version: 66.07
glider: 513
mission: 7
dive: 19
start: 7 4 111 17 26 51
data:
$ID,513
$MISSION,7
$DIVE,19
$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,300
$T_MISSION,880
$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,130
$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,250
$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,-420874.94
$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,2120
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2940
$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,18
$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
$GPS1,040711,171736,1917.042,-15630.457,32,0.9,33,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-78.8
$GPS2,040711,172555,1916.858,-15630.380,10,1.1,15,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.181,-0.163
$KALMAN_X,28820.1,-376.3,-229.6,-29157.5,4890.1
$KALMAN_Y,-20220.2,282.4,452.6,-21309.9,-3854.2
$MHEAD_RNG_PITCHd_Wd,218.4,40375,-18.9,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.91,-127.0,0.0,0.0,0,92,0.00,0.00,-62.85,0.000,6,0.000,0.000,42,2111,3455,0,0,0,0,0,0
$GC,96,-0.91,-127.0,2.1,-3.2,10,110,9.52,2.12,0.00,0.000,4,0.255,0.035,2306,701,3455,0,0,0,0,0,0
$GC,243,-0.91,-127.0,47.8,-30.2,31,247,0.00,2.20,0.00,0.000,6,0.000,0.051,2297,2122,3459,0,0,0,0,0,0
$GC,509,-0.91,-127.0,126.2,-25.0,56,512,0.00,2.17,0.00,0.000,4,0.000,0.056,2286,3528,3464,0,0,0,0,0,0
$GC,679,-0.91,-127.0,163.6,-18.9,71,683,0.00,2.10,0.00,0.000,6,0.000,0.033,2295,2102,3462,0,0,0,0,0,0
$GC,939,-0.91,-127.0,207.8,-15.1,93,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2097,3460,0,0,0,0,0,0
$GC,1187,-0.91,-127.0,240.4,-13.0,105,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2097,3465,0,0,0,0,0,0
$GC,1434,-0.91,-127.0,273.5,-12.3,117,1438,0.00,2.20,0.00,0.000,4,0.000,0.056,2285,3534,3467,0,0,0,0,0,0
$GC,1483,-0.91,-127.0,280.6,-14.4,119,1487,0.00,2.08,0.00,0.000,6,0.000,0.033,2286,2115,3466,0,0,0,0,0,0
$GC,1761,-0.91,-127.0,318.1,-12.9,130,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2110,3466,0,0,0,0,0,0
$GC,2006,-0.91,-127.0,350.6,-13.4,136,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2110,3467,0,0,0,0,0,0
$GC,2249,-0.91,-127.0,381.1,-11.9,142,2253,0.00,2.17,0.00,0.000,4,0.000,0.055,2282,3530,3466,0,0,0,0,0,0
$GC,2270,-0.91,-127.0,383.5,-11.4,142,2274,0.00,2.08,0.00,0.000,6,0.000,0.034,2282,2118,3465,0,0,0,0,0,0
$GC,2532,-0.91,-127.0,409.6,-9.8,149,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2113,3465,0,0,0,0,0,0
$GC,2775,-0.91,-127.0,432.0,-9.5,155,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2113,3464,0,0,0,0,0,0
$GC,3018,-0.91,-127.0,458.7,-11.1,161,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2113,3460,0,0,0,0,0,0
$GC,3262,-0.91,-127.0,485.2,-11.2,167,3266,0.00,2.05,0.00,0.000,4,0.000,0.042,2287,719,3462,0,0,0,0,0,0
$GC,3295,-0.91,-127.0,489.1,-11.6,167,3301,0.12,2.15,0.00,0.000,6,0.215,0.055,2299,2119,3461,0,0,0,0,0,0
$GC,3545,-0.91,-127.0,513.5,-9.3,174,3549,0.00,2.17,0.00,0.000,4,0.000,0.061,2290,3525,3460,0,0,0,0,0,0
$GC,3618,-0.91,-127.0,520.2,-9.6,175,3622,0.00,2.10,0.00,0.000,6,0.000,0.038,2295,2115,3459,0,0,0,0,0,0
$GC,3869,-0.91,-127.0,542.2,-8.7,181,3873,0.00,2.20,0.00,0.000,4,0.000,0.058,2286,3535,3458,0,0,0,0,0,0
$GC,3935,-0.91,-127.0,548.7,-10.1,182,3939,0.00,2.10,0.00,0.000,6,0.000,0.038,2294,2117,3456,0,0,0,0,0,0
$GC,4191,-0.91,-127.0,572.7,-9.3,189,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2113,3454,0,0,0,0,0,0
$GC,4435,-0.91,-127.0,596.2,-9.7,195,4439,0.00,2.08,0.00,0.000,4,0.000,0.043,2294,715,3452,0,0,0,0,0,0
$GC,4481,-0.91,-127.0,600.3,-9.1,196,4485,0.00,2.17,0.00,0.000,6,0.000,0.055,2285,2129,3452,0,0,0,0,0,0
$GC,4770,-0.91,-127.0,628.5,-9.8,203,4774,0.00,2.10,0.00,0.000,4,0.000,0.041,2288,707,3450,0,0,0,0,0,0
$GC,4793,-0.91,-127.0,630.9,-9.9,203,4797,0.00,2.17,0.00,0.000,6,0.000,0.055,2279,2115,3450,0,0,0,0,0,0
$GC,5048,-0.91,-127.0,655.9,-9.5,210,5052,0.00,2.08,0.00,0.000,4,0.000,0.045,2279,716,3448,0,0,0,0,0,0
$GC,5159,-0.91,-127.0,666.9,-10.0,212,5164,0.15,2.20,0.00,0.000,6,0.209,0.058,2305,2130,3448,0,0,0,0,0,0
$GC,5416,-0.91,-127.0,687.0,-7.7,219,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2130,3446,0,0,0,0,0,0
$GC,5658,-0.91,-127.0,704.6,-7.2,225,5662,0.00,2.10,0.00,0.000,4,0.000,0.044,2308,714,3445,0,0,0,0,0,0
$GC,5731,-0.91,-127.0,710.2,-7.0,226,5735,0.00,2.17,0.00,0.000,6,0.000,0.056,2299,2126,3445,0,0,0,0,0,0
$GC,5982,-0.91,-127.0,728.6,-7.5,232,5986,0.00,2.17,0.00,0.000,4,0.000,0.063,2289,3527,3443,0,0,0,0,0,0
$GC,6059,-0.91,-127.0,735.0,-8.5,233,6065,0.00,2.10,0.00,0.000,6,0.000,0.037,2289,2115,3445,0,0,0,0,0,0
$GC,6309,-0.91,-127.0,754.5,-7.8,240,6313,0.00,2.08,0.00,0.000,4,0.000,0.044,2289,719,3441,0,0,0,0,0,0
$GC,6332,-0.91,-127.0,756.4,-8.3,240,6336,0.00,2.17,0.00,0.000,6,0.000,0.055,2278,2125,3441,0,0,0,0,0,0
$GC,6593,-0.91,-127.0,776.1,-7.7,247,6597,0.00,2.12,0.00,0.000,4,0.000,0.042,2278,711,3440,0,0,0,0,0,0
$GC,6712,-0.91,-127.0,785.2,-8.1,249,6717,0.12,2.20,0.00,0.000,6,0.219,0.056,2298,2131,3439,0,0,0,0,0,0
$GC,6962,-0.91,-127.0,802.4,-6.8,255,6966,0.00,2.12,0.00,0.000,4,0.000,0.044,2300,723,3438,0,0,0,0,0,0
$GC,7068,-0.91,-127.0,809.9,-6.1,257,7072,0.00,2.17,0.00,0.000,6,0.000,0.056,2290,2126,3438,0,0,0,0,0,0
$GC,7330,-0.91,-127.0,827.2,-6.6,264,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2125,3436,0,0,0,0,0,0
$GC,7573,-0.91,-127.0,843.6,-6.7,270,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2125,3434,0,0,0,0,0,0
$GC,7816,-0.91,-127.0,859.1,-6.3,276,7820,0.00,2.12,0.00,0.000,4,0.000,0.044,2300,714,3433,0,0,0,0,0,0
$GC,7867,-0.91,-127.0,862.5,-7.0,277,7872,0.00,2.17,0.00,0.000,6,0.000,0.055,2291,2119,3435,0,0,0,0,0,0
$GC,8140,-0.91,-127.0,879.6,-6.0,284,8144,0.00,2.12,0.00,0.000,4,0.000,0.048,2291,718,3434,0,0,0,0,0,0
$GC,8189,-0.91,-127.0,883.1,-6.8,285,8193,0.00,2.17,0.00,0.000,6,0.000,0.057,2279,2119,3434,0,0,0,0,0,0
$STATE,8459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8459,begin apogee
$GC,8466,-0.28,0.0,900.4,6.4,292,8573,0.77,0.00,103.30,1.197,6,0.186,0.000,2504,1925,2940,0,0,0,0,0,0
$STATE,8575,end apogee,CONTROL_FINISHED_OK
$STATE,8575,begin climb
$GC,8578,0.91,127.0,901.0,0.0,294,8701,1.15,2.40,112.53,1.140,4,0.099,0.053,2884,3323,2421,0,0,0,0,0,0
$GC,8718,0.91,127.0,871.0,28.8,298,8722,0.00,2.22,0.00,0.000,6,0.000,0.034,2894,1935,2419,0,0,0,0,0,0
$GC,8996,0.91,127.0,792.1,28.5,305,9000,0.00,2.20,0.00,0.000,4,0.000,0.044,2906,511,2416,0,0,0,0,0,0
$GC,9058,0.91,127.0,774.6,26.2,306,9062,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1941,2410,0,0,0,0,0,0
$GC,9318,0.91,127.0,700.2,28.6,313,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1949,2410,0,0,0,0,0,0
$GC,9562,0.91,127.0,631.5,28.1,319,9566,0.00,2.17,0.00,0.000,4,0.000,0.052,2906,3335,2409,0,0,0,0,0,0
$GC,9578,0.91,127.0,627.0,27.7,319,9582,0.00,2.15,0.00,0.000,6,0.000,0.035,2916,1920,2409,0,0,0,0,0,0
$GC,9839,0.91,127.0,555.8,27.3,326,9843,0.00,2.12,0.00,0.000,4,0.000,0.044,2927,521,2408,0,0,0,0,0,0
$GC,9877,0.91,127.0,544.4,29.6,326,9883,0.12,2.15,0.00,0.000,6,0.227,0.039,2901,1933,2407,0,0,0,0,0,0
$GC,10127,0.91,127.0,477.7,26.8,333,10131,0.00,2.20,0.00,0.000,4,0.000,0.055,2900,3336,2406,0,0,0,0,0,0
$GC,10154,0.91,127.0,470.2,26.2,333,10158,0.00,2.12,0.00,0.000,6,0.000,0.036,2909,1924,2407,0,0,0,0,0,0
$GC,10410,0.91,127.0,404.0,25.4,340,10413,0.00,2.12,0.00,0.000,4,0.000,0.043,2921,519,2406,0,0,0,0,0,0
$GC,10459,0.91,127.0,391.2,25.0,341,10463,0.00,2.15,0.00,0.000,6,0.000,0.039,2921,1936,2404,0,0,0,0,0,0
$GC,10738,0.91,127.0,322.6,24.6,348,10742,0.00,2.15,0.00,0.000,4,0.000,0.053,2921,3339,2405,0,0,0,0,0,0
$GC,10810,0.91,127.0,303.8,25.5,349,10815,0.15,2.12,0.00,0.000,6,0.230,0.033,2898,1923,2405,0,0,0,0,0,0
$GC,11068,0.91,127.0,248.4,19.6,361,11072,0.00,2.10,0.00,0.000,4,0.000,0.044,2907,525,2404,0,0,0,0,0,0
$GC,11102,0.91,127.0,241.5,20.5,362,11108,0.00,2.12,0.00,0.000,6,0.000,0.038,2907,1934,2402,0,0,0,0,0,0
$GC,11356,0.91,127.0,192.4,18.9,376,11360,0.00,2.12,0.00,0.000,4,0.000,0.051,2910,3334,2401,0,0,0,0,0,0
$GC,11397,0.91,127.0,184.7,20.0,379,11401,0.00,2.10,0.00,0.000,6,0.000,0.034,2917,1927,2402,0,0,0,0,0,0
$GC,11665,0.91,127.0,133.7,18.1,404,11669,0.00,2.12,0.00,0.000,4,0.000,0.048,2922,3336,2400,0,0,0,0,0,0
$GC,11738,0.91,127.0,119.1,19.6,410,11743,0.15,2.10,0.00,0.000,6,0.225,0.031,2894,1917,2403,0,0,0,0,0,0
$GC,11999,0.91,127.0,79.9,13.0,434,12003,0.00,2.15,0.00,0.000,4,0.000,0.048,2894,3335,2402,0,0,0,0,0,0
$GC,12140,0.91,127.0,60.4,13.1,446,12144,0.00,2.08,0.00,0.000,6,0.000,0.032,2904,1930,2404,0,0,0,0,0,0
$GC,12404,0.91,127.0,24.3,13.7,474,12412,0.00,2.10,0.00,0.000,4,0.000,0.042,2915,536,2403,0,0,0,0,0,0
$GC,12427,0.91,127.0,20.9,13.7,477,12435,0.00,2.10,0.00,0.000,6,0.000,0.035,2914,1938,2404,0,0,0,0,0,0
$STATE,12556,end climb,SURFACE_DEPTH_REACHED
$STATE,12558,begin surface coast
$FINISH,-0.1,1.009145
$STATE,12575,end surface coast,CONTROL_FINISHED_OK
$STATE,12575,begin surface
$SM_CCo,12594,58.60,0.508,0,0,1922,250.20
$SM_GC,1.05,0.00,0.00,58.60,0.000,0.000,0.508,55,2123,1922,-7.96,0.11,250.20
$IRIDIUM_FIX,1913.80,-15630.09,271212,080810
$TT8_MAMPS,0.060593
$HUMID,1078946442
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.30
$XPDR_PINGS,7
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345097216
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59993587712
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,4.581
$10V_AH,10.3,5.223
$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,19.800,124.875,215.825,58.600,0.000,22.732,38.013,246.402,1.750,0.000,16.863,1071.439,9524.148,362.662,1873.502,325.008,33.357,1089.747,0.000,1530.525,0.000,0.540,0.000
$DEVICE_MAMPS,254.644,67.496,1197.287,507.754,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.452,0.000,547.050,0.000,0.000,0.000,0.000,13933.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.645,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,27041,504
$CAP_FILE_SIZE,118531,0
$CFSIZE,260165632,205246464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,205907,1914.964,-15631.146,28,1.2,28,9.6