version: 66.07
glider: 513
mission: 7
dive: 419
start: 9 8 111 1 7 5
data:
$ID,513
$MISSION,7
$DIVE,419
$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,-431646.25
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,52
$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,418
$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
$GPS1,080911,005107,1911.647,-15635.671,50,1.6,50,9.6
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,6
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.3
$GPS2,080911,010606,1911.457,-15635.544,12,1.7,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.054,0.233
$KALMAN_X,-118590.7,-1483.1,-556.5,152321.5,5471.1
$KALMAN_Y,-426256.9,667.6,720.0,335512.1,-12080.8
$MHEAD_RNG_PITCHd_Wd,344.6,122976,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-50.92,0.000,2,0.000,0.000,44,2124,3525,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.1,-4.7,8,107,9.98,2.17,-6.12,0.000,4,0.244,0.051,2336,704,3861,0,0,0,0,0,0
$GC,292,-0.80,-136.7,73.5,-28.2,32,296,0.00,2.12,0.00,0.000,6,0.000,0.041,2329,2084,3864,0,0,0,0,0,0
$GC,558,-0.80,-136.7,150.3,-23.0,56,562,0.00,2.12,0.00,0.000,4,0.000,0.041,2328,701,3866,0,0,0,0,0,0
$GC,590,-0.80,-136.7,159.2,-23.8,58,599,0.00,2.17,0.00,0.000,6,0.000,0.039,2318,2106,3865,0,0,0,0,0,0
$GC,859,-0.80,-136.7,218.7,-21.1,80,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2107,3867,0,0,0,0,0,0
$GC,1108,-0.80,-136.7,262.2,-16.5,92,1112,0.00,2.17,0.00,0.000,4,0.000,0.048,2307,3518,3868,0,0,0,0,0,0
$GC,1158,-0.80,-136.7,271.3,-17.3,94,1163,0.12,2.10,0.00,0.000,6,0.161,0.031,2338,2103,3868,0,0,0,0,0,0
$GC,1411,-0.80,-136.7,308.7,-14.2,105,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2097,3869,0,0,0,0,0,0
$GC,1657,-0.80,-136.7,342.6,-13.7,111,1661,0.00,2.10,0.00,0.000,4,0.000,0.041,2339,700,3869,0,0,0,0,0,0
$GC,1696,-0.80,-136.7,348.3,-12.9,112,1700,0.00,2.15,0.00,0.000,6,0.000,0.041,2329,2108,3869,0,0,0,0,0,0
$GC,1980,-0.80,-136.7,387.7,-14.2,119,1984,0.00,2.20,0.00,0.000,4,0.000,0.048,2319,3515,3868,0,0,0,0,0,0
$GC,2111,-0.80,-136.7,408.0,-14.7,122,2115,0.00,2.10,0.00,0.000,6,0.000,0.030,2320,2097,3867,0,0,0,0,0,0
$GC,2395,-0.80,-136.7,452.3,-15.4,129,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2091,3864,0,0,0,0,0,0
$GC,2639,-0.80,-136.7,487.9,-14.3,135,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2091,3863,0,0,0,0,0,0
$GC,2883,-0.80,-136.7,518.8,-12.2,141,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2091,3860,0,0,0,0,0,0
$GC,3126,-0.80,-136.7,549.9,-13.0,147,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2091,3858,0,0,0,0,0,0
$GC,3370,-0.80,-136.7,583.2,-13.8,153,3373,0.00,2.10,0.00,0.000,4,0.000,0.040,2319,704,3855,0,0,0,0,0,0
$GC,3425,-0.80,-136.7,591.4,-14.4,154,3430,0.12,2.15,0.00,0.000,6,0.171,0.039,2340,2104,3855,0,0,0,0,0,0
$GC,3698,-0.80,-136.7,626.6,-13.2,161,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2104,3852,0,0,0,0,0,0
$GC,3941,-0.80,-136.7,658.3,-12.8,167,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2104,3850,0,0,0,0,0,0
$GC,4184,-0.80,-136.7,688.8,-12.4,173,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2105,3847,0,0,0,0,0,0
$GC,4430,-0.80,-136.7,717.8,-12.0,179,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2103,3845,0,0,0,0,0,0
$GC,4672,-0.80,-136.7,746.3,-11.6,185,4676,0.00,2.22,0.00,0.000,4,0.000,0.054,2332,3514,3843,0,0,0,0,0,0
$GC,4715,-0.80,-136.7,751.4,-11.3,186,4719,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,2116,3842,0,0,0,0,0,0
$GC,4999,-0.80,-136.7,784.1,-11.5,193,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2111,3840,0,0,0,0,0,0
$GC,5244,-0.80,-136.7,812.7,-11.7,199,5248,0.00,2.17,0.00,0.000,4,0.000,0.041,2331,687,3838,0,0,0,0,0,0
$GC,5272,-0.80,-136.7,816.1,-11.6,199,5276,0.00,2.20,0.00,0.000,6,0.000,0.042,2321,2106,3835,0,0,0,0,0,0
$GC,5527,-0.80,-136.7,846.7,-12.1,206,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3836,0,0,0,0,0,0
$GC,5770,-0.80,-136.7,876.6,-12.2,212,5774,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3505,3834,0,0,0,0,0,0
$GC,5810,-0.80,-136.7,881.6,-13.1,212,5817,0.10,2.12,0.00,0.000,6,0.172,0.029,2334,2094,3833,0,0,0,0,0,0
$STATE,5977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5983,-0.28,0.0,901.0,11.4,217,6099,0.55,0.00,111.95,1.075,6,0.140,0.000,2500,1919,3300,0,0,0,0,0,0
$STATE,6101,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6105,0.80,136.7,905.1,0.0,220,6235,1.05,2.50,120.18,1.042,4,0.091,0.050,2843,3351,2741,0,0,0,0,0,0
$GC,6246,0.80,136.7,891.4,16.4,223,6250,0.00,2.17,0.00,0.000,6,0.000,0.028,2851,1988,2741,0,0,0,0,0,0
$GC,6509,0.80,136.7,843.5,18.7,230,6513,0.00,2.22,0.00,0.000,4,0.000,0.041,2863,555,2734,0,0,0,0,0,0
$GC,6547,0.80,136.7,835.5,19.3,230,6554,0.00,2.17,0.00,0.000,6,0.000,0.037,2861,1961,2730,0,0,0,0,0,0
$GC,6797,0.80,136.7,787.6,18.9,237,6801,0.00,2.25,0.00,0.000,4,0.000,0.057,2860,3362,2731,0,0,0,0,0,0
$GC,6830,0.80,136.7,780.9,20.0,237,6836,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1954,2731,0,0,0,0,0,0
$GC,7081,0.80,136.7,732.4,19.3,244,7085,0.00,2.30,0.00,0.000,4,0.000,0.051,2867,3377,2727,0,0,0,0,0,0
$GC,7126,0.80,136.7,723.2,20.4,245,7130,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1958,2730,0,0,0,0,0,0
$GC,7409,0.80,136.7,669.2,19.3,252,7413,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,557,2728,0,0,0,0,0,0
$GC,7455,0.80,136.7,660.7,19.3,253,7459,0.12,2.15,0.00,0.000,6,0.200,0.034,2859,1963,2726,0,0,0,0,0,0
$GC,7732,0.80,136.7,610.9,17.7,260,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1968,2726,0,0,0,0,0,0
$GC,7976,0.80,136.7,569.1,17.0,266,7980,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,564,2725,0,0,0,0,0,0
$GC,8004,0.80,136.7,564.0,19.1,266,8008,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1964,2723,0,0,0,0,0,0
$GC,8260,0.80,136.7,518.4,17.8,273,8264,0.00,2.22,0.00,0.000,4,0.000,0.050,2869,3359,2723,0,0,0,0,0,0
$GC,8326,0.80,136.7,505.9,18.7,274,8330,0.00,2.15,0.00,0.000,6,0.000,0.028,2879,1958,2723,0,0,0,0,0,0
$GC,8589,0.80,136.7,461.4,17.1,281,8593,0.00,2.15,0.00,0.000,4,0.000,0.038,2890,555,2723,0,0,0,0,0,0
$GC,8610,0.80,136.7,457.0,18.6,281,8615,0.15,2.12,0.00,0.000,6,0.196,0.033,2855,1968,2722,0,0,0,0,0,0
$GC,8865,0.80,136.7,418.1,15.1,288,8869,0.00,2.25,0.00,0.000,4,0.000,0.052,2854,3369,2722,0,0,0,0,0,0
$GC,8949,0.80,136.7,405.5,14.7,289,8955,0.00,2.17,0.00,0.000,6,0.000,0.031,2864,1947,2722,0,0,0,0,0,0
$GC,9200,0.80,136.7,373.9,12.1,296,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1942,2722,0,0,0,0,0,0
$GC,9442,0.80,136.7,344.6,11.9,302,9447,0.00,2.28,0.00,0.000,4,0.000,0.049,2864,3368,2723,0,0,0,0,0,0
$GC,9520,0.80,136.7,334.1,14.4,303,9526,0.00,2.12,0.00,0.000,6,0.000,0.030,2874,1953,2722,0,0,0,0,0,0
$GC,9772,0.80,136.7,300.0,13.6,310,9776,0.00,2.25,0.00,0.000,4,0.000,0.049,2874,3367,2721,0,0,0,0,0,0
$GC,9861,0.80,136.7,284.9,17.5,313,9866,0.12,2.12,0.00,0.000,6,0.196,0.029,2855,1949,2721,0,0,0,0,0,0
$GC,10121,0.80,136.7,251.9,11.8,326,10125,0.00,2.08,0.00,0.000,4,0.000,0.037,2865,565,2721,0,0,0,0,0,0
$GC,10193,0.80,136.7,243.4,11.4,329,10197,0.00,2.10,0.00,0.000,6,0.000,0.032,2863,1967,2720,0,0,0,0,0,0
$GC,10458,0.80,136.7,216.0,9.4,342,10462,0.00,2.22,0.00,0.000,4,0.000,0.050,2860,3363,2720,0,0,0,0,0,0
$GC,10587,0.80,136.7,201.0,12.2,347,10593,0.00,2.12,0.00,0.000,6,0.000,0.028,2869,1963,2720,0,0,0,0,0,0
$GC,10852,0.81,152.0,176.9,7.9,371,10864,0.00,0.00,10.00,0.525,6,0.000,0.000,2870,1959,2682,0,0,0,0,0,0
$GC,11127,0.83,162.9,153.7,8.1,396,11142,0.00,2.12,11.35,0.515,4,0.000,0.037,2880,558,2636,0,0,0,0,0,0
$GC,11382,0.86,186.9,130.1,7.6,419,11408,0.00,2.12,21.30,0.518,6,0.000,0.031,2880,1966,2539,0,0,0,0,0,0
$GC,11672,0.86,186.9,103.9,10.0,446,11676,0.00,2.12,0.00,0.000,4,0.000,0.037,2891,561,2536,0,0,0,0,0,0
$GC,11694,0.86,186.9,101.5,9.2,447,11702,0.00,2.12,0.00,0.000,6,0.000,0.030,2890,1949,2535,0,0,0,0,0,0
$GC,11960,0.88,205.3,78.8,7.8,472,11984,0.00,2.15,16.65,0.463,4,0.000,0.036,2901,565,2460,0,0,0,0,0,0
$GC,12160,0.88,205.3,57.3,10.7,490,12164,0.00,2.12,0.00,0.000,6,0.000,0.030,2901,1968,2462,0,0,0,0,0,0
$GC,12425,0.88,205.3,30.5,9.2,514,12429,0.00,2.20,0.00,0.000,4,0.000,0.047,2901,3369,2461,0,0,0,0,0,0
$GC,12561,0.88,205.3,16.0,10.4,537,12569,0.08,2.15,0.00,0.000,6,0.171,0.029,2889,1963,2464,0,0,0,0,0,0
$STATE,12706,end climb,SURFACE_DEPTH_REACHED
$STATE,12706,begin surface coast
$FINISH,0.4,1.011119
$STATE,12741,end surface coast,CONTROL_FINISHED_OK
$STATE,12741,begin surface
$SM_CCo,12762,50.15,0.416,0,0,2076,300.24
$SM_GC,2.21,0.00,0.00,50.15,0.000,0.000,0.416,55,2128,2076,-7.95,0.79,300.24
$IRIDIUM_FIX,1906.95,-15625.90,020313,191927
$TT8_MAMPS,0.14573
$HUMID,1078839345
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.70
$XPDR_PINGS,93
$AR_DIVENUM,419
$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,23.6,57.178
$10V_AH,9.8,51.627
$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,19.925,113.050,291.425,50.150,0.000,56.143,73.291,454.209,23.250,0.000,31.209,1212.163,9180.972,409.338,2454.610,469.140,33.356,1182.267,0.000,1876.735,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,65.962,1074.567,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,389.141,0.000,978.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,30218,570
$CAP_FILE_SIZE,121875,0
$CFSIZE,260165632,175181824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,163.4,1
$GPS,080911,044225,1911.777,-15635.295,41,1.4,41,9.6