version: 66.07
glider: 513
mission: 7
dive: 122
start: 7 23 111 23 14 41
data:
$ID,513
$MISSION,7
$DIVE,122
$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,750
$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,-423122.72
$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,3000
$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,64
$R_STBD_OVSHOOT,64
$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,121
$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
$GPS1,230711,225555,1928.372,-15649.143,126,1.1,127,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.9
$GPS2,230711,231344,1928.010,-15649.049,11,1.3,11,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.106,-0.223
$KALMAN_X,-55079.8,191.2,301.1,37453.1,-1480.6
$KALMAN_Y,-39696.1,-24.8,500.6,1699.4,-735.5
$MHEAD_RNG_PITCHd_Wd,145.0,52356,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.78,-146.5,0.0,0.0,0,75,0.00,0.00,-44.62,0.000,2,0.000,0.000,38,2111,3755,0,0,0,0,0,0
$GC,80,-0.78,-146.5,3.9,-7.4,7,101,11.38,2.17,-3.30,0.000,4,0.249,0.071,2730,3464,3958,0,0,0,0,0,0
$GC,126,-0.78,-146.5,21.7,-33.2,14,134,0.00,2.08,0.00,0.000,6,0.000,0.028,2736,2109,3961,0,0,0,0,0,0
$GC,391,-0.78,-146.5,37.0,-6.9,54,395,0.00,2.15,0.00,0.000,4,0.000,0.052,2736,3475,3963,0,0,0,0,0,0
$GC,410,-0.78,-146.5,38.4,-7.3,55,414,0.00,2.05,0.00,0.000,6,0.000,0.028,2742,2081,3960,0,0,0,0,0,0
$GC,675,-0.78,-146.5,58.3,-8.4,79,679,0.00,2.08,0.00,0.000,4,0.000,0.038,2739,693,3963,0,0,0,0,0,0
$GC,752,-0.78,-146.5,65.1,-7.3,85,759,0.00,2.08,0.00,0.000,6,0.000,0.035,2742,2056,3963,0,0,0,0,0,0
$GC,1018,-0.78,-146.5,83.2,-6.4,110,1022,0.00,2.20,0.00,0.000,4,0.000,0.049,2734,3493,3965,0,0,0,0,0,0
$GC,1072,-0.78,-146.5,87.3,-7.9,114,1080,0.00,2.08,0.00,0.000,6,0.000,0.028,2742,2094,3965,0,0,0,0,0,0
$GC,1337,-0.78,-146.5,102.2,-5.9,139,1341,0.00,2.08,0.00,0.000,4,0.000,0.038,2743,690,3963,0,0,0,0,0,0
$GC,1348,-0.78,-146.5,103.4,-6.3,139,1355,0.00,2.12,0.00,0.000,6,0.000,0.037,2744,2086,3964,0,0,0,0,0,0
$GC,1613,-0.78,-146.5,116.5,-5.3,164,1617,0.00,2.17,0.00,0.000,4,0.000,0.053,2743,3498,3965,0,0,0,0,0,0
$GC,1697,-0.78,-146.5,123.1,-9.6,171,1701,0.00,2.05,0.00,0.000,6,0.000,0.030,2754,2091,3965,0,0,0,0,0,0
$GC,1965,-0.78,-146.5,143.0,-7.3,195,1969,0.00,2.05,0.00,0.000,4,0.000,0.038,2754,690,3965,0,0,0,0,0,0
$GC,2104,-0.78,-146.5,154.7,-6.2,207,2108,0.00,2.10,0.00,0.000,6,0.000,0.039,2754,2093,3966,0,0,0,0,0,0
$GC,2376,-0.78,-146.5,172.5,-5.5,232,2380,0.00,2.15,0.00,0.000,4,0.000,0.051,2747,3498,3965,0,0,0,0,0,0
$GC,2482,-0.78,-146.5,180.7,-9.0,241,2486,0.00,2.08,0.00,0.000,6,0.000,0.028,2746,2079,3965,0,0,0,0,0,0
$GC,2750,-0.78,-146.5,195.4,-6.0,265,2754,0.00,2.05,0.00,0.000,4,0.000,0.039,2746,684,3966,0,0,0,0,0,0
$GC,2815,-0.78,-146.5,201.3,-8.6,270,2819,0.00,2.10,0.00,0.000,6,0.000,0.036,2746,2090,3962,0,0,0,0,0,0
$GC,3075,-0.78,-146.5,220.3,-7.7,283,3079,0.00,2.17,0.00,0.000,4,0.000,0.053,2746,3495,3964,0,0,0,0,0,0
$GC,3228,-0.78,-146.5,232.4,-6.6,290,3232,0.00,2.05,0.00,0.000,6,0.000,0.029,2746,2083,3963,0,0,0,0,0,0
$GC,3494,-0.78,-146.5,248.7,-5.6,303,3498,0.00,2.17,0.00,0.000,4,0.000,0.052,2746,3495,3963,0,0,0,0,0,0
$GC,3659,-0.78,-146.5,263.5,-8.5,310,3663,0.00,2.05,0.00,0.000,6,0.000,0.029,2750,2085,3962,0,0,0,0,0,0
$GC,3919,-0.78,-146.5,283.2,-6.7,323,3923,0.00,2.05,0.00,0.000,4,0.000,0.034,2755,686,3961,0,0,0,0,0,0
$GC,3975,-0.78,-146.5,288.4,-7.7,325,3979,0.00,2.08,0.00,0.000,6,0.000,0.036,2755,2091,3961,0,0,0,0,0,0
$GC,4247,-0.78,-146.5,307.8,-6.2,335,4251,0.00,2.12,0.00,0.000,4,0.000,0.050,2756,3499,3959,0,0,0,0,0,0
$GC,4316,-0.78,-146.5,312.8,-6.8,336,4320,0.00,2.08,0.00,0.000,6,0.000,0.031,2752,2094,3959,0,0,0,0,0,0
$GC,4571,-0.78,-146.5,337.2,-10.1,343,4575,0.00,2.15,0.00,0.000,4,0.000,0.051,2756,3505,3957,0,0,0,0,0,0
$GC,4655,-0.78,-146.5,346.6,-15.7,345,4659,0.00,2.08,0.00,0.000,6,0.000,0.028,2767,2082,3957,0,0,0,0,0,0
$GC,4939,-0.78,-146.5,376.7,-10.4,352,4943,0.00,2.17,0.00,0.000,4,0.000,0.053,2767,3500,3954,0,0,0,0,0,0
$GC,5197,-0.78,-146.5,406.6,-12.5,357,5203,0.00,2.08,0.00,0.000,6,0.000,0.030,2777,2088,3953,0,0,0,0,0,0
$GC,5448,-0.78,-146.5,427.8,-8.5,364,5452,0.00,2.17,0.00,0.000,4,0.000,0.049,2777,3506,3950,0,0,0,0,0,0
$GC,5509,-0.78,-146.5,434.9,-10.9,365,5513,0.00,2.08,0.00,0.000,6,0.000,0.033,2776,2095,3951,0,0,0,0,0,0
$GC,5777,-0.78,-146.5,458.7,-8.9,372,5781,0.00,2.20,-0.10,0.000,4,0.000,0.069,2777,3496,3972,0,0,0,0,0,0
$GC,5848,-0.78,-146.5,467.6,-11.8,373,5853,0.00,2.10,0.00,0.000,6,0.000,0.032,2777,2094,3972,0,0,0,0,0,0
$GC,6104,-0.78,-146.5,499.2,-12.8,380,6108,0.00,2.15,0.00,0.000,4,0.000,0.049,2777,3501,3968,0,0,0,0,0,0
$GC,6361,-0.78,-146.5,540.7,-14.3,385,6368,0.12,2.10,0.00,0.000,6,0.158,0.034,2751,2094,3971,0,0,0,0,0,0
$GC,6611,-0.78,-146.5,568.0,-10.2,392,6615,0.00,2.17,0.00,0.000,4,0.000,0.053,2752,3494,3966,0,0,0,0,0,0
$GC,6623,-0.78,-146.5,569.6,-10.3,392,6627,0.00,2.10,0.00,0.000,6,0.000,0.031,2760,2083,3966,0,0,0,0,0,0
$GC,6889,-0.78,-146.5,593.0,-8.3,399,6893,0.00,2.20,0.00,0.000,4,0.000,0.054,2760,3492,3964,0,0,0,0,0,0
$GC,6911,-0.78,-146.5,594.9,-7.2,399,6915,0.00,2.08,0.00,0.000,6,0.000,0.034,2761,2091,3963,0,0,0,0,0,0
$GC,7167,-0.78,-146.5,618.2,-9.3,406,7171,0.00,2.08,0.00,0.000,4,0.000,0.036,2770,673,3963,0,0,0,0,0,0
$GC,7425,-0.78,-146.5,648.3,-10.0,411,7429,0.00,2.12,0.00,0.000,6,0.000,0.041,2770,2085,3961,0,0,0,0,0,0
$GC,7682,-0.78,-146.5,676.9,-11.0,418,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2089,3960,0,0,0,0,0,0
$GC,7924,-0.78,-146.5,702.1,-10.5,424,7928,0.00,2.15,0.00,0.000,4,0.000,0.048,2770,3509,3958,0,0,0,0,0,0
$GC,7979,-0.78,-146.5,709.3,-12.3,425,7983,0.00,2.15,0.00,0.000,6,0.000,0.035,2781,2092,3957,0,0,0,0,0,0
$GC,8252,-0.78,-146.5,739.2,-10.4,432,8256,0.00,2.20,0.00,0.000,4,0.000,0.054,2781,3499,3955,0,0,0,0,0,0
$GC,8510,-0.78,-146.5,770.0,-10.2,437,8517,0.15,2.12,0.00,0.000,6,0.189,0.033,2755,2078,3954,0,0,0,0,0,0
$GC,8762,-0.78,-146.5,791.3,-8.0,444,8766,0.00,2.22,0.00,0.000,4,0.000,0.058,2751,3500,3953,0,0,0,0,0,0
$GC,9019,-0.78,-146.5,818.4,-10.1,449,9025,0.00,2.10,0.00,0.000,6,0.000,0.028,2771,2070,3950,0,0,0,0,0,0
$GC,9271,-0.78,-146.5,839.8,-8.3,456,9274,0.00,2.05,0.00,0.000,4,0.000,0.041,2771,697,3951,0,0,0,0,0,0
$GC,9528,-0.78,-146.5,865.8,-12.2,461,9532,0.00,2.08,0.00,0.000,6,0.000,0.037,2771,2100,3951,0,0,0,0,0,0
$GC,9784,-0.78,-146.5,889.1,-8.9,468,9788,0.00,2.17,0.00,0.000,4,0.000,0.059,2771,3486,3949,0,0,0,0,0,0
$GC,9801,-0.78,-146.5,890.4,-8.4,468,9805,0.12,2.08,0.00,0.000,6,0.248,0.029,2758,2077,3950,0,0,0,0,0,0
$STATE,9902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9902,begin apogee
$GC,9908,-0.28,0.0,900.3,8.7,471,10032,0.43,0.00,120.90,1.148,6,0.076,0.000,2916,1958,3363,0,0,0,0,0,0
$STATE,10034,end apogee,CONTROL_FINISHED_OK
$STATE,10035,begin climb
$GC,10038,0.78,146.5,915.1,0.0,474,10174,0.95,2.35,127.45,1.114,4,0.072,0.044,3241,3356,2763,0,0,0,0,0,0
$GC,10427,0.78,146.5,806.0,39.3,483,10432,0.00,2.12,0.00,0.000,6,0.000,0.028,3249,1958,2756,0,0,0,0,0,0
$GC,10712,0.78,146.5,702.7,36.3,490,10716,0.00,2.20,0.00,0.000,4,0.000,0.043,3241,3369,2753,0,0,0,0,0,0
$GC,10931,0.78,146.5,623.3,36.6,495,10935,0.00,2.10,0.00,0.000,6,0.000,0.027,3249,1955,2753,0,0,0,0,0,0
$GC,11214,0.78,146.5,521.6,36.0,502,11218,0.00,2.17,0.00,0.000,4,0.000,0.042,3241,3371,2751,0,0,0,0,0,0
$GC,11472,0.78,146.5,430.4,34.0,507,11478,0.00,2.10,0.00,0.000,6,0.000,0.027,3250,1958,2751,0,0,0,0,0,0
$GC,11723,0.78,146.5,352.8,30.5,514,11727,0.00,2.20,0.00,0.000,4,0.000,0.043,3241,3377,2750,0,0,0,0,0,0
$GC,11823,0.78,146.5,324.1,28.7,516,11827,0.00,2.12,0.00,0.000,6,0.000,0.027,3255,1963,2750,0,0,0,0,0,0
$GC,12083,0.78,146.5,254.8,25.7,526,12087,0.00,2.17,0.00,0.000,4,0.000,0.042,3241,3377,2748,0,0,0,0,0,0
$GC,12238,0.78,146.5,214.4,22.1,533,12242,0.00,2.10,0.00,0.000,6,0.000,0.027,3250,1953,2748,0,0,0,0,0,0
$GC,12501,0.78,146.5,156.0,22.4,554,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1950,2748,0,0,0,0,0,0
$GC,12765,0.78,146.5,103.4,18.0,579,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1949,2747,0,0,0,0,0,0
$GC,13021,0.78,146.5,61.9,13.7,603,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1949,2747,0,0,0,0,0,0
$GC,13283,0.78,146.5,28.6,10.8,629,13291,0.00,2.17,0.00,0.000,4,0.000,0.038,3238,3379,2748,0,0,0,0,0,0
$GC,13530,1.00,323.5,11.6,1.6,675,13622,0.17,2.08,86.05,0.505,2,0.081,0.025,3319,1952,2284,0,0,0,0,0,0
$STATE,13625,end climb,SURFACE_DEPTH_REACHED
$STATE,13625,begin surface coast
$FINISH,-0.1,1.010656
$STATE,13638,end surface coast,CONTROL_FINISHED_OK
$STATE,13638,begin surface
$SM_CCo,13720,0.00,0.000,0,0,2275,266.15
$SM_GC,0.93,8.90,0.00,0.00,0.054,0.000,0.000,58,2136,2275,-9.14,1.27,266.15
$IRIDIUM_FIX,1918.37,-15649.58,150113,171750
$TT8_MAMPS,0.251576
$HUMID,1078997186
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.90
$XPDR_PINGS,82
$AR_DIVENUM,122
$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,24.1,16.877
$10V_AH,10.3,16.709
$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,22.225,136.175,334.400,0.000,0.000,77.602,100.557,527.776,20.500,0.000,13.633,1430.869,8993.221,373.630,3509.733,483.342,33.360,1471.130,0.000,2804.219,0.000,0.541,0.000
$DEVICE_MAMPS,248.508,85.137,1148.199,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,471.357,0.000,1394.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353796
$DATA_FILE_SIZE,36839,691
$CAP_FILE_SIZE,152829,0
$CFSIZE,260165632,196898816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,030501,1926.851,-15647.837,37,1.5,38,9.6