version: 66.07
glider: 513
mission: 7
dive: 195
start: 8 4 111 1 42 58
data:
$ID,513
$MISSION,7
$DIVE,195
$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,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,-425448.28
$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,41
$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,194
$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
$GPS1,040811,010955,1952.782,-15655.425,151,1.1,151,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-80.3
$GPS2,040811,014200,1952.867,-15655.888,11,3.3,30,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.260,-0.013
$KALMAN_X,-139421.2,1375.2,890.5,108084.1,-13210.1
$KALMAN_Y,121995.4,931.9,229.0,-114626.6,-6776.0
$MHEAD_RNG_PITCHd_Wd,75.6,60855,-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,27,-0.76,-166.0,0.0,0.0,0,67,0.00,0.00,-38.40,0.000,2,0.000,0.000,36,1952,3479,0,0,0,0,0,0
$GC,70,-0.76,-166.0,3.1,-4.5,6,99,9.62,2.10,-8.90,0.000,4,0.244,0.053,2350,591,3964,0,0,0,0,0,0
$GC,150,-0.76,-166.0,31.6,-33.2,19,158,0.00,2.15,0.00,0.000,6,0.000,0.044,2342,1972,3965,0,0,0,0,0,0
$GC,413,-0.76,-166.0,125.0,-32.5,44,417,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3402,3965,0,0,0,0,0,0
$GC,489,-0.76,-166.0,145.6,-26.5,50,493,0.00,2.12,0.00,0.000,6,0.000,0.035,2331,2009,3965,0,0,0,0,0,0
$GC,760,-0.76,-166.0,216.1,-25.6,72,764,0.00,2.17,0.00,0.000,4,0.000,0.054,2320,3402,3967,0,0,0,0,0,0
$GC,787,-0.76,-166.0,223.1,-23.6,73,791,0.00,2.17,0.00,0.000,6,0.000,0.034,2320,1979,3967,0,0,0,0,0,0
$GC,1047,-0.76,-166.0,280.4,-19.9,86,1049,0.12,0.00,0.00,0.000,6,0.183,0.000,2350,1973,3968,0,0,0,0,0,0
$GC,1293,-0.76,-166.0,323.0,-17.4,95,1297,0.00,2.22,0.00,0.000,4,0.000,0.053,2341,3402,3968,0,0,0,0,0,0
$GC,1335,-0.76,-166.0,329.9,-17.0,96,1339,0.00,2.12,0.00,0.000,6,0.000,0.033,2341,1982,3968,0,0,0,0,0,0
$GC,1619,-0.76,-166.0,379.2,-16.9,103,1623,0.00,2.22,0.00,0.000,4,0.000,0.053,2331,3403,3968,0,0,0,0,0,0
$GC,1658,-0.76,-166.0,385.7,-15.4,104,1662,0.00,2.10,0.00,0.000,6,0.000,0.033,2331,1982,3971,0,0,0,0,0,0
$GC,1941,-0.76,-166.0,432.2,-16.7,111,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1976,3969,0,0,0,0,0,0
$GC,2186,-0.76,-166.0,474.0,-17.2,117,2190,0.00,2.22,0.00,0.000,4,0.000,0.053,2320,3399,3964,0,0,0,0,0,0
$GC,2303,-0.76,-166.0,494.4,-16.8,119,2308,0.08,2.12,0.00,0.000,6,0.148,0.033,2348,2002,3962,0,0,0,0,0,0
$GC,2560,-0.76,-166.0,532.8,-14.9,126,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1999,3959,0,0,0,0,0,0
$GC,2803,-0.76,-166.0,565.8,-13.6,132,2807,0.00,2.17,0.00,0.000,4,0.000,0.051,2335,3401,3956,0,0,0,0,0,0
$GC,2904,-0.76,-166.0,578.5,-11.9,134,2908,0.00,2.15,0.00,0.000,6,0.000,0.033,2334,1988,3955,0,0,0,0,0,0
$GC,3182,-0.76,-166.0,613.4,-12.3,141,3186,0.00,2.22,0.00,0.000,4,0.000,0.053,2324,3404,3952,0,0,0,0,0,0
$GC,3215,-0.76,-166.0,617.8,-13.0,141,3220,0.00,2.12,0.00,0.000,6,0.000,0.034,2324,1982,3953,0,0,0,0,0,0
$GC,3465,-0.76,-166.0,650.0,-13.0,147,3469,0.00,2.20,0.00,0.000,4,0.000,0.052,2312,3402,3949,0,0,0,0,0,0
$GC,3520,-0.76,-166.0,657.6,-13.2,148,3525,0.12,2.12,0.00,0.000,6,0.172,0.034,2344,1994,3949,0,0,0,0,0,0
$GC,3793,-0.76,-166.0,689.9,-11.8,155,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1987,3946,0,0,0,0,0,0
$GC,4037,-0.76,-166.0,719.8,-12.4,161,4041,0.00,2.22,0.00,0.000,4,0.000,0.054,2336,3402,3943,0,0,0,0,0,0
$GC,4069,-0.76,-166.0,724.0,-12.3,161,4075,0.00,2.12,0.00,0.000,6,0.000,0.034,2334,1985,3940,0,0,0,0,0,0
$GC,4319,-0.76,-166.0,753.9,-12.0,168,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1979,3941,0,0,0,0,0,0
$GC,4564,-0.76,-166.0,782.6,-11.6,174,4568,0.00,2.22,0.00,0.000,4,0.000,0.054,2324,3406,3937,0,0,0,0,0,0
$GC,4614,-0.76,-166.0,789.0,-11.8,175,4618,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1992,3939,0,0,0,0,0,0
$GC,4892,-0.76,-166.0,825.6,-13.4,182,4896,0.00,2.20,0.00,0.000,4,0.000,0.054,2313,3400,3936,0,0,0,0,0,0
$GC,4977,-0.76,-166.0,836.9,-13.1,184,4982,0.12,2.12,0.00,0.000,6,0.175,0.035,2344,1983,3934,0,0,0,0,0,0
$GC,5260,-0.76,-166.0,870.6,-11.8,191,5265,0.00,2.25,0.00,0.000,4,0.000,0.055,2335,3399,3933,0,0,0,0,0,0
$GC,5305,-0.76,-166.0,876.2,-12.1,192,5309,0.00,2.12,0.00,0.000,6,0.000,0.035,2335,1980,3932,0,0,0,0,0,0
$STATE,5505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5505,begin apogee
$GC,5512,-0.28,0.0,902.2,13.0,197,5627,0.55,0.00,111.80,1.114,6,0.145,0.000,2500,1975,3382,0,0,0,0,0,0
$STATE,5630,end apogee,CONTROL_FINISHED_OK
$STATE,5630,begin climb
$GC,5633,0.76,166.0,907.3,0.0,200,5784,1.00,2.30,142.90,1.070,4,0.092,0.039,2849,553,2702,0,0,0,0,0,0
$GC,5800,0.76,166.0,890.2,17.8,204,5804,0.00,2.25,0.00,0.000,6,0.000,0.037,2849,1960,2698,0,0,0,0,0,0
$GC,6078,0.76,166.0,834.1,20.4,211,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1963,2695,0,0,0,0,0,0
$GC,6323,0.76,166.0,786.2,19.2,217,6327,0.00,2.28,0.00,0.000,4,0.000,0.059,2849,3366,2691,0,0,0,0,0,0
$GC,6412,0.76,166.0,766.9,21.5,219,6416,0.00,2.12,0.00,0.000,6,0.000,0.034,2859,1959,2692,0,0,0,0,0,0
$GC,6696,0.76,166.0,709.6,20.4,226,6700,0.00,2.10,0.00,0.000,4,0.000,0.040,2870,556,2690,0,0,0,0,0,0
$GC,6730,0.76,166.0,702.4,21.1,226,6735,0.00,2.15,0.00,0.000,6,0.000,0.038,2869,1968,2687,0,0,0,0,0,0
$GC,6980,0.76,166.0,648.9,21.5,233,6984,0.00,2.12,0.00,0.000,4,0.000,0.040,2882,558,2687,0,0,0,0,0,0
$GC,7001,0.76,166.0,644.3,20.1,233,7006,0.15,2.12,0.00,0.000,6,0.205,0.038,2847,1966,2686,0,0,0,0,0,0
$GC,7269,0.76,166.0,593.7,19.0,240,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1969,2686,0,0,0,0,0,0
$GC,7512,0.76,166.0,547.2,18.4,246,7516,0.00,2.20,0.00,0.000,4,0.000,0.056,2845,3355,2686,0,0,0,0,0,0
$GC,7533,0.76,166.0,542.9,18.9,246,7537,0.00,2.10,0.00,0.000,6,0.000,0.033,2855,1955,2686,0,0,0,0,0,0
$GC,7795,0.76,166.0,493.6,18.8,253,7799,0.00,2.22,0.00,0.000,4,0.000,0.055,2855,3357,2685,0,0,0,0,0,0
$GC,7834,0.76,166.0,485.5,20.7,253,7841,0.00,2.12,0.00,0.000,6,0.000,0.033,2866,1956,2685,0,0,0,0,0,0
$GC,8084,0.76,166.0,441.7,16.5,260,8088,0.00,2.20,0.00,0.000,4,0.000,0.054,2866,3357,2684,0,0,0,0,0,0
$GC,8195,0.76,166.0,421.8,17.8,262,8200,0.12,2.10,0.00,0.000,6,0.210,0.031,2849,1955,2685,0,0,0,0,0,0
$GC,8458,0.76,166.0,383.8,14.7,269,8461,0.00,2.08,0.00,0.000,4,0.000,0.039,2858,555,2683,0,0,0,0,0,0
$GC,8481,0.76,166.0,380.2,15.4,269,8485,0.00,2.12,0.00,0.000,6,0.000,0.038,2858,1956,2681,0,0,0,0,0,0
$GC,8735,0.76,166.0,338.6,16.7,276,8739,0.00,2.20,0.00,0.000,4,0.000,0.056,2858,3360,2681,0,0,0,0,0,0
$GC,8809,0.76,166.0,326.3,17.0,277,8813,0.00,2.12,0.00,0.000,6,0.000,0.032,2868,1951,2682,0,0,0,0,0,0
$GC,9059,0.76,166.0,290.8,13.4,284,9063,0.00,2.12,0.00,0.000,4,0.000,0.040,2880,532,2682,0,0,0,0,0,0
$GC,9287,0.76,166.0,256.1,14.3,294,9292,0.15,2.15,0.00,0.000,6,0.192,0.036,2844,1965,2682,0,0,0,0,0,0
$GC,9552,0.76,166.0,222.1,12.2,307,9556,0.00,2.17,0.00,0.000,4,0.000,0.054,2843,3356,2680,0,0,0,0,0,0
$GC,9689,0.76,166.0,207.1,10.2,313,9693,0.00,2.08,0.00,0.000,6,0.000,0.031,2852,1956,2679,0,0,0,0,0,0
$GC,9951,0.76,166.0,179.7,12.0,334,9955,0.00,2.17,0.00,0.000,4,0.000,0.051,2852,3358,2680,0,0,0,0,0,0
$GC,10050,0.76,166.0,166.9,11.9,342,10058,0.00,2.12,0.00,0.000,6,0.000,0.030,2863,1953,2681,0,0,0,0,0,0
$GC,10315,0.76,166.0,138.7,9.7,367,10318,0.00,2.05,0.00,0.000,4,0.000,0.038,2874,564,2682,0,0,0,0,0,0
$GC,10385,0.76,166.0,130.7,10.8,373,10393,0.00,2.10,0.00,0.000,6,0.000,0.034,2873,1959,2680,0,0,0,0,0,0
$GC,10653,0.83,219.5,109.9,6.7,398,10702,0.00,2.15,40.20,0.542,4,0.000,0.037,2884,571,2489,0,0,0,0,0,0
$GC,10951,0.83,223.5,83.7,8.4,424,10960,0.00,2.10,4.82,0.388,6,0.000,0.034,2884,1948,2468,0,0,0,0,0,0
$GC,11215,0.83,223.5,58.0,11.1,449,11219,0.00,2.05,0.00,0.000,4,0.000,0.037,2894,565,2468,0,0,0,0,0,0
$GC,11246,0.83,223.5,53.7,12.0,451,11254,0.00,2.12,0.00,0.000,6,0.000,0.032,2894,1967,2467,0,0,0,0,0,0
$GC,11512,0.83,223.5,20.4,13.9,482,11520,0.00,2.17,0.00,0.000,4,0.000,0.048,2894,3356,2469,0,0,0,0,0,0
$STATE,11628,end climb,SURFACE_DEPTH_REACHED
$STATE,11628,begin surface coast
$FINISH,0.2,1.002329
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11677,280.40,0.438,0,0,393,732.45
$SM_GC,0.98,0.00,0.00,280.40,0.000,0.000,0.438,43,1999,393,-7.96,0.20,732.45
$IRIDIUM_FIX,1945.83,-15655.31,260113,191921
$TT8_MAMPS,0.059826
$HUMID,1078733539
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.00
$XPDR_PINGS,25
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6339788800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48999333888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,27.191
$10V_AH,10.1,25.597
$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,19.575,124.950,299.725,280.400,0.000,134.158,204.117,1071.924,6.250,0.000,32.749,1132.793,8452.613,634.212,3135.493,535.929,33.352,1417.002,0.000,1804.790,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,59.059,1114.451,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.758,0.000,850.376,0.000,0.000,0.000,0.000,28392.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,9.963,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26867,506
$CAP_FILE_SIZE,132247,0
$CFSIZE,260165632,191455232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,301.4,1
$GPS,040811,050401,1953.419,-15655.300,49,1.0,49,9.7