version: 66.07
glider: 513
mission: 7
dive: 145
start: 7 27 111 7 34 32
data:
$ID,513
$MISSION,7
$DIVE,145
$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,-423802.78
$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,48
$R_STBD_OVSHOOT,37
$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,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
$GPS1,270711,072214,1936.399,-15646.933,61,2.1,80,9.6
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-80.0
$GPS2,270711,073338,1936.554,-15647.154,30,1.5,32,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.182,-0.166
$KALMAN_X,-17132.2,-1039.2,-405.7,4789.2,3236.1
$KALMAN_Y,42444.9,-1296.7,-1336.6,-61412.4,14259.0
$MHEAD_RNG_PITCHd_Wd,218.1,67803,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-0.78,-146.5,0.0,0.0,0,79,0.00,0.00,-45.50,0.000,2,0.000,0.000,40,1972,3781,0,0,0,0,0,0
$GC,84,-0.78,-146.5,4.3,-8.4,7,105,9.62,2.15,-2.85,0.000,4,0.248,0.058,2346,599,3964,0,0,0,0,0,0
$GC,168,-0.78,-146.5,45.5,-34.0,18,176,0.00,2.17,0.00,0.000,6,0.000,0.044,2337,1993,3966,0,0,0,0,0,0
$GC,434,-0.78,-146.5,117.1,-21.7,43,438,0.00,2.15,0.00,0.000,4,0.000,0.042,2337,583,3969,0,0,0,0,0,0
$GC,485,-0.78,-146.5,129.7,-23.6,47,489,0.00,2.15,0.00,0.000,6,0.000,0.042,2325,1990,3970,0,0,0,0,0,0
$GC,750,-0.78,-146.5,185.6,-21.1,71,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1989,3972,0,0,0,0,0,0
$GC,1006,-0.78,-146.5,236.7,-18.7,87,1010,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,579,3973,0,0,0,0,0,0
$GC,1039,-0.78,-146.5,243.4,-19.8,88,1044,0.00,2.12,0.00,0.000,6,0.000,0.041,2318,1990,3972,0,0,0,0,0,0
$GC,1292,-0.78,-146.5,292.8,-19.0,101,1296,0.00,2.20,0.00,0.000,4,0.000,0.048,2308,3406,3973,0,0,0,0,0,0
$GC,1394,-0.78,-146.5,310.7,-18.0,105,1398,0.15,2.12,0.00,0.000,6,0.167,0.033,2346,1986,3973,0,0,0,0,0,0
$GC,1660,-0.78,-146.5,352.3,-15.4,112,1664,0.00,2.20,0.00,0.000,4,0.000,0.052,2338,3398,3972,0,0,0,0,0,0
$GC,1693,-0.78,-146.5,357.6,-16.6,112,1699,0.00,2.10,0.00,0.000,6,0.000,0.032,2337,1993,3972,0,0,0,0,0,0
$GC,1943,-0.78,-146.5,395.8,-15.1,119,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1985,3970,0,0,0,0,0,0
$GC,2187,-0.78,-146.5,433.1,-15.4,125,2191,0.00,2.10,0.00,0.000,4,0.000,0.044,2337,587,3975,0,0,0,0,0,0
$GC,2242,-0.78,-146.5,442.2,-15.5,126,2246,0.00,2.15,0.00,0.000,6,0.000,0.046,2327,1979,3970,0,0,0,0,0,0
$GC,2516,-0.78,-146.5,484.9,-15.6,133,2520,0.00,2.22,0.00,0.000,4,0.000,0.053,2316,3408,3968,0,0,0,0,0,0
$GC,2588,-0.78,-146.5,496.0,-14.8,134,2592,0.12,2.15,0.00,0.000,6,0.167,0.036,2348,1980,3968,0,0,0,0,0,0
$GC,2844,-0.78,-146.5,528.4,-12.5,141,2848,0.00,2.22,0.00,0.000,4,0.000,0.054,2339,3400,3966,0,0,0,0,0,0
$GC,2883,-0.78,-146.5,533.4,-12.5,142,2887,0.00,2.12,0.00,0.000,6,0.000,0.034,2344,1982,3965,0,0,0,0,0,0
$GC,3166,-0.78,-146.5,570.2,-12.9,149,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1978,3963,0,0,0,0,0,0
$GC,3410,-0.78,-146.5,602.8,-13.5,155,3414,0.00,2.22,0.00,0.000,4,0.000,0.056,2329,3401,3960,0,0,0,0,0,0
$GC,3466,-0.78,-146.5,610.3,-13.2,156,3471,0.00,2.15,0.00,0.000,6,0.000,0.037,2328,1988,3960,0,0,0,0,0,0
$GC,3739,-0.78,-146.5,648.5,-14.1,163,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1983,3955,0,0,0,0,0,0
$GC,3982,-0.78,-146.5,680.9,-13.2,169,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3956,0,0,0,0,0,0
$GC,4227,-0.78,-146.5,712.1,-12.7,175,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3955,0,0,0,0,0,0
$GC,4470,-0.78,-146.5,743.5,-13.0,181,4474,0.00,2.22,0.00,0.000,4,0.000,0.057,2317,3398,3953,0,0,0,0,0,0
$GC,4503,-0.78,-146.5,748.0,-13.5,181,4507,0.00,2.12,0.00,0.000,6,0.000,0.037,2317,1988,3952,0,0,0,0,0,0
$GC,4758,-0.78,-146.5,782.9,-13.7,188,4763,0.10,2.25,0.00,0.000,4,0.197,0.058,2332,3398,3950,0,0,0,0,0,0
$GC,4803,-0.78,-146.5,788.9,-12.7,189,4807,0.00,2.15,0.00,0.000,6,0.000,0.036,2332,1981,3950,0,0,0,0,0,0
$GC,5080,-0.78,-146.5,824.4,-12.8,196,5084,0.00,2.12,0.00,0.000,4,0.000,0.047,2332,579,3948,0,0,0,0,0,0
$GC,5101,-0.78,-146.5,827.4,-13.7,196,5105,0.00,2.17,0.00,0.000,6,0.000,0.046,2322,1996,3948,0,0,0,0,0,0
$GC,5363,-0.78,-146.5,863.8,-14.0,203,5367,0.00,2.20,0.00,0.000,4,0.000,0.056,2310,3405,3946,0,0,0,0,0,0
$GC,5419,-0.78,-146.5,872.0,-14.6,204,5424,0.12,2.15,0.00,0.000,6,0.172,0.037,2342,1992,3946,0,0,0,0,0,0
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5648,begin apogee
$GC,5653,-0.28,0.0,900.2,12.1,210,5772,0.52,0.00,115.45,1.131,6,0.149,0.000,2502,1986,3381,0,0,0,0,0,0
$STATE,5774,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5778,0.78,146.5,904.7,0.0,213,5911,1.05,0.00,128.35,1.088,6,0.094,0.000,2848,1986,2782,0,0,0,0,0,0
$GC,6134,0.78,146.5,849.3,19.9,222,6138,0.00,2.25,0.00,0.000,4,0.000,0.058,2846,3367,2775,0,0,0,0,0,0
$GC,6166,0.78,146.5,842.4,20.5,222,6172,0.00,2.20,0.00,0.000,6,0.000,0.031,2855,1949,2773,0,0,0,0,0,0
$GC,6417,0.78,146.5,792.9,19.7,229,6421,0.00,2.15,0.00,0.000,4,0.000,0.041,2866,552,2773,0,0,0,0,0,0
$GC,6457,0.78,146.5,784.5,20.3,230,6461,0.00,2.17,0.00,0.000,6,0.000,0.039,2866,1964,2770,0,0,0,0,0,0
$GC,6740,0.78,146.5,728.4,19.9,237,6744,0.00,2.22,0.00,0.000,4,0.000,0.058,2866,3366,2770,0,0,0,0,0,0
$GC,6796,0.78,146.5,716.5,21.2,238,6800,0.00,2.15,0.00,0.000,6,0.000,0.033,2876,1951,2770,0,0,0,0,0,0
$GC,7067,0.78,146.5,662.3,19.5,245,7071,0.00,2.10,0.00,0.000,4,0.000,0.041,2888,558,2769,0,0,0,0,0,0
$GC,7107,0.78,146.5,654.5,19.8,246,7112,0.12,2.15,0.00,0.000,6,0.212,0.038,2860,1968,2767,0,0,0,0,0,0
$GC,7391,0.78,146.5,604.1,17.6,253,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2767,0,0,0,0,0,0
$GC,7633,0.78,146.5,562.4,17.2,259,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2766,0,0,0,0,0,0
$GC,7877,0.78,146.5,518.8,17.9,265,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2766,0,0,0,0,0,0
$GC,8122,0.78,146.5,474.0,18.8,271,8126,0.00,2.22,0.00,0.000,4,0.000,0.055,2860,3371,2765,0,0,0,0,0,0
$GC,8149,0.78,146.5,468.7,18.7,271,8152,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1959,2766,0,0,0,0,0,0
$GC,8404,0.78,146.5,425.0,16.7,278,8408,0.00,2.08,0.00,0.000,4,0.000,0.039,2880,557,2765,0,0,0,0,0,0
$GC,8476,0.78,146.5,412.3,17.0,279,8480,0.00,2.12,0.00,0.000,6,0.000,0.038,2880,1967,2767,0,0,0,0,0,0
$GC,8738,0.78,146.5,368.9,16.2,286,8742,0.00,2.17,0.00,0.000,4,0.000,0.051,2879,3363,2763,0,0,0,0,0,0
$GC,8804,0.78,146.5,357.3,16.9,287,8809,0.15,2.12,0.00,0.000,6,0.208,0.031,2855,1947,2764,0,0,0,0,0,0
$GC,9065,0.78,146.5,319.2,14.4,294,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1941,2760,0,0,0,0,0,0
$GC,9311,0.78,146.5,283.4,14.8,302,9315,0.00,2.05,0.00,0.000,4,0.000,0.041,2865,565,2763,0,0,0,0,0,0
$GC,9372,0.78,146.5,275.0,13.6,304,9378,0.00,2.10,0.00,0.000,6,0.000,0.036,2865,1961,2762,0,0,0,0,0,0
$GC,9626,0.78,146.5,242.9,12.7,317,9630,0.00,2.17,0.00,0.000,4,0.000,0.054,2864,3363,2762,0,0,0,0,0,0
$GC,9867,0.78,146.5,208.1,12.8,328,9871,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,1961,2762,0,0,0,0,0,0
$GC,10131,0.78,146.5,176.0,12.3,349,10135,0.00,2.08,0.00,0.000,4,0.000,0.038,2886,558,2762,0,0,0,0,0,0
$GC,10288,0.78,146.5,155.6,11.6,363,10292,0.12,2.10,0.00,0.000,6,0.206,0.034,2858,1975,2760,0,0,0,0,0,0
$GC,10556,0.78,146.5,129.8,8.6,388,10560,0.00,2.12,0.00,0.000,4,0.000,0.050,2857,3357,2762,0,0,0,0,0,0
$GC,10586,0.78,146.5,127.0,9.2,390,10590,0.00,2.10,0.00,0.000,6,0.000,0.030,2867,1948,2762,0,0,0,0,0,0
$GC,10851,0.82,176.5,104.0,7.4,414,10879,0.00,2.12,21.35,0.564,4,0.000,0.039,2877,557,2659,0,0,0,0,0,0
$GC,11119,0.82,176.5,77.2,9.8,438,11123,0.00,2.10,0.00,0.000,6,0.000,0.034,2877,1956,2657,0,0,0,0,0,0
$GC,11384,0.82,176.5,48.9,10.9,462,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1956,2661,0,0,0,0,0,0
$GC,11649,0.83,187.4,25.0,8.1,492,11664,0.00,2.15,10.35,0.462,4,0.000,0.038,2887,559,2615,0,0,0,0,0,0
$GC,11901,0.87,214.1,5.6,7.5,539,11929,0.00,2.12,21.67,0.469,6,0.000,0.032,2888,1971,2507,0,0,0,0,0,0
$STATE,11934,end climb,SURFACE_DEPTH_REACHED
$STATE,11934,begin surface coast
$FINISH,0.0,1.007137
$STATE,11976,end surface coast,CONTROL_FINISHED_OK
$STATE,11976,begin surface
$SM_CCo,11995,10.15,0.433,0,0,2403,240.14
$SM_GC,3.58,0.00,0.00,10.15,0.000,0.000,0.433,52,1973,2403,-7.96,-0.42,240.14
$IRIDIUM_FIX,1927.51,-15650.79,180113,222230
$TT8_MAMPS,0.266916
$HUMID,1078905152
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.50
$XPDR_PINGS,8
$AR_DIVENUM,145
$AR_SAMPLENUM,4
$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,24.1,20.014
$10V_AH,10.3,19.034
$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,19.600,111.825,297.175,10.150,0.000,23.120,33.973,389.460,2.000,0.000,34.414,1104.985,8515.123,389.577,2321.046,370.655,33.354,1120.659,0.000,1830.200,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,57.525,1130.558,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.249,0.000,978.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,26962,551
$CAP_FILE_SIZE,114243,0
$CFSIZE,260165632,195203072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,105721,1935.739,-15649.376,73,4.5,92,9.6