version: 66.07
glider: 513
mission: 7
dive: 30
start: 7 6 111 10 14 42
data:
$ID,513
$MISSION,7
$DIVE,30
$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,-421118.12
$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,2615
$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,2180
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,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,29
$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
$GPS1,060711,095005,1858.508,-15642.274,30,1.0,34,9.6
$_CALLS,4
$_XMS_NAKs,44
$_XMS_TOUTs,2
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-79.3
$GPS2,060711,101350,1857.961,-15642.293,36,1.2,36,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042,0.240
$KALMAN_X,48024.7,-435.3,-251.9,-69057.7,4291.4
$KALMAN_Y,-42872.9,382.9,135.7,-33434.8,-7136.9
$MHEAD_RNG_PITCHd_Wd,340.4,6060,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.91,-127.0,0.0,0.0,0,87,0.00,0.00,-54.30,0.000,6,0.000,0.000,35,2164,3456,0,0,0,0,0,0
$GC,92,-0.91,-127.0,3.0,-5.7,9,107,9.57,2.25,0.00,0.000,4,0.253,0.060,2302,3583,3459,0,0,0,0,0,0
$GC,349,-0.91,-127.0,80.1,-28.7,39,357,0.00,2.12,0.00,0.000,6,0.000,0.037,2304,2195,3462,0,0,0,0,0,0
$GC,615,-0.91,-127.0,141.5,-20.1,64,619,0.00,2.17,0.00,0.000,4,0.000,0.060,2295,3585,3463,0,0,0,0,0,0
$GC,689,-0.91,-127.0,158.1,-22.3,70,697,0.00,2.12,0.00,0.000,6,0.000,0.035,2295,2172,3464,0,0,0,0,0,0
$GC,951,-0.91,-127.0,204.5,-18.0,94,954,0.00,2.05,0.00,0.000,4,0.000,0.041,2300,777,3467,0,0,0,0,0,0
$GC,1079,-0.91,-127.0,225.7,-14.9,99,1085,0.12,2.12,0.00,0.000,6,0.205,0.054,2320,2178,3465,0,0,0,0,0,0
$GC,1333,-0.91,-127.0,260.9,-12.7,112,1337,0.00,2.15,0.00,0.000,4,0.000,0.054,2310,3599,3465,0,0,0,0,0,0
$GC,1344,-0.91,-127.0,262.2,-12.0,112,1350,0.00,2.10,0.00,0.000,6,0.000,0.032,2310,2170,3465,0,0,0,0,0,0
$GC,1597,-0.91,-127.0,290.7,-11.5,125,1601,0.00,2.05,0.00,0.000,4,0.000,0.041,2311,778,3466,0,0,0,0,0,0
$GC,1809,-0.91,-127.0,318.0,-12.8,131,1814,0.00,2.12,0.00,0.000,6,0.000,0.054,2301,2179,3466,0,0,0,0,0,0
$GC,2065,-0.91,-127.0,347.7,-11.8,138,2069,0.00,2.05,0.00,0.000,4,0.000,0.040,2300,785,3466,0,0,0,0,0,0
$GC,2224,-0.91,-127.0,367.5,-12.0,141,2228,0.12,2.12,0.00,0.000,6,0.207,0.054,2319,2182,3465,0,0,0,0,0,0
$GC,2478,-0.91,-127.0,396.2,-11.5,148,2482,0.00,2.17,0.00,0.000,4,0.000,0.057,2310,3592,3465,0,0,0,0,0,0
$GC,2624,-0.91,-127.0,410.5,-10.1,151,2628,0.00,2.05,0.00,0.000,6,0.000,0.035,2306,2185,3463,0,0,0,0,0,0
$GC,2903,-0.91,-127.0,436.4,-9.1,158,2907,0.00,2.08,0.00,0.000,4,0.000,0.041,2310,782,3462,0,0,0,0,0,0
$GC,2947,-0.91,-127.0,440.7,-9.0,159,2951,0.00,2.12,0.00,0.000,6,0.000,0.053,2300,2183,3462,0,0,0,0,0,0
$GC,3225,-0.91,-127.0,467.5,-10.1,166,3229,0.00,2.17,0.00,0.000,4,0.000,0.061,2289,3593,3460,0,0,0,0,0,0
$GC,3291,-0.91,-127.0,474.8,-10.3,167,3296,0.12,2.08,0.00,0.000,6,0.206,0.038,2317,2177,3457,0,0,0,0,0,0
$GC,3546,-0.91,-127.0,498.3,-9.0,174,3550,0.00,2.08,0.00,0.000,4,0.000,0.044,2318,785,3459,0,0,0,0,0,0
$GC,3638,-0.91,-127.0,507.0,-9.9,176,3642,0.00,2.12,0.00,0.000,6,0.000,0.057,2309,2177,3457,0,0,0,0,0,0
$GC,3921,-0.91,-127.0,533.2,-9.0,183,3925,0.00,2.10,0.00,0.000,4,0.000,0.041,2309,772,3454,0,0,0,0,0,0
$GC,4040,-0.91,-127.0,544.3,-9.0,185,4044,0.00,2.17,0.00,0.000,6,0.000,0.059,2299,2176,3453,0,0,0,0,0,0
$GC,4295,-0.91,-127.0,568.4,-9.5,192,4299,0.00,2.17,0.00,0.000,4,0.000,0.061,2287,3597,3451,0,0,0,0,0,0
$GC,4464,-0.91,-127.0,586.4,-10.9,195,4470,0.12,2.10,0.00,0.000,6,0.206,0.038,2317,2176,3450,0,0,0,0,0,0
$GC,4715,-0.91,-127.0,608.5,-8.8,202,4718,0.00,2.10,0.00,0.000,4,0.000,0.044,2316,768,3448,0,0,0,0,0,0
$GC,4765,-0.91,-127.0,612.8,-8.4,203,4769,0.00,2.17,0.00,0.000,6,0.000,0.056,2308,2189,3448,0,0,0,0,0,0
$GC,5038,-0.91,-127.0,634.2,-7.8,210,5042,0.00,2.15,0.00,0.000,4,0.000,0.045,2308,764,3446,0,0,0,0,0,0
$GC,5132,-0.91,-127.0,642.2,-8.8,212,5137,0.00,2.17,0.00,0.000,6,0.000,0.055,2298,2181,3445,0,0,0,0,0,0
$GC,5405,-0.91,-127.0,663.5,-7.9,219,5409,0.00,2.12,0.00,0.000,4,0.000,0.044,2297,768,3443,0,0,0,0,0,0
$GC,5467,-0.91,-127.0,668.8,-8.6,220,5472,0.15,2.17,0.00,0.000,6,0.207,0.056,2323,2181,3440,0,0,0,0,0,0
$GC,5733,-0.91,-127.0,687.0,-6.8,227,5737,0.00,2.17,0.00,0.000,4,0.000,0.063,2313,3595,3440,0,0,0,0,0,0
$GC,5795,-0.91,-127.0,691.4,-7.2,228,5799,0.00,2.10,0.00,0.000,6,0.000,0.038,2313,2176,3440,0,0,0,0,0,0
$GC,6062,-0.91,-127.0,709.4,-6.7,235,6066,0.00,2.10,0.00,0.000,4,0.000,0.047,2313,778,3439,0,0,0,0,0,0
$GC,6107,-0.91,-127.0,712.7,-7.6,236,6111,0.00,2.17,0.00,0.000,6,0.000,0.058,2299,2193,3439,0,0,0,0,0,0
$GC,6385,-0.91,-127.0,730.5,-6.5,243,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2188,3437,0,0,0,0,0,0
$GC,6628,-0.91,-127.0,746.9,-6.9,249,6632,0.00,2.12,0.00,0.000,4,0.000,0.046,2299,771,3435,0,0,0,0,0,0
$GC,6649,-0.91,-127.0,748.5,-6.6,249,6654,0.00,2.15,0.00,0.000,6,0.000,0.057,2297,2174,3435,0,0,0,0,0,0
$GC,6911,-0.91,-127.0,768.3,-7.6,256,6915,0.00,2.12,0.00,0.000,4,0.000,0.044,2293,765,3434,0,0,0,0,0,0
$GC,6928,-0.91,-127.0,769.6,-7.6,256,6933,0.15,2.20,0.00,0.000,6,0.207,0.057,2318,2179,3434,0,0,0,0,0,0
$GC,7195,-0.91,-127.0,788.1,-6.8,263,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2179,3432,0,0,0,0,0,0
$GC,7439,-0.91,-127.0,805.5,-7.2,269,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2176,3431,0,0,0,0,0,0
$GC,7684,-0.91,-127.0,822.0,-6.7,275,7687,0.00,2.10,0.00,0.000,4,0.000,0.047,2318,781,3430,0,0,0,0,0,0
$GC,7756,-0.91,-127.0,827.4,-7.0,276,7760,0.00,2.15,0.00,0.000,6,0.000,0.055,2309,2185,3430,0,0,0,0,0,0
$GC,8006,-0.91,-127.0,842.8,-5.9,282,8010,0.00,2.17,0.00,0.000,4,0.000,0.065,2298,3593,3429,0,0,0,0,0,0
$GC,8034,-0.91,-127.0,844.4,-6.2,282,8038,0.00,2.12,0.00,0.000,6,0.000,0.039,2294,2166,3429,0,0,0,0,0,0
$GC,8289,-0.91,-127.0,859.3,-5.9,289,8293,0.00,2.08,0.00,0.000,4,0.000,0.047,2298,783,3429,0,0,0,0,0,0
$GC,8322,-0.91,-127.0,861.6,-6.7,289,8327,0.12,2.15,0.00,0.000,6,0.213,0.057,2317,2185,3429,0,0,0,0,0,0
$GC,8573,-0.91,-127.0,876.0,-6.0,295,8577,0.00,2.15,0.00,0.000,4,0.000,0.049,2316,773,3427,0,0,0,0,0,0
$GC,8732,-0.91,-127.0,887.2,-7.5,298,8736,0.00,2.20,0.00,0.000,6,0.000,0.058,2308,2189,3427,0,0,0,0,0,0
$STATE,8915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8915,begin apogee
$GC,8922,-0.28,0.0,900.4,7.1,303,9028,0.73,0.00,102.45,1.177,6,0.183,0.000,2516,2001,2940,0,0,0,0,0,0
$STATE,9030,end apogee,CONTROL_FINISHED_OK
$STATE,9030,begin climb
$GC,9033,0.91,127.0,902.3,0.0,305,9154,1.15,0.00,113.03,1.128,6,0.097,0.000,2898,2001,2422,0,0,0,0,0,0
$GC,9398,0.91,127.0,813.5,27.9,314,9402,0.00,2.22,0.00,0.000,4,0.000,0.046,2909,578,2414,0,0,0,0,0,0
$GC,9414,0.91,127.0,808.4,28.0,314,9418,0.00,2.22,0.00,0.000,6,0.000,0.043,2909,1987,2412,0,0,0,0,0,0
$GC,9681,0.91,127.0,731.1,28.9,321,9685,0.00,2.22,0.00,0.000,4,0.000,0.054,2909,3398,2411,0,0,0,0,0,0
$GC,9708,0.91,127.0,723.0,30.6,321,9712,0.00,2.15,0.00,0.000,6,0.000,0.036,2920,1977,2411,0,0,0,0,0,0
$GC,9964,0.91,127.0,647.3,30.3,328,9968,0.00,2.12,0.00,0.000,4,0.000,0.044,2930,582,2410,0,0,0,0,0,0
$GC,9979,0.91,127.0,642.1,30.4,328,9983,0.00,2.15,0.00,0.000,6,0.000,0.039,2930,2000,2410,0,0,0,0,0,0
$GC,10252,0.91,127.0,561.0,29.2,335,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2005,2409,0,0,0,0,0,0
$GC,10496,0.91,127.0,489.2,29.5,341,10500,0.00,2.15,0.00,0.000,4,0.000,0.044,2941,580,2409,0,0,0,0,0,0
$GC,10541,0.91,127.0,474.8,32.0,342,10545,0.12,2.15,0.00,0.000,6,0.224,0.041,2915,1989,2407,0,0,0,0,0,0
$GC,10824,0.91,127.0,395.7,27.8,349,10828,0.00,2.20,0.00,0.000,4,0.000,0.054,2914,3398,2408,0,0,0,0,0,0
$GC,10874,0.91,127.0,381.8,27.2,350,10878,0.00,2.10,0.00,0.000,6,0.000,0.035,2923,1991,2406,0,0,0,0,0,0
$GC,11146,0.91,127.0,308.8,26.4,357,11150,0.00,2.12,0.00,0.000,4,0.000,0.043,2935,590,2407,0,0,0,0,0,0
$GC,11179,0.91,127.0,300.1,26.8,357,11185,0.00,2.12,0.00,0.000,6,0.000,0.038,2934,1995,2404,0,0,0,0,0,0
$GC,11434,0.91,127.0,236.3,27.0,370,11436,0.10,0.00,0.00,0.000,6,0.247,0.000,2915,1999,2404,0,0,0,0,0,0
$GC,11685,0.91,127.0,185.3,18.4,385,11688,0.00,2.12,0.00,0.000,4,0.000,0.046,2924,583,2403,0,0,0,0,0,0
$GC,11791,0.91,127.0,163.9,19.0,394,11795,0.00,2.10,0.00,0.000,6,0.000,0.040,2924,1988,2401,0,0,0,0,0,0
$GC,12056,0.91,127.0,119.7,17.0,418,12060,0.00,2.17,0.00,0.000,4,0.000,0.050,2921,3404,2402,0,0,0,0,0,0
$GC,12172,0.91,127.0,100.2,15.1,428,12177,0.00,2.10,0.00,0.000,6,0.000,0.032,2935,1973,2400,0,0,0,0,0,0
$GC,12438,0.91,127.0,56.5,18.4,452,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1975,2403,0,0,0,0,0,0
$GC,12701,0.91,127.0,10.8,16.9,488,12709,0.00,2.10,0.00,0.000,4,0.000,0.042,2945,587,2405,0,0,0,0,0,0
$GC,12738,0.91,127.0,4.3,18.4,494,12746,0.12,2.10,0.00,0.000,6,0.183,0.035,2914,1989,2405,0,0,0,0,0,0
$STATE,12752,end climb,SURFACE_DEPTH_REACHED
$STATE,12752,begin surface coast
$FINISH,0.0,1.009387
$STATE,12770,end surface coast,CONTROL_FINISHED_OK
$STATE,12770,begin surface
$SM_CCo,12790,54.72,0.509,0,0,1918,250.20
$SM_GC,1.01,0.00,0.00,54.72,0.000,0.000,0.509,54,2191,1918,-7.99,0.31,250.20
$IRIDIUM_FIX,1853.26,-15643.00,291212,040447
$TT8_MAMPS,0.060593
$HUMID,1078961926
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.10
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344736768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59991064576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.744
$10V_AH,10.4,6.241
$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,20.225,137.250,215.475,54.725,0.000,108.169,182.701,721.510,2.000,0.000,39.693,1114.074,9550.096,376.478,2837.397,395.840,33.345,1187.513,0.000,1800.771,0.000,0.542,0.000
$DEVICE_MAMPS,253.110,67.496,1177.345,508.521,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.888,0.000,701.948,0.000,0.000,0.000,0.000,15147.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.888,0.000,0.000
$MEM,353760
$DATA_FILE_SIZE,23629,499
$CAP_FILE_SIZE,140530,0
$CFSIZE,260165632,204464128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,135045,1857.817,-15642.601,41,2.1,60,9.6