version: 66.07
glider: 513
mission: 7
dive: 187
start: 8 2 111 19 37 9
data:
$ID,513
$MISSION,7
$DIVE,187
$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,-424926.47
$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,45
$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,186
$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
$GPS1,020811,190337,1943.698,-15654.054,26,1.7,26,9.7
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.1
$GPS2,020811,193614,1943.940,-15654.902,16,1.7,16,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.167,0.171
$KALMAN_X,-111959.0,936.4,532.9,83145.0,-12585.0
$KALMAN_Y,134063.9,-295.5,185.2,-141932.0,-3.7
$MHEAD_RNG_PITCHd_Wd,34.5,71980,-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,-136.7,0.0,0.0,0,136,0.00,0.00,-107.62,0.000,2,0.000,0.000,37,1954,3562,0,0,0,0,0,0
$GC,141,-0.80,-136.7,3.1,-4.4,17,162,9.43,0.00,-6.82,0.000,6,0.242,0.000,2327,1950,3939,0,0,0,0,0,0
$GC,420,-0.80,-136.7,109.4,-36.8,48,424,0.00,2.22,0.00,0.000,4,0.000,0.050,2323,3389,3940,0,0,0,0,0,0
$GC,549,-0.80,-136.7,144.0,-26.4,59,553,0.00,2.10,0.00,0.000,6,0.000,0.037,2317,2003,3941,0,0,0,0,0,0
$GC,808,-0.80,-136.7,209.6,-21.0,81,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1997,3942,0,0,0,0,0,0
$GC,1056,-0.80,-136.7,262.4,-22.9,93,1060,0.00,2.17,0.00,0.000,4,0.000,0.053,2307,3400,3943,0,0,0,0,0,0
$GC,1157,-0.80,-136.7,285.8,-20.7,97,1161,0.00,2.12,0.00,0.000,6,0.000,0.034,2306,1977,3942,0,0,0,0,0,0
$GC,1433,-0.80,-136.7,342.0,-20.2,106,1438,0.12,2.22,0.00,0.000,4,0.186,0.051,2328,3396,3942,0,0,0,0,0,0
$GC,1465,-0.80,-136.7,348.0,-17.8,106,1471,0.00,2.10,0.00,0.000,6,0.000,0.031,2328,1985,3943,0,0,0,0,0,0
$GC,1716,-0.80,-136.7,389.4,-16.8,113,1720,0.00,2.17,0.00,0.000,4,0.000,0.049,2317,3395,3942,0,0,0,0,0,0
$GC,1732,-0.80,-136.7,392.6,-16.6,113,1736,0.00,2.08,0.00,0.000,6,0.000,0.031,2317,1988,3941,0,0,0,0,0,0
$GC,2005,-0.80,-136.7,440.6,-17.7,120,2009,0.00,2.17,0.00,0.000,4,0.000,0.051,2307,3401,3939,0,0,0,0,0,0
$GC,2100,-0.80,-136.7,457.6,-17.8,122,2105,0.12,2.12,0.00,0.000,6,0.173,0.033,2338,1983,3938,0,0,0,0,0,0
$GC,2372,-0.80,-136.7,499.7,-15.2,129,2376,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3393,3934,0,0,0,0,0,0
$GC,2416,-0.80,-136.7,506.2,-13.9,130,2420,0.00,2.10,0.00,0.000,6,0.000,0.034,2329,2000,3934,0,0,0,0,0,0
$GC,2700,-0.80,-136.7,546.3,-14.2,137,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1993,3931,0,0,0,0,0,0
$GC,2943,-0.80,-136.7,580.6,-14.0,143,2947,0.00,2.17,0.00,0.000,4,0.000,0.051,2318,3398,3927,0,0,0,0,0,0
$GC,2964,-0.80,-136.7,583.8,-14.8,143,2968,0.00,2.12,0.00,0.000,6,0.000,0.034,2316,1984,3926,0,0,0,0,0,0
$GC,3232,-0.80,-136.7,621.9,-14.4,150,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1979,3923,0,0,0,0,0,0
$GC,3475,-0.80,-136.7,658.5,-15.2,156,3479,0.00,2.20,0.00,0.000,4,0.000,0.052,2307,3399,3924,0,0,0,0,0,0
$GC,3524,-0.80,-136.7,666.3,-15.6,157,3529,0.12,2.10,0.00,0.000,6,0.169,0.035,2338,2000,3920,0,0,0,0,0,0
$GC,3802,-0.80,-136.7,702.3,-12.7,164,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1993,3917,0,0,0,0,0,0
$GC,4047,-0.80,-136.7,732.4,-12.3,170,4051,0.00,2.20,0.00,0.000,4,0.000,0.053,2330,3400,3914,0,0,0,0,0,0
$GC,4124,-0.80,-136.7,742.0,-11.7,171,4128,0.00,2.12,0.00,0.000,6,0.000,0.035,2330,1981,3915,0,0,0,0,0,0
$GC,4380,-0.80,-136.7,775.5,-13.2,178,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1979,3910,0,0,0,0,0,0
$GC,4624,-0.80,-136.7,809.6,-14.2,184,4628,0.00,2.22,0.00,0.000,4,0.000,0.051,2319,3398,3909,0,0,0,0,0,0
$GC,4697,-0.80,-136.7,820.5,-14.4,185,4701,0.00,2.15,0.00,0.000,6,0.000,0.034,2319,1997,3908,0,0,0,0,0,0
$GC,4953,-0.80,-136.7,859.2,-15.2,192,4957,0.00,2.17,0.00,0.000,4,0.000,0.051,2308,3391,3907,0,0,0,0,0,0
$GC,5015,-0.80,-136.7,868.9,-14.9,193,5019,0.12,2.12,0.00,0.000,6,0.170,0.035,2339,1985,3906,0,0,0,0,0,0
$STATE,5278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5278,begin apogee
$GC,5284,-0.28,0.0,904.5,13.1,200,5394,0.52,0.00,106.68,1.118,6,0.146,0.000,2500,1979,3383,0,0,0,0,0,0
$STATE,5396,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5399,0.80,136.7,908.6,0.0,202,5528,1.02,2.30,117.72,1.079,4,0.092,0.040,2857,556,2821,0,0,0,0,0,0
$GC,5572,0.80,136.7,891.9,17.1,206,5576,0.00,2.20,0.00,0.000,6,0.000,0.034,2853,1960,2815,0,0,0,0,0,0
$GC,5857,0.80,136.7,841.3,17.8,213,5861,0.00,2.28,0.00,0.000,4,0.000,0.054,2853,3373,2812,0,0,0,0,0,0
$GC,5941,0.80,136.7,825.1,19.2,215,5945,0.00,2.15,0.00,0.000,6,0.000,0.029,2862,1954,2812,0,0,0,0,0,0
$GC,6224,0.80,136.7,771.2,19.0,222,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1950,2810,0,0,0,0,0,0
$GC,6468,0.80,136.7,727.3,17.9,228,6472,0.00,2.08,0.00,0.000,4,0.000,0.039,2873,558,2808,0,0,0,0,0,0
$GC,6501,0.80,136.7,720.8,18.7,228,6507,0.00,2.15,0.00,0.000,6,0.000,0.036,2868,1972,2806,0,0,0,0,0,0
$GC,6751,0.80,136.7,674.6,18.5,235,6755,0.00,2.20,0.00,0.000,4,0.000,0.052,2869,3369,2809,0,0,0,0,0,0
$GC,6812,0.80,136.7,662.5,19.3,236,6816,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1957,2807,0,0,0,0,0,0
$GC,7079,0.80,136.7,613.3,18.2,243,7083,0.00,2.08,0.00,0.000,4,0.000,0.038,2888,557,2805,0,0,0,0,0,0
$GC,7095,0.80,136.7,610.1,18.1,243,7099,0.12,2.12,0.00,0.000,6,0.209,0.034,2860,1970,2804,0,0,0,0,0,0
$GC,7361,0.80,136.7,562.6,17.8,250,7365,0.00,2.17,0.00,0.000,4,0.000,0.051,2850,3358,2804,0,0,0,0,0,0
$GC,7378,0.80,136.7,559.5,18.5,250,7382,0.00,2.10,0.00,0.000,6,0.000,0.031,2859,1960,2805,0,0,0,0,0,0
$GC,7638,0.80,136.7,513.5,17.4,257,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1952,2803,0,0,0,0,0,0
$GC,7882,0.80,136.7,474.7,16.0,263,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1952,2803,0,0,0,0,0,0
$GC,8127,0.80,136.7,440.3,13.9,269,8131,0.00,2.10,0.00,0.000,4,0.000,0.038,2871,553,2802,0,0,0,0,0,0
$GC,8142,0.80,136.7,437.8,14.4,269,8147,0.00,2.12,0.00,0.000,6,0.000,0.035,2871,1955,2801,0,0,0,0,0,0
$GC,8409,0.80,136.7,397.4,14.8,276,8413,0.00,2.20,0.00,0.000,4,0.000,0.051,2861,3367,2801,0,0,0,0,0,0
$GC,8604,0.80,136.7,365.3,15.5,280,8608,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,1956,2801,0,0,0,0,0,0
$GC,8871,0.80,136.7,327.7,13.6,287,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1951,2807,0,0,0,0,0,0
$GC,9114,0.80,136.7,296.5,12.4,293,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1951,2800,0,0,0,0,0,0
$GC,9363,0.80,136.7,267.2,10.8,305,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1951,2800,0,0,0,0,0,0
$GC,9609,0.80,136.7,240.5,11.1,317,9613,0.00,2.08,0.00,0.000,4,0.000,0.038,2881,556,2800,0,0,0,0,0,0
$GC,9665,0.80,136.7,232.8,13.2,319,9670,0.00,2.08,0.00,0.000,6,0.000,0.032,2881,1968,2798,0,0,0,0,0,0
$GC,9919,0.80,136.7,205.5,8.7,332,9923,0.00,2.15,0.00,0.000,4,0.000,0.049,2881,3360,2796,0,0,0,0,0,0
$GC,10169,0.80,136.7,183.8,11.5,351,10174,0.15,2.08,0.00,0.000,6,0.198,0.030,2855,1958,2798,0,0,0,0,0,0
$GC,10434,0.84,175.0,157.2,6.9,375,10469,0.00,0.00,27.20,0.599,6,0.000,0.000,2855,1954,2666,0,0,0,0,0,0
$GC,10726,0.90,219.5,138.5,6.7,402,10769,0.00,0.00,36.58,0.581,6,0.000,0.000,2855,1954,2489,0,0,0,0,0,0
$GC,11025,0.90,219.5,102.1,14.2,430,11029,0.00,2.22,0.00,0.000,4,0.000,0.048,2855,3363,2480,0,0,0,0,0,0
$GC,11143,0.90,219.5,88.7,9.6,440,11148,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1959,2482,0,0,0,0,0,0
$GC,11410,0.90,219.5,64.9,10.6,464,11413,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,557,2483,0,0,0,0,0,0
$GC,11592,0.90,219.5,46.0,11.0,480,11600,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,1955,2482,0,0,0,0,0,0
$GC,11854,0.90,219.5,19.2,11.2,515,11861,0.00,2.20,0.00,0.000,4,0.000,0.047,2875,3363,2483,0,0,0,0,0,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FINISH,0.2,1.022982
$STATE,12011,end surface coast,CONTROL_FINISHED_OK
$STATE,12011,begin surface
$SM_CCo,12032,273.92,0.443,0,0,394,732.45
$SM_GC,1.06,0.00,0.00,273.92,0.000,0.000,0.443,49,1984,394,-7.93,-0.17,732.45
$IRIDIUM_FIX,1936.66,-15654.10,250113,131332
$TT8_MAMPS,0.060593
$HUMID,1078745152
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,25.90
$XPDR_PINGS,63
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6340050944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49664327680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,25.821
$10V_AH,10.2,24.503
$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,19.200,103.100,288.175,273.925,0.000,143.933,200.599,1094.031,15.750,0.000,18.297,1079.290,8825.569,636.530,3053.700,672.426,33.360,1429.152,0.000,1838.653,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,53.690,1118.286,442.559,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.817,0.000,945.856,0.000,0.000,0.000,0.000,15222.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,12.112,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,26973,544
$CAP_FILE_SIZE,132439,0
$CFSIZE,260165632,192036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,230336,1945.830,-15654.845,25,1.3,25,9.7