version: 66.07
glider: 513
mission: 7
dive: 229
start: 8 9 111 8 40 53
data:
$ID,513
$MISSION,7
$DIVE,229
$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,-426367.59
$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,33
$R_STBD_OVSHOOT,36
$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,228
$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
$GPS1,090811,082526,2010.261,-15636.848,39,8.3,58,9.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.0
$GPS2,090811,083958,2010.155,-15636.994,14,6.6,33,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.231,0.105
$KALMAN_X,-60296.5,925.1,1009.0,87443.9,-11647.3
$KALMAN_Y,-5760.1,1506.3,1150.7,22454.9,-1834.3
$MHEAD_RNG_PITCHd_Wd,37.4,15105,-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,-156.2,0.0,0.0,0,90,0.00,0.00,-60.17,0.000,2,0.000,0.000,37,1996,3849,0,0,0,0,0,0
$GC,94,-0.77,-156.2,4.4,-8.2,9,116,9.90,2.30,-1.40,0.000,4,0.251,0.067,2328,3417,3940,0,0,0,0,0,0
$GC,147,-0.77,-156.2,33.9,-54.5,17,151,0.00,2.17,0.00,0.000,6,0.000,0.034,2331,1984,3943,0,0,0,0,0,0
$GC,412,-0.77,-156.2,129.5,-34.9,41,416,0.00,2.25,0.00,0.000,4,0.000,0.053,2323,3415,3944,0,0,0,0,0,0
$GC,452,-0.77,-156.2,142.5,-28.9,44,457,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,2004,3944,0,0,0,0,0,0
$GC,713,-0.77,-156.2,212.5,-26.3,66,717,0.00,2.10,0.00,0.000,4,0.000,0.038,2322,591,3944,0,0,0,0,0,0
$GC,773,-0.77,-156.2,227.6,-22.5,68,781,0.12,2.15,0.00,0.000,6,0.184,0.041,2342,2009,3946,0,0,0,0,0,0
$GC,1029,-0.77,-156.2,279.0,-20.0,81,1033,0.00,2.15,0.00,0.000,4,0.000,0.050,2333,3408,3948,0,0,0,0,0,0
$GC,1106,-0.77,-156.2,293.4,-17.6,84,1113,0.00,2.12,0.00,0.000,6,0.000,0.031,2333,1985,3948,0,0,0,0,0,0
$GC,1357,-0.77,-156.2,338.0,-17.7,92,1361,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3400,3948,0,0,0,0,0,0
$GC,1396,-0.77,-156.2,344.6,-16.3,92,1403,0.00,2.10,0.00,0.000,6,0.000,0.031,2322,1990,3948,0,0,0,0,0,0
$GC,1646,-0.77,-156.2,386.1,-16.7,99,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1984,3948,0,0,0,0,0,0
$GC,1890,-0.77,-156.2,425.5,-16.2,105,1894,0.00,2.10,0.00,0.000,4,0.000,0.042,2322,597,3949,0,0,0,0,0,0
$GC,1930,-0.77,-156.2,431.8,-15.5,106,1935,0.12,2.15,0.00,0.000,6,0.172,0.044,2343,2006,3947,0,0,0,0,0,0
$GC,2215,-0.77,-156.2,470.7,-13.7,113,2218,0.00,2.17,0.00,0.000,4,0.000,0.052,2334,3409,3945,0,0,0,0,0,0
$GC,2309,-0.77,-156.2,484.5,-13.7,115,2313,0.00,2.10,0.00,0.000,6,0.000,0.035,2334,2004,3944,0,0,0,0,0,0
$GC,2588,-0.77,-156.2,526.4,-15.5,122,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1997,3940,0,0,0,0,0,0
$GC,2831,-0.77,-156.2,563.1,-15.1,128,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1997,3939,0,0,0,0,0,0
$GC,3075,-0.77,-156.2,598.5,-14.6,134,3079,0.00,2.20,0.00,0.000,4,0.000,0.052,2328,3409,3937,0,0,0,0,0,0
$GC,3141,-0.77,-156.2,608.7,-14.6,135,3145,0.00,2.12,0.00,0.000,6,0.000,0.034,2323,1992,3935,0,0,0,0,0,0
$GC,3404,-0.77,-156.2,648.3,-15.3,142,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1985,3934,0,0,0,0,0,0
$GC,3646,-0.77,-156.2,686.6,-15.7,148,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1985,3931,0,0,0,0,0,0
$GC,3890,-0.77,-156.2,724.7,-15.6,154,3894,0.00,2.22,0.00,0.000,4,0.000,0.056,2313,3400,3929,0,0,0,0,0,0
$GC,3963,-0.77,-156.2,736.1,-15.0,155,3967,0.10,2.12,0.00,0.000,6,0.172,0.035,2337,2004,3928,0,0,0,0,0,0
$GC,4213,-0.77,-156.2,770.8,-13.8,161,4217,0.00,2.20,0.00,0.000,4,0.000,0.054,2329,3402,3924,0,0,0,0,0,0
$GC,4245,-0.77,-156.2,775.3,-13.3,161,4251,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,1991,3925,0,0,0,0,0,0
$GC,4496,-0.77,-156.2,809.2,-13.5,168,4500,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3403,3925,0,0,0,0,0,0
$GC,4518,-0.77,-156.2,812.6,-14.3,168,4522,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,1998,3922,0,0,0,0,0,0
$GC,4779,-0.77,-156.2,848.4,-13.7,175,4783,0.00,2.22,0.00,0.000,4,0.000,0.055,2307,3399,3920,0,0,0,0,0,0
$GC,4806,-0.77,-156.2,852.0,-13.1,175,4811,0.15,2.15,0.00,0.000,6,0.164,0.035,2346,1991,3920,0,0,0,0,0,0
$GC,5062,-0.77,-156.2,881.3,-11.1,182,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1981,3918,0,0,0,0,0,0
$STATE,5261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5261,begin apogee
$GC,5268,-0.28,0.0,904.0,11.2,187,5398,0.50,0.00,127.43,1.104,6,0.142,0.000,2499,1927,3301,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5424,0.77,156.2,908.3,0.0,190,5566,1.02,2.30,134.35,1.068,4,0.097,0.038,2854,512,2663,0,0,0,0,0,0
$GC,5589,0.77,156.2,888.1,19.4,194,5593,0.00,2.25,0.00,0.000,6,0.000,0.035,2854,1923,2659,0,0,0,0,0,0
$GC,5874,0.77,156.2,828.2,21.4,201,5878,0.00,2.28,0.00,0.000,4,0.000,0.051,2854,3348,2655,0,0,0,0,0,0
$GC,5918,0.77,156.2,817.7,22.1,202,5922,0.00,2.20,0.00,0.000,6,0.000,0.031,2861,1922,2655,0,0,0,0,0,0
$GC,6203,0.77,156.2,754.4,22.3,209,6207,0.00,2.12,0.00,0.000,4,0.000,0.040,2876,517,2652,0,0,0,0,0,0
$GC,6236,0.77,156.2,746.9,22.1,209,6242,0.00,2.20,0.00,0.000,6,0.000,0.035,2877,1947,2650,0,0,0,0,0,0
$GC,6486,0.77,156.2,691.6,22.1,216,6490,0.00,2.17,0.00,0.000,4,0.000,0.051,2876,3333,2650,0,0,0,0,0,0
$GC,6526,0.77,156.2,682.6,23.0,217,6531,0.15,2.12,0.00,0.000,6,0.202,0.032,2852,1926,2650,0,0,0,0,0,0
$GC,6810,0.77,156.2,627.1,19.0,224,6814,0.00,2.10,0.00,0.000,4,0.000,0.040,2861,532,2649,0,0,0,0,0,0
$GC,6843,0.77,156.2,620.2,19.0,224,6849,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1930,2646,0,0,0,0,0,0
$GC,7093,0.77,156.2,572.1,19.6,231,7097,0.00,2.22,0.00,0.000,4,0.000,0.051,2861,3337,2647,0,0,0,0,0,0
$GC,7166,0.77,156.2,557.2,20.4,232,7170,0.00,2.12,0.00,0.000,6,0.000,0.033,2871,1928,2647,0,0,0,0,0,0
$GC,7415,0.77,156.2,510.2,18.7,238,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1925,2647,0,0,0,0,0,0
$GC,7659,0.77,156.2,463.2,19.3,244,7663,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3333,2646,0,0,0,0,0,0
$GC,7699,0.77,156.2,455.9,18.7,245,7704,0.12,2.12,0.00,0.000,6,0.206,0.032,2850,1920,2646,0,0,0,0,0,0
$GC,7983,0.77,156.2,408.5,16.3,252,7987,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,529,2645,0,0,0,0,0,0
$GC,8044,0.77,156.2,398.2,16.9,253,8048,0.00,2.12,0.00,0.000,6,0.000,0.035,2858,1933,2643,0,0,0,0,0,0
$GC,8312,0.77,156.2,354.1,16.5,260,8316,0.00,2.15,0.00,0.000,4,0.000,0.039,2869,517,2644,0,0,0,0,0,0
$GC,8328,0.77,156.2,351.0,16.2,260,8332,0.00,2.15,0.00,0.000,6,0.000,0.035,2870,1932,2642,0,0,0,0,0,0
$GC,8588,0.77,156.2,310.2,15.2,267,8592,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3332,2642,0,0,0,0,0,0
$GC,8649,0.77,156.2,300.0,16.7,268,8654,0.08,2.15,0.00,0.000,6,0.190,0.032,2845,1935,2643,0,0,0,0,0,0
$GC,8921,0.77,156.2,261.2,14.9,281,8925,0.00,2.15,0.00,0.000,4,0.000,0.041,2854,515,2642,0,0,0,0,0,0
$GC,8982,0.77,156.2,252.6,13.2,284,8986,0.00,2.15,0.00,0.000,6,0.000,0.035,2854,1937,2641,0,0,0,0,0,0
$GC,9254,0.77,156.2,216.5,13.0,297,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1937,2641,0,0,0,0,0,0
$GC,9505,0.77,156.2,185.5,11.6,314,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1937,2641,0,0,0,0,0,0
$GC,9760,0.77,156.2,156.7,11.7,338,9764,0.00,2.12,0.00,0.000,4,0.000,0.039,2865,520,2642,0,0,0,0,0,0
$GC,9858,0.77,156.2,146.3,8.8,346,9865,0.00,2.15,0.00,0.000,6,0.000,0.033,2862,1928,2641,0,0,0,0,0,0
$GC,10124,0.77,156.2,122.2,10.4,371,10128,0.00,2.12,0.00,0.000,4,0.000,0.039,2876,511,2642,0,0,0,0,0,0
$GC,10318,0.81,185.8,105.1,7.5,388,10350,0.00,2.15,21.83,0.524,6,0.000,0.033,2876,1935,2538,0,0,0,0,0,0
$GC,10606,0.84,212.0,84.6,7.6,415,10634,0.00,2.20,22.23,0.501,4,0.000,0.040,2886,522,2436,0,0,0,0,0,0
$GC,10676,0.84,212.0,78.2,11.0,421,10680,0.00,2.12,0.00,0.000,6,0.000,0.031,2886,1930,2433,0,0,0,0,0,0
$GC,10942,0.84,212.0,46.7,11.9,445,10946,0.00,2.20,0.00,0.000,4,0.000,0.053,2892,3337,2433,0,0,0,0,0,0
$GC,11194,0.84,212.0,13.7,13.9,478,11202,0.00,2.15,0.00,0.000,6,0.000,0.029,2896,1924,2435,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11272,begin surface coast
$FINISH,0.2,1.022954
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11297,begin surface
$SM_CCo,11317,46.50,0.443,0,0,2075,300.24
$SM_GC,1.86,0.00,0.00,46.50,0.000,0.000,0.443,48,2022,2075,-7.96,0.65,300.24
$IRIDIUM_FIX,2004.18,-15637.23,010213,020232
$TT8_MAMPS,0.24544
$HUMID,1078876764
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,84
$AR_DIVENUM,229
$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,24.0,32.870
$10V_AH,10.1,30.215
$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,19.650,117.125,305.825,46.500,0.000,60.322,84.759,424.906,21.000,0.000,36.549,1080.481,8075.924,416.751,2293.518,384.798,33.343,1145.687,0.000,1672.851,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,107.380,1103.713,442.559,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.388,0.000,843.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,23585,496
$CAP_FILE_SIZE,114846,0
$CFSIZE,260165632,189054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,205.2,1
$GPS,090811,115300,2010.632,-15635.941,95,1.3,95,9.7