version: 66.07
glider: 513
mission: 7
dive: 471
start: 9 16 111 15 10 31
data:
$ID,513
$MISSION,7
$DIVE,471
$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,-432747.25
$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,41
$R_STBD_OVSHOOT,44
$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,470
$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
$GPS1,160911,145830,1933.642,-15620.968,40,1.0,45,9.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,6
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.3
$GPS2,160911,150932,1933.418,-15621.150,13,1.9,13,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.018,0.238
$KALMAN_X,-75080.9,-238.9,422.3,131585.8,4269.1
$KALMAN_Y,-586015.6,689.5,844.3,535776.7,-7382.1
$MHEAD_RNG_PITCHd_Wd,5.6,77747,-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,-51.45,0.000,2,0.000,0.000,41,2122,3540,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.1,-4.5,8,108,10.07,2.17,-5.65,0.000,4,0.247,0.048,2337,691,3861,0,0,0,0,0,0
$GC,249,-0.80,-136.7,55.1,-23.8,28,253,0.00,2.15,0.00,0.000,6,0.000,0.044,2328,2090,3863,0,0,0,0,0,0
$GC,514,-0.80,-136.7,120.2,-22.5,52,518,0.00,2.28,0.00,0.000,4,0.000,0.051,2323,3516,3865,0,0,0,0,0,0
$GC,587,-0.80,-136.7,137.5,-21.6,58,591,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2088,3865,0,0,0,0,0,0
$GC,850,-0.80,-136.7,194.8,-19.5,82,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2083,3867,0,0,0,0,0,0
$GC,1108,-0.80,-136.7,242.9,-18.2,96,1112,0.00,2.28,0.00,0.000,4,0.000,0.052,2307,3519,3868,0,0,0,0,0,0
$GC,1169,-0.80,-136.7,254.2,-17.6,98,1175,0.12,2.12,0.00,0.000,6,0.170,0.031,2341,2099,3868,0,0,0,0,0,0
$GC,1424,-0.80,-136.7,297.3,-18.0,111,1427,0.00,2.08,0.00,0.000,4,0.000,0.039,2338,699,3869,0,0,0,0,0,0
$GC,1524,-0.80,-136.7,313.7,-14.9,114,1528,0.00,2.10,0.00,0.000,6,0.000,0.038,2330,2098,3872,0,0,0,0,0,0
$GC,1791,-0.80,-136.7,354.2,-15.4,121,1795,0.00,2.12,0.00,0.000,4,0.000,0.040,2330,700,3870,0,0,0,0,0,0
$GC,1842,-0.80,-136.7,361.6,-14.4,122,1846,0.00,2.10,0.00,0.000,6,0.000,0.040,2320,2102,3869,0,0,0,0,0,0
$GC,2114,-0.80,-136.7,403.8,-15.8,129,2118,0.00,2.22,0.00,0.000,4,0.000,0.050,2310,3507,3868,0,0,0,0,0,0
$GC,2169,-0.80,-136.7,413.4,-17.4,130,2174,0.12,2.10,0.00,0.000,6,0.162,0.030,2341,2100,3867,0,0,0,0,0,0
$GC,2437,-0.80,-136.7,449.5,-12.9,137,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2094,3868,0,0,0,0,0,0
$GC,2679,-0.80,-136.7,475.8,-10.4,143,2683,0.00,2.10,0.00,0.000,4,0.000,0.039,2341,694,3864,0,0,0,0,0,0
$GC,2734,-0.80,-136.7,481.1,-9.1,144,2738,0.00,2.15,0.00,0.000,6,0.000,0.040,2334,2098,3863,0,0,0,0,0,0
$GC,3008,-0.80,-136.7,510.0,-11.1,151,3012,0.00,2.25,0.00,0.000,4,0.000,0.053,2322,3515,3861,0,0,0,0,0,0
$GC,3064,-0.80,-136.7,516.5,-11.1,152,3068,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,2092,3863,0,0,0,0,0,0
$GC,3336,-0.80,-136.7,550.5,-13.1,159,3340,0.00,2.12,0.00,0.000,4,0.000,0.042,2321,697,3857,0,0,0,0,0,0
$GC,3370,-0.80,-136.7,555.2,-13.6,159,3374,0.10,2.17,0.00,0.000,6,0.186,0.042,2334,2108,3857,0,0,0,0,0,0
$GC,3619,-0.80,-136.7,586.3,-12.3,165,3623,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3506,3851,0,0,0,0,0,0
$GC,3659,-0.80,-136.7,591.6,-13.1,166,3663,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2090,3854,0,0,0,0,0,0
$GC,3943,-0.80,-136.7,630.2,-13.8,173,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2086,3852,0,0,0,0,0,0
$GC,4186,-0.80,-136.7,664.2,-13.8,179,4190,0.00,2.28,0.00,0.000,4,0.000,0.052,2314,3507,3849,0,0,0,0,0,0
$GC,4213,-0.80,-136.7,668.1,-13.7,179,4217,0.00,2.12,0.00,0.000,6,0.000,0.029,2315,2090,3849,0,0,0,0,0,0
$GC,4463,-0.80,-136.7,702.6,-13.8,185,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2085,3847,0,0,0,0,0,0
$GC,4708,-0.80,-136.7,734.6,-13.1,191,4712,0.00,2.28,0.00,0.000,4,0.000,0.053,2301,3517,3844,0,0,0,0,0,0
$GC,4735,-0.80,-136.7,738.5,-13.5,191,4740,0.12,2.17,0.00,0.000,6,0.171,0.034,2335,2092,3845,0,0,0,0,0,0
$GC,4990,-0.80,-136.7,767.0,-11.1,198,4994,0.00,2.10,0.00,0.000,4,0.000,0.044,2335,702,3844,0,0,0,0,0,0
$GC,5035,-0.80,-136.7,772.0,-10.9,199,5039,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2103,3843,0,0,0,0,0,0
$GC,5313,-0.80,-136.7,803.2,-11.3,206,5317,0.00,2.25,0.00,0.000,4,0.000,0.054,2316,3505,3840,0,0,0,0,0,0
$GC,5357,-0.80,-136.7,808.4,-11.5,207,5361,0.00,2.17,0.00,0.000,6,0.000,0.033,2316,2087,3840,0,0,0,0,0,0
$GC,5636,-0.80,-136.7,839.5,-11.1,214,5640,0.00,2.10,0.00,0.000,4,0.000,0.045,2316,704,3837,0,0,0,0,0,0
$GC,5676,-0.80,-136.7,844.1,-11.8,215,5680,0.12,2.12,0.00,0.000,6,0.188,0.041,2335,2093,3839,0,0,0,0,0,0
$GC,5959,-0.80,-136.7,871.9,-9.9,222,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2093,3833,0,0,0,0,0,0
$GC,6203,-0.80,-136.7,896.2,-9.9,228,6207,0.00,2.28,0.00,0.000,4,0.000,0.053,2326,3509,3834,0,0,0,0,0,0
$STATE,6240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6240,begin apogee
$GC,6250,-0.28,0.0,900.1,10.1,229,6366,0.60,0.00,112.93,1.068,6,0.143,0.000,2503,1944,3301,0,0,0,0,0,0
$STATE,6382,end apogee,CONTROL_FINISHED_OK
$STATE,6382,begin climb
$GC,6384,0.80,136.7,903.1,0.0,232,6511,1.05,0.00,122.25,1.040,6,0.092,0.000,2851,1943,2740,0,0,0,0,0,0
$GC,6727,0.80,136.7,850.4,19.0,241,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1943,2732,0,0,0,0,0,0
$GC,6970,0.80,136.7,804.7,18.7,247,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1948,2730,0,0,0,0,0,0
$GC,7213,0.80,136.7,761.6,17.4,253,7217,0.00,2.33,0.00,0.000,4,0.000,0.053,2851,3369,2729,0,0,0,0,0,0
$GC,7229,0.80,136.7,758.4,17.4,253,7233,0.00,2.17,0.00,0.000,6,0.000,0.031,2862,1953,2728,0,0,0,0,0,0
$GC,7504,0.80,136.7,709.5,18.0,260,7508,0.00,2.28,0.00,0.000,4,0.000,0.050,2868,3378,2729,0,0,0,0,0,0
$GC,7519,0.80,136.7,706.1,17.9,260,7523,0.00,2.22,0.00,0.000,6,0.000,0.031,2872,1953,2727,0,0,0,0,0,0
$GC,7786,0.80,136.7,658.0,18.0,267,7790,0.00,2.28,0.00,0.000,4,0.000,0.051,2872,3380,2726,0,0,0,0,0,0
$GC,7809,0.80,136.7,653.7,18.1,267,7813,0.00,2.17,0.00,0.000,6,0.000,0.031,2882,1951,2725,0,0,0,0,0,0
$GC,8065,0.80,136.7,606.4,18.5,274,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1949,2725,0,0,0,0,0,0
$GC,8309,0.80,136.7,562.4,18.2,280,8313,0.00,2.28,0.00,0.000,4,0.000,0.050,2883,3373,2725,0,0,0,0,0,0
$GC,8341,0.80,136.7,556.4,18.8,280,8348,0.15,2.15,0.00,0.000,6,0.201,0.031,2858,1958,2725,0,0,0,0,0,0
$GC,8593,0.80,136.7,515.3,16.6,287,8597,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,561,2723,0,0,0,0,0,0
$GC,8643,0.80,136.7,506.7,16.6,288,8647,0.00,2.12,0.00,0.000,6,0.000,0.033,2871,1974,2721,0,0,0,0,0,0
$GC,8921,0.80,136.7,462.9,16.0,295,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1977,2722,0,0,0,0,0,0
$GC,9166,0.80,136.7,427.6,14.2,301,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1977,2722,0,0,0,0,0,0
$GC,9408,0.80,136.7,393.8,13.6,307,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1977,2721,0,0,0,0,0,0
$GC,9652,0.80,136.7,356.9,15.2,313,9656,0.00,2.22,0.00,0.000,4,0.000,0.051,2867,3360,2721,0,0,0,0,0,0
$GC,9811,0.80,136.7,330.2,16.4,316,9815,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1955,2721,0,0,0,0,0,0
$GC,10067,0.80,136.7,289.3,15.5,324,10071,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,561,2721,0,0,0,0,0,0
$GC,10117,0.80,136.7,281.6,14.6,326,10122,0.12,2.10,0.00,0.000,6,0.191,0.032,2860,1969,2716,0,0,0,0,0,0
$GC,10372,0.80,136.7,250.6,11.4,338,10376,0.00,2.12,0.00,0.000,4,0.000,0.036,2868,554,2717,0,0,0,0,0,0
$GC,10519,0.80,136.7,232.3,11.3,344,10523,0.00,2.12,0.00,0.000,6,0.000,0.032,2868,1957,2718,0,0,0,0,0,0
$GC,10774,0.80,136.7,201.4,12.1,356,10778,0.00,2.25,0.00,0.000,4,0.000,0.051,2868,3369,2719,0,0,0,0,0,0
$GC,11031,0.80,136.7,170.5,13.1,378,11035,0.00,2.15,0.00,0.000,6,0.000,0.030,2878,1957,2720,0,0,0,0,0,0
$GC,11299,0.81,145.4,148.2,8.2,402,11312,0.00,2.30,4.62,0.405,4,0.000,0.048,2878,3364,2708,0,0,0,0,0,0
$GC,11361,0.81,145.4,141.8,10.7,407,11370,0.10,2.15,0.00,0.000,6,0.166,0.028,2859,1968,2708,0,0,0,0,0,0
$GC,11625,0.86,191.6,121.7,6.6,432,11673,0.00,2.17,39.95,0.527,4,0.000,0.038,2868,569,2517,0,0,0,0,0,0
$GC,11678,0.86,191.6,117.1,8.7,436,11686,0.00,2.15,0.00,0.000,6,0.000,0.033,2868,1953,2516,0,0,0,0,0,0
$GC,11945,0.86,191.6,88.2,9.1,461,11949,0.00,2.25,0.00,0.000,4,0.000,0.048,2867,3375,2515,0,0,0,0,0,0
$GC,12168,0.86,191.6,64.7,12.8,481,12172,0.00,2.15,0.00,0.000,6,0.000,0.030,2874,1964,2516,0,0,0,0,0,0
$GC,12438,0.86,191.6,38.2,9.3,506,12442,0.00,2.20,0.00,0.000,4,0.000,0.045,2874,3369,2516,0,0,0,0,0,0
$GC,12500,0.86,191.6,32.1,8.6,511,12504,0.00,2.12,0.00,0.000,6,0.000,0.029,2873,1956,2516,0,0,0,0,0,0
$GC,12765,0.92,239.6,11.4,6.5,557,12813,0.00,2.15,39.78,0.426,4,0.000,0.037,2883,565,2321,0,0,0,0,0,0
$STATE,12862,end climb,SURFACE_DEPTH_REACHED
$STATE,12865,begin surface coast
$FINISH,0.3,1.022140
$STATE,12894,end surface coast,CONTROL_FINISHED_OK
$STATE,12894,begin surface
$SM_CCo,12916,35.30,0.416,0,0,2076,300.49
$SM_GC,1.48,0.00,0.00,35.30,0.000,0.000,0.416,53,2120,2076,-7.95,0.57,300.49
$IRIDIUM_FIX,1925.22,-15618.96,110313,050532
$TT8_MAMPS,0.284557
$HUMID,1078879345
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,26.00
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253871104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,7894859776
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,64.207
$10V_AH,9.8,59.239
$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,20.350,130.950,319.525,35.300,0.000,27.729,32.617,355.706,24.750,0.000,17.664,1244.911,9124.029,437.042,2368.101,448.372,33.356,1233.696,0.000,1933.491,0.000,0.541,0.000
$DEVICE_MAMPS,246.974,53.690,1067.664,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,394.754,0.000,1008.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353652
$DATA_FILE_SIZE,30284,578
$CAP_FILE_SIZE,122393,0
$CFSIZE,260165632,171286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,192.4,1
$GPS,160911,184806,1934.164,-15620.974,36,1.1,41,9.7