version: 66.07
glider: 513
mission: 7
dive: 186
start: 8 2 111 15 36 57
data:
$ID,513
$MISSION,7
$DIVE,186
$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,-424907.53
$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,47
$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,185
$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
$GPS1,020811,150215,1941.652,-15652.878,135,6.6,154,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-79.2
$GPS2,020811,153604,1941.827,-15653.726,61,3.7,80,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.162,0.176
$KALMAN_X,-107720.8,1108.5,786.6,80523.2,-13313.3
$KALMAN_Y,134764.5,-203.5,-622.7,-145813.4,2117.3
$MHEAD_RNG_PITCHd_Wd,33.0,73986,-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,-38.75,0.000,2,0.000,0.000,35,1964,3642,0,0,0,0,0,0
$GC,73,-0.80,-136.7,3.8,-7.0,6,94,9.50,0.00,-4.97,0.000,6,0.243,0.000,2331,1961,3938,0,0,0,0,0,0
$GC,351,-0.80,-136.7,111.4,-32.5,36,355,0.00,2.25,0.00,0.000,4,0.000,0.051,2322,3395,3942,0,0,0,0,0,0
$GC,448,-0.80,-136.7,136.5,-22.4,44,456,0.00,2.15,0.00,0.000,6,0.000,0.034,2322,1995,3943,0,0,0,0,0,0
$GC,719,-0.80,-136.7,205.1,-24.6,69,723,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3404,3945,0,0,0,0,0,0
$GC,807,-0.80,-136.7,225.7,-23.3,73,811,0.00,2.12,0.00,0.000,6,0.000,0.035,2312,1985,3946,0,0,0,0,0,0
$GC,1073,-0.80,-136.7,285.8,-20.5,86,1077,0.00,2.20,0.00,0.000,4,0.000,0.051,2302,3404,3946,0,0,0,0,0,0
$GC,1146,-0.80,-136.7,302.0,-21.0,89,1150,0.15,2.12,0.00,0.000,6,0.174,0.035,2340,1984,3946,0,0,0,0,0,0
$GC,1407,-0.80,-136.7,345.8,-16.4,96,1411,0.00,2.20,0.00,0.000,4,0.000,0.051,2331,3399,3946,0,0,0,0,0,0
$GC,1457,-0.80,-136.7,353.4,-14.3,97,1461,0.00,2.12,0.00,0.000,6,0.000,0.033,2328,1988,3946,0,0,0,0,0,0
$GC,1735,-0.80,-136.7,398.7,-16.4,104,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1989,3945,0,0,0,0,0,0
$GC,1979,-0.80,-136.7,433.0,-13.8,110,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1987,3944,0,0,0,0,0,0
$GC,2223,-0.80,-136.7,470.7,-15.8,116,2227,0.00,2.20,0.00,0.000,4,0.000,0.054,2321,3398,3941,0,0,0,0,0,0
$GC,2341,-0.80,-136.7,490.2,-16.4,118,2345,0.00,2.10,0.00,0.000,6,0.000,0.035,2321,1992,3940,0,0,0,0,0,0
$GC,2602,-0.80,-136.7,534.7,-17.3,125,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1992,3938,0,0,0,0,0,0
$GC,2846,-0.80,-136.7,575.2,-16.5,131,2850,0.00,2.22,0.00,0.000,4,0.000,0.056,2310,3396,3934,0,0,0,0,0,0
$GC,2891,-0.80,-136.7,583.0,-16.8,132,2895,0.00,2.12,0.00,0.000,6,0.000,0.035,2309,1982,3934,0,0,0,0,0,0
$GC,3174,-0.80,-136.7,630.4,-16.7,139,3179,0.10,2.22,0.00,0.000,4,0.193,0.055,2325,3390,3931,0,0,0,0,0,0
$GC,3208,-0.80,-136.7,635.7,-15.5,139,3213,0.00,2.12,0.00,0.000,6,0.000,0.036,2324,1997,3930,0,0,0,0,0,0
$GC,3457,-0.80,-136.7,672.3,-14.7,146,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1986,3928,0,0,0,0,0,0
$GC,3701,-0.80,-136.7,706.9,-14.3,152,3705,0.00,2.20,0.00,0.000,4,0.000,0.055,2313,3391,3925,0,0,0,0,0,0
$GC,3753,-0.80,-136.7,714.5,-14.4,153,3757,0.00,2.12,0.00,0.000,6,0.000,0.036,2314,1986,3924,0,0,0,0,0,0
$GC,4030,-0.80,-136.7,756.8,-15.1,160,4034,0.00,2.20,0.00,0.000,4,0.000,0.055,2302,3390,3921,0,0,0,0,0,0
$GC,4124,-0.80,-136.7,771.0,-15.1,162,4129,0.12,2.15,0.00,0.000,6,0.172,0.037,2334,1986,3920,0,0,0,0,0,0
$GC,4397,-0.80,-136.7,805.0,-12.3,169,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1981,3922,0,0,0,0,0,0
$GC,4640,-0.80,-136.7,832.8,-11.2,175,4644,0.00,2.22,0.00,0.000,4,0.000,0.054,2321,3391,3916,0,0,0,0,0,0
$GC,4672,-0.80,-136.7,836.6,-11.5,175,4678,0.00,2.12,0.00,0.000,6,0.000,0.036,2325,1986,3915,0,0,0,0,0,0
$GC,4923,-0.80,-136.7,866.4,-12.1,182,4927,0.00,2.22,0.00,0.000,4,0.000,0.052,2314,3393,3913,0,0,0,0,0,0
$GC,4978,-0.80,-136.7,873.5,-12.9,183,4982,0.00,2.10,0.00,0.000,6,0.000,0.035,2314,1999,3913,0,0,0,0,0,0
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5213,-0.28,0.0,904.4,13.5,189,5329,0.62,0.00,108.85,1.114,6,0.154,0.000,2500,1995,3380,0,0,0,0,0,0
$STATE,5351,end apogee,CONTROL_FINISHED_OK
$STATE,5351,begin climb
$GC,5355,0.80,136.7,908.6,0.0,192,5482,1.02,2.33,117.75,1.078,4,0.093,0.041,2861,556,2821,0,0,0,0,0,0
$GC,5516,0.80,136.7,891.2,19.0,195,5521,0.00,2.20,0.00,0.000,6,0.000,0.036,2861,1950,2815,0,0,0,0,0,0
$GC,5767,0.80,136.7,841.7,19.7,202,5771,0.00,2.28,0.00,0.000,4,0.000,0.053,2861,3373,2812,0,0,0,0,0,0
$GC,5816,0.80,136.7,831.1,20.9,203,5820,0.00,2.17,0.00,0.000,6,0.000,0.030,2871,1940,2815,0,0,0,0,0,0
$GC,6094,0.80,136.7,776.9,19.2,210,6098,0.00,2.30,0.00,0.000,4,0.000,0.051,2869,3374,2810,0,0,0,0,0,0
$GC,6111,0.80,136.7,773.5,19.1,210,6116,0.10,2.15,0.00,0.000,6,0.224,0.030,2859,1947,2810,0,0,0,0,0,0
$GC,6377,0.80,136.7,727.5,16.7,217,6381,0.00,2.08,0.00,0.000,4,0.000,0.040,2868,558,2808,0,0,0,0,0,0
$GC,6393,0.80,136.7,724.6,16.7,217,6397,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1970,2807,0,0,0,0,0,0
$GC,6661,0.80,136.7,679.3,17.4,224,6665,0.00,2.20,0.00,0.000,4,0.000,0.053,2855,3357,2807,0,0,0,0,0,0
$GC,6773,0.80,136.7,658.7,18.3,226,6776,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1949,2807,0,0,0,0,0,0
$GC,7039,0.80,136.7,613.7,17.0,233,7043,0.00,2.25,0.00,0.000,4,0.000,0.053,2859,3368,2806,0,0,0,0,0,0
$GC,7056,0.80,136.7,610.9,16.4,233,7061,0.00,2.10,0.00,0.000,6,0.000,0.033,2868,1961,2806,0,0,0,0,0,0
$GC,7323,0.80,136.7,570.5,14.8,240,7327,0.00,2.12,0.00,0.000,4,0.000,0.038,2879,553,2809,0,0,0,0,0,0
$GC,7338,0.80,136.7,568.1,14.7,240,7343,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1957,2804,0,0,0,0,0,0
$GC,7605,0.80,136.7,525.7,16.5,247,7609,0.00,2.10,0.00,0.000,4,0.000,0.039,2889,553,2803,0,0,0,0,0,0
$GC,7633,0.80,136.7,521.0,17.0,247,7638,0.15,2.15,0.00,0.000,6,0.206,0.035,2855,1974,2802,0,0,0,0,0,0
$GC,7882,0.80,136.7,482.8,15.4,253,7886,0.00,2.17,0.00,0.000,4,0.000,0.052,2854,3360,2802,0,0,0,0,0,0
$GC,7973,0.80,136.7,466.9,18.6,255,7976,0.00,2.10,0.00,0.000,6,0.000,0.031,2863,1960,2802,0,0,0,0,0,0
$GC,8257,0.80,136.7,419.3,16.6,262,8261,0.00,2.20,0.00,0.000,4,0.000,0.050,2854,3369,2802,0,0,0,0,0,0
$GC,8312,0.80,136.7,410.1,15.7,263,8316,0.00,2.17,0.00,0.000,6,0.000,0.031,2864,1950,2802,0,0,0,0,0,0
$GC,8585,0.80,136.7,369.1,14.8,270,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1943,2801,0,0,0,0,0,0
$GC,8827,0.80,136.7,335.0,14.1,276,8831,0.00,2.10,0.00,0.000,4,0.000,0.041,2875,552,2803,0,0,0,0,0,0
$GC,8860,0.80,136.7,330.8,12.2,276,8866,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,1967,2799,0,0,0,0,0,0
$GC,9110,0.80,136.7,303.5,10.9,283,9114,0.00,2.17,0.00,0.000,4,0.000,0.050,2875,3361,2800,0,0,0,0,0,0
$GC,9133,0.80,136.7,300.5,13.4,283,9137,0.12,2.12,0.00,0.000,6,0.209,0.031,2856,1951,2797,0,0,0,0,0,0
$GC,9391,0.80,136.7,271.5,11.2,296,9395,0.00,2.20,0.00,0.000,4,0.000,0.049,2847,3368,2797,0,0,0,0,0,0
$GC,9440,0.80,136.7,266.0,11.0,298,9444,0.00,2.12,0.00,0.000,6,0.000,0.031,2856,1953,2800,0,0,0,0,0,0
$GC,9702,0.80,136.7,236.5,10.9,311,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1950,2803,0,0,0,0,0,0
$GC,9947,0.80,136.7,213.9,9.0,323,9951,0.00,2.20,0.00,0.000,4,0.000,0.048,2847,3370,2799,0,0,0,0,0,0
$GC,10165,0.80,136.7,192.3,10.3,336,10170,0.00,2.12,0.00,0.000,6,0.000,0.028,2857,1942,2800,0,0,0,0,0,0
$GC,10432,0.82,156.0,171.1,7.8,360,10449,0.00,2.08,12.73,0.577,4,0.000,0.038,2870,559,2744,0,0,0,0,0,0
$GC,10562,0.82,156.0,159.0,9.5,371,10570,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1962,2741,0,0,0,0,0,0
$GC,10827,0.82,156.0,131.3,11.8,396,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1962,2741,0,0,0,0,0,0
$GC,11093,0.92,241.0,110.8,5.0,421,11168,0.00,2.22,68.62,0.553,4,0.000,0.047,2868,3359,2396,0,0,0,0,0,0
$GC,11252,0.92,241.0,98.7,9.0,435,11261,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1978,2394,0,0,0,0,0,0
$GC,11517,0.92,241.0,66.2,12.5,460,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1977,2392,0,0,0,0,0,0
$GC,11780,0.92,241.0,31.3,13.6,485,11784,0.00,2.17,0.00,0.000,4,0.000,0.046,2878,3368,2392,0,0,0,0,0,0
$GC,11801,0.92,241.0,28.8,13.4,486,11808,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,1957,2392,0,0,0,0,0,0
$STATE,11998,end climb,SURFACE_DEPTH_REACHED
$STATE,11998,begin surface coast
$FINISH,0.4,1.023036
$STATE,12021,end surface coast,CONTROL_FINISHED_OK
$STATE,12021,begin surface
$SM_CCo,12041,277.88,0.444,0,0,395,732.45
$SM_GC,0.98,0.00,0.00,277.88,0.000,0.000,0.444,49,1951,395,-7.94,-1.10,732.45
$IRIDIUM_FIX,1932.09,-15651.99,250113,090916
$TT8_MAMPS,0.060593
$HUMID,1078721926
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,25.90
$XPDR_PINGS,68
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6340083712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49779802112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,25.623
$10V_AH,10.1,24.350
$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,19.525,121.300,307.950,277.875,0.000,142.908,226.879,1072.729,17.000,0.000,83.428,1079.484,8857.771,635.342,3299.614,475.904,33.361,1424.043,0.000,1792.963,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,55.991,1114.451,444.093,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.908,0.000,873.324,0.000,0.000,0.000,0.000,30284.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,12.247,0.000,0.000
$MEM,353716
$DATA_FILE_SIZE,26862,527
$CAP_FILE_SIZE,134058,0
$CFSIZE,260165632,192110592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,190337,1943.698,-15654.054,26,1.7,26,9.7