version: 66.07
glider: 513
mission: 7
dive: 219
start: 8 7 111 19 56 23
data:
$ID,513
$MISSION,7
$DIVE,219
$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,-426046.5
$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,44
$R_STBD_OVSHOOT,58
$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,218
$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
$GPS1,070811,192704,2004.782,-15646.526,11,2.3,30,9.7
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.6
$GPS2,070811,195526,2004.765,-15646.678,16,1.8,34,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.229,0.109
$KALMAN_X,-38302.4,1710.7,875.9,47934.8,-12746.5
$KALMAN_Y,-10917.0,-382.7,-20.8,20719.1,-1037.0
$MHEAD_RNG_PITCHd_Wd,56.1,34627,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,87,0.00,0.00,-57.50,0.000,2,0.000,0.000,37,2026,3756,0,0,0,0,0,0
$GC,91,-0.77,-156.2,4.1,-7.2,9,113,10.07,2.22,-2.95,0.000,4,0.258,0.054,2349,600,3940,0,0,0,0,0,0
$GC,186,-0.77,-156.2,46.3,-32.1,21,190,0.00,2.12,0.00,0.000,6,0.000,0.048,2341,1978,3942,0,0,0,0,0,0
$GC,452,-0.77,-156.2,136.7,-29.9,45,456,0.00,2.20,0.00,0.000,4,0.000,0.047,2330,3425,3943,0,0,0,0,0,0
$GC,526,-0.77,-156.2,156.0,-25.4,51,530,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,1987,3943,0,0,0,0,0,0
$GC,795,-0.77,-156.2,217.9,-21.6,72,799,0.00,2.08,0.00,0.000,4,0.000,0.042,2330,602,3945,0,0,0,0,0,0
$GC,840,-0.77,-156.2,227.4,-19.7,74,845,0.00,2.12,0.00,0.000,6,0.000,0.041,2319,2010,3945,0,0,0,0,0,0
$GC,1100,-0.77,-156.2,281.1,-19.9,87,1103,0.00,2.15,0.00,0.000,4,0.000,0.048,2310,3412,3945,0,0,0,0,0,0
$GC,1163,-0.77,-156.2,294.3,-20.7,90,1168,0.15,2.10,0.00,0.000,6,0.160,0.032,2348,1997,3948,0,0,0,0,0,0
$GC,1445,-0.77,-156.2,339.4,-14.5,98,1449,0.00,2.17,0.00,0.000,4,0.000,0.051,2339,3404,3946,0,0,0,0,0,0
$GC,1501,-0.77,-156.2,347.8,-13.9,99,1505,0.00,2.10,0.00,0.000,6,0.000,0.031,2339,1995,3946,0,0,0,0,0,0
$GC,1773,-0.77,-156.2,385.6,-13.8,106,1777,0.00,2.10,0.00,0.000,4,0.000,0.039,2339,589,3945,0,0,0,0,0,0
$GC,1795,-0.77,-156.2,389.0,-15.1,106,1799,0.00,2.15,0.00,0.000,6,0.000,0.043,2329,2001,3945,0,0,0,0,0,0
$GC,2057,-0.77,-156.2,430.1,-15.9,113,2061,0.00,2.15,0.00,0.000,4,0.000,0.051,2318,3403,3943,0,0,0,0,0,0
$GC,2191,-0.77,-156.2,451.2,-15.4,116,2196,0.00,2.10,0.00,0.000,6,0.000,0.033,2318,1987,3942,0,0,0,0,0,0
$GC,2475,-0.77,-156.2,498.1,-16.9,123,2479,0.00,2.22,0.00,0.000,4,0.000,0.054,2307,3408,3940,0,0,0,0,0,0
$GC,2558,-0.77,-156.2,512.3,-16.9,124,2567,0.15,2.12,0.00,0.000,6,0.159,0.034,2348,2000,3937,0,0,0,0,0,0
$GC,2809,-0.77,-156.2,546.2,-13.4,131,2813,0.00,2.10,0.00,0.000,4,0.000,0.041,2347,589,3936,0,0,0,0,0,0
$GC,2836,-0.77,-156.2,550.2,-14.0,131,2840,0.00,2.17,0.00,0.000,6,0.000,0.044,2340,1987,3936,0,0,0,0,0,0
$GC,3092,-0.77,-156.2,586.1,-14.2,138,3096,0.00,2.20,0.00,0.000,4,0.000,0.053,2329,3411,3934,0,0,0,0,0,0
$GC,3159,-0.77,-156.2,596.2,-14.7,139,3163,0.00,2.12,0.00,0.000,6,0.000,0.033,2328,1995,3933,0,0,0,0,0,0
$GC,3420,-0.77,-156.2,633.7,-14.3,146,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1991,3930,0,0,0,0,0,0
$GC,3664,-0.77,-156.2,665.6,-12.9,152,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1992,3927,0,0,0,0,0,0
$GC,3908,-0.77,-156.2,697.8,-13.4,158,3912,0.00,2.25,0.00,0.000,4,0.000,0.056,2317,3418,3925,0,0,0,0,0,0
$GC,3964,-0.77,-156.2,705.6,-14.0,159,3969,0.10,2.12,0.00,0.000,6,0.177,0.032,2341,2003,3924,0,0,0,0,0,0
$GC,4230,-0.77,-156.2,740.2,-13.0,166,4234,0.00,2.28,0.00,0.000,4,0.000,0.057,2329,3416,3921,0,0,0,0,0,0
$GC,4253,-0.77,-156.2,743.3,-13.5,166,4257,0.00,2.15,0.00,0.000,6,0.000,0.034,2333,2000,3923,0,0,0,0,0,0
$GC,4511,-0.77,-156.2,778.4,-13.7,173,4514,0.00,2.10,0.00,0.000,4,0.000,0.044,2332,600,3918,0,0,0,0,0,0
$GC,4543,-0.77,-156.2,783.3,-13.7,173,4549,0.00,2.17,0.00,0.000,6,0.000,0.044,2323,2009,3918,0,0,0,0,0,0
$GC,4793,-0.77,-156.2,818.0,-14.0,180,4797,0.00,2.17,0.00,0.000,4,0.000,0.054,2310,3407,3914,0,0,0,0,0,0
$GC,4821,-0.77,-156.2,822.2,-15.4,180,4826,0.10,2.15,0.00,0.000,6,0.147,0.035,2356,2016,3916,0,0,0,0,0,0
$GC,5077,-0.77,-156.2,849.5,-10.4,187,5081,0.00,2.17,0.00,0.000,4,0.000,0.045,2356,588,3914,0,0,0,0,0,0
$GC,5098,-0.77,-156.2,852.0,-10.6,187,5102,0.00,2.17,0.00,0.000,6,0.000,0.043,2347,2004,3914,0,0,0,0,0,0
$GC,5359,-0.77,-156.2,880.3,-10.7,194,5363,0.00,2.22,0.00,0.000,4,0.000,0.055,2332,3412,3909,0,0,0,0,0,0
$GC,5405,-0.77,-156.2,885.4,-11.0,195,5409,0.00,2.15,0.00,0.000,6,0.000,0.035,2337,1996,3911,0,0,0,0,0,0
$STATE,5569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5569,begin apogee
$GC,5576,-0.28,0.0,904.7,11.6,199,5704,0.55,0.00,125.05,1.109,6,0.146,0.000,2501,1919,3301,0,0,0,0,0,0
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5710,0.77,156.2,908.4,0.0,202,5852,1.02,0.00,135.00,1.067,6,0.098,0.000,2841,1919,2664,0,0,0,0,0,0
$GC,6119,0.77,156.2,837.4,20.7,212,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1919,2656,0,0,0,0,0,0
$GC,6364,0.77,156.2,787.5,20.3,218,6368,0.00,2.12,0.00,0.000,4,0.000,0.039,2852,530,2654,0,0,0,0,0,0
$GC,6402,0.77,156.2,779.1,21.2,218,6408,0.00,2.17,0.00,0.000,6,0.000,0.038,2852,1935,2651,0,0,0,0,0,0
$GC,6652,0.77,156.2,728.5,20.2,225,6656,0.00,2.15,0.00,0.000,4,0.000,0.039,2863,527,2651,0,0,0,0,0,0
$GC,6668,0.77,156.2,724.8,20.6,225,6672,0.00,2.15,0.00,0.000,6,0.000,0.037,2864,1936,2650,0,0,0,0,0,0
$GC,6936,0.77,156.2,669.6,20.7,232,6941,0.00,2.20,0.00,0.000,4,0.000,0.054,2863,3334,2650,0,0,0,0,0,0
$GC,7003,0.77,156.2,654.9,20.9,233,7008,0.00,2.12,0.00,0.000,6,0.000,0.033,2874,1924,2650,0,0,0,0,0,0
$GC,7259,0.77,156.2,603.5,19.8,240,7263,0.00,2.10,0.00,0.000,4,0.000,0.038,2884,524,2649,0,0,0,0,0,0
$GC,7276,0.77,156.2,600.2,19.3,240,7281,0.15,2.15,0.00,0.000,6,0.201,0.037,2850,1933,2647,0,0,0,0,0,0
$GC,7536,0.77,156.2,552.0,18.5,247,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1935,2647,0,0,0,0,0,0
$GC,7782,0.77,156.2,504.9,19.5,253,7786,0.00,2.20,0.00,0.000,4,0.000,0.054,2850,3334,2647,0,0,0,0,0,0
$GC,7821,0.77,156.2,496.9,20.0,254,7825,0.00,2.12,0.00,0.000,6,0.000,0.033,2856,1933,2647,0,0,0,0,0,0
$GC,8106,0.77,156.2,442.7,19.4,261,8110,0.00,2.20,0.00,0.000,4,0.000,0.052,2858,3332,2646,0,0,0,0,0,0
$GC,8133,0.77,156.2,436.6,20.8,261,8137,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,1933,2646,0,0,0,0,0,0
$GC,8388,0.77,156.2,389.1,18.2,268,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1928,2645,0,0,0,0,0,0
$GC,8633,0.77,156.2,344.4,17.8,274,8637,0.00,2.12,0.00,0.000,4,0.000,0.041,2879,527,2645,0,0,0,0,0,0
$GC,8660,0.77,156.2,339.5,17.8,274,8664,0.12,2.10,0.00,0.000,6,0.204,0.034,2851,1930,2639,0,0,0,0,0,0
$GC,8922,0.77,156.2,301.0,14.8,281,8926,0.00,2.17,0.00,0.000,4,0.000,0.051,2851,3330,2644,0,0,0,0,0,0
$GC,9008,0.77,156.2,288.1,15.9,284,9012,0.00,2.10,0.00,0.000,6,0.000,0.033,2860,1925,2644,0,0,0,0,0,0
$GC,9273,0.77,156.2,251.3,13.5,297,9277,0.00,2.10,0.00,0.000,4,0.000,0.038,2871,529,2643,0,0,0,0,0,0
$GC,9408,0.77,156.2,232.2,13.0,303,9412,0.00,2.12,0.00,0.000,6,0.000,0.033,2871,1944,2641,0,0,0,0,0,0
$GC,9666,0.77,156.2,197.4,13.8,316,9670,0.00,2.15,0.00,0.000,4,0.000,0.049,2868,3324,2641,0,0,0,0,0,0
$GC,9751,0.77,156.2,185.6,15.5,323,9756,0.12,2.08,0.00,0.000,6,0.193,0.030,2851,1927,2643,0,0,0,0,0,0
$GC,10019,0.77,156.2,156.2,10.4,347,10023,0.00,2.10,0.00,0.000,4,0.000,0.040,2857,529,2642,0,0,0,0,0,0
$GC,10070,0.77,156.2,150.2,10.4,351,10075,0.00,2.08,0.00,0.000,6,0.000,0.034,2861,1924,2641,0,0,0,0,0,0
$GC,10338,0.77,156.2,124.8,8.7,375,10342,0.00,2.20,0.00,0.000,4,0.000,0.050,2861,3336,2643,0,0,0,0,0,0
$GC,10591,0.87,237.8,105.4,5.5,397,10660,0.00,2.12,62.60,0.542,6,0.000,0.030,2872,1919,2328,0,0,0,0,0,0
$GC,10924,0.87,237.8,70.4,11.8,428,10928,0.00,2.20,0.00,0.000,4,0.000,0.046,2872,3335,2324,0,0,0,0,0,0
$GC,11009,0.87,237.8,59.1,14.0,435,11013,0.00,2.12,0.00,0.000,6,0.000,0.031,2882,1937,2324,0,0,0,0,0,0
$GC,11275,0.87,237.8,22.1,15.0,463,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1937,2324,0,0,0,0,0,0
$STATE,11405,end climb,SURFACE_DEPTH_REACHED
$STATE,11405,begin surface coast
$FINISH,0.3,1.006097
$STATE,11425,end surface coast,CONTROL_FINISHED_OK
$STATE,11425,begin surface
$SM_CCo,11445,268.27,0.439,0,0,394,712.83
$SM_GC,1.13,0.00,0.00,268.27,0.000,0.000,0.439,45,2030,394,-7.93,0.85,712.83
$IRIDIUM_FIX,1957.29,-15648.39,300113,141448
$TT8_MAMPS,0.060593
$HUMID,1078774829
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.70
$XPDR_PINGS,108
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339002368
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45649297408
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,31.458
$10V_AH,10.1,29.143
$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,20.125,124.775,322.650,268.275,0.000,148.974,247.130,778.061,27.000,0.000,36.436,1094.408,8376.027,648.729,2855.910,447.411,33.366,1390.627,0.000,1668.065,0.000,0.541,0.000
$DEVICE_MAMPS,258.479,105.846,1109.082,438.724,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.762,0.000,797.561,0.000,0.000,0.000,0.000,40715.898,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.669,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,23598,490
$CAP_FILE_SIZE,127625,0
$CFSIZE,260165632,189743104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,299.0,1
$GPS,070811,231307,2005.531,-15645.550,34,0.9,34,9.7