version: 66.07
glider: 513
mission: 7
dive: 456
start: 9 14 111 4 26 3
data:
$ID,513
$MISSION,7
$DIVE,456
$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,-432417.25
$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,47
$R_STBD_OVSHOOT,67
$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,455
$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
$GPS1,140911,035503,1923.408,-15624.610,47,1.7,48,9.6
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,140911,042507,1923.024,-15624.034,27,1.8,27,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024,0.238
$KALMAN_X,-89771.9,223.1,121.6,141088.9,5230.8
$KALMAN_Y,-547632.6,1128.3,528.3,478029.0,-8715.6
$MHEAD_RNG_PITCHd_Wd,338.5,97532,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-0.80,-136.7,0.0,0.0,0,85,0.00,0.00,-50.88,0.000,2,0.000,0.000,37,2151,3549,0,0,0,0,0,0
$GC,89,-0.80,-136.7,3.2,-3.9,8,112,9.90,2.22,-5.47,0.000,4,0.240,0.049,2334,700,3858,0,0,0,0,0,0
$GC,153,-0.80,-136.7,28.7,-36.3,18,161,0.00,2.15,0.00,0.000,6,0.000,0.044,2327,2058,3861,0,0,0,0,0,0
$GC,416,-0.80,-136.7,105.7,-26.2,43,420,0.00,2.05,0.00,0.000,4,0.000,0.041,2326,697,3863,0,0,0,0,0,0
$GC,427,-0.80,-136.7,109.2,-26.6,43,435,0.00,2.20,0.00,0.000,6,0.000,0.045,2316,2101,3863,0,0,0,0,0,0
$GC,692,-0.80,-136.7,171.2,-22.9,68,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2101,3864,0,0,0,0,0,0
$GC,950,-0.80,-136.7,229.1,-21.9,87,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2101,3864,0,0,0,0,0,0
$GC,1197,-0.80,-136.7,277.6,-18.9,99,1201,0.00,2.12,0.00,0.000,4,0.000,0.038,2316,704,3866,0,0,0,0,0,0
$GC,1236,-0.80,-136.7,285.1,-18.4,100,1243,0.12,2.15,0.00,0.000,6,0.176,0.045,2336,2103,3865,0,0,1,0,0,0
$GC,1508,-0.80,-136.7,324.9,-14.4,110,1512,0.00,2.20,0.00,0.000,4,0.000,0.054,2324,3510,3865,0,0,0,0,0,0
$GC,1540,-0.80,-136.7,329.8,-14.8,110,1544,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,2094,3865,0,0,0,0,0,0
$GC,1797,-0.80,-136.7,365.9,-13.6,117,1801,0.00,2.08,0.00,0.000,4,0.000,0.041,2328,703,3864,0,0,0,0,0,0
$GC,1841,-0.80,-136.7,373.1,-15.1,118,1845,0.00,2.12,0.00,0.000,6,0.000,0.044,2317,2101,3863,0,0,0,0,0,0
$GC,2125,-0.80,-136.7,418.3,-16.0,125,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2099,3861,0,0,0,0,0,0
$GC,2371,-0.80,-136.7,455.5,-15.2,131,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2099,3858,0,0,0,0,0,0
$GC,2612,-0.80,-136.7,491.5,-15.0,137,2616,0.00,2.20,0.00,0.000,4,0.000,0.053,2306,3512,3856,0,0,0,0,0,0
$GC,2634,-0.80,-136.7,495.1,-15.4,137,2639,0.12,2.12,0.00,0.000,6,0.166,0.029,2338,2096,3856,0,0,0,0,0,0
$GC,2889,-0.80,-136.7,527.3,-12.5,144,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2091,3853,0,0,0,0,0,0
$GC,3134,-0.80,-136.7,556.4,-11.9,150,3138,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,696,3850,0,0,0,0,0,0
$GC,3174,-0.80,-136.7,561.3,-11.7,151,3178,0.00,2.15,0.00,0.000,6,0.000,0.040,2330,2113,3850,0,0,0,0,0,0
$GC,3458,-0.80,-136.7,594.3,-11.6,158,3462,0.00,2.17,0.00,0.000,4,0.000,0.054,2319,3505,3846,0,0,0,0,0,0
$GC,3503,-0.80,-136.7,599.4,-11.4,159,3507,0.00,2.12,0.00,0.000,6,0.000,0.029,2325,2105,3847,0,0,0,0,0,0
$GC,3780,-0.80,-136.7,632.4,-11.9,166,3784,0.00,2.15,0.00,0.000,4,0.000,0.041,2319,696,3843,0,0,0,0,0,0
$GC,3801,-0.80,-136.7,635.1,-11.6,166,3806,0.12,2.15,0.00,0.000,6,0.176,0.041,2339,2101,3842,0,0,0,0,0,0
$GC,4058,-0.80,-136.7,661.8,-10.4,173,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2100,3839,0,0,0,0,0,0
$GC,4300,-0.80,-136.7,688.7,-11.2,179,4304,0.00,2.22,0.00,0.000,4,0.000,0.052,2330,3508,3837,0,0,0,0,0,0
$GC,4367,-0.80,-136.7,697.0,-11.7,180,4371,0.00,2.10,0.00,0.000,6,0.000,0.028,2330,2090,3838,0,0,0,0,0,0
$GC,4630,-0.80,-136.7,728.5,-12.2,187,4634,0.00,2.08,0.00,0.000,4,0.000,0.038,2330,702,3834,0,0,0,0,0,0
$GC,4674,-0.80,-136.7,734.3,-12.1,188,4679,0.00,2.15,0.00,0.000,6,0.000,0.043,2320,2103,3833,0,0,0,0,0,0
$GC,4953,-0.80,-136.7,768.4,-12.4,195,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3829,0,0,0,0,0,0
$GC,5196,-0.80,-136.7,797.4,-11.8,201,5200,0.00,2.22,0.00,0.000,4,0.000,0.052,2309,3507,3829,0,0,0,0,0,0
$GC,5237,-0.80,-136.7,802.1,-11.7,202,5241,0.10,2.12,0.00,0.000,6,0.177,0.028,2334,2103,3827,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,831.7,-10.2,209,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2096,3826,0,0,0,0,0,0
$GC,5764,-0.80,-136.7,857.4,-10.5,215,5768,0.00,2.12,0.00,0.000,4,0.000,0.042,2334,699,3825,0,0,0,0,0,0
$GC,5786,-0.80,-136.7,859.8,-11.2,215,5790,0.00,2.15,0.00,0.000,6,0.000,0.042,2327,2101,3825,0,0,0,0,0,0
$GC,6042,-0.80,-136.7,887.4,-10.9,222,6046,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3507,3822,0,0,0,0,0,0
$GC,6108,-0.80,-136.7,894.9,-11.0,223,6112,0.00,2.10,0.00,0.000,6,0.000,0.028,2315,2102,3823,0,0,0,0,0,0
$STATE,6164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6164,begin apogee
$GC,6172,-0.28,0.0,901.3,11.3,225,6286,0.62,0.00,109.68,1.072,6,0.148,0.000,2499,1925,3301,0,0,0,0,0,0
$STATE,6289,end apogee,CONTROL_FINISHED_OK
$STATE,6289,begin climb
$GC,6292,0.80,136.7,904.5,0.0,228,6417,1.08,0.00,121.45,1.042,6,0.094,0.000,2852,1919,2744,0,0,0,0,0,0
$GC,6650,0.80,136.7,850.9,18.0,237,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1921,2734,0,0,0,0,0,0
$GC,6896,0.80,136.7,808.3,17.4,243,6900,0.00,2.35,0.00,0.000,4,0.000,0.058,2852,3369,2731,0,0,0,0,0,0
$GC,6911,0.80,136.7,804.9,17.5,243,6915,0.00,2.15,0.00,0.000,6,0.000,0.034,2862,1967,2729,0,0,0,0,0,0
$GC,7178,0.80,136.7,757.4,17.8,250,7182,0.00,2.15,0.00,0.000,4,0.000,0.036,2870,559,2730,0,0,0,0,0,0
$GC,7240,0.80,136.7,746.2,18.4,251,7244,0.00,2.17,0.00,0.000,6,0.000,0.035,2873,1965,2730,0,0,0,0,0,0
$GC,7506,0.80,136.7,698.8,17.7,258,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1966,2728,0,0,0,0,0,0
$GC,7750,0.80,136.7,656.4,17.4,264,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1966,2727,0,0,0,0,0,0
$GC,7993,0.80,136.7,614.7,16.9,270,7997,0.00,2.22,0.00,0.000,4,0.000,0.054,2874,3363,2727,0,0,0,0,0,0
$GC,8035,0.80,136.7,607.6,18.1,271,8040,0.12,2.12,0.00,0.000,6,0.205,0.031,2855,1960,2727,0,0,0,0,0,0
$GC,8318,0.80,136.7,563.7,14.9,278,8322,0.00,2.12,0.00,0.000,4,0.000,0.039,2865,556,2726,0,0,0,0,0,0
$GC,8358,0.80,136.7,557.8,15.9,279,8362,0.00,2.15,0.00,0.000,6,0.000,0.034,2865,1962,2724,0,0,0,0,0,0
$GC,8643,0.80,136.7,512.4,16.2,286,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1961,2724,0,0,0,0,0,0
$GC,8885,0.80,136.7,473.2,15.9,292,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1961,2724,0,0,0,0,0,0
$GC,9128,0.80,136.7,434.9,15.8,298,9132,0.00,2.15,0.00,0.000,4,0.000,0.038,2875,547,2723,0,0,0,0,0,0
$GC,9157,0.80,136.7,430.4,16.4,298,9161,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,1961,2722,0,0,0,0,0,0
$GC,9407,0.80,136.7,390.0,16.3,304,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1961,2722,0,0,0,0,0,0
$GC,9651,0.80,136.7,351.6,15.4,310,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1966,2722,0,0,0,0,0,0
$GC,9894,0.80,136.7,316.6,14.2,316,9898,0.00,2.25,0.00,0.000,4,0.000,0.052,2875,3371,2722,0,0,0,0,0,0
$GC,9950,0.80,136.7,308.5,14.1,317,9955,0.12,2.15,0.00,0.000,6,0.200,0.029,2857,1955,2724,0,0,0,0,0,0
$GC,10219,0.80,136.7,275.5,10.7,328,10223,0.00,2.12,0.00,0.000,4,0.000,0.038,2866,559,2722,0,0,0,0,0,0
$GC,10274,0.80,136.7,269.7,10.2,330,10278,0.00,2.15,0.00,0.000,6,0.000,0.033,2866,1968,2723,0,0,0,0,0,0
$GC,10529,0.80,136.7,245.0,9.3,342,10533,0.00,2.15,0.00,0.000,4,0.000,0.038,2876,560,2721,0,0,0,0,0,0
$GC,10623,0.80,136.7,234.0,11.5,346,10627,0.00,2.15,0.00,0.000,6,0.000,0.033,2876,1968,2720,0,0,0,0,0,0
$GC,10884,0.80,136.7,202.7,12.3,359,10888,0.00,2.15,0.00,0.000,4,0.000,0.038,2886,562,2720,0,0,0,0,0,0
$GC,10895,0.80,136.7,201.2,11.7,359,10902,0.12,2.12,0.00,0.000,6,0.187,0.033,2857,1965,2720,0,0,0,0,0,0
$GC,11158,0.86,185.4,177.8,6.5,383,11207,0.00,2.25,37.80,0.581,4,0.000,0.049,2853,3352,2544,0,0,0,0,0,0
$GC,11246,0.86,185.4,170.2,10.6,390,11255,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1971,2543,0,0,0,0,0,0
$GC,11512,0.86,185.4,141.4,12.6,415,11515,0.00,2.17,0.00,0.000,4,0.000,0.038,2876,558,2541,0,0,0,0,0,0
$GC,11609,0.86,185.4,129.4,11.4,423,11613,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1965,2539,0,0,0,0,0,0
$GC,11875,0.86,185.4,100.3,11.0,447,11879,0.00,2.20,0.00,0.000,4,0.000,0.038,2886,546,2539,0,0,0,0,0,0
$GC,12126,0.86,185.4,73.7,9.6,469,12133,0.00,2.20,0.00,0.000,6,0.000,0.037,2886,1960,2537,0,0,0,0,0,0
$GC,12393,0.86,192.0,52.2,8.3,494,12406,0.00,2.20,6.55,0.387,4,0.000,0.047,2891,3371,2519,0,0,0,0,0,0
$GC,12422,0.86,192.0,49.0,8.6,496,12430,0.00,2.15,0.00,0.000,6,0.000,0.028,2901,1963,2519,0,0,0,0,0,0
$GC,12690,0.90,218.3,25.7,7.5,525,12719,0.00,2.12,23.80,0.433,4,0.000,0.036,2896,558,2409,0,0,0,0,0,0
$GC,12849,0.90,218.3,12.7,9.1,553,12856,0.00,2.15,0.00,0.000,6,0.000,0.031,2898,1957,2406,0,0,0,0,0,0
$STATE,12942,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,0.4,1.014985
$STATE,12974,end surface coast,CONTROL_FINISHED_OK
$STATE,12974,begin surface
$SM_CCo,12994,42.97,0.418,0,0,2075,300.24
$SM_GC,1.89,0.00,0.00,42.97,0.000,0.000,0.418,54,2169,2075,-7.95,1.95,300.24
$IRIDIUM_FIX,1916.08,-15624.98,080313,222236
$TT8_MAMPS,0.267683
$HUMID,1078906442
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.20
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6254362624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,10199203840
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,62.402
$10V_AH,9.8,56.484
$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,20.050,121.225,299.275,42.975,0.000,136.793,258.759,899.576,24.500,0.000,29.123,1212.647,9610.784,438.381,2899.925,686.511,33.359,1186.943,0.000,1810.022,0.000,0.543,0.000
$DEVICE_MAMPS,240.071,61.360,1072.266,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.577,0.000,972.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354100
$DATA_FILE_SIZE,30230,575
$CAP_FILE_SIZE,130204,0
$CFSIZE,260165632,172396544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.105,144.5,1
$GPS,140911,080501,1924.077,-15623.795,40,1.1,41,9.6