version: 66.07
glider: 511
mission: 5
dive: 186
start: 12 22 110 3 44 25
data:
$ID,511
$MISSION,5
$DIVE,186
$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,471
$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,150
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45283.242
$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,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,32
$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,185
$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
$GPS1,221210,033157,1912.936,12657.300,33,1.6,33,-2.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.6
$GPS2,221210,034329,1912.946,12657.214,9,2.0,9,-2.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.181
$KALMAN_X,-279161.3,1635.9,940.7,209398.5,-13938.8
$KALMAN_Y,532122.9,-1255.6,-653.6,-684843.7,7681.7
$MHEAD_RNG_PITCHd_Wd,144.5,197086,-12.1,-7.006
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.66,-146.0,0.0,0.0,0,88,0.00,0.00,-60.50,0.000,2,0.000,0.000,52,2167,2824,0,0,0,0,0,0
$GC,91,-0.66,-146.0,3.4,-3.6,12,131,10.15,2.38,-21.05,0.000,4,0.255,0.070,2374,725,3876,0,0,0,0,0,0
$GC,260,-0.66,-146.0,49.3,-23.8,40,266,0.00,2.28,0.00,0.000,6,0.000,0.057,2365,2138,3877,0,0,0,0,0,0
$GC,521,-0.66,-146.0,132.8,-29.6,65,525,0.00,2.33,0.00,0.000,4,0.000,0.070,2354,3564,3877,0,0,0,0,0,0
$GC,594,-0.66,-146.0,153.0,-23.8,72,600,0.12,2.20,0.00,0.000,6,0.164,0.044,2386,2135,3877,0,0,0,0,0,0
$GC,864,-0.66,-146.0,208.8,-19.2,96,868,0.00,2.17,0.00,0.000,4,0.000,0.054,2386,739,3878,0,0,0,0,0,0
$GC,900,-0.66,-146.0,215.1,-15.7,97,904,0.00,2.20,0.00,0.000,6,0.000,0.055,2380,2148,3878,0,0,1,0,0,0
$GC,1219,-0.66,-146.0,261.2,-13.2,113,1223,0.00,2.25,0.00,0.000,4,0.000,0.067,2370,3562,3878,0,0,0,0,0,0
$GC,1269,-0.66,-146.0,267.5,-11.5,115,1273,0.00,2.17,0.00,0.000,6,0.000,0.043,2370,2143,3879,0,0,0,0,0,0
$GC,1591,-0.66,-146.0,314.8,-15.4,129,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2141,3878,0,0,0,0,0,0
$GC,1916,-0.66,-146.0,367.3,-15.9,137,1920,0.00,2.17,0.00,0.000,4,0.000,0.051,2370,737,3879,0,0,0,0,0,0
$GC,2000,-0.66,-146.0,379.9,-13.9,138,2006,0.00,2.22,0.00,0.000,6,0.000,0.054,2363,2147,3878,0,0,0,0,0,0
$GC,2330,-0.66,-146.0,424.8,-12.4,147,2334,0.00,2.25,0.00,0.000,4,0.000,0.066,2349,3562,3877,0,0,0,0,0,0
$GC,2394,-0.66,-146.0,432.9,-12.9,148,2399,0.12,2.20,0.00,0.000,6,0.146,0.044,2386,2139,3876,0,0,0,0,0,0
$GC,2739,-0.66,-146.0,463.2,-8.6,157,2743,0.00,2.17,0.00,0.000,4,0.000,0.052,2389,736,3874,0,0,0,0,0,0
$GC,2803,-0.66,-146.0,468.6,-8.4,158,2807,0.00,2.20,0.00,0.000,6,0.000,0.053,2389,2142,3874,0,0,0,0,0,0
$GC,3151,-0.66,-146.0,493.6,-7.1,167,3155,0.00,2.25,0.00,0.000,4,0.000,0.067,2381,3557,3871,0,0,0,0,0,0
$GC,3202,-0.66,-146.0,497.3,-6.8,168,3206,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2146,3870,0,0,0,0,0,0
$GC,3523,-0.66,-146.0,523.6,-8.4,176,3527,0.00,2.22,0.00,0.000,4,0.000,0.053,2381,728,3869,0,0,0,0,0,0
$GC,3565,-0.66,-146.0,527.3,-8.9,177,3569,0.00,2.22,0.00,0.000,6,0.000,0.055,2381,2149,3868,0,0,0,0,0,0
$GC,3891,-0.66,-146.0,556.0,-9.0,185,3895,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,3555,3865,0,0,0,0,0,0
$GC,3969,-0.66,-146.0,563.2,-9.4,186,3973,0.00,2.20,0.00,0.000,6,0.000,0.046,2373,2143,3864,0,0,0,0,0,0
$GC,4304,-0.66,-146.0,593.8,-8.8,195,4308,0.00,2.20,0.00,0.000,4,0.000,0.052,2369,733,3861,0,0,0,0,0,0
$GC,4335,-0.66,-146.0,596.5,-8.1,195,4339,0.00,2.25,0.00,0.000,6,0.000,0.056,2371,2141,3861,0,0,0,0,0,0
$GC,4665,-0.66,-146.0,623.7,-8.7,203,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2141,3857,0,0,0,0,0,0
$GC,4991,-0.66,-146.0,654.1,-9.4,211,4995,0.00,2.30,0.00,0.000,4,0.000,0.068,2363,3558,3854,0,0,0,0,0,0
$GC,5023,-0.66,-146.0,657.3,-10.5,211,5027,0.00,2.22,0.00,0.000,6,0.000,0.048,2364,2143,3856,0,0,0,0,0,0
$GC,5353,-0.66,-146.0,690.6,-10.2,219,5357,0.00,2.35,0.00,0.000,4,0.000,0.074,2363,3560,3852,0,0,0,0,0,0
$GC,5384,-0.66,-146.0,693.8,-9.6,219,5388,0.00,2.22,0.00,0.000,6,0.000,0.048,2363,2145,3852,0,0,0,0,0,0
$GC,5719,-0.66,-146.0,725.6,-9.2,228,5723,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,728,3850,0,0,0,0,0,0
$GC,5783,-0.66,-146.0,731.7,-9.1,229,5787,0.00,2.28,0.00,0.000,6,0.000,0.055,2363,2151,3848,0,0,0,0,0,0
$GC,6127,-0.66,-146.0,761.0,-8.2,238,6131,0.00,2.28,0.00,0.000,4,0.000,0.070,2363,3554,3847,0,0,0,0,0,0
$GC,6154,-0.66,-146.0,763.2,-7.6,238,6158,0.00,2.17,0.00,0.000,6,0.000,0.045,2359,2136,3846,0,0,0,0,0,0
$GC,6488,-0.66,-146.0,791.6,-8.9,247,6492,0.00,2.20,0.00,0.000,4,0.000,0.055,2363,745,3848,0,0,0,0,0,0
$GC,6521,-0.66,-146.0,794.6,-9.0,247,6525,0.00,2.25,0.00,0.000,6,0.000,0.054,2363,2147,3844,0,0,0,0,0,0
$GC,6852,-0.66,-146.0,824.7,-9.1,255,6856,0.00,2.30,0.00,0.000,4,0.000,0.071,2360,3552,3842,0,0,0,0,0,0
$GC,6898,-0.66,-146.0,828.8,-8.8,256,6902,0.00,2.17,0.00,0.000,6,0.000,0.047,2362,2146,3842,0,0,0,0,0,0
$GC,7225,-0.66,-146.0,857.6,-8.8,264,7229,0.00,2.22,0.00,0.000,4,0.000,0.057,2363,743,3840,0,0,0,0,0,0
$GC,7256,-0.66,-146.0,860.6,-9.2,264,7260,0.00,2.25,0.00,0.000,6,0.000,0.055,2363,2143,3840,0,0,0,0,0,0
$GC,7586,-0.66,-146.0,889.9,-8.9,272,7590,0.00,2.33,0.00,0.000,4,0.000,0.073,2363,3562,3838,0,0,0,0,0,0
$GC,7618,-0.66,-146.0,892.7,-8.3,272,7622,0.00,2.20,0.00,0.000,6,0.000,0.048,2363,2142,3841,0,0,0,0,0,0
$GC,7949,-0.66,-146.0,918.1,-7.4,280,7953,0.00,2.22,0.00,0.000,4,0.000,0.057,2365,746,3836,0,0,0,0,0,0
$GC,7985,-0.66,-146.0,921.0,-7.3,280,7991,0.00,2.25,0.00,0.000,6,0.000,0.055,2364,2147,3833,0,0,0,0,0,0
$GC,8315,-0.66,-146.0,944.9,-7.3,289,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2147,3837,0,0,0,0,0,0
$GC,8640,-0.66,-146.0,970.4,-8.0,297,8644,0.00,2.30,0.00,0.000,4,0.000,0.073,2363,3553,3833,0,0,0,0,0,0
$GC,8667,-0.66,-146.0,972.8,-9.9,297,8671,0.00,2.22,0.00,0.000,6,0.000,0.049,2364,2144,3832,0,0,0,0,0,0
$STATE,8878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8878,begin apogee
$GC,8883,-0.28,0.0,990.6,8.5,303,9001,0.45,0.00,114.43,1.348,6,0.122,0.000,2508,2037,3278,0,0,0,0,0,0
$STATE,9010,end apogee,CONTROL_FINISHED_OK
$STATE,9010,begin climb
$GC,9012,0.66,146.0,998.3,0.0,306,9148,0.85,2.42,126.72,1.315,4,0.054,0.059,2840,645,2683,0,0,0,0,0,0
$GC,9153,1.09,493.6,1010.1,-4.3,309,9467,0.35,2.42,302.42,1.284,6,0.085,0.054,2954,2042,1264,0,0,0,0,0,0
$GC,9776,1.09,493.6,812.1,39.8,325,9780,0.00,2.35,0.00,0.000,4,0.000,0.068,2954,3458,1256,0,0,0,0,0,0
$GC,9886,1.09,493.6,769.0,37.0,327,9891,0.00,2.28,0.00,0.000,6,0.000,0.060,2964,2045,1254,0,0,1,0,0,0
$GC,10230,1.09,493.6,636.9,37.3,336,10234,0.00,2.33,0.00,0.000,4,0.000,0.069,2964,3451,1254,0,0,0,0,0,0
$GC,10322,1.09,493.6,601.4,37.1,338,10326,0.00,2.25,0.00,0.000,6,0.000,0.054,2975,2045,1253,0,0,0,0,0,0
$GC,10644,1.09,493.6,482.4,36.5,346,10648,0.00,2.30,0.00,0.000,4,0.000,0.071,2975,3451,1253,0,0,0,0,0,0
$GC,10689,1.09,493.6,464.5,38.8,347,10694,0.15,2.28,0.00,0.000,6,0.247,0.054,2955,2036,1252,0,0,0,0,0,0
$GC,11012,1.09,493.6,347.0,36.4,355,11016,0.00,2.33,0.00,0.000,4,0.000,0.069,2955,3458,1250,0,0,0,0,0,0
$GC,11071,1.09,493.6,324.9,34.1,356,11075,0.00,2.25,0.00,0.000,6,0.000,0.055,2959,2040,1249,0,0,0,0,0,0
$GC,11387,1.09,493.6,213.4,33.7,369,11391,0.00,2.35,0.00,0.000,4,0.000,0.071,2963,3459,1249,0,0,0,0,0,0
$GC,11441,1.09,493.6,193.8,35.1,372,11447,0.00,2.25,0.00,0.000,6,0.000,0.054,2972,2048,1249,0,0,0,0,0,0
$GC,11702,1.09,493.6,119.8,22.8,397,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2043,1249,0,0,0,0,0,0
$GC,11956,1.09,493.6,57.1,25.6,421,11960,0.00,2.30,0.00,0.000,4,0.000,0.065,2973,3466,1249,0,0,0,0,0,0
$GC,12092,1.09,493.6,22.3,25.0,438,12098,0.12,2.25,0.00,0.000,6,0.220,0.050,2960,2038,1249,0,0,0,0,0,0
$STATE,12170,end climb,SURFACE_DEPTH_REACHED
$STATE,12170,begin surface coast
$FINISH,0.5,1.022742
$STATE,12183,end surface coast,CONTROL_FINISHED_OK
$STATE,12183,begin surface
$SM_CCo,12213,2.00,0.080,0,0,1238,500.16
$SM_GC,2.13,0.00,0.00,2.00,0.000,0.000,0.080,55,2165,1238,-7.96,0.57,500.16
$IRIDIUM_FIX,1909.23,12659.04,150612,151512
$TT8_MAMPS,0.056758
$HUMID,1079084928
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.50
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8430747648
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55373791232
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,40.651
$10V_AH,10.2,25.021
$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,20.075,126.700,543.575,2.000,0.000,23.848,35.502,474.622,0.500,0.000,11.184,954.585,9330.532,547.166,1855.473,219.738,33.384,1363.152,0.000,1286.361,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,85.904,1348.386,79.768,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,304.171,0.000,0.000,0.000,0.000,0.000,0.000,11931.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.962,0.000,0.000
$MEM,355048
$DATA_FILE_SIZE,16762,454
$CAP_FILE_SIZE,119778,0
$CFSIZE,260165632,242827264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,221210,070928,1911.154,12657.524,37,1.8,37,-2.3