version: 66.07
glider: 513
mission: 7
dive: 285
start: 8 18 111 2 0 35
data:
$ID,513
$MISSION,7
$DIVE,285
$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,-427766.06
$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,40
$R_STBD_OVSHOOT,37
$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,284
$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
$GPS1,180811,013831,1940.643,-15614.455,41,1.3,41,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.5
$GPS2,180811,015938,1940.445,-15614.256,14,1.4,14,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045,-0.232
$KALMAN_X,-109467.5,338.2,-117.6,177938.8,704.1
$KALMAN_Y,-49731.4,5277.4,-312.4,9009.9,-9600.2
$MHEAD_RNG_PITCHd_Wd,191.0,74915,-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,28,-0.80,-136.7,0.0,0.0,0,143,0.00,0.00,-112.03,0.000,2,0.000,0.000,39,2005,3757,0,0,0,0,0,0
$GC,147,-0.80,-136.7,4.0,-6.9,17,169,9.57,2.28,-1.67,0.000,4,0.239,0.067,2327,3409,3861,0,0,0,0,0,0
$GC,178,-0.80,-136.7,20.2,-42.6,21,186,0.00,2.20,0.00,0.000,6,0.000,0.042,2335,2006,3862,0,0,0,0,0,0
$GC,452,-0.80,-136.7,113.4,-31.7,48,456,0.00,2.22,0.00,0.000,4,0.000,0.052,2327,3405,3863,0,0,0,0,0,0
$GC,473,-0.80,-136.7,121.7,-30.0,49,481,0.00,2.17,0.00,0.000,6,0.000,0.032,2328,1989,3863,0,0,0,0,0,0
$GC,739,-0.80,-136.7,188.2,-24.9,74,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1983,3863,0,0,0,0,0,0
$GC,995,-0.80,-136.7,243.7,-21.1,89,999,0.00,2.22,0.00,0.000,4,0.000,0.050,2319,3408,3864,0,0,0,0,0,0
$GC,1027,-0.80,-136.7,250.9,-21.7,90,1033,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2000,3864,0,0,0,0,0,0
$GC,1282,-0.80,-136.7,299.3,-18.6,103,1286,0.00,2.20,0.00,0.000,4,0.000,0.049,2308,3405,3864,0,0,0,0,0,0
$GC,1435,-0.80,-136.7,326.0,-18.0,107,1440,0.12,2.12,0.00,0.000,6,0.166,0.032,2340,2003,3865,0,0,0,0,0,0
$GC,1697,-0.80,-136.7,363.9,-14.4,114,1700,0.00,2.12,0.00,0.000,4,0.000,0.039,2340,584,3864,0,0,0,0,0,0
$GC,1802,-0.80,-136.7,381.5,-16.0,116,1806,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2006,3863,0,0,0,0,0,0
$GC,2069,-0.80,-136.7,424.4,-16.2,123,2073,0.00,2.17,0.00,0.000,4,0.000,0.049,2320,3395,3858,0,0,0,0,0,0
$GC,2098,-0.80,-136.7,429.0,-15.8,123,2102,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,1988,3862,0,0,0,0,0,0
$GC,2349,-0.80,-136.7,468.0,-15.7,129,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1977,3857,0,0,0,0,0,0
$GC,2592,-0.80,-136.7,505.4,-15.0,135,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1978,3851,0,0,0,0,0,0
$GC,2836,-0.80,-136.7,542.9,-15.0,141,2840,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3400,3851,0,0,0,0,0,0
$GC,2869,-0.80,-136.7,548.3,-16.1,141,2875,0.12,2.10,0.00,0.000,6,0.167,0.035,2341,2005,3851,0,0,0,0,0,0
$GC,3119,-0.80,-136.7,581.4,-12.8,148,3123,0.00,2.15,0.00,0.000,4,0.000,0.042,2341,600,3847,0,0,0,0,0,0
$GC,3164,-0.80,-136.7,587.0,-12.4,149,3168,0.00,2.15,0.00,0.000,6,0.000,0.042,2333,2001,3847,0,0,0,0,0,0
$GC,3454,-0.80,-136.7,622.2,-12.2,156,3458,0.00,2.22,0.00,0.000,4,0.000,0.052,2322,3407,3843,0,0,0,0,0,0
$GC,3565,-0.80,-136.7,636.5,-12.5,158,3569,0.00,2.15,0.00,0.000,6,0.000,0.035,2318,2002,3841,0,0,0,0,0,0
$GC,3827,-0.80,-136.7,668.5,-12.4,165,3831,0.00,2.22,0.00,0.000,4,0.000,0.053,2310,3406,3838,0,0,0,0,0,0
$GC,3883,-0.80,-136.7,675.6,-12.3,166,3887,0.00,2.15,0.00,0.000,6,0.000,0.035,2311,1982,3837,0,0,0,0,0,0
$GC,4150,-0.80,-136.7,709.1,-12.8,173,4151,0.10,0.00,0.00,0.000,6,0.202,0.000,2334,1973,3834,0,0,0,0,0,0
$GC,4393,-0.80,-136.7,736.8,-11.2,179,4397,0.00,2.28,0.00,0.000,4,0.000,0.054,2325,3405,3830,0,0,0,0,0,0
$GC,4437,-0.80,-136.7,742.0,-10.9,180,4442,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,2001,3831,0,0,0,0,0,0
$GC,4715,-0.80,-136.7,774.0,-11.3,187,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1995,3828,0,0,0,0,0,0
$GC,4959,-0.80,-136.7,802.2,-11.6,193,4963,0.00,2.25,0.00,0.000,4,0.000,0.052,2314,3413,3826,0,0,0,0,0,0
$GC,5000,-0.80,-136.7,807.0,-12.1,194,5004,0.00,2.15,0.00,0.000,6,0.000,0.034,2314,1992,3825,0,0,0,0,0,0
$GC,5284,-0.80,-136.7,842.9,-12.8,201,5288,0.00,2.25,0.00,0.000,4,0.000,0.053,2304,3402,3824,0,0,0,0,0,0
$GC,5311,-0.80,-136.7,846.9,-13.5,201,5316,0.12,2.15,0.00,0.000,6,0.173,0.035,2334,1992,3823,0,0,0,0,0,0
$GC,5562,-0.80,-136.7,876.0,-11.5,207,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1987,3821,0,0,0,0,0,0
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5803,begin apogee
$GC,5809,-0.28,0.0,903.5,11.3,213,5925,0.55,0.00,108.80,1.089,6,0.147,0.000,2499,1938,3303,0,0,0,0,0,0
$STATE,5927,end apogee,CONTROL_FINISHED_OK
$STATE,5927,begin climb
$GC,5930,0.80,136.7,906.7,0.0,216,6059,1.08,2.35,121.85,1.053,4,0.097,0.041,2861,527,2741,0,0,0,0,0,0
$GC,6082,0.80,136.7,888.3,20.0,219,6087,0.00,2.28,0.00,0.000,6,0.000,0.035,2854,1934,2735,0,0,0,0,0,0
$GC,6331,0.80,136.7,838.1,20.0,226,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1934,2731,0,0,0,0,0,0
$GC,6575,0.80,136.7,790.3,19.3,232,6579,0.00,2.25,0.00,0.000,4,0.000,0.054,2842,3339,2729,0,0,0,0,0,0
$GC,6637,0.80,136.7,777.7,20.0,233,6642,0.00,2.20,0.00,0.000,6,0.000,0.032,2851,1924,2729,0,0,0,0,0,0
$GC,6898,0.80,136.7,727.8,18.8,240,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1920,2727,0,0,0,0,0,0
$GC,7142,0.80,136.7,683.1,18.2,246,7146,0.00,2.15,0.00,0.000,4,0.000,0.041,2863,515,2721,0,0,0,0,0,0
$GC,7174,0.80,136.7,676.9,18.4,246,7180,0.00,2.15,0.00,0.000,6,0.000,0.036,2854,1930,2728,0,0,0,0,0,0
$GC,7426,0.80,136.7,633.4,17.5,253,7430,0.00,2.22,0.00,0.000,4,0.000,0.053,2840,3334,2724,0,0,0,0,0,0
$GC,7491,0.80,136.7,621.2,17.9,254,7495,0.00,2.15,0.00,0.000,6,0.000,0.032,2848,1920,2724,0,0,0,0,0,0
$GC,7759,0.80,136.7,577.0,16.3,261,7763,0.00,2.12,0.00,0.000,4,0.000,0.040,2863,527,2723,0,0,0,0,0,0
$GC,7782,0.80,136.7,573.1,17.4,261,7786,0.00,2.12,0.00,0.000,6,0.000,0.035,2858,1930,2722,0,0,0,0,0,0
$GC,8037,0.80,136.7,528.5,17.4,268,8041,0.00,2.22,0.00,0.000,4,0.000,0.053,2845,3340,2722,0,0,0,0,0,0
$GC,8058,0.80,136.7,524.6,17.4,268,8062,0.00,2.17,0.00,0.000,6,0.000,0.033,2852,1935,2724,0,0,0,0,0,0
$GC,8320,0.80,136.7,482.0,15.9,275,8324,0.00,2.25,0.00,0.000,4,0.000,0.050,2844,3345,2722,0,0,0,0,0,0
$GC,8336,0.80,136.7,479.2,15.0,275,8340,0.00,2.12,0.00,0.000,6,0.000,0.031,2852,1927,2721,0,0,0,0,0,0
$GC,8603,0.80,136.7,440.1,14.5,282,8607,0.00,2.25,0.00,0.000,4,0.000,0.051,2844,3341,2721,0,0,0,0,0,0
$GC,8630,0.80,136.7,435.5,15.8,282,8634,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1935,2721,0,0,0,0,0,0
$GC,8893,0.80,136.7,395.4,15.3,289,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1925,2721,0,0,0,0,0,0
$GC,9135,0.80,136.7,357.7,15.1,295,9139,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,520,2720,0,0,0,0,0,0
$GC,9163,0.80,136.7,353.4,15.1,295,9167,0.00,2.12,0.00,0.000,6,0.000,0.034,2856,1940,2718,0,0,0,0,0,0
$GC,9419,0.80,136.7,315.6,14.6,302,9423,0.00,2.20,0.00,0.000,4,0.000,0.051,2845,3329,2718,0,0,0,0,0,0
$GC,9465,0.80,136.7,308.8,14.5,303,9469,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1911,2719,0,0,0,0,0,0
$GC,9736,0.80,136.7,274.6,11.1,314,9740,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,533,2715,0,0,0,0,0,0
$GC,9791,0.80,136.7,268.0,11.5,316,9795,0.00,2.10,0.00,0.000,6,0.000,0.034,2865,1931,2716,0,0,0,0,0,0
$GC,10051,0.80,136.7,239.3,11.4,329,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1934,2717,0,0,0,0,0,0
$GC,10298,0.80,136.7,208.8,11.2,341,10302,0.00,2.22,0.00,0.000,4,0.000,0.051,2861,3342,2717,0,0,0,0,0,0
$GC,10418,0.80,136.7,195.3,10.8,348,10423,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1922,2718,0,0,0,0,0,0
$GC,10685,0.80,136.7,170.5,9.1,372,10689,0.00,2.22,0.00,0.000,4,0.000,0.048,2865,3336,2717,0,0,0,0,0,0
$GC,10760,0.80,136.7,162.3,11.7,378,10764,0.00,2.12,0.00,0.000,6,0.000,0.030,2878,1920,2718,0,0,0,0,0,0
$GC,11030,0.80,136.7,133.9,11.7,403,11034,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,517,2721,0,0,0,0,0,0
$GC,11083,0.80,136.7,127.9,11.1,407,11088,0.12,2.15,0.00,0.000,6,0.186,0.033,2859,1943,2717,0,0,0,0,0,0
$GC,11347,0.91,230.6,110.6,4.6,431,11427,0.00,2.20,72.20,0.532,4,0.000,0.046,2858,3332,2360,0,0,0,0,0,0
$GC,11455,0.91,230.6,102.4,11.0,440,11459,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,1930,2360,0,0,0,0,0,0
$GC,11720,0.91,230.6,72.5,10.2,464,11724,0.00,2.22,0.00,0.000,4,0.000,0.045,2868,3330,2357,0,0,0,0,0,0
$GC,11795,0.91,230.6,64.8,10.9,470,11799,0.00,2.12,0.00,0.000,6,0.000,0.030,2878,1924,2356,0,0,0,0,0,0
$GC,12060,0.91,230.6,34.8,12.1,494,12063,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,519,2356,0,0,0,0,0,0
$GC,12117,0.91,230.6,27.6,12.4,500,12126,0.00,2.15,0.00,0.000,6,0.000,0.031,2889,1929,2355,0,0,0,0,0,0
$STATE,12305,end climb,SURFACE_DEPTH_REACHED
$STATE,12305,begin surface coast
$FINISH,0.2,1.009853
$STATE,12328,end surface coast,CONTROL_FINISHED_OK
$STATE,12328,begin surface
$SM_CCo,12361,33.65,0.427,0,0,2076,300.24
$SM_GC,1.58,0.00,0.00,33.65,0.000,0.000,0.427,48,2014,2076,-7.98,0.40,300.24
$IRIDIUM_FIX,1934.38,-15612.01,090213,202007
$TT8_MAMPS,0.26845
$HUMID,1078885797
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.10
$XPDR_PINGS,85
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259965952
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,36136386560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,40.824
$10V_AH,10.0,37.235
$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,19.400,130.700,302.850,33.650,0.000,81.578,141.801,688.133,21.250,0.000,15.961,1155.679,8958.845,456.824,2649.981,452.646,33.354,1228.176,0.000,1755.415,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,135.759,1089.140,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.387,0.000,896.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353652
$DATA_FILE_SIZE,26941,538
$CAP_FILE_SIZE,128007,0
$CFSIZE,260165632,184918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,146.5,1
$GPS,180811,052854,1937.977,-15614.261,26,2.0,43,9.7