version: 66.07
glider: 513
mission: 7
dive: 120
start: 7 23 111 11 57 1
data:
$ID,513
$MISSION,7
$DIVE,120
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,350
$T_MISSION,700
$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,150
$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,220
$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,-423067.69
$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,2900
$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,2090
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3360
$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,119
$AR_SAMPLENUM,3
$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
$GPS1,230711,112800,1932.822,-15650.445,38,0.9,44,9.6
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.3
$GPS2,230711,115607,1932.317,-15650.533,14,1.1,19,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.065,-0.238
$KALMAN_X,-56244.6,1168.7,426.9,34910.6,-5300.3
$KALMAN_Y,-43351.8,1475.9,498.6,11809.9,-4813.7
$MHEAD_RNG_PITCHd_Wd,155.2,60631,-15.1,-8.571
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
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$GC,12189,-0.78,-146.5,766.8,-4.9,525,12193,0.00,2.10,0.00,0.000,4,0.000,0.042,2656,690,3948,0,0,0,0,0,0
$GC,12251,-0.78,-146.5,769.6,-5.8,526,12255,0.00,2.12,0.00,0.000,6,0.000,0.041,2659,2094,3948,0,0,0,0,0,0
$GC,12517,-0.78,-146.5,782.9,-5.0,533,12521,0.00,2.17,0.00,0.000,4,0.000,0.057,2659,3501,3948,0,0,0,0,0,0
$GC,12608,-0.78,-146.5,788.4,-5.8,535,12612,0.00,2.10,0.00,0.000,6,0.000,0.034,2669,2085,3948,0,0,0,0,0,0
$GC,12888,-0.78,-146.5,804.7,-5.8,542,12891,0.00,2.10,0.00,0.000,4,0.000,0.041,2676,689,3947,0,0,0,0,0,0
$GC,12978,-0.78,-146.5,811.8,-8.9,544,12982,0.00,2.15,0.00,0.000,6,0.000,0.043,2675,2088,3947,0,0,0,0,0,0
$GC,13257,-0.78,-146.5,832.0,-7.6,551,13261,0.00,2.20,0.00,0.000,4,0.000,0.060,2674,3500,3946,0,0,0,0,0,0
$GC,13382,-0.78,-146.5,842.8,-6.6,553,13389,0.00,2.10,0.00,0.000,6,0.000,0.032,2675,2080,3947,0,0,0,0,0,0
$GC,13632,-0.78,-146.5,862.0,-7.4,560,13636,0.00,2.08,0.00,0.000,4,0.000,0.040,2687,688,3947,0,0,0,0,0,0
$GC,13684,-0.78,-146.5,866.4,-8.5,561,13688,0.12,2.15,0.00,0.000,6,0.201,0.041,2660,2092,3946,0,0,0,0,0,0
$GC,13961,-0.78,-146.5,887.7,-7.5,568,13965,0.00,2.17,0.00,0.000,4,0.000,0.054,2660,3494,3946,0,0,0,0,0,0
$GC,14057,-0.78,-146.5,897.0,-9.8,570,14061,0.00,2.10,0.00,0.000,6,0.000,0.034,2660,2078,3948,0,0,0,0,0,0
$STATE,14124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14124,begin apogee
$GC,14130,-0.28,0.0,902.0,7.5,572,14255,0.43,0.00,121.50,1.155,6,0.084,0.000,2816,1943,3358,0,0,0,0,0,0
$STATE,14257,end apogee,CONTROL_FINISHED_OK
$STATE,14257,begin climb
$GC,14260,0.78,146.5,915.3,0.0,575,14396,0.93,2.40,127.28,1.127,4,0.071,0.041,3135,3374,2762,0,0,0,0,0,0
$GC,14650,0.78,146.5,821.0,33.2,584,14654,0.00,2.15,0.00,0.000,6,0.000,0.026,3145,1956,2756,0,0,0,0,0,0
$GC,14934,0.78,146.5,725.4,33.5,591,14938,0.00,2.20,0.00,0.000,4,0.000,0.041,3135,3374,2753,0,0,0,0,0,0
$GC,15076,0.78,146.5,675.8,34.5,594,15080,0.00,2.12,0.00,0.000,6,0.000,0.026,3144,1951,2753,0,0,0,0,0,0
$GC,15348,0.78,146.5,583.1,33.8,601,15352,0.00,2.20,0.00,0.000,4,0.000,0.041,3136,3376,2752,0,0,0,0,0,0
$GC,15375,0.78,146.5,573.9,34.4,601,15379,0.00,2.12,0.00,0.000,6,0.000,0.027,3145,1950,2754,0,0,0,0,0,0
$GC,15626,0.78,146.5,494.9,31.3,607,15630,0.00,2.20,0.00,0.000,4,0.000,0.041,3136,3383,2750,0,0,0,0,0,0
$GC,15772,0.78,146.5,449.5,27.7,610,15776,0.00,2.12,0.00,0.000,6,0.000,0.028,3145,1950,2751,0,0,0,0,0,0
$GC,16040,0.78,146.5,372.8,29.0,617,16043,0.00,2.08,0.00,0.000,4,0.000,0.035,3157,568,2750,0,0,0,0,0,0
$GC,16061,0.78,146.5,366.2,27.7,617,16066,0.00,2.12,0.00,0.000,6,0.000,0.031,3147,1965,2747,0,0,0,0,0,0
$GC,16328,0.78,146.5,296.0,25.7,624,16332,0.00,2.15,0.00,0.000,4,0.000,0.044,3137,3372,2747,0,0,0,0,0,0
$GC,16446,0.78,146.5,266.9,26.9,629,16451,0.00,2.08,0.00,0.000,6,0.000,0.025,3146,1957,2747,0,0,0,0,0,0
$GC,16706,0.78,146.5,207.9,23.5,642,16709,0.00,2.17,0.00,0.000,4,0.000,0.044,3137,3375,2747,0,0,0,0,0,0
$GC,16933,0.78,146.5,157.3,17.7,661,16937,0.00,2.08,0.00,0.000,6,0.000,0.026,3146,1964,2747,0,0,0,0,0,0
$GC,17199,0.78,146.5,109.5,15.3,685,17206,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1959,2747,0,0,0,0,0,0
$GC,17463,0.78,146.5,70.5,14.6,710,17467,0.00,2.08,0.00,0.000,4,0.000,0.034,3156,558,2746,0,0,0,0,0,0
$GC,17579,0.78,146.5,52.0,16.3,720,17583,0.00,2.08,0.00,0.000,6,0.000,0.030,3148,1964,2745,0,0,0,0,0,0
$GC,17843,0.78,146.5,20.7,10.3,751,17850,0.00,2.15,0.00,0.000,4,0.000,0.042,3138,3371,2747,0,0,0,0,0,0
$GC,18086,0.97,302.4,11.1,2.4,797,18174,0.15,2.08,81.20,0.502,2,0.076,0.024,3211,1947,2312,0,0,0,0,0,0
$STATE,18176,end climb,SURFACE_DEPTH_REACHED
$STATE,18176,begin surface coast
$FINISH,0.1,1.023171
$STATE,18183,end surface coast,CONTROL_FINISHED_OK
$STATE,18183,begin surface
$SM_CCo,18264,0.00,0.000,0,0,2303,259.52
$SM_GC,1.17,8.65,0.00,0.00,0.056,0.000,0.000,51,2094,2303,-8.86,0.11,259.52
$IRIDIUM_FIX,1927.51,-15647.78,150113,050526
$TT8_MAMPS,0.257712
$HUMID,1078987508
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.40
$XPDR_PINGS,106
$AR_DIVENUM,120
$AR_SAMPLENUM,3
$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
$24V_AH,24.0,16.594
$10V_AH,10.3,16.448
$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,21.400,212.450,329.975,0.000,0.000,152.295,229.991,807.024,26.500,0.000,23.797,1709.598,13014.454,439.522,4196.187,593.421,33.352,1743.139,0.000,3015.415,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,72.098,1155.102,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,553.978,0.000,1397.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,43601,811
$CAP_FILE_SIZE,201098,0
$CFSIZE,260165632,197042176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,170331,1930.521,-15649.895,60,2.0,61,9.6