version: 66.07
glider: 513
mission: 7
dive: 132
start: 7 25 111 12 11 30
data:
$ID,513
$MISSION,7
$DIVE,132
$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,727.54791
$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,-423409.88
$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,78
$R_STBD_OVSHOOT,89
$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,131
$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
$GPS1,250711,114516,1923.272,-15639.364,10,5.4,29,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.6
$GPS2,250711,121036,1923.828,-15639.110,42,1.1,47,9.6
$SPEED_LIMITS,0.148,0.253
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.098,-0.234
$KALMAN_X,-25660.1,-2142.4,-1130.0,29194.6,16205.6
$KALMAN_Y,-2632.9,-1207.0,-731.3,-40618.1,19344.9
$MHEAD_RNG_PITCHd_Wd,193.1,45319,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,144,0.00,0.00,-114.53,0.000,2,0.000,0.000,35,2145,3808,0,0,0,0,0,0
$GC,148,-0.77,-156.2,3.9,-6.7,18,170,11.55,2.20,-2.50,0.000,4,0.245,0.055,2856,728,3963,0,0,0,0,0,0
$GC,199,-0.77,-156.2,19.2,-10.3,26,206,0.00,2.00,0.00,0.000,6,0.000,0.034,2856,2054,3965,0,0,0,0,0,0
$GC,464,-0.77,-156.2,43.3,-9.3,62,467,0.00,2.00,0.00,0.000,4,0.000,0.035,2862,712,3965,0,0,0,0,0,0
$GC,598,-0.77,-156.2,57.9,-11.2,74,606,0.00,2.08,0.00,0.000,6,0.000,0.038,2862,2068,3965,0,0,0,0,0,0
$GC,864,-0.77,-156.2,83.2,-10.5,99,867,0.00,2.00,0.00,0.000,4,0.000,0.031,2873,700,3965,0,0,0,0,0,0
$GC,1071,-0.77,-156.2,109.4,-10.3,118,1075,0.00,2.12,0.00,0.000,6,0.000,0.043,2874,2099,3968,0,0,0,0,0,0
$GC,1336,-0.77,-156.2,138.6,-10.0,142,1340,0.00,2.12,0.00,0.000,4,0.000,0.051,2874,3513,3964,0,0,0,0,0,0
$GC,1355,-0.77,-156.2,142.0,-15.5,143,1359,0.00,2.03,0.00,0.000,6,0.000,0.029,2875,2120,3964,0,0,0,0,0,0
$GC,1622,-0.77,-156.2,178.4,-15.8,167,1625,0.00,2.05,0.00,0.000,4,0.000,0.035,2875,3511,3962,0,0,0,0,0,0
$GC,1649,-0.77,-156.2,182.3,-12.4,169,1658,0.08,2.15,0.00,0.000,6,0.158,0.037,2859,2087,3966,0,0,0,0,0,0
$GC,1917,-0.77,-156.2,215.9,-13.0,189,1921,0.00,2.15,0.00,0.000,4,0.000,0.048,2859,3515,3963,0,0,0,0,0,0
$GC,1957,-0.77,-156.2,221.1,-14.2,191,1961,0.00,2.10,0.00,0.000,6,0.000,0.032,2859,2081,3963,0,0,0,0,0,0
$GC,2224,-0.77,-156.2,250.7,-10.9,204,2228,0.00,2.05,0.00,0.000,4,0.000,0.039,2872,677,3961,0,0,0,0,0,0
$GC,2482,-0.77,-156.2,289.7,-18.2,215,2488,0.00,2.12,0.00,0.000,6,0.000,0.034,2872,2115,3960,0,0,0,0,0,0
$GC,2753,-0.77,-156.2,332.6,-14.9,224,2758,0.00,2.15,-0.08,0.000,4,0.000,0.055,2878,675,3972,0,0,0,0,0,0
$GC,2934,-0.77,-156.2,359.8,-13.1,228,2938,0.00,2.12,0.00,0.000,6,0.000,0.042,2878,2077,3971,0,0,0,0,0,0
$GC,3217,-0.77,-156.2,399.7,-13.2,235,3221,0.00,2.08,0.00,0.000,4,0.000,0.033,2890,657,3968,0,0,0,0,0,0
$GC,3475,-0.77,-156.2,439.0,-18.0,240,3483,0.15,2.15,0.00,0.000,6,0.235,0.038,2855,2095,3965,0,0,0,0,0,0
$GC,3725,-0.77,-156.2,469.7,-11.9,247,3729,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,676,3962,0,0,0,0,0,0
$GC,3982,-0.77,-156.2,508.5,-12.7,252,3986,0.00,2.12,0.00,0.000,6,0.000,0.042,2866,2083,3959,0,0,0,0,0,0
$GC,4238,-0.77,-156.2,544.8,-14.1,259,4242,0.00,2.08,0.00,0.000,4,0.000,0.033,2885,666,3956,0,0,0,0,0,0
$GC,4462,-0.77,-156.2,581.5,-14.9,264,4466,0.00,2.15,0.00,0.000,6,0.000,0.044,2881,2093,3954,0,0,0,0,0,0
$GC,4745,-0.77,-156.2,622.5,-14.3,271,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2098,3950,0,0,0,0,0,0
$GC,4989,-0.77,-156.2,657.5,-13.8,277,4993,0.00,2.12,0.00,0.000,4,0.000,0.038,2883,3524,3950,0,0,0,0,0,0
$GC,5113,-0.77,-156.2,679.7,-16.5,279,5117,0.00,2.12,0.00,0.000,6,0.000,0.035,2882,2078,3948,0,0,0,0,0,0
$GC,5363,-0.77,-156.2,717.1,-14.9,285,5367,0.00,2.22,0.00,0.000,4,0.000,0.059,2883,3507,3946,0,0,0,0,0,0
$GC,5481,-0.77,-156.2,736.4,-16.0,287,5486,0.12,2.10,0.00,0.000,6,0.166,0.036,2854,2086,3944,0,0,0,0,0,0
$GC,5736,-0.77,-156.2,770.9,-13.6,294,5740,0.00,2.20,0.00,0.000,4,0.000,0.059,2854,3500,3943,0,0,0,0,0,0
$GC,5994,-0.77,-156.2,810.3,-14.4,299,6000,0.00,2.10,0.00,0.000,6,0.000,0.033,2861,2084,3940,0,0,0,0,0,0
$GC,6244,-0.77,-156.2,844.7,-14.2,306,6248,0.00,2.20,0.00,0.000,4,0.000,0.058,2861,3501,3938,0,0,0,0,0,0
$GC,6259,-0.77,-156.2,846.4,-12.9,306,6263,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,2087,3939,0,0,0,0,0,0
$GC,6526,-0.77,-156.2,883.4,-13.3,313,6530,0.00,2.17,0.00,0.000,4,0.000,0.043,2873,3526,3940,0,0,0,0,0,0
$GC,6582,-0.77,-156.2,891.7,-14.3,314,6586,0.00,2.10,0.00,0.000,6,0.000,0.033,2884,2093,3936,0,0,0,0,0,0
$STATE,6642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6642,begin apogee
$GC,6649,-0.28,0.0,901.1,13.6,316,6770,0.35,0.00,118.28,1.140,6,0.082,0.000,3014,1910,3362,0,0,0,0,0,0
$STATE,6772,end apogee,CONTROL_FINISHED_OK
$STATE,6772,begin climb
$GC,6776,0.77,156.2,919.3,0.0,319,6918,0.95,2.12,135.12,1.108,4,0.081,0.031,3352,574,2723,0,0,0,0,0,0
$GC,7171,0.77,156.2,794.8,43.1,328,7175,0.00,2.12,0.00,0.000,6,0.000,0.030,3344,1983,2713,0,0,0,0,0,0
$GC,7449,0.77,156.2,679.7,41.6,335,7453,0.00,2.10,0.00,0.000,4,0.000,0.031,3352,574,2710,0,0,0,0,0,0
$GC,7572,0.77,156.2,629.6,40.1,337,7578,0.00,2.08,0.00,0.000,6,0.000,0.030,3344,1963,2709,0,0,0,0,0,0
$GC,7822,0.77,156.2,530.8,39.6,344,7826,0.00,2.12,0.00,0.000,4,0.000,0.040,3329,3363,2706,0,0,0,0,0,0
$GC,7866,0.77,156.2,513.0,39.5,345,7870,0.00,2.03,0.00,0.000,6,0.000,0.026,3342,1976,2708,0,0,0,0,0,0
$GC,8150,0.77,156.2,408.9,36.6,352,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1970,2707,0,0,0,0,0,0
$GC,8393,0.77,156.2,323.0,34.4,358,8397,0.00,2.12,0.00,0.000,4,0.000,0.042,3333,3366,2706,0,0,0,0,0,0
$GC,8651,0.77,156.2,240.8,32.3,367,8657,0.00,2.05,0.00,0.000,6,0.000,0.026,3342,1963,2704,0,0,0,0,0,0
$GC,8910,0.77,156.2,171.5,25.6,385,8914,0.00,2.12,0.00,0.000,4,0.000,0.041,3333,3371,2705,0,0,0,0,0,0
$GC,9158,0.77,156.2,111.0,22.4,407,9165,0.00,2.10,0.00,0.000,6,0.000,0.025,3342,1948,2703,0,0,0,0,0,0
$GC,9422,0.77,156.2,63.2,16.1,432,9426,0.00,2.15,0.00,0.000,4,0.000,0.039,3332,3372,2702,0,0,0,0,0,0
$GC,9673,0.77,156.2,24.4,12.9,458,9681,0.00,2.08,0.00,0.000,6,0.000,0.024,3342,1936,2702,0,0,0,0,0,0
$GC,9936,0.83,203.0,9.7,6.8,507,9976,0.00,2.00,34.60,0.501,4,0.000,0.030,3358,572,2533,0,0,0,0,0,0
$STATE,9992,end climb,SURFACE_DEPTH_REACHED
$STATE,9992,begin surface coast
$FINISH,0.2,1.023183
$STATE,10011,end surface coast,CONTROL_FINISHED_OK
$STATE,10012,begin surface
$SM_CCo,10036,289.85,0.474,0,0,395,727.55
$SM_GC,0.90,0.00,0.00,289.85,0.000,0.000,0.474,42,2079,395,-9.52,-0.34,727.55
$IRIDIUM_FIX,1850.98,-15626.54,170113,060624
$TT8_MAMPS,0.146497
$HUMID,1078915474
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.10
$XPDR_PINGS,89
$AR_CDRIVE_FREE,2912845824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57070583808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,18.271
$10V_AH,10.2,17.787
$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,22.100,97.275,288.000,289.850,0.000,126.686,230.763,633.221,22.250,0.000,49.208,1074.949,6495.621,649.267,3265.581,417.797,33.357,1530.838,0.000,2189.121,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,64.428,1139.762,474.006,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.428,0.000,1077.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,26985,519
$CAP_FILE_SIZE,122641,0
$CFSIZE,260165632,196141056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,150552,1924.481,-15638.672,6,2.1,25,9.6