version: 66.07
glider: 513
mission: 7
dive: 235
start: 8 10 111 6 48 14
data:
$ID,513
$MISSION,7
$DIVE,235
$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,-426509.5
$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,42
$R_STBD_OVSHOOT,43
$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,234
$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
$GPS1,100811,063236,2012.322,-15632.112,117,1.5,117,9.7
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.6
$GPS2,100811,064716,2012.191,-15632.077,9,2.4,28,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.196,0.161
$KALMAN_X,-75689.8,959.3,850.6,111523.1,-11714.6
$KALMAN_Y,-14387.8,1285.5,529.7,35716.2,-7381.8
$MHEAD_RNG_PITCHd_Wd,13.3,6332,-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,-156.2,0.0,0.0,0,80,0.00,0.00,-51.60,0.000,2,0.000,0.000,35,2021,3540,0,0,0,0,0,0
$GC,85,-0.77,-156.2,3.0,-4.9,8,114,9.77,2.28,-7.07,0.000,4,0.246,0.066,2329,3415,3940,0,0,0,0,0,0
$GC,130,-0.77,-156.2,22.1,-45.2,14,137,0.00,2.20,0.00,0.000,6,0.000,0.035,2332,2006,3942,0,0,0,0,0,0
$GC,401,-0.77,-156.2,124.7,-31.9,40,405,0.00,2.12,0.00,0.000,4,0.000,0.043,2332,594,3944,0,0,0,0,0,0
$GC,442,-0.77,-156.2,136.0,-27.7,43,446,0.00,2.12,0.00,0.000,6,0.000,0.042,2324,1987,3945,0,0,0,0,0,0
$GC,713,-0.77,-156.2,206.6,-22.9,67,717,0.00,2.20,0.00,0.000,4,0.000,0.048,2313,3415,3946,0,0,0,0,0,0
$GC,768,-0.77,-156.2,219.2,-21.9,69,774,0.12,2.12,0.00,0.000,6,0.168,0.030,2343,1991,3946,0,0,0,0,0,0
$GC,1022,-0.77,-156.2,268.7,-18.4,82,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1985,3947,0,0,0,0,0,0
$GC,1288,-0.77,-156.2,314.4,-16.8,93,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1985,3947,0,0,0,0,0,0
$GC,1532,-0.77,-156.2,354.4,-16.1,99,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1985,3947,0,0,0,0,0,0
$GC,1777,-0.77,-156.2,392.3,-15.2,105,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1985,3947,0,0,0,0,0,0
$GC,2019,-0.77,-156.2,428.7,-14.7,111,2023,0.00,2.25,0.00,0.000,4,0.000,0.053,2334,3418,3944,0,0,0,0,0,0
$GC,2120,-0.77,-156.2,443.4,-14.5,113,2123,0.00,2.12,0.00,0.000,6,0.000,0.032,2335,2000,3945,0,0,0,0,0,0
$GC,2394,-0.77,-156.2,482.1,-14.4,120,2398,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,592,3943,0,0,0,0,0,0
$GC,2428,-0.77,-156.2,487.5,-15.5,120,2434,0.00,2.17,0.00,0.000,6,0.000,0.042,2324,2013,3943,0,0,0,0,0,0
$GC,2678,-0.77,-156.2,526.3,-15.7,127,2682,0.00,2.15,0.00,0.000,4,0.000,0.051,2313,3404,3941,0,0,0,0,0,0
$GC,2727,-0.77,-156.2,534.1,-15.0,128,2732,0.12,2.10,0.00,0.000,6,0.160,0.033,2346,2000,3940,0,0,0,0,0,0
$GC,3000,-0.77,-156.2,569.5,-12.9,135,3004,0.00,2.20,0.00,0.000,4,0.000,0.052,2334,3413,3938,0,0,0,0,0,0
$GC,3032,-0.77,-156.2,574.2,-13.9,135,3039,0.00,2.15,0.00,0.000,6,0.000,0.033,2338,1986,3937,0,0,0,0,0,0
$GC,3282,-0.77,-156.2,607.2,-13.3,142,3286,0.00,2.10,0.00,0.000,4,0.000,0.044,2338,601,3933,0,0,0,0,0,0
$GC,3316,-0.77,-156.2,611.9,-14.0,142,3320,0.00,2.12,0.00,0.000,6,0.000,0.043,2327,2001,3934,0,0,0,0,0,0
$GC,3567,-0.77,-156.2,645.2,-13.3,148,3571,0.00,2.20,0.00,0.000,4,0.000,0.053,2317,3414,3932,0,0,0,0,0,0
$GC,3714,-0.77,-156.2,665.2,-12.8,151,3718,0.12,2.15,0.00,0.000,6,0.162,0.035,2346,2003,3931,0,0,0,0,0,0
$GC,3986,-0.77,-156.2,696.2,-11.3,158,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1997,3928,0,0,0,0,0,0
$GC,4229,-0.77,-156.2,724.4,-11.6,164,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1997,3926,0,0,0,0,0,0
$GC,4473,-0.77,-156.2,753.0,-11.7,170,4477,0.00,2.15,0.00,0.000,4,0.000,0.045,2350,593,3923,0,0,0,0,0,0
$GC,4496,-0.77,-156.2,755.7,-11.5,170,4500,0.00,2.15,0.00,0.000,6,0.000,0.044,2341,1996,3924,0,0,0,0,0,0
$GC,4751,-0.77,-156.2,786.9,-12.3,177,4755,0.00,2.25,0.00,0.000,4,0.000,0.056,2332,3418,3921,0,0,0,0,0,0
$GC,4845,-0.77,-156.2,798.6,-11.3,179,4849,0.00,2.15,0.00,0.000,6,0.000,0.035,2330,2000,3920,0,0,0,0,0,0
$GC,5125,-0.77,-156.2,833.4,-12.8,186,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1994,3918,0,0,0,0,0,0
$GC,5367,-0.77,-156.2,863.7,-12.3,192,5371,0.00,2.25,0.00,0.000,4,0.000,0.054,2320,3410,3916,0,0,0,0,0,0
$GC,5419,-0.77,-156.2,870.2,-12.2,193,5423,0.00,2.15,0.00,0.000,6,0.000,0.034,2320,1986,3916,0,0,0,0,0,0
$STATE,5653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5653,begin apogee
$GC,5661,-0.28,0.0,901.0,12.9,199,5791,0.62,0.00,127.12,1.101,6,0.149,0.000,2505,1927,3301,0,0,0,0,0,0
$STATE,5793,end apogee,CONTROL_FINISHED_OK
$STATE,5794,begin climb
$GC,5796,0.77,156.2,905.4,0.0,202,5937,1.00,0.00,136.18,1.065,6,0.096,0.000,2840,1927,2664,0,0,0,0,0,0
$GC,6161,0.77,156.2,845.9,20.1,211,6165,0.00,2.28,0.00,0.000,4,0.000,0.051,2837,3340,2654,0,0,0,0,0,0
$GC,6194,0.77,156.2,838.9,20.8,211,6201,0.00,2.17,0.00,0.000,6,0.000,0.037,2848,1932,2656,0,0,0,0,0,0
$GC,6444,0.77,156.2,786.8,21.0,218,6448,0.00,2.12,0.00,0.000,4,0.000,0.040,2859,528,2654,0,0,0,0,0,0
$GC,6461,0.77,156.2,783.4,20.3,218,6465,0.00,2.15,0.00,0.000,6,0.000,0.035,2859,1950,2652,0,0,0,0,0,0
$GC,6721,0.77,156.2,729.2,20.8,225,6725,0.00,2.20,0.00,0.000,4,0.000,0.052,2859,3329,2651,0,0,0,0,0,0
$GC,6743,0.77,156.2,724.2,22.6,225,6747,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1925,2651,0,0,0,0,0,0
$GC,7010,0.77,156.2,666.9,21.3,232,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1921,2650,0,0,0,0,0,0
$GC,7254,0.77,156.2,616.3,20.8,238,7258,0.00,2.22,0.00,0.000,4,0.000,0.054,2870,3328,2650,0,0,0,0,0,0
$GC,7304,0.77,156.2,605.1,21.6,239,7308,0.12,2.12,0.00,0.000,6,0.209,0.032,2853,1926,2650,0,0,0,0,0,0
$GC,7582,0.77,156.2,550.6,19.4,246,7586,0.00,2.12,0.00,0.000,4,0.000,0.040,2862,518,2649,0,0,0,0,0,0
$GC,7610,0.77,156.2,545.3,19.4,246,7614,0.00,2.12,0.00,0.000,6,0.000,0.036,2862,1932,2646,0,0,0,0,0,0
$GC,7860,0.77,156.2,495.3,19.8,252,7864,0.00,2.20,0.00,0.000,4,0.000,0.051,2862,3336,2647,0,0,0,0,0,0
$GC,7915,0.77,156.2,483.7,21.6,253,7919,0.00,2.12,0.00,0.000,6,0.000,0.033,2878,1929,2647,0,0,0,0,0,0
$GC,8194,0.77,156.2,429.9,18.6,260,8198,0.00,2.10,0.00,0.000,4,0.000,0.038,2883,520,2646,0,0,0,0,0,0
$GC,8239,0.77,156.2,421.5,17.9,261,8243,0.15,2.12,0.00,0.000,6,0.198,0.035,2848,1943,2645,0,0,0,0,0,0
$GC,8517,0.77,156.2,377.6,15.6,268,8521,0.00,2.17,0.00,0.000,4,0.000,0.050,2848,3330,2645,0,0,0,0,0,0
$GC,8590,0.77,156.2,365.8,16.5,269,8594,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1918,2645,0,0,0,0,0,0
$GC,8845,0.77,156.2,326.7,15.8,276,8849,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,520,2645,0,0,0,0,0,0
$GC,8889,0.77,156.2,319.5,16.6,277,8893,0.00,2.10,0.00,0.000,6,0.000,0.034,2868,1928,2646,0,0,0,0,0,0
$GC,9155,0.77,156.2,277.0,16.1,286,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1933,2644,0,0,0,0,0,0
$GC,9401,0.77,156.2,238.6,14.5,298,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1932,2643,0,0,0,0,0,0
$GC,9649,0.77,156.2,207.5,11.8,310,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1932,2643,0,0,0,0,0,0
$GC,9905,0.77,156.2,178.8,11.0,331,9909,0.00,2.17,0.00,0.000,4,0.000,0.048,2859,3336,2643,0,0,0,0,0,0
$GC,10065,0.77,156.2,159.0,13.0,345,10069,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1928,2643,0,0,0,0,0,0
$GC,10331,0.77,156.2,131.0,11.2,369,10335,0.00,2.17,0.00,0.000,4,0.000,0.046,2868,3336,2643,0,0,0,0,0,0
$GC,10341,0.77,156.2,129.1,11.4,369,10349,0.10,2.12,0.00,0.000,6,0.160,0.029,2848,1944,2647,0,0,0,0,0,0
$GC,10604,0.84,208.9,107.3,6.6,394,10652,0.00,2.20,40.15,0.545,4,0.000,0.038,2857,517,2447,0,0,0,0,0,0
$GC,10900,0.88,240.9,84.7,7.4,420,10931,0.00,2.17,26.12,0.508,6,0.000,0.033,2858,1939,2318,0,0,0,0,0,0
$GC,11186,0.88,240.9,56.8,9.3,447,11190,0.00,2.20,0.00,0.000,4,0.000,0.048,2857,3337,2313,0,0,0,0,0,0
$GC,11296,0.88,240.9,42.5,13.4,456,11304,0.00,2.17,0.00,0.000,6,0.000,0.031,2868,1927,2315,0,0,0,0,0,0
$GC,11558,0.88,240.9,15.6,12.5,493,11566,0.00,2.15,0.00,0.000,4,0.000,0.039,2879,514,2315,0,0,0,0,0,0
$GC,11607,0.88,240.9,9.2,13.1,501,11616,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1935,2312,0,0,0,0,0,0
$STATE,11649,end climb,SURFACE_DEPTH_REACHED
$STATE,11649,begin surface coast
$FINISH,0.2,1.021804
$STATE,11672,end surface coast,CONTROL_FINISHED_OK
$STATE,11673,begin surface
$SM_CCo,11692,28.38,0.438,0,0,2079,300.49
$SM_GC,0.78,0.00,0.00,28.38,0.000,0.000,0.438,47,2009,2079,-7.96,0.31,300.49
$IRIDIUM_FIX,2004.18,-15632.10,010213,212153
$TT8_MAMPS,0.25311
$HUMID,1078892248
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,102
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261604352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,43267620864
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,33.849
$10V_AH,10.1,31.012
$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,19.575,112.475,329.575,28.375,0.000,28.920,31.741,585.851,25.500,0.000,31.765,1106.382,8329.705,426.807,2292.328,457.185,33.344,1158.196,0.000,1698.224,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,207.090,1101.412,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.176,0.000,873.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354160
$DATA_FILE_SIZE,26961,512
$CAP_FILE_SIZE,114870,0
$CFSIZE,260165632,188616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,196.6,1
$GPS,100811,100544,2012.867,-15631.597,49,3.2,68,9.7