version: 66.07
glider: 23
mission: 5
dive: 46
start: 11 21 110 21 28 17
data:
$ID,23
$MISSION,5
$DIVE,46
$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,-50435.461
$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,15
$R_STBD_OVSHOOT,49
$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,45
$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
$GPS1,211110,212124,2104.596,12541.883,24,1.5,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.2
$GPS2,211110,212725,2104.531,12541.823,13,1.5,30,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.020
$KALMAN_X,-85196.5,131.7,-19.5,52057.5,-1416.0
$KALMAN_Y,-13073.0,-30.4,25.7,-18174.1,-601.1
$MHEAD_RNG_PITCHd_Wd,97.5,134351,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.41,-146.0,0.0,0.0,0,129,0.00,0.00,-100.88,0.000,2,0.000,0.000,365,1936,3187,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.2,-6.2,20,157,10.50,1.95,-6.75,0.000,4,0.160,0.047,2185,2985,3438,0,0,0,0,0,0
$GC,409,-1.41,-146.0,44.1,-15.5,62,413,0.00,1.92,0.00,0.000,6,0.000,0.030,2185,1938,3439,0,0,0,0,0,0
$GC,676,-1.41,-146.0,79.5,-9.3,87,679,0.00,1.90,0.00,0.000,4,0.000,0.031,2185,2986,3440,0,0,0,0,0,0
$GC,893,-1.41,-146.0,96.6,-7.9,106,899,0.00,1.88,0.00,0.000,6,0.000,0.025,2185,1956,3441,0,0,0,0,0,0
$GC,1155,-1.41,-146.0,115.1,-6.7,131,1159,0.00,2.15,0.00,0.000,4,0.000,0.044,2185,885,3442,0,0,0,0,0,0
$GC,1265,-1.41,-146.0,123.7,-7.4,140,1272,0.00,2.08,0.00,0.000,6,0.000,0.021,2185,1948,3443,0,0,0,0,0,0
$GC,1527,-1.41,-146.0,140.2,-6.0,165,1531,0.00,1.88,0.00,0.000,4,0.000,0.035,2185,2991,3444,0,0,0,0,0,0
$GC,1785,-1.41,-146.0,154.8,-5.7,188,1788,0.00,1.80,0.00,0.000,6,0.000,0.026,2185,1968,3444,0,0,0,0,0,0
$GC,2051,-1.41,-146.0,170.7,-6.2,213,2055,0.00,1.88,0.00,0.000,4,0.000,0.035,2185,2998,3444,0,0,0,0,0,0
$GC,2246,-1.41,-146.0,183.8,-7.2,230,2253,0.00,1.90,0.00,0.000,6,0.000,0.026,2185,1954,3444,0,0,0,0,0,0
$GC,2508,-1.41,-146.0,197.7,-4.4,255,2511,0.00,1.92,0.00,0.000,4,0.000,0.035,2185,2999,3444,0,0,0,0,0,0
$GC,2541,-1.41,-146.0,199.0,-3.9,258,2545,0.00,1.90,0.00,0.000,6,0.000,0.028,2185,1960,3443,0,0,0,0,0,0
$GC,2800,-1.41,-146.0,208.0,-3.5,272,2804,0.00,2.17,0.00,0.000,4,0.000,0.045,2185,887,3444,0,0,0,0,0,0
$GC,2916,-1.41,-146.0,213.6,-5.6,277,2921,0.00,2.10,0.00,0.000,6,0.000,0.021,2185,1961,3444,0,0,0,0,0,0
$GC,3237,-1.41,-146.0,230.2,-5.6,293,3241,0.00,1.85,0.00,0.000,4,0.000,0.038,2185,2997,3443,0,0,0,0,0,0
$GC,3410,-1.41,-146.0,240.4,-6.1,300,3416,0.00,1.90,0.00,0.000,6,0.000,0.027,2185,1957,3442,0,0,0,0,0,0
$GC,3726,-1.41,-146.0,254.8,-4.2,316,3730,0.00,2.17,0.00,0.000,4,0.000,0.046,2185,885,3442,0,0,0,0,0,0
$GC,3983,-1.41,-146.0,267.7,-6.4,327,3989,0.00,2.12,0.00,0.000,6,0.000,0.023,2185,1968,3441,0,0,0,0,0,0
$GC,4298,-1.41,-146.0,284.7,-5.3,343,4302,0.00,1.88,0.00,0.000,4,0.000,0.039,2185,3003,3440,0,0,0,0,0,0
$GC,4504,-1.41,-146.0,293.6,-4.0,352,4509,0.00,1.90,0.00,0.000,6,0.000,0.028,2185,1961,3439,0,0,0,0,0,0
$GC,4830,-1.41,-146.0,306.1,-3.8,364,4834,0.00,1.90,0.00,0.000,4,0.000,0.039,2185,2997,3438,0,0,0,0,0,0
$GC,4958,-1.41,-146.0,311.0,-3.7,366,4964,0.00,1.88,0.00,0.000,6,0.000,0.028,2185,1973,3438,0,0,0,0,0,0
$GC,5289,-1.41,-146.0,321.0,-2.8,375,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1973,3436,0,0,0,0,0,0
$GC,5614,-1.41,-146.0,330.4,-3.3,383,5618,0.00,1.90,0.00,0.000,4,0.000,0.041,2185,2991,3436,0,0,0,0,0,0
$GC,5735,-1.41,-146.0,334.8,-3.4,385,5740,0.00,1.88,0.00,0.000,6,0.000,0.028,2185,1965,3434,0,0,0,0,0,0
$GC,6072,-1.41,-146.0,345.1,-3.1,394,6076,0.00,2.17,0.00,0.000,4,0.000,0.047,2185,880,3433,0,0,0,0,0,0
$GC,6329,-1.41,-146.0,353.1,-3.4,399,6336,0.00,2.12,0.00,0.000,6,0.000,0.025,2185,1965,3433,0,0,0,0,0,0
$GC,6660,-1.41,-146.0,362.8,-2.6,408,6664,0.00,2.20,0.00,0.000,4,0.000,0.046,2185,888,3431,0,0,0,0,0,0
$GC,6681,-1.41,-146.0,363.4,-3.1,408,6686,0.00,2.12,0.00,0.000,6,0.000,0.025,2185,1962,3432,0,0,0,0,0,0
$GC,7024,-1.41,-146.0,370.0,-2.0,417,7027,0.00,1.90,0.00,0.000,4,0.000,0.043,2185,3004,3431,0,0,0,0,0,0
$GC,7281,-1.41,-146.0,377.5,-4.2,422,7285,0.00,1.90,0.00,0.000,6,0.000,0.029,2185,1965,3430,0,0,0,0,0,0
$GC,7618,-1.41,-146.0,389.6,-3.5,431,7621,0.00,1.92,0.00,0.000,4,0.000,0.042,2185,3009,3428,0,0,0,0,0,0
$GC,7874,-1.41,-146.0,397.0,-2.2,436,7879,0.00,1.90,0.00,0.000,6,0.000,0.029,2185,1974,3427,0,0,0,0,0,0
$GC,8212,-1.41,-146.0,403.7,-2.2,445,8215,0.00,1.88,0.00,0.000,4,0.000,0.043,2185,3002,3426,0,0,0,0,0,0
$GC,8468,-1.41,-146.0,410.6,-2.3,450,8473,0.00,1.90,0.00,0.000,6,0.000,0.030,2185,1962,3426,0,0,0,0,0,0
$GC,8805,-1.41,-146.0,418.7,-2.3,459,8809,0.00,1.92,0.00,0.000,4,0.000,0.042,2185,3007,3425,0,0,0,0,0,0
$GC,9063,-1.41,-146.0,423.7,-2.1,464,9067,0.00,1.85,0.00,0.000,6,0.000,0.031,2185,1981,3425,0,0,0,0,0,0
$GC,9399,-1.41,-146.0,429.8,-1.9,473,9403,0.00,1.90,0.00,0.000,4,0.000,0.044,2185,3010,3423,0,0,0,0,0,0
$GC,9571,-1.41,-146.0,433.2,-2.4,476,9578,0.00,1.90,0.00,0.000,6,0.000,0.031,2185,1967,3423,0,0,0,0,0,0
$GC,9903,-1.41,-146.0,437.7,-1.1,485,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1967,3422,0,0,0,0,0,0
$GC,10228,-1.41,-146.0,443.3,-2.1,493,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1967,3422,0,0,0,0,0,0
$GC,10553,-1.41,-146.0,450.9,-2.3,501,10557,0.00,2.20,0.00,0.000,4,0.000,0.048,2185,881,3421,0,0,0,0,0,0
$GC,10809,-1.41,-146.0,455.3,-1.2,506,10816,0.00,2.15,0.00,0.000,6,0.000,0.028,2185,1963,3421,0,0,0,0,0,0
$STATE,10936,end dive,NO_VERTICAL_VELOCITY
$STATE,10936,begin apogee
$GC,10939,-0.33,0.0,456.3,0.0,510,11058,1.15,0.00,113.00,0.997,6,0.084,0.000,2426,1962,2840,0,0,0,0,0,0
$STATE,11061,end apogee,CONTROL_FINISHED_OK
$STATE,11062,begin climb
$GC,11063,1.41,146.0,452.0,0.0,513,11188,1.73,1.98,116.75,0.958,4,0.046,0.034,2807,2995,2244,0,0,0,0,0,0
$GC,11214,1.41,146.0,418.6,27.0,516,11219,0.00,2.00,0.00,0.000,6,0.000,0.038,2807,1945,2241,0,0,0,0,0,0
$GC,11551,1.41,146.0,327.8,26.5,525,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1944,2238,0,0,0,0,0,0
$GC,11858,1.41,146.0,245.4,25.9,537,11862,0.00,1.95,0.00,0.000,4,0.000,0.031,2807,3015,2236,0,0,0,0,0,0
$GC,12009,1.41,146.0,208.4,22.3,543,12015,0.00,2.00,0.00,0.000,6,0.000,0.035,2807,1947,2235,0,0,0,0,0,0
$GC,12332,1.41,146.0,130.1,22.2,572,12336,0.00,1.90,0.00,0.000,4,0.000,0.029,2807,3009,2236,0,0,0,0,0,0
$GC,12381,1.41,146.0,119.3,21.2,576,12388,0.00,1.98,0.00,0.000,6,0.000,0.032,2807,1942,2235,0,0,0,0,0,0
$GC,12643,1.41,146.0,67.9,16.9,601,12647,0.00,2.15,0.00,0.000,4,0.000,0.047,2807,884,2235,0,0,0,0,0,0
$GC,12692,1.41,146.0,58.8,19.6,605,12696,0.00,2.12,0.00,0.000,6,0.000,0.018,2807,1979,2235,0,0,0,0,0,0
$GC,12955,1.41,146.0,22.1,13.7,634,12961,0.00,1.83,0.00,0.000,4,0.000,0.030,2807,2992,2235,0,0,0,0,0,0
$STATE,13088,end climb,SURFACE_DEPTH_REACHED
$STATE,13089,begin surface coast
$FINISH,0.8,1.009107
$STATE,13112,end surface coast,CONTROL_FINISHED_OK
$STATE,13112,begin surface
$SM_CCo,13133,178.38,0.608,0,0,721,520.04
$SM_GC,1.50,0.00,0.00,178.38,0.000,0.000,0.608,365,1939,721,-9.82,-0.28,520.04
$IRIDIUM_FIX,2057.14,12542.46,160512,111104
$TT8_MAMPS,0.052156
$HUMID,1078898700
$TCM_TEMP,24.10
$XPDR_PINGS,598
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095710208
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,7.166
$10V_AH,10.0,3.128
$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,24.075,98.600,229.750,178.375,0.000,30.295,47.904,168.718,149.500,0.000,32.065,1307.659,9615.566,586.112,2083.438,84.667,33.360,1495.649,0.000,1752.202,0.000,0.544,0.000
$DEVICE_MAMPS,160.303,48.321,997.100,608.231,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,445.892,0.000,0.000,0.000,0.000,0.000,0.000,12054.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.824,0.000,0.000
$MEM,355044
$DATA_FILE_SIZE,23440,662
$CAP_FILE_SIZE,122413,0
$CFSIZE,260034560,255975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,011156,2104.124,12541.380,39,2.4,58,-2.8