version: 66.07
glider: 513
mission: 7
dive: 183
start: 8 2 111 3 55 35
data:
$ID,513
$MISSION,7
$DIVE,183
$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,-424770.44
$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,44
$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,182
$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
$GPS1,020811,034201,1934.786,-15650.877,100,1.1,100,9.6
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.2
$GPS2,020811,035438,1934.979,-15651.259,12,1.6,12,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.145,0.190
$KALMAN_X,-96818.9,1452.1,660.0,73710.1,-12677.7
$KALMAN_Y,137289.8,-1596.8,-1032.1,-159185.6,8504.6
$MHEAD_RNG_PITCHd_Wd,27.6,82813,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,79,0.00,0.00,-51.05,0.000,2,0.000,0.000,37,1965,3807,0,0,0,0,0,0
$GC,84,-0.80,-136.7,4.0,-6.8,8,105,9.55,2.33,-2.12,0.000,4,0.244,0.068,2318,3394,3941,0,0,0,0,0,0
$GC,114,-0.80,-136.7,21.9,-46.4,12,121,0.00,2.20,0.00,0.000,6,0.000,0.035,2322,1989,3942,0,0,0,0,0,0
$GC,380,-0.80,-136.7,116.9,-29.4,38,384,0.00,2.22,0.00,0.000,4,0.000,0.051,2313,3400,3944,0,0,0,0,0,0
$GC,541,-0.80,-136.7,157.0,-22.6,52,545,0.00,2.12,0.00,0.000,6,0.000,0.030,2313,1978,3948,0,0,0,0,0,0
$GC,810,-0.80,-136.7,228.3,-24.6,72,814,0.00,2.20,0.00,0.000,4,0.000,0.051,2301,3396,3948,0,0,0,0,0,0
$GC,843,-0.80,-136.7,236.7,-24.8,73,849,0.15,2.12,0.00,0.000,6,0.179,0.031,2339,1987,3947,0,0,0,0,0,0
$GC,1098,-0.80,-136.7,281.6,-17.0,86,1102,0.00,2.20,0.00,0.000,4,0.000,0.048,2330,3397,3949,0,0,0,0,0,0
$GC,1153,-0.80,-136.7,290.7,-14.7,88,1158,0.00,2.10,0.00,0.000,6,0.000,0.031,2330,1982,3949,0,0,0,0,0,0
$GC,1424,-0.80,-136.7,340.1,-18.9,97,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1978,3949,0,0,0,0,0,0
$GC,1668,-0.80,-136.7,387.2,-18.6,103,1672,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3394,3949,0,0,0,0,0,0
$GC,1746,-0.80,-136.7,400.8,-16.3,104,1750,0.00,2.10,0.00,0.000,6,0.000,0.032,2320,1984,3948,0,0,0,0,0,0
$GC,1996,-0.80,-136.7,443.0,-17.0,110,2000,0.00,2.08,0.00,0.000,4,0.000,0.040,2319,593,3946,0,0,0,0,0,0
$GC,2034,-0.80,-136.7,449.8,-17.4,110,2040,0.12,2.12,0.00,0.000,6,0.173,0.043,2341,1995,3947,0,0,0,0,0,0
$GC,2285,-0.80,-136.7,488.2,-15.3,117,2289,0.00,2.17,0.00,0.000,4,0.000,0.051,2332,3390,3944,0,0,0,0,0,0
$GC,2351,-0.80,-136.7,498.3,-14.6,118,2355,0.00,2.10,0.00,0.000,6,0.000,0.034,2328,1985,3944,0,0,0,0,0,0
$GC,2613,-0.80,-136.7,536.4,-14.5,125,2617,0.00,2.17,0.00,0.000,4,0.000,0.050,2322,3392,3941,0,0,0,0,0,0
$GC,2681,-0.80,-136.7,546.0,-13.4,126,2685,0.00,2.12,0.00,0.000,6,0.000,0.035,2322,1991,3940,0,0,0,0,0,0
$GC,2936,-0.80,-136.7,580.7,-13.4,133,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1980,3938,0,0,0,0,0,0
$GC,3180,-0.80,-136.7,615.5,-14.7,139,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1981,3936,0,0,0,0,0,0
$GC,3424,-0.80,-136.7,654.4,-16.2,145,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1980,3934,0,0,0,0,0,0
$GC,3667,-0.80,-136.7,693.1,-15.5,151,3671,0.00,2.20,0.00,0.000,4,0.000,0.052,2311,3395,3931,0,0,0,0,0,0
$GC,3694,-0.80,-136.7,697.4,-16.2,151,3698,0.00,2.15,0.00,0.000,6,0.000,0.034,2310,1998,3932,0,0,0,0,0,0
$GC,3949,-0.80,-136.7,735.1,-14.5,158,3950,0.10,0.00,0.00,0.000,6,0.194,0.000,2334,1993,3929,0,0,0,0,0,0
$GC,4193,-0.80,-136.7,764.3,-11.8,164,4197,0.00,2.20,0.00,0.000,4,0.000,0.054,2325,3393,3929,0,0,0,0,0,0
$GC,4277,-0.80,-136.7,774.5,-11.7,165,4283,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,1981,3926,0,0,0,0,0,0
$GC,4527,-0.80,-136.7,805.6,-12.7,172,4531,0.00,2.20,0.00,0.000,4,0.000,0.052,2310,3388,3924,0,0,0,0,0,0
$GC,4560,-0.80,-136.7,810.0,-14.0,172,4566,0.00,2.12,0.00,0.000,6,0.000,0.034,2314,1981,3923,0,0,0,0,0,0
$GC,4810,-0.80,-136.7,843.9,-13.7,179,4814,0.00,2.20,0.00,0.000,4,0.000,0.053,2307,3389,3921,0,0,0,0,0,0
$GC,4849,-0.80,-136.7,849.4,-14.3,180,4854,0.12,2.12,0.00,0.000,6,0.173,0.035,2335,1985,3921,0,0,0,0,0,0
$GC,5133,-0.80,-136.7,885.0,-12.3,187,5137,0.00,2.10,0.00,0.000,4,0.000,0.045,2335,583,3917,0,0,0,0,0,0
$GC,5172,-0.80,-136.7,890.2,-12.3,188,5176,0.00,2.12,0.00,0.000,6,0.000,0.044,2326,1987,3919,0,0,0,0,0,0
$STATE,5252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5252,begin apogee
$GC,5257,-0.28,0.0,900.6,13.0,190,5373,0.57,0.00,109.90,1.114,6,0.150,0.000,2498,1987,3381,0,0,0,0,0,0
$STATE,5375,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5379,0.80,136.7,905.5,0.0,193,5506,1.02,2.33,117.80,1.077,4,0.094,0.039,2855,550,2823,0,0,0,0,0,0
$GC,5523,0.80,136.7,892.7,15.4,196,5527,0.00,2.25,0.00,0.000,6,0.000,0.037,2854,1965,2818,0,0,0,0,0,0
$GC,5784,0.80,136.7,848.3,16.9,203,5788,0.00,2.17,0.00,0.000,4,0.000,0.040,2863,557,2814,0,0,0,0,0,0
$GC,5817,0.80,136.7,842.3,17.1,203,5821,0.00,2.17,0.00,0.000,6,0.000,0.038,2863,1972,2813,0,0,0,0,0,0
$GC,6073,0.80,136.7,796.3,17.9,210,6077,0.00,2.22,0.00,0.000,4,0.000,0.054,2863,3371,2812,0,0,0,0,0,0
$GC,6107,0.80,136.7,789.8,19.6,210,6112,0.00,2.15,0.00,0.000,6,0.000,0.030,2874,1949,2811,0,0,0,0,0,0
$GC,6356,0.80,136.7,740.6,19.8,217,6360,0.00,2.25,0.00,0.000,4,0.000,0.052,2870,3370,2811,0,0,0,0,0,0
$GC,6396,0.80,136.7,732.1,21.9,218,6400,0.12,2.12,0.00,0.000,6,0.216,0.032,2858,1961,2811,0,0,0,0,0,0
$GC,6680,0.80,136.7,676.6,19.3,225,6683,0.00,2.10,0.00,0.000,4,0.000,0.039,2867,554,2810,0,0,0,0,0,0
$GC,6712,0.80,136.7,669.5,20.8,225,6718,0.00,2.15,0.00,0.000,6,0.000,0.036,2867,1973,2809,0,0,0,0,0,0
$GC,6962,0.80,136.7,621.1,19.3,232,6966,0.00,2.12,0.00,0.000,4,0.000,0.038,2877,561,2809,0,0,0,0,0,0
$GC,7001,0.80,136.7,613.5,19.3,232,7007,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1963,2807,0,0,0,0,0,0
$GC,7252,0.80,136.7,568.2,17.9,239,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1963,2808,0,0,0,0,0,0
$GC,7494,0.80,136.7,525.6,17.4,245,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1964,2808,0,0,0,0,0,0
$GC,7738,0.80,136.7,484.1,17.1,251,7742,0.00,2.20,0.00,0.000,4,0.000,0.054,2877,3362,2807,0,0,0,0,0,0
$GC,7850,0.80,136.7,463.1,19.9,253,7855,0.12,2.15,0.00,0.000,6,0.215,0.033,2860,1941,2806,0,0,0,0,0,0
$GC,8111,0.80,136.7,419.9,16.2,260,8114,0.00,2.08,0.00,0.000,4,0.000,0.040,2870,555,2809,0,0,0,0,0,0
$GC,8143,0.80,136.7,414.5,16.0,260,8149,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1967,2804,0,0,0,0,0,0
$GC,8394,0.80,136.7,378.4,13.8,267,8398,0.00,2.20,0.00,0.000,4,0.000,0.053,2868,3359,2804,0,0,0,0,0,0
$GC,8478,0.80,136.7,366.5,13.9,268,8484,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1949,2806,0,0,0,0,0,0
$GC,8728,0.80,136.7,333.8,13.0,275,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1949,2804,0,0,0,0,0,0
$GC,8971,0.80,136.7,298.9,15.0,281,8975,0.00,2.20,0.00,0.000,4,0.000,0.051,2875,3361,2804,0,0,0,0,0,0
$GC,8983,0.80,136.7,297.2,14.6,281,8989,0.12,2.08,0.00,0.000,6,0.212,0.031,2857,1967,2803,0,0,0,0,0,0
$GC,9236,0.80,136.7,266.2,11.7,294,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1965,2803,0,0,0,0,0,0
$GC,9484,0.80,136.7,239.2,10.3,306,9488,0.00,2.20,0.00,0.000,4,0.000,0.051,2843,3367,2805,0,0,0,0,0,0
$GC,9608,0.80,136.7,225.0,12.4,311,9612,0.00,2.10,0.00,0.000,6,0.000,0.031,2856,1959,2803,0,0,0,0,0,0
$GC,9864,0.80,136.7,195.4,8.6,325,9868,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,557,2803,0,0,0,0,0,0
$GC,9884,0.82,156.0,194.0,7.8,326,9901,0.00,2.08,13.07,0.615,6,0.000,0.033,2867,1961,2744,0,0,0,0,0,0
$GC,10160,0.84,176.4,172.2,7.7,351,10184,0.00,2.22,17.60,0.604,4,0.000,0.048,2867,3362,2662,0,0,0,0,0,0
$GC,10352,0.84,176.4,151.0,12.1,368,10356,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1954,2660,0,0,0,0,0,0
$GC,10617,0.84,176.4,123.2,11.5,392,10621,0.00,2.20,0.00,0.000,4,0.000,0.048,2877,3364,2659,0,0,0,0,0,0
$GC,10701,0.84,176.4,112.6,11.6,399,10705,0.00,2.10,0.00,0.000,6,0.000,0.030,2888,1960,2659,0,0,0,0,0,0
$GC,10967,0.86,190.9,88.4,8.0,423,10991,0.00,2.28,13.27,0.509,4,0.000,0.047,2888,3367,2601,0,0,0,0,0,0
$GC,11236,0.90,217.8,60.7,7.4,447,11267,0.00,2.15,22.83,0.499,6,0.000,0.028,2899,1948,2494,0,0,0,0,0,0
$GC,11523,0.90,217.8,32.4,10.8,474,11527,0.00,2.20,0.00,0.000,4,0.000,0.045,2899,3364,2491,0,0,0,0,0,0
$GC,11700,0.90,217.8,9.8,13.7,505,11708,0.00,2.15,0.00,0.000,6,0.000,0.029,2909,1954,2492,0,0,0,0,0,0
$STATE,11756,end climb,SURFACE_DEPTH_REACHED
$STATE,11756,begin surface coast
$FINISH,0.3,1.022999
$STATE,11783,end surface coast,CONTROL_FINISHED_OK
$STATE,11783,begin surface
$SM_CCo,11803,-0.15,0.000,0,0,2484,220.03
$SM_GC,2.40,0.00,0.00,-0.15,0.000,0.000,0.000,54,1950,2484,-7.96,-1.13,220.03
$IRIDIUM_FIX,1925.22,-15652.89,240113,181844
$TT8_MAMPS,0.255411
$HUMID,1078919345
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.70
$XPDR_PINGS,83
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6263308288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50189271040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,25.081
$10V_AH,10.1,23.804
$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,19.500,125.350,294.475,0.000,0.000,29.172,33.976,479.430,20.750,0.000,14.962,1059.047,8465.910,365.845,2277.566,398.925,33.357,1124.854,0.000,1742.391,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,68.263,1113.684,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.857,0.000,876.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354180
$DATA_FILE_SIZE,26967,520
$CAP_FILE_SIZE,118139,0
$CFSIZE,260165632,192364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,071554,1937.380,-15651.570,156,1.4,156,9.6