version: 66.07
glider: 513
mission: 7
dive: 194
start: 8 3 111 21 51 53
data:
$ID,513
$MISSION,7
$DIVE,194
$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,-425414.91
$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,48
$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,193
$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
$GPS1,030811,213537,1952.213,-15655.874,38,1.0,38,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.9
$GPS2,030811,215056,1952.402,-15656.149,12,1.3,12,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.204,0.162
$KALMAN_X,-136948.4,1356.9,1045.2,105018.8,-14784.2
$KALMAN_Y,124341.7,639.4,325.3,-117636.3,-5976.5
$MHEAD_RNG_PITCHd_Wd,82.7,61772,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.76,-166.0,0.0,0.0,0,140,0.00,0.00,-110.53,0.000,2,0.000,0.000,38,1951,3661,0,0,0,0,0,0
$GC,144,-0.76,-166.0,3.3,-5.3,17,165,9.52,0.00,-5.20,0.000,6,0.243,0.000,2338,1949,3962,0,0,0,0,0,0
$GC,430,-0.76,-166.0,117.0,-31.3,48,434,0.00,2.25,0.00,0.000,4,0.000,0.050,2329,3390,3964,0,0,0,0,0,0
$GC,471,-0.76,-166.0,130.2,-28.2,51,475,0.00,2.10,0.00,0.000,6,0.000,0.036,2328,2006,3963,0,0,0,0,0,0
$GC,736,-0.76,-166.0,198.7,-25.4,75,740,0.00,2.15,0.00,0.000,4,0.000,0.050,2318,3393,3964,0,0,0,0,0,0
$GC,831,-0.76,-166.0,220.7,-19.8,79,836,0.12,2.15,0.00,0.000,6,0.168,0.034,2349,1971,3965,0,0,0,0,0,0
$GC,1085,-0.76,-166.0,268.3,-17.6,91,1089,0.00,2.20,0.00,0.000,4,0.000,0.050,2340,3391,3965,0,0,0,0,0,0
$GC,1176,-0.76,-166.0,283.1,-15.8,95,1180,0.00,2.12,0.00,0.000,6,0.000,0.034,2340,1984,3965,0,0,0,0,0,0
$GC,1438,-0.76,-166.0,329.1,-17.7,104,1442,0.00,2.08,0.00,0.000,4,0.000,0.043,2341,586,3965,0,0,0,0,0,0
$GC,1470,-0.76,-166.0,334.9,-17.2,104,1477,0.00,2.12,0.00,0.000,6,0.000,0.043,2330,1993,3965,0,0,0,0,0,0
$GC,1720,-0.76,-166.0,378.3,-17.8,111,1724,0.00,2.15,0.00,0.000,4,0.000,0.050,2319,3396,3963,0,0,0,0,0,0
$GC,1798,-0.76,-166.0,392.0,-17.0,112,1803,0.12,2.10,0.00,0.000,6,0.171,0.031,2350,1977,3964,0,0,0,0,0,0
$GC,2048,-0.76,-166.0,429.8,-15.1,118,2052,0.00,2.20,0.00,0.000,4,0.000,0.051,2341,3400,3962,0,0,0,0,0,0
$GC,2075,-0.76,-166.0,434.1,-15.6,118,2079,0.00,2.12,0.00,0.000,6,0.000,0.032,2341,1983,3963,0,0,0,0,0,0
$GC,2338,-0.76,-166.0,472.9,-14.9,125,2342,0.00,2.17,0.00,0.000,4,0.000,0.050,2331,3396,3960,0,0,0,0,0,0
$GC,2399,-0.76,-166.0,482.5,-15.1,126,2403,0.00,2.08,-0.03,0.000,6,0.000,0.032,2331,1989,3967,0,0,0,0,0,0
$GC,2665,-0.76,-166.0,523.3,-15.7,133,2669,0.00,2.17,0.00,0.000,4,0.000,0.051,2320,3395,3965,0,0,0,0,0,0
$GC,2727,-0.76,-166.0,533.1,-15.5,134,2732,0.10,2.10,0.00,0.000,6,0.178,0.034,2344,1992,3964,0,0,0,0,0,0
$GC,2994,-0.76,-166.0,567.4,-12.6,141,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1987,3961,0,0,0,0,0,0
$GC,3237,-0.76,-166.0,598.0,-12.4,147,3241,0.00,2.20,0.00,0.000,4,0.000,0.054,2335,3396,3957,0,0,0,0,0,0
$GC,3332,-0.76,-166.0,608.9,-11.0,149,3336,0.00,2.12,0.00,0.000,6,0.000,0.032,2335,1986,3956,0,0,0,0,0,0
$GC,3609,-0.76,-166.0,644.0,-12.6,156,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1980,3953,0,0,0,0,0,0
$GC,3853,-0.76,-166.0,676.3,-13.2,162,3857,0.00,2.22,0.00,0.000,4,0.000,0.053,2325,3402,3950,0,0,0,0,0,0
$GC,3920,-0.76,-166.0,685.5,-13.5,163,3924,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1986,3950,0,0,0,0,0,0
$GC,4180,-0.76,-166.0,724.6,-15.2,170,4185,0.10,2.15,0.00,0.000,4,0.199,0.047,2347,580,3948,0,0,0,0,0,0
$GC,4201,-0.76,-166.0,728.0,-15.1,170,4205,0.00,2.12,0.00,0.000,6,0.000,0.043,2339,1989,3948,0,0,0,0,0,0
$GC,4470,-0.76,-166.0,763.7,-13.2,177,4474,0.00,2.20,0.00,0.000,4,0.000,0.055,2328,3397,3945,0,0,0,0,0,0
$GC,4575,-0.76,-166.0,778.5,-13.1,179,4579,0.00,2.10,0.00,0.000,6,0.000,0.034,2328,1989,3944,0,0,0,0,0,0
$GC,4842,-0.76,-166.0,814.1,-13.2,186,4846,0.00,2.22,0.00,0.000,4,0.000,0.055,2317,3402,3941,0,0,0,0,0,0
$GC,4882,-0.76,-166.0,819.3,-13.1,187,4887,0.12,2.15,0.00,0.000,6,0.177,0.034,2348,1978,3939,0,0,0,0,0,0
$GC,5165,-0.76,-166.0,852.3,-11.4,194,5169,0.00,2.22,0.00,0.000,4,0.000,0.055,2338,3398,3939,0,0,0,0,0,0
$GC,5204,-0.76,-166.0,856.8,-11.8,195,5208,0.00,2.12,0.00,0.000,6,0.000,0.034,2338,1985,3942,0,0,0,0,0,0
$GC,5488,-0.76,-166.0,891.4,-12.2,202,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1979,3935,0,0,0,0,0,0
$STATE,5565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5566,begin apogee
$GC,5571,-0.28,0.0,901.4,12.3,204,5688,0.55,0.00,113.10,1.110,6,0.147,0.000,2504,1978,3381,0,0,0,0,0,0
$STATE,5691,end apogee,CONTROL_FINISHED_OK
$STATE,5691,begin climb
$GC,5693,0.76,166.0,905.7,0.0,207,5844,0.98,2.33,142.38,1.074,4,0.091,0.038,2847,560,2701,0,0,0,0,0,0
$GC,5861,0.76,166.0,887.8,18.5,211,5865,0.00,2.22,0.00,0.000,6,0.000,0.034,2847,1965,2698,0,0,0,0,0,0
$GC,6146,0.76,166.0,829.2,20.8,218,6150,0.00,2.22,0.00,0.000,4,0.000,0.052,2845,3359,2693,0,0,0,0,0,0
$GC,6178,0.76,166.0,821.7,21.8,218,6184,0.00,2.17,0.00,0.000,6,0.000,0.032,2855,1956,2693,0,0,0,0,0,0
$GC,6429,0.76,166.0,768.9,21.1,225,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1954,2691,0,0,0,0,0,0
$GC,6672,0.76,166.0,719.2,20.6,231,6676,0.00,2.22,0.00,0.000,4,0.000,0.049,2854,3367,2690,0,0,0,0,0,0
$GC,6688,0.76,166.0,715.5,20.7,231,6692,0.00,2.15,0.00,0.000,6,0.000,0.033,2865,1950,2690,0,0,0,0,0,0
$GC,6949,0.76,166.0,660.4,21.3,238,6953,0.00,2.10,0.00,0.000,4,0.000,0.041,2876,544,2688,0,0,0,0,0,0
$GC,6965,0.76,166.0,656.6,21.5,238,6970,0.10,2.17,0.00,0.000,6,0.186,0.036,2853,1958,2686,0,0,0,0,0,0
$GC,7233,0.76,166.0,605.6,19.1,245,7237,0.00,2.22,0.00,0.000,4,0.000,0.051,2848,3364,2686,0,0,0,0,0,0
$GC,7265,0.76,166.0,598.4,21.7,245,7271,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1956,2686,0,0,0,0,0,0
$GC,7515,0.76,166.0,549.1,19.7,252,7519,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3367,2685,0,0,0,0,0,0
$GC,7554,0.76,166.0,540.4,21.6,252,7560,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1956,2688,0,0,0,0,0,0
$GC,7805,0.76,166.0,490.8,19.5,259,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1954,2684,0,0,0,0,0,0
$GC,8048,0.76,166.0,444.3,18.5,265,8052,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3372,2684,0,0,0,0,0,0
$GC,8212,0.76,166.0,412.7,18.4,268,8217,0.12,2.12,0.00,0.000,6,0.209,0.030,2851,1950,2684,0,0,0,0,0,0
$GC,8462,0.76,166.0,371.6,16.3,274,8466,0.00,2.08,0.00,0.000,4,0.000,0.041,2860,554,2683,0,0,0,0,0,0
$GC,8506,0.76,166.0,364.4,15.3,275,8510,0.00,2.10,0.00,0.000,6,0.000,0.034,2860,1972,2681,0,0,0,0,0,0
$GC,8791,0.76,166.0,320.0,15.8,282,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1973,2681,0,0,0,0,0,0
$GC,9035,0.76,166.0,283.6,14.9,290,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1973,2680,0,0,0,0,0,0
$GC,9282,0.76,166.0,249.9,12.9,302,9286,0.00,2.10,0.00,0.000,4,0.000,0.038,2870,561,2680,0,0,0,0,0,0
$GC,9337,0.76,166.0,243.2,12.5,304,9342,0.10,2.10,0.00,0.000,6,0.204,0.035,2846,1969,2678,0,0,0,0,0,0
$GC,9592,0.76,166.0,211.7,13.4,316,9596,0.00,2.15,0.00,0.000,4,0.000,0.049,2848,3362,2678,0,0,0,0,0,0
$GC,9712,0.76,166.0,197.4,10.7,322,9716,0.00,2.10,0.00,0.000,6,0.000,0.030,2858,1954,2680,0,0,0,0,0,0
$GC,9978,0.76,166.0,170.1,11.4,346,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1956,2679,0,0,0,0,0,0
$GC,10241,0.76,166.0,142.4,8.9,371,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2680,0,0,0,0,0,0
$GC,10497,0.81,202.2,119.4,7.3,395,10533,0.00,2.12,26.58,0.551,4,0.000,0.038,2869,569,2551,0,0,0,0,0,0
$GC,10657,0.81,202.2,104.7,8.9,409,10661,0.00,2.10,0.00,0.000,6,0.000,0.032,2868,1969,2551,0,0,0,0,0,0
$GC,10923,0.86,245.7,89.0,7.1,433,10970,0.00,2.25,35.72,0.518,4,0.000,0.048,2868,3362,2377,0,0,0,0,0,0
$GC,11076,0.86,245.7,73.1,11.5,446,11083,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1964,2376,0,0,0,0,0,0
$GC,11340,0.86,245.7,42.1,12.0,471,11344,0.00,2.15,0.00,0.000,4,0.000,0.044,2878,3362,2376,0,0,0,0,0,0
$GC,11371,0.86,245.7,37.8,13.4,473,11375,0.00,2.10,0.00,0.000,6,0.000,0.031,2889,1955,2375,0,0,0,0,0,0
$STATE,11625,end climb,SURFACE_DEPTH_REACHED
$STATE,11625,begin surface coast
$FINISH,0.1,1.022842
$STATE,11643,end surface coast,CONTROL_FINISHED_OK
$STATE,11643,begin surface
$SM_CCo,11669,1.08,0.068,0,0,2359,250.20
$SM_GC,2.46,0.00,0.00,1.08,0.000,0.000,0.068,56,1952,2359,-7.94,-1.10,250.20
$IRIDIUM_FIX,1943.54,-15658.31,260113,121242
$TT8_MAMPS,0.239304
$HUMID,1078939990
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.20
$XPDR_PINGS,44
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6301384704
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49100849152
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,26.991
$10V_AH,10.1,25.417
$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,19.450,116.425,317.775,1.075,0.000,29.948,34.619,644.356,11.000,0.000,13.942,1113.126,8202.493,395.709,2417.427,471.284,33.356,1193.435,0.000,1786.183,0.000,0.544,0.000
$DEVICE_MAMPS,243.139,55.224,1109.849,68.263,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.754,0.000,896.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,26946,518
$CAP_FILE_SIZE,119477,0
$CFSIZE,260165632,191561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,306.7,1
$GPS,040811,010955,1952.782,-15655.425,151,1.1,151,9.7