version: 66.07
glider: 23
mission: 5
dive: 39
start: 11 20 110 19 21 5
data:
$ID,23
$MISSION,5
$DIVE,39
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,100
$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,200
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-50250.785
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,1949
$C_ROLL_CLIMB,1949
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,38
$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
$GPS1,201110,190636,2109.313,12545.231,24,1.2,24,-2.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.0
$GPS2,201110,192013,2109.223,12545.154,32,1.4,32,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.132
$KALMAN_X,-61326.4,346.3,31.3,33668.9,-3288.1
$KALMAN_Y,-10827.3,857.5,122.1,-12718.0,-1203.7
$MHEAD_RNG_PITCHd_Wd,126.4,134129,-18.7,-10.000
$D_GRID,600
$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,24,-1.41,-146.0,0.0,0.0,0,128,0.00,0.00,-101.00,0.000,2,0.000,0.000,363,1926,3211,0,0,0,0,0,0
$GC,130,-1.41,-146.0,3.0,-4.6,20,152,10.55,2.17,-6.22,0.000,4,0.162,0.055,2185,887,3439,0,0,0,0,0,0
$GC,202,-1.41,-146.0,12.9,-15.9,33,207,0.00,2.05,0.00,0.000,6,0.000,0.019,2185,1949,3439,0,0,0,0,0,0
$GC,410,-1.41,-146.0,44.0,-14.0,62,413,0.00,1.88,0.00,0.000,4,0.000,0.031,2185,2996,3440,0,0,0,0,0,0
$GC,667,-1.41,-146.0,78.0,-11.5,85,671,0.00,1.85,0.00,0.000,6,0.000,0.025,2185,1969,3440,0,0,0,0,0,0
$GC,933,-1.41,-146.0,101.4,-9.2,110,937,0.00,1.85,0.00,0.000,4,0.000,0.032,2185,2994,3441,0,0,0,0,0,0
$GC,1191,-1.41,-146.0,123.3,-6.5,133,1195,0.00,1.83,0.00,0.000,6,0.000,0.024,2185,1980,3441,0,0,0,0,0,0
$GC,1458,-1.41,-146.0,137.7,-6.1,158,1461,0.00,1.83,0.00,0.000,4,0.000,0.033,2185,2990,3441,0,0,0,0,0,0
$GC,1715,-1.41,-146.0,156.6,-8.4,181,1719,0.00,1.77,0.00,0.000,6,0.000,0.024,2185,1996,3441,0,0,0,0,0,0
$GC,1982,-1.41,-146.0,174.5,-5.0,206,1985,0.00,1.80,0.00,0.000,4,0.000,0.035,2184,2995,3442,0,0,0,0,0,0
$GC,2239,-1.41,-146.0,186.7,-5.2,229,2243,0.00,1.80,0.00,0.000,6,0.000,0.025,2185,1978,3441,0,0,0,0,0,0
$GC,2506,-1.41,-146.0,199.2,-4.5,254,2510,0.00,2.17,0.00,0.000,4,0.000,0.043,2185,881,3441,0,0,0,0,0,0
$GC,2763,-1.41,-146.0,212.0,-4.9,266,2769,0.00,2.17,0.00,0.000,6,0.000,0.021,2185,1993,3440,0,0,0,0,0,0
$GC,3078,-1.41,-146.0,226.4,-4.2,282,3082,0.00,2.25,0.00,0.000,4,0.000,0.042,2185,886,3440,0,0,0,0,0,0
$GC,3244,-1.41,-146.0,233.9,-4.6,289,3251,0.00,2.22,0.00,0.000,6,0.000,0.021,2185,2011,3439,0,0,0,0,0,0
$GC,3560,-1.41,-146.0,247.0,-4.2,305,3564,0.00,2.30,0.00,0.000,4,0.000,0.042,2185,878,3437,0,0,0,0,0,0
$GC,3670,-1.41,-146.0,251.1,-3.8,310,3675,0.00,2.22,0.00,0.000,6,0.000,0.022,2185,2003,3437,0,0,0,0,0,0
$GC,3997,-1.41,-146.0,261.7,-3.8,326,4000,0.00,1.77,0.00,0.000,4,0.000,0.040,2185,3006,3435,0,0,0,0,0,0
$GC,4102,-1.41,-146.0,266.7,-5.2,330,4108,0.00,1.75,0.00,0.000,6,0.000,0.025,2185,2017,3434,0,0,0,0,0,0
$GC,4418,-1.41,-146.0,281.9,-4.4,346,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2016,3434,0,0,0,0,0,0
$GC,4727,-1.41,-146.0,292.7,-3.1,361,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2016,3433,0,0,0,0,0,0
$GC,5036,-1.41,-146.0,302.2,-3.5,375,5039,0.00,1.75,0.00,0.000,4,0.000,0.040,2185,3005,3431,0,0,0,0,0,0
$GC,5158,-1.41,-146.0,307.0,-4.0,377,5162,0.00,1.77,0.00,0.000,6,0.000,0.027,2185,2011,3430,0,0,0,0,0,0
$GC,5495,-1.41,-146.0,320.0,-3.8,386,5498,0.00,1.77,0.00,0.000,4,0.000,0.040,2185,3007,3429,0,0,0,0,0,0
$GC,5752,-1.41,-146.0,329.0,-3.3,391,5756,0.00,1.75,0.00,0.000,6,0.000,0.027,2185,2017,3428,0,0,0,0,0,0
$GC,6089,-1.41,-146.0,338.6,-2.9,400,6092,0.00,1.75,0.00,0.000,4,0.000,0.041,2185,3002,3427,0,0,0,0,0,0
$GC,6345,-1.41,-146.0,346.7,-3.1,405,6350,0.00,1.75,0.00,0.000,6,0.000,0.027,2184,2017,3426,0,0,0,0,0,0
$GC,6683,-1.41,-146.0,356.1,-2.6,414,6687,0.00,2.33,0.00,0.000,4,0.000,0.044,2185,877,3425,0,0,0,0,0,0
$GC,6939,-1.41,-146.0,361.9,-2.9,419,6946,0.00,2.22,0.00,0.000,6,0.000,0.025,2185,2002,3424,0,0,0,0,0,0
$GC,7271,-1.41,-146.0,370.5,-2.7,428,7274,0.00,1.80,0.00,0.000,4,0.000,0.043,2185,3008,3424,0,0,0,0,0,0
$GC,7528,-1.41,-146.0,379.1,-3.0,433,7531,0.00,0.08,0.00,0.000,6,0.000,0.082,2185,2947,3423,0,0,0,0,0,0
$GC,7864,-1.41,-146.0,388.2,-2.5,442,7867,0.00,0.10,0.00,0.000,4,0.000,0.079,2185,3012,3421,0,0,0,0,0,0
$GC,8120,-1.41,-146.0,393.7,-1.8,447,8125,0.00,1.77,0.00,0.000,6,0.000,0.028,2185,2015,3421,0,0,0,0,0,0
$GC,8457,-1.41,-146.0,401.3,-2.5,456,8461,0.00,2.30,0.00,0.000,4,0.000,0.044,2185,885,3420,0,0,0,0,0,0
$GC,8624,-1.41,-146.0,406.3,-3.2,459,8631,0.00,2.22,0.00,0.000,6,0.000,0.026,2184,2003,3420,0,0,0,0,0,0
$GC,8955,-1.41,-146.0,412.3,-1.3,468,8959,0.00,1.80,0.00,0.000,4,0.000,0.044,2185,3004,3418,0,0,0,0,0,0
$GC,9179,-1.41,-146.0,414.4,-1.5,473,9183,0.00,1.77,0.00,0.000,6,0.000,0.029,2185,2009,3418,0,0,0,0,0,0
$GC,9509,-1.41,-146.0,420.4,-2.6,481,9512,0.00,2.28,0.00,0.000,4,0.000,0.044,2184,886,3416,0,0,0,0,0,0
$GC,9765,-1.41,-146.0,429.1,-3.2,486,9770,0.00,2.20,0.00,0.000,6,0.000,0.028,2184,1990,3416,0,0,0,0,0,0
$GC,10102,-1.41,-146.0,436.3,-1.5,495,10106,0.00,2.28,0.00,0.000,4,0.000,0.044,2185,873,3415,0,0,0,0,0,0
$GC,10281,-1.41,-146.0,438.6,-0.9,499,10285,0.00,2.25,0.00,0.000,6,0.000,0.028,2185,2002,3414,0,0,0,0,0,0
$STATE,10400,end dive,NO_VERTICAL_VELOCITY
$STATE,10400,begin apogee
$GC,10404,-0.33,0.0,439.5,0.0,502,10522,1.15,0.00,111.25,0.987,6,0.090,0.000,2422,1931,2841,0,0,0,0,0,0
$STATE,10526,end apogee,CONTROL_FINISHED_OK
$STATE,10526,begin climb
$GC,10527,1.41,146.0,436.1,0.0,505,10653,1.75,2.10,115.62,0.953,4,0.051,0.034,2806,3019,2243,0,0,0,0,0,0
$GC,10679,1.41,146.0,404.0,25.6,508,10684,0.00,2.00,0.00,0.000,6,0.000,0.037,2806,1969,2240,0,0,0,0,0,0
$GC,11016,1.41,146.0,312.4,27.8,517,11020,0.00,1.90,0.00,0.000,4,0.000,0.031,2806,3019,2236,0,0,0,0,0,0
$GC,11060,1.41,146.0,301.3,23.4,518,11064,0.00,2.00,0.00,0.000,6,0.000,0.035,2806,1954,2237,0,0,0,0,0,0
$GC,11394,1.41,146.0,214.0,25.6,533,11398,0.00,2.20,0.00,0.000,4,0.000,0.050,2806,880,2235,0,0,0,0,0,0
$GC,11403,1.41,146.0,211.5,25.0,533,11409,0.00,2.15,0.00,0.000,6,0.000,0.021,2806,1984,2235,0,0,0,0,0,0
$GC,11726,1.41,146.0,132.5,23.3,562,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1987,2234,0,0,0,0,0,0
$GC,11981,1.41,146.0,80.6,20.2,586,11985,0.00,1.80,0.00,0.000,4,0.000,0.031,2806,3004,2234,0,0,0,0,0,0
$GC,12019,1.41,146.0,73.5,17.4,589,12025,0.00,1.95,0.00,0.000,6,0.000,0.029,2806,1950,2234,0,0,0,0,0,0
$GC,12280,1.41,146.0,36.4,15.0,614,12284,0.00,1.85,0.00,0.000,4,0.000,0.029,2806,2983,2234,0,0,0,0,0,0
$GC,12403,1.41,146.0,18.0,16.3,631,12409,0.00,1.85,0.00,0.000,6,0.000,0.026,2806,1965,2234,0,0,0,0,0,0
$STATE,12503,end climb,SURFACE_DEPTH_REACHED
$STATE,12503,begin surface coast
$FINISH,0.8,1.022340
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12542,177.30,0.611,0,0,721,520.04
$SM_GC,1.36,0.00,0.00,177.30,0.000,0.000,0.611,365,1957,721,-9.83,0.20,520.04
$IRIDIUM_FIX,2101.76,12543.81,150512,131310
$TT8_MAMPS,0.049088
$HUMID,1078905152
$TCM_TEMP,24.10
$XPDR_PINGS,688
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095906816
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.247
$10V_AH,10.0,2.612
$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,24.125,91.575,226.875,177.300,0.000,84.966,120.752,343.682,172.000,0.000,33.889,1302.594,9124.140,560.721,2476.061,85.523,33.352,1491.089,0.000,1797.440,0.000,0.545,0.000
$DEVICE_MAMPS,161.837,82.069,987.129,610.532,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,439.018,0.000,0.000,0.000,0.000,0.000,0.000,12007.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.318,0.000,0.000
$MEM,354700
$DATA_FILE_SIZE,23410,652
$CAP_FILE_SIZE,130387,0
$CFSIZE,260034560,256442368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,225430,2108.103,12545.101,38,1.3,38,-2.8