version: 66.07
glider: 511
mission: 7
dive: 10
start: 8 31 111 10 8 8
data:
$ID,511
$MISSION,7
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$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,250
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,-70282.133
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2900
$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,35
$R_STBD_OVSHOOT,25
$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,-49.442791
$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,375
$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,9
$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
$GPS1,310811,095704,2119.541,-15810.048,12,7.5,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-77.4
$GPS2,310811,100713,2119.569,-15810.142,7,1.0,12,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W4
$TGT_LATLONG,2119.900,-15810.400
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.015,-0.173
$KALMAN_X,-367.3,-331.1,205.3,4028.5,-311.5
$KALMAN_Y,2051.9,335.8,74.8,-7183.7,2165.4
$MHEAD_RNG_PITCHd_Wd,175.1,759,-27.2,-10.000
$D_GRID,750
$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,-1.17,-63.0,0.0,0.0,0,108,0.00,0.00,-77.45,0.000,6,0.000,0.000,56,2061,2859,0,0,0,0,0,0
$GC,111,-1.22,-105.5,3.5,-5.5,8,131,10.32,2.20,-3.42,0.000,4,0.262,0.064,2499,625,3032,0,0,0,0,0,0
$GC,372,-1.22,-105.5,93.6,-24.2,36,376,0.00,2.17,0.00,0.000,6,0.000,0.041,2491,2045,3035,0,0,0,0,0,0
$GC,632,-1.22,-105.5,157.1,-28.4,60,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2046,3037,0,0,0,0,0,0
$GC,885,-1.22,-105.5,215.5,-24.0,81,889,0.00,2.15,0.00,0.000,4,0.000,0.048,2487,631,3040,0,0,0,0,0,0
$GC,1025,-1.22,-105.5,246.3,-22.9,87,1029,0.00,2.15,0.00,0.000,6,0.000,0.041,2480,2060,3040,0,0,0,0,0,0
$GC,1353,-1.22,-105.5,311.3,-19.0,102,1356,0.00,2.17,0.00,0.000,4,0.000,0.047,2480,619,3041,0,0,0,0,0,0
$GC,1441,-1.22,-105.5,327.6,-18.6,104,1446,0.15,2.12,0.00,0.000,6,0.213,0.039,2506,2044,3039,0,0,0,0,0,0
$GC,1768,-1.22,-105.5,381.0,-16.3,112,1772,0.00,2.15,0.00,0.000,4,0.000,0.047,2507,623,3040,0,0,0,0,0,0
$GC,1852,-1.22,-105.5,396.9,-18.6,113,1858,0.00,2.12,0.00,0.000,6,0.000,0.040,2497,2045,3040,0,0,0,0,0,0
$GC,2183,-1.22,-105.5,460.1,-19.0,122,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2045,3038,0,0,0,0,0,0
$GC,2508,-1.22,-105.5,515.5,-16.5,130,2512,0.00,2.15,0.00,0.000,4,0.000,0.051,2497,630,3035,0,0,0,0,0,0
$GC,2600,-1.22,-105.5,532.2,-17.8,132,2604,0.00,2.12,0.00,0.000,6,0.000,0.044,2484,2041,3034,0,0,0,0,0,0
$GC,2922,-1.22,-105.5,587.8,-17.3,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2041,3032,0,0,0,0,0,0
$GC,3247,-1.22,-105.5,641.5,-15.9,148,3251,0.00,2.17,0.00,0.000,4,0.000,0.052,2487,625,3027,0,0,0,0,0,0
$GC,3311,-1.22,-105.5,651.7,-15.8,149,3315,0.00,2.17,0.00,0.000,6,0.000,0.048,2477,2050,3030,0,0,0,0,0,0
$GC,3656,-1.23,-116.8,677.5,-0.0,158,3660,0.00,2.15,0.00,0.000,4,0.000,0.059,2466,3451,3024,0,0,0,0,0,0
$STATE,3776,end dive,NO_VERTICAL_VELOCITY
$STATE,3776,begin apogee
$GC,3784,-0.28,0.0,677.5,0.0,160,3877,0.95,0.00,86.12,1.116,6,0.106,0.000,2804,2039,2601,0,0,0,0,0,0
$STATE,3886,end apogee,CONTROL_FINISHED_OK
$STATE,3886,begin climb
$GC,3888,1.23,116.8,677.3,0.0,163,3999,1.45,2.35,99.80,1.083,4,0.104,0.057,3302,634,2123,0,0,0,0,0,0
$GC,4249,1.23,116.8,629.1,17.4,171,4253,0.00,2.25,0.00,0.000,6,0.000,0.054,3302,2045,2113,0,0,0,0,0,0
$GC,4571,1.23,116.8,575.2,16.7,179,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2045,2109,0,0,0,0,0,0
$GC,4896,1.23,116.8,513.9,20.4,187,4900,0.00,2.22,0.00,0.000,4,0.000,0.065,3302,3452,2108,0,0,0,0,0,0
$GC,4956,1.23,116.8,500.5,21.9,188,4960,0.00,2.17,0.00,0.000,6,0.000,0.046,3313,2043,2107,0,0,0,0,0,0
$GC,5304,1.23,116.8,423.3,22.7,197,5308,0.00,2.28,0.00,0.000,4,0.000,0.070,3313,3460,2106,0,0,0,0,0,0
$GC,5359,1.23,116.8,409.3,24.3,198,5363,0.00,2.17,0.00,0.000,6,0.000,0.046,3323,2048,2105,0,0,0,0,0,0
$GC,5677,1.23,116.8,340.4,21.1,206,5681,0.00,2.25,0.00,0.000,4,0.000,0.067,3322,3458,2100,0,0,0,0,0,0
$GC,5760,1.23,116.8,323.7,19.0,207,5766,0.15,2.17,0.00,0.000,6,0.255,0.046,3302,2037,2103,0,0,0,0,0,0
$GC,6072,1.23,116.8,273.0,15.8,219,6076,0.00,2.15,0.00,0.000,4,0.000,0.057,3311,630,2101,0,0,0,0,0,0
$GC,6247,1.23,116.8,243.4,14.5,226,6252,0.00,2.20,0.00,0.000,6,0.000,0.051,3305,2053,2100,0,0,0,0,0,0
$GC,6562,1.23,116.8,201.6,13.9,242,6566,0.00,2.22,0.00,0.000,4,0.000,0.063,3306,3462,2100,0,0,0,0,0,0
$GC,6828,1.23,116.8,167.5,11.2,270,6834,0.00,2.17,0.00,0.000,6,0.000,0.082,3310,2029,2099,0,0,0,0,0,0
$GC,7091,1.27,146.8,147.3,6.8,295,7113,0.00,0.00,20.40,0.767,6,0.000,0.000,3315,2033,2001,0,0,0,0,0,0
$GC,7366,1.27,146.8,111.8,10.9,321,7370,0.00,2.28,0.00,0.000,4,0.000,0.064,3315,3453,1996,0,0,0,0,0,0
$GC,7633,1.32,191.1,92.9,5.3,349,7673,0.00,2.15,33.90,0.703,6,0.000,0.046,3328,2047,1822,0,0,0,0,0,0
$GC,7927,1.32,191.1,48.6,15.3,378,7931,0.00,2.25,0.00,0.000,4,0.000,0.062,3325,3459,1815,0,0,0,0,0,0
$GC,8194,1.32,191.1,11.5,15.7,406,8199,0.00,2.15,0.00,0.000,6,0.000,0.041,3336,2043,1815,0,0,0,0,0,0
$STATE,8250,end climb,SURFACE_DEPTH_REACHED
$STATE,8251,begin surface coast
$FINISH,-0.0,1.022941
$STATE,8262,end surface coast,CONTROL_FINISHED_OK
$STATE,8262,begin surface
$SM_CCo,8287,153.23,0.596,0,0,765,450.12
$SM_GC,0.37,0.00,0.00,153.23,0.000,0.000,0.596,54,2037,765,-8.89,-0.17,450.12
$IRIDIUM_FIX,2111.01,-15811.92,230213,020244
$TT8_MAMPS,0.058292
$HUMID,1079006218
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.50
$XPDR_PINGS,104
$ALTIM_TOP_PING,374.7,0.0
$ALTIM_BOTTOM_PING,102.2,9.4
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7223083008
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52978941952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,4.302
$10V_AH,10.3,3.786
$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,21.700,65.650,240.225,153.225,0.000,39.863,34.774,366.790,29.000,0.000,14.582,865.701,5817.667,475.656,1696.845,209.194,33.335,1126.643,0.000,1198.691,0.000,26.837,0.000
$DEVICE_MAMPS,262.314,82.069,1115.985,595.959,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,276.909,0.000,0.000,0.000,0.000,0.000,0.000,8467.460,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,56.256,0.000,0.000
$MEM,304508
$DATA_FILE_SIZE,13412,413
$CAP_FILE_SIZE,91244,0
$CFSIZE,260165632,257515520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,123024,2118.312,-15809.960,40,1.3,41,9.8