version: 66.07
glider: 511
mission: 5
dive: 92
start: 12 1 110 1 13 50
data:
$ID,511
$MISSION,5
$DIVE,92
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$T_MISSION,725
$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,681.43231
$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,-42363.844
$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,2650
$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,33
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3277
$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,91
$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
$GPS1,011210,004536,2100.564,12655.334,35,1.0,41,-2.8
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.6
$GPS2,011210,011256,2100.911,12655.447,12,1.3,12,-2.8
$SPEED_LIMITS,0.156,0.265
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.021,-0.264
$KALMAN_X,-40957.4,499.3,89.8,-29822.1,-261.9
$KALMAN_Y,374526.1,671.9,-520.2,-329361.8,6859.0
$MHEAD_RNG_PITCHd_Wd,178.2,61939,-14.8,-9.016
$D_GRID,990
$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,24,begin dive
$GC,25,-0.79,-165.4,0.0,0.0,0,109,0.00,0.00,-80.72,0.000,2,0.000,0.000,44,2084,2702,0,0,0,0,0,0
$GC,111,-0.79,-165.5,3.0,-5.0,16,156,10.12,2.25,-26.25,0.000,4,0.262,0.069,2382,687,3955,0,0,0,0,0,0
$GC,280,-0.79,-165.5,47.1,-23.9,45,286,0.00,2.20,0.00,0.000,6,0.000,0.054,2373,2087,3955,0,0,0,0,0,0
$GC,540,-0.79,-165.5,123.6,-27.0,70,544,0.00,2.20,0.00,0.000,4,0.000,0.059,2364,3496,3955,0,0,0,0,0,0
$GC,591,-0.79,-165.5,136.8,-25.0,75,596,0.12,2.15,0.00,0.000,6,0.176,0.042,2394,2081,3957,0,0,0,0,0,0
$GC,852,-0.79,-165.5,186.8,-16.1,99,856,0.00,2.17,0.00,0.000,4,0.000,0.050,2394,664,3956,0,0,0,0,0,0
$GC,878,-0.79,-165.5,191.2,-14.4,101,884,0.00,2.20,0.00,0.000,6,0.000,0.046,2388,2084,3956,0,0,0,0,0,0
$GC,1133,-0.79,-165.5,231.0,-16.0,117,1137,0.00,2.20,0.00,0.000,4,0.000,0.061,2386,3488,3954,0,0,0,0,0,0
$GC,1263,-0.79,-165.5,247.7,-12.3,122,1268,0.00,2.12,0.00,0.000,6,0.000,0.041,2382,2077,3956,0,0,0,0,0,0
$GC,1577,-0.79,-165.5,291.6,-13.2,138,1581,0.00,2.15,0.00,0.000,4,0.000,0.055,2382,672,3956,0,0,0,0,0,0
$GC,1618,-0.79,-165.5,296.9,-12.0,140,1622,0.00,2.17,0.00,0.000,6,0.000,0.053,2381,2077,3956,0,0,0,0,0,0
$GC,1942,-0.79,-165.5,338.5,-13.0,149,1946,0.00,2.22,0.00,0.000,4,0.000,0.064,2372,3493,3955,0,0,0,0,0,0
$GC,2010,-0.79,-165.5,346.6,-11.0,150,2014,0.00,2.17,0.00,0.000,6,0.000,0.041,2371,2068,3954,0,0,0,0,0,0
$GC,2353,-0.79,-165.5,392.4,-13.5,159,2357,0.00,2.25,0.00,0.000,4,0.000,0.066,2365,3493,3951,0,0,0,0,0,0
$GC,2403,-0.79,-165.5,399.0,-11.7,160,2407,0.00,2.12,0.00,0.000,6,0.000,0.043,2365,2081,3951,0,0,0,0,0,0
$GC,2725,-0.79,-165.5,441.9,-13.4,168,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2072,3949,0,0,0,0,0,0
$GC,3049,-0.79,-165.5,480.3,-11.4,176,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2074,3945,0,0,0,0,0,0
$GC,3374,-0.79,-165.5,518.0,-11.6,184,3378,0.00,2.28,0.00,0.000,4,0.000,0.069,2365,3488,3942,0,0,0,0,0,0
$GC,3438,-0.79,-165.5,525.0,-10.1,185,3442,0.00,2.15,0.00,0.000,6,0.000,0.045,2365,2076,3942,0,0,0,0,0,0
$GC,3782,-0.79,-165.5,563.9,-11.3,194,3786,0.00,2.28,0.00,0.000,4,0.000,0.070,2364,3499,3942,0,0,0,0,0,0
$GC,3804,-0.79,-165.5,566.5,-10.8,194,3807,0.00,2.15,0.00,0.000,6,0.000,0.046,2364,2081,3938,0,0,0,0,0,0
$GC,4152,-0.79,-165.5,604.1,-10.6,203,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2080,3935,0,0,0,0,0,0
$GC,4477,-0.79,-165.5,635.3,-9.2,211,4481,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,672,3932,0,0,0,0,0,0
$GC,4498,-0.79,-165.5,637.4,-9.0,211,4503,0.00,2.20,0.00,0.000,6,0.000,0.051,2365,2089,3932,0,0,0,0,0,0
$GC,4842,-0.79,-165.5,668.6,-9.5,220,4846,0.00,2.22,0.00,0.000,4,0.000,0.067,2356,3489,3928,0,0,0,0,0,0
$GC,4912,-0.79,-165.5,675.4,-10.5,221,4917,0.12,2.17,0.00,0.000,6,0.147,0.048,2391,2076,3925,0,0,0,0,0,0
$GC,5252,-0.79,-165.5,701.9,-7.8,230,5256,0.00,2.30,0.00,0.000,4,0.000,0.073,2391,3486,3925,0,0,0,0,0,0
$GC,5284,-0.79,-165.5,704.4,-7.9,230,5288,0.00,2.17,0.00,0.000,6,0.000,0.047,2391,2064,3925,0,0,0,0,0,0
$GC,5614,-0.79,-165.5,727.6,-6.7,238,5618,0.00,2.15,0.00,0.000,4,0.000,0.056,2391,675,3921,0,0,0,0,0,0
$GC,5632,-0.79,-165.5,729.0,-7.8,238,5636,0.00,2.20,0.00,0.000,6,0.000,0.054,2391,2081,3921,0,0,0,0,0,0
$GC,5981,-0.79,-165.5,751.6,-6.3,247,5985,0.00,2.25,0.00,0.000,4,0.000,0.070,2391,3492,3918,0,0,0,0,0,0
$GC,6037,-0.79,-165.5,755.1,-6.7,248,6041,0.00,2.17,0.00,0.000,6,0.000,0.048,2386,2074,3917,0,0,0,0,0,0
$GC,6349,-0.79,-165.5,783.0,-10.2,256,6353,0.00,2.25,0.00,0.000,4,0.000,0.067,2391,3486,3915,0,0,0,0,0,0
$GC,6524,-0.79,-165.5,802.8,-11.8,259,6529,0.00,2.15,0.00,0.000,6,0.000,0.048,2390,2075,3914,0,0,0,0,0,0
$GC,6854,-0.79,-165.5,837.2,-10.1,268,6858,0.00,2.25,0.00,0.000,4,0.000,0.070,2390,3490,3911,0,0,0,0,0,0
$GC,6899,-0.79,-165.5,841.9,-10.5,269,6903,0.00,2.17,0.00,0.000,6,0.000,0.048,2390,2087,3910,0,0,0,0,0,0
$GC,7221,-0.79,-165.5,872.1,-9.3,277,7225,0.00,2.25,0.00,0.000,4,0.000,0.068,2391,3498,3909,0,0,0,0,0,0
$GC,7262,-0.79,-165.5,876.2,-9.9,278,7266,0.00,2.20,0.00,0.000,6,0.000,0.048,2390,2074,3909,0,0,0,0,0,0
$GC,7588,-0.79,-165.5,907.2,-9.9,286,7592,0.00,2.28,0.00,0.000,4,0.000,0.069,2390,3493,3907,0,0,0,0,0,0
$GC,7689,-0.79,-165.5,917.9,-11.8,288,7693,0.00,2.17,0.00,0.000,6,0.000,0.048,2390,2079,3907,0,0,0,0,0,0
$GC,8006,-0.79,-165.5,950.8,-10.6,296,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2072,3904,0,0,0,0,0,0
$GC,8331,-0.79,-165.5,984.0,-10.1,304,8335,0.00,2.30,0.00,0.000,4,0.000,0.069,2391,3498,3903,0,0,0,0,0,0
$GC,8367,-0.79,-165.5,987.8,-11.0,304,8373,0.00,2.17,0.00,0.000,6,0.000,0.050,2390,2077,3902,0,0,0,0,0,0
$STATE,8411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8411,begin apogee
$GC,8415,-0.28,0.0,992.1,9.6,306,8544,0.47,0.00,126.18,1.338,6,0.073,0.000,2574,2075,3277,0,0,0,0,0,0
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8553,begin climb
$GC,8554,0.79,165.5,1000.8,0.0,309,8705,0.90,2.45,140.45,1.306,4,0.051,0.064,2916,3457,2603,0,0,0,0,0,0
$GC,8714,0.99,326.4,1012.7,3.1,312,8861,0.12,2.30,137.43,1.285,6,0.123,0.049,2965,2051,1946,0,0,1,0,0,0
$GC,9169,0.99,326.4,886.5,31.1,324,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2052,1935,0,0,0,0,0,0
$GC,9494,0.99,326.4,788.5,30.0,332,9498,0.00,2.33,0.00,0.000,4,0.000,0.072,2965,3466,1933,0,0,0,0,0,0
$GC,9586,0.99,326.4,760.2,32.2,334,9590,0.00,2.25,0.00,0.000,6,0.000,0.056,2976,2049,1932,0,0,0,0,0,0
$GC,9907,0.99,326.4,664.6,29.8,342,9911,0.00,2.30,0.00,0.000,4,0.000,0.067,2976,3463,1931,0,0,0,0,0,0
$GC,9934,0.99,326.4,655.7,33.3,342,9938,0.00,2.22,0.00,0.000,6,0.000,0.053,2982,2051,1931,0,0,0,0,0,0
$GC,10273,0.99,326.4,555.5,28.5,351,10277,0.00,2.30,0.00,0.000,4,0.000,0.068,2986,3458,1929,0,0,0,0,0,0
$GC,10304,0.99,326.4,546.0,29.7,351,10308,0.00,2.20,0.00,0.000,6,0.000,0.053,2996,2050,1929,0,0,0,0,0,0
$GC,10638,0.99,326.4,452.5,27.4,360,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2043,1928,0,0,0,0,0,0
$GC,10963,0.99,326.4,366.9,26.4,368,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2043,1927,0,0,0,0,0,0
$GC,11268,0.99,326.4,288.4,25.2,376,11272,0.00,2.28,0.00,0.000,4,0.000,0.066,2996,3468,1926,0,0,0,0,0,0
$GC,11415,0.99,326.4,247.5,28.3,382,11420,0.15,2.20,0.00,0.000,6,0.249,0.051,2976,2049,1926,0,0,0,0,0,0
$GC,11733,0.99,326.4,179.3,20.3,401,11737,0.00,2.25,0.00,0.000,4,0.000,0.064,2976,3466,1924,0,0,0,0,0,0
$GC,11999,0.99,326.4,121.9,13.6,429,12005,0.00,2.20,0.00,0.000,6,0.000,0.048,2985,2043,1926,0,0,0,0,0,0
$GC,12260,0.99,326.4,90.3,12.1,454,12264,0.00,2.25,0.00,0.000,4,0.000,0.063,2981,3469,1924,0,0,0,0,0,0
$GC,12440,0.99,326.4,64.7,14.3,473,12444,0.00,2.20,0.00,0.000,6,0.000,0.048,2995,2052,1925,0,0,0,0,0,0
$GC,12701,0.99,326.4,38.2,9.9,497,12705,0.00,2.17,0.00,0.000,4,0.000,0.056,3006,637,1928,0,0,0,0,0,0
$GC,12733,0.99,326.4,34.7,11.5,500,12738,0.15,2.17,0.00,0.000,6,0.221,0.051,2974,2055,1932,0,0,0,0,0,0
$GC,13004,0.99,326.4,7.6,10.9,543,13010,0.00,2.22,0.00,0.000,4,0.000,0.057,2981,635,1930,0,0,0,0,0,0
$STATE,13055,end climb,SURFACE_DEPTH_REACHED
$STATE,13055,begin surface coast
$FINISH,0.1,1.022166
$STATE,13088,end surface coast,CONTROL_FINISHED_OK
$STATE,13089,begin surface
$SM_CCo,13108,189.95,0.560,0,0,501,681.43
$SM_GC,1.16,0.00,0.00,189.95,0.000,0.000,0.560,58,2086,501,-8.10,0.17,681.43
$IRIDIUM_FIX,2052.52,12656.81,250512,191901
$TT8_MAMPS,0.065962
$HUMID,1078745152
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,25.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8423243776
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58053001216
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,20.730
$10V_AH,10.3,11.918
$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,19.975,124.275,404.050,189.950,0.000,119.913,226.288,849.018,0.000,0.000,13.911,1127.573,10201.301,666.785,2739.528,185.066,33.366,1534.717,0.000,1468.252,0.000,0.543,0.000
$DEVICE_MAMPS,262.314,72.865,1338.415,559.910,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.109,0.000,0.000,0.000,0.000,0.000,0.000,13854.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.589,0.000,0.000
$MEM,355148
$DATA_FILE_SIZE,20121,561
$CAP_FILE_SIZE,146102,0
$CFSIZE,260165632,250998784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011210,045655,2059.959,12655.939,37,1.4,37,-2.8