version: 66.07
glider: 513
mission: 7
dive: 166
start: 7 30 111 11 25 15
data:
$ID,513
$MISSION,7
$DIVE,166
$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,-424333.88
$T_RSLEEP,1
$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,52
$R_STBD_OVSHOOT,38
$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,165
$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
$GPS1,300711,110900,1920.556,-15648.049,73,1.1,79,9.6
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-80.4
$GPS2,300711,112419,1920.973,-15648.142,12,1.1,17,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.235,-0.074
$KALMAN_X,-54967.1,281.2,423.0,38723.3,-6386.9
$KALMAN_Y,82409.0,-1315.8,-724.8,-130850.7,11827.6
$MHEAD_RNG_PITCHd_Wd,97.9,39230,-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,-45.17,0.000,2,0.000,0.000,37,1958,3731,0,0,0,0,0,0
$GC,83,-0.78,-146.5,3.7,-6.6,7,105,9.48,2.35,-3.85,0.000,4,0.242,0.071,2321,3388,3964,0,0,0,0,0,0
$GC,201,-0.78,-146.5,49.9,-26.7,22,205,0.00,2.15,0.00,0.000,6,0.000,0.038,2321,2007,3966,0,0,0,0,0,0
$GC,465,-0.78,-146.5,130.3,-27.4,46,469,0.00,2.17,0.00,0.000,4,0.000,0.051,2310,3408,3968,0,0,0,0,0,0
$GC,484,-0.78,-146.5,135.7,-26.1,47,488,0.12,2.15,0.00,0.000,6,0.188,0.034,2339,1982,3969,0,0,0,0,0,0
$GC,750,-0.78,-146.5,192.1,-21.2,71,754,0.00,2.20,0.00,0.000,4,0.000,0.048,2331,3395,3971,0,0,0,0,0,0
$GC,839,-0.78,-146.5,209.4,-16.9,76,843,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,1978,3973,0,0,0,0,0,0
$GC,1098,-0.78,-146.5,261.1,-20.4,89,1102,0.00,2.20,0.00,0.000,4,0.000,0.049,2320,3398,3972,0,0,0,0,0,0
$GC,1147,-0.78,-146.5,271.5,-19.7,91,1151,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,1984,3972,0,0,0,0,0,0
$GC,1426,-0.78,-146.5,326.3,-19.8,102,1430,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3397,3972,0,0,0,0,0,0
$GC,1550,-0.78,-146.5,350.3,-18.4,104,1556,0.12,2.12,0.00,0.000,6,0.170,0.032,2341,1986,3972,0,0,0,0,0,0
$GC,1800,-0.78,-146.5,392.5,-16.9,111,1804,0.00,2.08,0.00,0.000,4,0.000,0.044,2341,595,3972,0,0,0,0,0,0
$GC,1822,-0.78,-146.5,396.6,-17.4,111,1826,0.00,2.10,0.00,0.000,6,0.000,0.043,2334,1997,3972,0,0,0,0,0,0
$GC,2083,-0.78,-146.5,438.6,-15.6,118,2087,0.00,2.15,0.00,0.000,4,0.000,0.050,2323,3390,3970,0,0,0,0,0,0
$GC,2115,-0.78,-146.5,443.9,-16.3,118,2119,0.00,2.08,0.00,0.000,6,0.000,0.032,2323,1992,3973,0,0,0,0,0,0
$GC,2372,-0.78,-146.5,481.9,-15.0,125,2376,0.00,2.17,0.00,0.000,4,0.000,0.052,2312,3390,3966,0,0,0,0,0,0
$GC,2467,-0.78,-146.5,496.8,-15.0,127,2471,0.12,2.10,0.00,0.000,6,0.169,0.034,2344,1984,3967,0,0,0,0,0,0
$GC,2746,-0.78,-146.5,534.1,-13.2,134,2750,0.00,2.10,0.00,0.000,4,0.000,0.045,2354,589,3964,0,0,0,0,0,0
$GC,2779,-0.78,-146.5,538.8,-12.8,134,2785,0.00,2.12,0.00,0.000,6,0.000,0.047,2345,1992,3963,0,0,0,0,0,0
$GC,3029,-0.78,-146.5,570.5,-12.8,141,3033,0.00,2.20,0.00,0.000,4,0.000,0.054,2334,3393,3961,0,0,0,0,0,0
$GC,3056,-0.78,-146.5,574.3,-14.3,141,3060,0.00,2.12,0.00,0.000,6,0.000,0.036,2334,1984,3961,0,0,0,0,0,0
$GC,3312,-0.78,-146.5,609.3,-13.9,148,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1979,3958,0,0,0,0,0,0
$GC,3555,-0.78,-146.5,642.9,-13.5,154,3559,0.00,2.22,0.00,0.000,4,0.000,0.053,2323,3395,3956,0,0,0,0,0,0
$GC,3639,-0.78,-146.5,654.3,-13.3,156,3643,0.00,2.12,0.00,0.000,6,0.000,0.035,2322,1989,3955,0,0,0,0,0,0
$GC,3928,-0.78,-146.5,696.5,-14.8,163,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1983,3953,0,0,0,0,0,0
$GC,4171,-0.78,-146.5,730.8,-14.0,169,4175,0.00,2.22,0.00,0.000,4,0.000,0.055,2312,3394,3950,0,0,0,0,0,0
$GC,4226,-0.78,-146.5,738.6,-13.7,170,4230,0.00,2.12,0.00,0.000,6,0.000,0.036,2312,1987,3950,0,0,0,0,0,0
$GC,4499,-0.78,-146.5,777.7,-14.5,177,4501,0.12,0.00,0.00,0.000,6,0.188,0.000,2343,1982,3948,0,0,0,0,0,0
$GC,4742,-0.78,-146.5,809.6,-13.3,183,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1981,3945,0,0,0,0,0,0
$GC,4986,-0.78,-146.5,842.7,-13.5,189,4990,0.00,2.25,0.00,0.000,4,0.000,0.058,2333,3402,3945,0,0,0,0,0,0
$GC,5013,-0.78,-146.5,846.6,-13.3,189,5017,0.00,2.15,0.00,0.000,6,0.000,0.035,2333,2007,3943,0,0,0,0,0,0
$GC,5269,-0.78,-146.5,882.2,-14.1,196,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2001,3943,0,0,0,0,0,0
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5434,-0.28,0.0,905.1,14.0,200,5551,0.57,0.00,114.25,1.126,6,0.147,0.000,2507,2005,3382,0,0,0,0,0,0
$STATE,5553,end apogee,CONTROL_FINISHED_OK
$STATE,5554,begin climb
$GC,5556,0.78,146.5,910.9,0.0,203,5689,1.00,0.00,127.75,1.086,6,0.091,0.000,2845,2000,2782,0,0,0,0,0,0
$GC,5924,0.78,146.5,860.2,17.6,212,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2000,2774,0,0,0,0,0,0
$GC,6165,0.78,146.5,817.3,17.7,218,6169,0.00,2.25,0.00,0.000,4,0.000,0.041,2856,548,2773,0,0,0,0,0,0
$GC,6208,0.78,146.5,809.2,18.9,219,6212,0.00,2.17,0.00,0.000,6,0.000,0.039,2856,1954,2770,0,0,0,0,0,0
$GC,6493,0.78,146.5,756.5,18.5,226,6497,0.00,2.25,0.00,0.000,4,0.000,0.056,2856,3373,2770,0,0,0,0,0,0
$GC,6514,0.78,146.5,751.9,20.3,226,6518,0.00,2.20,0.00,0.000,6,0.000,0.034,2867,1936,2769,0,0,0,0,0,0
$GC,6775,0.78,146.5,702.6,18.9,233,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1934,2768,0,0,0,0,0,0
$GC,7020,0.78,146.5,656.9,18.7,239,7024,0.00,2.08,0.00,0.000,4,0.000,0.043,2878,559,2768,0,0,0,0,0,0
$GC,7047,0.78,146.5,651.0,20.0,239,7051,0.00,2.17,0.00,0.000,6,0.000,0.038,2878,1968,2766,0,0,0,0,0,0
$GC,7302,0.78,146.5,600.9,19.7,246,7306,0.00,2.22,0.00,0.000,4,0.000,0.055,2878,3366,2766,0,0,0,0,0,0
$GC,7398,0.78,146.5,579.9,22.3,248,7403,0.15,2.12,0.00,0.000,6,0.212,0.033,2854,1958,2766,0,0,0,0,0,0
$GC,7670,0.78,146.5,528.6,18.5,255,7674,0.00,2.10,0.00,0.000,4,0.000,0.041,2863,552,2765,0,0,0,0,0,0
$GC,7686,0.78,146.5,525.4,18.7,255,7690,0.00,2.12,0.00,0.000,6,0.000,0.038,2863,1967,2763,0,0,0,0,0,0
$GC,7947,0.78,146.5,477.4,18.1,262,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1967,2764,0,0,0,0,0,0
$GC,8190,0.78,146.5,435.2,17.3,268,8194,0.00,2.20,0.00,0.000,4,0.000,0.054,2863,3374,2763,0,0,0,0,0,0
$GC,8250,0.78,146.5,424.4,18.2,269,8254,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1957,2764,0,0,0,0,0,0
$GC,8517,0.78,146.5,382.8,15.2,276,8521,0.00,2.08,0.00,0.000,4,0.000,0.041,2885,561,2763,0,0,0,0,0,0
$GC,8584,0.78,146.5,372.3,15.7,277,8589,0.12,2.15,0.00,0.000,6,0.209,0.040,2856,1976,2761,0,0,0,0,0,0
$GC,8839,0.78,146.5,338.4,13.1,284,8843,0.00,2.17,0.00,0.000,4,0.000,0.054,2846,3368,2762,0,0,0,0,0,0
$GC,8905,0.78,146.5,328.7,13.9,285,8909,0.00,2.10,0.00,0.000,6,0.000,0.033,2854,1965,2762,0,0,0,0,0,0
$GC,9168,0.78,146.5,290.6,15.0,293,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1962,2762,0,0,0,0,0,0
$GC,9414,0.78,146.5,254.6,14.2,305,9418,0.00,2.20,0.00,0.000,4,0.000,0.054,2854,3366,2762,0,0,0,0,0,0
$GC,9633,0.78,146.5,226.2,12.4,315,9637,0.00,2.12,0.00,0.000,6,0.000,0.033,2863,1949,2764,0,0,0,0,0,0
$GC,9890,0.78,146.5,197.1,11.0,328,9894,0.00,2.22,0.00,0.000,4,0.000,0.054,2863,3362,2762,0,0,0,0,0,0
$GC,9955,0.78,146.5,188.7,13.1,333,9963,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1959,2763,0,0,0,0,0,0
$GC,10222,0.78,146.5,156.6,11.3,358,10226,0.00,2.20,0.00,0.000,4,0.000,0.053,2874,3363,2761,0,0,0,0,0,0
$GC,10469,0.78,146.5,123.6,12.5,380,10477,0.10,2.15,0.00,0.000,6,0.183,0.034,2856,1957,2761,0,0,0,0,0,0
$GC,10736,0.78,146.5,92.6,12.1,405,10740,0.00,2.05,0.00,0.000,4,0.000,0.039,2865,559,2761,0,0,0,0,0,0
$GC,10810,0.78,146.5,84.7,10.1,411,10814,0.00,2.08,0.00,0.000,6,0.000,0.033,2865,1970,2760,0,0,0,0,0,0
$GC,11076,0.81,167.0,62.1,7.8,435,11095,0.00,2.17,13.65,0.514,4,0.000,0.048,2865,3364,2699,0,0,0,0,0,0
$GC,11132,0.84,193.8,57.7,7.5,439,11159,0.00,2.10,22.42,0.522,6,0.000,0.031,2876,1947,2591,0,0,0,0,0,0
$GC,11417,0.84,193.8,29.5,10.2,466,11425,0.00,2.25,0.00,0.000,4,0.000,0.051,2876,3354,2589,0,0,0,0,0,0
$GC,11647,0.87,215.2,14.0,7.7,508,11674,0.00,2.12,18.25,0.472,6,0.000,0.030,2886,1957,2504,0,0,0,0,0,0
$STATE,11761,end climb,SURFACE_DEPTH_REACHED
$STATE,11761,begin surface coast
$FINISH,-0.0,1.000965
$STATE,11789,end surface coast,CONTROL_FINISHED_OK
$STATE,11789,begin surface
$SM_CCo,11808,11.52,0.439,0,0,2399,240.14
$SM_GC,3.46,0.00,0.00,11.52,0.000,0.000,0.439,51,1954,2399,-7.97,-1.02,240.14
$IRIDIUM_FIX,1913.80,-15645.39,220113,050512
$TT8_MAMPS,0.254644
$HUMID,1078981281
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.00
$XPDR_PINGS,51
$AR_DIVENUM,166
$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,24.1,22.573
$10V_AH,10.2,21.118
$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,19.475,116.425,296.325,11.525,0.000,56.180,71.191,494.354,12.750,0.000,19.395,1088.420,8457.179,378.654,2422.555,421.085,33.358,1116.182,0.000,1783.151,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,70.564,1125.956,439.491,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.337,0.000,922.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353760
$DATA_FILE_SIZE,26914,533
$CAP_FILE_SIZE,118071,0
$CFSIZE,260165632,193703936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,144512,1921.206,-15646.966,97,1.9,98,9.6