version: 66.07
glider: 513
mission: 7
dive: 170
start: 7 31 111 2 10 45
data:
$ID,513
$MISSION,7
$DIVE,170
$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,-424420.22
$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,53
$R_STBD_OVSHOOT,36
$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,169
$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
$GPS1,310711,014931,1921.311,-15647.128,68,2.0,68,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-80.3
$GPS2,310711,020949,1921.831,-15647.234,15,1.6,32,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.223,-0.104
$KALMAN_X,-60025.0,1160.7,396.9,44491.8,-5864.0
$KALMAN_Y,97038.4,-812.5,-856.2,-144266.5,14299.3
$MHEAD_RNG_PITCHd_Wd,105.4,40620,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,33,-0.78,-146.5,0.0,0.0,0,80,0.00,0.00,-45.25,0.000,2,0.000,0.000,37,1949,3725,0,0,0,0,0,0
$GC,84,-0.78,-146.5,4.0,-7.3,7,106,9.50,2.10,-3.80,0.000,4,0.241,0.055,2349,602,3961,0,0,0,0,0,0
$GC,230,-0.78,-146.5,56.2,-25.7,25,235,0.00,2.12,0.00,0.000,6,0.000,0.042,2340,1996,3965,0,0,0,0,0,0
$GC,496,-0.78,-146.5,117.7,-20.5,49,500,0.00,2.15,0.00,0.000,4,0.000,0.047,2329,3398,3966,0,0,0,0,0,0
$GC,590,-0.78,-146.5,136.5,-19.2,57,594,0.00,2.10,0.00,0.000,6,0.000,0.030,2329,1997,3967,0,0,0,0,0,0
$GC,857,-0.78,-146.5,190.3,-20.6,81,861,0.00,2.20,0.00,0.000,4,0.000,0.049,2320,3403,3968,0,0,0,0,0,0
$GC,972,-0.78,-146.5,214.8,-18.6,88,976,0.00,2.15,0.00,0.000,6,0.000,0.032,2320,1985,3969,0,0,0,0,0,0
$GC,1231,-0.78,-146.5,265.0,-18.0,101,1235,0.00,2.17,0.00,0.000,4,0.000,0.048,2309,3399,3969,0,0,0,0,0,0
$GC,1281,-0.78,-146.5,274.5,-17.8,103,1286,0.12,2.12,0.00,0.000,6,0.169,0.031,2341,1979,3969,0,0,0,0,0,0
$GC,1553,-0.78,-146.5,320.9,-16.6,113,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1975,3969,0,0,0,0,0,0
$GC,1797,-0.78,-146.5,363.2,-17.4,119,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1976,3969,0,0,0,0,0,0
$GC,2042,-0.78,-146.5,402.7,-15.8,125,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1975,3967,0,0,0,0,0,0
$GC,2285,-0.78,-146.5,441.8,-16.2,131,2289,0.00,2.20,0.00,0.000,4,0.000,0.051,2328,3397,3964,0,0,0,0,0,0
$GC,2396,-0.78,-146.5,459.9,-15.4,133,2400,0.00,2.10,0.00,0.000,6,0.000,0.033,2332,1985,3963,0,0,0,0,0,0
$GC,2658,-0.78,-146.5,501.7,-16.0,140,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1979,3961,0,0,0,0,0,0
$GC,2901,-0.78,-146.5,538.9,-15.1,146,2905,0.00,2.17,0.00,0.000,4,0.000,0.050,2325,3394,3958,0,0,0,0,0,0
$GC,2944,-0.78,-146.5,545.5,-14.4,147,2948,0.00,2.10,0.00,0.000,6,0.000,0.034,2321,1989,3958,0,0,0,0,0,0
$GC,3229,-0.78,-146.5,587.1,-14.6,154,3233,0.00,2.17,0.00,0.000,4,0.000,0.052,2310,3387,3954,0,0,0,0,0,0
$GC,3262,-0.78,-146.5,592.5,-14.8,154,3269,0.12,2.12,0.00,0.000,6,0.170,0.035,2342,1983,3954,0,0,0,0,0,0
$GC,3512,-0.78,-146.5,626.3,-13.5,161,3516,0.00,2.20,0.00,0.000,4,0.000,0.051,2333,3398,3952,0,0,0,0,0,0
$GC,3597,-0.78,-146.5,637.9,-13.6,163,3601,0.00,2.12,0.00,0.000,6,0.000,0.033,2337,1986,3952,0,0,0,0,0,0
$GC,3886,-0.78,-146.5,680.1,-14.7,170,3889,0.00,2.10,0.00,0.000,4,0.000,0.047,2333,582,3948,0,0,0,0,0,0
$GC,3918,-0.78,-146.5,685.2,-14.9,170,3924,0.00,2.15,0.00,0.000,6,0.000,0.045,2323,1998,3949,0,0,0,0,0,0
$GC,4169,-0.78,-146.5,720.9,-14.2,177,4173,0.00,2.17,0.00,0.000,4,0.000,0.053,2312,3395,3950,0,0,0,0,0,0
$GC,4236,-0.78,-146.5,730.5,-13.5,178,4241,0.08,2.17,0.00,0.000,6,0.153,0.035,2350,1987,3944,0,0,0,0,0,0
$GC,4497,-0.78,-146.5,760.7,-11.7,185,4501,0.00,2.10,0.00,0.000,4,0.000,0.048,2359,583,3948,0,0,0,0,0,0
$GC,4537,-0.78,-146.5,765.5,-11.8,186,4541,0.00,2.15,0.00,0.000,6,0.000,0.044,2350,1994,3943,0,0,0,0,0,0
$GC,4821,-0.78,-146.5,798.4,-11.6,193,4825,0.00,2.17,0.00,0.000,4,0.000,0.054,2339,3387,3942,0,0,0,0,0,0
$GC,4932,-0.78,-146.5,811.2,-10.6,195,4936,0.00,2.17,0.00,0.000,6,0.000,0.037,2339,1985,3941,0,0,0,0,0,0
$GC,5194,-0.78,-146.5,840.7,-11.4,202,5198,0.00,2.20,0.00,0.000,4,0.000,0.054,2328,3386,3939,0,0,0,0,0,0
$GC,5250,-0.78,-146.5,847.3,-11.7,203,5254,0.00,2.15,0.00,0.000,6,0.000,0.036,2334,1983,3936,0,0,0,0,0,0
$GC,5522,-0.78,-146.5,880.0,-12.0,210,5526,0.00,2.10,0.00,0.000,4,0.000,0.048,2328,584,3936,0,0,0,0,0,0
$GC,5550,-0.78,-146.5,883.4,-12.7,210,5554,0.00,2.15,0.00,0.000,6,0.000,0.045,2318,1989,3934,0,0,0,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5722,-0.28,0.0,904.1,12.3,214,5839,0.62,0.00,113.30,1.125,6,0.156,0.000,2503,1983,3382,0,0,0,0,0,0
$STATE,5850,end apogee,CONTROL_FINISHED_OK
$STATE,5850,begin climb
$GC,5853,0.78,146.5,906.9,0.0,217,5991,1.00,2.38,126.72,1.083,4,0.092,0.041,2853,556,2782,0,0,0,0,0,0
$GC,6036,0.78,146.5,883.9,20.0,221,6040,0.00,2.20,0.00,0.000,6,0.000,0.036,2845,1960,2777,0,0,1,0,0,0
$GC,6309,0.78,146.5,830.1,19.8,228,6313,0.00,2.20,0.00,0.000,4,0.000,0.042,2858,543,2775,0,0,0,0,0,0
$GC,6336,0.78,146.5,824.1,20.4,228,6340,0.00,2.17,0.00,0.000,6,0.000,0.038,2853,1963,2774,0,0,0,0,0,0
$GC,6592,0.78,146.5,774.2,19.4,235,6596,0.00,2.25,0.00,0.000,4,0.000,0.055,2853,3371,2774,0,0,0,0,0,0
$GC,6642,0.78,146.5,764.0,20.5,236,6646,0.00,2.20,0.00,0.000,6,0.000,0.032,2862,1940,2774,0,0,0,0,0,0
$GC,6920,0.78,146.5,709.0,19.6,243,6924,0.00,2.08,0.00,0.000,4,0.000,0.041,2877,557,2772,0,0,0,0,0,0
$GC,6953,0.78,146.5,701.8,19.7,243,6959,0.00,2.15,0.00,0.000,6,0.000,0.037,2873,1964,2769,0,0,0,0,0,0
$GC,7203,0.78,146.5,653.0,19.2,250,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1964,2769,0,0,0,0,0,0
$GC,7447,0.78,146.5,609.1,17.6,256,7451,0.00,2.15,0.00,0.000,4,0.000,0.041,2883,556,2769,0,0,0,0,0,0
$GC,7474,0.78,146.5,604.1,17.7,256,7478,0.12,2.12,0.00,0.000,6,0.213,0.038,2856,1965,2768,0,0,0,0,0,0
$GC,7730,0.78,146.5,561.8,16.4,263,7733,0.00,2.22,0.00,0.000,4,0.000,0.054,2856,3371,2768,0,0,0,0,0,0
$GC,7831,0.78,146.5,544.1,17.8,265,7835,0.00,2.15,0.00,0.000,6,0.000,0.032,2865,1949,2768,0,0,0,0,0,0
$GC,8108,0.78,146.5,496.5,17.3,272,8112,0.00,2.25,0.00,0.000,4,0.000,0.054,2866,3372,2767,0,0,0,0,0,0
$GC,8153,0.78,146.5,488.5,18.2,273,8157,0.00,2.15,0.00,0.000,6,0.000,0.033,2876,1956,2767,0,0,0,0,0,0
$GC,8442,0.78,146.5,439.3,17.0,280,8446,0.00,2.10,0.00,0.000,4,0.000,0.041,2884,553,2766,0,0,0,0,0,0
$GC,8503,0.78,146.5,429.0,15.7,281,8508,0.12,2.15,0.00,0.000,6,0.212,0.038,2859,1972,2765,0,0,0,0,0,0
$GC,8769,0.78,146.5,387.8,15.4,288,8773,0.00,2.17,0.00,0.000,4,0.000,0.051,2858,3359,2764,0,0,0,0,0,0
$GC,8855,0.78,146.5,373.6,17.1,290,8859,0.00,2.12,0.00,0.000,6,0.000,0.031,2867,1952,2764,0,0,0,0,0,0
$GC,9138,0.78,146.5,328.8,15.6,297,9141,0.00,2.10,0.00,0.000,4,0.000,0.042,2878,558,2765,0,0,0,0,0,0
$GC,9159,0.78,146.5,325.5,14.2,297,9164,0.00,2.12,0.00,0.000,6,0.000,0.036,2878,1953,2763,0,0,0,0,0,0
$GC,9429,0.78,146.5,284.5,14.9,306,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1952,2763,0,0,0,0,0,0
$GC,9675,0.78,146.5,248.1,14.7,318,9679,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3363,2763,0,0,0,0,0,0
$GC,9923,0.78,146.5,214.4,12.9,329,9928,0.12,2.12,0.00,0.000,6,0.209,0.032,2859,1956,2763,0,0,0,0,0,0
$GC,10185,0.78,146.5,184.3,11.1,348,10189,0.00,2.20,0.00,0.000,4,0.000,0.049,2848,3375,2766,0,0,0,0,0,0
$GC,10293,0.78,146.5,171.1,11.7,357,10300,0.00,2.15,0.00,0.000,6,0.000,0.029,2857,1960,2763,0,0,0,0,0,0
$GC,10558,0.78,146.5,140.9,10.9,382,10562,0.00,2.17,0.00,0.000,4,0.000,0.048,2849,3366,2762,0,0,0,0,0,0
$GC,10642,0.78,146.5,130.7,12.3,389,10646,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,1953,2763,0,0,0,0,0,0
$GC,10909,0.80,157.7,108.9,8.1,413,10922,0.00,2.20,7.05,0.502,4,0.000,0.048,2855,3369,2737,0,0,0,0,0,0
$GC,11167,0.80,163.0,82.5,8.4,436,11179,0.00,2.15,5.75,0.450,6,0.000,0.030,2864,1946,2716,0,0,0,0,0,0
$GC,11444,0.85,198.2,63.2,7.2,462,11480,0.00,2.22,29.00,0.525,4,0.000,0.049,2864,3365,2575,0,0,0,0,0,0
$GC,11725,0.85,198.2,36.3,13.1,487,11733,0.00,2.15,0.00,0.000,6,0.000,0.033,2875,1968,2574,0,0,0,0,0,0
$GC,11987,0.85,198.2,9.8,9.5,531,11995,0.00,2.20,0.00,0.000,4,0.000,0.047,2875,3360,2573,0,0,0,0,0,0
$STATE,12059,end climb,SURFACE_DEPTH_REACHED
$STATE,12059,begin surface coast
$FINISH,0.1,1.023129
$STATE,12097,end surface coast,CONTROL_FINISHED_OK
$STATE,12097,begin surface
$SM_CCo,12118,24.10,0.463,0,0,2402,240.14
$SM_GC,4.30,0.00,0.00,24.10,0.000,0.000,0.463,57,1975,2402,-7.96,-0.42,240.14
$IRIDIUM_FIX,1916.08,-15645.39,220113,202059
$TT8_MAMPS,0.243139
$HUMID,1078928377
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.60
$XPDR_PINGS,53
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,2334392320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.1,23.105
$10V_AH,10.1,21.585
$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,19.325,129.600,281.825,24.100,0.000,76.885,115.460,628.678,13.250,0.000,34.467,1148.097,8540.640,366.663,2880.182,456.602,33.356,1199.248,0.000,2011.308,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,55.224,1125.189,463.268,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.059,0.000,988.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26947,550
$CAP_FILE_SIZE,130391,0
$CFSIZE,260165632,193372160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310711,053801,1922.658,-15646.249,212,1.2,213,9.6