version: 66.07
glider: 513
mission: 7
dive: 144
start: 7 27 111 4 4 28
data:
$ID,513
$MISSION,7
$DIVE,144
$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,240
$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,-423767.75
$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,2600
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,143
$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
$GPS1,270711,035325,1936.984,-15644.977,92,1.6,93,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-81.3
$GPS2,270711,040334,1937.039,-15645.194,10,2.4,29,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.152,-0.190
$KALMAN_X,-16662.9,-1080.7,-218.6,7595.8,3135.7
$KALMAN_Y,42221.9,-2758.8,-1128.6,-59018.3,16869.8
$MHEAD_RNG_PITCHd_Wd,209.1,68598,-15.3,-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,-0.79,-142.3,0.0,0.0,0,74,0.00,0.00,-45.08,0.000,2,0.000,0.000,49,1974,3762,0,0,0,0,0,0
$GC,78,-0.79,-146.5,4.0,-7.6,7,93,9.50,0.00,-3.25,0.000,6,0.245,0.000,2338,1971,3963,0,0,0,0,0,0
$GC,349,-0.79,-146.5,101.2,-28.9,36,353,0.00,2.10,0.00,0.000,4,0.000,0.044,2333,585,3968,0,0,0,0,0,0
$GC,369,-0.79,-146.5,107.8,-28.8,37,378,0.00,2.17,0.00,0.000,6,0.000,0.041,2325,1989,3969,0,0,0,0,0,0
$GC,634,-0.79,-146.5,171.9,-23.1,62,638,0.00,2.10,0.00,0.000,4,0.000,0.042,2324,592,3971,0,0,0,0,0,0
$GC,675,-0.79,-146.5,181.8,-24.3,65,679,0.12,2.15,0.00,0.000,6,0.183,0.044,2344,1996,3972,0,0,0,0,0,0
$GC,930,-0.79,-146.5,231.9,-17.6,81,934,0.00,2.10,0.00,0.000,4,0.000,0.043,2345,588,3973,0,0,0,0,0,0
$GC,953,-0.79,-146.5,236.0,-17.9,82,957,0.00,2.15,0.00,0.000,6,0.000,0.044,2336,2001,3972,0,0,0,0,0,0
$GC,1211,-0.79,-146.5,284.9,-18.9,95,1215,0.00,2.15,0.00,0.000,4,0.000,0.051,2326,3395,3973,0,0,0,0,0,0
$GC,1297,-0.79,-146.5,300.4,-17.6,99,1301,0.00,2.08,0.00,0.000,6,0.000,0.032,2326,1995,3973,0,0,0,0,0,0
$GC,1580,-0.79,-146.5,353.0,-18.8,106,1584,0.00,2.20,0.00,0.000,4,0.000,0.052,2315,3402,3973,0,0,0,0,0,0
$GC,1619,-0.79,-146.5,360.0,-17.5,107,1623,0.00,2.12,0.00,0.000,6,0.000,0.034,2314,1986,3975,0,0,0,0,0,0
$GC,1904,-0.79,-146.5,409.1,-16.5,114,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1980,3973,0,0,0,0,0,0
$GC,2146,-0.79,-146.5,449.7,-17.0,120,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1980,3970,0,0,0,0,0,0
$GC,2391,-0.79,-146.5,489.6,-16.6,126,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1980,3968,0,0,0,0,0,0
$GC,2634,-0.79,-146.5,530.8,-16.9,132,2638,0.10,2.25,0.00,0.000,4,0.193,0.058,2329,3400,3967,0,0,0,0,0,0
$GC,2667,-0.79,-146.5,536.3,-16.1,132,2673,0.00,2.12,0.00,0.000,6,0.000,0.034,2329,1987,3966,0,0,0,0,0,0
$GC,2917,-0.79,-146.5,574.4,-15.4,139,2921,0.00,2.12,0.00,0.000,4,0.000,0.046,2330,582,3962,0,0,0,0,0,0
$GC,2944,-0.79,-146.5,578.8,-15.6,139,2948,0.00,2.15,0.00,0.000,6,0.000,0.046,2319,1987,3963,0,0,0,0,0,0
$GC,3205,-0.79,-146.5,620.3,-16.0,146,3209,0.00,2.20,0.00,0.000,4,0.000,0.054,2304,3400,3958,0,0,0,0,0,0
$GC,3295,-0.79,-146.5,635.2,-16.0,148,3299,0.12,2.12,0.00,0.000,6,0.174,0.034,2339,1991,3960,0,0,0,0,0,0
$GC,3572,-0.79,-146.5,675.9,-14.6,155,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1986,3958,0,0,0,0,0,0
$GC,3817,-0.79,-146.5,711.2,-14.4,161,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1986,3956,0,0,0,0,0,0
$GC,4059,-0.79,-146.5,744.1,-13.3,167,4063,0.00,2.12,0.00,0.000,4,0.000,0.047,2339,583,3952,0,0,0,0,0,0
$GC,4087,-0.79,-146.5,747.8,-13.7,167,4091,0.00,2.17,0.00,0.000,6,0.000,0.048,2331,1992,3954,0,0,0,0,0,0
$GC,4348,-0.79,-146.5,782.5,-13.3,174,4352,0.00,2.17,0.00,0.000,4,0.000,0.054,2320,3399,3952,0,0,0,0,0,0
$GC,4507,-0.79,-146.5,804.2,-13.3,177,4511,0.00,2.12,0.00,0.000,6,0.000,0.035,2320,1991,3950,0,0,0,0,0,0
$GC,4762,-0.79,-146.5,840.4,-14.2,184,4766,0.00,2.25,0.00,0.000,4,0.000,0.058,2309,3397,3948,0,0,0,0,0,0
$GC,4801,-0.79,-146.5,846.0,-14.1,185,4806,0.12,2.15,0.00,0.000,6,0.170,0.035,2341,1981,3948,0,0,0,0,0,0
$GC,5085,-0.79,-146.5,881.5,-12.3,192,5089,0.00,2.25,0.00,0.000,4,0.000,0.055,2331,3406,3947,0,0,0,0,0,0
$GC,5118,-0.79,-146.5,886.1,-12.9,192,5124,0.00,2.15,0.00,0.000,6,0.000,0.035,2335,1988,3946,0,0,0,0,0,0
$STATE,5244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5244,begin apogee
$GC,5251,-0.28,0.0,902.9,13.2,196,5369,0.57,0.00,115.60,1.128,6,0.147,0.000,2506,1982,3381,0,0,0,0,0,0
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5374,0.79,146.5,907.9,0.0,199,5507,1.05,0.00,127.53,1.088,6,0.093,0.000,2853,1981,2782,0,0,0,0,0,0
$GC,5732,0.79,146.5,855.9,18.8,208,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1981,2774,0,0,0,0,0,0
$GC,5974,0.79,146.5,811.9,18.2,214,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1981,2773,0,0,0,0,0,0
$GC,6218,0.79,146.5,767.5,18.5,220,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1981,2771,0,0,0,0,0,0
$GC,6462,0.79,146.5,722.8,18.4,226,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1981,2769,0,0,0,0,0,0
$GC,6705,0.79,146.5,680.0,17.4,232,6709,0.00,2.15,0.00,0.000,4,0.000,0.041,2864,553,2769,0,0,0,0,0,0
$GC,6779,0.79,146.5,667.3,17.6,233,6783,0.00,2.15,0.00,0.000,6,0.000,0.036,2860,1969,2766,0,0,0,0,0,0
$GC,7028,0.79,146.5,624.7,17.1,239,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1964,2766,0,0,0,0,0,0
$GC,7272,0.79,146.5,582.6,17.5,245,7276,0.00,2.20,0.00,0.000,4,0.000,0.055,2864,3363,2769,0,0,0,0,0,0
$GC,7350,0.79,146.5,567.6,19.4,246,7356,0.00,2.15,0.00,0.000,6,0.000,0.033,2875,1942,2766,0,0,0,0,0,0
$GC,7600,0.79,146.5,520.1,18.9,253,7604,0.00,2.08,0.00,0.000,4,0.000,0.041,2886,556,2765,0,0,0,0,0,0
$GC,7661,0.79,146.5,508.1,19.4,254,7665,0.12,2.12,0.00,0.000,6,0.211,0.037,2859,1965,2762,0,0,0,0,0,0
$GC,7928,0.79,146.5,461.6,17.6,261,7932,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,547,2761,0,0,0,0,0,0
$GC,8057,0.79,146.5,438.5,18.1,264,8061,0.00,2.15,0.00,0.000,6,0.000,0.036,2868,1968,2762,0,0,0,0,0,0
$GC,8342,0.79,146.5,390.7,16.8,271,8346,0.00,2.12,0.00,0.000,4,0.000,0.038,2878,554,2765,0,0,0,0,0,0
$GC,8448,0.79,146.5,371.4,17.2,273,8452,0.00,2.12,0.00,0.000,6,0.000,0.035,2878,1964,2762,0,0,0,0,0,0
$GC,8714,0.79,146.5,330.1,15.2,280,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1963,2762,0,0,0,0,0,0
$GC,8959,0.79,146.5,296.6,13.6,286,8963,0.00,2.17,0.00,0.000,4,0.000,0.054,2878,3360,2762,0,0,0,0,0,0
$GC,8981,0.79,146.5,292.8,15.7,287,8986,0.12,2.12,0.00,0.000,6,0.214,0.031,2861,1947,2762,0,0,0,0,0,0
$GC,9240,0.79,146.5,262.4,11.0,300,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1943,2762,0,0,0,0,0,0
$GC,9488,0.79,146.5,233.5,12.5,312,9492,0.00,2.20,0.00,0.000,4,0.000,0.050,2861,3362,2762,0,0,0,0,0,0
$GC,9544,0.79,146.5,224.7,15.2,314,9551,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,1956,2762,0,0,0,0,0,0
$GC,9801,0.79,146.5,191.7,12.0,330,9805,0.00,2.08,0.00,0.000,4,0.000,0.038,2880,557,2759,0,0,0,0,0,0
$GC,10049,0.79,146.5,160.3,13.4,352,10056,0.00,2.12,0.00,0.000,6,0.000,0.038,2881,1956,2760,0,0,0,0,0,0
$GC,10315,0.79,146.5,130.4,11.3,377,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1955,2760,0,0,0,0,0,0
$GC,10578,0.79,146.5,103.3,10.0,402,10581,0.00,2.08,0.00,0.000,4,0.000,0.038,2897,561,2760,0,0,0,0,0,0
$GC,10832,0.79,146.5,79.9,10.8,425,10837,0.12,2.10,0.00,0.000,6,0.200,0.034,2862,1968,2761,0,0,0,0,0,0
$GC,11096,0.87,204.8,61.8,6.2,449,11145,0.00,2.17,43.47,0.535,4,0.000,0.038,2871,563,2544,0,0,0,0,0,0
$GC,11255,0.87,204.8,44.8,13.0,463,11260,0.00,2.12,0.00,0.000,6,0.000,0.035,2871,1963,2540,0,0,0,0,0,0
$GC,11517,0.88,218.8,17.8,8.0,498,11539,0.00,2.17,12.20,0.463,4,0.000,0.039,2881,560,2486,0,0,0,0,0,0
$GC,11616,0.88,218.8,8.3,10.5,515,11624,0.00,2.15,0.00,0.000,6,0.000,0.034,2881,1966,2485,0,0,0,0,0,0
$STATE,11666,end climb,SURFACE_DEPTH_REACHED
$STATE,11666,begin surface coast
$FINISH,0.1,1.023111
$STATE,11694,end surface coast,CONTROL_FINISHED_OK
$STATE,11694,begin surface
$SM_CCo,11714,9.48,0.430,0,0,2401,240.14
$SM_GC,3.66,0.00,0.00,9.48,0.000,0.000,0.430,55,1971,2401,-7.94,-0.51,240.14
$IRIDIUM_FIX,1932.09,-15644.78,180113,181818
$TT8_MAMPS,0.257712
$HUMID,1078909023
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.10
$XPDR_PINGS,4
$AR_DIVENUM,144
$AR_SAMPLENUM,2
$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,24.1,19.902
$10V_AH,9.9,18.944
$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,19.500,98.675,298.800,9.475,0.000,29.457,39.434,310.007,1.000,0.000,32.222,1059.640,8370.375,366.809,2177.278,367.032,33.359,1093.279,0.000,1776.957,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,57.525,1128.257,430.287,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.376,0.000,916.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26938,529
$CAP_FILE_SIZE,109279,0
$CFSIZE,260165632,195280896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,072214,1936.399,-15646.933,61,2.1,80,9.6