version: 66.07
glider: 513
mission: 7
dive: 175
start: 7 31 111 21 13 4
data:
$ID,513
$MISSION,7
$DIVE,175
$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,-424516.25
$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,49
$R_STBD_OVSHOOT,43
$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,174
$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
$GPS1,310711,204924,1925.605,-15646.867,163,0.8,164,9.6
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.4
$GPS2,310711,211209,1926.063,-15647.206,12,1.2,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.056,-0.240
$KALMAN_X,-74520.9,864.7,985.4,58749.5,-10718.6
$KALMAN_Y,115092.8,-1544.8,-498.4,-154100.7,14122.1
$MHEAD_RNG_PITCHd_Wd,157.2,48424,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.78,-146.5,0.0,0.0,0,77,0.00,0.00,-45.28,0.000,2,0.000,0.000,36,1956,3781,0,0,0,0,0,0
$GC,81,-0.78,-146.5,4.3,-8.3,7,103,9.55,2.12,-2.90,0.000,4,0.242,0.053,2347,583,3964,0,0,0,0,0,0
$GC,121,-0.78,-146.5,26.8,-54.4,13,129,0.00,2.17,0.00,0.000,6,0.000,0.041,2339,1979,3967,0,0,0,0,0,0
$GC,386,-0.78,-146.5,107.5,-27.2,38,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1986,3968,0,0,0,0,0,0
$GC,649,-0.78,-146.5,171.2,-24.9,63,653,0.00,2.20,0.00,0.000,4,0.000,0.051,2328,3404,3970,0,0,0,0,0,0
$GC,690,-0.78,-146.5,180.9,-23.0,66,695,0.00,2.12,0.00,0.000,6,0.000,0.034,2328,1986,3970,0,0,0,0,0,0
$GC,956,-0.78,-146.5,242.8,-21.6,82,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3971,0,0,0,0,0,0
$GC,1204,-0.78,-146.5,291.2,-19.3,94,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1981,3971,0,0,0,0,0,0
$GC,1470,-0.78,-146.5,338.3,-17.3,102,1474,0.00,2.20,0.00,0.000,4,0.000,0.052,2319,3400,3971,0,0,0,0,0,0
$GC,1542,-0.78,-146.5,350.9,-17.3,103,1546,0.00,2.15,0.00,0.000,6,0.000,0.032,2319,1985,3971,0,0,0,0,0,0
$GC,1797,-0.78,-146.5,397.1,-18.0,110,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1980,3971,0,0,0,0,0,0
$GC,2042,-0.78,-146.5,442.1,-18.6,116,2046,0.00,2.08,0.00,0.000,4,0.000,0.041,2319,582,3968,0,0,0,0,0,0
$GC,2069,-0.78,-146.5,447.6,-19.0,116,2073,0.12,2.12,0.00,0.000,6,0.174,0.041,2346,2003,3969,0,0,0,0,0,0
$GC,2324,-0.78,-146.5,488.1,-15.4,123,2328,0.00,2.15,0.00,0.000,4,0.000,0.052,2332,3393,3966,0,0,0,0,0,0
$GC,2453,-0.78,-146.5,509.0,-15.7,125,2459,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,1988,3965,0,0,0,0,0,0
$GC,2703,-0.78,-146.5,547.6,-15.5,132,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1982,3962,0,0,0,0,0,0
$GC,2947,-0.78,-146.5,583.4,-14.6,138,2950,0.00,2.10,0.00,0.000,4,0.000,0.044,2332,593,3958,0,0,0,0,0,0
$GC,2986,-0.78,-146.5,589.2,-15.0,139,2991,0.00,2.10,0.00,0.000,6,0.000,0.043,2322,1988,3959,0,0,0,0,0,0
$GC,3271,-0.78,-146.5,630.3,-14.6,146,3275,0.00,2.20,0.00,0.000,4,0.000,0.053,2311,3394,3955,0,0,0,0,0,0
$GC,3348,-0.78,-146.5,641.6,-13.8,147,3355,0.12,2.12,0.00,0.000,6,0.166,0.036,2340,1997,3954,0,0,0,0,0,0
$GC,3599,-0.78,-146.5,672.1,-12.0,154,3603,0.00,2.22,0.00,0.000,4,0.000,0.055,2334,3400,3952,0,0,0,0,0,0
$GC,3690,-0.78,-146.5,682.8,-11.2,156,3694,0.00,2.15,0.00,0.000,6,0.000,0.035,2334,1985,3951,0,0,0,0,0,0
$GC,3967,-0.78,-146.5,715.6,-11.9,163,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1980,3948,0,0,0,0,0,0
$GC,4212,-0.78,-146.5,745.4,-12.3,169,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1985,3946,0,0,0,0,0,0
$GC,4454,-0.78,-146.5,775.3,-12.4,175,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1980,3944,0,0,0,0,0,0
$GC,4698,-0.78,-146.5,806.8,-12.8,181,4702,0.00,2.22,0.00,0.000,4,0.000,0.053,2327,3397,3942,0,0,0,0,0,0
$GC,4788,-0.78,-146.5,818.7,-13.1,183,4792,0.00,2.12,0.00,0.000,6,0.000,0.034,2323,1984,3941,0,0,0,0,0,0
$GC,5072,-0.78,-146.5,856.6,-13.3,190,5076,0.00,2.20,0.00,0.000,4,0.000,0.052,2312,3393,3940,0,0,0,0,0,0
$GC,5111,-0.78,-146.5,861.9,-12.8,191,5116,0.12,2.15,0.00,0.000,6,0.169,0.035,2344,1984,3939,0,0,0,0,0,0
$GC,5394,-0.78,-146.5,892.6,-10.7,198,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1978,3937,0,0,0,0,0,0
$STATE,5473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5473,begin apogee
$GC,5479,-0.28,0.0,901.5,10.9,200,5596,0.52,0.00,112.97,1.123,6,0.148,0.000,2506,1978,3381,0,0,0,0,0,0
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5601,0.78,146.5,904.3,0.0,203,5739,1.00,2.33,127.03,1.078,4,0.090,0.038,2855,566,2781,0,0,0,0,0,0
$GC,5755,0.78,146.5,887.0,18.5,206,5759,0.00,2.20,0.00,0.000,6,0.000,0.035,2852,1954,2777,0,0,0,0,0,0
$GC,6011,0.78,146.5,835.4,20.3,213,6015,0.00,2.30,0.00,0.000,4,0.000,0.054,2850,3371,2774,0,0,0,0,0,0
$GC,6038,0.78,146.5,829.3,21.9,213,6042,0.00,2.17,0.00,0.000,6,0.000,0.031,2862,1957,2774,0,0,0,0,0,0
$GC,6300,0.78,146.5,777.0,19.8,220,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1958,2773,0,0,0,0,0,0
$GC,6543,0.78,146.5,728.9,20.1,226,6547,0.00,2.12,0.00,0.000,4,0.000,0.039,2871,547,2767,0,0,0,0,0,0
$GC,6582,0.78,146.5,720.8,21.2,227,6586,0.00,2.17,0.00,0.000,6,0.000,0.037,2870,1971,2768,0,0,0,0,0,0
$GC,6866,0.78,146.5,664.2,19.7,234,6870,0.00,2.17,0.00,0.000,4,0.000,0.052,2862,3360,2768,0,0,0,0,0,0
$GC,6910,0.78,146.5,655.0,20.0,235,6913,0.00,2.15,0.00,0.000,6,0.000,0.033,2870,1954,2768,0,0,0,0,0,0
$GC,7193,0.78,146.5,601.2,19.1,242,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1949,2767,0,0,0,0,0,0
$GC,7437,0.78,146.5,556.8,18.0,248,7441,0.00,2.10,0.00,0.000,4,0.000,0.040,2881,555,2766,0,0,0,0,0,0
$GC,7465,0.78,146.5,551.9,18.2,248,7469,0.00,2.12,0.00,0.000,6,0.000,0.036,2882,1962,2764,0,0,0,0,0,0
$GC,7720,0.78,146.5,504.2,18.9,255,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1961,2764,0,0,0,0,0,0
$GC,7964,0.78,146.5,460.0,18.4,261,7968,0.00,2.20,0.00,0.000,4,0.000,0.054,2878,3370,2764,0,0,0,0,0,0
$GC,8065,0.78,146.5,439.9,20.2,263,8070,0.12,2.12,0.00,0.000,6,0.219,0.032,2856,1947,2764,0,0,0,0,0,0
$GC,8331,0.78,146.5,393.8,17.1,270,8335,0.00,2.08,0.00,0.000,4,0.000,0.041,2869,554,2763,0,0,0,0,0,0
$GC,8420,0.78,146.5,378.1,17.3,272,8424,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1971,2762,0,0,0,0,0,0
$GC,8704,0.78,146.5,334.0,15.7,279,8708,0.00,2.15,0.00,0.000,4,0.000,0.051,2850,3359,2762,0,0,0,0,0,0
$GC,8789,0.78,146.5,321.4,14.7,281,8793,0.00,2.10,0.00,0.000,6,0.000,0.032,2860,1955,2762,0,0,0,0,0,0
$GC,9054,0.78,146.5,285.2,13.7,290,9058,0.00,2.08,0.00,0.000,4,0.000,0.039,2870,557,2762,0,0,0,0,0,0
$GC,9165,0.78,146.5,269.6,12.9,295,9169,0.00,2.12,0.00,0.000,6,0.000,0.037,2864,1955,2761,0,0,0,0,0,0
$GC,9430,0.78,146.5,232.1,14.4,308,9434,0.00,2.20,0.00,0.000,4,0.000,0.050,2869,3361,2760,0,0,0,0,0,0
$GC,9464,0.78,146.5,227.5,13.3,309,9469,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1948,2761,0,0,0,0,0,0
$GC,9721,0.78,146.5,193.7,11.8,324,9725,0.00,2.22,0.00,0.000,4,0.000,0.049,2872,3369,2761,0,0,0,0,0,0
$GC,9763,0.78,146.5,188.8,11.1,327,9771,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1970,2761,0,0,0,0,0,0
$GC,10031,0.78,146.5,163.5,8.9,352,10035,0.00,2.12,0.00,0.000,4,0.000,0.039,2891,551,2761,0,0,0,0,0,0
$GC,10281,0.78,146.5,138.7,11.6,374,10289,0.12,2.15,0.00,0.000,6,0.174,0.036,2855,1969,2760,0,0,0,0,0,0
$GC,10543,0.78,146.5,111.6,9.7,399,10547,0.00,2.15,0.00,0.000,4,0.000,0.048,2855,3358,2761,0,0,0,0,0,0
$GC,10618,0.80,157.1,104.8,8.1,405,10631,0.00,2.08,6.00,0.465,6,0.000,0.029,2864,1945,2740,0,0,0,0,0,0
$GC,10886,0.81,164.9,83.6,8.3,430,10900,0.00,2.20,8.20,0.480,4,0.000,0.045,2864,3370,2711,0,0,0,0,0,0
$GC,10993,0.81,164.9,74.6,9.8,439,11000,0.00,2.10,0.00,0.000,6,0.000,0.029,2874,1982,2707,0,0,0,0,0,0
$GC,11259,0.88,226.0,53.1,6.2,464,11317,0.00,2.20,49.70,0.509,4,0.000,0.038,2885,553,2457,0,0,0,0,0,0
$GC,11549,0.88,226.0,20.5,10.9,498,11557,0.00,2.12,0.00,0.000,6,0.000,0.031,2885,1958,2453,0,0,0,0,0,0
$STATE,11700,end climb,SURFACE_DEPTH_REACHED
$STATE,11700,begin surface coast
$FINISH,0.0,1.022986
$STATE,11722,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11752,4.88,0.349,0,0,2401,240.14
$SM_GC,3.06,0.00,0.00,4.88,0.000,0.000,0.349,51,1965,2401,-7.97,-0.71,240.14
$IRIDIUM_FIX,1920.65,-15644.48,230113,151558
$TT8_MAMPS,0.27612
$HUMID,1078939990
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.90
$XPDR_PINGS,48
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6288572416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51070763008
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,23.856
$10V_AH,10.1,22.106
$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,19.250,107.650,303.900,4.875,0.000,102.896,194.398,649.141,12.000,0.000,14.718,1076.149,8496.163,369.724,2767.929,418.268,33.357,1126.366,0.000,1824.861,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,55.224,1122.888,348.985,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.511,0.000,932.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,26954,530
$CAP_FILE_SIZE,122741,0
$CFSIZE,260165632,192970752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,003401,1925.908,-15647.348,241,1.4,241,9.6