version: 66.07
glider: 513
mission: 7
dive: 213
start: 8 6 111 21 50 20
data:
$ID,513
$MISSION,7
$DIVE,213
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,712.8302
$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,-425866.03
$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,2000
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$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,212
$AR_SAMPLENUM,4
$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
$GPS1,060811,212237,2002.166,-15650.548,50,1.1,50,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.0
$GPS2,060811,214925,2002.230,-15650.994,13,1.9,18,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.233,0.099
$KALMAN_X,-20641.7,1151.1,685.7,23527.3,-11888.9
$KALMAN_Y,-11694.3,789.3,502.3,15080.6,-6606.5
$MHEAD_RNG_PITCHd_Wd,75.5,43473,-14.5,-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,-0.77,-156.2,0.0,0.0,0,87,0.00,0.00,-57.08,0.000,2,0.000,0.000,35,2036,3723,0,0,0,0,0,0
$GC,91,-0.77,-156.2,3.6,-5.4,9,114,9.65,2.15,-3.58,0.000,4,0.244,0.064,2328,3370,3938,0,0,0,0,0,0
$GC,144,-0.77,-156.2,28.9,-46.6,17,152,0.00,2.15,0.00,0.000,6,0.000,0.044,2328,2021,3939,0,0,0,0,0,0
$GC,407,-0.77,-156.2,122.9,-31.3,42,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2014,3940,0,0,0,0,0,0
$GC,661,-0.77,-156.2,190.6,-24.3,66,665,0.00,2.10,0.00,0.000,4,0.000,0.050,2323,3374,3941,0,0,0,0,0,0
$GC,728,-0.77,-156.2,207.4,-22.3,70,732,0.00,2.08,0.00,0.000,6,0.000,0.032,2319,1975,3941,0,0,0,0,0,0
$GC,987,-0.77,-156.2,267.1,-22.4,83,991,0.00,2.05,0.00,0.000,4,0.000,0.039,2319,591,3942,0,0,0,0,0,0
$GC,1015,-0.77,-156.2,273.1,-21.6,84,1019,0.10,2.10,0.00,0.000,6,0.152,0.040,2346,1964,3943,0,0,0,0,0,0
$GC,1273,-0.77,-156.2,317.7,-17.6,95,1277,0.00,2.22,0.00,0.000,4,0.000,0.051,2344,3415,3942,0,0,0,0,0,0
$GC,1333,-0.77,-156.2,328.1,-16.0,96,1337,0.00,2.12,0.00,0.000,6,0.000,0.032,2341,2000,3943,0,0,0,0,0,0
$GC,1607,-0.77,-156.2,371.9,-16.0,103,1611,0.00,2.17,0.00,0.000,4,0.000,0.051,2334,3403,3942,0,0,0,0,0,0
$GC,1647,-0.77,-156.2,378.4,-15.8,104,1651,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,1983,3943,0,0,0,0,0,0
$GC,1930,-0.77,-156.2,422.1,-15.2,111,1934,0.00,2.05,0.00,0.000,4,0.000,0.041,2331,601,3941,0,0,0,0,0,0
$GC,1958,-0.77,-156.2,426.6,-15.2,111,1962,0.00,2.10,0.00,0.000,6,0.000,0.041,2321,2003,3941,0,0,0,0,0,0
$GC,2209,-0.77,-156.2,463.7,-14.8,117,2213,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3402,3938,0,0,0,0,0,0
$GC,2275,-0.77,-156.2,474.3,-15.4,118,2280,0.10,2.12,0.00,0.000,6,0.139,0.033,2356,2003,3937,0,0,0,0,0,0
$GC,2537,-0.77,-156.2,506.2,-12.1,125,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1998,3935,0,0,0,0,0,0
$GC,2779,-0.77,-156.2,536.0,-12.3,131,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1998,3933,0,0,0,0,0,0
$GC,3023,-0.77,-156.2,566.4,-12.5,137,3027,0.00,2.10,0.00,0.000,4,0.000,0.042,2356,589,3929,0,0,0,0,0,0
$GC,3056,-0.77,-156.2,570.8,-13.0,137,3062,0.00,2.12,0.00,0.000,6,0.000,0.042,2343,1997,3929,0,0,0,0,0,0
$GC,3308,-0.77,-156.2,604.2,-13.4,144,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1995,3927,0,0,0,0,0,0
$GC,3550,-0.77,-156.2,636.8,-13.5,150,3554,0.00,2.20,0.00,0.000,4,0.000,0.054,2336,3407,3924,0,0,0,0,0,0
$GC,3644,-0.77,-156.2,649.5,-12.6,152,3648,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,2001,3924,0,0,0,0,0,0
$GC,3929,-0.77,-156.2,688.9,-14.0,159,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1995,3922,0,0,0,0,0,0
$GC,4172,-0.77,-156.2,722.0,-13.5,165,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1995,3918,0,0,0,0,0,0
$GC,4415,-0.77,-156.2,754.6,-13.1,171,4419,0.00,2.12,0.00,0.000,4,0.000,0.044,2336,582,3917,0,0,0,0,0,0
$GC,4433,-0.77,-156.2,756.9,-13.5,171,4437,0.00,2.17,0.00,0.000,6,0.000,0.043,2326,2004,3916,0,0,0,0,0,0
$GC,4694,-0.77,-156.2,792.1,-13.5,178,4698,0.00,2.20,0.00,0.000,4,0.000,0.054,2315,3409,3912,0,0,0,0,0,0
$GC,4746,-0.77,-156.2,799.2,-13.6,179,4750,0.12,2.15,0.00,0.000,6,0.168,0.036,2346,2001,3913,0,0,0,0,0,0
$GC,5023,-0.77,-156.2,829.9,-10.9,186,5027,0.00,2.22,0.00,0.000,4,0.000,0.054,2338,3402,3911,0,0,0,0,0,0
$GC,5063,-0.77,-156.2,834.3,-10.9,187,5067,0.00,2.15,0.00,0.000,6,0.000,0.035,2338,1988,3911,0,0,0,0,0,0
$GC,5346,-0.77,-156.2,867.7,-11.7,194,5350,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3402,3909,0,0,0,0,0,0
$GC,5385,-0.77,-156.2,872.8,-12.4,195,5389,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,1997,3910,0,0,0,0,0,0
$STATE,5625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5625,begin apogee
$GC,5633,-0.28,0.0,904.7,13.4,201,5760,0.60,0.00,124.25,1.106,6,0.149,0.000,2506,1925,3302,0,0,0,0,0,0
$STATE,5763,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5765,0.77,156.2,909.4,0.0,204,5908,1.00,2.25,134.85,1.070,4,0.096,0.036,2850,531,2664,0,0,0,0,0,0
$GC,5930,0.77,156.2,891.0,19.0,208,5934,0.00,2.22,0.00,0.000,6,0.000,0.034,2845,1932,2659,0,0,0,0,0,0
$GC,6208,0.77,156.2,836.1,19.8,215,6212,0.00,2.25,0.00,0.000,4,0.000,0.052,2843,3341,2656,0,0,0,0,0,0
$GC,6258,0.77,156.2,825.8,20.9,216,6263,0.00,2.20,0.00,0.000,6,0.000,0.033,2851,1928,2655,0,0,0,0,0,0
$GC,6531,0.77,156.2,768.7,21.1,223,6535,0.00,2.25,0.00,0.000,4,0.000,0.051,2843,3332,2653,0,0,0,0,0,0
$GC,6552,0.77,156.2,764.0,21.3,223,6556,0.00,2.15,0.00,0.000,6,0.000,0.032,2852,1918,2654,0,0,0,0,0,0
$GC,6814,0.77,156.2,710.1,20.4,230,6818,0.00,2.10,0.00,0.000,4,0.000,0.041,2863,531,2652,0,0,0,0,0,0
$GC,6905,0.77,156.2,692.1,20.3,232,6909,0.00,2.12,0.00,0.000,6,0.000,0.036,2863,1943,2651,0,0,0,0,0,0
$GC,7188,0.77,156.2,636.0,19.8,239,7192,0.00,2.20,0.00,0.000,4,0.000,0.052,2863,3325,2646,0,0,0,0,0,0
$GC,7238,0.77,156.2,626.0,20.8,240,7242,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1927,2652,0,0,0,0,0,0
$GC,7510,0.77,156.2,571.3,20.1,247,7514,0.00,2.12,0.00,0.000,4,0.000,0.039,2885,520,2649,0,0,0,0,0,0
$GC,7560,0.77,156.2,560.7,21.6,248,7565,0.15,2.12,0.00,0.000,6,0.202,0.035,2850,1931,2647,0,0,0,0,0,0
$GC,7832,0.77,156.2,511.1,17.9,255,7836,0.00,2.12,0.00,0.000,4,0.000,0.041,2859,523,2647,0,0,0,0,0,0
$GC,7872,0.77,156.2,504.3,17.0,256,7876,0.00,2.15,0.00,0.000,6,0.000,0.036,2859,1939,2646,0,0,0,0,0,0
$GC,8155,0.77,156.2,455.2,16.7,263,8159,0.00,2.20,0.00,0.000,4,0.000,0.051,2859,3330,2646,0,0,0,0,0,0
$GC,8250,0.77,156.2,437.8,18.4,265,8254,0.00,2.10,0.00,0.000,6,0.000,0.033,2870,1929,2646,0,0,0,0,0,0
$GC,8522,0.77,156.2,391.9,16.9,272,8526,0.00,2.08,0.00,0.000,4,0.000,0.039,2881,531,2645,0,0,0,0,0,0
$GC,8544,0.77,156.2,387.8,17.8,272,8549,0.10,2.12,0.00,0.000,6,0.188,0.033,2849,1927,2644,0,0,0,0,0,0
$GC,8806,0.77,156.2,347.4,16.0,279,8810,0.00,2.12,0.00,0.000,4,0.000,0.039,2862,525,2644,0,0,0,0,0,0
$GC,8823,0.77,156.2,344.3,16.3,279,8827,0.00,2.15,0.00,0.000,6,0.000,0.036,2862,1941,2643,0,0,0,0,0,0
$GC,9084,0.77,156.2,300.7,16.2,286,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1938,2646,0,0,0,0,0,0
$GC,9331,0.77,156.2,261.5,15.0,297,9335,0.00,2.15,0.00,0.000,4,0.000,0.049,2862,3331,2643,0,0,0,0,0,0
$GC,9432,0.77,156.2,245.7,15.8,301,9437,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,1925,2644,0,0,0,0,0,0
$GC,9687,0.77,156.2,212.3,13.3,314,9691,0.00,2.08,0.00,0.000,4,0.000,0.038,2884,530,2643,0,0,0,0,0,0
$GC,9726,0.77,156.2,206.4,14.3,315,9733,0.12,2.10,0.00,0.000,6,0.193,0.033,2853,1944,2640,0,0,0,0,0,0
$GC,9989,0.77,156.2,175.8,11.0,337,9993,0.00,2.15,0.00,0.000,4,0.000,0.049,2853,3341,2641,0,0,0,0,0,0
$GC,10119,0.77,156.2,159.8,12.0,348,10127,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1924,2642,0,0,0,0,0,0
$GC,10384,0.78,158.7,131.1,8.5,373,10388,0.00,2.10,0.00,0.000,4,0.000,0.038,2873,529,2643,0,0,0,0,0,0
$GC,10637,0.78,158.7,108.0,9.5,396,10641,0.00,2.08,0.00,0.000,6,0.000,0.034,2873,1930,2643,0,0,0,0,0,0
$GC,10903,0.88,246.5,92.5,5.3,420,10978,0.00,2.20,69.18,0.526,4,0.000,0.047,2873,3328,2295,0,0,0,0,0,0
$GC,11090,0.88,246.5,74.6,12.2,436,11094,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,1931,2292,0,0,0,0,0,0
$GC,11357,0.88,246.5,37.5,16.4,460,11361,0.00,2.12,0.00,0.000,4,0.000,0.039,2895,529,2291,0,0,0,0,0,0
$GC,11387,0.88,246.5,32.5,15.3,462,11391,0.00,2.10,0.00,0.000,6,0.000,0.031,2895,1930,2290,0,0,0,0,0,0
$STATE,11566,end climb,SURFACE_DEPTH_REACHED
$STATE,11566,begin surface coast
$FINISH,0.2,1.023092
$STATE,11586,end surface coast,CONTROL_FINISHED_OK
$STATE,11586,begin surface
$SM_CCo,11616,256.20,0.437,0,0,394,712.83
$SM_GC,0.96,0.00,0.00,256.20,0.000,0.000,0.437,46,2019,394,-7.93,0.54,712.83
$IRIDIUM_FIX,1952.70,-15649.29,290113,161622
$TT8_MAMPS,0.060593
$HUMID,1078763216
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.70
$XPDR_PINGS,106
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339198976
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,46572634112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,30.471
$10V_AH,10.1,28.248
$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,19.550,124.425,328.275,256.200,0.000,127.475,248.763,738.476,26.500,0.000,20.655,1106.149,8473.303,630.522,2788.846,485.587,33.341,1396.768,0.000,1726.448,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,114.283,1106.014,437.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,339.542,0.000,814.041,0.000,0.000,0.000,0.000,28057.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.514,0.000,0.000
$MEM,353756
$DATA_FILE_SIZE,23602,497
$CAP_FILE_SIZE,127362,0
$CFSIZE,260165632,190156800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,285.7,1
$GPS,070811,010936,2002.501,-15649.897,27,1.1,27,9.7