version: 66.07
glider: 511
mission: 5
dive: 46
start: 11 21 110 10 58 10
data:
$ID,511
$MISSION,5
$DIVE,46
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,675
$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,-40842.672
$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,2080
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,45
$AR_SAMPLENUM,1
$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
$GPS1,211110,104607,2055.150,12701.206,38,0.9,38,-2.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.3
$GPS2,211110,105714,2055.329,12701.195,11,1.8,11,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.209
$KALMAN_X,1814.6,240.4,-10.5,-62284.8,-900.9
$KALMAN_Y,142444.2,-1238.0,-446.9,-105766.1,9177.1
$MHEAD_RNG_PITCHd_Wd,142.2,54922,-16.3,-10.000
$D_GRID,900
$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,-165.4,0.0,0.0,0,82,0.00,0.00,-55.85,0.000,2,0.000,0.000,51,2067,2748,0,0,0,0,0,0
$GC,85,-0.86,-165.5,3.1,-7.6,11,125,10.02,2.20,-23.98,0.000,4,0.271,0.062,2314,670,3961,0,0,0,0,0,0
$GC,244,-0.86,-165.5,57.8,-29.3,36,250,0.00,2.25,0.00,0.000,6,0.000,0.055,2306,2084,3963,0,0,0,0,0,0
$GC,504,-0.86,-165.5,136.5,-30.1,61,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2084,3965,0,0,0,0,0,0
$GC,759,-0.86,-165.5,206.0,-25.7,84,763,0.00,2.22,0.00,0.000,4,0.000,0.060,2294,3499,3966,0,0,0,0,0,0
$GC,790,-0.86,-165.5,214.3,-25.6,85,794,0.00,2.17,0.00,0.000,6,0.000,0.041,2291,2056,3966,0,0,0,0,0,0
$GC,1113,-0.86,-165.5,298.3,-25.0,101,1117,0.00,2.12,0.00,0.000,4,0.000,0.050,2298,670,3967,0,0,0,0,0,0
$GC,1158,-0.86,-165.5,309.4,-22.0,103,1163,0.15,2.20,0.00,0.000,6,0.181,0.048,2328,2085,3967,0,0,0,0,0,0
$GC,1485,-0.86,-165.5,377.3,-20.5,111,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2086,3967,0,0,0,0,0,0
$GC,1809,-0.86,-165.5,432.8,-16.2,119,1813,0.00,2.20,0.00,0.000,4,0.000,0.060,2314,3492,3967,0,0,0,0,0,0
$GC,1882,-0.86,-165.5,443.9,-14.1,120,1886,0.00,2.15,0.00,0.000,6,0.000,0.041,2314,2076,3965,0,0,0,0,0,0
$GC,2221,-0.86,-165.5,499.4,-16.1,129,2225,0.00,2.15,0.00,0.000,4,0.000,0.051,2314,673,3964,0,0,0,0,0,0
$GC,2247,-0.86,-165.5,503.9,-16.9,129,2251,0.00,2.17,0.00,0.000,6,0.000,0.048,2306,2080,3964,0,0,0,0,0,0
$GC,2586,-0.86,-165.5,559.0,-16.5,138,2590,0.00,2.22,0.00,0.000,4,0.000,0.061,2295,3496,3961,0,0,0,0,0,0
$GC,2631,-0.86,-165.5,566.4,-15.2,139,2635,0.00,2.15,0.00,0.000,6,0.000,0.042,2293,2069,3958,0,0,0,0,0,0
$GC,2957,-0.86,-165.5,622.2,-17.4,147,2961,0.00,2.15,0.00,0.000,4,0.000,0.054,2295,673,3958,0,0,0,0,0,0
$GC,3006,-0.86,-165.5,630.4,-16.2,148,3011,0.08,2.20,0.00,0.000,6,0.157,0.050,2322,2082,3957,0,0,1,0,0,0
$GC,3328,-0.86,-165.5,673.7,-13.1,156,3332,0.00,2.20,0.00,0.000,4,0.000,0.063,2312,3491,3954,0,0,0,0,0,0
$GC,3396,-0.86,-165.5,682.2,-12.0,157,3401,0.00,2.17,0.00,0.000,6,0.000,0.044,2313,2081,3953,0,0,0,0,0,0
$GC,3740,-0.86,-165.5,727.9,-13.5,166,3744,0.00,2.22,0.00,0.000,4,0.000,0.066,2303,3491,3949,0,0,0,0,0,0
$GC,3757,-0.86,-165.5,730.2,-13.1,166,3761,0.00,2.17,0.00,0.000,6,0.000,0.046,2303,2053,3949,0,0,0,0,0,0
$GC,4105,-0.86,-165.5,778.8,-13.8,175,4109,0.00,2.28,0.00,0.000,4,0.000,0.064,2290,3490,3945,0,0,0,0,0,0
$GC,4155,-0.86,-165.5,785.9,-13.7,176,4159,0.12,2.15,0.00,0.000,6,0.177,0.046,2325,2078,3945,0,0,0,0,0,0
$GC,4481,-0.86,-165.5,824.0,-11.6,184,4485,0.00,2.25,0.00,0.000,4,0.000,0.065,2316,3497,3942,0,0,0,0,0,0
$GC,4526,-0.86,-165.5,829.2,-11.1,185,4530,0.00,2.17,0.00,0.000,6,0.000,0.048,2316,2070,3942,0,0,0,0,0,0
$GC,4852,-0.86,-165.5,869.9,-12.7,193,4856,0.00,2.25,0.00,0.000,4,0.000,0.067,2306,3489,3937,0,0,0,0,0,0
$GC,4874,-0.86,-165.5,872.8,-13.3,193,4878,0.00,2.17,0.00,0.000,6,0.000,0.049,2306,2079,3938,0,0,0,0,0,0
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5098,-0.28,0.0,902.3,13.5,199,5228,0.65,0.00,125.95,1.254,6,0.149,0.000,2510,2080,3303,0,0,0,0,0,0
$STATE,5235,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5237,0.86,165.5,909.5,0.0,202,5381,1.00,0.00,139.77,1.221,6,0.062,0.000,2877,2075,2625,0,0,0,0,0,0
$GC,5683,0.86,170.6,896.9,9.8,213,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2075,2612,0,0,0,0,0,0
$GC,6008,0.87,179.7,865.1,9.6,221,6024,0.00,2.35,10.75,1.091,4,0.000,0.060,2889,648,2565,0,0,0,0,0,0
$GC,6145,0.87,179.7,850.1,11.4,224,6149,0.00,2.25,0.00,0.000,6,0.000,0.053,2888,2050,2564,0,0,0,0,0,0
$GC,6471,0.87,179.7,814.9,10.5,232,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2050,2563,0,0,0,0,0,0
$GC,6795,0.87,179.7,781.7,10.2,240,6799,0.00,2.28,0.00,0.000,4,0.000,0.066,2888,3471,2558,0,0,0,0,0,0
$GC,6831,0.87,179.7,777.8,10.8,240,6837,0.00,2.22,0.00,0.000,6,0.000,0.051,2899,2047,2561,0,0,0,0,0,0
$GC,7162,0.90,204.4,746.6,9.0,249,7190,0.00,2.30,21.17,1.141,4,0.000,0.062,2899,3467,2465,0,0,0,0,0,0
$GC,7343,0.90,204.4,723.8,13.2,253,7347,0.00,2.25,0.00,0.000,6,0.000,0.050,2910,2054,2462,0,0,0,0,0,0
$GC,7669,0.90,204.4,684.7,11.8,261,7673,0.00,2.28,0.00,0.000,4,0.000,0.065,2911,3461,2456,0,0,0,0,0,0
$GC,7797,0.90,204.4,668.7,12.2,263,7802,0.00,2.22,0.00,0.000,6,0.000,0.051,2921,2049,2457,0,0,0,0,0,0
$GC,8127,0.90,204.4,629.5,12.0,272,8131,0.00,2.22,0.00,0.000,4,0.000,0.060,2931,633,2457,0,0,0,0,0,0
$GC,8362,0.90,204.4,600.5,11.0,277,8367,0.15,2.22,0.00,0.000,6,0.242,0.054,2899,2053,2455,0,0,0,0,0,0
$GC,8679,0.90,204.4,567.3,10.3,285,8683,0.00,2.28,0.00,0.000,4,0.000,0.061,2908,629,2454,0,0,0,0,0,0
$GC,8692,0.90,204.4,565.9,10.4,285,8696,0.00,2.22,0.00,0.000,6,0.000,0.055,2908,2050,2455,0,0,0,0,0,0
$GC,9004,0.90,204.4,534.5,10.2,293,9008,0.00,2.22,0.00,0.000,4,0.000,0.066,2908,3460,2454,0,0,0,0,0,0
$GC,9270,0.90,204.4,503.8,10.6,298,9276,0.00,2.22,0.00,0.000,6,0.000,0.052,2918,2040,2454,0,0,0,0,0,0
$GC,9600,0.95,245.1,475.5,8.3,307,9642,0.00,2.33,32.40,0.991,4,0.000,0.063,2919,3467,2301,0,0,0,0,0,0
$GC,9697,0.95,245.1,463.8,15.0,309,9701,0.00,2.25,0.00,0.000,6,0.000,0.051,2929,2056,2299,0,0,0,0,0,0
$GC,10014,0.95,245.1,421.2,13.6,317,10018,0.00,2.28,0.00,0.000,4,0.000,0.064,2929,3460,2294,0,0,0,0,0,0
$GC,10276,0.95,245.1,381.9,14.0,322,10281,0.08,2.25,0.00,0.000,6,0.237,0.051,2912,2050,2294,0,0,0,0,0,0
$GC,10611,0.95,245.1,339.9,11.7,331,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2046,2291,0,0,0,0,0,0
$GC,10936,0.95,245.1,301.0,11.1,339,10940,0.00,2.20,0.00,0.000,4,0.000,0.058,2924,635,2291,0,0,0,0,0,0
$GC,10990,0.95,245.1,294.0,12.8,340,10994,0.00,2.22,0.00,0.000,6,0.000,0.051,2921,2052,2288,0,0,0,0,0,0
$GC,11308,0.95,245.1,253.6,12.3,356,11312,0.00,2.22,0.00,0.000,4,0.000,0.063,2922,3458,2290,0,0,0,0,0,0
$GC,11339,0.95,245.1,249.3,13.4,357,11344,0.00,2.20,0.00,0.000,6,0.000,0.048,2932,2044,2289,0,0,0,0,0,0
$GC,11658,0.95,245.1,213.4,10.3,373,11662,0.00,2.25,0.00,0.000,4,0.000,0.064,2931,3466,2291,0,0,0,0,0,0
$GC,11925,0.95,245.1,182.1,12.6,393,11932,0.15,2.17,0.00,0.000,6,0.244,0.047,2910,2044,2296,0,0,0,0,0,0
$GC,12185,1.01,292.2,159.0,8.1,418,12225,0.00,0.00,37.30,0.722,6,0.000,0.000,2910,2041,2108,0,0,0,0,0,0
$GC,12477,1.01,292.2,122.9,11.3,446,12481,0.00,2.25,0.00,0.000,4,0.000,0.062,2909,3458,2103,0,0,0,0,0,0
$GC,12593,1.01,292.2,107.5,14.0,458,12597,0.00,2.20,0.00,0.000,6,0.000,0.048,2918,2055,2103,0,0,0,0,0,0
$GC,12853,1.01,292.2,74.4,12.0,482,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2050,2102,0,0,0,0,0,0
$GC,13108,1.15,405.9,54.3,5.4,506,13201,0.15,2.25,85.15,0.623,4,0.109,0.053,2982,625,1645,0,0,0,0,0,0
$GC,13223,1.15,405.9,41.4,16.1,518,13229,0.00,2.28,0.00,0.000,6,0.000,0.048,2982,2048,1641,0,0,0,0,0,0
$STATE,13431,end climb,SURFACE_DEPTH_REACHED
$STATE,13431,begin surface coast
$FINISH,-0.0,1.022398
$STATE,13445,end surface coast,CONTROL_FINISHED_OK
$STATE,13446,begin surface
$SM_CCo,13461,49.70,0.567,0,0,1260,500.16
$SM_GC,0.80,0.00,0.00,49.70,0.000,0.000,0.567,58,2058,1260,-7.95,-0.74,500.16
$IRIDIUM_FIX,2045.60,12700.50,160512,010124
$TT8_MAMPS,0.057525
$HUMID,1078848377
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8429764608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59321614336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,10.644
$10V_AH,10.3,5.855
$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,20.450,115.525,452.500,49.700,0.000,27.070,37.474,459.288,0.000,0.000,13.736,1146.341,10138.348,584.772,2182.201,117.677,33.353,1472.002,0.000,1587.419,0.000,0.540,0.000
$DEVICE_MAMPS,270.751,66.729,1254.045,566.813,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.945,0.000,0.000,0.000,0.000,0.000,0.000,13009.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.460,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,20118,552
$CAP_FILE_SIZE,130845,0
$CFSIZE,260165632,255008768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,211110,144437,2055.002,12701.686,28,1.0,28,-2.8