version: 66.07
glider: 513
mission: 7
dive: 270
start: 8 15 111 18 10 35
data:
$ID,513
$MISSION,7
$DIVE,270
$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,712.8302
$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,-427365.25
$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,33
$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,269
$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
$GPS1,150811,174837,2014.171,-15615.853,40,1.0,40,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.7
$GPS2,150811,180938,2013.931,-15615.962,15,1.7,15,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.020,0.238
$KALMAN_X,-128969.2,-193.4,-107.2,195002.3,274.3
$KALMAN_Y,-109707.9,1487.7,1083.6,133470.7,-14591.5
$MHEAD_RNG_PITCHd_Wd,33.4,2591,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-54.90,0.000,2,0.000,0.000,36,2016,3639,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.2,-4.3,8,113,9.85,2.30,-3.92,0.000,4,0.248,0.075,2320,3406,3862,0,0,0,0,0,0
$GC,150,-0.80,-136.7,28.8,-40.1,17,158,0.00,2.20,0.00,0.000,6,0.000,0.038,2321,2008,3865,0,0,0,0,0,0
$GC,415,-0.80,-136.7,109.1,-28.8,42,418,0.00,2.15,0.00,0.000,4,0.000,0.043,2327,582,3865,0,0,0,0,0,0
$GC,437,-0.80,-136.7,117.0,-29.9,43,445,0.00,2.20,0.00,0.000,6,0.000,0.044,2313,1994,3865,0,0,0,0,0,0
$GC,702,-0.80,-136.7,183.9,-24.9,68,706,0.10,2.12,0.00,0.000,4,0.197,0.044,2336,589,3866,0,0,0,0,0,0
$GC,818,-0.80,-136.7,208.2,-18.7,76,822,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2007,3867,0,0,0,0,0,0
$GC,1071,-0.80,-136.7,256.7,-19.6,88,1075,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3413,3867,0,0,0,0,0,0
$GC,1149,-0.80,-136.7,270.3,-16.7,91,1153,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,1982,3868,0,0,0,0,0,0
$GC,1408,-0.80,-136.7,315.3,-17.5,102,1412,0.00,2.05,0.00,0.000,4,0.000,0.040,2315,604,3868,0,0,0,0,0,0
$GC,1449,-0.80,-136.7,322.9,-18.3,103,1454,0.12,2.10,0.00,0.000,6,0.174,0.042,2336,1993,3868,0,0,0,0,0,0
$GC,1732,-0.80,-136.7,369.5,-16.6,110,1736,0.00,2.20,0.00,0.000,4,0.000,0.053,2327,3410,3868,0,0,0,0,0,0
$GC,1867,-0.80,-136.7,392.4,-16.8,113,1871,0.00,2.10,0.00,0.000,6,0.000,0.035,2328,2006,3868,0,0,0,0,0,0
$GC,2144,-0.80,-136.7,436.4,-15.8,120,2148,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3410,3864,0,0,0,0,0,0
$GC,2194,-0.80,-136.7,444.1,-14.9,121,2198,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,1994,3865,0,0,0,0,0,0
$GC,2467,-0.80,-136.7,486.9,-16.0,128,2471,0.00,2.25,0.00,0.000,4,0.000,0.056,2306,3415,3863,0,0,0,0,0,0
$GC,2500,-0.80,-136.7,493.0,-18.6,128,2506,0.12,2.15,0.00,0.000,6,0.164,0.031,2338,1988,3863,0,0,0,0,0,0
$GC,2751,-0.80,-136.7,529.5,-14.6,135,2755,0.00,2.10,0.00,0.000,4,0.000,0.044,2338,594,3860,0,0,0,0,0,0
$GC,2791,-0.80,-136.7,535.6,-15.4,136,2795,0.00,2.15,0.00,0.000,6,0.000,0.045,2330,2003,3859,0,0,0,0,0,0
$GC,3074,-0.80,-136.7,576.9,-14.4,143,3078,0.00,2.22,0.00,0.000,4,0.000,0.054,2319,3406,3854,0,0,0,0,0,0
$GC,3119,-0.80,-136.7,583.6,-14.4,144,3123,0.00,2.12,0.00,0.000,6,0.000,0.034,2318,2001,3857,0,0,0,0,0,0
$GC,3397,-0.80,-136.7,622.1,-13.3,151,3401,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3407,3853,0,0,0,0,0,0
$GC,3463,-0.80,-136.7,631.2,-12.7,152,3468,0.05,2.17,0.00,0.000,6,0.164,0.035,2335,2007,3853,0,0,0,0,0,0
$GC,3725,-0.80,-136.7,661.9,-11.6,159,3729,0.00,2.12,0.00,0.000,4,0.000,0.045,2334,595,3850,0,0,0,0,0,0
$GC,3781,-0.80,-136.7,669.3,-12.9,160,3785,0.00,2.17,0.00,0.000,6,0.000,0.045,2327,2002,3850,0,0,0,0,0,0
$GC,4054,-0.80,-136.7,704.9,-13.3,167,4058,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3414,3848,0,0,0,0,0,0
$GC,4161,-0.80,-136.7,720.0,-14.8,169,4165,0.00,2.15,0.00,0.000,6,0.000,0.035,2315,1994,3846,0,0,0,0,0,0
$GC,4421,-0.80,-136.7,757.1,-13.9,176,4425,0.00,2.28,0.00,0.000,4,0.000,0.058,2304,3401,3844,0,0,0,0,0,0
$GC,4448,-0.80,-136.7,760.9,-13.5,176,4453,0.12,2.15,0.00,0.000,6,0.172,0.035,2335,2004,3843,0,0,0,0,0,0
$GC,4699,-0.80,-136.7,790.7,-11.8,182,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1998,3842,0,0,0,0,0,0
$GC,4942,-0.80,-136.7,819.5,-11.6,188,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1998,3840,0,0,0,0,0,0
$GC,5185,-0.80,-136.7,847.6,-11.6,194,5189,0.00,2.15,0.00,0.000,4,0.000,0.046,2335,592,3835,0,0,0,0,0,0
$GC,5207,-0.80,-136.7,850.3,-11.6,194,5211,0.00,2.17,0.00,0.000,6,0.000,0.045,2324,1999,3838,0,0,0,0,0,0
$GC,5469,-0.80,-136.7,881.5,-12.0,201,5473,0.00,2.25,0.00,0.000,4,0.000,0.055,2316,3405,3835,0,0,0,0,0,0
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5628,-0.28,0.0,900.2,12.1,204,5743,0.60,0.00,111.22,1.086,6,0.150,0.000,2498,1929,3302,0,0,0,0,0,0
$STATE,5745,end apogee,CONTROL_FINISHED_OK
$STATE,5745,begin climb
$GC,5749,0.80,136.7,904.5,0.0,207,5881,1.08,2.35,120.15,1.055,4,0.097,0.039,2860,520,2741,0,0,0,0,0,0
$GC,5894,0.80,136.7,889.2,17.9,211,5899,0.00,2.30,0.00,0.000,6,0.000,0.038,2861,1931,2737,0,0,0,0,0,0
$GC,6178,0.80,136.7,832.5,20.1,218,6182,0.00,2.28,0.00,0.000,4,0.000,0.054,2861,3338,2732,0,0,0,0,0,0
$GC,6300,0.80,136.7,806.0,20.8,220,6306,0.00,2.22,0.00,0.000,6,0.000,0.037,2871,1919,2732,0,0,0,0,0,0
$GC,6552,0.80,136.7,755.7,20.1,227,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1916,2729,0,0,0,0,0,0
$GC,6794,0.80,136.7,706.9,19.8,233,6798,0.00,2.28,0.00,0.000,4,0.000,0.054,2870,3342,2729,0,0,0,0,0,0
$GC,6821,0.80,136.7,701.1,21.9,233,6825,0.00,2.15,0.00,0.000,6,0.000,0.034,2879,1930,2728,0,0,0,0,0,0
$GC,7076,0.80,136.7,649.9,20.0,240,7080,0.00,2.15,0.00,0.000,4,0.000,0.041,2890,517,2727,0,0,0,0,0,0
$GC,7150,0.80,136.7,634.7,20.4,241,7155,0.15,2.17,0.00,0.000,6,0.194,0.038,2851,1943,2725,0,0,0,0,0,0
$GC,7405,0.80,136.7,587.4,18.2,248,7409,0.00,2.20,0.00,0.000,4,0.000,0.053,2855,3331,2725,0,0,0,0,0,0
$GC,7501,0.80,136.7,570.2,17.0,250,7505,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1931,2723,0,0,0,0,0,0
$GC,7773,0.80,136.7,522.2,17.5,257,7777,0.00,2.10,0.00,0.000,4,0.000,0.040,2875,531,2725,0,0,0,0,0,0
$GC,7858,0.80,136.7,505.5,20.9,259,7861,0.00,2.12,0.00,0.000,6,0.000,0.037,2875,1930,2722,0,0,0,0,0,0
$GC,8148,0.80,136.7,451.6,18.5,266,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1934,2723,0,0,0,0,0,0
$GC,8390,0.80,136.7,408.9,17.2,272,8394,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3335,2725,0,0,0,0,0,0
$GC,8530,0.80,136.7,385.4,16.7,275,8534,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1919,2723,0,0,0,0,0,0
$GC,8809,0.80,136.7,339.9,16.6,282,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1915,2722,0,0,0,0,0,0
$GC,9051,0.80,136.7,303.5,14.5,288,9055,0.00,2.10,0.00,0.000,4,0.000,0.041,2886,527,2724,0,0,0,0,0,0
$GC,9100,0.80,136.7,296.1,15.2,289,9105,0.12,2.15,0.00,0.000,6,0.195,0.035,2857,1937,2718,0,0,0,0,0,0
$GC,9360,0.80,136.7,263.4,12.0,302,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1938,2719,0,0,0,0,0,0
$GC,9608,0.80,136.7,234.1,11.4,314,9612,0.00,2.15,0.00,0.000,4,0.000,0.042,2867,533,2723,0,0,0,0,0,0
$GC,9647,0.80,136.7,228.9,12.6,316,9651,0.00,2.15,0.00,0.000,6,0.000,0.038,2866,1937,2722,0,0,0,0,0,0
$GC,9913,0.80,136.7,198.4,10.4,329,9917,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3337,2719,0,0,0,0,0,0
$GC,10075,0.80,136.7,180.3,11.4,343,10079,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1932,2720,0,0,0,0,0,0
$GC,10341,0.80,136.7,151.7,11.0,367,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1928,2719,0,0,0,0,0,0
$GC,10604,0.80,136.7,125.7,10.6,392,10608,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,526,2719,0,0,0,0,0,0
$GC,10858,0.80,136.7,96.8,10.2,414,10867,0.10,2.15,0.00,0.000,6,0.165,0.035,2858,1943,2724,0,0,0,0,0,0
$GC,11122,0.80,143.1,76.6,8.3,439,11126,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,520,2722,0,0,0,0,0,0
$GC,11372,0.92,240.2,58.5,4.5,461,11462,0.00,2.15,79.38,0.493,6,0.000,0.034,2867,1927,2320,0,0,0,0,0,0
$GC,11717,0.92,240.2,22.3,12.3,499,11726,0.00,2.17,0.00,0.000,4,0.000,0.040,2877,537,2313,0,0,0,0,0,0
$GC,11767,0.92,240.2,16.0,13.3,507,11775,0.00,2.15,0.00,0.000,6,0.000,0.037,2877,1924,2315,0,0,0,0,0,0
$STATE,11870,end climb,SURFACE_DEPTH_REACHED
$STATE,11870,begin surface coast
$FINISH,0.4,1.023135
$STATE,11894,end surface coast,CONTROL_FINISHED_OK
$STATE,11894,begin surface
$SM_CCo,11924,266.08,0.435,0,0,394,713.08
$SM_GC,1.06,0.00,0.00,266.08,0.000,0.000,0.435,41,2012,394,-7.97,0.34,713.08
$IRIDIUM_FIX,2004.18,-15617.64,070213,121228
$TT8_MAMPS,0.060593
$HUMID,1078759345
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,25.20
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6337331200
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,38402785280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,38.923
$10V_AH,10.1,35.579
$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,20.075,126.275,310.750,266.075,0.000,146.362,220.327,391.290,23.500,0.000,17.664,1175.651,8503.688,637.952,2727.102,412.107,33.352,1471.046,0.000,1928.608,0.000,0.542,0.000
$DEVICE_MAMPS,247.741,104.312,1086.072,434.889,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.904,0.000,909.595,0.000,0.000,0.000,0.000,28936.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,13.675,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26934,530
$CAP_FILE_SIZE,124906,0
$CFSIZE,260165632,186015744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,244.4,1
$GPS,150811,213537,2014.752,-15615.031,55,1.3,55,9.8