version: 66.07
glider: 23
mission: 5
dive: 43
start: 11 21 110 10 23 27
data:
$ID,23
$MISSION,5
$DIVE,43
$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,-50370.121
$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,24
$R_STBD_OVSHOOT,55
$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,42
$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
$GPS1,211110,101155,2106.151,12542.235,41,1.3,41,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-56.7
$GPS2,211110,102236,2106.114,12542.166,31,1.5,31,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.007
$KALMAN_X,-75676.6,-800.4,353.4,43682.5,-2988.6
$KALMAN_Y,-10812.8,-395.3,-257.5,-16853.8,161.4
$MHEAD_RNG_PITCHd_Wd,94.4,135341,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-1.41,-146.0,0.0,0.0,0,125,0.00,0.00,-96.55,0.000,2,0.000,0.000,362,1923,3091,0,0,0,0,0,0
$GC,127,-1.41,-146.0,3.1,-6.9,19,153,10.50,2.10,-9.82,0.000,4,0.160,0.056,2186,890,3437,0,0,0,0,0,0
$GC,186,-1.41,-146.0,10.1,-13.5,30,192,0.00,2.05,0.00,0.000,6,0.000,0.021,2186,1936,3438,0,0,0,0,0,0
$GC,391,-1.41,-146.0,40.3,-15.2,61,394,0.00,1.90,0.00,0.000,4,0.000,0.031,2186,2995,3439,0,0,0,0,0,0
$GC,649,-1.41,-146.0,76.0,-12.7,84,653,0.00,1.85,0.00,0.000,6,0.000,0.027,2186,1966,3439,0,0,0,0,0,0
$GC,915,-1.41,-146.0,100.1,-8.3,109,919,0.00,2.15,0.00,0.000,4,0.000,0.044,2185,882,3441,0,0,0,0,0,0
$GC,1172,-1.41,-146.0,119.2,-6.8,131,1179,0.00,2.12,0.00,0.000,6,0.000,0.020,2186,1980,3441,0,0,0,0,0,0
$GC,1434,-1.41,-146.0,136.9,-6.7,156,1438,0.00,2.22,0.00,0.000,4,0.000,0.042,2186,883,3442,0,0,0,0,0,0
$GC,1567,-1.41,-146.0,147.0,-7.1,167,1573,0.00,2.15,0.00,0.000,6,0.000,0.021,2186,1986,3442,0,0,0,0,0,0
$GC,1829,-1.41,-146.0,162.8,-5.3,192,1833,0.00,2.22,0.00,0.000,4,0.000,0.042,2186,879,3442,0,0,0,0,0,0
$GC,2086,-1.41,-146.0,176.9,-5.9,214,2092,0.00,2.12,0.00,0.000,6,0.000,0.021,2186,1970,3442,0,0,0,0,0,0
$GC,2347,-1.41,-146.0,191.0,-5.8,239,2351,0.00,1.85,0.00,0.000,4,0.000,0.037,2186,3005,3442,0,0,0,0,0,0
$GC,2604,-1.41,-146.0,206.0,-5.5,257,2609,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1981,3442,0,0,0,0,0,0
$GC,2925,-1.41,-146.0,223.0,-5.1,273,2929,0.00,1.83,0.00,0.000,4,0.000,0.036,2186,2993,3440,0,0,0,0,0,0
$GC,3182,-1.41,-146.0,233.1,-3.1,284,3187,0.00,1.88,0.00,0.000,6,0.000,0.025,2186,1960,3440,0,0,0,0,0,0
$GC,3503,-1.41,-146.0,245.5,-5.0,300,3507,0.00,1.88,0.00,0.000,4,0.000,0.037,2186,2998,3439,0,0,0,0,0,0
$GC,3760,-1.41,-146.0,259.7,-5.9,311,3765,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1977,3438,0,0,0,0,0,0
$GC,4082,-1.41,-146.0,274.2,-3.6,327,4085,0.00,1.88,0.00,0.000,4,0.000,0.038,2186,3001,3437,0,0,0,0,0,0
$GC,4338,-1.41,-146.0,283.0,-4.1,338,4343,0.00,1.88,0.00,0.000,6,0.000,0.028,2186,1971,3436,0,0,0,0,0,0
$GC,4660,-1.41,-146.0,296.2,-4.1,354,4663,0.00,1.88,0.00,0.000,4,0.000,0.038,2186,2992,3435,0,0,0,0,0,0
$GC,4917,-1.41,-146.0,305.0,-3.1,362,4921,0.00,1.83,0.00,0.000,6,0.000,0.027,2186,1991,3433,0,0,0,0,0,0
$GC,5253,-1.41,-146.0,316.9,-4.3,371,5257,0.00,1.83,0.00,0.000,4,0.000,0.040,2186,3001,3432,0,0,0,0,0,0
$GC,5510,-1.41,-146.0,328.7,-3.3,376,5515,0.00,1.88,0.00,0.000,6,0.000,0.028,2186,1976,3432,0,0,0,0,0,0
$GC,5848,-1.41,-146.0,333.7,-0.9,385,5852,0.00,2.22,0.00,0.000,4,0.000,0.046,2186,874,3431,0,0,0,0,0,0
$GC,6104,-1.41,-146.0,339.5,-3.3,390,6111,0.00,2.20,0.00,0.000,6,0.000,0.025,2186,1990,3430,0,0,0,0,0,0
$GC,6436,-1.41,-146.0,350.4,-3.2,399,6440,0.00,2.25,0.00,0.000,4,0.000,0.044,2186,876,3428,0,0,0,0,0,0
$GC,6692,-1.41,-146.0,357.8,-2.9,404,6698,0.00,2.17,0.00,0.000,6,0.000,0.025,2186,1983,3427,0,0,0,0,0,0
$GC,7023,-1.41,-146.0,365.7,-2.4,413,7027,0.00,1.88,0.00,0.000,4,0.000,0.043,2186,2992,3426,0,0,0,0,0,0
$GC,7263,-1.41,-146.0,372.0,-2.8,418,7268,0.00,1.83,0.00,0.000,6,0.000,0.028,2186,1992,3426,0,0,0,0,0,0
$GC,7576,-1.41,-146.0,377.6,-1.6,426,7580,0.00,1.85,0.00,0.000,4,0.000,0.042,2186,2996,3425,0,0,0,0,0,0
$GC,7833,-1.41,-146.0,382.5,-2.5,431,7838,0.00,1.83,0.00,0.000,6,0.000,0.029,2186,1996,3424,0,0,0,0,0,0
$GC,8170,-1.41,-146.0,393.1,-3.4,440,8174,0.00,1.83,0.00,0.000,4,0.000,0.043,2186,2999,3423,0,0,0,0,0,0
$GC,8427,-1.41,-146.0,399.7,-1.8,445,8432,0.00,1.85,0.00,0.000,6,0.000,0.029,2186,1987,3422,0,0,0,0,0,0
$STATE,8722,end dive,NO_VERTICAL_VELOCITY
$STATE,8722,begin apogee
$GC,8726,-0.33,0.0,402.3,0.0,453,8844,1.15,0.00,112.50,0.935,6,0.089,0.000,2423,1921,2840,0,0,0,0,0,0
$STATE,8847,end apogee,CONTROL_FINISHED_OK
$STATE,8847,begin climb
$GC,8849,1.41,146.0,398.5,0.0,456,8972,1.73,2.10,114.60,0.902,4,0.047,0.031,2806,3015,2244,0,0,0,0,0,0
$GC,9094,1.41,146.0,344.1,23.5,461,9099,0.00,1.95,0.00,0.000,6,0.000,0.035,2806,1974,2240,0,0,0,0,0,0
$GC,9412,1.41,146.0,266.3,24.1,472,9416,0.00,1.85,0.00,0.000,4,0.000,0.030,2806,3004,2237,0,0,0,0,0,0
$GC,9456,1.41,146.0,256.2,22.1,474,9460,0.00,1.95,0.00,0.000,6,0.000,0.034,2806,1930,2237,0,0,0,0,0,0
$GC,9780,1.41,146.0,176.3,24.2,494,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1929,2236,0,0,0,0,0,0
$GC,10035,1.41,146.0,113.0,22.8,518,10039,0.00,1.95,0.00,0.000,4,0.000,0.028,2806,3016,2236,0,0,0,0,0,0
$GC,10073,1.41,146.0,105.0,20.7,521,10079,0.00,1.92,0.00,0.000,6,0.000,0.028,2806,1966,2235,0,0,0,0,0,0
$GC,10334,1.41,146.0,60.5,11.1,546,10338,0.00,2.17,0.00,0.000,4,0.000,0.046,2806,888,2235,0,0,0,0,0,0
$GC,10388,1.41,146.0,53.5,13.0,550,10395,0.00,2.10,0.00,0.000,6,0.000,0.018,2806,1979,2235,0,0,0,0,0,0
$GC,10654,1.41,146.0,18.3,13.7,582,10659,0.00,1.83,0.00,0.000,4,0.000,0.029,2806,2991,2236,0,0,0,0,0,0
$GC,10754,1.41,146.0,3.8,14.4,600,10760,0.00,1.88,0.00,0.000,6,0.000,0.026,2806,1966,2236,0,0,0,0,0,0
$STATE,10764,end climb,SURFACE_DEPTH_REACHED
$STATE,10764,begin surface coast
$FINISH,0.8,1.009500
$STATE,10788,end surface coast,CONTROL_FINISHED_OK
$STATE,10788,begin surface
$SM_CCo,10807,175.90,0.597,0,0,721,520.04
$SM_GC,1.28,0.00,0.00,175.90,0.000,0.000,0.597,364,1955,721,-9.83,0.20,520.04
$IRIDIUM_FIX,2059.45,12541.93,160512,040413
$TT8_MAMPS,0.049088
$HUMID,1078850958
$TCM_TEMP,24.30
$XPDR_PINGS,669
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095775744
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.782
$10V_AH,10.0,2.905
$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,24.000,82.850,227.100,175.900,0.000,56.571,66.735,318.648,167.250,0.000,32.921,1198.561,7568.339,542.855,2232.274,87.131,33.356,1416.407,0.000,1683.834,0.000,0.546,0.000
$DEVICE_MAMPS,159.536,90.506,934.973,596.726,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.133,0.000,0.000,0.000,0.000,0.000,0.000,10326.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.348,0.000,0.000
$MEM,355048
$DATA_FILE_SIZE,20090,606
$CAP_FILE_SIZE,116257,0
$CFSIZE,260034560,256176128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,132801,2105.884,12541.721,43,2.0,43,-2.8