version: 66.07
glider: 500
mission: 5
dive: 37
start: 11 13 110 16 27 2
data:
$ID,500
$MISSION,5
$DIVE,37
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,630
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-122058.24
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2851
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,36
$AR_SAMPLENUM,1
$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
$GPS1,131110,161354,2112.619,12423.771,21,1.0,39,-2.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.3
$GPS2,131110,162608,2112.553,12423.771,11,1.4,11,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.012
$KALMAN_X,31875.5,-78.9,-176.3,84130.7,3098.7
$KALMAN_Y,10739.9,-2857.1,-465.8,-2065.4,-2394.2
$MHEAD_RNG_PITCHd_Wd,95.8,264715,-18.0,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.74,-116.8,0.0,0.0,0,115,0.00,0.00,-85.85,0.000,6,0.000,0.000,140,2169,3299,0,0,0,0,0,0
$GC,118,-0.74,-116.8,2.8,-5.1,17,135,9.35,2.35,0.00,0.000,4,0.235,0.051,2605,607,3302,0,0,0,0,0,0
$GC,246,-0.74,-116.8,43.3,-31.4,36,252,0.00,2.35,0.00,0.000,6,0.000,0.053,2595,2189,3302,0,0,0,0,0,0
$GC,507,-0.74,-116.8,122.3,-26.1,61,511,0.00,2.33,0.00,0.000,4,0.000,0.054,2595,611,3302,0,0,0,0,0,0
$GC,640,-0.74,-116.8,154.3,-19.8,72,646,0.00,2.35,0.00,0.000,6,0.000,0.051,2583,2201,3303,0,0,0,0,0,0
$GC,901,-0.74,-116.8,190.7,-11.8,97,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2202,3303,0,0,0,0,0,0
$GC,1151,-0.74,-116.8,219.1,-11.0,113,1155,0.00,2.45,0.00,0.000,4,0.000,0.075,2571,3792,3304,0,0,0,0,0,0
$GC,1408,-0.74,-116.8,247.0,-9.9,124,1415,0.10,2.38,0.00,0.000,6,0.185,0.051,2601,2203,3304,0,0,0,0,0,0
$GC,1726,-0.74,-116.8,271.4,-7.3,140,1730,0.00,2.33,0.00,0.000,4,0.000,0.054,2601,611,3304,0,0,0,0,0,0
$GC,1984,-0.74,-116.8,289.3,-6.0,151,1989,0.00,2.35,0.00,0.000,6,0.000,0.054,2593,2198,3303,0,0,0,0,0,0
$GC,2316,-0.74,-116.8,313.2,-7.8,164,2321,0.00,2.30,0.00,0.000,4,0.000,0.053,2590,607,3300,0,0,0,0,0,0
$GC,2574,-0.74,-116.8,327.0,-4.6,169,2580,0.12,2.38,0.00,0.000,6,0.222,0.056,2606,2204,3301,0,0,0,0,0,0
$GC,2905,-0.74,-116.8,341.6,-5.1,178,2909,0.00,2.40,0.00,0.000,4,0.000,0.062,2593,3810,3300,0,0,0,0,0,0
$GC,3162,-0.74,-116.8,358.7,-5.7,183,3168,0.00,2.35,0.00,0.000,6,0.000,0.043,2597,2187,3300,0,0,0,0,0,0
$GC,3493,-0.74,-116.8,370.9,-3.2,192,3497,0.00,2.30,0.00,0.000,4,0.000,0.057,2597,616,3296,0,0,0,0,0,0
$GC,3749,-0.74,-116.8,378.7,-3.6,197,3756,0.00,2.38,0.00,0.000,6,0.000,0.055,2587,2228,3294,0,0,0,0,0,0
$GC,4081,-0.74,-116.8,390.3,-2.7,206,4085,0.00,2.38,0.00,0.000,4,0.000,0.058,2585,616,3293,0,0,0,0,0,0
$GC,4337,-0.74,-116.8,392.8,-1.2,211,4344,0.10,2.38,0.00,0.000,6,0.178,0.056,2613,2202,3291,0,0,0,0,0,0
$STATE,4504,end dive,NO_VERTICAL_VELOCITY
$STATE,4504,begin apogee
$GC,4510,-0.23,0.0,394.4,0.0,216,4601,0.52,0.00,87.82,0.941,6,0.177,0.000,2770,2139,2824,0,0,0,0,0,0
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4605,0.74,116.8,391.9,0.0,218,4712,0.95,2.53,95.35,0.928,4,0.129,0.056,3081,562,2345,0,0,0,0,0,0
$GC,4963,0.74,116.8,358.3,9.5,226,4968,0.00,2.40,0.00,0.000,6,0.000,0.048,3081,2155,2333,0,0,0,0,0,0
$GC,5283,0.76,127.7,331.5,8.4,234,5297,0.00,2.45,7.78,0.752,4,0.000,0.059,3075,3743,2301,0,0,0,0,0,0
$GC,5437,0.78,143.0,317.7,8.2,237,5459,0.00,2.38,13.90,0.817,6,0.000,0.043,3075,2151,2239,0,0,0,0,0,0
$GC,5765,0.80,159.9,291.8,8.1,247,5786,0.00,2.42,14.60,0.811,4,0.000,0.060,3066,3741,2171,0,0,0,0,0,0
$GC,5835,0.81,172.5,285.9,8.4,250,5853,0.10,2.38,11.82,0.781,6,0.097,0.043,3107,2157,2118,0,0,0,0,0,0
$GC,6162,0.83,187.7,256.3,8.2,266,6183,0.00,2.42,13.00,0.781,4,0.000,0.054,3106,564,2055,0,0,0,0,0,0
$GC,6279,0.84,195.1,245.9,8.6,271,6294,0.00,2.35,6.90,0.684,6,0.000,0.047,3106,2152,2025,0,0,0,0,0,0
$GC,6605,0.87,217.6,217.7,7.9,287,6629,0.00,2.40,19.15,0.776,4,0.000,0.057,3095,3740,1935,0,0,0,0,0,0
$GC,6662,0.90,240.1,212.7,7.8,289,6690,0.08,2.40,19.95,0.767,6,0.092,0.043,3137,2143,1843,0,0,0,0,0,0
$GC,7003,0.93,267.1,185.8,7.6,314,7033,0.00,2.45,21.58,0.750,4,0.000,0.055,3137,559,1732,0,0,0,0,0,0
$GC,7123,0.93,267.1,174.0,10.5,325,7128,0.00,2.38,0.00,0.000,6,0.000,0.048,3136,2151,1727,0,0,0,0,0,0
$GC,7385,0.93,267.1,146.8,9.4,349,7389,0.00,2.40,0.00,0.000,4,0.000,0.058,3125,3748,1727,0,0,0,0,0,0
$GC,7439,0.93,267.1,141.3,10.6,353,7445,0.00,2.38,0.00,0.000,6,0.000,0.042,3124,2153,1724,0,0,0,0,0,0
$GC,7702,0.93,267.1,119.3,9.3,378,7706,0.00,2.40,0.00,0.000,4,0.000,0.058,3115,3744,1724,0,0,0,0,0,0
$GC,7729,0.93,267.1,116.7,9.1,380,7734,0.10,2.35,0.00,0.000,6,0.147,0.044,3144,2143,1722,0,0,0,0,0,0
$GC,7990,0.95,281.1,92.9,8.3,404,8006,0.00,2.33,11.35,0.649,4,0.000,0.054,3145,566,1676,0,0,0,0,0,0
$GC,8089,0.96,294.1,84.9,8.3,412,8106,0.00,2.35,11.88,0.641,6,0.000,0.048,3134,2150,1624,0,0,0,0,0,0
$GC,8360,0.97,298.0,64.0,8.8,438,8371,0.00,2.35,4.53,0.486,4,0.000,0.055,3134,563,1606,0,0,0,0,0,0
$GC,8387,0.99,316.6,61.8,8.0,440,8410,0.08,2.38,16.70,0.645,6,0.079,0.051,3181,2150,1534,0,0,0,0,0,0
$GC,8663,0.99,319.4,37.2,8.9,466,8667,0.00,2.42,0.00,0.000,4,0.000,0.067,3181,569,1527,0,0,0,0,0,0
$GC,8729,0.99,319.4,30.2,11.8,471,8735,0.00,2.40,0.00,0.000,6,0.000,0.058,3170,2161,1526,0,0,0,0,0,0
$GC,9005,0.99,319.4,4.5,9.1,520,9010,0.00,2.38,0.00,0.000,4,0.000,0.058,3170,559,1525,0,0,0,0,0,0
$STATE,9025,end climb,SURFACE_DEPTH_REACHED
$STATE,9025,begin surface coast
$FINISH,1.9,1.022205
$STATE,9038,end surface coast,CONTROL_FINISHED_OK
$STATE,9038,begin surface
$SM_CCo,9057,62.00,0.640,0,0,986,450.12
$SM_GC,1.31,0.00,0.00,62.00,0.000,0.000,0.640,108,2200,986,-8.57,-0.03,450.12
$IRIDIUM_FIX,2106.38,12423.72,080512,070742
$TT8_MAMPS,0.058292
$HUMID,1078723216
$INTERNAL_PRESSURE,9.31555
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8302526464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59209678848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,6.364
$10V_AH,10.4,4.972
$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,18.950,95.350,356.300,62.000,0.000,28.576,39.002,511.221,0.000,0.000,12.847,1021.686,6138.988,511.568,1983.219,205.915,33.359,1273.488,0.000,1370.522,0.000,0.544,0.000
$DEVICE_MAMPS,235.469,118.118,941.109,639.678,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.313,0.000,0.000,0.000,0.000,0.000,0.000,10317.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.563,0.000,0.000
$MEM,355032
$DATA_FILE_SIZE,20115,526
$CAP_FILE_SIZE,107450,0
$CFSIZE,260165632,220889088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,190002,2111.804,12424.523,11,1.6,11,-2.8