version: 66.07
glider: 513
mission: 7
dive: 243
start: 8 11 111 12 31 43
data:
$ID,513
$MISSION,7
$DIVE,243
$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,140
$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,-426760.72
$T_RSLEEP,3
$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,40
$R_STBD_OVSHOOT,41
$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,242
$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
$GPS1,110811,121400,2014.407,-15630.052,40,1.7,46,9.8
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,3
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.1
$GPS2,110811,123034,2014.234,-15630.029,33,1.6,33,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.179,0.159
$KALMAN_X,-97798.0,1435.1,513.6,137055.6,-11684.1
$KALMAN_Y,-31874.2,638.7,482.9,57660.4,-8982.6
$MHEAD_RNG_PITCHd_Wd,8.7,1419,-19.6,-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,26,-0.90,-91.5,0.0,0.0,0,81,0.00,0.00,-52.47,0.000,2,0.000,0.000,36,2006,3582,0,0,0,0,0,0
$GC,85,-0.95,-136.6,3.3,-5.7,8,108,9.43,2.25,-4.93,0.000,4,0.242,0.066,2270,3395,3859,0,0,0,0,0,0
$GC,215,-0.95,-136.6,58.4,-39.9,24,219,0.00,2.12,0.00,0.000,6,0.000,0.036,2270,2005,3864,0,0,0,0,0,0
$GC,484,-0.95,-136.6,152.4,-30.8,49,488,0.00,2.10,0.00,0.000,4,0.000,0.040,2273,591,3863,0,0,0,0,0,0
$GC,537,-0.95,-136.6,169.1,-28.6,53,546,0.00,2.17,0.00,0.000,6,0.000,0.045,2265,1991,3862,0,0,0,0,0,0
$GC,795,-0.95,-136.6,238.8,-25.2,71,799,0.00,2.22,0.00,0.000,4,0.000,0.051,2253,3422,3865,0,0,0,0,0,0
$GC,839,-0.95,-136.6,250.6,-24.4,73,844,0.12,2.15,0.00,0.000,6,0.193,0.031,2282,1981,3865,0,0,0,0,0,0
$GC,1097,-0.95,-136.6,311.3,-22.7,85,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1975,3866,0,0,0,0,0,0
$GC,1342,-0.95,-136.6,361.3,-20.2,91,1346,0.00,2.22,0.00,0.000,4,0.000,0.050,2273,3421,3866,0,0,0,0,0,0
$GC,1370,-0.95,-136.6,367.4,-20.3,91,1374,0.00,2.12,0.00,0.000,6,0.000,0.031,2273,1983,3866,0,0,0,0,0,0
$GC,1631,-0.95,-136.6,418.6,-20.0,98,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1977,3866,0,0,0,0,0,0
$GC,1874,-0.95,-136.6,466.5,-19.9,104,1878,0.00,2.22,0.00,0.000,4,0.000,0.052,2262,3416,3867,0,0,0,0,0,0
$GC,1953,-0.95,-136.6,482.3,-19.5,105,1960,0.00,2.10,0.00,0.000,6,0.000,0.033,2262,2004,3866,0,0,0,0,0,0
$GC,2203,-0.95,-136.6,532.4,-20.1,112,2207,0.00,2.20,0.00,0.000,4,0.000,0.053,2256,3408,3862,0,0,0,0,0,0
$GC,2275,-0.95,-136.6,547.4,-20.3,113,2280,0.15,2.10,0.00,0.000,6,0.187,0.035,2288,2006,3861,0,0,0,0,0,0
$GC,2531,-0.95,-136.6,592.9,-17.4,120,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2000,3857,0,0,0,0,0,0
$GC,2774,-0.95,-136.6,635.8,-17.7,126,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2000,3860,0,0,0,0,0,0
$GC,3017,-0.95,-136.6,676.5,-16.4,132,3021,0.00,2.25,0.00,0.000,4,0.000,0.057,2279,3407,3853,0,0,0,0,0,0
$GC,3101,-0.95,-136.6,691.0,-16.3,133,3108,0.00,2.15,0.00,0.000,6,0.000,0.035,2279,2000,3853,0,0,0,0,0,0
$GC,3351,-0.95,-136.6,731.5,-16.3,140,3355,0.00,2.22,0.00,0.000,4,0.000,0.054,2264,3418,3851,0,0,0,0,0,0
$GC,3377,-0.95,-136.6,736.4,-17.8,140,3382,0.00,2.20,0.00,0.000,6,0.000,0.035,2268,1991,3851,0,0,0,0,0,0
$GC,3633,-0.95,-136.6,779.7,-16.8,147,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1985,3849,0,0,0,0,0,0
$GC,3878,-0.95,-136.6,819.2,-16.2,153,3882,0.00,2.25,0.00,0.000,4,0.000,0.056,2256,3410,3845,0,0,0,0,0,0
$GC,3938,-0.95,-136.6,829.2,-15.5,154,3943,0.12,2.15,0.00,0.000,6,0.189,0.037,2286,1997,3845,0,0,0,0,0,0
$GC,4205,-0.95,-136.6,867.4,-14.3,161,4208,0.00,2.15,0.00,0.000,4,0.000,0.048,2287,590,3842,0,0,0,0,0,0
$GC,4233,-0.95,-136.6,871.5,-15.2,161,4237,0.00,2.17,0.00,0.000,6,0.000,0.048,2278,2013,3842,0,0,0,0,0,0
$STATE,4445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4445,begin apogee
$GC,4452,-0.28,0.0,903.9,15.3,167,4569,0.77,0.00,110.90,1.087,6,0.163,0.000,2502,1910,3301,0,0,0,0,0,0
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4574,0.95,136.6,908.3,0.0,170,4703,1.17,2.22,118.75,1.052,4,0.094,0.037,2905,526,2743,0,0,0,0,0,0
$GC,4748,0.95,136.6,881.5,23.6,174,4752,0.00,2.22,0.00,0.000,6,0.000,0.038,2904,1927,2735,0,0,0,0,0,0
$GC,5027,0.95,136.6,813.8,24.8,181,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1930,2732,0,0,0,0,0,0
$GC,5270,0.95,136.6,755.1,24.1,187,5274,0.00,2.28,0.00,0.000,4,0.000,0.054,2905,3345,2729,0,0,0,0,0,0
$GC,5291,0.95,136.6,749.5,24.6,187,5295,0.00,2.15,0.00,0.000,6,0.000,0.031,2914,1927,2730,0,0,0,0,0,0
$GC,5553,0.95,136.6,686.1,24.2,194,5557,0.00,2.10,0.00,0.000,4,0.000,0.038,2926,526,2728,0,0,0,0,0,0
$GC,5581,0.95,136.6,679.4,23.6,194,5585,0.00,2.15,0.00,0.000,6,0.000,0.037,2926,1946,2725,0,0,0,0,0,0
$GC,5831,0.95,136.6,620.6,23.8,200,5835,0.00,2.17,0.00,0.000,4,0.000,0.048,2926,3338,2725,0,0,0,0,0,0
$GC,5892,0.95,136.6,606.1,23.6,201,5896,0.08,2.15,0.00,0.000,6,0.235,0.031,2909,1939,2725,0,0,0,0,0,0
$GC,6159,0.95,136.6,551.5,20.3,208,6163,0.00,2.15,0.00,0.000,4,0.000,0.039,2918,522,2723,0,0,0,0,0,0
$GC,6186,0.95,136.6,546.1,19.7,208,6190,0.00,2.12,0.00,0.000,6,0.000,0.036,2919,1939,2722,0,0,0,0,0,0
$GC,6441,0.95,136.6,496.2,19.5,215,6445,0.00,2.17,0.00,0.000,4,0.000,0.048,2918,3328,2722,0,0,0,0,0,0
$GC,6492,0.95,136.6,485.7,20.3,216,6496,0.00,2.10,0.00,0.000,6,0.000,0.030,2929,1926,2722,0,0,0,0,0,0
$GC,6770,0.95,136.6,429.6,19.8,223,6774,0.00,2.10,0.00,0.000,4,0.000,0.039,2940,519,2722,0,0,0,0,0,0
$GC,6797,0.95,136.6,424.4,19.0,223,6802,0.15,2.10,0.00,0.000,6,0.222,0.033,2907,1932,2720,0,0,0,0,0,0
$GC,7048,0.95,136.6,378.5,18.4,229,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1935,2720,0,0,0,0,0,0
$GC,7290,0.95,136.6,335.7,17.8,235,7294,0.00,2.17,0.00,0.000,4,0.000,0.048,2908,3335,2720,0,0,0,0,0,0
$GC,7307,0.95,136.6,332.7,16.9,235,7311,0.00,2.12,0.00,0.000,6,0.000,0.031,2917,1926,2720,0,0,0,0,0,0
$GC,7568,0.95,136.6,288.1,17.0,243,7572,0.00,2.12,0.00,0.000,4,0.000,0.037,2928,507,2719,0,0,0,0,0,0
$GC,7607,0.95,136.6,281.7,16.4,244,7613,0.00,2.15,0.00,0.000,6,0.000,0.034,2928,1935,2718,0,0,0,0,0,0
$GC,7860,0.95,136.6,241.7,15.2,257,7864,0.00,2.10,0.00,0.000,4,0.000,0.038,2939,530,2716,0,0,0,0,0,0
$GC,7878,0.95,136.6,239.0,15.9,258,7883,0.12,2.12,0.00,0.000,6,0.219,0.036,2907,1937,2717,0,0,0,0,0,0
$GC,8149,0.95,136.6,200.0,13.9,271,8153,0.00,2.17,0.00,0.000,4,0.000,0.045,2898,3338,2717,0,0,0,0,0,0
$GC,8179,0.95,136.6,195.9,14.3,273,8183,0.00,2.12,0.00,0.000,6,0.000,0.029,2910,1917,2718,0,0,0,0,0,0
$GC,8446,0.95,136.6,163.5,12.5,297,8450,0.00,2.08,0.00,0.000,4,0.000,0.038,2921,529,2717,0,0,0,0,0,0
$GC,8564,0.95,136.6,148.2,14.4,307,8568,0.00,2.12,0.00,0.000,6,0.000,0.034,2921,1939,2716,0,0,0,0,0,0
$GC,8831,0.95,136.6,118.0,10.9,331,8835,0.00,2.12,0.00,0.000,4,0.000,0.038,2932,522,2717,0,0,0,0,0,0
$GC,9082,1.09,250.0,102.6,1.4,353,9174,0.00,2.12,85.88,0.535,6,0.000,0.031,2932,1935,2281,0,0,0,0,0,0
$GC,9441,1.09,250.0,54.3,17.5,386,9445,0.00,2.17,0.00,0.000,4,0.000,0.040,2942,530,2276,0,0,0,0,0,0
$GC,9505,1.09,250.0,41.8,18.8,391,9513,0.00,2.12,0.00,0.000,6,0.000,0.032,2942,1909,2275,0,0,0,0,0,0
$STATE,9709,end climb,SURFACE_DEPTH_REACHED
$STATE,9710,begin surface coast
$FINISH,0.0,1.022969
$STATE,9727,end surface coast,CONTROL_FINISHED_OK
$STATE,9727,begin surface
$SM_CCo,9774,24.02,0.433,0,0,2075,300.24
$SM_GC,0.67,0.00,0.00,24.02,0.000,0.000,0.433,50,2049,2075,-7.96,1.36,300.24
$IRIDIUM_FIX,2008.77,-15629.08,030213,020228
$TT8_MAMPS,0.25311
$HUMID,1079005573
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,36
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6299779072
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,42235166720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,35.137
$10V_AH,10.1,32.126
$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,19.875,103.850,315.525,24.025,0.000,30.074,38.560,683.340,9.000,0.000,35.741,944.571,6907.025,376.511,2153.735,430.504,33.348,1022.823,0.000,1428.377,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,91.273,1086.839,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,290.478,0.000,721.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,20241,426
$CAP_FILE_SIZE,103486,0
$CFSIZE,260165632,188071936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,209.9,1
$GPS,110811,151628,2014.806,-15629.822,6,4.1,25,9.8