version: 66.07
glider: 513
mission: 7
dive: 228
start: 8 9 111 5 12 28
data:
$ID,513
$MISSION,7
$DIVE,228
$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,-426330.41
$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,72
$R_STBD_OVSHOOT,70
$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,227
$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
$GPS1,090811,045230,2009.789,-15637.610,36,1.9,37,9.7
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.9
$GPS2,090811,051133,2009.636,-15637.841,13,2.9,32,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.174,-0.185
$KALMAN_X,-58172.3,858.4,272.3,84670.7,-10608.6
$KALMAN_Y,-8757.9,500.3,-241.3,26949.4,-1168.1
$MHEAD_RNG_PITCHd_Wd,38.7,16861,-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,-156.2,0.0,0.0,0,76,0.00,0.00,-47.22,0.000,2,0.000,0.000,35,2023,3429,0,0,0,0,0,0
$GC,81,-0.77,-156.2,3.1,-5.1,7,110,9.70,2.20,-9.30,0.000,4,0.244,0.068,2328,3368,3940,0,0,0,0,0,0
$GC,189,-0.77,-156.2,40.4,-29.7,22,193,0.00,2.03,0.00,0.000,6,0.000,0.035,2331,2033,3942,0,0,0,0,0,0
$GC,454,-0.77,-156.2,137.1,-35.9,46,458,0.00,2.10,0.00,0.000,4,0.000,0.049,2323,3381,3943,0,0,0,0,0,0
$GC,475,-0.77,-156.2,143.4,-31.1,47,479,0.00,2.08,0.00,0.000,6,0.000,0.033,2323,2002,3943,0,0,0,0,0,0
$GC,735,-0.77,-156.2,210.8,-24.5,69,739,0.00,2.10,0.00,0.000,4,0.000,0.041,2328,591,3944,0,0,0,0,0,0
$GC,758,-0.77,-156.2,216.5,-24.4,70,762,0.00,2.08,0.00,0.000,6,0.000,0.041,2319,1967,3943,0,0,0,0,0,0
$GC,1025,-0.77,-156.2,272.5,-21.4,83,1029,0.00,2.22,0.00,0.000,4,0.000,0.051,2308,3407,3945,0,0,0,0,0,0
$GC,1059,-0.77,-156.2,279.9,-21.4,84,1065,0.15,2.12,0.00,0.000,6,0.162,0.032,2347,1993,3946,0,0,0,0,0,0
$GC,1331,-0.77,-156.2,328.2,-17.1,94,1335,0.00,2.08,0.00,0.000,4,0.000,0.044,2347,601,3944,0,0,0,0,0,0
$GC,1353,-0.77,-156.2,332.2,-17.4,94,1357,0.00,2.12,0.00,0.000,6,0.000,0.044,2339,1996,3946,0,0,0,0,0,0
$GC,1608,-0.77,-156.2,373.3,-15.7,101,1612,0.00,2.17,0.00,0.000,4,0.000,0.051,2328,3410,3945,0,0,0,0,0,0
$GC,1679,-0.77,-156.2,384.3,-14.1,102,1684,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,2003,3945,0,0,0,0,0,0
$GC,1936,-0.77,-156.2,422.4,-15.2,109,1940,0.00,2.20,0.00,0.000,4,0.000,0.051,2317,3422,3944,0,0,0,0,0,0
$GC,1958,-0.77,-156.2,426.2,-16.3,109,1962,0.10,2.15,0.00,0.000,6,0.169,0.032,2341,1991,3943,0,0,0,0,0,0
$GC,2218,-0.77,-156.2,462.0,-13.6,116,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1984,3942,0,0,0,0,0,0
$GC,2464,-0.77,-156.2,495.8,-14.0,122,2468,0.00,2.22,0.00,0.000,4,0.000,0.054,2333,3414,3940,0,0,0,0,0,0
$GC,2503,-0.77,-156.2,501.7,-14.3,123,2507,0.00,2.12,0.00,0.000,6,0.000,0.033,2332,1989,3939,0,0,0,0,0,0
$GC,2786,-0.77,-156.2,544.5,-15.3,130,2790,0.00,2.22,0.00,0.000,4,0.000,0.055,2322,3411,3936,0,0,0,0,0,0
$GC,2848,-0.77,-156.2,554.1,-14.8,131,2852,0.00,2.12,0.00,0.000,6,0.000,0.035,2322,2003,3933,0,0,0,0,0,0
$GC,3109,-0.77,-156.2,593.1,-14.8,138,3113,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,587,3932,0,0,0,0,0,0
$GC,3153,-0.77,-156.2,600.1,-15.2,139,3157,0.12,2.15,0.00,0.000,6,0.171,0.045,2341,2000,3931,0,0,0,0,0,0
$GC,3432,-0.77,-156.2,634.9,-12.2,146,3436,0.00,2.22,0.00,0.000,4,0.000,0.054,2334,3408,3929,0,0,0,0,0,0
$GC,3543,-0.77,-156.2,648.9,-12.1,148,3548,0.00,2.17,0.00,0.000,6,0.000,0.036,2333,1998,3929,0,0,0,0,0,0
$GC,3804,-0.77,-156.2,682.0,-12.6,155,3808,0.00,2.10,0.00,0.000,4,0.000,0.044,2334,593,3925,0,0,0,0,0,0
$GC,3838,-0.77,-156.2,686.5,-13.2,155,3844,0.00,2.15,0.00,0.000,6,0.000,0.045,2324,1999,3923,0,0,0,0,0,0
$GC,4089,-0.77,-156.2,719.2,-13.0,162,4093,0.00,2.22,0.00,0.000,4,0.000,0.056,2312,3407,3922,0,0,0,0,0,0
$GC,4172,-0.77,-156.2,730.3,-13.0,163,4179,0.12,2.12,0.00,0.000,6,0.162,0.036,2344,2001,3921,0,0,0,0,0,0
$GC,4424,-0.77,-156.2,758.7,-11.4,170,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1995,3919,0,0,0,0,0,0
$GC,4666,-0.77,-156.2,787.5,-11.8,176,4670,0.00,2.25,0.00,0.000,4,0.000,0.058,2336,3408,3917,0,0,0,0,0,0
$GC,4692,-0.77,-156.2,791.1,-13.4,176,4696,0.00,2.15,0.00,0.000,6,0.000,0.036,2336,1982,3917,0,0,0,0,0,0
$GC,4948,-0.77,-156.2,822.9,-12.6,183,4952,0.00,2.28,0.00,0.000,4,0.000,0.055,2325,3422,3915,0,0,0,0,0,0
$GC,4976,-0.77,-156.2,826.6,-14.1,183,4980,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,2004,3913,0,0,0,0,0,0
$GC,5231,-0.77,-156.2,861.7,-13.9,190,5235,0.00,2.25,0.00,0.000,4,0.000,0.055,2314,3414,3912,0,0,0,0,0,0
$GC,5264,-0.77,-156.2,866.5,-13.9,190,5272,0.12,2.17,0.00,0.000,6,0.170,0.035,2350,1995,3912,0,0,0,0,0,0
$GC,5515,-0.77,-156.2,895.4,-11.4,197,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1989,3911,0,0,0,0,0,0
$STATE,5553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5553,begin apogee
$GC,5559,-0.28,0.0,900.1,11.4,198,5687,0.50,0.00,125.15,1.103,6,0.143,0.000,2499,1928,3302,0,0,0,0,0,0
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5693,0.77,156.2,904.3,0.0,201,5838,1.02,2.45,136.00,1.065,4,0.097,0.050,2836,3335,2664,0,0,0,0,0,0
$GC,5852,0.77,156.2,885.4,20.0,204,5857,0.00,2.25,0.00,0.000,6,0.000,0.029,2849,1927,2662,0,0,0,0,0,0
$GC,6102,0.77,156.2,833.9,20.7,211,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1924,2654,0,0,0,0,0,0
$GC,6345,0.77,156.2,784.1,20.3,217,6349,0.00,2.12,0.00,0.000,4,0.000,0.040,2857,520,2653,0,0,0,0,0,0
$GC,6368,0.77,156.2,779.6,20.8,217,6372,0.00,2.17,0.00,0.000,6,0.000,0.036,2860,1946,2651,0,0,0,0,0,0
$GC,6623,0.77,156.2,726.8,20.7,224,6627,0.00,2.20,0.00,0.000,4,0.000,0.054,2860,3332,2651,0,0,0,0,0,0
$GC,6663,0.77,156.2,718.2,22.1,225,6667,0.00,2.17,0.00,0.000,6,0.000,0.032,2872,1915,2651,0,0,0,0,0,0
$GC,6947,0.77,156.2,657.1,21.4,232,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1911,2649,0,0,0,0,0,0
$GC,7190,0.77,156.2,605.5,21.2,238,7194,0.00,2.10,0.00,0.000,4,0.000,0.040,2882,513,2649,0,0,0,0,0,0
$GC,7222,0.77,156.2,598.9,20.5,238,7229,0.15,2.12,0.00,0.000,6,0.197,0.036,2847,1928,2647,0,0,0,0,0,0
$GC,7473,0.77,156.2,552.9,18.6,245,7477,0.00,2.25,0.00,0.000,4,0.000,0.053,2847,3339,2647,0,0,0,0,0,0
$GC,7558,0.77,156.2,537.0,19.1,247,7562,0.00,2.15,0.00,0.000,6,0.000,0.033,2856,1929,2645,0,0,0,0,0,0
$GC,7847,0.77,156.2,482.9,19.0,254,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1926,2647,0,0,0,0,0,0
$GC,8090,0.77,156.2,437.3,18.7,260,8094,0.00,2.22,0.00,0.000,4,0.000,0.049,2856,3346,2646,0,0,0,0,0,0
$GC,8176,0.77,156.2,421.6,18.8,262,8180,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1925,2646,0,0,0,0,0,0
$GC,8459,0.77,156.2,370.3,17.7,269,8463,0.00,2.08,0.00,0.000,4,0.000,0.040,2878,532,2645,0,0,0,0,0,0
$GC,8515,0.77,156.2,360.8,17.2,270,8520,0.12,2.10,0.00,0.000,6,0.196,0.035,2849,1938,2642,0,0,0,0,0,0
$GC,8781,0.77,156.2,322.1,14.3,277,8785,0.00,2.17,0.00,0.000,4,0.000,0.051,2849,3329,2643,0,0,0,0,0,0
$GC,8881,0.77,156.2,306.3,16.8,279,8885,0.00,2.10,0.00,0.000,6,0.000,0.032,2858,1930,2643,0,0,0,0,0,0
$GC,9137,0.77,156.2,268.3,15.4,290,9141,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,524,2642,0,0,0,0,0,0
$GC,9198,0.77,156.2,259.0,14.7,292,9204,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1936,2640,0,0,0,0,0,0
$GC,9452,0.77,156.2,221.0,15.6,305,9456,0.00,2.17,0.00,0.000,4,0.000,0.049,2865,3338,2642,0,0,0,0,0,0
$GC,9502,0.77,156.2,213.0,16.5,307,9507,0.12,2.15,0.00,0.000,6,0.196,0.031,2851,1918,2642,0,0,0,0,0,0
$GC,9764,0.77,156.2,181.4,10.9,326,9768,0.00,2.10,0.00,0.000,4,0.000,0.040,2857,521,2642,0,0,0,0,0,0
$GC,9827,0.77,156.2,173.8,11.3,331,9831,0.00,2.12,0.00,0.000,6,0.000,0.034,2860,1934,2640,0,0,0,0,0,0
$GC,10093,0.77,156.2,146.0,9.0,355,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1935,2641,0,0,0,0,0,0
$GC,10357,0.78,159.9,125.0,8.4,380,10361,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,523,2642,0,0,0,0,0,0
$GC,10608,0.93,285.2,112.2,3.9,402,10717,0.00,2.10,99.25,0.540,6,0.000,0.032,2871,1936,2137,0,0,0,0,0,0
$GC,10971,0.93,285.2,70.3,14.2,435,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1935,2131,0,0,0,0,0,0
$GC,11235,0.93,285.2,29.5,15.4,460,11243,0.00,2.20,0.00,0.000,4,0.000,0.048,2870,3312,2130,0,0,0,0,0,0
$GC,11374,0.93,285.2,8.9,14.3,485,11382,0.00,2.12,0.00,0.000,6,0.000,0.034,2881,1943,2131,0,0,0,0,0,0
$STATE,11415,end climb,SURFACE_DEPTH_REACHED
$STATE,11415,begin surface coast
$FINISH,0.4,1.022950
$STATE,11433,end surface coast,CONTROL_FINISHED_OK
$STATE,11433,begin surface
$SM_CCo,11453,6.05,0.359,0,0,2075,300.24
$SM_GC,2.77,0.00,0.00,6.05,0.000,0.000,0.359,50,1997,2075,-7.96,-0.08,300.24
$IRIDIUM_FIX,2001.88,-15640.25,310113,232330
$TT8_MAMPS,0.255411
$HUMID,1078912893
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261833728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,44358369280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,32.742
$10V_AH,10.1,30.131
$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,19.600,125.275,360.400,6.050,0.000,78.337,102.501,586.086,24.500,0.000,35.095,1089.132,8231.394,436.625,2432.773,416.504,33.352,1176.359,0.000,1661.552,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,148.798,1102.946,358.956,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,337.318,0.000,823.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,23595,495
$CAP_FILE_SIZE,121672,0
$CFSIZE,260165632,189120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,211.8,1
$GPS,090811,082526,2010.261,-15636.848,39,8.3,58,9.7