version: 66.07
glider: 513
mission: 7
dive: 258
start: 8 13 111 19 37 17
data:
$ID,513
$MISSION,7
$DIVE,258
$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,-427071.62
$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,46
$R_STBD_OVSHOOT,75
$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,257
$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
$GPS1,130811,191907,2013.638,-15621.887,77,1.3,77,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.4
$GPS2,130811,193620,2013.430,-15621.830,9,1.6,9,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210,0.115
$KALMAN_X,-130255.5,766.9,745.8,184230.0,-9304.2
$KALMAN_Y,-65105.1,825.4,973.8,88719.6,-8645.5
$MHEAD_RNG_PITCHd_Wd,61.0,12218,-15.7,-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,-0.80,-136.7,0.0,0.0,0,85,0.00,0.00,-55.00,0.000,2,0.000,0.000,36,2045,3651,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.4,-5.0,8,111,9.68,2.15,-3.53,0.000,4,0.243,0.061,2319,3380,3858,0,0,0,0,0,0
$GC,127,-0.80,-136.7,21.0,-43.7,13,134,0.00,2.12,0.00,0.000,6,0.000,0.034,2320,2015,3860,0,0,0,0,0,0
$GC,399,-0.80,-136.7,111.8,-27.9,40,403,0.00,2.15,0.00,0.000,4,0.000,0.042,2320,586,3861,0,0,0,0,0,0
$GC,472,-0.80,-136.7,131.6,-25.9,46,477,0.12,2.10,0.00,0.000,6,0.182,0.041,2340,1969,3861,0,0,0,0,0,0
$GC,738,-0.80,-136.7,191.2,-23.6,70,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1973,3863,0,0,0,0,0,0
$GC,1003,-0.80,-136.7,244.8,-19.1,85,1007,0.00,2.25,0.00,0.000,4,0.000,0.050,2330,3409,3866,0,0,0,0,0,0
$GC,1143,-0.80,-136.7,268.0,-16.0,91,1147,0.00,2.15,0.00,0.000,6,0.000,0.031,2330,1982,3864,0,0,0,0,0,0
$GC,1416,-0.80,-136.7,316.3,-17.8,102,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1979,3865,0,0,0,0,0,0
$GC,1660,-0.80,-136.7,358.9,-17.1,108,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1976,3867,0,0,0,0,0,0
$GC,1904,-0.80,-136.7,400.5,-16.9,114,1908,0.00,2.22,0.00,0.000,4,0.000,0.048,2319,3416,3864,0,0,0,0,0,0
$GC,1920,-0.80,-136.7,403.4,-16.3,114,1924,0.00,2.15,0.00,0.000,6,0.000,0.033,2320,1989,3860,0,0,0,0,0,0
$GC,2193,-0.80,-136.7,449.0,-16.6,121,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1983,3863,0,0,0,0,0,0
$GC,2436,-0.80,-136.7,487.8,-15.5,127,2440,0.00,2.08,0.00,0.000,4,0.000,0.042,2319,603,3861,0,0,0,0,0,0
$GC,2478,-0.80,-136.7,493.9,-15.8,128,2482,0.12,2.10,0.00,0.000,6,0.169,0.041,2341,2001,3864,0,0,0,0,0,0
$GC,2761,-0.80,-136.7,529.0,-11.8,135,2765,0.00,2.20,0.00,0.000,4,0.000,0.052,2332,3407,3858,0,0,0,0,0,0
$GC,2816,-0.80,-136.7,535.9,-12.3,136,2820,0.00,2.12,0.00,0.000,6,0.000,0.034,2332,1986,3858,0,0,0,0,0,0
$GC,3090,-0.80,-136.7,571.7,-13.0,143,3094,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3408,3855,0,0,0,0,0,0
$GC,3111,-0.80,-136.7,574.9,-13.1,143,3115,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,2000,3855,0,0,0,0,0,0
$GC,3372,-0.80,-136.7,608.4,-12.8,150,3376,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3411,3852,0,0,0,0,0,0
$GC,3401,-0.80,-136.7,612.2,-13.3,150,3406,0.10,2.15,0.00,0.000,6,0.174,0.035,2335,2002,3852,0,0,0,0,0,0
$GC,3656,-0.80,-136.7,643.2,-12.5,157,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1996,3849,0,0,0,0,0,0
$GC,3899,-0.80,-136.7,674.4,-12.9,163,3903,0.00,2.20,0.00,0.000,4,0.000,0.051,2326,3402,3847,0,0,0,0,0,0
$GC,3921,-0.80,-136.7,677.3,-12.4,163,3925,0.00,2.15,0.00,0.000,6,0.000,0.034,2326,1988,3847,0,0,0,0,0,0
$GC,4183,-0.80,-136.7,710.7,-12.7,170,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1982,3845,0,0,0,0,0,0
$GC,4426,-0.80,-136.7,742.5,-13.2,176,4431,0.00,2.25,0.00,0.000,4,0.000,0.053,2315,3414,3843,0,0,0,0,0,0
$GC,4459,-0.80,-136.7,747.5,-14.3,176,4465,0.00,2.17,0.00,0.000,6,0.000,0.035,2315,2002,3839,0,0,0,0,0,0
$GC,4710,-0.80,-136.7,782.4,-13.8,183,4714,0.00,2.12,0.00,0.000,4,0.000,0.042,2315,587,3840,0,0,0,0,0,0
$GC,4743,-0.80,-136.7,787.7,-14.4,183,4751,0.12,2.17,0.00,0.000,6,0.182,0.044,2336,1998,3840,0,0,0,0,0,0
$GC,4993,-0.80,-136.7,818.4,-12.0,190,4997,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3406,3838,0,0,0,0,0,0
$GC,5020,-0.80,-136.7,821.9,-12.2,190,5024,0.00,2.17,0.00,0.000,6,0.000,0.035,2327,1982,3837,0,0,0,0,0,0
$GC,5283,-0.80,-136.7,851.4,-11.1,197,5287,0.00,2.12,0.00,0.000,4,0.000,0.044,2327,590,3835,0,0,0,0,0,0
$GC,5316,-0.80,-136.7,855.2,-11.0,197,5321,0.00,2.17,0.00,0.000,6,0.000,0.044,2316,2002,3834,0,0,0,0,0,0
$GC,5566,-0.80,-136.7,882.7,-10.9,204,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2002,3833,0,0,0,0,0,0
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5734,-0.28,0.0,900.6,11.0,208,5848,0.60,0.00,110.78,1.090,6,0.150,0.000,2498,1918,3300,0,0,0,0,0,0
$STATE,5851,end apogee,CONTROL_FINISHED_OK
$STATE,5851,begin climb
$GC,5853,0.80,136.7,903.8,0.0,211,5983,1.05,2.25,120.07,1.054,4,0.098,0.039,2852,536,2744,0,0,0,0,0,0
$GC,6012,0.80,136.7,882.9,20.7,214,6018,0.00,2.25,0.00,0.000,6,0.000,0.037,2854,1925,2735,0,0,0,0,0,0
$GC,6262,0.80,136.7,832.8,19.8,221,6266,0.00,2.15,0.00,0.000,4,0.000,0.038,2863,533,2733,0,0,0,0,0,0
$GC,6306,0.80,136.7,823.4,20.8,222,6310,0.00,2.20,0.00,0.000,6,0.000,0.041,2863,1941,2731,0,0,0,0,0,0
$GC,6590,0.80,136.7,766.2,20.2,229,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1944,2731,0,0,0,0,0,0
$GC,6833,0.80,136.7,716.4,20.1,235,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1944,2726,0,0,0,0,0,0
$GC,7076,0.80,136.7,670.0,18.8,241,7080,0.00,2.15,0.00,0.000,4,0.000,0.041,2874,533,2727,0,0,0,0,0,0
$GC,7117,0.80,136.7,662.7,19.1,242,7122,0.00,2.15,0.00,0.000,6,0.000,0.037,2873,1928,2725,0,0,0,0,0,0
$GC,7401,0.80,136.7,610.7,18.1,249,7405,0.00,2.25,0.00,0.000,4,0.000,0.054,2873,3345,2725,0,0,0,0,0,0
$GC,7456,0.80,136.7,600.1,19.1,250,7459,0.00,2.15,0.00,0.000,6,0.000,0.031,2884,1929,2725,0,0,0,0,0,0
$GC,7728,0.80,136.7,550.1,18.1,257,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1927,2726,0,0,0,0,0,0
$GC,7972,0.80,136.7,504.3,18.9,263,7976,0.00,2.25,0.00,0.000,4,0.000,0.051,2882,3345,2722,0,0,0,0,0,0
$GC,8027,0.80,136.7,493.5,19.0,264,8032,0.15,2.15,0.00,0.000,6,0.207,0.030,2857,1930,2724,0,0,0,0,0,0
$GC,8299,0.80,136.7,450.5,15.4,271,8303,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,528,2723,0,0,0,0,0,0
$GC,8412,0.80,136.7,433.0,15.5,273,8416,0.00,2.12,0.00,0.000,6,0.000,0.035,2860,1935,2719,0,0,0,0,0,0
$GC,8674,0.80,136.7,394.0,15.0,280,8678,0.00,2.15,0.00,0.000,4,0.000,0.039,2870,528,2722,0,0,0,0,0,0
$GC,8702,0.80,136.7,389.5,15.6,280,8706,0.00,2.15,0.00,0.000,6,0.000,0.035,2869,1931,2720,0,0,0,0,0,0
$GC,8957,0.80,136.7,351.6,14.5,287,8961,0.00,2.20,0.00,0.000,4,0.000,0.053,2868,3332,2720,0,0,0,0,0,0
$GC,9045,0.80,136.7,337.7,16.6,289,9049,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1927,2721,0,0,0,0,0,0
$GC,9331,0.80,136.7,297.6,13.7,296,9335,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,531,2720,0,0,0,0,0,0
$GC,9485,0.80,136.7,274.9,13.1,303,9489,0.12,2.10,0.00,0.000,6,0.198,0.035,2864,1932,2718,0,0,0,0,0,0
$GC,9749,0.80,136.7,242.1,11.9,316,9753,0.00,2.15,0.00,0.000,4,0.000,0.040,2867,522,2719,0,0,0,0,0,0
$GC,9800,0.80,136.7,236.1,12.1,318,9804,0.00,2.17,0.00,0.000,6,0.000,0.038,2867,1942,2716,0,0,0,0,0,0
$GC,10058,0.80,136.7,207.2,10.7,331,10062,0.00,2.17,0.00,0.000,4,0.000,0.048,2867,3335,2719,0,0,0,0,0,0
$GC,10207,0.80,136.7,190.3,12.2,340,10214,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1929,2719,0,0,0,0,0,0
$GC,10472,0.80,136.7,160.3,12.9,365,10476,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,531,2720,0,0,0,0,0,0
$GC,10668,0.80,136.7,137.3,12.1,382,10673,0.15,2.12,0.00,0.000,6,0.186,0.034,2848,1941,2719,0,0,0,0,0,0
$GC,10932,0.80,136.7,114.0,9.1,406,10936,0.00,2.15,0.00,0.000,4,0.000,0.048,2852,3326,2721,0,0,0,0,0,0
$GC,11018,0.83,167.9,106.8,7.3,413,11046,0.00,2.10,23.08,0.523,6,0.000,0.028,2861,1916,2615,0,0,0,0,0,0
$GC,11305,0.83,167.9,85.7,8.6,439,11309,0.00,2.10,0.00,0.000,4,0.000,0.040,2872,541,2613,0,0,0,0,0,0
$GC,11468,0.89,211.9,70.5,6.7,453,11515,0.00,2.08,36.53,0.495,6,0.000,0.033,2872,1929,2435,0,0,0,0,0,0
$GC,11771,0.89,211.9,37.9,13.1,481,11774,0.00,2.10,0.00,0.000,4,0.000,0.039,2882,541,2431,0,0,0,0,0,0
$GC,11834,0.89,211.9,29.7,12.5,486,11841,0.00,2.12,0.00,0.000,6,0.000,0.035,2882,1920,2431,0,0,0,0,0,0
$STATE,12029,end climb,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FINISH,0.4,1.023127
$STATE,12052,end surface coast,CONTROL_FINISHED_OK
$STATE,12052,begin surface
$SM_CCo,12072,37.90,0.436,0,0,2074,300.24
$SM_GC,1.69,0.00,0.00,37.90,0.000,0.000,0.436,57,2034,2074,-7.94,0.96,300.24
$IRIDIUM_FIX,2006.47,-15623.95,050213,131313
$TT8_MAMPS,0.262314
$HUMID,1078898700
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260850688
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,40251326464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,37.293
$10V_AH,10.0,33.880
$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,19.775,121.050,290.450,37.900,0.000,61.448,78.210,610.427,25.000,0.000,11.580,1149.849,8665.403,393.226,2476.497,469.262,33.348,1164.303,0.000,1785.046,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,101.244,1089.907,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.333,0.000,873.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,26853,526
$CAP_FILE_SIZE,123000,0
$CFSIZE,260165632,186953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,145.7,1
$GPS,130811,230131,2013.591,-15620.093,83,1.7,83,9.8