version: 66.07
glider: 513
mission: 7
dive: 190
start: 8 3 111 7 21 15
data:
$ID,513
$MISSION,7
$DIVE,190
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$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,250
$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,-424975.19
$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,43
$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,189
$AR_SAMPLENUM,2
$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
$GPS1,030811,065036,1948.710,-15655.822,32,1.2,32,9.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.8
$GPS2,030811,072019,1949.132,-15656.486,12,1.9,17,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.202,0.164
$KALMAN_X,-124913.5,1655.0,835.9,92309.3,-14656.7
$KALMAN_Y,132519.6,13.3,21.4,-130915.7,-1355.3
$MHEAD_RNG_PITCHd_Wd,79.1,66430,-14.0,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.76,-166.0,0.0,0.0,0,147,0.00,0.00,-114.68,0.000,2,0.000,0.000,36,1959,3818,0,0,0,0,0,0
$GC,151,-0.76,-166.0,4.2,-7.2,18,166,9.50,0.00,-2.35,0.000,6,0.243,0.000,2338,1957,3962,0,0,0,0,0,0
$GC,424,-0.76,-166.0,112.9,-35.2,47,428,0.00,2.22,0.00,0.000,4,0.000,0.048,2329,3394,3964,0,0,0,0,0,0
$GC,477,-0.76,-166.0,129.3,-24.9,51,485,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,1992,3964,0,0,0,0,0,0
$GC,742,-0.76,-166.0,196.5,-25.0,76,746,0.00,2.15,0.00,0.000,4,0.000,0.049,2318,3392,3967,0,0,0,0,0,0
$GC,797,-0.76,-166.0,211.2,-24.4,78,804,0.12,2.08,0.00,0.000,6,0.170,0.033,2349,1984,3965,0,0,0,0,0,0
$GC,1051,-0.76,-166.0,260.6,-18.8,91,1055,0.00,2.17,0.00,0.000,4,0.000,0.048,2341,3399,3966,0,0,0,0,0,0
$GC,1073,-0.76,-166.0,265.0,-19.4,92,1077,0.00,2.10,0.00,0.000,6,0.000,0.031,2341,1975,3969,0,0,0,0,0,0
$GC,1338,-0.76,-166.0,315.4,-17.8,103,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1969,3965,0,0,0,0,0,0
$GC,1580,-0.76,-166.0,355.2,-15.7,109,1584,0.00,2.20,0.00,0.000,4,0.000,0.049,2330,3394,3965,0,0,0,0,0,0
$GC,1658,-0.76,-166.0,366.8,-14.7,110,1664,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,1975,3965,0,0,0,0,0,0
$GC,1909,-0.76,-166.0,406.7,-16.7,117,1913,0.00,2.20,0.00,0.000,4,0.000,0.050,2319,3399,3962,0,0,0,0,0,0
$GC,1954,-0.76,-166.0,414.8,-17.4,118,1958,0.10,2.08,0.00,0.000,6,0.170,0.033,2344,1993,3962,0,0,0,0,0,0
$GC,2237,-0.76,-166.0,458.5,-15.6,125,2241,0.00,2.12,-0.05,0.000,4,0.000,0.060,2341,582,3971,0,0,0,0,0,0
$GC,2291,-0.76,-166.0,467.3,-16.0,126,2295,0.00,2.10,0.00,0.000,6,0.000,0.044,2337,1989,3970,0,0,0,0,0,0
$GC,2563,-0.76,-166.0,512.1,-16.7,133,2567,0.00,2.15,0.00,0.000,4,0.000,0.050,2330,3393,3967,0,0,0,0,0,0
$GC,2648,-0.76,-166.0,526.6,-15.9,135,2652,0.00,2.10,0.00,0.000,6,0.000,0.034,2325,1980,3966,0,0,0,0,0,0
$GC,2932,-0.76,-166.0,573.9,-16.7,142,2936,0.00,2.20,0.00,0.000,4,0.000,0.051,2314,3389,3963,0,0,0,0,0,0
$GC,3017,-0.76,-166.0,587.5,-14.8,144,3022,0.12,2.10,0.00,0.000,6,0.166,0.035,2347,1982,3965,0,0,0,0,0,0
$GC,3301,-0.76,-166.0,623.4,-12.2,151,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1978,3957,0,0,0,0,0,0
$GC,3543,-0.76,-166.0,653.3,-12.3,157,3547,0.00,2.20,0.00,0.000,4,0.000,0.054,2338,3394,3955,0,0,0,0,0,0
$GC,3571,-0.76,-166.0,657.0,-13.0,157,3574,0.00,2.10,0.00,0.000,6,0.000,0.035,2338,1983,3954,0,0,0,0,0,0
$GC,3826,-0.76,-166.0,690.8,-13.4,164,3830,0.00,2.20,0.00,0.000,4,0.000,0.054,2327,3393,3949,0,0,0,0,0,0
$GC,3879,-0.76,-166.0,697.7,-13.7,165,3883,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,2000,3951,0,0,0,0,0,0
$GC,4156,-0.76,-166.0,738.7,-14.8,172,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1994,3948,0,0,0,0,0,0
$GC,4400,-0.76,-166.0,774.1,-14.6,178,4404,0.00,2.12,0.00,0.000,4,0.000,0.046,2327,582,3945,0,0,0,0,0,0
$GC,4429,-0.76,-166.0,778.4,-14.9,178,4433,0.12,2.15,0.00,0.000,6,0.173,0.048,2348,1991,3944,0,0,0,0,0,0
$GC,4678,-0.76,-166.0,810.1,-12.7,184,4682,0.00,2.20,0.00,0.000,4,0.000,0.053,2339,3397,3944,0,0,0,0,0,0
$GC,4784,-0.76,-166.0,823.8,-12.8,186,4788,0.00,2.15,0.00,0.000,6,0.000,0.035,2340,1981,3942,0,0,0,0,0,0
$GC,5051,-0.76,-166.0,859.5,-13.6,193,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1976,3940,0,0,0,0,0,0
$GC,5295,-0.76,-166.0,892.5,-13.6,199,5299,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3396,3938,0,0,0,0,0,0
$STATE,5348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5348,begin apogee
$GC,5356,-0.28,0.0,900.1,13.9,200,5473,0.55,0.00,113.62,1.108,6,0.143,0.000,2500,1951,3381,0,0,0,0,0,0
$STATE,5475,end apogee,CONTROL_FINISHED_OK
$STATE,5475,begin climb
$GC,5479,0.76,166.0,906.0,0.0,203,5627,1.02,0.00,143.50,1.068,6,0.091,0.000,2841,1946,2704,0,0,0,0,0,0
$GC,5871,0.76,166.0,847.5,19.3,213,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1950,2699,0,0,0,0,0,0
$GC,6114,0.76,166.0,801.5,18.9,219,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1949,2694,0,0,0,0,0,0
$GC,6359,0.76,166.0,755.1,19.0,225,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1950,2693,0,0,0,0,0,0
$GC,6602,0.76,166.0,708.4,19.3,231,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,2691,0,0,0,0,0,0
$GC,6846,0.76,166.0,661.2,19.3,237,6850,0.00,2.25,0.00,0.000,4,0.000,0.051,2840,3370,2688,0,0,0,0,0,0
$GC,6886,0.76,166.0,653.1,20.4,238,6890,0.00,2.17,0.00,0.000,6,0.000,0.033,2850,1945,2696,0,0,0,0,0,0
$GC,7170,0.76,166.0,600.0,18.6,245,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1941,2688,0,0,0,0,0,0
$GC,7413,0.76,166.0,557.4,17.2,251,7417,0.00,2.25,0.00,0.000,4,0.000,0.054,2849,3366,2687,0,0,0,0,0,0
$GC,7464,0.76,166.0,548.3,18.1,252,7468,0.00,2.12,0.00,0.000,6,0.000,0.035,2859,1959,2687,0,0,0,0,0,0
$GC,7742,0.76,166.0,499.6,17.3,259,7746,0.00,2.10,0.00,0.000,4,0.000,0.042,2869,554,2687,0,0,0,0,0,0
$GC,7775,0.76,166.0,493.4,18.1,259,7781,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1960,2684,0,0,0,0,0,0
$GC,8026,0.76,166.0,446.8,18.9,266,8029,0.00,2.12,0.00,0.000,4,0.000,0.043,2879,550,2683,0,0,0,0,0,0
$GC,8076,0.76,166.0,437.0,19.1,267,8081,0.15,2.12,0.00,0.000,6,0.199,0.035,2845,1963,2683,0,0,0,0,0,0
$GC,8349,0.76,166.0,391.7,16.3,274,8353,0.00,2.17,0.00,0.000,4,0.000,0.053,2844,3359,2683,0,0,0,0,0,0
$GC,8443,0.76,166.0,375.4,16.3,276,8447,0.00,2.10,0.00,0.000,6,0.000,0.033,2853,1954,2683,0,0,0,0,0,0
$GC,8723,0.76,166.0,331.2,15.5,283,8727,0.00,2.20,0.00,0.000,4,0.000,0.050,2855,3368,2678,0,0,0,0,0,0
$GC,8778,0.76,166.0,321.7,16.3,284,8782,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1958,2682,0,0,0,0,0,0
$GC,9031,0.76,166.0,284.7,13.5,293,9035,0.00,2.20,0.00,0.000,4,0.000,0.049,2864,3367,2682,0,0,0,0,0,0
$GC,9070,0.76,166.0,279.5,12.9,294,9076,0.12,2.10,0.00,0.000,6,0.204,0.031,2846,1950,2682,0,0,0,0,0,0
$GC,9323,0.76,166.0,250.6,11.8,307,9327,0.00,2.05,0.00,0.000,4,0.000,0.040,2855,561,2681,0,0,0,0,0,0
$GC,9334,0.76,166.0,249.2,12.1,307,9339,0.00,2.08,0.00,0.000,6,0.000,0.034,2847,1963,2680,0,0,0,0,0,0
$GC,9589,0.76,166.0,215.9,13.3,320,9593,0.00,2.17,0.00,0.000,4,0.000,0.051,2836,3370,2680,0,0,0,0,0,0
$GC,9656,0.76,166.0,206.3,14.2,323,9660,0.00,2.10,0.00,0.000,6,0.000,0.031,2845,1958,2681,0,0,0,0,0,0
$GC,9920,0.76,166.0,176.0,11.3,345,9924,0.00,2.17,0.00,0.000,4,0.000,0.049,2840,3360,2681,0,0,0,0,0,0
$GC,9994,0.76,166.0,167.6,11.3,351,9997,0.00,2.08,0.00,0.000,6,0.000,0.031,2849,1960,2684,0,0,0,0,0,0
$GC,10258,0.76,166.0,139.2,10.2,375,10262,0.00,2.20,0.00,0.000,4,0.000,0.048,2849,3368,2681,0,0,0,0,0,0
$GC,10301,0.76,166.0,135.0,9.9,378,10305,0.00,2.10,0.00,0.000,6,0.000,0.029,2860,1955,2682,0,0,0,0,0,0
$GC,10568,0.86,247.3,116.2,5.7,402,10639,0.00,2.15,61.95,0.556,4,0.000,0.040,2871,575,2371,0,0,0,0,0,0
$GC,10849,0.86,247.3,85.5,11.5,427,10853,0.00,2.08,0.00,0.000,6,0.000,0.031,2871,1969,2367,0,0,0,0,0,0
$GC,11115,0.86,247.3,56.6,11.2,451,11119,0.00,2.15,0.00,0.000,4,0.000,0.046,2871,3372,2365,0,0,0,0,0,0
$GC,11177,0.86,247.3,48.6,12.4,456,11181,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,1962,2369,0,0,0,0,0,0
$GC,11442,0.86,247.3,15.5,13.5,490,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1963,2366,0,0,0,0,0,0
$STATE,11535,end climb,SURFACE_DEPTH_REACHED
$STATE,11535,begin surface coast
$FINISH,0.3,1.022938
$STATE,11558,end surface coast,CONTROL_FINISHED_OK
$STATE,11558,begin surface
$SM_CCo,11590,-0.08,0.000,0,0,2360,249.71
$SM_CCo,11595,-0.10,0.000,0,0,2362,250.20
$SM_GC,2.43,0.00,0.00,-0.10,0.000,0.000,0.000,56,1964,2362,-7.94,-0.90,250.20
$IRIDIUM_FIX,1943.54,-15655.31,260113,010103
$TT8_MAMPS,0.269984
$HUMID,1078960635
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,25.90
$XPDR_PINGS,44
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6285230080
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49423056896
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,26.369
$10V_AH,10.2,24.890
$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,19.250,111.575,319.075,0.000,0.000,111.277,136.315,1110.882,11.000,0.000,20.765,1098.452,8382.545,422.053,2834.819,648.303,33.355,1163.916,0.000,1700.644,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,59.826,1107.548,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.980,0.000,863.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,26927,511
$CAP_FILE_SIZE,128299,0
$CFSIZE,260165632,191832064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,307.6,1
$GPS,030811,103822,1949.807,-15655.844,152,4.2,171,9.7