version: 66.07
glider: 513
mission: 7
dive: 124
start: 7 24 111 7 33 44
data:
$ID,513
$MISSION,7
$DIVE,124
$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,-423174.03
$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,74
$R_STBD_OVSHOOT,58
$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,123
$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
$GPS1,240711,072330,1925.158,-15646.754,305,1.0,305,9.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.6
$GPS2,240711,073249,1925.065,-15646.630,9,1.3,14,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024,-0.245
$KALMAN_X,-53987.6,227.2,313.8,40547.7,-357.8
$KALMAN_Y,-35169.5,372.3,-45.2,-8104.0,2675.0
$MHEAD_RNG_PITCHd_Wd,164.7,46509,-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,27,begin dive
$GC,29,-0.78,-146.5,0.0,0.0,0,83,0.00,0.00,-51.05,0.000,2,0.000,0.000,40,2119,3747,0,0,0,0,0,0
$GC,87,-0.78,-146.5,3.8,-7.1,8,108,11.40,2.17,-3.35,0.000,4,0.252,0.057,2749,713,3956,0,0,0,0,0,0
$GC,233,-0.78,-146.5,28.1,-8.5,34,241,0.00,2.10,0.00,0.000,6,0.000,0.040,2748,2065,3961,0,0,0,0,0,0
$GC,507,-0.78,-146.5,46.3,-6.5,61,511,0.00,2.22,0.00,0.000,4,0.000,0.051,2749,3504,3961,0,0,0,0,0,0
$GC,559,-0.78,-146.5,51.1,-8.9,65,563,0.00,2.08,0.00,0.000,6,0.000,0.029,2751,2120,3961,0,0,0,0,0,0
$GC,824,-0.78,-146.5,72.9,-9.2,89,828,0.00,2.12,0.00,0.000,4,0.000,0.039,2751,684,3963,0,0,0,0,0,0
$GC,900,-0.78,-146.5,80.3,-9.9,95,908,0.00,2.12,0.00,0.000,6,0.000,0.035,2751,2091,3963,0,0,0,0,0,0
$GC,1165,-0.78,-146.5,96.4,-4.8,120,1169,0.00,2.15,0.00,0.000,4,0.000,0.048,2742,3494,3963,0,0,0,0,0,0
$GC,1241,-0.78,-146.5,101.2,-6.1,126,1245,0.00,2.10,0.00,0.000,6,0.000,0.028,2742,2075,3964,0,0,0,0,0,0
$GC,1506,-0.78,-146.5,118.9,-7.3,150,1510,0.00,2.03,0.00,0.000,4,0.000,0.038,2742,689,3964,0,0,0,0,0,0
$GC,1618,-0.78,-146.5,128.1,-11.7,160,1622,0.00,2.10,0.00,0.000,6,0.000,0.038,2742,2090,3965,0,0,0,0,0,0
$GC,1886,-0.78,-146.5,146.7,-7.1,184,1890,0.00,2.15,0.00,0.000,4,0.000,0.045,2742,3505,3968,0,0,0,0,0,0
$GC,2058,-0.78,-146.5,161.9,-7.6,199,2065,0.00,2.12,0.00,0.000,6,0.000,0.031,2742,2085,3965,0,0,0,0,0,0
$GC,2323,-0.78,-146.5,180.1,-6.5,224,2327,0.00,2.08,0.00,0.000,4,0.000,0.042,2744,683,3965,0,0,0,0,0,0
$GC,2378,-0.78,-146.5,184.3,-5.0,228,2385,0.00,2.12,0.00,0.000,6,0.000,0.040,2744,2077,3965,0,0,0,0,0,0
$GC,2640,-0.78,-146.5,202.3,-7.6,252,2644,0.00,2.17,0.00,0.000,4,0.000,0.051,2746,3506,3965,0,0,0,0,0,0
$GC,2806,-0.78,-146.5,219.5,-6.9,259,2810,0.00,2.10,0.00,0.000,6,0.000,0.031,2744,2087,3965,0,0,0,0,0,0
$GC,3066,-0.78,-146.5,240.3,-6.5,272,3070,0.00,2.08,0.00,0.000,4,0.000,0.036,2756,675,3965,0,0,0,0,0,0
$GC,3106,-0.78,-146.5,243.9,-7.9,274,3110,0.00,2.12,0.00,0.000,6,0.000,0.038,2755,2094,3965,0,0,0,0,0,0
$GC,3372,-0.78,-146.5,263.9,-8.1,287,3376,0.00,2.10,0.00,0.000,4,0.000,0.042,2756,686,3963,0,0,0,0,0,0
$GC,3467,-0.78,-146.5,271.2,-7.9,291,3471,0.00,2.10,0.00,0.000,6,0.000,0.044,2756,2088,3963,0,0,0,0,0,0
$GC,3729,-0.78,-146.5,290.3,-7.1,304,3732,0.00,2.10,0.00,0.000,4,0.000,0.042,2756,687,3962,0,0,0,0,0,0
$GC,3986,-0.78,-146.5,317.4,-10.8,312,3992,0.00,2.12,0.00,0.000,6,0.000,0.044,2747,2090,3961,0,0,0,0,0,0
$GC,4238,-0.78,-146.5,337.2,-8.0,319,4242,0.00,2.15,0.00,0.000,4,0.000,0.041,2754,662,3962,0,0,0,0,0,0
$GC,4367,-0.78,-146.5,348.3,-10.8,322,4371,0.00,2.12,0.00,0.000,6,0.000,0.037,2749,2097,3962,0,0,0,0,0,0
$GC,4651,-0.78,-146.5,372.0,-8.4,329,4655,0.00,2.12,0.00,0.000,4,0.000,0.045,2746,687,3960,0,0,0,0,0,0
$GC,4718,-0.78,-146.5,377.1,-5.0,330,4722,0.00,2.15,0.00,0.000,6,0.000,0.044,2750,2090,3956,0,0,0,0,0,0
$GC,4974,-0.78,-146.5,394.0,-6.3,337,4978,0.00,2.12,0.00,0.000,4,0.000,0.041,2759,674,3955,0,0,0,0,0,0
$GC,5144,-0.78,-146.5,407.5,-7.8,340,5150,0.00,2.15,0.00,0.000,6,0.000,0.040,2760,2095,3953,0,0,0,0,0,0
$GC,5394,-0.78,-146.5,427.0,-8.0,347,5398,0.00,2.17,0.00,0.000,4,0.000,0.053,2760,3509,3951,0,0,0,0,0,0
$GC,5406,-0.78,-146.5,427.4,-7.8,347,5410,0.00,2.10,0.00,0.000,6,0.000,0.031,2771,2079,3952,0,0,0,0,0,0
$GC,5672,-0.78,-146.5,454.5,-10.3,354,5677,0.00,2.22,-0.10,0.000,4,0.000,0.064,2768,3508,3973,0,0,0,0,0,0
$GC,5908,-0.78,-146.5,486.3,-13.6,359,5912,0.00,2.10,0.00,0.000,6,0.000,0.035,2768,2094,3972,0,0,0,0,0,0
$GC,6175,-0.78,-146.5,507.9,-7.4,366,6179,0.00,2.20,0.00,0.000,4,0.000,0.058,2768,3498,3970,0,0,0,0,0,0
$GC,6227,-0.78,-146.5,512.8,-9.4,367,6231,0.00,2.08,0.00,0.000,6,0.000,0.031,2768,2091,3969,0,0,0,0,0,0
$GC,6506,-0.78,-146.5,535.5,-8.0,374,6510,0.00,2.15,0.00,0.000,4,0.000,0.045,2768,3511,3968,0,0,0,0,0,0
$GC,6516,-0.78,-146.5,536.4,-8.0,374,6520,0.00,2.10,0.00,0.000,6,0.000,0.031,2768,2092,3967,0,0,0,0,0,0
$GC,6783,-0.78,-146.5,557.6,-7.7,381,6787,0.00,2.20,0.00,0.000,4,0.000,0.055,2768,3497,3966,0,0,0,0,0,0
$GC,6806,-0.78,-146.5,559.5,-7.1,381,6810,0.00,2.10,0.00,0.000,6,0.000,0.031,2770,2077,3966,0,0,0,0,0,0
$GC,7062,-0.78,-146.5,579.6,-7.6,388,7066,0.00,2.22,0.00,0.000,4,0.000,0.056,2770,3501,3963,0,0,0,0,0,0
$GC,7319,-0.78,-146.5,607.0,-10.0,393,7323,0.00,2.12,0.00,0.000,6,0.000,0.028,2781,2087,3962,0,0,0,0,0,0
$GC,7574,-0.78,-146.5,635.5,-11.3,400,7578,0.00,2.20,0.00,0.000,4,0.000,0.055,2781,3497,3961,0,0,0,0,0,0
$GC,7830,-0.78,-146.5,672.8,-13.2,405,7837,0.15,2.10,0.00,0.000,6,0.157,0.031,2750,2092,3959,0,0,0,0,0,0
$GC,8080,-0.78,-146.5,699.3,-10.0,412,8084,0.00,2.20,0.00,0.000,4,0.000,0.055,2749,3502,3958,0,0,0,0,0,0
$GC,8102,-0.78,-146.5,701.3,-8.0,412,8106,0.00,2.10,0.00,0.000,6,0.000,0.031,2749,2085,3958,0,0,0,0,0,0
$GC,8359,-0.78,-146.5,724.7,-9.0,419,8362,0.00,2.08,0.00,0.000,4,0.000,0.038,2759,675,3957,0,0,0,0,0,0
$GC,8616,-0.78,-146.5,752.5,-9.9,424,8622,0.00,2.15,0.00,0.000,6,0.000,0.041,2759,2091,3955,0,0,0,0,0,0
$GC,8867,-0.78,-146.5,774.1,-8.6,431,8871,0.00,2.17,0.00,0.000,4,0.000,0.047,2759,3512,3955,0,0,0,0,0,0
$GC,9125,-0.78,-146.5,803.1,-12.0,436,9131,0.00,2.15,0.00,0.000,6,0.000,0.035,2759,2089,3954,0,0,0,0,0,0
$GC,9376,-0.78,-146.5,825.0,-8.9,443,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2084,3954,0,0,0,0,0,0
$GC,9619,-0.78,-146.5,846.3,-8.9,449,9623,0.00,2.20,0.00,0.000,4,0.000,0.049,2760,3503,3953,0,0,0,0,0,0
$GC,9778,-0.78,-146.5,864.6,-10.2,452,9782,0.00,2.12,0.00,0.000,6,0.000,0.035,2760,2087,3951,0,0,0,0,0,0
$GC,10033,-0.78,-146.5,888.1,-8.8,459,10037,0.00,2.10,0.00,0.000,4,0.000,0.040,2774,675,3949,0,0,0,0,0,0
$GC,10093,-0.78,-146.5,894.8,-9.9,460,10097,0.00,2.15,0.00,0.000,6,0.000,0.043,2771,2095,3951,0,0,0,0,0,0
$STATE,10160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10160,begin apogee
$GC,10168,-0.28,0.0,901.2,9.7,462,10292,0.38,0.00,121.40,1.156,6,0.081,0.000,2913,1926,3362,0,0,0,0,0,0
$STATE,10295,end apogee,CONTROL_FINISHED_OK
$STATE,10295,begin climb
$GC,10297,0.78,146.5,915.2,0.0,465,10433,0.95,2.35,126.95,1.118,4,0.073,0.038,3235,3367,2761,0,0,0,0,0,0
$GC,10687,0.78,146.5,805.2,38.1,474,10691,0.00,2.15,0.00,0.000,6,0.000,0.026,3250,1952,2754,0,0,0,0,0,0
$GC,10971,0.78,146.5,702.7,35.9,481,10975,0.00,2.22,0.00,0.000,4,0.000,0.041,3236,3377,2751,0,0,0,0,0,0
$GC,11172,0.78,146.5,627.1,39.5,485,11176,0.00,2.12,0.00,0.000,6,0.000,0.025,3244,1955,2750,0,0,0,0,0,0
$GC,11434,0.78,146.5,532.0,36.6,492,11438,0.00,2.20,0.00,0.000,4,0.000,0.041,3236,3376,2752,0,0,0,0,0,0
$GC,11506,0.78,146.5,505.1,34.6,493,11510,0.00,2.10,0.00,0.000,6,0.000,0.025,3244,1957,2748,0,0,0,0,0,0
$GC,11762,0.78,146.5,422.5,31.8,500,11766,0.00,2.20,0.00,0.000,4,0.000,0.040,3236,3382,2748,0,0,0,0,0,0
$GC,11899,0.78,146.5,380.0,26.9,503,11904,0.00,2.12,0.00,0.000,6,0.000,0.026,3245,1952,2747,0,0,0,0,0,0
$GC,12177,0.78,146.5,301.2,27.2,510,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1948,2747,0,0,0,0,0,0
$GC,12425,0.78,146.5,234.2,25.9,521,12429,0.00,2.20,0.00,0.000,4,0.000,0.044,3237,3377,2746,0,0,0,0,0,0
$GC,12582,0.78,146.5,197.1,21.9,528,12589,0.00,2.12,0.00,0.000,6,0.000,0.025,3245,1956,2746,0,0,0,0,0,0
$GC,12849,0.78,146.5,140.7,22.0,553,12853,0.00,2.17,0.00,0.000,4,0.000,0.041,3237,3380,2745,0,0,0,0,0,0
$GC,12913,0.78,146.5,124.2,21.7,558,12920,0.00,2.12,0.00,0.000,6,0.000,0.026,3252,1960,2749,0,0,0,0,0,0
$GC,13180,0.78,146.5,86.0,11.4,583,13184,0.00,2.17,0.00,0.000,4,0.000,0.043,3238,3377,2744,0,0,0,0,0,0
$GC,13427,0.78,146.5,48.5,14.3,605,13435,0.00,2.10,0.00,0.000,6,0.000,0.025,3248,1957,2745,0,0,0,0,0,0
$GC,13693,0.90,245.5,28.5,4.7,633,13778,0.12,2.28,75.57,0.522,4,0.115,0.041,3280,3378,2359,0,0,0,0,0,0
$STATE,13823,end climb,SURFACE_DEPTH_REACHED
$STATE,13823,begin surface coast
$FINISH,0.0,1.023155
$STATE,13830,end surface coast,CONTROL_FINISHED_OK
$STATE,13830,begin surface
$SM_CCo,13913,0.00,0.000,0,0,2351,247.50
$SM_GC,1.07,8.80,0.00,0.00,0.056,0.000,0.000,58,2095,2351,-9.15,0.14,247.50
$IRIDIUM_FIX,1920.65,-15649.58,150113,212119
$TT8_MAMPS,0.258479
$HUMID,1079030734
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.20
$XPDR_PINGS,86
$AR_DIVENUM,124
$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,24.1,17.115
$10V_AH,10.2,16.951
$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,21.800,145.750,323.925,0.000,0.000,29.123,40.187,280.935,21.500,0.000,16.893,1398.275,9194.459,378.167,3078.581,428.065,33.364,1473.226,0.000,2696.230,0.000,0.539,0.000
$DEVICE_MAMPS,251.576,63.661,1155.869,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,447.370,0.000,1245.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,33561,655
$CAP_FILE_SIZE,145592,0
$CFSIZE,260165632,196739072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,112806,1923.863,-15645.445,87,1.2,87,9.6