version: 66.07
glider: 511
mission: 7
dive: 12
start: 8 31 111 15 11 57
data:
$ID,511
$MISSION,7
$DIVE,12
$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,-70310.57
$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,33
$R_STBD_OVSHOOT,16
$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,11
$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
$GPS1,310811,150028,2118.708,-15810.202,10,2.7,29,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-78.4
$GPS2,310811,151101,2118.756,-15810.204,9,1.6,9,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,W4
$TGT_LATLONG,2119.900,-15810.400
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.030,0.233
$KALMAN_X,242.0,-59.3,-163.2,3407.3,330.4
$KALMAN_Y,-1056.5,1672.2,-212.9,-6621.1,-2731.3
$MHEAD_RNG_PITCHd_Wd,342.8,2145,-19.8,-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,26,-0.93,-116.8,0.0,0.0,0,108,0.00,0.00,-80.32,0.000,2,0.000,0.000,50,2037,2976,0,0,0,0,0,0
$GC,111,-0.93,-116.8,3.8,-6.1,8,131,10.77,2.17,-1.88,0.000,4,0.262,0.056,2585,3474,3077,0,0,0,0,0,0
$GC,271,-0.93,-116.8,58.1,-27.2,25,275,0.00,2.17,0.00,0.000,6,0.000,0.038,2584,2042,3080,0,0,0,0,0,0
$GC,533,-0.93,-116.8,127.4,-21.4,49,537,0.00,2.15,0.00,0.000,4,0.000,0.049,2584,638,3080,0,0,0,0,0,0
$GC,663,-0.93,-116.8,156.3,-20.2,62,669,0.00,2.12,0.00,0.000,6,0.000,0.038,2574,2066,3081,0,0,0,0,0,0
$GC,923,-0.93,-116.8,206.2,-20.7,86,927,0.00,2.10,0.00,0.000,4,0.000,0.051,2564,3449,3082,0,0,0,0,0,0
$GC,945,-0.93,-116.8,211.0,-20.3,87,950,0.12,2.10,0.00,0.000,6,0.197,0.035,2593,2028,3086,0,0,0,0,0,0
$GC,1270,-0.93,-116.8,266.3,-16.6,103,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2023,3084,0,0,0,0,0,0
$GC,1578,-0.93,-116.8,311.4,-13.9,116,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2023,3085,0,0,0,0,0,0
$GC,1903,-0.93,-116.8,360.7,-16.4,124,1907,0.00,2.08,0.00,0.000,4,0.000,0.051,2593,642,3085,0,0,0,0,0,0
$GC,2023,-0.93,-116.8,379.9,-15.5,126,2027,0.00,2.10,0.00,0.000,6,0.000,0.041,2585,2040,3085,0,0,0,0,0,0
$GC,2362,-0.93,-116.8,431.4,-15.9,135,2366,0.00,2.15,0.00,0.000,4,0.000,0.050,2585,627,3084,0,0,0,0,0,0
$GC,2404,-0.93,-116.8,438.3,-16.6,136,2408,0.00,2.15,0.00,0.000,6,0.000,0.044,2573,2041,3082,0,0,0,0,0,0
$GC,2731,-0.93,-116.8,489.6,-15.9,144,2735,0.00,2.17,0.00,0.000,4,0.000,0.060,2564,3460,3081,0,0,0,0,0,0
$GC,2763,-0.93,-116.8,494.9,-15.9,144,2768,0.12,2.10,0.00,0.000,6,0.193,0.039,2595,2051,3080,0,0,0,0,0,0
$GC,3094,-0.93,-116.8,539.0,-12.9,152,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2044,3078,0,0,0,0,0,0
$GC,3419,-0.93,-116.8,578.5,-11.9,160,3423,0.00,2.20,0.00,0.000,4,0.000,0.054,2596,630,3075,0,0,0,0,0,0
$GC,3455,-0.93,-116.8,583.2,-12.7,160,3461,0.00,2.17,0.00,0.000,6,0.000,0.046,2586,2045,3075,0,0,0,0,0,0
$GC,3786,-0.93,-116.8,620.7,-11.0,169,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2045,3072,0,0,0,0,0,0
$GC,4111,-0.93,-116.8,655.1,-10.2,177,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2045,3069,0,0,0,0,0,0
$GC,4436,-0.93,-116.8,691.3,-11.2,185,4440,0.00,2.17,0.00,0.000,4,0.000,0.063,2576,3453,3064,0,0,0,0,0,0
$GC,4492,-0.93,-116.8,697.9,-11.7,186,4496,0.00,2.15,0.00,0.000,6,0.000,0.042,2576,2032,3065,0,0,0,0,0,0
$GC,4805,-0.93,-116.8,731.8,-10.7,194,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2028,3062,0,0,0,0,0,0
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4966,begin apogee
$GC,4970,-0.28,0.0,750.6,11.6,198,5070,0.75,0.00,95.80,1.180,6,0.163,0.000,2806,2025,2600,0,0,0,0,0,0
$STATE,5078,end apogee,CONTROL_FINISHED_OK
$STATE,5078,begin climb
$GC,5080,0.93,116.8,752.1,0.0,200,5191,1.10,2.35,100.70,1.145,4,0.082,0.056,3203,659,2122,0,0,0,0,0,0
$GC,5215,0.93,116.8,733.9,22.0,203,5219,0.00,2.28,0.00,0.000,6,0.000,0.051,3200,2037,2117,0,0,0,0,0,0
$GC,5532,0.93,116.8,658.9,24.3,211,5536,0.00,2.30,0.00,0.000,4,0.000,0.069,3204,3456,2110,0,0,0,0,0,0
$GC,5684,0.93,116.8,621.0,23.2,214,5688,0.00,2.22,0.00,0.000,6,0.000,0.056,3214,2063,2109,0,0,0,0,0,0
$GC,5997,0.93,116.8,554.0,21.8,222,6001,0.00,2.25,0.00,0.000,4,0.000,0.069,3214,3455,2107,0,0,0,0,0,0
$GC,6033,0.93,116.8,545.0,24.0,222,6039,0.00,2.22,0.00,0.000,6,0.000,0.048,3224,2038,2106,0,0,0,0,0,0
$GC,6364,0.93,116.8,473.6,21.1,231,6368,0.00,2.33,0.00,0.000,4,0.000,0.068,3224,3465,2102,0,0,0,0,0,0
$GC,6433,0.93,116.8,459.7,20.3,232,6438,0.15,2.20,0.00,0.000,6,0.239,0.047,3197,2035,2102,0,0,0,0,0,0
$GC,6773,0.93,116.8,399.1,18.7,241,6777,0.00,2.20,0.00,0.000,4,0.000,0.058,3211,634,2102,0,0,0,0,0,0
$GC,6791,0.93,116.8,395.3,20.6,241,6796,0.00,2.20,0.00,0.000,6,0.000,0.052,3211,2051,2101,0,0,0,0,0,0
$GC,7136,0.93,116.8,334.4,15.1,250,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2051,2100,0,0,0,0,0,0
$GC,7441,0.93,116.8,289.4,14.1,259,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2051,2099,0,0,0,0,0,0
$GC,7751,0.93,116.8,247.3,13.0,274,7755,0.00,2.20,0.00,0.000,4,0.000,0.066,3211,3451,2098,0,0,0,0,0,0
$GC,8018,0.93,116.8,204.5,16.7,285,8022,0.00,2.17,0.00,0.000,6,0.000,0.050,3221,2046,2097,0,0,0,0,0,0
$GC,8345,0.93,116.8,166.3,11.9,314,8349,0.00,2.22,0.00,0.000,4,0.000,0.064,3221,3451,2097,0,0,0,0,0,0
$GC,8472,0.93,116.8,151.2,11.8,327,8477,0.12,2.15,0.00,0.000,6,0.236,0.047,3204,2043,2097,0,0,0,0,0,0
$GC,8734,0.93,116.8,119.1,11.4,351,8738,0.00,2.20,0.00,0.000,4,0.000,0.058,3218,620,2097,0,0,0,0,0,0
$GC,9001,0.93,116.8,91.4,11.0,379,9006,0.00,2.20,0.00,0.000,6,0.000,0.049,3213,2045,2096,0,0,0,0,0,0
$GC,9263,1.08,234.5,76.5,3.2,404,9357,0.10,2.33,83.65,0.679,4,0.123,0.061,3255,3443,1642,0,0,0,0,0,0
$GC,9555,1.08,234.5,25.1,23.2,436,9561,0.00,2.20,0.00,0.000,6,0.000,0.042,3265,2040,1636,0,0,0,0,0,0
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9665,begin surface coast
$FINISH,-0.4,1.022946
$STATE,9677,end surface coast,CONTROL_FINISHED_OK
$STATE,9677,begin surface
$SM_CCo,9702,124.45,0.592,0,0,765,450.36
$SM_GC,0.35,0.00,0.00,124.45,0.000,0.000,0.592,61,2032,765,-8.90,-0.34,450.36
$IRIDIUM_FIX,2111.01,-15806.76,230213,060645
$TT8_MAMPS,0.055991
$HUMID,1078818700
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.40
$XPDR_PINGS,145
$ALTIM_TOP_PING,374.4,0.0
$ALTIM_BOTTOM_PING,10.8,9.6
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7072120832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51313180672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,4.563
$10V_AH,10.3,4.178
$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,21.850,74.500,280.150,124.450,0.000,30.367,36.238,400.782,37.000,0.000,11.360,894.135,7234.053,477.057,1641.755,225.908,33.334,1123.884,0.000,1132.690,0.000,8.825,0.000
$DEVICE_MAMPS,261.547,69.030,1179.646,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,300.270,0.000,0.000,0.000,0.000,0.000,0.000,9749.560,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,57.085,0.000,0.000
$MEM,304480
$DATA_FILE_SIZE,16787,448
$CAP_FILE_SIZE,95040,0
$CFSIZE,260165632,257404928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,175707,2119.901,-15810.802,31,1.2,31,9.8