version: 66.07
glider: 513
mission: 7
dive: 220
start: 8 7 111 23 32 29
data:
$ID,513
$MISSION,7
$DIVE,220
$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,300
$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,-426062.06
$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,45
$R_STBD_OVSHOOT,50
$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,219
$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
$GPS1,070811,231307,2005.531,-15645.550,34,0.9,34,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.7
$GPS2,070811,233132,2005.609,-15645.706,12,1.6,12,9.7
$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,-40177.8,1609.2,803.2,51682.2,-12292.2
$KALMAN_Y,-11623.1,-708.4,311.1,22981.4,-1423.7
$MHEAD_RNG_PITCHd_Wd,63.1,32360,-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,-156.2,0.0,0.0,0,144,0.00,0.00,-112.57,0.000,2,0.000,0.000,36,2029,3727,0,0,0,0,0,0
$GC,148,-0.77,-156.2,3.6,-5.9,17,171,9.88,2.22,-3.47,0.000,4,0.252,0.052,2346,599,3937,0,0,0,0,0,0
$GC,186,-0.77,-156.2,22.7,-47.3,22,193,0.00,2.17,0.00,0.000,6,0.000,0.043,2337,1985,3936,0,0,0,0,0,0
$GC,454,-0.77,-156.2,118.7,-32.1,48,458,0.00,2.22,0.00,0.000,4,0.000,0.048,2324,3422,3939,0,0,0,0,0,0
$GC,582,-0.77,-156.2,154.0,-23.8,59,586,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,1989,3940,0,0,0,0,0,0
$GC,852,-0.77,-156.2,214.0,-21.9,81,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1983,3940,0,0,0,0,0,0
$GC,1100,-0.77,-156.2,267.3,-20.0,93,1104,0.00,2.20,0.00,0.000,4,0.000,0.049,2312,3415,3941,0,0,0,0,0,0
$GC,1150,-0.77,-156.2,277.1,-18.6,95,1155,0.12,2.12,0.00,0.000,6,0.160,0.031,2348,1994,3941,0,0,0,0,0,0
$GC,1428,-0.77,-156.2,319.6,-15.4,106,1432,0.00,2.20,0.00,0.000,4,0.000,0.049,2339,3413,3944,0,0,0,0,0,0
$GC,1490,-0.77,-156.2,328.9,-14.5,107,1494,0.00,2.12,0.00,0.000,6,0.000,0.030,2339,1991,3940,0,0,0,0,0,0
$GC,1757,-0.77,-156.2,367.6,-14.7,114,1761,0.00,2.10,0.00,0.000,4,0.000,0.044,2340,605,3939,0,0,0,0,0,0
$GC,1778,-0.77,-156.2,370.7,-14.1,114,1782,0.00,2.12,0.00,0.000,6,0.000,0.041,2330,2010,3939,0,0,0,0,0,0
$GC,2040,-0.77,-156.2,410.0,-15.3,121,2044,0.00,2.12,0.00,0.000,4,0.000,0.048,2318,3401,3937,0,0,0,0,0,0
$GC,2101,-0.77,-156.2,420.0,-15.2,122,2105,0.00,2.08,0.00,0.000,6,0.000,0.032,2318,2002,3936,0,0,0,0,0,0
$GC,2368,-0.77,-156.2,464.2,-16.6,129,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1997,3934,0,0,0,0,0,0
$GC,2613,-0.77,-156.2,503.6,-16.1,135,2617,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3398,3931,0,0,0,0,0,0
$GC,2645,-0.77,-156.2,509.2,-17.0,135,2650,0.15,2.10,0.00,0.000,6,0.160,0.033,2347,1992,3930,0,0,0,0,0,0
$GC,2895,-0.77,-156.2,542.9,-13.2,141,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1984,3926,0,0,0,0,0,0
$GC,3139,-0.77,-156.2,573.8,-12.4,147,3143,0.00,2.20,0.00,0.000,4,0.000,0.053,2339,3397,3925,0,0,0,0,0,0
$GC,3183,-0.77,-156.2,579.6,-12.4,148,3187,0.00,2.12,0.00,0.000,6,0.000,0.033,2339,1997,3925,0,0,0,0,0,0
$GC,3461,-0.77,-156.2,615.0,-12.7,155,3465,0.00,2.10,0.00,0.000,4,0.000,0.044,2339,603,3922,0,0,0,0,0,0
$GC,3489,-0.77,-156.2,618.9,-13.8,155,3493,0.00,2.10,0.00,0.000,6,0.000,0.043,2329,1991,3922,0,0,0,0,0,0
$GC,3745,-0.77,-156.2,653.5,-13.5,162,3749,0.00,2.20,0.00,0.000,4,0.000,0.052,2317,3410,3919,0,0,0,0,0,0
$GC,3812,-0.77,-156.2,662.7,-13.4,163,3816,0.10,2.12,0.00,0.000,6,0.172,0.035,2341,2001,3917,0,0,0,0,0,0
$GC,4078,-0.77,-156.2,696.3,-12.6,170,4082,0.00,2.15,0.00,0.000,4,0.000,0.044,2339,582,3915,0,0,0,0,0,0
$GC,4100,-0.77,-156.2,699.2,-13.4,170,4104,0.00,2.20,0.00,0.000,6,0.000,0.044,2333,2013,3912,0,0,0,0,0,0
$GC,4356,-0.77,-156.2,734.1,-13.7,177,4360,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3412,3912,0,0,0,0,0,0
$GC,4456,-0.77,-156.2,748.2,-13.7,179,4460,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,1996,3911,0,0,0,0,0,0
$GC,4729,-0.77,-156.2,787.6,-14.6,186,4733,0.00,2.15,0.00,0.000,4,0.000,0.048,2322,594,3909,0,0,0,0,0,0
$GC,4753,-0.77,-156.2,791.1,-14.7,186,4757,0.12,2.15,0.00,0.000,6,0.178,0.046,2342,1994,3910,0,0,0,0,0,0
$GC,5008,-0.77,-156.2,824.0,-12.7,193,5012,0.00,2.22,0.00,0.000,4,0.000,0.058,2333,3417,3906,0,0,0,0,0,0
$GC,5076,-0.77,-156.2,832.6,-12.4,194,5080,0.00,2.15,0.00,0.000,6,0.000,0.034,2333,2002,3906,0,0,0,0,0,0
$GC,5330,-0.77,-156.2,865.5,-12.9,201,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2001,3906,0,0,0,0,0,0
$GC,5574,-0.77,-156.2,894.5,-11.7,207,5578,0.00,2.22,0.00,0.000,4,0.000,0.054,2323,3411,3902,0,0,0,0,0,0
$GC,5603,-0.77,-156.2,897.7,-11.1,207,5607,0.00,2.17,0.00,0.000,6,0.000,0.035,2323,1982,3902,0,0,0,0,0,0
$STATE,5652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5652,begin apogee
$GC,5658,-0.28,0.0,903.9,11.7,209,5785,0.60,0.00,123.57,1.111,6,0.150,0.000,2501,1981,3300,0,0,0,0,0,0
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5788,begin climb
$GC,5790,0.77,156.2,906.8,0.0,212,5930,1.05,0.00,136.10,1.066,6,0.097,0.000,2844,1975,2663,0,0,0,0,0,0
$GC,6141,0.77,156.2,847.0,20.6,221,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,2655,0,0,0,0,0,0
$GC,6383,0.77,156.2,799.6,19.4,227,6387,0.00,2.25,0.00,0.000,4,0.000,0.042,2855,526,2653,0,0,0,0,0,0
$GC,6424,0.77,156.2,791.7,19.8,228,6428,0.00,2.20,0.00,0.000,6,0.000,0.039,2855,1941,2651,0,0,0,0,0,0
$GC,6708,0.77,156.2,735.4,19.8,235,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1942,2651,0,0,0,0,0,0
$GC,6951,0.77,156.2,686.5,20.2,241,6955,0.00,2.20,0.00,0.000,4,0.000,0.054,2855,3332,2650,0,0,0,0,0,0
$GC,6989,0.77,156.2,678.2,21.9,241,6995,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1932,2649,0,0,0,0,0,0
$GC,7240,0.77,156.2,625.4,21.0,248,7244,0.00,2.12,0.00,0.000,4,0.000,0.041,2877,528,2648,0,0,0,0,0,0
$GC,7274,0.77,156.2,618.4,21.3,248,7280,0.12,2.12,0.00,0.000,6,0.203,0.036,2850,1934,2646,0,0,0,0,0,0
$GC,7523,0.77,156.2,569.9,19.4,255,7527,0.00,2.22,0.00,0.000,4,0.000,0.053,2852,3332,2646,0,0,0,0,0,0
$GC,7584,0.77,156.2,557.8,19.7,256,7588,0.00,2.17,0.00,0.000,6,0.000,0.033,2859,1928,2645,0,0,0,0,0,0
$GC,7852,0.77,156.2,506.4,18.9,263,7856,0.00,2.12,0.00,0.000,4,0.000,0.041,2870,522,2645,0,0,0,0,0,0
$GC,7925,0.77,156.2,492.5,18.7,264,7929,0.00,2.17,0.00,0.000,6,0.000,0.039,2869,1943,2643,0,0,0,0,0,0
$GC,8180,0.77,156.2,445.3,18.8,271,8184,0.00,2.17,0.00,0.000,4,0.000,0.052,2868,3331,2643,0,0,0,0,0,0
$GC,8270,0.77,156.2,428.8,19.1,273,8274,0.12,2.12,0.00,0.000,6,0.208,0.033,2850,1931,2643,0,0,0,0,0,0
$GC,8548,0.77,156.2,383.9,16.4,280,8551,0.00,2.12,0.00,0.000,4,0.000,0.042,2859,529,2643,0,0,0,0,0,0
$GC,8609,0.77,156.2,373.4,17.0,281,8613,0.00,2.15,0.00,0.000,6,0.000,0.038,2859,1922,2641,0,0,0,0,0,0
$GC,8877,0.77,156.2,332.5,15.1,288,8881,0.00,2.12,0.00,0.000,4,0.000,0.042,2870,522,2641,0,0,0,0,0,0
$GC,8920,0.77,156.2,325.8,14.1,289,8924,0.00,2.15,0.00,0.000,6,0.000,0.040,2868,1929,2641,0,0,0,0,0,0
$GC,9185,0.77,156.2,286.6,15.8,297,9189,0.00,2.22,0.00,0.000,4,0.000,0.052,2870,3337,2641,0,0,0,0,0,0
$GC,9252,0.77,156.2,275.3,17.2,300,9257,0.12,2.15,0.00,0.000,6,0.197,0.032,2851,1929,2642,0,0,0,0,0,0
$GC,9512,0.77,156.2,239.9,11.3,313,9516,0.00,2.15,0.00,0.000,4,0.000,0.041,2860,515,2641,0,0,0,0,0,0
$GC,9568,0.77,156.2,233.2,11.6,315,9574,0.00,2.15,0.00,0.000,6,0.000,0.036,2861,1937,2640,0,0,0,0,0,0
$GC,9823,0.77,156.2,202.6,10.8,328,9827,0.00,2.17,0.00,0.000,4,0.000,0.051,2860,3332,2640,0,0,0,0,0,0
$GC,9952,0.77,156.2,185.4,13.7,338,9955,0.00,2.15,0.00,0.000,6,0.000,0.033,2871,1920,2640,0,0,0,0,0,0
$GC,10219,0.77,156.2,159.1,11.9,362,10223,0.00,2.25,0.00,0.000,4,0.000,0.051,2871,3336,2641,0,0,0,0,0,0
$GC,10239,0.77,156.2,156.4,11.6,363,10244,0.15,2.12,0.00,0.000,6,0.187,0.031,2844,1918,2640,0,0,0,0,0,0
$GC,10502,0.80,182.2,133.3,7.6,387,10528,0.00,2.28,18.33,0.547,4,0.000,0.048,2844,3336,2558,0,0,0,0,0,0
$GC,10675,0.80,182.2,117.7,8.8,402,10683,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1940,2557,0,0,0,0,0,0
$GC,10941,0.80,182.2,96.8,8.6,427,10945,0.00,2.20,0.00,0.000,4,0.000,0.048,2853,3336,2557,0,0,0,0,0,0
$GC,10993,0.82,191.9,92.3,8.2,431,11008,0.00,2.15,10.00,0.471,6,0.000,0.031,2864,1918,2516,0,0,0,0,0,0
$GC,11261,0.82,191.9,70.1,8.6,456,11265,0.00,2.20,0.00,0.000,4,0.000,0.048,2864,3336,2519,0,0,0,0,0,0
$GC,11370,0.82,191.9,58.9,10.3,465,11378,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1934,2517,0,0,0,0,0,0
$GC,11638,0.82,191.9,33.2,10.9,490,11642,0.00,2.20,0.00,0.000,4,0.000,0.047,2875,3341,2518,0,0,0,0,0,0
$GC,11706,0.82,191.9,24.6,11.2,499,11715,0.00,2.17,0.00,0.000,6,0.000,0.031,2885,1916,2518,0,0,0,0,0,0
$STATE,11868,end climb,SURFACE_DEPTH_REACHED
$STATE,11868,begin surface coast
$FINISH,0.7,1.023089
$STATE,11891,end surface coast,CONTROL_FINISHED_OK
$STATE,11891,begin surface
$SM_CCo,11911,46.00,0.433,0,0,2074,300.24
$SM_GC,1.32,0.00,0.00,46.00,0.000,0.000,0.433,51,2054,2074,-7.96,1.53,300.24
$IRIDIUM_FIX,1957.29,-15648.39,300113,171710
$TT8_MAMPS,0.253877
$HUMID,1078834184
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,104
$AR_DIVENUM,220
$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
$24V_AH,24.0,31.593
$10V_AH,10.2,29.234
$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,20.125,134.350,288.000,46.000,0.000,85.997,108.733,564.150,26.000,0.000,14.944,1162.085,8465.257,475.833,2525.599,451.287,33.347,1238.684,0.000,1798.058,0.000,0.541,0.000
$DEVICE_MAMPS,252.343,77.467,1110.616,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.430,0.000,922.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26915,532
$CAP_FILE_SIZE,126554,0
$CFSIZE,260165632,189681664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,298.0,1
$GPS,080811,025407,2006.137,-15644.289,72,1.6,72,9.7