version: 66.07
glider: 513
mission: 7
dive: 247
start: 8 12 111 3 17 13
data:
$ID,513
$MISSION,7
$DIVE,247
$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,-426839.44
$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,41
$R_STBD_OVSHOOT,40
$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,246
$AR_SAMPLENUM,2
$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
$GPS1,120811,030055,2014.504,-15629.704,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.9
$GPS2,120811,031601,2014.368,-15629.707,11,1.3,11,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.158,0.180
$KALMAN_X,-108165.4,1345.7,621.8,147970.7,-12400.7
$KALMAN_Y,-43413.8,904.4,685.4,68975.7,-12353.5
$MHEAD_RNG_PITCHd_Wd,343.0,1277,-21.2,-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,-0.95,-79.1,0.0,0.0,0,139,0.00,0.00,-108.78,0.000,6,0.000,0.000,37,2004,3624,0,0,0,0,0,0
$GC,144,-0.98,-106.7,3.9,-6.6,17,165,9.48,2.28,-1.95,0.000,4,0.249,0.069,2262,3400,3738,0,0,0,0,0,0
$GC,303,-0.98,-106.7,71.7,-41.0,36,307,0.00,2.17,0.00,0.000,6,0.000,0.041,2262,2004,3739,0,0,0,0,0,0
$GC,570,-0.98,-106.7,155.8,-26.7,60,574,0.00,2.12,0.00,0.000,4,0.000,0.045,2262,594,3739,0,0,0,0,0,0
$GC,624,-0.98,-106.7,172.0,-27.5,64,632,0.00,2.17,0.00,0.000,6,0.000,0.045,2252,1996,3739,0,0,0,0,0,0
$GC,882,-0.98,-106.7,234.2,-23.8,82,883,0.12,0.00,0.00,0.000,6,0.224,0.000,2279,1997,3741,0,0,0,0,0,0
$GC,1128,-0.98,-106.7,285.0,-19.8,94,1132,0.00,2.20,0.00,0.000,4,0.000,0.052,2269,3416,3741,0,0,0,0,0,0
$GC,1234,-0.98,-106.7,306.9,-22.0,98,1238,0.00,2.15,0.00,0.000,6,0.000,0.031,2269,1980,3739,0,0,0,0,0,0
$GC,1502,-0.98,-106.7,357.9,-18.8,105,1506,0.00,2.22,0.00,0.000,4,0.000,0.055,2258,3411,3741,0,0,0,0,0,0
$GC,1563,-0.98,-106.7,370.2,-19.2,106,1567,0.00,2.10,0.00,0.000,6,0.000,0.035,2258,2004,3741,0,0,0,0,0,0
$GC,1836,-0.98,-106.7,423.3,-19.5,113,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2002,3740,0,0,0,0,0,0
$GC,2080,-0.98,-106.7,466.0,-17.8,119,2084,0.00,2.20,0.00,0.000,4,0.000,0.054,2248,3414,3737,0,0,0,0,0,0
$GC,2209,-0.98,-106.7,490.8,-19.8,122,2213,0.12,2.15,0.00,0.000,6,0.199,0.035,2276,2001,3736,0,0,0,0,0,0
$GC,2492,-0.98,-106.7,537.4,-16.4,129,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1995,3733,0,0,0,0,0,0
$GC,2736,-0.98,-106.7,578.8,-17.2,135,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,1995,3731,0,0,0,0,0,0
$GC,2980,-0.98,-106.7,620.0,-17.1,141,2984,0.00,2.20,0.00,0.000,4,0.000,0.054,2266,3415,3727,0,0,0,0,0,0
$GC,3041,-0.98,-106.7,631.3,-18.2,142,3045,0.00,2.15,0.00,0.000,6,0.000,0.035,2266,1992,3728,0,0,0,0,0,0
$GC,3309,-0.98,-106.7,679.0,-17.6,149,3313,0.00,2.22,0.00,0.000,4,0.000,0.056,2255,3408,3724,0,0,0,0,0,0
$GC,3420,-0.98,-106.7,699.4,-17.8,151,3424,0.00,2.12,0.00,0.000,6,0.000,0.035,2255,2000,3722,0,0,0,0,0,0
$GC,3681,-0.98,-106.7,742.5,-16.3,158,3685,0.00,2.25,0.00,0.000,4,0.000,0.054,2244,3419,3720,0,0,0,0,0,0
$GC,3799,-0.98,-106.7,762.2,-16.8,160,3804,0.12,2.15,0.00,0.000,6,0.203,0.035,2274,1993,3718,0,0,0,0,0,0
$GC,4048,-0.98,-106.7,797.7,-13.9,166,4053,0.00,2.22,0.00,0.000,4,0.000,0.054,2264,3408,3717,0,0,0,0,0,0
$GC,4111,-0.98,-106.7,806.5,-14.3,167,4115,0.00,2.15,0.00,0.000,6,0.000,0.036,2264,1991,3713,0,0,0,0,0,0
$GC,4371,-0.98,-106.7,843.3,-13.9,174,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1986,3714,0,0,0,0,0,0
$GC,4615,-0.98,-106.7,878.2,-14.4,180,4619,0.00,2.25,0.00,0.000,4,0.000,0.057,2253,3415,3710,0,0,0,0,0,0
$GC,4687,-0.98,-106.7,889.0,-14.1,181,4691,0.00,2.15,0.00,0.000,6,0.000,0.034,2253,1992,3709,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.28,0.0,902.5,14.7,184,4874,0.88,0.00,83.80,1.090,6,0.175,0.000,2499,1924,3301,0,0,0,0,0,0
$STATE,4877,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4879,0.98,106.7,906.1,0.0,186,4983,1.23,2.28,93.18,1.054,4,0.097,0.038,2918,514,2865,0,0,0,0,0,0
$GC,5007,0.98,106.7,889.7,20.2,189,5011,0.00,2.25,0.00,0.000,6,0.000,0.038,2915,1932,2861,0,0,0,0,0,0
$GC,5290,0.98,106.7,829.0,21.3,196,5294,0.00,2.25,0.00,0.000,4,0.000,0.052,2918,3343,2857,0,0,0,0,0,0
$GC,5317,0.98,106.7,822.6,22.4,196,5321,0.00,2.20,0.00,0.000,6,0.000,0.031,2929,1916,2857,0,0,0,0,0,0
$GC,5573,0.98,106.7,767.6,21.4,203,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1913,2854,0,0,0,0,0,0
$GC,5816,0.98,106.7,717.7,20.2,209,5820,0.00,2.30,0.00,0.000,4,0.000,0.052,2929,3348,2852,0,0,0,0,0,0
$GC,5877,0.98,106.7,704.6,21.9,210,5881,0.00,2.15,0.00,0.000,6,0.000,0.031,2938,1929,2852,0,0,0,0,0,0
$GC,6146,0.98,106.7,649.2,20.5,217,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1925,2850,0,0,0,0,0,0
$GC,6388,0.98,106.7,600.6,20.0,223,6392,0.00,2.25,0.00,0.000,4,0.000,0.050,2938,3345,2849,0,0,0,0,0,0
$GC,6465,0.98,106.7,583.4,21.4,224,6472,0.15,2.12,0.00,0.000,6,0.232,0.029,2917,1916,2848,0,0,0,0,0,0
$GC,6716,0.98,106.7,534.9,18.9,231,6720,0.00,2.08,0.00,0.000,4,0.000,0.038,2926,531,2847,0,0,0,0,0,0
$GC,6726,0.98,106.7,532.6,19.1,231,6730,0.00,2.10,0.00,0.000,6,0.000,0.035,2926,1939,2845,0,0,0,0,0,0
$GC,7003,0.98,106.7,479.5,19.2,238,7007,0.00,2.17,0.00,0.000,4,0.000,0.049,2926,3327,2846,0,0,0,0,0,0
$GC,7049,0.98,106.7,470.7,20.4,239,7053,0.00,2.10,0.00,0.000,6,0.000,0.031,2937,1930,2845,0,0,0,0,0,0
$GC,7326,0.98,106.7,422.5,17.3,246,7330,0.00,2.22,0.00,0.000,4,0.000,0.049,2928,3337,2844,0,0,0,0,0,0
$GC,7490,0.98,106.7,396.2,15.4,249,7494,0.00,2.10,0.00,0.000,6,0.000,0.031,2938,1933,2845,0,0,0,0,0,0
$GC,7740,0.98,106.7,358.4,14.7,255,7744,0.00,2.10,0.00,0.000,4,0.000,0.038,2948,524,2844,0,0,0,0,0,0
$GC,7813,0.98,106.7,347.2,16.2,256,7817,0.15,2.10,0.00,0.000,6,0.216,0.034,2916,1928,2841,0,0,0,0,0,0
$GC,8073,0.98,106.7,308.8,14.7,263,8077,0.00,2.20,0.00,0.000,4,0.000,0.048,2916,3335,2842,0,0,0,0,0,0
$GC,8090,0.98,106.7,306.5,14.0,263,8094,0.00,2.10,0.00,0.000,6,0.000,0.031,2925,1925,2842,0,0,0,0,0,0
$GC,8354,0.98,106.7,272.5,11.4,275,8358,0.00,2.20,0.00,0.000,4,0.000,0.049,2926,3335,2839,0,0,0,0,0,0
$GC,8468,0.98,106.7,258.9,12.0,280,8472,0.00,2.12,0.00,0.000,6,0.000,0.031,2935,1924,2841,0,0,0,0,0,0
$GC,8733,0.98,106.7,227.8,12.5,293,8737,0.00,2.20,0.00,0.000,4,0.000,0.048,2935,3338,2845,0,0,0,0,0,0
$GC,8750,0.98,106.7,225.6,12.7,294,8754,0.12,2.12,0.00,0.000,6,0.226,0.028,2917,1917,2841,0,0,0,0,0,0
$GC,9015,0.98,106.7,198.7,8.8,307,9019,0.00,2.25,0.00,0.000,4,0.000,0.049,2916,3337,2840,0,0,0,0,0,0
$GC,9221,0.98,106.7,178.5,9.2,325,9225,0.00,2.08,0.00,0.000,6,0.000,0.028,2924,1935,2841,0,0,0,0,0,0
$GC,9487,0.99,110.7,155.4,8.3,349,9491,0.00,2.10,0.00,0.000,4,0.000,0.037,2936,519,2841,0,0,0,0,0,0
$GC,9729,0.99,110.7,135.3,9.1,370,9737,0.00,2.15,0.00,0.000,6,0.000,0.033,2936,1937,2840,0,0,0,0,0,0
$GC,9994,1.08,188.6,121.1,2.9,395,10066,0.00,2.20,61.55,0.540,4,0.000,0.039,2943,533,2531,0,0,0,0,0,0
$GC,10248,1.08,188.6,93.3,10.6,417,10255,0.00,2.15,0.00,0.000,6,0.000,0.034,2945,1927,2526,0,0,0,0,0,0
$GC,10512,1.08,188.6,63.9,10.9,442,10516,0.00,2.10,0.00,0.000,4,0.000,0.038,2956,532,2525,0,0,0,0,0,0
$GC,10534,1.08,188.6,60.8,12.0,443,10542,0.00,2.15,0.00,0.000,6,0.000,0.034,2956,1932,2526,0,0,0,0,0,0
$GC,10799,1.08,188.6,27.8,13.5,469,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1931,2525,0,0,0,0,0,0
$STATE,10962,end climb,SURFACE_DEPTH_REACHED
$STATE,10962,begin surface coast
$FINISH,0.2,1.022492
$STATE,10985,end surface coast,CONTROL_FINISHED_OK
$STATE,10985,begin surface
$SM_CCo,11005,57.90,0.436,0,0,2073,300.49
$SM_GC,1.50,0.00,0.00,57.90,0.000,0.000,0.436,56,1997,2073,-7.93,-0.08,300.49
$IRIDIUM_FIX,2008.77,-15626.97,030213,181805
$TT8_MAMPS,0.147264
$HUMID,1078903861
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.90
$XPDR_PINGS,70
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6299648000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,41801515008
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,35.755
$10V_AH,10.2,32.698
$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,20.075,108.700,238.525,57.900,0.000,30.782,34.620,634.545,17.500,0.000,11.283,1110.997,7608.032,382.927,2447.708,444.162,33.338,1169.833,0.000,1820.772,0.000,0.542,0.000
$DEVICE_MAMPS,248.508,121.186,1089.907,436.423,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.465,0.000,893.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354180
$DATA_FILE_SIZE,26882,503
$CAP_FILE_SIZE,114585,0
$CFSIZE,260165632,187768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,184.9,1
$GPS,120811,062336,2015.016,-15629.854,55,1.3,60,9.8