version: 66.07
glider: 513
mission: 7
dive: 431
start: 9 10 111 0 44 48
data:
$ID,513
$MISSION,7
$DIVE,431
$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,-431932
$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,51
$R_STBD_OVSHOOT,42
$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,430
$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
$GPS1,100911,002837,1911.590,-15634.054,34,1.0,34,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.0
$GPS2,100911,004350,1911.422,-15633.998,12,1.3,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.033,0.237
$KALMAN_X,-121420.6,1148.0,113.4,154482.1,-1664.7
$KALMAN_Y,-474455.7,1293.9,738.0,382988.4,-13381.1
$MHEAD_RNG_PITCHd_Wd,355.6,122286,-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,-136.7,0.0,0.0,0,141,0.00,0.00,-110.70,0.000,2,0.000,0.000,38,2160,3685,0,0,0,0,0,0
$GC,146,-0.80,-136.7,3.7,-6.2,17,167,9.95,2.17,-2.85,0.000,4,0.246,0.068,2321,3511,3861,0,0,0,0,0,0
$GC,406,-0.80,-136.7,89.5,-28.5,45,410,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,2103,3862,0,0,0,0,0,0
$GC,673,-0.80,-136.7,160.0,-23.0,69,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2097,3863,0,0,0,0,0,0
$GC,941,-0.80,-136.7,222.6,-21.2,90,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2097,3864,0,0,0,0,0,0
$GC,1190,-0.80,-136.7,270.8,-17.6,102,1194,0.00,2.12,0.00,0.000,4,0.000,0.041,2321,688,3870,0,0,0,0,0,0
$GC,1217,-0.80,-136.7,275.9,-16.9,103,1222,0.10,2.15,0.00,0.000,6,0.184,0.044,2334,2086,3864,0,0,0,0,0,0
$GC,1490,-0.80,-136.7,320.2,-16.3,113,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2085,3864,0,0,0,0,0,0
$GC,1733,-0.80,-136.7,358.2,-15.2,119,1737,0.00,2.10,0.00,0.000,4,0.000,0.039,2334,699,3864,0,0,0,0,0,0
$GC,1767,-0.80,-136.7,363.4,-15.0,119,1773,0.00,2.17,0.00,0.000,6,0.000,0.047,2331,2099,3864,0,0,0,0,0,0
$GC,2019,-0.80,-136.7,399.9,-14.6,126,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2099,3862,0,0,0,0,0,0
$GC,2261,-0.80,-136.7,434.9,-14.5,132,2265,0.00,2.20,0.00,0.000,4,0.000,0.053,2314,3515,3861,0,0,0,0,0,0
$GC,2334,-0.80,-136.7,445.3,-13.8,133,2338,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2093,3860,0,0,0,0,0,0
$GC,2584,-0.80,-136.7,480.6,-13.9,139,2588,0.00,2.08,0.00,0.000,4,0.000,0.040,2314,700,3857,0,0,0,0,0,0
$GC,2623,-0.80,-136.7,486.0,-14.4,140,2628,0.12,2.12,0.00,0.000,6,0.173,0.041,2336,2109,3856,0,0,0,0,0,0
$GC,2907,-0.80,-136.7,519.3,-11.3,147,2911,0.00,2.17,0.00,0.000,4,0.000,0.050,2327,3505,3853,0,0,0,0,0,0
$GC,2952,-0.80,-136.7,524.7,-11.1,148,2955,0.00,2.10,0.00,0.000,6,0.000,0.029,2327,2096,3853,0,0,0,0,0,0
$GC,3235,-0.80,-136.7,556.8,-11.5,155,3239,0.00,2.08,0.00,0.000,4,0.000,0.041,2327,701,3849,0,0,0,0,0,0
$GC,3264,-0.80,-136.7,560.3,-12.2,155,3268,0.00,2.12,0.00,0.000,6,0.000,0.041,2317,2103,3849,0,0,0,0,0,0
$GC,3514,-0.80,-136.7,590.4,-12.1,161,3518,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3514,3846,0,0,0,0,0,0
$GC,3530,-0.80,-136.7,592.7,-12.5,161,3535,0.12,2.12,0.00,0.000,6,0.165,0.032,2337,2103,3845,0,0,0,0,0,0
$GC,3802,-0.80,-136.7,622.8,-11.2,168,3806,0.00,2.10,0.00,0.000,4,0.000,0.039,2340,693,3842,0,0,0,0,0,0
$GC,3836,-0.80,-136.7,626.8,-11.4,168,3842,0.00,2.15,0.00,0.000,6,0.000,0.041,2329,2109,3842,0,0,0,0,0,0
$GC,4086,-0.80,-136.7,658.4,-12.7,175,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2109,3840,0,0,0,0,0,0
$GC,4330,-0.80,-136.7,690.0,-13.0,181,4334,0.00,2.20,0.00,0.000,4,0.000,0.051,2318,3510,3837,0,0,0,0,0,0
$GC,4358,-0.80,-136.7,693.9,-13.7,181,4363,0.00,2.12,0.00,0.000,6,0.000,0.030,2318,2102,3836,0,0,0,0,0,0
$GC,4614,-0.80,-136.7,729.0,-13.8,188,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2096,3834,0,0,0,0,0,0
$GC,4857,-0.80,-136.7,761.1,-13.0,194,4861,0.00,2.25,0.00,0.000,4,0.000,0.051,2307,3512,3831,0,0,0,0,0,0
$GC,4903,-0.80,-136.7,767.0,-12.6,195,4907,0.12,2.15,0.00,0.000,6,0.164,0.031,2339,2101,3830,0,0,0,0,0,0
$GC,5193,-0.80,-136.7,796.9,-10.0,202,5196,0.00,2.12,0.00,0.000,4,0.000,0.040,2339,685,3828,0,0,0,0,0,0
$GC,5270,-0.80,-136.7,805.0,-9.4,203,5276,0.00,2.17,0.00,0.000,6,0.000,0.044,2331,2092,3828,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,831.1,-10.5,210,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2091,3826,0,0,0,0,0,0
$GC,5765,-0.80,-136.7,856.8,-10.5,216,5769,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3516,3824,0,0,0,0,0,0
$GC,5793,-0.80,-136.7,860.1,-10.8,216,5797,0.00,2.17,0.00,0.000,6,0.000,0.030,2320,2100,3824,0,0,0,0,0,0
$GC,6048,-0.80,-136.7,887.6,-10.8,223,6052,0.00,2.15,0.00,0.000,4,0.000,0.042,2320,684,3822,0,0,0,0,0,0
$GC,6083,-0.80,-136.7,891.6,-11.9,223,6087,0.10,2.17,0.00,0.000,6,0.189,0.042,2334,2108,3822,0,0,0,0,0,0
$STATE,6168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6168,begin apogee
$GC,6174,-0.28,0.0,900.5,10.2,225,6290,0.55,0.00,110.82,1.064,6,0.142,0.000,2494,1916,3299,0,0,0,0,0,0
$STATE,6292,end apogee,CONTROL_FINISHED_OK
$STATE,6292,begin climb
$GC,6295,0.80,136.7,903.8,0.0,228,6424,1.02,0.00,121.15,1.035,6,0.094,0.000,2843,1914,2742,0,0,0,0,0,0
$GC,6661,0.80,136.7,849.5,18.0,237,6665,0.00,2.38,0.00,0.000,4,0.000,0.053,2843,3361,2734,0,0,0,0,0,0
$GC,6677,0.80,136.7,846.2,18.0,237,6681,0.00,2.15,0.00,0.000,6,0.000,0.030,2853,1972,2732,0,0,0,0,0,0
$GC,6946,0.80,136.7,797.1,18.4,244,6950,0.00,2.15,0.00,0.000,4,0.000,0.040,2865,558,2732,0,0,0,0,0,0
$GC,6967,0.80,136.7,792.4,18.4,244,6971,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1960,2728,0,0,0,0,0,0
$GC,7229,0.80,136.7,741.9,19.3,251,7232,0.00,2.25,0.00,0.000,4,0.000,0.053,2865,3360,2728,0,0,0,0,0,0
$GC,7263,0.80,136.7,735.2,19.5,251,7267,0.00,2.12,0.00,0.000,6,0.000,0.029,2875,1957,2727,0,0,0,0,0,0
$GC,7513,0.80,136.7,686.3,19.5,257,7517,0.00,2.25,0.00,0.000,4,0.000,0.048,2873,3361,2724,0,0,0,0,0,0
$GC,7540,0.80,136.7,680.6,20.7,257,7544,0.00,2.17,0.00,0.000,6,0.000,0.029,2882,1958,2726,0,0,0,0,0,0
$GC,7795,0.80,136.7,631.1,19.2,264,7799,0.00,2.10,0.00,0.000,4,0.000,0.038,2893,558,2725,0,0,0,0,0,0
$GC,7812,0.80,136.7,627.9,18.9,264,7817,0.15,2.12,0.00,0.000,6,0.194,0.033,2854,1970,2721,0,0,0,0,0,0
$GC,8073,0.80,136.7,584.1,16.3,271,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1970,2723,0,0,0,0,0,0
$GC,8317,0.80,136.7,544.9,16.0,277,8321,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3362,2723,0,0,0,0,0,0
$GC,8351,0.80,136.7,539.2,17.9,277,8356,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1956,2723,0,0,0,0,0,0
$GC,8600,0.80,136.7,499.2,15.7,284,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1953,2721,0,0,0,0,0,0
$GC,8844,0.80,136.7,460.5,16.0,290,8848,0.00,2.10,0.00,0.000,4,0.000,0.037,2877,558,2721,0,0,0,0,0,0
$GC,8860,0.80,136.7,457.9,15.8,290,8863,0.00,2.10,0.00,0.000,6,0.000,0.033,2877,1958,2720,0,0,0,0,0,0
$GC,9128,0.80,136.7,414.4,16.2,297,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1955,2721,0,0,0,0,0,0
$GC,9370,0.80,136.7,375.2,16.1,303,9374,0.00,2.25,0.00,0.000,4,0.000,0.051,2877,3364,2720,0,0,0,0,0,0
$GC,9419,0.80,136.7,366.8,17.3,304,9424,0.12,2.12,0.00,0.000,6,0.201,0.030,2859,1954,2720,0,0,0,0,0,0
$GC,9692,0.80,136.7,329.7,13.3,311,9697,0.00,2.25,0.00,0.000,4,0.000,0.047,2848,3363,2717,0,0,0,0,0,0
$GC,9725,0.80,136.7,324.6,14.8,311,9731,0.00,2.12,0.00,0.000,6,0.000,0.029,2857,1956,2720,0,0,0,0,0,0
$GC,9975,0.80,136.7,295.6,11.2,318,9979,0.00,2.10,0.00,0.000,4,0.000,0.037,2869,557,2719,0,0,0,0,0,0
$GC,10049,0.80,136.7,286.4,12.1,321,10053,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1970,2717,0,0,0,0,0,0
$GC,10303,0.80,136.7,257.3,10.8,333,10307,0.00,2.22,0.00,0.000,4,0.000,0.048,2869,3363,2717,0,0,0,0,0,0
$GC,10388,0.80,136.7,246.6,11.4,337,10392,0.00,2.12,0.00,0.000,6,0.000,0.028,2875,1953,2718,0,0,0,0,0,0
$GC,10654,0.80,136.7,218.7,9.9,350,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1950,2718,0,0,0,0,0,0
$GC,10905,0.80,136.7,192.1,10.1,365,10909,0.00,2.22,0.00,0.000,4,0.000,0.046,2879,3368,2720,0,0,0,0,0,0
$GC,11156,0.80,136.7,168.0,9.7,387,11160,0.12,2.12,0.00,0.000,6,0.187,0.027,2858,1959,2718,0,0,0,0,0,0
$GC,11419,0.87,199.8,147.7,5.9,411,11472,0.00,2.12,48.85,0.545,4,0.000,0.036,2868,563,2485,0,0,0,0,0,0
$GC,11521,0.87,199.8,140.7,8.6,420,11525,0.00,2.10,0.00,0.000,6,0.000,0.030,2868,1963,2482,0,0,0,0,0,0
$GC,11785,0.87,199.8,115.5,10.0,444,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1965,2480,0,0,0,0,0,0
$GC,12051,0.90,223.1,93.1,7.6,469,12079,0.00,0.00,19.88,0.472,6,0.000,0.000,2868,1963,2391,0,0,0,0,0,0
$GC,12337,0.90,223.1,65.6,10.8,496,12341,0.00,2.22,0.00,0.000,4,0.000,0.046,2867,3363,2390,0,0,0,0,0,0
$GC,12404,0.90,223.1,57.4,11.3,501,12413,0.00,2.17,0.00,0.000,6,0.000,0.029,2878,1955,2390,0,0,0,0,0,0
$GC,12670,0.91,227.0,31.6,8.4,526,12683,0.00,2.12,5.12,0.335,4,0.000,0.036,2886,565,2375,0,0,0,0,0,0
$GC,12778,0.91,227.0,20.9,9.9,543,12785,0.00,2.10,0.00,0.000,6,0.000,0.028,2889,1955,2374,0,0,0,0,0,0
$STATE,12951,end climb,SURFACE_DEPTH_REACHED
$STATE,12951,begin surface coast
$FINISH,0.4,1.022423
$STATE,12979,end surface coast,CONTROL_FINISHED_OK
$STATE,12979,begin surface
$SM_CCo,13010,35.33,0.404,0,0,2074,300.24
$SM_GC,1.59,0.00,0.00,35.33,0.000,0.000,0.404,51,2111,2074,-7.95,0.31,300.24
$IRIDIUM_FIX,1906.95,-15634.00,040313,151518
$TT8_MAMPS,0.28379
$HUMID,1078875474
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.00
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255181824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,14050197504
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,58.958
$10V_AH,9.8,53.521
$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,20.050,125.550,305.825,35.325,0.000,28.331,41.460,606.536,25.000,0.000,14.720,1216.525,9317.608,438.493,2464.117,529.373,33.364,1256.350,0.000,1866.515,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,71.331,1063.829,404.209,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.622,0.000,1008.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,30272,580
$CAP_FILE_SIZE,125700,0
$CFSIZE,260165632,174280704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,174.6,1
$GPS,100911,042425,1911.915,-15633.756,71,1.1,71,9.6