version: 66.07
glider: 500
mission: 5
dive: 61
start: 11 16 110 4 26 16
data:
$ID,500
$MISSION,5
$DIVE,61
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$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,150
$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,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-122545.7
$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,2550
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2920
$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,60
$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
$GPS1,161110,041055,2058.881,12440.597,37,1.4,38,-2.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.3
$GPS2,161110,042520,2058.816,12440.543,13,1.9,13,-2.8
$SPEED_LIMITS,0.142,0.242
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.052
$KALMAN_X,-7465.8,-38.8,849.6,151349.6,-15102.9
$KALMAN_Y,4760.9,1098.7,423.8,-26398.9,-5431.2
$MHEAD_RNG_PITCHd_Wd,105.1,229640,-14.4,-8.197
$D_GRID,900
$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,-0.66,-146.0,0.0,0.0,0,120,0.00,0.00,-89.75,0.000,6,0.000,0.000,123,2206,3517,0,0,0,0,0,0
$GC,123,-0.66,-146.0,3.4,-5.5,18,134,8.35,0.00,0.00,0.000,6,0.233,0.000,2331,2205,3520,0,0,0,0,0,0
$GC,334,-0.66,-146.0,104.4,-46.9,43,338,0.00,2.38,0.00,0.000,4,0.000,0.053,2331,600,3522,0,0,0,0,0,0
$GC,354,-0.66,-146.0,114.4,-45.1,44,361,0.00,2.40,0.00,0.000,6,0.000,0.054,2321,2180,3523,0,0,0,0,0,0
$GC,615,-0.66,-146.0,201.0,-30.9,69,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2184,3524,0,0,0,0,0,0
$GC,925,-0.66,-146.0,290.4,-27.9,84,929,0.00,2.33,0.00,0.000,4,0.000,0.054,2321,613,3525,0,0,0,0,0,0
$GC,1182,-0.66,-146.0,357.7,-20.9,90,1187,0.00,2.38,0.00,0.000,6,0.000,0.054,2309,2199,3526,0,0,0,0,0,0
$GC,1520,-0.66,-146.0,422.8,-18.3,99,1524,0.00,2.33,0.00,0.000,4,0.000,0.051,2308,610,3526,0,0,0,0,0,0
$GC,1585,-0.66,-146.0,434.8,-17.4,100,1590,0.15,2.38,0.00,0.000,6,0.216,0.055,2338,2210,3526,0,0,0,0,0,0
$GC,1927,-0.66,-146.0,492.5,-17.1,109,1931,0.00,2.35,0.00,0.000,4,0.000,0.054,2322,3798,3524,0,0,0,0,0,0
$GC,2093,-0.66,-146.0,520.8,-17.1,112,2100,0.00,2.35,0.00,0.000,6,0.000,0.039,2322,2198,3523,0,0,0,0,0,0
$GC,2424,-0.66,-146.0,572.1,-15.8,121,2428,0.00,2.30,0.00,0.000,4,0.000,0.045,2322,602,3521,0,0,0,0,0,0
$GC,2681,-0.66,-146.0,609.8,-14.9,126,2688,0.00,2.35,0.00,0.000,6,0.000,0.043,2310,2213,3518,0,0,0,0,0,0
$GC,3012,-0.66,-146.0,654.3,-12.6,135,3016,0.00,2.33,0.00,0.000,4,0.000,0.051,2298,3786,3513,0,0,0,0,0,0
$GC,3152,-0.66,-146.0,672.0,-12.5,138,3157,0.15,2.33,0.00,0.000,6,0.200,0.040,2335,2186,3514,0,0,0,0,0,0
$GC,3464,-0.66,-146.0,708.3,-11.5,146,3468,0.00,2.38,0.00,0.000,4,0.000,0.051,2324,3787,3510,0,0,0,0,0,0
$GC,3485,-0.66,-146.0,710.7,-11.1,146,3489,0.00,2.30,0.00,0.000,6,0.000,0.041,2324,2199,3509,0,0,0,0,0,0
$GC,3827,-0.66,-146.0,749.1,-11.1,155,3831,0.00,2.28,0.00,0.000,4,0.000,0.044,2323,612,3507,0,0,0,0,0,0
$GC,3943,-0.66,-146.0,762.3,-11.0,157,3948,0.00,2.33,0.00,0.000,6,0.000,0.041,2312,2198,3506,0,0,0,0,0,0
$GC,4286,-0.66,-146.0,800.8,-11.3,166,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2198,3503,0,0,0,0,0,0
$GC,4610,-0.66,-146.0,838.5,-12.3,174,4614,0.00,2.35,0.00,0.000,4,0.000,0.051,2296,3796,3500,0,0,0,0,0,0
$GC,4868,-0.66,-146.0,870.6,-12.1,179,4873,0.12,2.33,0.00,0.000,6,0.202,0.037,2329,2185,3498,0,0,0,0,0,0
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5161,-0.23,0.0,901.8,10.4,186,5280,0.47,0.00,115.82,1.279,6,0.200,0.000,2465,2092,2921,0,0,0,0,0,0
$STATE,5283,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5284,0.66,146.0,898.8,0.0,189,5422,0.95,2.62,126.62,1.238,4,0.150,0.054,2744,3679,2319,0,0,0,0,0,0
$GC,5556,0.66,146.0,870.3,11.4,195,5560,0.00,2.38,0.00,0.000,6,0.000,0.040,2742,2095,2310,0,0,0,0,0,0
$GC,5868,0.66,146.0,841.1,9.0,203,5873,0.00,2.45,0.00,0.000,4,0.000,0.058,2743,3680,2305,0,0,0,0,0,0
$GC,5923,0.66,146.0,835.5,9.0,204,5928,0.00,2.40,0.00,0.000,6,0.000,0.041,2745,2092,2306,0,0,0,0,0,0
$GC,6237,0.66,146.0,807.0,8.9,212,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2090,2302,0,0,0,0,0,0
$GC,6561,0.66,146.0,776.3,9.8,220,6565,0.00,2.33,0.00,0.000,4,0.000,0.049,2741,518,2300,0,0,0,0,0,0
$GC,6575,0.66,146.0,774.4,10.1,220,6580,0.00,2.38,0.00,0.000,6,0.000,0.047,2738,2099,2301,0,0,0,0,0,0
$GC,6924,0.66,146.0,741.6,9.3,229,6928,0.00,2.38,0.00,0.000,4,0.000,0.054,2725,3686,2299,0,0,0,0,0,0
$GC,7097,0.66,146.0,721.7,11.9,233,7102,0.12,2.33,0.00,0.000,6,0.186,0.039,2756,2086,2296,0,0,0,0,0,0
$GC,7420,0.66,146.0,693.3,8.7,241,7424,0.00,2.40,0.00,0.000,4,0.000,0.050,2744,3691,2295,0,0,0,0,0,0
$GC,7441,0.66,146.0,691.0,11.9,241,7445,0.00,2.33,0.00,0.000,6,0.000,0.041,2744,2092,2294,0,0,0,0,0,0
$GC,7783,0.66,146.0,654.9,10.9,250,7787,0.00,2.30,0.00,0.000,4,0.000,0.048,2744,519,2295,0,0,0,0,0,0
$GC,7821,0.66,146.0,650.0,13.0,251,7826,0.00,2.30,0.00,0.000,6,0.000,0.046,2732,2103,2295,0,0,0,0,0,0
$GC,8145,0.66,146.0,614.6,10.2,259,8149,0.00,2.38,0.00,0.000,4,0.000,0.055,2718,3684,2295,0,0,0,0,0,0
$GC,8194,0.66,146.0,608.4,9.1,260,8199,0.10,2.38,0.00,0.000,6,0.110,0.044,2757,2102,2294,0,0,0,0,0,0
$GC,8513,0.66,146.0,576.3,9.5,268,8517,0.00,2.35,0.00,0.000,4,0.000,0.054,2758,515,2295,0,0,0,0,0,0
$GC,8769,0.66,146.0,549.2,9.4,273,8774,0.00,2.35,0.00,0.000,6,0.000,0.049,2745,2089,2294,0,0,0,0,0,0
$GC,9107,0.66,146.0,515.7,10.2,282,9111,0.00,2.30,0.00,0.000,4,0.000,0.050,2751,516,2293,0,0,0,0,0,0
$GC,9363,0.66,146.0,484.4,13.0,287,9370,0.00,2.35,0.00,0.000,6,0.000,0.048,2732,2096,2294,0,0,0,0,0,0
$GC,9695,0.66,146.0,447.1,11.1,296,9699,0.00,2.33,0.00,0.000,4,0.000,0.048,2732,513,2295,0,0,0,0,0,0
$GC,9952,0.66,146.0,414.0,12.1,301,9959,0.10,2.38,0.00,0.000,6,0.156,0.048,2754,2106,2295,0,0,0,0,0,0
$GC,10284,0.66,146.0,374.5,11.9,310,10288,0.00,2.33,0.00,0.000,4,0.000,0.051,2752,516,2295,0,0,0,0,0,0
$GC,10540,0.66,146.0,341.1,13.4,315,10547,0.00,2.38,0.00,0.000,6,0.000,0.050,2740,2101,2297,0,0,0,0,0,0
$GC,10872,0.66,146.0,298.1,13.0,324,10876,0.00,2.30,0.00,0.000,4,0.000,0.042,2737,501,2297,0,0,0,0,0,0
$GC,11114,0.66,146.0,263.6,15.8,335,11119,0.12,2.33,0.00,0.000,6,0.222,0.041,2755,2107,2297,0,0,0,0,0,0
$GC,11440,0.66,146.0,224.5,12.1,351,11444,0.00,2.35,0.00,0.000,4,0.000,0.053,2744,3696,2298,0,0,0,0,0,0
$GC,11539,0.66,146.0,210.7,14.9,355,11545,0.00,2.38,0.00,0.000,6,0.000,0.041,2743,2085,2300,0,0,0,0,0,0
$GC,11863,0.66,146.0,167.9,14.7,382,11867,0.00,2.38,0.00,0.000,4,0.000,0.050,2729,3698,2300,0,0,0,0,0,0
$GC,11984,0.66,146.0,150.1,15.9,392,11991,0.00,2.38,0.00,0.000,6,0.000,0.043,2729,2096,2300,0,0,0,0,0,0
$GC,12247,0.66,146.0,112.6,14.0,417,12252,0.10,2.30,0.00,0.000,4,0.155,0.050,2761,517,2303,0,0,0,0,0,0
$GC,12267,0.66,146.0,109.5,12.9,418,12274,0.00,2.33,0.00,0.000,6,0.000,0.045,2751,2097,2303,0,0,0,0,0,0
$GC,12530,0.66,146.0,74.2,13.8,443,12534,0.00,2.35,0.00,0.000,4,0.000,0.055,2737,3694,2304,0,0,0,0,0,0
$GC,12787,0.66,146.0,35.3,15.8,465,12793,0.00,2.33,0.00,0.000,6,0.000,0.041,2735,2090,2304,0,0,0,0,0,0
$STATE,13008,end climb,SURFACE_DEPTH_REACHED
$STATE,13008,begin surface coast
$FINISH,0.5,1.017568
$STATE,13031,end surface coast,CONTROL_FINISHED_OK
$STATE,13032,begin surface
$SM_CCo,13047,134.05,0.574,0,0,1084,450.12
$SM_GC,1.25,0.00,0.00,134.05,0.000,0.000,0.574,130,2224,1084,-7.56,0.68,450.12
$IRIDIUM_FIX,2052.52,12442.88,100512,181811
$TT8_MAMPS,0.058292
$HUMID,1078942571
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,23.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8327364608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58977026048
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,9.261
$10V_AH,10.3,6.786
$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,17.075,117.875,242.450,134.050,0.000,89.317,143.822,373.120,0.000,0.000,15.042,1098.212,10005.374,508.697,2248.370,192.025,33.354,1368.979,0.000,1591.596,0.000,0.542,0.000
$DEVICE_MAMPS,233.168,100.477,1278.589,574.483,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.788,0.000,0.000,0.000,0.000,0.000,0.000,14257.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.876,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,20116,506
$CAP_FILE_SIZE,121069,0
$CFSIZE,260165632,219586560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,080724,2058.532,12441.223,36,1.2,37,-2.8