version: 66.07
glider: 513
mission: 7
dive: 281
start: 8 17 111 11 13 5
data:
$ID,513
$MISSION,7
$DIVE,281
$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,-427678.72
$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,49
$R_STBD_OVSHOOT,66
$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,280
$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
$GPS1,170811,105707,1950.396,-15614.814,53,1.2,53,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.2
$GPS2,170811,111207,1950.101,-15614.681,7,1.2,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.018,-0.238
$KALMAN_X,-106867.0,-3173.4,-419.9,178468.5,8714.8
$KALMAN_Y,-19005.5,-22126.9,6154.2,17512.2,27773.1
$MHEAD_RNG_PITCHd_Wd,187.7,92789,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.50,0.000,2,0.000,0.000,37,2025,3756,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.3,-7.7,9,114,9.50,2.20,-1.58,0.000,4,0.235,0.050,2334,598,3860,0,0,0,0,0,0
$GC,224,-0.80,-136.7,60.4,-34.7,24,233,0.00,2.15,0.00,0.000,6,0.000,0.047,2329,1959,3862,0,0,0,0,0,0
$GC,490,-0.80,-136.7,136.5,-27.0,49,495,0.00,2.28,0.00,0.000,4,0.000,0.049,2317,3410,3864,0,0,0,0,0,0
$GC,619,-0.80,-136.7,168.9,-21.9,60,623,0.00,2.12,0.00,0.000,6,0.000,0.033,2317,2005,3864,0,0,0,0,0,0
$GC,888,-0.80,-136.7,227.4,-19.7,79,892,0.00,2.20,0.00,0.000,4,0.000,0.050,2306,3413,3867,0,0,0,0,0,0
$GC,915,-0.80,-136.7,233.2,-19.8,80,920,0.12,2.12,0.00,0.000,6,0.173,0.031,2337,1982,3866,0,0,0,0,0,0
$GC,1180,-0.80,-136.7,282.8,-19.9,93,1184,0.00,2.08,0.00,0.000,4,0.000,0.042,2337,598,3868,0,0,0,0,0,0
$GC,1237,-0.80,-136.7,292.6,-16.4,95,1243,0.00,2.12,0.00,0.000,6,0.000,0.043,2328,1997,3868,0,0,0,0,0,0
$GC,1487,-0.80,-136.7,335.4,-16.8,103,1491,0.00,2.22,0.00,0.000,4,0.000,0.049,2318,3418,3868,0,0,0,0,0,0
$GC,1582,-0.80,-136.7,351.2,-16.0,105,1586,0.00,2.12,0.00,0.000,6,0.000,0.031,2318,2005,3868,0,0,0,0,0,0
$GC,1856,-0.80,-136.7,393.5,-15.7,112,1860,0.00,2.22,0.00,0.000,4,0.000,0.051,2307,3418,3867,0,0,0,0,0,0
$GC,1911,-0.80,-136.7,402.6,-15.4,113,1916,0.12,2.12,0.00,0.000,6,0.166,0.032,2338,1988,3867,0,0,0,0,0,0
$GC,2183,-0.80,-136.7,441.5,-14.5,120,2187,0.00,2.22,0.00,0.000,4,0.000,0.051,2329,3413,3864,0,0,0,0,0,0
$GC,2200,-0.80,-136.7,444.0,-14.2,120,2205,0.00,2.15,0.00,0.000,6,0.000,0.032,2329,1993,3868,0,0,0,0,0,0
$GC,2467,-0.80,-136.7,481.2,-13.9,127,2471,0.00,2.22,0.00,0.000,4,0.000,0.051,2319,3413,3862,0,0,0,0,0,0
$GC,2539,-0.80,-136.7,491.8,-14.5,128,2543,0.00,2.15,0.00,0.000,6,0.000,0.032,2318,2007,3861,0,0,0,0,0,0
$GC,2795,-0.80,-136.7,528.2,-14.4,135,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2001,3862,0,0,0,0,0,0
$GC,3038,-0.80,-136.7,563.6,-14.4,141,3042,0.00,2.22,0.00,0.000,4,0.000,0.052,2308,3413,3856,0,0,0,0,0,0
$GC,3089,-0.80,-136.7,570.7,-14.3,142,3094,0.12,2.12,0.00,0.000,6,0.172,0.032,2339,1998,3856,0,0,0,0,0,0
$GC,3368,-0.80,-136.7,603.9,-11.7,149,3372,0.00,2.10,0.00,0.000,4,0.000,0.043,2339,600,3853,0,0,0,0,0,0
$GC,3389,-0.80,-136.7,606.9,-12.4,149,3393,0.00,2.12,0.00,0.000,6,0.000,0.042,2331,2007,3853,0,0,0,0,0,0
$GC,3651,-0.80,-136.7,637.8,-11.9,156,3655,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3405,3850,0,0,0,0,0,0
$GC,3717,-0.80,-136.7,646.1,-12.0,157,3721,0.00,2.12,0.00,0.000,6,0.000,0.035,2320,2004,3850,0,0,0,0,0,0
$GC,3980,-0.80,-136.7,679.2,-12.8,164,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1998,3848,0,0,0,0,0,0
$GC,4222,-0.80,-136.7,710.7,-12.7,170,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1997,3845,0,0,0,0,0,0
$GC,4466,-0.80,-136.7,740.2,-11.9,176,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1998,3843,0,0,0,0,0,0
$GC,4710,-0.80,-136.7,769.6,-12.1,182,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1998,3841,0,0,0,0,0,0
$GC,4955,-0.80,-136.7,799.9,-12.4,188,4959,0.00,2.22,0.00,0.000,4,0.000,0.054,2309,3403,3839,0,0,0,0,0,0
$GC,5044,-0.80,-136.7,811.1,-11.8,190,5049,0.12,2.15,0.00,0.000,6,0.173,0.035,2340,1982,3838,0,0,0,0,0,0
$GC,5323,-0.80,-136.7,840.5,-10.5,197,5327,0.00,2.28,0.00,0.000,4,0.000,0.054,2331,3402,3837,0,0,0,0,0,0
$GC,5378,-0.80,-136.7,846.8,-10.4,198,5382,0.00,2.15,0.00,0.000,6,0.000,0.034,2331,1994,3834,0,0,0,0,0,0
$GC,5650,-0.80,-136.7,877.4,-11.4,205,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1988,3835,0,0,0,0,0,0
$STATE,5850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5850,begin apogee
$GC,5858,-0.28,0.0,901.4,11.7,210,5974,0.57,0.00,111.45,1.090,6,0.146,0.000,2502,1928,3301,0,0,0,0,0,0
$STATE,5977,end apogee,CONTROL_FINISHED_OK
$STATE,5977,begin climb
$GC,5979,0.80,136.7,905.5,0.0,213,6111,1.02,2.35,120.20,1.058,4,0.097,0.038,2855,521,2740,0,0,0,0,0,0
$GC,6123,0.80,136.7,890.2,16.5,216,6127,0.00,2.25,0.00,0.000,6,0.000,0.033,2846,1925,2737,0,0,0,0,0,0
$GC,6383,0.80,136.7,841.5,18.9,223,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1923,2732,0,0,0,0,0,0
$GC,6628,0.80,136.7,796.0,18.7,229,6632,0.00,2.28,0.00,0.000,4,0.000,0.053,2835,3345,2729,0,0,0,0,0,0
$GC,6701,0.80,136.7,781.7,19.2,230,6705,0.00,2.20,0.00,0.000,6,0.000,0.028,2844,1917,2730,0,0,0,0,0,0
$GC,6951,0.80,136.7,734.6,18.8,236,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1914,2728,0,0,0,0,0,0
$GC,7194,0.80,136.7,689.6,18.3,242,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1914,2725,0,0,0,0,0,0
$GC,7438,0.80,136.7,645.1,18.3,248,7442,0.00,2.10,0.00,0.000,4,0.000,0.040,2854,533,2727,0,0,0,0,0,0
$GC,7460,0.80,136.7,641.1,17.8,248,7464,0.00,2.15,0.00,0.000,6,0.000,0.033,2846,1942,2725,0,0,0,0,0,0
$GC,7717,0.80,136.7,598.0,16.8,255,7721,0.00,2.22,0.00,0.000,4,0.000,0.052,2835,3341,2725,0,0,0,0,0,0
$GC,7768,0.80,136.7,589.1,17.7,256,7772,0.00,2.12,0.00,0.000,6,0.000,0.031,2844,1934,2725,0,0,0,0,0,0
$GC,8047,0.80,136.7,542.1,17.0,263,8051,0.00,2.22,0.00,0.000,4,0.000,0.051,2836,3339,2725,0,0,0,0,0,0
$GC,8074,0.80,136.7,537.3,16.4,263,8078,0.00,2.17,0.00,0.000,6,0.000,0.031,2844,1931,2724,0,0,0,0,0,0
$GC,8329,0.80,136.7,497.2,15.9,270,8333,0.00,2.15,0.00,0.000,4,0.000,0.038,2855,518,2724,0,0,0,0,0,0
$GC,8392,0.80,136.7,487.1,17.3,271,8396,0.00,2.15,0.00,0.000,6,0.000,0.035,2847,1937,2722,0,0,0,0,0,0
$GC,8658,0.80,136.7,445.3,16.0,278,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1936,2722,0,0,0,0,0,0
$GC,8902,0.80,136.7,408.6,14.6,284,8906,0.00,2.20,0.00,0.000,4,0.000,0.051,2836,3336,2720,0,0,0,0,0,0
$GC,9025,0.80,136.7,390.6,14.7,286,9031,0.00,2.12,0.00,0.000,6,0.000,0.031,2845,1927,2722,0,0,0,0,0,0
$GC,9276,0.80,136.7,356.9,13.7,293,9279,0.00,2.12,0.00,0.000,4,0.000,0.038,2856,525,2722,0,0,0,0,0,0
$GC,9303,0.80,136.7,352.7,14.9,293,9307,0.00,2.15,0.00,0.000,6,0.000,0.034,2848,1923,2720,0,0,0,0,0,0
$GC,9559,0.80,136.7,318.7,13.5,300,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,2721,0,0,0,0,0,0
$GC,9803,0.80,136.7,287.1,13.6,308,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1923,2720,0,0,0,0,0,0
$GC,10050,0.80,136.7,257.9,11.1,320,10054,0.00,2.15,0.00,0.000,4,0.000,0.038,2857,521,2720,0,0,0,0,0,0
$GC,10123,0.80,136.7,248.8,13.0,323,10126,0.00,2.12,0.00,0.000,6,0.000,0.034,2848,1934,2719,0,0,0,0,0,0
$GC,10383,0.80,136.7,217.5,13.0,336,10387,0.00,2.20,0.00,0.000,4,0.000,0.050,2838,3332,2718,0,0,0,0,0,0
$GC,10547,0.80,136.7,197.5,11.2,344,10551,0.00,2.12,0.00,0.000,6,0.000,0.030,2847,1923,2720,0,0,0,0,0,0
$GC,10819,0.80,136.7,172.9,11.2,369,10823,0.00,2.22,0.00,0.000,4,0.000,0.048,2842,3328,2719,0,0,0,0,0,0
$GC,10925,0.80,136.7,161.8,10.3,378,10929,0.00,2.10,0.00,0.000,6,0.000,0.029,2850,1911,2720,0,0,0,0,0,0
$GC,11193,0.81,152.4,137.4,7.9,402,11209,0.00,2.10,10.32,0.515,4,0.000,0.038,2861,540,2679,0,0,0,0,0,0
$GC,11319,0.81,152.4,126.5,9.6,413,11323,0.00,2.10,0.00,0.000,6,0.000,0.038,2861,1937,2677,0,0,0,0,0,0
$GC,11585,0.81,152.4,102.1,9.7,437,11589,0.00,2.20,0.00,0.000,4,0.000,0.048,2861,3340,2678,0,0,0,0,0,0
$GC,11836,0.86,192.5,78.6,6.9,459,11879,0.00,2.12,34.17,0.501,6,0.000,0.028,2872,1942,2519,0,0,0,0,0,0
$GC,12136,0.91,233.0,56.6,6.9,487,12173,0.00,0.00,33.15,0.476,6,0.000,0.000,2871,1938,2352,0,0,0,0,0,0
$GC,12432,0.91,233.0,25.4,11.3,518,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1938,2349,0,0,0,0,0,0
$STATE,12623,end climb,SURFACE_DEPTH_REACHED
$STATE,12623,begin surface coast
$FINISH,0.3,1.022997
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12651,begin surface
$SM_CCo,12671,31.83,0.427,0,0,2076,300.24
$SM_GC,1.55,0.00,0.00,31.83,0.000,0.000,0.427,52,2012,2076,-7.95,0.34,300.24
$IRIDIUM_FIX,1943.54,-15616.21,090213,050520
$TT8_MAMPS,0.292227
$HUMID,1078865152
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,26.00
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260097024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,36754456576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,40.318
$10V_AH,10.0,36.766
$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,19.100,113.025,309.300,31.825,0.000,58.175,82.937,470.084,22.500,0.000,14.788,1207.714,9098.014,392.199,2479.881,435.732,33.355,1192.653,0.000,1886.214,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,111.982,1089.907,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.332,0.000,949.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,26908,558
$CAP_FILE_SIZE,122434,0
$CFSIZE,260165632,185217024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,151.5,1
$GPS,170811,144645,1947.668,-15614.642,37,4.0,56,9.7