version: 66.07
glider: 513
mission: 7
dive: 181
start: 8 1 111 20 14 23
data:
$ID,513
$MISSION,7
$DIVE,181
$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,732.45386
$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,-424739.34
$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,46
$R_STBD_OVSHOOT,41
$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,180
$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
$GPS1,010811,194214,1929.134,-15649.151,60,4.3,79,9.6
$_CALLS,5
$_XMS_NAKs,56
$_XMS_TOUTs,3
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.2
$GPS2,010811,201330,1929.673,-15649.816,36,1.4,40,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.128,0.202
$KALMAN_X,-88070.6,122.8,125.4,69371.7,-9280.8
$KALMAN_Y,138665.5,-2030.9,-1022.1,-169958.2,14484.6
$MHEAD_RNG_PITCHd_Wd,22.7,90733,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,69,0.00,0.00,-38.83,0.000,2,0.000,0.000,37,1956,3633,0,0,0,0,0,0
$GC,73,-0.80,-136.7,3.5,-5.9,6,95,9.55,2.08,-5.25,0.000,4,0.244,0.054,2344,587,3944,0,0,0,0,0,0
$GC,125,-0.80,-136.7,27.2,-44.2,14,133,0.00,2.17,0.00,0.000,6,0.000,0.044,2339,1981,3942,0,0,0,0,0,0
$GC,388,-0.80,-136.7,112.4,-28.5,39,392,0.00,2.25,0.00,0.000,4,0.000,0.054,2322,3400,3943,0,0,0,0,0,0
$GC,527,-0.80,-136.7,146.3,-23.5,51,532,0.00,2.12,0.00,0.000,6,0.000,0.035,2322,1996,3944,0,0,0,0,0,0
$GC,787,-0.80,-136.7,211.1,-23.8,73,791,0.00,2.25,0.00,0.000,4,0.000,0.053,2312,3404,3945,0,0,0,0,0,0
$GC,909,-0.80,-136.7,237.6,-20.2,78,915,0.00,2.12,0.00,0.000,6,0.000,0.034,2312,1990,3945,0,0,0,0,0,0
$GC,1164,-0.80,-136.7,292.0,-22.2,91,1168,0.00,2.20,0.00,0.000,4,0.000,0.050,2301,3401,3946,0,0,0,0,0,0
$GC,1269,-0.80,-136.7,314.2,-20.4,94,1274,0.08,2.17,0.00,0.000,6,0.160,0.033,2335,1979,3946,0,0,0,0,0,0
$GC,1542,-0.80,-136.7,361.4,-17.9,101,1546,0.00,2.08,0.00,0.000,4,0.000,0.045,2335,590,3946,0,0,0,0,0,0
$GC,1592,-0.80,-136.7,370.5,-16.9,102,1596,0.00,2.10,0.00,0.000,6,0.000,0.042,2327,2001,3945,0,0,0,0,0,0
$GC,1870,-0.80,-136.7,417.3,-17.1,109,1874,0.00,2.15,0.00,0.000,4,0.000,0.051,2316,3393,3944,0,0,0,0,0,0
$GC,1977,-0.80,-136.7,434.1,-14.6,111,1981,0.00,2.12,0.00,0.000,6,0.000,0.033,2315,1981,3944,0,0,0,0,0,0
$GC,2237,-0.80,-136.7,475.5,-15.8,118,2241,0.00,2.20,0.00,0.000,4,0.000,0.052,2304,3392,3940,0,0,0,0,0,0
$GC,2287,-0.80,-136.7,484.2,-16.7,119,2292,0.12,2.12,0.00,0.000,6,0.170,0.034,2335,1991,3941,0,0,0,0,0,0
$GC,2565,-0.80,-136.7,525.6,-15.0,126,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1986,3938,0,0,0,0,0,0
$GC,2809,-0.80,-136.7,559.8,-14.0,132,2813,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3396,3935,0,0,0,0,0,0
$GC,2899,-0.80,-136.7,572.4,-13.4,134,2902,0.00,2.12,0.00,0.000,6,0.000,0.033,2328,1978,3934,0,0,0,0,0,0
$GC,3183,-0.80,-136.7,612.8,-14.6,141,3187,0.00,2.25,0.00,0.000,4,0.000,0.053,2316,3400,3930,0,0,0,0,0,0
$GC,3227,-0.80,-136.7,619.9,-15.0,142,3230,0.00,2.12,0.00,0.000,6,0.000,0.035,2316,1989,3932,0,0,0,0,0,0
$GC,3510,-0.80,-136.7,661.8,-14.6,149,3514,0.00,2.20,0.00,0.000,4,0.000,0.051,2305,3402,3927,0,0,0,0,0,0
$GC,3567,-0.80,-136.7,669.8,-14.0,150,3571,0.12,2.12,0.00,0.000,6,0.171,0.034,2337,1990,3924,0,0,0,0,0,0
$GC,3838,-0.80,-136.7,703.9,-12.6,157,3842,0.00,2.10,0.00,0.000,4,0.000,0.044,2337,581,3922,0,0,0,0,0,0
$GC,3860,-0.80,-136.7,707.0,-13.1,157,3864,0.00,2.15,0.00,0.000,6,0.000,0.044,2333,1988,3923,0,0,0,0,0,0
$GC,4122,-0.80,-136.7,741.6,-13.2,164,4126,0.00,2.22,0.00,0.000,4,0.000,0.057,2317,3396,3920,0,0,0,0,0,0
$GC,4251,-0.80,-136.7,759.0,-13.2,166,4256,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,1990,3919,0,0,0,0,0,0
$GC,4501,-0.80,-136.7,793.1,-13.6,173,4505,0.00,2.25,0.00,0.000,4,0.000,0.055,2306,3407,3917,0,0,0,0,0,0
$GC,4529,-0.80,-136.7,796.9,-13.2,173,4534,0.12,2.15,0.00,0.000,6,0.173,0.035,2338,1990,3916,0,0,0,0,0,0
$GC,4784,-0.80,-136.7,827.4,-12.0,180,4788,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3400,3912,0,0,0,0,0,0
$GC,4823,-0.80,-136.7,832.2,-13.0,181,4827,0.00,2.17,0.00,0.000,6,0.000,0.034,2328,1976,3914,0,0,0,0,0,0
$GC,5107,-0.80,-136.7,867.0,-12.2,188,5111,0.00,2.28,0.00,0.000,4,0.000,0.056,2318,3396,3912,0,0,0,0,0,0
$GC,5162,-0.80,-136.7,873.9,-12.4,189,5166,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,1992,3911,0,0,0,0,0,0
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5397,-0.28,0.0,902.5,12.7,195,5508,0.62,0.00,107.97,1.124,6,0.155,0.000,2503,1989,3381,0,0,0,0,0,0
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5515,0.80,136.7,905.4,0.0,197,5637,1.02,0.00,118.68,1.078,6,0.091,0.000,2850,1986,2824,0,0,0,0,0,0
$GC,5881,0.80,136.7,849.3,19.0,206,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1986,2817,0,0,0,0,0,0
$GC,6124,0.80,136.7,804.2,18.4,212,6128,0.00,2.22,0.00,0.000,4,0.000,0.054,2843,3372,2814,0,0,0,0,0,0
$GC,6146,0.80,136.7,799.6,19.6,212,6150,0.00,2.17,0.00,0.000,6,0.000,0.030,2852,1941,2814,0,0,0,0,0,0
$GC,6407,0.80,136.7,752.9,17.7,219,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1937,2816,0,0,0,0,0,0
$GC,6651,0.80,136.7,710.1,17.6,225,6655,0.00,2.28,0.00,0.000,4,0.000,0.052,2843,3373,2812,0,0,0,0,0,0
$GC,6713,0.80,136.7,698.7,18.5,226,6717,0.00,2.15,0.00,0.000,6,0.000,0.031,2852,1955,2811,0,0,0,0,0,0
$GC,6973,0.80,136.7,651.2,18.0,233,6977,0.00,2.10,0.00,0.000,4,0.000,0.040,2864,549,2810,0,0,0,0,0,0
$GC,7029,0.80,136.7,640.3,19.8,234,7033,0.00,2.12,0.00,0.000,6,0.000,0.036,2863,1970,2807,0,0,0,0,0,0
$GC,7302,0.80,136.7,590.6,18.1,241,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1969,2811,0,0,0,0,0,0
$GC,7545,0.80,136.7,550.2,16.2,247,7549,0.00,2.22,0.00,0.000,4,0.000,0.054,2864,3371,2807,0,0,0,0,0,0
$GC,7566,0.80,136.7,546.3,17.3,247,7570,0.00,2.12,0.00,0.000,6,0.000,0.032,2874,1962,2807,0,0,0,0,0,0
$GC,7828,0.80,136.7,501.8,17.3,254,7832,0.00,2.10,0.00,0.000,4,0.000,0.039,2885,551,2806,0,0,0,0,0,0
$GC,7845,0.80,136.7,498.9,17.4,254,7849,0.12,2.10,0.00,0.000,6,0.210,0.036,2858,1963,2804,0,0,0,0,0,0
$GC,8111,0.80,136.7,454.4,16.6,261,8115,0.00,2.20,0.00,0.000,4,0.000,0.052,2853,3361,2804,0,0,0,0,0,0
$GC,8166,0.80,136.7,445.5,16.0,262,8170,0.00,2.15,0.00,0.000,6,0.000,0.032,2856,1948,2805,0,0,0,0,0,0
$GC,8440,0.80,136.7,409.5,12.5,269,8444,0.00,2.08,0.00,0.000,4,0.000,0.041,2867,545,2804,0,0,0,0,0,0
$GC,8495,0.80,136.7,401.5,14.5,270,8499,0.00,2.10,0.00,0.000,6,0.000,0.035,2867,1957,2803,0,0,0,0,0,0
$GC,8767,0.80,136.7,361.6,15.1,277,8771,0.00,2.20,0.00,0.000,4,0.000,0.051,2867,3369,2803,0,0,0,0,0,0
$GC,8951,0.80,136.7,331.8,14.7,281,8955,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1955,2803,0,0,0,0,0,0
$GC,9230,0.80,136.7,295.1,13.2,288,9233,0.00,2.08,0.00,0.000,4,0.000,0.040,2889,558,2804,0,0,0,0,0,0
$GC,9258,0.80,136.7,291.5,12.7,289,9263,0.12,2.10,0.00,0.000,6,0.205,0.034,2860,1971,2801,0,0,0,0,0,0
$GC,9522,0.80,136.7,259.9,11.1,302,9526,0.00,2.17,0.00,0.000,4,0.000,0.052,2865,3365,2801,0,0,0,0,0,0
$GC,9765,0.80,136.7,231.6,10.5,313,9769,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1946,2799,0,0,0,0,0,0
$GC,10029,0.80,136.7,203.2,10.2,326,10033,0.00,2.22,0.00,0.000,4,0.000,0.048,2875,3356,2801,0,0,0,0,0,0
$GC,10192,0.80,136.7,186.5,9.3,339,10196,0.00,2.08,0.00,0.000,6,0.000,0.030,2880,1963,2802,0,0,0,0,0,0
$GC,10457,0.80,136.7,157.5,11.2,363,10461,0.00,2.17,0.00,0.000,4,0.000,0.047,2880,3360,2801,0,0,0,0,0,0
$GC,10531,0.80,136.7,149.0,10.3,369,10536,0.15,2.08,0.00,0.000,6,0.199,0.029,2854,1964,2802,0,0,0,0,0,0
$GC,10794,0.83,166.8,125.7,7.3,393,10818,0.00,0.00,21.45,0.568,6,0.000,0.000,2854,1959,2700,0,0,0,0,0,0
$GC,11076,0.87,196.9,102.4,7.3,419,11111,0.00,2.28,25.15,0.547,4,0.000,0.046,2840,3375,2578,0,0,0,0,0,0
$GC,11325,0.87,196.9,77.2,10.7,441,11333,0.00,2.17,0.00,0.000,6,0.000,0.030,2853,1960,2575,0,0,0,0,0,0
$GC,11590,0.89,216.4,55.0,7.7,466,11609,0.00,0.00,17.02,0.492,6,0.000,0.000,2853,1959,2498,0,0,0,0,0,0
$GC,11868,0.91,227.1,33.6,8.1,492,11885,0.10,2.25,10.15,0.446,4,0.111,0.047,2897,3364,2454,0,0,0,0,0,0
$GC,12022,0.91,227.1,14.5,13.4,517,12029,0.00,2.15,0.00,0.000,6,0.000,0.030,2905,1961,2457,0,0,0,0,0,0
$STATE,12102,end climb,SURFACE_DEPTH_REACHED
$STATE,12102,begin surface coast
$FINISH,0.1,1.010294
$STATE,12119,end surface coast,CONTROL_FINISHED_OK
$STATE,12119,begin surface
$SM_CCo,12141,289.98,0.450,0,0,394,732.70
$SM_GC,1.06,0.00,0.00,289.98,0.000,0.000,0.450,46,1960,394,-7.96,-0.88,732.70
$IRIDIUM_FIX,1920.65,-15648.68,240113,141415
$TT8_MAMPS,0.066729
$HUMID,1078745152
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,25.20
$XPDR_PINGS,79
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6340247552
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50357174272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,24.812
$10V_AH,10.1,23.619
$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,19.675,125.325,300.425,289.975,0.000,160.861,271.538,892.714,19.750,0.000,43.170,1123.993,8772.642,656.585,3287.901,468.110,33.361,1460.365,0.000,1930.696,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,56.758,1123.655,450.229,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.214,0.000,916.208,0.000,0.000,0.000,0.000,43385.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,11.542,0.000,0.000
$MEM,354084
$DATA_FILE_SIZE,26943,535
$CAP_FILE_SIZE,135929,0
$CFSIZE,260165632,192495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,234307,1932.294,-15649.922,37,0.9,37,9.6