9708,0.93,116.8,264.8,15.8,326,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2038,2099,0,0,0,0,0,0
$GC,10017,0.93,116.8,219.9,14.5,341,10021,0.00,2.25,0.00,0.000,4,0.000,0.067,3232,3452,2100,0,0,0,0,0,0
$GC,10035,0.93,116.8,217.2,15.3,341,10041,0.12,2.17,0.00,0.000,6,0.239,0.048,3216,2052,2100,0,0,0,0,0,0
$GC,10355,0.93,116.8,168.6,16.4,366,10359,0.00,2.25,0.00,0.000,4,0.000,0.065,3215,3452,2099,0,0,0,0,0,0
$GC,10437,0.93,116.8,153.9,16.6,374,10443,0.00,2.17,0.00,0.000,6,0.000,0.047,3225,2036,2099,0,0,0,0,0,0
$GC,10699,0.94,120.7,122.0,9.8,399,10703,0.00,2.25,0.00,0.000,4,0.000,0.063,3224,3454,2099,0,0,0,0,0,0
$GC,10724,0.97,144.3,119.8,8.6,401,10750,0.00,2.17,18.67,0.716,6,0.000,0.045,3235,2034,2011,0,0,0,0,0,0
$GC,11004,0.97,144.3,90.4,11.2,428,11008,0.00,2.15,0.00,0.000,4,0.000,0.051,3245,634,2007,0,0,0,0,0,0
$GC,11170,0.99,164.5,72.8,8.8,445,11193,0.00,2.17,16.48,0.650,6,0.000,0.047,3245,2043,1929,0,0,0,0,0,0
$GC,11447,0.99,164.5,39.5,14.0,472,11451,0.00,2.20,0.00,0.000,4,0.000,0.056,3245,3453,1926,0,0,0,0,0,0
$GC,11557,0.99,164.5,23.2,15.1,483,11563,0.00,2.17,0.00,0.000,6,0.000,0.042,3256,2039,1926,0,0,0,0,0,0
$STATE,11709,end climb,SURFACE_DEPTH_REACHED
$STATE,11709,begin surface coast
$FINISH,-0.4,1.008363
$STATE,11732,end surface coast,CONTROL_FINISHED_OK
$STATE,11733,begin surface
$SM_CCo,11758,170.93,0.590,0,0,765,450.12
$SM_GC,0.67,0.00,0.00,170.93,0.000,0.000,0.590,55,2030,765,-8.93,-0.40,450.12
$IRIDIUM_FIX,2108.69,-15814.06,020313,141417
$TT8_MAMPS,0.056758
$HUMID,1078727087
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,24.60
$XPDR_PINGS,32
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8116535296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48326639616
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,7.199
$10V_AH,10.0,6.985
$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,21.450,92.075,236.125,170.925,0.000,53.076,78.588,441.611,8.000,0.000,31.628,1026.115,9073.697,537.789,1883.727,256.802,33.353,1225.595,0.000,1253.941,0.000,0.540,0.000
$DEVICE_MAMPS,254.644,67.496,1287.793,589.823,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.518,0.000,0.000,0.000,0.000,0.000,0.000,11836.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,62.822,0.000,0.000
$MEM,304420
$DATA_FILE_SIZE,16810,500
$CAP_FILE_SIZE,112429,0
$CFSIZE,260165632,256589824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070911,231706,2118.156,-15816.148,39,0.9,44,9.8