version: 66.07
glider: 511
mission: 5
dive: 18
start: 11 17 110 8 58 14
data:
$ID,511
$MISSION,5
$DIVE,18
$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,687.0741
$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,-40214.414
$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,27
$R_STBD_OVSHOOT,21
$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,17
$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
$GPS1,171110,083552,2052.812,12724.971,8,2.2,27,-2.8
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.7
$GPS2,171110,085722,2053.418,12724.758,11,2.7,30,-2.8
$SPEED_LIMITS,0.174,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.214,-0.173
$KALMAN_X,8783.9,213.2,-125.1,-28256.2,801.5
$KALMAN_Y,42472.2,274.9,34.7,-11357.2,4091.8
$MHEAD_RNG_PITCHd_Wd,233.9,78149,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.86,-165.5,0.0,0.0,0,77,0.00,0.00,-50.97,0.000,2,0.000,0.000,39,2055,2645,0,0,0,0,0,0
$GC,79,-0.86,-165.5,3.2,-8.0,10,120,10.07,2.28,-25.00,0.000,4,0.276,0.067,2311,633,3962,0,0,0,0,0,0
$GC,258,-0.86,-165.5,66.0,-34.0,37,264,0.00,2.25,0.00,0.000,6,0.000,0.053,2301,2044,3965,0,0,0,0,0,0
$GC,518,-0.86,-165.5,147.0,-30.2,62,522,0.00,2.22,0.00,0.000,4,0.000,0.064,2291,3454,3967,0,0,0,0,0,0
$GC,535,-0.86,-165.5,152.7,-30.2,63,542,0.08,2.17,0.00,0.000,6,0.187,0.043,2328,2052,3967,0,0,0,0,0,0
$GC,794,-0.86,-165.5,210.7,-21.4,86,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2046,3969,0,0,0,0,0,0
$GC,1103,-0.86,-165.5,271.7,-19.5,101,1107,0.00,2.20,0.00,0.000,4,0.000,0.061,2328,629,3967,0,0,0,0,0,0
$GC,1144,-0.86,-165.5,279.7,-18.2,103,1148,0.00,2.20,0.00,0.000,6,0.000,0.051,2322,2044,3966,0,0,0,0,0,0
$GC,1469,-0.86,-165.5,342.5,-19.3,114,1473,0.00,2.22,0.00,0.000,4,0.000,0.066,2317,3457,3964,0,0,0,0,0,0
$GC,1491,-0.86,-165.5,347.0,-20.0,114,1495,0.00,2.17,0.00,0.000,6,0.000,0.045,2318,2049,3966,0,0,0,0,0,0
$GC,1834,-0.86,-165.5,410.1,-18.1,123,1838,0.00,2.17,0.00,0.000,4,0.000,0.057,2317,627,3964,0,0,0,0,0,0
$GC,1890,-0.86,-165.5,419.5,-15.9,124,1894,0.00,2.22,0.00,0.000,6,0.000,0.053,2308,2049,3964,0,0,0,0,0,0
$GC,2201,-0.86,-165.5,475.8,-18.2,132,2205,0.00,2.17,0.00,0.000,4,0.000,0.062,2298,3457,3961,0,0,0,0,0,0
$GC,2243,-0.86,-165.5,483.4,-17.9,133,2247,0.00,2.17,0.00,0.000,6,0.000,0.048,2294,2043,3960,0,0,0,0,0,0
$STATE,2364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2364,begin apogee
$GC,2367,-0.28,0.0,506.6,19.2,136,2572,0.65,0.00,186.02,0.792,6,0.146,0.000,2503,2038,3301,0,0,0,0,3,0
$STATE,2575,end apogee,CONTROL_FINISHED_OK
$STATE,2575,begin climb
$GC,2576,0.86,165.5,523.0,0.0,141,2828,0.98,0.00,204.23,0.751,6,0.048,0.000,2886,2036,2626,0,0,0,0,8,0
$GC,3144,0.97,253.9,527.7,6.4,155,3302,0.00,2.33,115.97,0.736,4,0.000,0.058,2896,632,2266,0,0,0,0,7,0
$GC,3348,0.97,253.9,503.0,17.9,159,3354,0.00,2.33,0.00,0.000,6,0.000,0.053,2902,2042,2262,0,0,0,0,0,0
$GC,3678,0.97,253.9,447.6,16.6,168,3682,0.00,2.25,0.00,0.000,4,0.000,0.061,2896,3464,2256,0,0,0,0,0,0
$GC,3852,0.97,253.9,416.9,18.7,171,3856,0.00,2.22,0.00,0.000,6,0.000,0.051,2907,2045,2255,0,0,0,0,0,0
$GC,4186,0.97,253.9,363.3,15.6,180,4190,0.00,2.20,0.00,0.000,4,0.000,0.058,2918,623,2251,0,0,0,0,0,0
$GC,4277,0.97,253.9,349.0,14.8,182,4281,0.00,2.25,0.00,0.000,6,0.000,0.054,2923,2057,2248,0,0,0,0,0,0
$GC,4603,0.97,253.9,301.0,14.6,190,4607,0.00,2.20,0.00,0.000,4,0.000,0.061,2919,3452,2249,0,0,0,0,0,0
$GC,4671,0.97,253.9,289.4,16.2,192,4675,0.00,2.22,0.00,0.000,6,0.000,0.051,2929,2020,2249,0,0,0,0,0,0
$GC,4999,0.97,253.9,246.0,12.1,208,5003,0.00,2.28,0.00,0.000,4,0.000,0.065,2929,3452,2247,0,0,0,0,0,0
$GC,5133,0.97,253.9,224.9,17.0,214,5137,0.00,2.20,0.00,0.000,6,0.000,0.049,2944,2033,2247,0,0,0,0,0,0
$GC,5455,0.97,253.9,180.3,13.4,236,5459,0.00,2.22,0.00,0.000,4,0.000,0.064,2939,3452,2246,0,0,0,0,0,0
$GC,5722,0.97,253.9,144.0,12.6,264,5728,0.15,2.17,0.00,0.000,6,0.238,0.050,2916,2045,2245,0,0,0,0,0,0
$GC,5982,1.04,311.5,121.2,7.7,289,6079,0.00,2.30,69.07,0.607,4,0.000,0.063,2916,3464,2031,0,0,0,0,4,0
$GC,6273,1.04,311.5,85.3,12.9,321,6278,0.00,2.25,0.00,0.000,6,0.000,0.053,2925,2044,2030,0,0,0,0,0,0
$GC,6534,1.22,456.8,65.7,4.1,345,6748,0.20,2.30,171.82,0.568,4,0.087,0.054,3016,627,1436,0,0,0,0,6,0
$STATE,6905,end climb,SURFACE_DEPTH_REACHED
$STATE,6905,begin surface coast
$FINISH,-0.2,1.020875
$STATE,6924,end surface coast,CONTROL_FINISHED_OK
$STATE,6925,begin surface
$SM_CCo,6943,128.75,0.539,0,0,500,687.07
$SM_GC,0.73,0.00,0.00,128.75,0.000,0.000,0.539,53,2052,500,-7.96,0.08,687.07
$IRIDIUM_FIX,2045.60,12723.57,120512,030353
$TT8_MAMPS,0.056758
$HUMID,1078885797
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.70
$XPDR_PINGS,43
$AR_DIVENUM,18
$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
$24V_AH,24.6,4.743
$10V_AH,10.5,2.949
$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,20.175,62.525,747.125,128.750,0.000,147.241,225.865,488.037,10.750,0.000,33.486,714.175,4596.967,888.159,2069.781,85.283,33.356,1609.460,0.000,1097.973,0.000,0.544,0.000
$DEVICE_MAMPS,276.120,67.496,791.544,539.201,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,264.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355240
$DATA_FILE_SIZE,13469,405
$CAP_FILE_SIZE,96990,0
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$GPS,171110,105801,2053.521,12723.973,70,0.9,70,-2.8