version: 66.07
glider: 513
mission: 7
dive: 498
start: 9 21 111 2 19 19
data:
$ID,513
$MISSION,7
$DIVE,498
$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,-433288.88
$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,497
$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
$GPS1,210911,014306,2013.059,-15615.523,48,1.2,48,9.8
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.6
$GPS2,210911,021807,2013.242,-15615.577,14,2.2,33,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.203,0.126
$KALMAN_X,-27686.5,-681.5,-466.1,95254.4,7276.2
$KALMAN_Y,-615519.4,292.4,126.3,640191.8,-661.2
$MHEAD_RNG_PITCHd_Wd,7.7,3406,-34.8,-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,-1.43,-30.9,0.0,0.0,0,83,0.00,0.00,-48.05,0.000,6,0.000,0.000,36,2117,3426,0,0,0,0,0,0
$GC,88,-1.46,-56.1,3.2,-3.9,8,110,9.05,2.25,-2.03,0.000,4,0.242,0.065,2107,3502,3531,0,0,0,0,0,0
$GC,337,-1.46,-56.1,94.5,-31.7,36,344,0.00,2.17,0.00,0.000,6,0.000,0.035,2105,2112,3533,0,0,0,0,0,0
$GC,603,-1.46,-56.1,170.1,-29.5,61,607,0.00,2.20,0.00,0.000,4,0.000,0.051,2097,3511,3535,0,0,0,0,0,0
$GC,763,-1.46,-56.1,212.3,-23.0,73,768,0.10,2.15,0.00,0.000,6,0.236,0.033,2116,2083,3535,0,0,0,0,0,0
$GC,1018,-1.46,-56.1,265.4,-20.6,85,1022,0.00,2.05,0.00,0.000,4,0.000,0.038,2115,694,3536,0,0,0,0,0,0
$GC,1046,-1.46,-56.1,272.2,-22.7,86,1050,0.00,2.15,0.00,0.000,6,0.000,0.045,2106,2083,3536,0,0,0,0,0,0
$GC,1323,-1.46,-56.1,328.0,-20.4,97,1327,0.00,2.25,0.00,0.000,4,0.000,0.054,2095,3524,3536,0,0,0,0,0,0
$GC,1581,-1.46,-56.1,377.1,-20.4,102,1586,0.12,2.12,0.00,0.000,6,0.225,0.030,2119,2087,3539,0,0,0,0,0,0
$GC,1833,-1.46,-56.1,424.2,-19.1,108,1837,0.00,2.28,0.00,0.000,4,0.000,0.053,2112,3522,3536,0,0,0,0,0,0
$GC,2023,-1.46,-56.1,461.2,-19.8,112,2027,0.00,2.15,0.00,0.000,6,0.000,0.031,2112,2071,3535,0,0,0,0,0,0
$GC,2295,-1.46,-56.1,513.1,-19.5,119,2299,0.00,2.28,0.00,0.000,4,0.000,0.055,2101,3513,3530,0,0,0,0,0,0
$GC,2426,-1.46,-56.1,538.8,-19.9,122,2430,0.00,2.12,0.00,0.000,6,0.000,0.033,2101,2108,3530,0,0,0,0,0,0
$GC,2709,-1.46,-56.1,591.4,-18.3,129,2713,0.00,2.22,0.00,0.000,4,0.000,0.055,2095,3516,3527,0,0,0,0,0,0
$GC,2721,-1.46,-56.1,593.5,-18.4,129,2726,0.15,2.15,0.00,0.000,6,0.227,0.033,2121,2098,3527,0,0,0,0,0,0
$GC,2994,-1.46,-56.1,638.3,-16.0,136,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2093,3524,0,0,0,0,0,0
$GC,3237,-1.46,-56.1,676.2,-15.7,142,3241,0.00,2.25,0.00,0.000,4,0.000,0.058,2112,3515,3522,0,0,0,0,0,0
$GC,3494,-1.46,-56.1,719.9,-16.1,147,3501,0.00,2.15,0.00,0.000,6,0.000,0.034,2112,2092,3518,0,0,0,0,0,0
$GC,3744,-1.46,-56.1,757.5,-14.7,154,3748,0.00,2.28,0.00,0.000,4,0.000,0.056,2102,3524,3516,0,0,0,0,0,0
$GC,3990,-1.46,-56.1,798.0,-16.1,159,3994,0.00,2.12,0.00,0.000,6,0.000,0.031,2101,2105,3514,0,0,0,0,0,0
$GC,4245,-1.46,-56.1,837.5,-15.3,166,4249,0.00,2.25,0.00,0.000,4,0.000,0.057,2091,3516,3511,0,0,0,0,0,0
$GC,4358,-1.46,-56.1,854.8,-15.5,168,4363,0.15,2.15,0.00,0.000,6,0.229,0.034,2122,2104,3510,0,0,0,0,0,0
$GC,4619,-1.46,-56.1,894.7,-15.3,175,4623,0.00,2.15,0.00,0.000,4,0.000,0.041,2122,697,3508,0,0,0,0,0,0
$GC,4635,-1.46,-56.1,897.3,-14.8,175,4639,0.00,2.20,0.00,0.000,6,0.000,0.048,2113,2107,3508,0,0,0,0,0,0
$STATE,4656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4656,begin apogee
$GC,4664,-0.28,0.0,900.5,14.9,176,4714,1.55,0.00,45.78,1.041,6,0.213,0.000,2503,1938,3300,0,0,0,0,0,0
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4719,1.46,56.1,903.6,0.0,177,4777,1.67,0.00,50.88,1.025,6,0.095,0.000,3061,1937,3071,0,0,0,0,0,0
$GC,5021,1.46,56.1,857.0,17.4,185,5025,0.00,2.08,0.00,0.000,4,0.000,0.033,3071,570,3066,0,0,0,0,0,0
$GC,5039,1.46,56.1,854.2,17.3,185,5043,0.00,2.17,0.00,0.000,6,0.000,0.035,3066,1968,3064,0,0,0,0,0,0
$GC,5300,1.46,56.1,806.3,18.2,192,5304,0.00,2.22,0.00,0.000,4,0.000,0.048,3056,3372,3062,0,0,0,0,0,0
$GC,5321,1.46,56.1,801.9,18.5,192,5325,0.00,2.12,0.00,0.000,6,0.000,0.026,3064,1962,3063,0,0,0,0,0,0
$GC,5577,1.46,56.1,754.6,18.6,199,5581,0.00,2.10,0.00,0.000,4,0.000,0.033,3075,564,3061,0,0,0,0,0,0
$GC,5751,1.46,56.1,722.4,17.7,203,5755,0.00,2.15,0.00,0.000,6,0.000,0.034,3067,1971,3059,0,0,0,0,0,0
$GC,6034,1.46,56.1,675.6,16.2,210,6038,0.00,2.20,0.00,0.000,4,0.000,0.048,3056,3364,3056,0,0,0,0,0,0
$GC,6096,1.46,56.1,665.2,17.9,211,6100,0.00,2.12,0.00,0.000,6,0.000,0.026,3064,1952,3058,0,0,0,0,0,0
$GC,6357,1.46,56.1,625.4,15.0,218,6361,0.00,2.25,0.00,0.000,4,0.000,0.045,3055,3372,3056,0,0,0,0,0,0
$GC,6614,1.46,56.1,588.4,13.7,223,6620,0.00,2.12,0.00,0.000,6,0.000,0.024,3065,1942,3056,0,0,0,0,0,0
$GC,6864,1.46,56.1,556.7,12.8,230,6868,0.00,2.25,0.00,0.000,4,0.000,0.044,3056,3368,3054,0,0,0,0,0,0
$GC,7122,1.46,56.1,522.4,13.8,235,7126,0.00,2.10,0.00,0.000,6,0.000,0.025,3065,1967,3055,0,0,0,0,0,0
$GC,7371,1.46,56.1,492.0,12.0,241,7375,0.00,2.20,0.00,0.000,4,0.000,0.043,3055,3371,3053,0,0,0,0,0,0
$GC,7546,1.46,56.1,470.4,12.2,245,7550,0.00,2.12,0.00,0.000,6,0.000,0.025,3065,1946,3053,0,0,0,0,0,0
$GC,7830,1.46,56.1,439.6,10.9,252,7833,0.00,2.05,0.00,0.000,4,0.000,0.031,3077,573,3052,0,0,0,0,0,0
$GC,8090,1.46,56.1,413.5,9.9,257,8093,0.00,2.12,0.00,0.000,6,0.000,0.031,3076,1976,3050,0,0,0,0,0,0
$GC,8346,1.46,56.1,390.2,8.9,264,8350,0.00,2.10,0.00,0.000,4,0.000,0.032,3085,569,3050,0,0,0,0,0,0
$GC,8379,1.46,56.1,387.1,9.5,264,8384,0.00,2.10,0.00,0.000,6,0.000,0.031,3076,1963,3049,0,0,0,0,0,0
$GC,8630,1.47,63.0,368.3,7.3,271,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1963,3046,0,0,0,0,0,0
$GC,8873,1.49,81.0,355.1,5.2,277,8897,0.00,2.25,18.35,0.690,4,0.000,0.046,3076,3351,2970,0,0,0,0,0,0
$GC,9152,1.49,81.0,328.2,9.5,283,9156,0.00,2.08,0.00,0.000,6,0.000,0.025,3085,1958,2969,0,0,0,0,0,0
$GC,9424,1.50,84.7,305.3,7.9,290,9431,0.00,0.00,4.62,0.491,6,0.000,0.000,3085,1955,2954,0,0,0,0,0,0
$GC,9672,1.50,84.7,282.3,10.1,300,9676,0.00,2.22,0.00,0.000,4,0.000,0.044,3076,3370,2953,0,0,0,0,0,0
$GC,9930,1.50,84.7,260.3,9.2,311,9937,0.00,2.10,0.00,0.000,6,0.000,0.024,3085,1948,2953,0,0,0,0,0,0
$GC,10186,1.50,92.1,239.0,7.2,324,10196,0.00,0.00,7.72,0.542,6,0.000,0.000,3086,1946,2924,0,0,0,0,0,0
$GC,10432,1.51,98.6,220.6,7.4,336,10446,0.00,2.28,7.40,0.522,4,0.000,0.041,3076,3364,2896,0,0,0,0,0,0
$GC,10621,1.51,98.6,200.9,11.0,344,10625,0.00,2.10,0.00,0.000,6,0.000,0.025,3085,1962,2897,0,0,0,0,0,0
$GC,10886,1.53,111.1,180.7,6.3,367,10902,0.00,2.25,11.77,0.532,4,0.000,0.043,3076,3367,2848,0,0,0,0,0,0
$GC,11003,1.53,111.1,170.3,10.7,377,11007,0.00,2.10,0.00,0.000,6,0.000,0.025,3085,1949,2848,0,0,0,0,0,0
$GC,11274,1.53,111.1,136.9,14.1,402,11278,0.00,2.22,0.00,0.000,4,0.000,0.041,3076,3374,2847,0,0,0,0,0,0
$GC,11528,1.55,125.4,109.6,5.9,424,11548,0.00,2.12,13.30,0.482,6,0.000,0.022,3086,1941,2789,0,0,0,0,0,0
$GC,11803,1.55,125.4,79.0,9.6,450,11807,0.00,2.17,0.00,0.000,4,0.000,0.038,3076,3366,2790,0,0,0,0,0,0
$GC,12056,1.58,152.3,56.8,3.6,472,12087,0.00,2.10,23.20,0.459,6,0.000,0.024,3086,1966,2678,0,0,0,0,0,0
$GC,12343,1.58,152.3,36.2,9.5,499,12347,0.00,2.15,0.00,0.000,4,0.000,0.040,3076,3368,2678,0,0,0,0,0,0
$GC,12595,1.58,152.3,11.7,9.4,539,12604,0.00,2.12,0.00,0.000,6,0.000,0.025,3082,1964,2678,0,0,0,0,0,0
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FINISH,0.4,1.023246
$STATE,12716,end surface coast,CONTROL_FINISHED_OK
$STATE,12716,begin surface
$SM_CCo,12737,318.75,0.415,0,0,391,712.83
$SM_GC,1.04,0.00,0.00,318.75,0.000,0.000,0.415,39,2125,391,-7.94,0.76,712.83
$IRIDIUM_FIX,2004.18,-15614.61,150313,202025
$TT8_MAMPS,0.060593
$HUMID,1078795474
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.10
$XPDR_PINGS,64
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6329860096
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,3735355392
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,67.703
$10V_AH,10.0,62.728
$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,20.950,117.375,183.025,318.750,0.000,154.787,220.389,1170.958,16.000,0.000,36.689,1338.616,8796.355,596.044,3671.485,769.731,33.363,1546.889,0.000,2341.855,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,78.234,1040.819,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,383.129,0.000,942.585,0.000,0.000,0.000,0.000,64339.102,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.230,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,26976,560
$CAP_FILE_SIZE,146938,0
$CFSIZE,260165632,169201664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 45.6,1
$GPS,210911,055831,2014.125,-15615.053,40,1.8,41,9.8