version: 66.07
glider: 513
mission: 7
dive: 177
start: 8 1 111 4 51 58
data:
$ID,513
$MISSION,7
$DIVE,177
$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,140
$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,220
$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,-424602
$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,2597
$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,39
$R_STBD_OVSHOOT,40
$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,176
$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
$GPS1,010811,041540,1926.296,-15647.708,218,1.3,218,9.6
$_CALLS,4
$_XMS_NAKs,25
$_XMS_TOUTs,3
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-80.3
$GPS2,010811,045102,1927.024,-15648.177,64,1.3,64,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.050,-0.234
$KALMAN_X,-76981.7,1641.1,414.2,59301.6,-8481.2
$KALMAN_Y,124948.4,-834.4,-1153.6,-162236.1,16061.5
$MHEAD_RNG_PITCHd_Wd,158.4,50356,-15.7,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,68,0.00,0.00,-38.92,0.000,2,0.000,0.000,35,2001,3662,0,0,0,0,0,0
$GC,72,-0.80,-136.7,3.6,-6.4,6,94,9.50,2.17,-4.75,0.000,4,0.243,0.050,2341,585,3940,0,0,0,0,0,0
$GC,251,-0.80,-136.7,69.4,-26.7,27,255,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,1995,3942,0,0,0,0,0,0
$GC,515,-0.80,-136.7,139.8,-25.0,51,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1995,3943,0,0,0,0,0,0
$GC,779,-0.80,-136.7,198.6,-21.0,76,783,0.00,2.15,0.00,0.000,4,0.000,0.049,2322,3396,3946,0,0,0,0,0,0
$GC,818,-0.80,-136.7,207.9,-22.6,78,822,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,1979,3945,0,0,0,0,0,0
$GC,1085,-0.80,-136.7,257.8,-18.5,91,1089,0.00,2.17,0.00,0.000,4,0.000,0.050,2310,3394,3946,0,0,0,0,0,0
$GC,1140,-0.80,-136.7,268.2,-18.0,93,1146,0.10,2.10,0.00,0.000,6,0.180,0.032,2334,1987,3946,0,0,0,0,0,0
$GC,1393,-0.80,-136.7,309.3,-16.3,105,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1984,3946,0,0,0,0,0,0
$GC,1638,-0.80,-136.7,350.4,-17.1,111,1642,0.00,2.17,0.00,0.000,4,0.000,0.049,2326,3393,3945,0,0,0,0,0,0
$GC,1664,-0.80,-136.7,355.2,-17.2,111,1668,0.00,2.08,0.00,0.000,6,0.000,0.032,2322,1991,3945,0,0,0,0,0,0
$GC,1926,-0.80,-136.7,400.8,-17.7,118,1930,0.00,2.17,0.00,0.000,4,0.000,0.050,2315,3398,3943,0,0,0,0,0,0
$GC,1987,-0.80,-136.7,412.4,-18.1,119,1990,0.00,2.08,0.00,0.000,6,0.000,0.031,2314,1990,3938,0,0,0,0,0,0
$GC,2255,-0.80,-136.7,458.4,-17.2,126,2259,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3396,3940,0,0,0,0,0,0
$GC,2294,-0.80,-136.7,465.4,-17.2,127,2299,0.12,2.10,0.00,0.000,6,0.174,0.032,2335,1995,3939,0,0,0,0,0,0
$GC,2577,-0.80,-136.7,505.8,-14.1,134,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1990,3936,0,0,0,0,0,0
$GC,2821,-0.80,-136.7,537.6,-12.8,140,2825,0.00,2.12,0.00,0.000,4,0.000,0.047,2335,595,3934,0,0,0,0,0,0
$GC,2849,-0.80,-136.7,541.4,-12.9,140,2853,0.00,2.10,0.00,0.000,6,0.000,0.044,2327,1988,3934,0,0,0,0,0,0
$GC,3110,-0.80,-136.7,578.0,-14.2,147,3114,0.00,2.17,0.00,0.000,4,0.000,0.053,2316,3392,3931,0,0,0,0,0,0
$GC,3177,-0.80,-136.7,588.4,-14.8,148,3181,0.00,2.12,0.00,0.000,6,0.000,0.036,2313,1993,3930,0,0,0,0,0,0
$GC,3432,-0.80,-136.7,627.4,-15.1,155,3436,0.00,2.20,0.00,0.000,4,0.000,0.054,2305,3405,3927,0,0,0,0,0,0
$GC,3464,-0.80,-136.7,632.6,-15.5,155,3471,0.12,2.15,0.00,0.000,6,0.174,0.035,2336,1985,3928,0,0,0,0,0,0
$GC,3716,-0.80,-136.7,666.0,-13.3,162,3719,0.00,2.08,0.00,0.000,4,0.000,0.044,2336,588,3924,0,0,0,0,0,0
$GC,3748,-0.80,-136.7,671.1,-14.7,162,3754,0.00,2.10,0.00,0.000,6,0.000,0.044,2328,1987,3924,0,0,0,0,0,0
$GC,3998,-0.80,-136.7,707.4,-14.5,169,4002,0.00,2.22,0.00,0.000,4,0.000,0.054,2316,3402,3921,0,0,0,0,0,0
$GC,4100,-0.80,-136.7,722.1,-13.6,171,4104,0.00,2.12,0.00,0.000,6,0.000,0.035,2316,1986,3920,0,0,0,0,0,0
$GC,4366,-0.80,-136.7,761.5,-15.0,178,4370,0.00,2.20,0.00,0.000,4,0.000,0.053,2305,3396,3917,0,0,0,0,0,0
$GC,4393,-0.80,-136.7,765.8,-15.8,178,4398,0.10,2.15,0.00,0.000,6,0.156,0.035,2336,2001,3917,0,0,0,0,0,0
$GC,4649,-0.80,-136.7,800.6,-13.7,185,4653,0.00,2.20,0.00,0.000,4,0.000,0.054,2327,3401,3915,0,0,0,0,0,0
$GC,4698,-0.80,-136.7,807.7,-13.4,186,4702,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,1975,3914,0,0,0,0,0,0
$GC,4976,-0.80,-136.7,845.6,-13.6,193,4980,0.00,2.22,0.00,0.000,4,0.000,0.054,2316,3391,3912,0,0,0,0,0,0
$GC,5010,-0.80,-136.7,850.4,-13.8,193,5016,0.00,2.15,0.00,0.000,6,0.000,0.036,2316,1986,3912,0,0,0,0,0,0
$GC,5260,-0.80,-136.7,885.6,-14.4,200,5264,0.00,2.20,0.00,0.000,4,0.000,0.053,2305,3397,3910,0,0,0,0,0,0
$GC,5292,-0.80,-136.7,890.5,-14.4,200,5298,0.12,2.12,0.00,0.000,6,0.179,0.033,2335,1984,3910,0,0,0,0,0,0
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5383,-0.28,0.0,902.1,13.5,203,5494,0.55,0.00,108.05,1.117,6,0.150,0.000,2502,1978,3381,0,0,0,0,0,0
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5500,0.80,136.7,905.7,0.0,205,5623,1.00,0.00,118.53,1.074,6,0.092,0.000,2843,1978,2823,0,0,0,0,0,0
$GC,5865,0.80,136.7,854.3,17.7,214,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1978,2815,0,0,0,0,0,0
$GC,6110,0.80,136.7,811.5,17.5,220,6114,0.00,2.22,0.00,0.000,4,0.000,0.053,2843,3361,2812,0,0,0,0,0,0
$GC,6138,0.80,136.7,806.1,18.3,220,6142,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1949,2813,0,0,0,0,0,0
$GC,6387,0.80,136.7,760.2,18.4,226,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1944,2808,0,0,0,0,0,0
$GC,6631,0.80,136.7,715.2,18.5,232,6635,0.00,2.25,0.00,0.000,4,0.000,0.054,2852,3364,2813,0,0,0,0,0,0
$GC,6659,0.80,136.7,709.9,18.6,232,6664,0.00,2.12,0.00,0.000,6,0.000,0.033,2861,1958,2813,0,0,0,0,0,0
$GC,6909,0.80,136.7,666.8,17.1,238,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1956,2809,0,0,0,0,0,0
$GC,7153,0.80,136.7,625.1,16.9,244,7157,0.00,2.10,0.00,0.000,4,0.000,0.041,2872,562,2808,0,0,0,0,0,0
$GC,7204,0.80,136.7,616.4,17.9,245,7208,0.00,2.12,0.00,0.000,6,0.000,0.037,2872,1967,2806,0,0,0,0,0,0
$GC,7476,0.80,136.7,568.7,17.6,252,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1970,2807,0,0,0,0,0,0
$GC,7719,0.80,136.7,526.6,17.4,258,7723,0.00,2.20,0.00,0.000,4,0.000,0.054,2866,3372,2809,0,0,0,0,0,0
$GC,7747,0.80,136.7,521.2,19.2,258,7751,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1955,2806,0,0,0,0,0,0
$GC,8003,0.80,136.7,478.7,16.3,265,8007,0.00,2.08,0.00,0.000,4,0.000,0.041,2887,558,2805,0,0,0,0,0,0
$GC,8031,0.80,136.7,473.6,17.4,265,8035,0.12,2.10,0.00,0.000,6,0.211,0.037,2859,1968,2803,0,0,0,0,0,0
$GC,8291,0.80,136.7,433.8,15.3,272,8295,0.00,2.20,0.00,0.000,4,0.000,0.053,2858,3372,2804,0,0,0,0,0,0
$GC,8359,0.80,136.7,422.5,16.9,273,8363,0.00,2.12,0.00,0.000,6,0.000,0.032,2867,1957,2804,0,0,0,0,0,0
$GC,8614,0.80,136.7,383.6,15.4,280,8618,0.00,2.20,0.00,0.000,4,0.000,0.051,2867,3363,2803,0,0,0,0,0,0
$GC,8680,0.80,136.7,373.2,15.1,281,8684,0.00,2.10,0.00,0.000,6,0.000,0.032,2878,1959,2804,0,0,0,0,0,0
$GC,8942,0.80,136.7,333.8,15.4,288,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1955,2803,0,0,0,0,0,0
$GC,9185,0.80,136.7,298.6,14.8,294,9189,0.00,2.08,0.00,0.000,4,0.000,0.041,2889,560,2803,0,0,0,0,0,0
$GC,9360,0.80,136.7,271.6,15.9,302,9365,0.12,2.10,0.00,0.000,6,0.206,0.036,2861,1958,2800,0,0,0,0,0,0
$GC,9625,0.80,136.7,237.1,12.3,315,9629,0.00,2.22,0.00,0.000,4,0.000,0.052,2855,3372,2804,0,0,0,0,0,0
$GC,9822,0.80,136.7,213.1,10.2,324,9826,0.00,2.10,0.00,0.000,6,0.000,0.030,2868,1954,2801,0,0,0,0,0,0
$GC,10080,0.80,136.7,189.3,8.9,341,10084,0.00,2.10,0.00,0.000,4,0.000,0.040,2879,557,2801,0,0,0,0,0,0
$GC,10214,0.80,136.7,176.9,9.5,353,10219,0.00,2.10,0.00,0.000,6,0.000,0.035,2879,1974,2799,0,0,0,0,0,0
$GC,10479,0.80,136.7,149.2,10.5,377,10483,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,553,2800,0,0,0,0,0,0
$GC,10500,0.80,136.7,146.3,11.6,378,10509,0.10,2.12,0.00,0.000,6,0.183,0.036,2861,1957,2800,0,0,0,0,0,0
$GC,10764,0.85,183.5,125.8,6.6,403,10803,0.00,2.20,34.08,0.578,4,0.000,0.048,2861,3363,2634,0,0,0,0,0,0
$GC,10862,0.85,183.5,116.9,12.1,411,10866,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1967,2633,0,0,0,0,0,0
$GC,11132,0.85,183.5,82.6,13.4,436,11136,0.00,2.10,0.00,0.000,4,0.000,0.041,2880,556,2631,0,0,0,0,0,0
$GC,11316,0.85,183.5,59.6,11.3,452,11324,0.00,2.12,0.00,0.000,6,0.000,0.035,2881,1950,2629,0,0,0,0,0,0
$GC,11582,0.89,214.7,37.5,7.2,477,11617,0.00,2.15,26.05,0.491,4,0.000,0.040,2891,563,2504,0,0,0,0,0,0
$GC,11698,0.89,214.7,27.9,9.4,489,11706,0.00,2.15,0.00,0.000,6,0.000,0.035,2891,1966,2500,0,0,0,0,0,0
$STATE,11921,end climb,SURFACE_DEPTH_REACHED
$STATE,11921,begin surface coast
$FINISH,0.2,1.022987
$STATE,11943,end surface coast,CONTROL_FINISHED_OK
$STATE,11943,begin surface
$SM_CCo,11963,1.23,0.069,0,0,2484,220.28
$SM_GC,2.59,0.00,0.00,1.23,0.000,0.000,0.069,51,1972,2484,-7.96,-0.51,220.28
$IRIDIUM_FIX,1918.37,-15644.48,230113,222243
$TT8_MAMPS,0.255411
$HUMID,1078956764
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.10
$XPDR_PINGS,68
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6263504896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50873761792
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,24.162
$10V_AH,10.1,22.312
$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,19.550,124.325,286.700,1.225,0.000,128.797,186.703,1321.802,17.000,0.000,68.673,1096.583,8690.573,359.706,3458.572,488.766,33.360,1117.398,0.000,1820.140,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,54.457,1116.752,69.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.205,0.000,919.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353736
$DATA_FILE_SIZE,26966,535
$CAP_FILE_SIZE,141485,0
$CFSIZE,260165632,192798720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,081701,1926.723,-15648.517,279,1.1,279,9.6