version: 66.07
glider: 513
mission: 7
dive: 8
start: 7 3 111 0 23 20
data:
$ID,513
$MISSION,7
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,500
$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,100
$T_MISSION,220
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$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,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-420688.28
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2631
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$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,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,7
$AR_SAMPLENUM,2
$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
$GPS1,030711,001531,1933.941,-15627.312,38,1.5,38,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-77.9
$GPS2,030711,002225,1933.857,-15627.247,12,1.0,12,9.7
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.190,-0.102
$KALMAN_X,2721.4,3608.3,18.8,-1832.9,649.0
$KALMAN_Y,-2597.9,-1731.3,511.4,-5481.8,-374.8
$MHEAD_RNG_PITCHd_Wd,231.9,69987,-21.7,-10.000
$D_GRID,300
$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,26,-0.99,-97.7,0.0,0.0,0,104,0.00,0.00,-70.47,0.000,6,0.000,0.000,53,2023,3189,0,0,0,0,0,0
$GC,109,-0.99,-97.7,1.8,-2.3,12,123,9.25,2.15,0.00,0.000,4,0.249,0.042,2311,583,3191,0,0,0,0,0,0
$GC,282,-0.99,-97.7,34.7,-20.2,42,286,0.00,2.10,0.00,0.000,6,0.000,0.045,2302,1972,3193,0,0,0,0,0,0
$GC,544,-0.99,-97.7,85.8,-20.3,66,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,1969,3193,0,0,0,0,0,0
$GC,798,-0.99,-97.7,122.7,-8.5,90,802,0.00,2.15,0.00,0.000,4,0.000,0.056,2291,3402,3194,0,0,0,0,0,0
$GC,1051,-0.99,-97.7,144.5,-9.0,112,1059,0.00,2.10,0.00,0.000,6,0.000,0.037,2299,1989,3194,0,0,0,0,0,0
$GC,1317,-0.99,-97.7,168.7,-9.1,137,1321,0.00,2.15,0.00,0.000,4,0.000,0.057,2289,3401,3195,0,0,0,0,0,0
$GC,1570,-0.99,-97.7,185.7,-3.4,160,1574,0.00,2.08,0.00,0.000,6,0.000,0.038,2293,1986,3195,0,0,0,0,0,0
$GC,1833,-0.99,-97.7,194.0,-3.5,184,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1981,3196,0,0,0,0,0,0
$GC,2082,-0.99,-97.7,204.8,-4.7,203,2086,0.00,2.17,0.00,0.000,4,0.000,0.056,2284,3413,3196,0,0,0,0,0,0
$GC,2094,-0.99,-97.7,205.6,-5.9,203,2099,0.00,2.10,0.00,0.000,6,0.000,0.037,2284,1980,3196,0,0,0,0,0,0
$GC,2347,-0.99,-97.7,216.2,-2.3,216,2351,0.00,2.05,0.00,0.000,4,0.000,0.044,2284,588,3196,0,0,0,0,0,0
$GC,2605,-0.99,-97.7,221.8,-3.1,227,2610,0.15,2.08,0.00,0.000,6,0.211,0.047,2313,1993,3195,0,0,0,0,0,0
$GC,2859,-0.99,-97.7,229.4,-3.3,239,2863,0.00,2.15,0.00,0.000,4,0.000,0.058,2297,3408,3195,0,0,0,0,0,0
$GC,2977,-0.99,-97.7,233.3,-3.2,244,2981,0.00,2.08,0.00,0.000,6,0.000,0.038,2301,1997,3195,0,0,0,0,0,0
$GC,3235,-0.99,-97.7,239.6,-2.7,257,3239,0.00,2.08,0.00,0.000,4,0.000,0.048,2312,577,3195,0,0,0,0,0,0
$GC,3493,-0.99,-97.7,252.0,-4.8,268,3498,0.00,2.12,0.00,0.000,6,0.000,0.048,2302,1993,3193,0,0,0,0,0,0
$GC,3747,-0.99,-97.7,258.0,-1.0,281,3750,0.00,2.10,0.00,0.000,4,0.000,0.044,2302,577,3194,0,0,0,0,0,0
$STATE,3874,end dive,NO_VERTICAL_VELOCITY
$STATE,3877,begin apogee
$GC,3885,-0.28,0.0,258.5,0.0,287,3964,0.85,0.00,76.45,0.653,6,0.184,0.000,2537,1905,2790,0,0,0,0,0,0
$STATE,3967,end apogee,CONTROL_FINISHED_OK
$STATE,3967,begin climb
$GC,3969,0.99,97.7,257.1,0.0,291,4057,1.15,2.25,78.05,0.628,4,0.091,0.048,2941,3306,2391,0,0,0,0,0,0
$GC,4102,0.99,97.7,230.6,28.7,297,4106,0.00,2.15,0.00,0.000,6,0.000,0.037,2952,1891,2389,0,0,0,0,0,0
$GC,4361,0.99,97.7,164.7,23.2,316,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1891,2385,0,0,0,0,0,0
$GC,4615,0.99,97.7,107.5,20.0,340,4619,0.00,2.15,0.00,0.000,4,0.000,0.048,2952,3313,2382,0,0,0,0,0,0
$GC,4651,0.99,97.7,100.3,20.5,343,4655,0.00,2.10,0.00,0.000,6,0.000,0.035,2963,1906,2382,0,0,0,0,0,0
$GC,4916,0.99,97.7,48.9,18.9,367,4920,0.00,2.12,0.00,0.000,4,0.000,0.051,2962,3315,2380,0,0,0,0,0,0
$GC,5069,0.99,97.7,17.7,21.4,386,5077,0.00,2.12,0.00,0.000,6,0.000,0.035,2973,1898,2381,0,0,0,0,0,0
$STATE,5140,end climb,SURFACE_DEPTH_REACHED
$STATE,5140,begin surface coast
$FINISH,0.0,1.022824
$STATE,5152,end surface coast,CONTROL_FINISHED_OK
$STATE,5152,begin surface
$SM_CCo,5173,133.05,0.472,0,0,1240,380.21
$SM_GC,0.80,0.00,0.00,133.05,0.000,0.000,0.472,46,2024,1240,-8.08,0.90,380.21
$IRIDIUM_FIX,1925.22,-15628.26,251212,161602
$TT8_MAMPS,0.059826
$HUMID,1078979990
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6345457664
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59996110848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,3.565
$10V_AH,10.4,4.204
$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,19.000,46.725,154.500,133.050,0.000,29.281,31.895,185.529,0.250,0.000,14.289,756.681,2867.427,340.451,1552.537,213.527,33.314,838.506,0.000,1282.360,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,79.768,652.717,471.705,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,270.595,0.000,672.316,0.000,0.000,0.000,0.000,6383.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.502,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,20351,401
$CAP_FILE_SIZE,65097,0
$CFSIZE,260165632,206114816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,015250,1933.022,-15627.104,10,1.2,10,9.7