version: 66.07
glider: 513
mission: 7
dive: 458
start: 9 14 111 12 15 26
data:
$ID,513
$MISSION,7
$DIVE,458
$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,-432454.69
$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,50
$R_STBD_OVSHOOT,46
$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,457
$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
$GPS1,140911,120025,1924.926,-15623.468,39,1.7,39,9.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.6
$GPS2,140911,121426,1924.683,-15623.188,14,1.1,14,9.6
$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,-89299.4,-208.5,-265.2,142944.5,2328.8
$KALMAN_Y,-553364.1,947.1,606.0,486947.0,-9876.4
$MHEAD_RNG_PITCHd_Wd,346.1,94267,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,83,0.00,0.00,-51.60,0.000,2,0.000,0.000,39,2123,3556,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.2,-4.9,8,110,9.98,2.20,-5.28,0.000,4,0.245,0.062,2324,3515,3860,0,0,0,0,0,0
$GC,339,-0.80,-136.7,82.5,-23.4,35,344,0.00,2.15,0.00,0.000,6,0.000,0.037,2324,2108,3863,0,0,0,0,0,0
$GC,606,-0.80,-136.7,144.2,-21.8,59,610,0.00,2.12,0.00,0.000,4,0.000,0.040,2324,695,3862,0,0,0,0,0,0
$GC,649,-0.80,-136.7,153.5,-20.2,62,653,0.00,2.17,0.00,0.000,6,0.000,0.043,2314,2100,3864,0,0,0,0,0,0
$GC,909,-0.80,-136.7,209.7,-21.5,84,912,0.00,2.20,0.00,0.000,4,0.000,0.051,2302,3509,3865,0,0,0,0,0,0
$GC,936,-0.80,-136.7,215.6,-19.7,85,941,0.12,2.12,0.00,0.000,6,0.172,0.031,2333,2090,3866,0,0,0,0,0,0
$GC,1196,-0.80,-136.7,261.1,-17.0,98,1199,0.00,2.10,0.00,0.000,4,0.000,0.038,2334,701,3870,0,0,0,0,0,0
$GC,1280,-0.80,-136.7,276.5,-17.6,101,1285,0.00,2.10,0.00,0.000,6,0.000,0.039,2326,2101,3866,0,0,0,0,0,0
$GC,1533,-0.80,-136.7,322.6,-18.0,111,1537,0.00,2.17,0.00,0.000,4,0.000,0.049,2314,3507,3867,0,0,0,0,0,0
$GC,1589,-0.80,-136.7,332.3,-16.4,112,1593,0.00,2.08,0.00,0.000,6,0.000,0.029,2314,2101,3867,0,0,0,0,0,0
$GC,1861,-0.80,-136.7,378.1,-17.0,119,1865,0.00,2.12,0.00,0.000,4,0.000,0.042,2315,702,3867,0,0,0,0,0,0
$GC,1907,-0.80,-136.7,385.4,-15.2,120,1911,0.15,2.15,0.00,0.000,6,0.167,0.042,2342,2098,3867,0,0,0,0,0,0
$GC,2197,-0.80,-136.7,423.4,-12.9,127,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2100,3865,0,0,0,0,0,0
$GC,2439,-0.80,-136.7,454.9,-13.0,133,2443,0.00,2.12,0.00,0.000,4,0.000,0.040,2342,696,3863,0,0,0,0,0,0
$GC,2460,-0.80,-136.7,457.8,-13.1,133,2464,0.00,2.17,0.00,0.000,6,0.000,0.041,2334,2116,3863,0,0,0,0,0,0
$GC,2717,-0.80,-136.7,491.7,-13.4,140,2721,0.00,2.17,0.00,0.000,4,0.000,0.052,2324,3509,3860,0,0,0,0,0,0
$GC,2777,-0.80,-136.7,500.6,-13.8,141,2782,0.00,2.12,0.00,0.000,6,0.000,0.031,2323,2111,3863,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,538.2,-14.2,148,3048,0.00,2.12,0.00,0.000,4,0.000,0.039,2323,691,3857,0,0,0,0,0,0
$GC,3085,-0.80,-136.7,544.0,-14.9,149,3089,0.00,2.15,0.00,0.000,6,0.000,0.041,2312,2101,3856,0,0,0,0,0,0
$GC,3369,-0.80,-136.7,585.0,-14.1,156,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2101,3855,0,0,0,0,0,0
$GC,3612,-0.80,-136.7,617.8,-13.2,162,3616,0.00,2.22,0.00,0.000,4,0.000,0.052,2298,3506,3851,0,0,0,0,0,0
$GC,3658,-0.80,-136.7,623.6,-12.6,163,3663,0.15,2.12,0.00,0.000,6,0.163,0.028,2341,2092,3850,0,0,0,0,0,0
$GC,3936,-0.80,-136.7,650.9,-9.5,170,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2087,3848,0,0,0,0,0,0
$GC,4179,-0.80,-136.7,673.6,-9.4,176,4183,0.00,2.12,0.00,0.000,4,0.000,0.041,2341,701,3849,0,0,0,0,0,0
$GC,4230,-0.80,-136.7,678.8,-9.9,177,4234,0.00,2.17,0.00,0.000,6,0.000,0.041,2333,2103,3844,0,0,0,0,0,0
$GC,4503,-0.80,-136.7,708.5,-11.3,184,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2101,3843,0,0,0,0,0,0
$GC,4748,-0.80,-136.7,737.5,-12.0,190,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2103,3841,0,0,0,0,0,0
$GC,4990,-0.80,-136.7,765.9,-11.8,196,4994,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3512,3839,0,0,0,0,0,0
$GC,5024,-0.80,-136.7,770.0,-12.3,196,5029,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2110,3836,0,0,0,0,0,0
$GC,5274,-0.80,-136.7,800.9,-12.3,203,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2104,3837,0,0,0,0,0,0
$GC,5517,-0.80,-136.7,830.6,-12.3,209,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2104,3835,0,0,0,0,0,0
$GC,5761,-0.80,-136.7,859.7,-12.0,215,5765,0.00,2.17,0.00,0.000,4,0.000,0.041,2318,689,3832,0,0,0,0,0,0
$GC,5847,-0.80,-136.7,869.9,-11.5,217,5852,0.00,2.17,0.00,0.000,6,0.000,0.043,2312,2102,3832,0,0,0,0,0,0
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6141,-0.28,0.0,904.6,11.9,224,6258,0.65,0.00,112.22,1.074,6,0.149,0.000,2502,1895,3304,0,0,0,0,0,0
$STATE,6261,end apogee,CONTROL_FINISHED_OK
$STATE,6261,begin climb
$GC,6265,0.80,136.7,908.4,0.0,227,6391,1.05,0.00,121.95,1.045,6,0.094,0.000,2846,1893,2743,0,0,0,0,0,0
$GC,6620,0.80,136.7,856.9,17.8,236,6624,0.00,2.10,0.00,0.000,4,0.000,0.038,2857,540,2736,0,0,0,0,0,0
$GC,6637,0.80,136.7,854.0,17.6,236,6640,0.00,2.20,0.00,0.000,6,0.000,0.035,2863,1958,2734,0,0,0,0,0,0
$GC,6905,0.80,136.7,806.7,17.6,243,6909,0.00,2.20,0.00,0.000,4,0.000,0.039,2868,535,2734,0,0,0,0,0,0
$GC,6921,0.80,136.7,803.3,17.2,243,6925,0.00,2.20,0.00,0.000,6,0.000,0.035,2868,1960,2731,0,0,0,0,0,0
$GC,7188,0.80,136.7,755.5,17.8,250,7192,0.00,2.25,0.00,0.000,4,0.000,0.053,2868,3363,2731,0,0,0,0,0,0
$GC,7251,0.80,136.7,744.1,18.7,251,7255,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1947,2734,0,0,0,0,0,0
$GC,7517,0.80,136.7,694.3,18.4,258,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1943,2730,0,0,0,0,0,0
$GC,7761,0.80,136.7,647.5,19.2,264,7765,0.00,2.15,0.00,0.000,4,0.000,0.039,2885,551,2726,0,0,0,0,0,0
$GC,7834,0.80,136.7,633.2,19.5,265,7839,0.15,2.17,0.00,0.000,6,0.197,0.034,2854,1962,2725,0,0,0,0,0,0
$GC,8089,0.80,136.7,589.8,16.7,272,8093,0.00,2.22,0.00,0.000,4,0.000,0.052,2854,3368,2729,0,0,0,0,0,0
$GC,8195,0.80,136.7,571.3,17.3,274,8199,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1949,2726,0,0,0,0,0,0
$GC,8463,0.80,136.7,527.6,16.2,281,8467,0.00,2.10,0.00,0.000,4,0.000,0.040,2874,568,2725,0,0,0,0,0,0
$GC,8523,0.80,136.7,516.8,16.1,282,8528,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1980,2722,0,0,0,0,0,0
$GC,8790,0.80,136.7,472.3,16.9,289,8794,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3361,2723,0,0,0,0,0,0
$GC,8841,0.80,136.7,463.3,18.6,290,8845,0.00,2.12,0.00,0.000,6,0.000,0.031,2882,1954,2723,0,0,0,0,0,0
$GC,9114,0.80,136.7,417.2,16.4,297,9118,0.00,2.12,0.00,0.000,4,0.000,0.038,2892,557,2720,0,0,0,0,0,0
$GC,9192,0.80,136.7,404.6,15.2,298,9199,0.15,2.12,0.00,0.000,6,0.192,0.031,2857,1961,2721,0,0,0,0,0,0
$GC,9443,0.80,136.7,373.9,11.6,305,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1964,2721,0,0,0,0,0,0
$GC,9686,0.80,136.7,349.1,10.2,311,9690,0.00,2.20,0.00,0.000,4,0.000,0.051,2856,3361,2721,0,0,0,0,0,0
$GC,9730,0.80,136.7,343.7,12.4,312,9734,0.00,2.12,0.00,0.000,6,0.000,0.028,2866,1949,2721,0,0,0,0,0,0
$GC,10015,0.80,136.7,309.3,12.3,319,10019,0.00,2.25,0.00,0.000,4,0.000,0.048,2865,3362,2721,0,0,0,0,0,0
$GC,10071,0.80,136.7,300.9,14.0,320,10075,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,1964,2718,0,0,0,0,0,0
$GC,10326,0.80,136.7,266.9,12.5,332,10330,0.00,2.10,0.00,0.000,4,0.000,0.036,2887,563,2720,0,0,0,0,0,0
$GC,10493,0.80,136.7,244.9,11.6,339,10500,0.12,2.12,0.00,0.000,6,0.189,0.034,2858,1965,2719,0,0,0,0,0,0
$GC,10747,0.83,164.9,221.8,7.4,352,10774,0.00,2.22,21.45,0.599,4,0.000,0.040,2867,568,2626,0,0,0,0,0,0
$GC,10842,0.83,164.9,214.1,8.9,356,10846,0.00,2.12,0.00,0.000,6,0.000,0.036,2867,1964,2623,0,0,0,0,0,0
$GC,11101,0.83,164.9,188.4,11.2,373,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1957,2623,0,0,0,0,0,0
$GC,11357,0.83,164.9,159.5,11.9,397,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1960,2623,0,0,0,0,0,0
$GC,11620,0.83,164.9,131.0,10.5,422,11624,0.00,2.25,0.00,0.000,4,0.000,0.050,2871,3368,2624,0,0,0,0,0,0
$GC,11728,0.83,164.9,118.5,12.4,431,11732,0.00,2.12,0.00,0.000,6,0.000,0.029,2876,1963,2625,0,0,0,0,0,0
$GC,11994,0.83,164.9,89.4,10.3,455,11998,0.00,2.10,0.00,0.000,4,0.000,0.038,2881,563,2625,0,0,0,0,0,0
$GC,12138,0.83,164.9,75.5,9.0,467,12146,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,1964,2625,0,0,0,0,0,0
$GC,12405,0.89,215.5,58.2,6.4,492,12453,0.00,2.17,42.40,0.466,4,0.000,0.038,2881,562,2424,0,0,0,0,0,0
$GC,12577,0.89,215.5,44.8,9.1,507,12581,0.00,2.12,0.00,0.000,6,0.000,0.031,2886,1963,2419,0,0,0,0,0,0
$GC,12841,0.89,215.5,18.1,10.1,541,12849,0.00,2.20,0.00,0.000,4,0.000,0.041,2881,564,2420,0,0,0,0,0,0
$STATE,13001,end climb,SURFACE_DEPTH_REACHED
$STATE,13001,begin surface coast
$FINISH,0.2,1.010596
$STATE,13039,end surface coast,CONTROL_FINISHED_OK
$STATE,13040,begin surface
$SM_CCo,13062,44.80,0.416,0,0,2076,300.24
$SM_GC,2.03,0.00,0.00,44.80,0.000,0.000,0.416,53,2112,2076,-7.95,0.34,300.24
$IRIDIUM_FIX,1916.08,-15624.98,090313,020217
$TT8_MAMPS,0.335179
$HUMID,1078883216
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,104
$AR_DIVENUM,458
$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,23.5,62.647
$10V_AH,9.8,56.676
$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,20.125,125.525,298.025,44.800,0.000,25.198,38.898,541.536,26.000,0.000,16.332,1253.203,9275.311,440.794,2466.358,529.533,33.388,1231.892,0.000,1942.608,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,62.127,1073.800,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.421,0.000,975.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,30167,577
$CAP_FILE_SIZE,124385,0
$CFSIZE,260165632,172253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,133.5,1
$GPS,140911,155514,1925.629,-15622.613,13,1.7,13,9.6