version: 66.07
glider: 511
mission: 10
dive: 15
start: 9 8 111 2 28 54
data:
$ID,511
$MISSION,10
$DIVE,15
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,2
$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,-72163.734
$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,1944
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,28
$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,14
$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
$GPS1,080911,021337,2118.358,-15817.385,28,1.3,29,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-77.9
$GPS2,080911,022756,2118.540,-15817.380,11,1.4,11,9.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,W1
$TGT_LATLONG,2121.100,-15814.900
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.119,0.126
$KALMAN_X,8661.9,-515.3,-545.2,-15626.7,5283.8
$KALMAN_Y,15996.1,-1333.3,-200.5,-17883.2,3634.7
$MHEAD_RNG_PITCHd_Wd,32.2,6386,-16.3,-10.000
$D_GRID,2152
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.86,-165.5,0.0,0.0,0,107,0.00,0.00,-80.22,0.000,2,0.000,0.000,55,1923,3027,0,0,0,0,0,0
$GC,110,-0.86,-165.5,4.1,-7.2,8,132,10.75,2.15,-4.60,0.000,4,0.256,0.062,2639,561,3278,0,0,0,0,0,0
$GC,289,-0.86,-165.5,60.4,-23.6,27,295,0.00,2.15,0.00,0.000,6,0.000,0.042,2626,1956,3282,0,0,0,0,0,0
$GC,550,-0.86,-165.5,122.9,-20.6,52,554,0.00,2.15,0.00,0.000,4,0.000,0.047,2626,553,3283,0,0,0,0,0,0
$GC,710,-0.86,-165.5,151.0,-16.2,69,714,0.00,2.12,0.00,0.000,6,0.000,0.041,2617,1951,3282,0,0,0,0,0,0
$GC,970,-0.86,-165.5,196.7,-17.8,93,974,0.00,2.10,0.00,0.000,4,0.000,0.047,2618,555,3285,0,0,0,0,0,0
$GC,1002,-0.86,-165.5,202.8,-18.8,95,1006,0.00,2.10,0.00,0.000,6,0.000,0.041,2608,1954,3283,0,0,0,0,0,0
$GC,1317,-0.86,-165.5,254.6,-16.2,110,1321,0.00,2.10,0.00,0.000,4,0.000,0.052,2598,3346,3291,0,0,0,0,0,0
$GC,1460,-0.86,-165.5,277.2,-15.4,116,1464,0.12,2.08,0.00,0.000,6,0.179,0.035,2630,1949,3286,0,0,0,0,0,0
$GC,1803,-0.86,-165.5,320.7,-12.5,129,1807,0.00,2.12,0.00,0.000,4,0.000,0.054,2621,3340,3286,0,0,0,0,0,0
$GC,1821,-0.86,-165.5,323.2,-12.4,129,1825,0.00,2.10,0.00,0.000,6,0.000,0.037,2621,1937,3286,0,0,0,0,0,0
$GC,2168,-0.86,-165.5,370.3,-14.4,138,2172,0.00,2.20,0.00,0.000,4,0.000,0.056,2612,3342,3285,0,0,0,0,0,0
$GC,2241,-0.86,-165.5,382.1,-15.1,139,2245,0.00,2.08,0.00,0.000,6,0.000,0.037,2612,1945,3284,0,0,0,0,0,0
$GC,2576,-0.86,-165.5,426.8,-12.3,148,2580,0.00,2.20,0.00,0.000,4,0.000,0.058,2602,3345,3282,0,0,0,0,0,0
$GC,2636,-0.86,-165.5,434.1,-12.0,149,2640,0.12,2.08,0.00,0.000,6,0.180,0.037,2634,1935,3280,0,0,0,0,0,0
$GC,2987,-0.86,-165.5,471.2,-11.0,158,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1929,3274,0,0,0,0,0,0
$GC,3310,-0.86,-165.5,509.4,-11.8,166,3315,0.00,2.20,0.00,0.000,4,0.000,0.061,2626,3336,3274,0,0,0,0,0,0
$GC,3359,-0.86,-165.5,515.2,-11.7,167,3362,0.00,2.10,0.00,0.000,6,0.000,0.039,2626,1935,3277,0,0,0,0,0,0
$GC,3687,-0.86,-165.5,554.8,-11.9,175,3691,0.00,2.22,0.00,0.000,4,0.000,0.062,2618,3343,3270,0,0,0,0,0,0
$GC,3739,-0.86,-165.5,561.1,-11.4,176,3743,0.00,2.10,0.00,0.000,6,0.000,0.038,2617,1945,3269,0,0,0,0,0,0
$GC,4056,-0.86,-165.5,597.3,-11.4,184,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1941,3266,0,0,0,0,0,0
$GC,4381,-0.86,-165.5,634.7,-11.0,192,4385,0.00,2.20,0.00,0.000,4,0.000,0.065,2608,3343,3264,0,0,0,0,0,0
$GC,4459,-0.86,-165.5,643.5,-10.7,193,4463,0.00,2.10,0.00,0.000,6,0.000,0.039,2609,1938,3263,0,0,0,0,0,0
$GC,4790,-0.86,-165.5,678.4,-10.4,201,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1932,3260,0,0,0,0,0,0
$GC,5119,-0.86,-165.5,710.1,-9.6,209,5123,0.00,2.22,0.00,0.000,4,0.000,0.063,2598,3343,3257,0,0,0,0,0,0
$GC,5170,-0.86,-165.5,716.0,-10.1,210,5174,0.12,2.10,0.00,0.000,6,0.186,0.041,2630,1940,3254,0,0,0,0,0,0
$GC,5490,-0.86,-165.5,745.1,-9.4,218,5494,0.00,2.20,0.00,0.000,4,0.000,0.064,2621,3343,3255,0,0,0,0,0,0
$GC,5522,-0.86,-165.5,748.5,-10.0,218,5526,0.00,2.08,0.00,0.000,6,0.000,0.041,2621,1940,3254,0,0,1,0,0,0
$GC,5855,-0.86,-165.5,783.6,-10.8,226,5859,0.00,2.22,0.00,0.000,4,0.000,0.064,2611,3342,3252,0,0,0,0,0,0
$GC,5915,-0.86,-165.5,790.8,-11.6,227,5919,0.00,2.12,0.00,0.000,6,0.000,0.041,2611,1937,3252,0,0,0,0,0,0
$GC,6264,-0.86,-165.5,827.0,-9.8,236,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1930,3250,0,0,0,0,0,0
$GC,6589,-0.86,-165.5,857.9,-9.4,244,6593,0.00,2.22,0.00,0.000,4,0.000,0.066,2604,3339,3248,0,0,0,0,0,0
$GC,6648,-0.86,-165.5,864.1,-10.2,245,6652,0.00,2.12,0.00,0.000,6,0.000,0.047,2602,1954,3246,0,0,0,0,0,0
$STATE,6996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6998,begin apogee
$GC,7003,-0.28,0.0,901.7,11.0,254,7143,0.70,0.00,136.73,1.289,6,0.153,0.000,2821,2093,2601,0,0,0,0,0,0
$STATE,7153,end apogee,CONTROL_FINISHED_OK
$STATE,7153,begin climb
$GC,7155,0.86,165.5,904.6,0.0,257,7307,1.00,2.40,141.48,1.247,4,0.060,0.055,3201,700,1923,0,0,1,0,0,0
$GC,7331,0.86,165.5,874.4,26.2,261,7336,0.00,2.35,0.00,0.000,6,0.000,0.058,3202,2097,1918,0,0,0,0,0,0
$GC,7649,0.86,165.5,783.9,28.7,269,7654,0.00,2.33,0.00,0.000,4,0.000,0.067,3202,3518,1911,0,0,0,0,0,0
$GC,7775,0.86,165.5,746.0,32.8,271,7779,0.00,2.20,0.00,0.000,6,0.000,0.045,3212,2093,1909,0,0,1,0,0,0
$GC,8106,0.86,165.5,651.5,27.9,279,8110,0.00,2.30,0.00,0.000,4,0.000,0.066,3214,3514,1908,0,0,0,0,0,0
$GC,8134,0.86,165.5,643.4,29.2,279,8139,0.15,2.20,0.00,0.000,6,0.231,0.044,3189,2094,1908,0,0,0,0,0,0
$GC,8470,0.86,165.5,559.6,25.2,288,8474,0.00,2.28,0.00,0.000,4,0.000,0.067,3195,3514,1906,0,0,0,0,0,0
$GC,8525,0.86,165.5,544.4,27.8,289,8529,0.00,2.17,0.00,0.000,6,0.000,0.044,3198,2095,1907,0,0,0,0,0,0
$GC,8842,0.86,165.5,463.6,25.7,297,8846,0.00,2.28,0.00,0.000,4,0.000,0.067,3198,3514,1906,0,0,0,0,0,0
$GC,8949,0.86,165.5,436.1,25.6,299,8953,0.00,2.17,0.00,0.000,6,0.000,0.044,3207,2100,1906,0,0,0,0,0,0
$GC,9298,0.86,165.5,354.2,23.6,308,9302,0.00,2.30,0.00,0.000,4,0.000,0.071,3208,3517,1904,0,0,0,0,0,0
$GC,9352,0.86,165.5,340.4,26.2,309,9357,0.12,2.17,0.00,0.000,6,0.233,0.042,3192,2087,1907,0,0,0,0,0,0
$GC,9673,0.86,165.5,267.3,22.0,320,9677,0.00,2.30,0.00,0.000,4,0.000,0.067,3191,3523,1902,0,0,0,0,0,0
$GC,9742,0.86,165.5,252.4,22.2,323,9745,0.00,2.15,0.00,0.000,6,0.000,0.042,3201,2101,1903,0,0,0,0,0,0
$GC,10061,0.86,165.5,193.3,17.6,340,10064,0.00,2.28,0.00,0.000,4,0.000,0.067,3201,3521,1901,0,0,0,0,0,0
$GC,10145,0.86,165.5,178.5,18.3,349,10149,0.00,2.15,0.00,0.000,6,0.000,0.043,3211,2104,1901,0,0,0,0,0,0
$GC,10407,0.86,165.5,131.3,20.0,373,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2097,1899,0,0,0,0,0,0
$GC,10660,0.86,165.5,89.2,14.8,397,10664,0.00,2.25,0.00,0.000,4,0.000,0.064,3211,3517,1899,0,0,0,0,0,0
$GC,10693,0.86,165.5,84.1,14.8,400,10698,0.12,2.17,0.00,0.000,6,0.219,0.048,3192,2107,1899,0,0,0,0,0,0
$GC,10954,0.86,165.5,54.8,10.4,424,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2103,1899,0,0,0,0,0,0
$GC,11209,0.86,165.5,28.3,11.5,448,11213,0.00,2.17,0.00,0.000,4,0.000,0.051,3202,673,1899,0,0,0,0,0,0
$GC,11232,0.86,165.5,25.5,12.3,450,11237,0.00,2.22,0.00,0.000,6,0.000,0.047,3205,2117,1899,0,0,0,0,0,0
$STATE,11427,end climb,SURFACE_DEPTH_REACHED
$STATE,11427,begin surface coast
$FINISH,-0.2,1.022828
$STATE,11451,end surface coast,CONTROL_FINISHED_OK
$STATE,11451,begin surface
$SM_CCo,11477,171.07,0.607,0,0,765,450.12
$SM_GC,0.65,0.00,0.00,171.07,0.000,0.000,0.607,52,1917,765,-8.93,-0.76,450.12
$IRIDIUM_FIX,2111.01,-15819.22,020313,202012
$TT8_MAMPS,0.056758
$HUMID,1078798055
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,449.2,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8217133056
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,46111227904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,7.498
$10V_AH,10.0,7.466
$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,21.350,105.300,278.200,171.075,0.000,47.644,63.509,488.861,25.000,0.000,13.966,1101.419,8621.284,544.134,1979.599,251.184,33.335,1251.474,0.000,1229.050,0.000,193.447,0.000
$DEVICE_MAMPS,256.178,75.933,1288.560,606.697,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,317.185,0.000,0.000,0.000,0.000,0.000,0.000,11583.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,64.369,0.000,0.000
$MEM,304492
$DATA_FILE_SIZE,16777,470
$CAP_FILE_SIZE,127291,0
$CFSIZE,260165632,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.056,359.1,1
$GPS,080911,054436,2120.187,-15816.295,37,1.0,42,9.8