version: 66.07
glider: 513
mission: 7
dive: 266
start: 8 15 111 2 20 19
data:
$ID,513
$MISSION,7
$DIVE,266
$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,-427264.19
$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,42
$R_STBD_OVSHOOT,39
$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,265
$AR_SAMPLENUM,3
$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
$GPS1,150811,015331,2013.736,-15615.676,39,1.5,39,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.8
$GPS2,150811,021920,2013.295,-15615.933,14,1.3,20,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.024,0.238
$KALMAN_X,-131257.1,-121.6,432.8,196721.8,-2792.9
$KALMAN_Y,-92914.5,1112.1,72.1,116893.5,-11483.9
$MHEAD_RNG_PITCHd_Wd,21.1,3550,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,142,0.00,0.00,-112.70,0.000,2,0.000,0.000,38,2020,3734,0,0,0,0,0,0
$GC,147,-0.80,-136.7,3.7,-6.4,17,169,10.48,2.25,-2.15,0.000,4,0.270,0.071,2324,3397,3861,0,0,0,0,0,0
$GC,243,-0.80,-136.7,42.6,-31.2,30,247,0.00,2.15,0.00,0.000,6,0.000,0.040,2325,2003,3863,0,0,0,0,0,0
$GC,505,-0.80,-136.7,115.2,-24.9,54,509,0.00,2.15,0.00,0.000,4,0.000,0.047,2325,587,3863,0,0,0,0,0,0
$GC,569,-0.80,-136.7,131.4,-24.3,59,574,0.00,2.20,0.00,0.000,6,0.000,0.048,2314,2002,3863,0,0,0,0,0,0
$GC,834,-0.80,-136.7,193.7,-22.1,83,838,0.00,2.20,0.00,0.000,4,0.000,0.053,2302,3418,3863,0,0,0,0,0,0
$GC,929,-0.80,-136.7,216.9,-23.8,88,933,0.12,2.15,0.00,0.000,6,0.173,0.032,2333,1978,3864,0,0,0,0,0,0
$GC,1182,-0.80,-136.7,266.7,-19.8,100,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1972,3864,0,0,0,0,0,0
$GC,1429,-0.80,-136.7,310.0,-16.8,111,1433,0.00,2.25,0.00,0.000,4,0.000,0.052,2325,3415,3864,0,0,0,0,0,0
$GC,1450,-0.80,-136.7,313.6,-16.1,111,1454,0.00,2.10,0.00,0.000,6,0.000,0.032,2325,1997,3862,0,0,0,0,0,0
$GC,1712,-0.80,-136.7,353.1,-14.6,118,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1989,3864,0,0,0,0,0,0
$GC,1955,-0.80,-136.7,391.4,-16.2,124,1959,0.00,2.22,0.00,0.000,4,0.000,0.054,2314,3410,3861,0,0,0,0,0,0
$GC,1982,-0.80,-136.7,396.0,-17.1,124,1986,0.00,2.15,0.00,0.000,6,0.000,0.034,2314,2001,3861,0,0,0,0,0,0
$GC,2238,-0.80,-136.7,437.5,-16.5,131,2242,0.00,2.10,0.00,0.000,4,0.000,0.043,2315,594,3858,0,0,0,0,0,0
$GC,2277,-0.80,-136.7,444.2,-16.2,132,2282,0.12,2.17,0.00,0.000,6,0.175,0.046,2335,2013,3858,0,0,0,0,0,0
$GC,2560,-0.80,-136.7,486.4,-14.5,139,2564,0.00,2.17,0.00,0.000,4,0.000,0.055,2326,3405,3855,0,0,0,0,0,0
$GC,2628,-0.80,-136.7,496.0,-13.4,140,2632,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1983,3855,0,0,0,0,0,0
$GC,2883,-0.80,-136.7,533.4,-14.7,147,2887,0.00,2.22,0.00,0.000,4,0.000,0.055,2316,3400,3852,0,0,0,0,0,0
$GC,2927,-0.80,-136.7,540.1,-14.2,148,2931,0.00,2.10,0.00,0.000,6,0.000,0.034,2315,2000,3852,0,0,0,0,0,0
$GC,3211,-0.80,-136.7,584.3,-16.1,155,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1993,3848,0,0,0,0,0,0
$GC,3455,-0.80,-136.7,623.9,-16.4,161,3459,0.00,2.22,0.00,0.000,4,0.000,0.056,2305,3402,3845,0,0,0,0,0,0
$GC,3482,-0.80,-136.7,628.6,-17.6,161,3487,0.10,2.15,0.00,0.000,6,0.150,0.035,2336,2005,3845,0,0,0,0,0,0
$GC,3738,-0.80,-136.7,666.9,-15.1,168,3742,0.00,2.22,0.00,0.000,4,0.000,0.056,2327,3398,3841,0,0,0,0,0,0
$GC,3822,-0.80,-136.7,679.2,-13.8,170,3826,0.00,2.12,0.00,0.000,6,0.000,0.032,2323,1999,3841,0,0,0,0,0,0
$GC,4105,-0.80,-136.7,718.9,-13.8,177,4109,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3399,3838,0,0,0,0,0,0
$GC,4146,-0.80,-136.7,724.6,-14.4,178,4150,0.00,2.12,0.00,0.000,6,0.000,0.035,2317,1985,3837,0,0,0,0,0,0
$GC,4430,-0.80,-136.7,762.7,-13.2,185,4434,0.00,2.25,0.00,0.000,4,0.000,0.055,2306,3399,3834,0,0,0,0,0,0
$GC,4474,-0.80,-136.7,768.8,-13.4,186,4478,0.12,2.10,0.00,0.000,6,0.173,0.035,2336,2011,3834,0,0,0,0,0,0
$GC,4757,-0.80,-136.7,802.0,-11.8,193,4761,0.00,2.22,0.00,0.000,4,0.000,0.055,2329,3404,3831,0,0,0,0,0,0
$GC,4824,-0.80,-136.7,810.3,-11.6,194,4829,0.00,2.15,0.00,0.000,6,0.000,0.035,2328,1985,3830,0,0,0,0,0,0
$GC,5080,-0.80,-136.7,840.0,-11.5,201,5084,0.00,2.12,0.00,0.000,4,0.000,0.048,2329,599,3828,0,0,0,0,0,0
$GC,5120,-0.80,-136.7,844.8,-12.5,202,5124,0.00,2.17,0.00,0.000,6,0.000,0.047,2318,2000,3829,0,0,0,0,0,0
$GC,5404,-0.80,-136.7,878.4,-11.8,209,5408,0.00,2.25,0.00,0.000,4,0.000,0.055,2307,3411,3826,0,0,0,0,0,0
$GC,5465,-0.80,-136.7,885.9,-11.8,210,5470,0.12,2.20,0.00,0.000,6,0.173,0.036,2338,2002,3825,0,0,0,0,0,0
$STATE,5607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5607,begin apogee
$GC,5615,-0.28,0.0,900.7,10.2,214,5731,0.55,0.00,108.70,1.080,6,0.146,0.000,2503,1905,3303,0,0,0,0,0,0
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5734,begin climb
$GC,5736,0.80,136.7,904.3,0.0,217,5866,1.05,2.22,122.55,1.045,4,0.094,0.041,2860,535,2741,0,0,0,0,0,0
$GC,5878,0.80,136.7,888.5,18.2,220,5882,0.00,2.25,0.00,0.000,6,0.000,0.039,2858,1929,2740,0,0,0,0,0,0
$GC,6127,0.80,136.7,839.3,19.3,226,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1930,2731,0,0,0,0,0,0
$GC,6371,0.80,136.7,790.2,20.4,232,6375,0.00,2.15,0.00,0.000,4,0.000,0.043,2867,536,2729,0,0,0,0,0,0
$GC,6387,0.80,136.7,786.8,20.2,232,6391,0.00,2.15,0.00,0.000,6,0.000,0.041,2867,1928,2727,0,0,0,0,0,0
$GC,6655,0.80,136.7,733.7,19.8,239,6659,0.00,2.28,0.00,0.000,4,0.000,0.054,2867,3346,2727,0,0,0,0,0,0
$GC,6743,0.80,136.7,715.4,19.4,241,6747,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1930,2727,0,0,0,0,0,0
$GC,7027,0.80,136.7,660.8,19.0,248,7031,0.00,2.22,0.00,0.000,4,0.000,0.052,2874,3341,2725,0,0,0,0,0,0
$GC,7055,0.80,136.7,655.6,18.6,248,7059,0.00,2.15,0.00,0.000,6,0.000,0.033,2883,1933,2725,0,0,0,0,0,0
$GC,7305,0.80,136.7,608.2,19.0,254,7308,0.00,2.12,0.00,0.000,4,0.000,0.041,2895,525,2724,0,0,0,0,0,0
$GC,7315,0.80,136.7,606.0,19.3,254,7320,0.15,2.15,0.00,0.000,6,0.203,0.035,2860,1947,2723,0,0,0,0,0,0
$GC,7583,0.80,136.7,555.6,19.1,261,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1948,2723,0,0,0,0,0,0
$GC,7825,0.80,136.7,512.3,17.5,267,7829,0.00,2.17,0.00,0.000,4,0.000,0.053,2859,3330,2722,0,0,0,0,0,0
$GC,7880,0.80,136.7,501.4,19.8,268,7884,0.00,2.10,0.00,0.000,6,0.000,0.033,2868,1929,2722,0,0,0,0,0,0
$GC,8154,0.80,136.7,455.9,16.0,275,8157,0.00,2.12,0.00,0.000,4,0.000,0.041,2879,521,2721,0,0,0,0,0,0
$GC,8198,0.80,136.7,448.0,17.3,276,8202,0.00,2.12,0.00,0.000,6,0.000,0.038,2879,1926,2719,0,0,0,0,0,0
$GC,8481,0.80,136.7,398.6,17.5,283,8485,0.00,2.22,0.00,0.000,4,0.000,0.051,2879,3345,2719,0,0,0,0,0,0
$GC,8522,0.80,136.7,391.2,19.3,284,8527,0.15,2.12,0.00,0.000,6,0.200,0.031,2855,1930,2720,0,0,0,0,0,0
$GC,8805,0.80,136.7,348.5,14.5,291,8809,0.00,2.25,0.00,0.000,4,0.000,0.051,2844,3338,2719,0,0,0,0,0,0
$GC,8899,0.80,136.7,334.4,14.6,293,8903,0.00,2.12,0.00,0.000,6,0.000,0.033,2853,1935,2719,0,0,0,0,0,0
$GC,9178,0.80,136.7,296.0,13.6,300,9182,0.00,2.15,0.00,0.000,4,0.000,0.042,2869,516,2718,0,0,0,0,0,0
$GC,9200,0.80,136.7,292.7,13.5,301,9204,0.00,2.15,0.00,0.000,6,0.000,0.038,2864,1947,2721,0,0,0,0,0,0
$GC,9465,0.80,136.7,253.2,14.8,314,9469,0.00,2.17,0.00,0.000,4,0.000,0.049,2865,3338,2717,0,0,0,0,0,0
$GC,9493,0.80,136.7,249.3,13.6,315,9497,0.00,2.15,0.00,0.000,6,0.000,0.030,2875,1926,2717,0,0,0,0,0,0
$GC,9746,0.80,136.7,217.8,12.4,327,9750,0.00,2.20,0.00,0.000,4,0.000,0.049,2875,3326,2717,0,0,0,0,0,0
$GC,9764,0.80,136.7,215.7,12.7,328,9768,0.12,2.10,0.00,0.000,6,0.198,0.031,2857,1926,2717,0,0,0,0,0,0
$GC,10024,0.80,136.7,187.3,11.4,345,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1919,2717,0,0,0,0,0,0
$GC,10289,0.80,136.7,158.3,10.5,370,10293,0.00,2.10,0.00,0.000,4,0.000,0.040,2866,529,2720,0,0,0,0,0,0
$GC,10542,0.80,136.7,129.3,9.0,392,10551,0.00,2.12,0.00,0.000,6,0.000,0.034,2864,1922,2717,0,0,0,0,0,0
$GC,10811,0.81,145.7,106.6,8.2,417,10824,0.00,2.15,4.43,0.384,4,0.000,0.040,2876,531,2706,0,0,0,0,0,0
$GC,11074,0.86,186.5,83.2,6.8,440,11117,0.00,2.12,34.78,0.504,6,0.000,0.033,2875,1929,2539,0,0,0,0,0,0
$GC,11372,0.86,186.5,51.1,9.7,468,11376,0.00,2.12,0.00,0.000,4,0.000,0.039,2885,522,2537,0,0,0,0,0,0
$GC,11527,0.86,186.5,34.0,10.3,481,11532,0.00,2.10,0.00,0.000,6,0.000,0.031,2884,1926,2535,0,0,0,0,0,0
$GC,11793,0.86,186.5,5.1,14.5,526,11800,0.00,2.25,0.00,0.000,4,0.000,0.049,2883,3345,2538,0,0,0,0,0,0
$STATE,11817,end climb,SURFACE_DEPTH_REACHED
$STATE,11817,begin surface coast
$FINISH,0.3,1.023239
$STATE,11850,end surface coast,CONTROL_FINISHED_OK
$STATE,11850,begin surface
$SM_CCo,11872,52.30,0.437,0,0,2075,300.49
$SM_GC,1.57,0.00,0.00,52.30,0.000,0.000,0.437,45,1995,2075,-7.99,-0.11,300.49
$IRIDIUM_FIX,2008.77,-15616.71,060213,202031
$TT8_MAMPS,0.14573
$HUMID,1078912893
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.30
$XPDR_PINGS,108
$AR_DIVENUM,266
$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,24.0,38.395
$10V_AH,10.1,35.002
$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,20.575,134.475,270.450,52.300,0.000,112.241,156.145,841.756,27.000,0.000,22.370,1175.054,8445.519,456.483,2893.198,510.039,33.348,1246.295,0.000,1856.828,0.000,0.542,0.000
$DEVICE_MAMPS,269.984,92.807,1079.936,437.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.523,0.000,939.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,26954,536
$CAP_FILE_SIZE,134477,0
$CFSIZE,260165632,186335232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,220.4,1
$GPS,150811,054152,2013.858,-15615.645,89,3.5,108,9.8