version: 66.07
glider: 513
mission: 7
dive: 127
start: 7 24 111 19 56 33
data:
$ID,513
$MISSION,7
$DIVE,127
$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,160
$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,-423230.19
$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,3100
$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,72
$R_STBD_OVSHOOT,59
$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,126
$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
$GPS1,240711,194607,1922.431,-15643.377,31,1.2,31,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-80.0
$GPS2,240711,195538,1922.462,-15643.216,14,1.6,14,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.226,-0.115
$KALMAN_X,-43925.6,320.9,90.4,36565.5,5148.1
$KALMAN_Y,-24296.5,-548.1,-478.8,-22428.9,7796.1
$MHEAD_RNG_PITCHd_Wd,233.5,41716,-14.5,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.77,-156.2,0.0,0.0,0,83,0.00,0.00,-51.47,0.000,2,0.000,0.000,39,2129,3647,0,0,0,0,0,0
$GC,88,-0.77,-156.2,3.2,-4.7,8,110,11.65,2.25,-5.22,0.000,4,0.245,0.058,2855,718,3963,0,0,0,0,0,0
$GC,176,-0.77,-156.2,19.7,-10.6,23,184,0.00,2.10,0.00,0.000,6,0.000,0.037,2856,2067,3967,0,0,0,0,0,0
$GC,440,-0.77,-156.2,43.9,-9.1,58,444,0.00,2.17,0.00,0.000,4,0.000,0.044,2856,3505,3968,0,0,0,0,0,0
$GC,547,-0.77,-156.2,55.1,-10.8,67,551,0.00,2.08,0.00,0.000,6,0.000,0.035,2855,2115,3968,0,0,0,0,0,0
$GC,810,-0.77,-156.2,76.2,-9.3,91,813,0.00,2.12,0.00,0.000,4,0.000,0.038,2857,674,3970,0,0,0,0,0,0
$GC,897,-0.77,-156.2,84.0,-7.3,98,904,0.00,2.20,0.00,0.000,6,0.000,0.044,2857,2083,3970,0,0,0,0,0,0
$GC,1159,-0.77,-156.2,113.8,-13.9,123,1163,0.00,2.15,0.00,0.000,4,0.000,0.041,2858,3520,3971,0,0,0,0,0,0
$GC,1268,-0.77,-156.2,128.8,-11.5,132,1275,0.00,2.15,0.00,0.000,6,0.000,0.036,2864,2100,3972,0,0,0,0,0,0
$GC,1532,-0.77,-156.2,160.5,-11.2,157,1536,0.00,2.08,0.00,0.000,4,0.000,0.035,2875,669,3976,0,0,0,0,0,0
$GC,1780,-0.77,-156.2,194.7,-11.2,179,1787,0.00,2.22,0.00,0.000,6,0.000,0.050,2877,2097,3974,0,0,0,0,0,0
$GC,2045,-0.77,-156.2,230.5,-13.1,194,2049,0.00,2.08,0.00,0.000,4,0.000,0.035,2877,3521,3973,0,0,0,0,0,0
$GC,2056,-0.77,-156.2,232.6,-13.7,194,2060,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,2085,3973,0,0,0,0,0,0
$GC,2309,-0.77,-156.2,263.7,-13.0,206,2313,0.00,2.08,0.00,0.000,4,0.000,0.041,2880,678,3973,0,0,0,0,0,0
$GC,2566,-0.77,-156.2,295.6,-11.8,217,2572,0.00,2.15,0.00,0.000,6,0.000,0.040,2881,2104,3973,0,0,0,0,0,0
$GC,2817,-0.77,-156.2,327.6,-13.5,225,2821,0.00,2.12,0.00,0.000,4,0.000,0.038,2881,673,3971,0,0,0,0,0,0
$GC,2843,-0.77,-156.2,331.9,-11.2,225,2848,0.00,2.10,0.00,0.000,6,0.000,0.039,2881,2088,3972,0,0,0,0,0,0
$GC,3100,-0.77,-156.2,368.0,-14.6,232,3104,0.00,2.10,0.00,0.000,4,0.000,0.044,2884,681,3972,0,0,0,0,0,0
$GC,3357,-0.77,-156.2,406.9,-12.8,237,3364,0.10,2.12,0.00,0.000,6,0.132,0.041,2851,2099,3969,0,0,0,0,0,0
$GC,3607,-0.77,-156.2,434.8,-11.1,244,3611,0.00,2.17,0.00,0.000,4,0.000,0.059,2850,3496,3967,0,0,0,0,0,0
$GC,3730,-0.77,-156.2,451.6,-17.9,246,3736,0.00,2.08,0.00,0.000,6,0.000,0.028,2881,2069,3966,0,0,0,0,0,0
$GC,3980,-0.77,-156.2,486.2,-14.3,253,3984,0.00,2.15,0.00,0.000,4,0.000,0.038,2881,3518,3964,0,0,0,0,0,0
$GC,4237,-0.77,-156.2,531.9,-20.4,258,4243,0.17,2.10,0.00,0.000,6,0.243,0.029,2859,2086,3963,0,0,0,0,0,0
$GC,4488,-0.77,-156.2,567.7,-13.6,265,4492,0.00,2.08,0.00,0.000,4,0.000,0.035,2870,675,3959,0,0,0,0,0,0
$GC,4745,-0.77,-156.2,608.2,-18.6,270,4751,0.00,2.12,0.00,0.000,6,0.000,0.036,2871,2103,3957,0,0,0,0,0,0
$GC,4997,-0.77,-156.2,642.6,-13.5,277,5000,0.00,2.10,0.00,0.000,4,0.000,0.035,2886,685,3956,0,0,0,0,0,0
$GC,5192,-0.77,-156.2,674.0,-14.9,281,5196,0.00,2.15,0.00,0.000,6,0.000,0.046,2888,2079,3956,0,0,0,0,0,0
$GC,5460,-0.77,-156.2,713.1,-14.9,288,5465,0.12,2.10,0.00,0.000,4,0.155,0.046,2858,700,3952,0,0,0,0,0,0
$GC,5717,-0.77,-156.2,752.4,-13.9,293,5723,0.00,2.12,0.00,0.000,6,0.000,0.044,2859,2096,3950,0,0,0,0,0,0
$GC,5969,-0.77,-156.2,785.9,-13.4,300,5972,0.00,2.10,0.00,0.000,4,0.000,0.040,2886,690,3949,0,0,0,0,0,0
$GC,6226,-0.77,-156.2,824.9,-16.4,305,6232,0.00,2.12,0.00,0.000,6,0.000,0.036,2881,2105,3947,0,0,0,0,0,0
$GC,6477,-0.77,-156.2,860.5,-13.9,312,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2111,3945,0,0,0,0,0,0
$GC,6720,-0.77,-156.2,893.8,-13.0,318,6724,0.00,2.08,0.00,0.000,4,0.000,0.038,2883,3501,3944,0,0,0,0,0,0
$STATE,6762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6762,begin apogee
$GC,6771,-0.28,0.0,900.7,15.3,319,6894,0.28,0.00,119.93,1.144,6,0.081,0.000,3011,1961,3360,0,0,0,0,0,0
$STATE,6896,end apogee,CONTROL_FINISHED_OK
$STATE,6896,begin climb
$GC,6900,0.77,156.2,918.4,0.0,322,7042,0.95,2.25,134.60,1.111,4,0.073,0.033,3353,555,2723,0,0,0,0,0,0
$GC,7295,0.77,156.2,789.8,42.8,331,7299,0.00,2.15,0.00,0.000,6,0.000,0.038,3342,1961,2713,0,0,0,0,0,0
$GC,7574,0.77,156.2,675.1,41.2,338,7578,0.00,2.15,0.00,0.000,4,0.000,0.035,3354,543,2712,0,0,0,0,0,0
$GC,7590,0.77,156.2,667.7,40.2,338,7594,0.00,2.15,0.00,0.000,6,0.000,0.032,3345,1961,2711,0,0,0,0,0,0
$GC,7850,0.77,156.2,562.9,39.8,345,7854,0.00,2.17,0.00,0.000,4,0.000,0.047,3333,3376,2711,0,0,0,0,0,0
$GC,7922,0.77,156.2,534.1,38.7,346,7926,0.00,2.12,0.00,0.000,6,0.000,0.027,3343,1938,2710,0,0,0,0,0,0
$GC,8179,0.77,156.2,439.3,37.2,353,8183,0.00,2.20,0.00,0.000,4,0.000,0.046,3334,3368,2710,0,0,0,0,0,0
$GC,8331,0.77,156.2,382.9,35.7,356,8335,0.00,2.10,0.00,0.000,6,0.000,0.030,3343,1949,2710,0,0,0,0,0,0
$GC,8593,0.77,156.2,298.1,31.6,363,8597,0.00,2.17,0.00,0.000,4,0.000,0.042,3334,3372,2707,0,0,0,0,0,0
$GC,8700,0.77,156.2,264.9,29.9,368,8704,0.00,2.08,0.00,0.000,6,0.000,0.027,3343,1956,2707,0,0,0,0,0,0
$GC,8956,0.77,156.2,192.1,30.1,381,8960,0.00,2.17,0.00,0.000,4,0.000,0.044,3334,3371,2706,0,0,0,0,0,0
$GC,9202,0.77,156.2,127.6,23.0,403,9210,0.00,2.08,0.00,0.000,6,0.000,0.025,3343,1950,2705,0,0,0,0,0,0
$GC,9469,0.77,156.2,69.7,20.2,428,9472,0.00,2.15,0.00,0.000,4,0.000,0.041,3334,3373,2704,0,0,0,0,0,0
$GC,9721,0.77,156.2,28.0,13.6,451,9729,0.00,2.05,0.00,0.000,6,0.000,0.024,3348,1970,2704,0,0,0,0,0,0
$GC,9982,0.93,287.1,13.1,3.7,500,10061,0.17,0.00,75.72,0.512,2,0.110,0.000,3406,1963,2300,0,0,0,0,0,0
$STATE,10062,end climb,SURFACE_DEPTH_REACHED
$STATE,10062,begin surface coast
$FINISH,0.1,1.022954
$STATE,10078,end surface coast,CONTROL_FINISHED_OK
$STATE,10078,begin surface
$SM_CCo,10160,0.00,0.000,0,0,2290,262.22
$SM_GC,1.12,9.20,0.00,0.00,0.060,0.000,0.000,62,2118,2290,-9.45,0.79,262.22
$IRIDIUM_FIX,1913.80,-15739.68,160113,101000
$TT8_MAMPS,0.246974
$HUMID,1079037186
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.30
$XPDR_PINGS,73
$AR_DIVENUM,127
$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,24.1,17.494
$10V_AH,10.3,17.287
$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,22.650,98.375,330.250,0.000,0.000,24.561,45.700,281.999,18.250,0.000,16.582,1076.334,6388.129,350.232,2575.275,349.127,33.356,1237.371,0.000,2186.891,0.000,0.539,0.000
$DEVICE_MAMPS,244.673,71.331,1143.597,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.667,0.000,1044.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353772
$DATA_FILE_SIZE,27003,514
$CAP_FILE_SIZE,109638,0
$CFSIZE,260165632,196534272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,224757,1922.468,-15642.646,57,1.0,57,9.6