version: 66.07
glider: 513
mission: 7
dive: 304
start: 8 20 111 23 37 11
data:
$ID,513
$MISSION,7
$DIVE,304
$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,-428173.66
$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,57
$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,303
$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
$GPS1,200811,232626,1859.801,-15622.810,33,1.8,33,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.8
$GPS2,200811,233613,1859.634,-15622.925,10,1.5,10,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.213,0.109
$KALMAN_X,-74102.4,-810.5,-813.4,129374.2,7415.8
$KALMAN_Y,-72542.9,1312.4,814.7,-40846.3,-9408.6
$MHEAD_RNG_PITCHd_Wd,290.6,12408,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.17,0.000,2,0.000,0.000,40,2030,3739,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.0,-6.7,9,113,9.57,2.22,-1.95,0.000,4,0.236,0.064,2320,3390,3862,0,0,0,0,0,0
$GC,327,-0.80,-136.7,83.6,-31.0,35,331,0.00,2.10,0.00,0.000,6,0.000,0.035,2320,2009,3864,0,0,0,0,0,0
$GC,593,-0.80,-136.7,167.7,-29.3,59,597,0.00,2.20,0.00,0.000,4,0.000,0.052,2309,3391,3866,0,0,0,0,0,0
$GC,634,-0.80,-136.7,179.4,-25.2,62,639,0.12,2.10,0.00,0.000,6,0.180,0.031,2338,1987,3866,0,0,0,0,0,0
$GC,890,-0.80,-136.7,237.0,-20.4,78,894,0.00,2.22,0.00,0.000,4,0.000,0.050,2330,3394,3867,0,0,0,0,0,0
$GC,940,-0.80,-136.7,246.4,-18.0,80,944,0.00,2.10,0.00,0.000,6,0.000,0.031,2330,1996,3868,0,0,0,0,0,0
$GC,1194,-0.80,-136.7,292.4,-16.8,92,1198,0.00,2.20,0.00,0.000,4,0.000,0.051,2319,3386,3870,0,0,0,0,0,0
$GC,1260,-0.80,-136.7,304.0,-16.8,95,1264,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,2005,3870,0,0,0,0,0,0
$GC,1517,-0.80,-136.7,350.3,-18.7,102,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1996,3870,0,0,0,0,0,0
$GC,1759,-0.80,-136.7,393.7,-17.4,108,1763,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3389,3869,0,0,0,0,0,0
$GC,1803,-0.80,-136.7,401.9,-17.1,109,1808,0.12,2.08,0.00,0.000,6,0.164,0.032,2341,1995,3869,0,0,0,0,0,0
$GC,2088,-0.80,-136.7,442.9,-14.1,116,2092,0.00,2.20,0.00,0.000,4,0.000,0.051,2332,3384,3867,0,0,0,0,0,0
$GC,2103,-0.80,-136.7,445.5,-14.0,116,2108,0.00,2.12,0.00,0.000,6,0.000,0.031,2332,2003,3867,0,0,0,0,0,0
$GC,2370,-0.80,-136.7,485.5,-15.1,123,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3865,0,0,0,0,0,0
$GC,2614,-0.80,-136.7,520.3,-13.8,129,2618,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3383,3866,0,0,0,0,0,0
$GC,2648,-0.80,-136.7,525.4,-14.9,129,2654,0.00,2.12,0.00,0.000,6,0.000,0.034,2322,1991,3862,0,0,0,0,0,0
$GC,2898,-0.80,-136.7,564.5,-15.9,136,2902,0.00,2.22,0.00,0.000,4,0.000,0.052,2311,3386,3859,0,0,0,0,0,0
$GC,2914,-0.80,-136.7,567.1,-15.7,136,2918,0.00,2.10,0.00,0.000,6,0.000,0.034,2311,1999,3859,0,0,0,0,0,0
$GC,3176,-0.80,-136.7,610.5,-16.9,143,3178,0.10,0.00,0.00,0.000,6,0.199,0.000,2334,1992,3858,0,0,0,0,0,0
$GC,3419,-0.80,-136.7,645.7,-14.4,149,3423,0.00,2.22,0.00,0.000,4,0.000,0.055,2325,3377,3854,0,0,0,0,0,0
$GC,3447,-0.80,-136.7,649.8,-13.8,149,3451,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,2009,3854,0,0,0,0,0,0
$GC,3703,-0.80,-136.7,685.7,-14.3,156,3707,0.00,2.12,0.00,0.000,4,0.000,0.043,2325,599,3852,0,0,0,0,0,0
$GC,3731,-0.80,-136.7,689.8,-14.1,156,3735,0.00,2.12,0.00,0.000,6,0.000,0.045,2315,1973,3854,0,0,0,0,0,0
$GC,3986,-0.80,-136.7,724.0,-13.5,163,3990,0.00,2.28,0.00,0.000,4,0.000,0.053,2304,3411,3849,0,0,0,0,0,0
$GC,4038,-0.80,-136.7,730.9,-13.5,164,4042,0.12,2.17,0.00,0.000,6,0.168,0.033,2335,1992,3848,0,0,0,0,0,0
$GC,4316,-0.80,-136.7,763.8,-11.8,171,4320,0.00,2.30,0.00,0.000,4,0.000,0.056,2326,3411,3846,0,0,0,0,0,0
$GC,4356,-0.80,-136.7,768.9,-12.5,172,4360,0.00,2.15,0.00,0.000,6,0.000,0.032,2326,1995,3845,0,0,0,0,0,0
$GC,4639,-0.80,-136.7,804.1,-12.2,179,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1989,3846,0,0,0,0,0,0
$GC,4885,-0.80,-136.7,833.3,-12.1,185,4889,0.00,2.30,0.00,0.000,4,0.000,0.055,2315,3415,3840,0,0,0,0,0,0
$GC,4940,-0.80,-136.7,841.0,-14.2,186,4944,0.00,2.17,0.00,0.000,6,0.000,0.033,2315,2004,3840,0,0,0,0,0,0
$GC,5215,-0.80,-136.7,878.9,-13.9,193,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1998,3839,0,0,0,0,0,0
$STATE,5373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5373,begin apogee
$GC,5381,-0.28,0.0,900.7,13.4,197,5496,0.62,0.00,111.55,1.091,6,0.150,0.000,2499,1908,3301,0,0,0,0,0,0
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5501,0.80,136.7,905.4,0.0,200,5631,1.05,2.22,119.90,1.056,4,0.096,0.038,2858,537,2739,0,0,0,0,0,0
$GC,5637,0.80,136.7,891.2,16.7,203,5641,0.00,2.22,0.00,0.000,6,0.000,0.033,2850,1932,2738,0,0,0,0,0,0
$GC,5903,0.80,136.7,836.9,20.8,210,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1931,2735,0,0,0,0,0,0
$GC,6146,0.80,136.7,788.1,20.1,216,6151,0.00,2.30,0.00,0.000,4,0.000,0.054,2839,3341,2730,0,0,0,0,0,0
$GC,6248,0.80,136.7,768.2,18.0,218,6252,0.00,2.17,0.00,0.000,6,0.000,0.031,2847,1936,2730,0,0,0,0,0,0
$GC,6515,0.80,136.7,719.5,18.2,225,6519,0.00,2.28,0.00,0.000,4,0.000,0.051,2839,3343,2728,0,0,0,0,0,0
$GC,6560,0.80,136.7,710.9,18.2,226,6564,0.00,2.17,0.00,0.000,6,0.000,0.030,2848,1928,2728,0,0,0,0,0,0
$GC,6838,0.80,136.7,661.2,17.7,233,6842,0.00,2.12,0.00,0.000,4,0.000,0.041,2859,525,2728,0,0,0,0,0,0
$GC,6877,0.80,136.7,654.1,18.2,234,6881,0.00,2.15,0.00,0.000,6,0.000,0.035,2850,1935,2724,0,0,0,0,0,0
$GC,7163,0.80,136.7,607.5,15.6,241,7167,0.00,2.22,0.00,0.000,4,0.000,0.052,2840,3336,2725,0,0,0,0,0,0
$GC,7207,0.80,136.7,600.1,16.8,242,7211,0.00,2.17,0.00,0.000,6,0.000,0.033,2848,1926,2725,0,0,0,0,0,0
$GC,7491,0.80,136.7,556.8,15.0,249,7495,0.00,2.12,0.00,0.000,4,0.000,0.041,2860,524,2724,0,0,0,0,0,0
$GC,7532,0.80,136.7,550.4,16.2,250,7536,0.00,2.12,0.00,0.000,6,0.000,0.035,2851,1928,2722,0,0,0,0,0,0
$GC,7816,0.80,136.7,506.1,15.6,257,7820,0.00,2.25,0.00,0.000,4,0.000,0.053,2840,3342,2722,0,0,0,0,0,0
$GC,7860,0.80,136.7,498.6,16.3,258,7863,0.00,2.17,0.00,0.000,6,0.000,0.031,2849,1923,2723,0,0,0,0,0,0
$GC,8145,0.80,136.7,454.5,15.3,265,8149,0.00,2.28,0.00,0.000,4,0.000,0.050,2841,3337,2722,0,0,0,0,0,0
$GC,8166,0.80,136.7,450.8,15.5,265,8170,0.00,2.15,0.00,0.000,6,0.000,0.032,2852,1928,2722,0,0,0,0,0,0
$GC,8427,0.80,136.7,410.1,15.6,272,8431,0.00,2.12,0.00,0.000,4,0.000,0.041,2859,531,2721,0,0,0,0,0,0
$GC,8443,0.80,136.7,407.4,15.9,272,8447,0.00,2.12,0.00,0.000,6,0.000,0.033,2852,1942,2720,0,0,0,0,0,0
$GC,8717,0.80,136.7,366.9,14.6,279,8721,0.00,2.20,0.00,0.000,4,0.000,0.049,2839,3337,2720,0,0,0,0,0,0
$GC,8783,0.80,136.7,356.0,16.8,280,8787,0.00,2.15,0.00,0.000,6,0.000,0.030,2850,1925,2720,0,0,0,0,0,0
$GC,9044,0.80,136.7,317.7,14.6,287,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1922,2720,0,0,0,0,0,0
$GC,9293,0.80,136.7,282.2,13.2,296,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1921,2720,0,0,0,0,0,0
$GC,9538,0.80,136.7,253.0,9.7,308,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1921,2720,0,0,0,0,0,0
$GC,9785,0.80,136.7,228.4,10.2,320,9789,0.00,2.25,0.00,0.000,4,0.000,0.048,2841,3337,2719,0,0,0,0,0,0
$GC,9893,0.80,136.7,215.9,11.6,325,9897,0.00,2.15,0.00,0.000,6,0.000,0.029,2850,1917,2719,0,0,0,0,0,0
$GC,10153,0.80,136.7,187.7,10.1,343,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1916,2719,0,0,0,0,0,0
$GC,10409,0.80,136.7,164.2,9.4,367,10413,0.00,2.25,0.00,0.000,4,0.000,0.048,2842,3338,2719,0,0,0,0,0,0
$GC,10483,0.87,194.6,158.7,6.1,373,10534,0.00,2.12,44.17,0.577,6,0.000,0.028,2851,1921,2507,0,0,0,0,0,0
$GC,10798,0.87,194.6,132.8,9.2,402,10801,0.00,2.12,0.00,0.000,4,0.000,0.040,2862,536,2503,0,0,0,0,0,0
$GC,10860,0.87,194.6,125.6,12.3,407,10864,0.00,2.12,0.00,0.000,6,0.000,0.033,2861,1930,2501,0,0,0,0,0,0
$GC,11128,0.87,194.6,100.7,9.2,431,11132,0.00,2.22,0.00,0.000,4,0.000,0.048,2862,3336,2498,0,0,0,0,0,0
$GC,11249,0.87,200.2,89.8,8.3,441,11260,0.00,2.15,5.93,0.407,6,0.000,0.030,2873,1939,2484,0,0,0,0,0,0
$GC,11524,0.88,206.9,68.0,8.3,467,11534,0.00,0.00,7.20,0.411,6,0.000,0.000,2873,1939,2457,0,0,0,0,0,0
$GC,11792,0.88,206.9,43.4,9.6,492,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1939,2458,0,0,0,0,0,0
$GC,12058,0.88,206.9,18.0,9.4,528,12066,0.00,2.22,0.00,0.000,4,0.000,0.045,2873,3339,2459,0,0,0,0,0,0
$STATE,12198,end climb,SURFACE_DEPTH_REACHED
$STATE,12198,begin surface coast
$FINISH,0.3,1.022896
$STATE,12226,end surface coast,CONTROL_FINISHED_OK
$STATE,12226,begin surface
$SM_CCo,12248,49.80,0.426,0,0,2076,300.24
$SM_GC,2.11,0.00,0.00,49.80,0.000,0.000,0.426,56,1993,2076,-7.94,-0.23,300.24
$IRIDIUM_FIX,1853.26,-15618.45,120213,141431
$TT8_MAMPS,0.154934
$HUMID,1078826442
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.00
$XPDR_PINGS,85
$AR_DIVENUM,304
$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,23.8,43.002
$10V_AH,9.9,39.195
$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,19.200,122.025,288.750,49.800,0.000,31.247,34.767,298.132,21.250,0.000,12.341,1204.771,8670.448,395.624,2223.801,402.947,33.354,1169.049,0.000,1850.846,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,92.807,1090.674,425.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.700,0.000,978.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26957,559
$CAP_FILE_SIZE,117367,0
$CFSIZE,260165632,183541760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,214.4,1
$GPS,210811,030355,1859.561,-15625.030,43,1.2,43,9.6