version: 66.07
glider: 513
mission: 7
dive: 439
start: 9 11 111 8 47 9
data:
$ID,513
$MISSION,7
$DIVE,439
$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,712.8302
$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,-432095.66
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,74
$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,438
$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
$GPS1,110911,083137,1912.755,-15632.053,71,1.1,71,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.3
$GPS2,110911,084613,1912.566,-15631.958,13,1.1,24,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.155,0.182
$KALMAN_X,-112629.0,333.5,315.4,149856.0,1041.3
$KALMAN_Y,-502939.6,1388.3,812.6,413420.3,-12480.3
$MHEAD_RNG_PITCHd_Wd,356.6,119323,-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,-136.7,0.0,0.0,0,82,0.00,0.00,-51.38,0.000,2,0.000,0.000,37,2134,3548,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.3,-5.0,8,109,9.88,2.12,-5.35,0.000,4,0.243,0.064,2318,3479,3859,0,0,0,0,0,0
$GC,239,-0.80,-136.7,55.3,-28.5,27,243,0.00,2.08,0.00,0.000,6,0.000,0.035,2318,2119,3863,0,0,0,0,0,0
$GC,502,-0.80,-136.7,138.2,-28.7,51,506,0.00,2.17,0.00,0.000,4,0.000,0.042,2318,695,3863,0,0,0,0,0,0
$GC,600,-0.80,-136.7,163.6,-21.4,59,605,0.12,2.10,0.00,0.000,6,0.183,0.043,2337,2060,3864,0,0,0,0,0,0
$GC,869,-0.80,-136.7,220.9,-20.1,79,873,0.00,2.28,0.00,0.000,4,0.000,0.051,2328,3525,3866,0,0,0,0,0,0
$GC,909,-0.80,-136.7,228.4,-18.5,80,915,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,2093,3866,0,0,0,0,0,0
$GC,1163,-0.80,-136.7,270.5,-15.6,93,1167,0.00,2.08,0.00,0.000,4,0.000,0.039,2328,699,3868,0,0,0,0,0,0
$GC,1192,-0.80,-136.7,275.2,-16.2,94,1196,0.00,2.17,0.00,0.000,6,0.000,0.043,2318,2105,3869,0,0,0,0,0,0
$GC,1445,-0.80,-136.7,316.3,-16.7,104,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3868,0,0,0,0,0,0
$GC,1687,-0.80,-136.7,356.7,-16.4,110,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3868,0,0,0,0,0,0
$GC,1931,-0.80,-136.7,397.3,-16.4,116,1935,0.00,2.20,0.00,0.000,4,0.000,0.051,2307,3516,3868,0,0,0,0,0,0
$GC,1992,-0.80,-136.7,408.5,-18.0,117,1996,0.12,2.12,0.00,0.000,6,0.160,0.031,2339,2093,3867,0,0,0,0,0,0
$GC,2259,-0.80,-136.7,449.6,-15.0,124,2263,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,701,3863,0,0,0,0,0,0
$GC,2315,-0.80,-136.7,457.9,-13.9,125,2319,0.00,2.12,0.00,0.000,6,0.000,0.041,2331,2106,3865,0,0,0,0,0,0
$GC,2593,-0.80,-136.7,498.1,-14.4,132,2597,0.00,2.20,0.00,0.000,4,0.000,0.051,2317,3509,3862,0,0,0,0,0,0
$GC,2661,-0.80,-136.7,507.1,-12.9,133,2665,0.00,2.10,0.00,0.000,6,0.000,0.031,2320,2106,3861,0,0,0,0,0,0
$GC,2916,-0.80,-136.7,539.9,-12.8,140,2920,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,697,3859,0,0,0,0,0,0
$GC,2982,-0.80,-136.7,548.6,-12.0,141,2987,0.10,2.12,0.00,0.000,6,0.180,0.039,2334,2102,3858,0,0,0,0,0,0
$GC,3238,-0.80,-136.7,577.4,-11.2,148,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3855,0,0,0,0,0,0
$GC,3481,-0.80,-136.7,604.2,-10.9,154,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2103,3854,0,0,0,0,0,0
$GC,3724,-0.80,-136.7,630.6,-10.9,160,3728,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3508,3851,0,0,0,0,0,0
$GC,3753,-0.80,-136.7,634.0,-12.9,160,3757,0.00,2.12,0.00,0.000,6,0.000,0.030,2323,2089,3850,0,0,0,0,0,0
$GC,4009,-0.80,-136.7,662.5,-11.2,167,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2083,3847,0,0,0,0,0,0
$GC,4252,-0.80,-136.7,690.7,-11.6,173,4256,0.00,2.10,0.00,0.000,4,0.000,0.042,2325,701,3845,0,0,0,0,0,0
$GC,4307,-0.80,-136.7,697.8,-11.9,174,4311,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2104,3845,0,0,0,0,0,0
$GC,4581,-0.80,-136.7,733.4,-13.2,181,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2103,3842,0,0,0,0,0,0
$GC,4824,-0.80,-136.7,766.6,-13.7,187,4828,0.00,2.22,0.00,0.000,4,0.000,0.052,2304,3506,3840,0,0,0,0,0,0
$GC,4873,-0.80,-136.7,773.9,-14.5,188,4878,0.12,2.10,0.00,0.000,6,0.164,0.029,2341,2105,3840,0,0,0,0,0,0
$GC,5147,-0.80,-136.7,806.4,-12.0,195,5151,0.00,2.15,0.00,0.000,4,0.000,0.043,2336,697,3838,0,0,0,0,0,0
$GC,5207,-0.80,-136.7,814.3,-12.5,196,5212,0.00,2.20,0.00,0.000,6,0.000,0.043,2328,2103,3837,0,0,0,0,0,0
$GC,5469,-0.80,-136.7,846.5,-12.4,203,5473,0.00,2.25,0.00,0.000,4,0.000,0.053,2317,3507,3835,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,853.0,-12.6,204,5524,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,2093,3832,0,0,0,0,0,0
$GC,5793,-0.80,-136.7,886.9,-12.5,211,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2088,3833,0,0,0,0,0,0
$STATE,5912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5912,begin apogee
$GC,5918,-0.28,0.0,901.3,11.8,214,6035,0.65,0.00,112.62,1.066,6,0.146,0.000,2507,1921,3303,0,0,0,0,0,0
$STATE,6037,end apogee,CONTROL_FINISHED_OK
$STATE,6037,begin climb
$GC,6041,0.80,136.7,904.9,0.0,217,6168,1.02,0.00,122.28,1.037,6,0.088,0.000,2850,1921,2742,0,0,0,0,0,0
$GC,6442,0.80,136.7,839.3,19.6,227,6446,0.00,2.33,0.00,0.000,4,0.000,0.052,2850,3358,2734,0,0,0,0,0,0
$GC,6470,0.80,136.7,833.5,21.5,227,6474,0.00,2.12,0.00,0.000,6,0.000,0.028,2860,1974,2734,0,0,0,0,0,0
$GC,6720,0.80,136.7,782.9,20.0,233,6723,0.00,2.17,0.00,0.000,4,0.000,0.038,2871,559,2731,0,0,0,0,0,0
$GC,6741,0.80,136.7,778.2,20.8,233,6745,0.00,2.17,0.00,0.000,6,0.000,0.037,2872,1960,2727,0,0,0,0,0,0
$GC,7008,0.80,136.7,725.0,19.8,240,7012,0.00,2.22,0.00,0.000,4,0.000,0.051,2871,3366,2727,0,0,0,0,0,0
$GC,7048,0.80,136.7,716.7,21.5,241,7052,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,1947,2727,0,0,0,0,0,0
$GC,7332,0.80,136.7,660.5,19.8,248,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1943,2725,0,0,0,0,0,0
$GC,7577,0.80,136.7,616.5,17.5,254,7581,0.00,2.12,0.00,0.000,4,0.000,0.038,2893,548,2725,0,0,0,0,0,0
$GC,7617,0.80,136.7,609.1,18.2,254,7624,0.15,2.17,0.00,0.000,6,0.195,0.033,2858,1970,2722,0,0,0,0,0,0
$GC,7867,0.80,136.7,570.3,15.2,261,7871,0.00,2.22,0.00,0.000,4,0.000,0.052,2857,3358,2722,0,0,0,0,0,0
$GC,7927,0.80,136.7,560.3,16.6,262,7931,0.00,2.15,0.00,0.000,6,0.000,0.029,2866,1950,2723,0,0,0,0,0,0
$GC,8195,0.80,136.7,518.6,15.6,269,8199,0.00,2.12,0.00,0.000,4,0.000,0.038,2878,562,2722,0,0,0,0,0,0
$GC,8262,0.80,136.7,507.3,17.0,270,8266,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1965,2720,0,0,0,0,0,0
$GC,8523,0.80,136.7,464.8,16.4,277,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1968,2720,0,0,0,0,0,0
$GC,8769,0.80,136.7,420.8,18.2,283,8773,0.00,2.20,0.00,0.000,4,0.000,0.051,2877,3360,2719,0,0,0,0,0,0
$GC,8795,0.80,136.7,415.3,19.3,283,8800,0.12,2.12,0.00,0.000,6,0.206,0.029,2858,1950,2720,0,0,0,0,0,0
$GC,9045,0.80,136.7,375.8,15.6,289,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1945,2720,0,0,0,0,0,0
$GC,9290,0.80,136.7,340.4,13.9,295,9294,0.00,2.28,0.00,0.000,4,0.000,0.048,2856,3367,2718,0,0,0,0,0,0
$GC,9331,0.80,136.7,334.5,14.9,296,9335,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1959,2720,0,0,0,0,0,0
$GC,9615,0.80,136.7,297.1,12.5,303,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1956,2719,0,0,0,0,0,0
$GC,9862,0.80,136.7,268.6,10.8,315,9866,0.00,2.22,0.00,0.000,4,0.000,0.049,2864,3363,2719,0,0,0,0,0,0
$GC,9931,0.80,136.7,260.6,12.2,318,9935,0.00,2.12,0.00,0.000,6,0.000,0.030,2878,1960,2719,0,0,0,0,0,0
$GC,10190,0.80,136.7,230.5,11.3,331,10194,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,560,2718,0,0,0,0,0,0
$GC,10332,0.80,136.7,216.3,8.9,337,10337,0.12,2.10,0.00,0.000,6,0.185,0.031,2858,1970,2716,0,0,0,0,0,0
$GC,10590,0.82,159.0,195.7,7.6,351,10614,0.00,2.25,15.77,0.566,4,0.000,0.050,2856,3356,2651,0,0,0,0,0,0
$GC,10711,0.82,159.0,184.5,10.8,361,10718,0.00,2.15,0.00,0.000,6,0.000,0.028,2865,1949,2651,0,0,0,0,0,0
$GC,10977,0.82,159.0,158.5,9.5,386,10981,0.00,2.22,0.00,0.000,4,0.000,0.045,2865,3370,2651,0,0,0,0,0,0
$GC,10987,0.82,159.0,157.1,8.7,386,10996,0.00,2.15,0.00,0.000,6,0.000,0.028,2875,1958,2651,0,0,0,0,0,0
$GC,11254,0.88,208.8,136.6,6.5,411,11303,0.00,2.20,42.30,0.529,4,0.000,0.038,2886,566,2448,0,0,0,0,0,0
$GC,11551,0.88,208.8,107.6,9.4,437,11559,0.00,2.15,0.00,0.000,6,0.000,0.031,2885,1958,2443,0,0,0,0,0,0
$GC,11818,0.88,208.8,85.4,8.7,462,11822,0.00,2.10,0.00,0.000,4,0.000,0.037,2896,568,2444,0,0,0,0,0,0
$GC,11860,0.88,208.8,81.3,9.3,465,11864,0.00,2.10,0.00,0.000,6,0.000,0.031,2896,1965,2441,0,0,0,0,0,0
$GC,12125,0.88,208.8,53.1,10.9,489,12129,0.00,2.20,0.00,0.000,4,0.000,0.046,2896,3364,2445,0,0,0,0,0,0
$GC,12201,0.88,208.8,43.3,13.7,495,12205,0.00,2.10,0.00,0.000,6,0.000,0.029,2906,1963,2447,0,0,0,0,0,0
$GC,12463,0.88,208.8,16.7,10.6,531,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1960,2447,0,0,0,0,0,0
$STATE,12596,end climb,SURFACE_DEPTH_REACHED
$STATE,12597,begin surface coast
$FINISH,0.3,1.022774
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12628,begin surface
$SM_CCo,12648,285.12,0.408,0,0,394,712.83
$SM_GC,1.14,0.00,0.00,285.12,0.000,0.000,0.408,41,2135,394,-7.94,0.96,712.83
$IRIDIUM_FIX,1904.66,-15631.91,060313,030354
$TT8_MAMPS,0.060593
$HUMID,1078711603
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,27.00
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6331793408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,12776374272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,60.083
$10V_AH,9.8,54.737
$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,20.125,121.275,292.975,285.125,0.000,132.869,257.949,0.000,25.750,0.000,27.495,1209.503,9261.171,659.154,2288.137,391.996,33.360,1428.574,0.000,1850.495,0.000,0.544,0.000
$DEVICE_MAMPS,243.139,66.729,1066.130,408.044,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,383.112,0.000,949.117,0.000,0.000,0.000,0.000,29831.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.193,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,26947,561
$CAP_FILE_SIZE,115610,0
$CFSIZE,260165632,173645824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,174.4,1
$GPS,110911,122406,1912.946,-15631.565,27,1.7,27,9.6