version: 66.07
glider: 513
mission: 7
dive: 327
start: 8 24 111 14 32 11
data:
$ID,513
$MISSION,7
$DIVE,327
$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,-428693.78
$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,44
$R_STBD_OVSHOOT,51
$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,326
$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
$GPS1,240811,142136,1900.565,-15634.785,117,0.8,117,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.1
$GPS2,240811,143114,1900.448,-15634.984,12,2.0,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.025,0.238
$KALMAN_X,-107303.3,1113.6,-621.7,139431.3,-7409.9
$KALMAN_Y,-146421.6,985.8,1687.2,33968.6,-12794.6
$MHEAD_RNG_PITCHd_Wd,24.6,138342,-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,27,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-50.80,0.000,2,0.000,0.000,38,2017,3531,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.2,-5.3,8,107,9.75,2.22,-5.68,0.000,4,0.241,0.065,2322,3397,3860,0,0,0,0,0,0
$GC,215,-0.80,-136.7,50.0,-29.3,24,218,0.00,2.17,0.00,0.000,6,0.000,0.035,2322,1999,3863,0,0,0,0,0,0
$GC,483,-0.80,-136.7,143.6,-30.6,49,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1993,3864,0,0,0,0,0,0
$GC,746,-0.80,-136.7,210.3,-21.6,72,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1990,3865,0,0,0,0,0,0
$GC,993,-0.80,-136.7,260.3,-19.7,84,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1992,3868,0,0,0,0,0,0
$GC,1260,-0.80,-136.7,311.6,-19.4,96,1264,0.00,2.22,0.00,0.000,4,0.000,0.050,2312,3399,3869,0,0,0,0,0,0
$GC,1345,-0.80,-136.7,328.3,-18.5,98,1349,0.00,2.12,0.00,0.000,6,0.000,0.031,2312,1998,3869,0,0,0,0,0,0
$GC,1629,-0.80,-136.7,378.6,-17.2,105,1633,0.00,2.20,0.00,0.000,4,0.000,0.051,2298,3391,3870,0,0,0,0,0,0
$GC,1702,-0.80,-136.7,392.1,-17.4,106,1707,0.15,2.12,0.00,0.000,6,0.170,0.031,2340,1990,3869,0,0,0,0,0,0
$GC,1952,-0.80,-136.7,429.7,-14.9,112,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1985,3869,0,0,0,0,0,0
$GC,2195,-0.80,-136.7,468.6,-16.0,118,2199,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3391,3870,0,0,0,0,0,0
$GC,2268,-0.80,-136.7,480.5,-15.9,119,2272,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,1996,3866,0,0,0,0,0,0
$GC,2524,-0.80,-136.7,521.6,-16.3,126,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1990,3864,0,0,0,0,0,0
$GC,2767,-0.80,-136.7,558.8,-15.3,132,2771,0.00,2.20,0.00,0.000,4,0.000,0.052,2321,3389,3861,0,0,0,0,0,0
$GC,2807,-0.80,-136.7,564.9,-15.3,133,2811,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2001,3859,0,0,0,0,0,0
$GC,3091,-0.80,-136.7,607.0,-14.9,140,3095,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3389,3858,0,0,0,0,0,0
$GC,3169,-0.80,-136.7,618.8,-13.8,141,3176,0.10,2.12,0.00,0.000,6,0.173,0.031,2334,1997,3857,0,0,0,0,0,0
$GC,3420,-0.80,-136.7,650.3,-12.6,148,3424,0.00,2.22,0.00,0.000,4,0.000,0.053,2325,3389,3856,0,0,0,0,0,0
$GC,3472,-0.80,-136.7,657.0,-13.7,149,3476,0.00,2.10,0.00,0.000,6,0.000,0.033,2324,2006,3854,0,0,0,0,0,0
$GC,3749,-0.80,-136.7,693.7,-13.3,156,3753,0.00,2.15,0.00,0.000,4,0.000,0.043,2327,596,3851,0,0,0,0,0,0
$GC,3771,-0.80,-136.7,696.8,-13.2,156,3775,0.00,2.15,0.00,0.000,6,0.000,0.044,2315,1998,3851,0,0,0,0,0,0
$GC,4034,-0.80,-136.7,732.0,-13.5,163,4038,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3407,3849,0,0,0,0,0,0
$GC,4111,-0.80,-136.7,743.1,-13.0,164,4118,0.12,2.17,0.00,0.000,6,0.166,0.033,2335,1996,3851,0,0,0,0,0,0
$GC,4361,-0.80,-136.7,772.8,-11.9,171,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1991,3846,0,0,0,0,0,0
$GC,4606,-0.80,-136.7,801.6,-11.8,177,4610,0.00,2.28,0.00,0.000,4,0.000,0.054,2326,3410,3844,0,0,0,0,0,0
$GC,4633,-0.80,-136.7,805.0,-11.4,177,4637,0.00,2.15,0.00,0.000,6,0.000,0.033,2326,2002,3843,0,0,0,0,0,0
$GC,4895,-0.80,-136.7,836.4,-12.1,184,4899,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3409,3842,0,0,0,0,0,0
$GC,4923,-0.80,-136.7,840.3,-13.3,184,4927,0.00,2.17,0.00,0.000,6,0.000,0.033,2316,2001,3841,0,0,0,0,0,0
$GC,5174,-0.80,-136.7,872.9,-13.2,190,5178,0.00,2.25,0.00,0.000,4,0.000,0.053,2304,3400,3840,0,0,0,0,0,0
$GC,5213,-0.80,-136.7,878.6,-13.5,191,5218,0.12,2.15,0.00,0.000,6,0.171,0.035,2336,2000,3838,0,0,0,0,0,0
$STATE,5412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5412,begin apogee
$GC,5420,-0.28,0.0,902.5,11.7,196,5537,0.55,0.00,113.25,1.078,6,0.143,0.000,2501,1933,3300,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.80,136.7,907.0,0.0,199,5668,1.08,0.00,122.35,1.049,6,0.094,0.000,2853,1933,2742,0,0,0,0,0,0
$GC,5899,0.80,136.7,853.4,18.5,208,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1933,2733,0,0,0,0,0,0
$GC,6143,0.80,136.7,806.5,19.5,214,6147,0.00,2.30,0.00,0.000,4,0.000,0.051,2854,3340,2730,0,0,0,0,0,0
$GC,6193,0.80,136.7,796.0,20.6,215,6197,0.00,2.20,0.00,0.000,6,0.000,0.030,2864,1921,2731,0,0,0,0,0,0
$GC,6471,0.80,136.7,741.5,19.7,222,6475,0.00,2.12,0.00,0.000,4,0.000,0.041,2875,531,2728,0,0,0,0,0,0
$GC,6503,0.80,136.7,734.7,20.4,222,6509,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1932,2728,0,0,0,0,0,0
$GC,6755,0.80,136.7,685.1,20.3,229,6759,0.00,2.25,0.00,0.000,4,0.000,0.052,2868,3331,2726,0,0,0,0,0,0
$GC,6800,0.80,136.7,675.3,21.4,230,6804,0.00,2.17,0.00,0.000,6,0.000,0.032,2877,1920,2729,0,0,0,0,0,0
$GC,7089,0.80,136.7,617.0,19.9,237,7093,0.00,2.28,0.00,0.000,4,0.000,0.051,2875,3340,2724,0,0,0,0,0,0
$GC,7111,0.80,136.7,612.4,20.8,237,7116,0.12,2.17,0.00,0.000,6,0.205,0.031,2856,1928,2726,0,0,0,0,0,0
$GC,7367,0.80,136.7,569.3,16.2,244,7370,0.00,2.15,0.00,0.000,4,0.000,0.042,2865,533,2725,0,0,0,0,0,0
$GC,7383,0.80,136.7,566.6,15.4,244,7387,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1930,2723,0,0,0,0,0,0
$GC,7651,0.80,136.7,528.4,14.3,251,7655,0.00,2.20,0.00,0.000,4,0.000,0.048,2845,3327,2723,0,0,0,0,0,0
$GC,7691,0.80,136.7,522.4,15.7,252,7695,0.00,2.17,0.00,0.000,6,0.000,0.033,2855,1924,2724,0,0,0,0,0,0
$GC,7974,0.80,136.7,483.5,13.5,259,7978,0.00,2.12,0.00,0.000,4,0.000,0.042,2866,527,2723,0,0,0,0,0,0
$GC,8060,0.80,136.7,469.9,16.3,261,8064,0.00,2.12,0.00,0.000,6,0.000,0.038,2863,1934,2721,0,0,0,0,0,0
$GC,8343,0.80,136.7,425.3,15.7,268,8348,0.00,2.25,0.00,0.000,4,0.000,0.051,2847,3341,2721,0,0,0,0,0,0
$GC,8410,0.80,136.7,413.0,18.7,269,8414,0.00,2.20,0.00,0.000,6,0.000,0.031,2856,1906,2721,0,0,0,0,0,0
$GC,8673,0.80,136.7,369.0,16.6,276,8677,0.00,2.30,0.00,0.000,4,0.000,0.049,2847,3341,2720,0,0,0,0,0,0
$GC,8728,0.80,136.7,359.2,18.3,277,8732,0.00,2.20,0.00,0.000,6,0.000,0.030,2856,1926,2721,0,0,0,0,0,0
$GC,9000,0.80,136.7,318.3,14.3,284,9004,0.00,2.12,0.00,0.000,4,0.000,0.043,2867,522,2720,0,0,0,0,0,0
$GC,9068,0.80,136.7,310.1,12.6,285,9072,0.00,2.12,0.00,0.000,6,0.000,0.035,2859,1937,2718,0,0,0,0,0,0
$GC,9326,0.80,136.7,281.9,11.8,296,9330,0.00,2.22,0.00,0.000,4,0.000,0.051,2859,3336,2720,0,0,0,0,0,0
$GC,9438,0.80,136.7,266.7,12.2,301,9443,0.00,2.17,0.00,0.000,6,0.000,0.031,2868,1920,2719,0,0,0,0,0,0
$GC,9701,0.80,136.7,235.1,11.5,314,9704,0.00,2.12,0.00,0.000,4,0.000,0.041,2879,520,2718,0,0,0,0,0,0
$GC,9767,0.80,136.7,226.7,13.1,317,9771,0.00,2.12,0.00,0.000,6,0.000,0.035,2879,1931,2717,0,0,0,0,0,0
$GC,10026,0.80,136.7,196.7,10.9,330,10030,0.00,2.22,0.00,0.000,4,0.000,0.048,2879,3342,2717,0,0,0,0,0,0
$GC,10279,0.80,136.7,169.0,10.2,352,10287,0.10,2.17,0.00,0.000,6,0.176,0.028,2860,1934,2718,0,0,0,0,0,0
$GC,10544,0.85,184.6,152.6,6.5,377,10591,0.00,2.30,36.53,0.563,4,0.000,0.048,2865,3339,2547,0,0,0,0,0,0
$GC,10675,0.85,184.6,139.8,11.9,388,10679,0.00,2.17,0.00,0.000,6,0.000,0.030,2868,1919,2546,0,0,0,0,0,0
$GC,10945,0.91,232.0,115.4,6.6,413,10993,0.00,2.17,39.33,0.525,4,0.000,0.042,2879,539,2353,0,0,0,0,0,0
$GC,11067,0.91,232.0,106.1,9.4,423,11076,0.00,2.15,0.00,0.000,6,0.000,0.034,2879,1929,2350,0,0,0,0,0,0
$GC,11331,0.91,232.0,77.3,12.0,448,11335,0.00,2.25,0.00,0.000,4,0.000,0.047,2878,3340,2350,0,0,0,0,0,0
$GC,11365,0.91,232.0,72.8,13.9,450,11372,0.00,2.20,0.00,0.000,6,0.000,0.030,2890,1932,2350,0,0,0,0,0,0
$GC,11629,0.91,232.0,39.0,13.3,475,11633,0.00,2.20,0.00,0.000,4,0.000,0.046,2890,3334,2350,0,0,0,0,0,0
$GC,11661,0.91,232.0,34.0,13.8,477,11669,0.00,2.17,0.00,0.000,6,0.000,0.031,2901,1934,2351,0,0,0,0,0,0
$STATE,11898,end climb,SURFACE_DEPTH_REACHED
$STATE,11898,begin surface coast
$FINISH,0.4,1.022791
$STATE,11921,end surface coast,CONTROL_FINISHED_OK
$STATE,11921,begin surface
$SM_CCo,11941,34.03,0.423,0,0,2073,300.73
$SM_GC,1.55,0.00,0.00,34.03,0.000,0.000,0.423,51,2012,2073,-7.96,0.14,300.73
$IRIDIUM_FIX,1853.26,-15655.27,160213,050554
$TT8_MAMPS,0.293761
$HUMID,1078890958
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258589696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,29750558720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,45.860
$10V_AH,10.0,41.678
$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,19.525,126.900,311.450,34.025,0.000,24.207,37.019,303.137,22.500,0.000,14.648,1147.554,8440.444,433.118,2152.722,389.912,33.353,1187.909,0.000,1777.343,0.000,0.542,0.000
$DEVICE_MAMPS,240.838,108.147,1078.402,423.384,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,356.147,0.000,866.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26960,522
$CAP_FILE_SIZE,115613,0
$CFSIZE,260165632,181862400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,216.8,1
$GPS,240811,175349,1900.665,-15634.868,45,1.3,62,9.6