version: 66.07
glider: 511
mission: 5
dive: 10
start: 11 16 110 13 43 20
data:
$ID,511
$MISSION,5
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,166
$T_MISSION,350
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-39960.453
$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,2600
$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,24
$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,3300
$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,-50.006142
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,9
$AR_SAMPLENUM,0
$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
$GPS1,161110,132025,2045.698,12734.154,61,1.1,62,-2.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.2
$GPS2,161110,134226,2046.096,12734.121,14,1.7,14,-2.7
$SPEED_LIMITS,0.174,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,-0.116
$KALMAN_X,7692.4,-365.7,7.4,-10483.5,1286.0
$KALMAN_Y,21122.4,-1633.5,297.3,-1927.6,3968.1
$MHEAD_RNG_PITCHd_Wd,247.6,85504,-16.4,-10.040
$D_GRID,500
$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,23,-0.86,-165.5,0.0,0.0,0,112,0.00,0.00,-85.85,0.000,2,0.000,0.000,34,2044,2866,0,0,0,0,0,0
$GC,113,-0.86,-165.5,3.9,-10.2,17,150,10.38,2.20,-19.50,0.000,4,0.284,0.067,2314,630,3959,0,0,0,0,0,0
$GC,181,-0.86,-165.5,31.8,-32.0,31,187,0.00,2.25,0.00,0.000,6,0.000,0.054,2305,2049,3964,0,0,0,0,0,0
$GC,441,-0.86,-165.5,124.4,-32.2,56,445,0.00,2.22,0.00,0.000,4,0.000,0.054,2305,628,3962,0,0,0,0,0,0
$GC,505,-0.86,-165.5,143.0,-24.8,62,511,0.00,2.20,0.00,0.000,6,0.000,0.051,2295,2046,3963,0,0,0,0,0,0
$GC,764,-0.86,-165.5,211.6,-25.9,85,768,0.00,2.22,0.00,0.000,4,0.000,0.062,2285,3463,3961,0,0,0,0,0,0
$GC,808,-0.86,-165.5,223.3,-23.9,87,813,0.10,2.20,0.00,0.000,6,0.163,0.044,2325,2035,3963,0,0,0,0,0,0
$GC,1137,-0.86,-165.5,291.5,-20.1,103,1141,0.00,2.12,0.00,0.000,4,0.000,0.054,2325,641,3963,0,0,0,0,0,0
$GC,1205,-0.86,-165.5,303.9,-16.4,106,1209,0.00,2.20,0.00,0.000,6,0.000,0.050,2322,2043,3962,0,0,0,0,0,0
$GC,1548,-0.86,-165.5,363.4,-16.7,115,1552,0.00,2.22,0.00,0.000,4,0.000,0.064,2313,3458,3959,0,0,0,0,0,0
$GC,1621,-0.86,-165.5,376.1,-16.6,116,1625,0.00,2.15,0.00,0.000,6,0.000,0.044,2313,2042,3960,0,0,0,0,0,0
$GC,1960,-0.86,-165.5,436.8,-18.0,125,1965,0.00,2.20,-0.08,0.000,4,0.000,0.073,2313,635,3972,0,0,0,0,0,0
$GC,2010,-0.86,-165.5,445.8,-15.8,126,2014,0.00,2.20,0.00,0.000,6,0.000,0.051,2310,2038,3972,0,0,0,0,0,0
$GC,2332,-0.86,-165.5,498.2,-15.9,134,2336,0.00,2.22,0.00,0.000,4,0.000,0.064,2299,3458,3969,0,0,0,0,0,0
$STATE,2343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2343,begin apogee
$GC,2349,-0.28,0.0,500.4,15.6,134,2563,0.62,0.00,190.20,0.781,6,0.146,0.000,2502,2037,3300,0,0,0,0,4,0
$STATE,2566,end apogee,CONTROL_FINISHED_OK
$STATE,2566,begin climb
$GC,2567,0.86,165.5,511.0,0.0,139,2842,0.98,2.40,209.40,0.728,4,0.047,0.061,2886,3446,2625,0,0,0,0,11,0
$GC,2861,1.15,404.6,533.5,0.3,146,3254,0.22,2.22,303.48,0.724,6,0.095,0.045,2976,2045,1651,0,0,0,0,15,0
$GC,3584,1.15,404.6,356.4,29.7,164,3588,0.00,2.25,0.00,0.000,4,0.000,0.064,2976,3455,1641,0,0,0,0,0,0
$GC,3767,1.15,404.6,298.9,29.1,168,3771,0.00,2.22,0.00,0.000,6,0.000,0.051,2986,2059,1638,0,0,0,0,0,0
$GC,4097,1.15,404.6,200.6,30.4,183,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2057,1635,0,0,0,0,0,0
$GC,4415,1.15,404.6,110.6,24.7,212,4419,0.00,2.20,0.00,0.000,4,0.000,0.064,2986,3454,1636,0,0,0,0,0,0
$GC,4451,1.15,404.6,101.9,24.0,215,4457,0.00,2.22,0.00,0.000,6,0.000,0.052,2998,2027,1633,0,0,0,0,0,0
$GC,4711,1.15,404.6,48.6,18.1,240,4715,0.00,2.17,0.00,0.000,4,0.000,0.057,3007,626,1631,0,0,0,0,0,0
$GC,4775,1.15,404.6,36.5,18.0,247,4780,0.15,2.22,0.00,0.000,6,0.222,0.051,2974,2057,1631,0,0,0,0,0,0
$STATE,4984,end climb,SURFACE_DEPTH_REACHED
$STATE,4984,begin surface coast
$FINISH,0.3,1.021677
$STATE,5003,end surface coast,CONTROL_FINISHED_OK
$STATE,5003,begin surface
$SM_CCo,5024,49.97,0.572,0,0,1262,500.40
$SM_GC,0.29,0.00,0.00,49.97,0.000,0.000,0.572,53,2061,1262,-7.96,0.45,500.40
$IRIDIUM_FIX,2036.38,12732.29,110512,070703
$TT8_MAMPS,0.056758
$HUMID,1079039766
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.80
$XPDR_PINGS,73
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8439824384
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59967668224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,3.018
$10V_AH,10.5,2.341
$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,20.200,48.750,703.075,49.975,0.000,56.926,76.751,983.774,18.250,0.000,16.136,523.906,3002.090,777.331,2023.704,64.171,33.335,1378.904,0.000,825.957,0.000,0.542,0.000
$DEVICE_MAMPS,283.790,72.865,780.806,572.182,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,185.329,0.000,0.000,0.000,0.000,0.000,0.000,6149.270,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.428,0.000,0.000
$MEM,355256
$DATA_FILE_SIZE,10186,283
$CAP_FILE_SIZE,86584,0
$CFSIZE,260165632,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,30,0
$GPS,161110,150856,2046.011,12733.317,15,1.9,15,-2.7