version: 66.07
glider: 513
mission: 7
dive: 508
start: 9 22 111 20 4 43
data:
$ID,513
$MISSION,7
$DIVE,508
$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,-433599.94
$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,51
$R_STBD_OVSHOOT,69
$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,502
$AR_SAMPLENUM,24
$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
$GPS1,220911,193457,2015.018,-15628.612,58,1.1,58,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.6
$GPS2,220911,200332,2014.634,-15628.608,13,1.8,13,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G10
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.149,-0.187
$KALMAN_X,-12549.5,-166.8,115.8,56317.7,2128.7
$KALMAN_Y,-597852.1,-556.3,-274.8,626372.1,6389.7
$MHEAD_RNG_PITCHd_Wd,263.0,2511,-25.0,-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,-1.07,-57.9,0.0,0.0,0,84,0.00,0.00,-51.25,0.000,6,0.000,0.000,35,2138,3538,0,0,0,0,0,0
$GC,89,-1.11,-90.2,3.4,-5.4,8,112,9.60,2.17,-2.40,0.000,4,0.242,0.065,2220,3475,3670,0,0,0,0,0,0
$GC,357,-1.11,-90.2,95.9,-33.9,38,361,0.00,2.08,0.00,0.000,6,0.000,0.034,2219,2111,3675,0,0,0,0,0,0
$GC,626,-1.11,-90.2,163.5,-22.3,62,629,0.00,2.17,0.00,0.000,4,0.000,0.053,2209,3477,3673,0,0,0,0,0,0
$GC,757,-1.11,-90.2,197.9,-22.2,73,764,0.00,2.10,0.00,0.000,6,0.000,0.031,2209,2097,3673,0,0,0,0,0,0
$GC,1023,-1.11,-90.2,253.8,-20.5,87,1028,0.12,2.22,0.00,0.000,4,0.207,0.054,2228,3490,3675,0,0,0,0,0,0
$GC,1130,-1.11,-90.2,276.0,-21.2,92,1134,0.00,2.10,0.00,0.000,6,0.000,0.034,2228,2105,3675,0,0,0,0,0,0
$GC,1414,-1.11,-90.2,332.6,-19.5,102,1418,0.00,2.12,0.00,0.000,4,0.000,0.040,2228,692,3675,0,0,0,0,0,0
$GC,1425,-1.11,-90.2,335.3,-20.0,102,1429,0.00,2.10,0.00,0.000,6,0.000,0.045,2218,2064,3675,0,0,0,0,0,0
$GC,1692,-1.11,-90.2,386.9,-19.6,109,1696,0.00,2.28,0.00,0.000,4,0.000,0.054,2206,3517,3675,0,0,0,0,0,0
$GC,1777,-1.11,-90.2,402.3,-18.4,110,1784,0.12,2.15,0.00,0.000,6,0.199,0.033,2234,2090,3675,0,0,0,0,0,0
$GC,2027,-1.11,-90.2,444.2,-16.6,117,2030,0.00,2.10,0.00,0.000,4,0.000,0.039,2234,697,3674,0,0,0,0,0,0
$GC,2067,-1.11,-90.2,450.6,-16.0,118,2071,0.00,2.15,0.00,0.000,6,0.000,0.042,2227,2109,3673,0,0,0,0,0,0
$GC,2352,-1.11,-90.2,500.1,-17.8,125,2355,0.00,2.17,0.00,0.000,4,0.000,0.053,2214,3509,3671,0,0,0,0,0,0
$GC,2391,-1.11,-90.2,507.9,-20.1,126,2395,0.00,2.12,0.00,0.000,6,0.000,0.033,2215,2103,3670,0,0,0,0,0,0
$GC,2675,-1.11,-90.2,559.5,-17.6,133,2679,0.00,2.25,0.00,0.000,4,0.000,0.054,2205,3521,3667,0,0,0,0,0,0
$GC,2704,-1.11,-90.2,564.5,-17.8,133,2709,0.12,2.17,0.00,0.000,6,0.203,0.033,2231,2085,3667,0,0,0,0,0,0
$GC,2954,-1.11,-90.2,607.3,-17.0,139,2958,0.00,2.28,0.00,0.000,4,0.000,0.055,2222,3511,3664,0,0,0,0,0,0
$GC,3021,-1.11,-90.2,619.6,-18.5,140,3026,0.00,2.15,0.00,0.000,6,0.000,0.034,2222,2098,3664,0,0,0,0,0,0
$GC,3279,-1.11,-90.2,662.9,-17.0,147,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2092,3661,0,0,0,0,0,0
$GC,3521,-1.11,-90.2,700.9,-15.2,153,3525,0.00,2.28,0.00,0.000,4,0.000,0.056,2211,3516,3658,0,0,0,0,0,0
$GC,3570,-1.11,-90.2,709.0,-16.3,154,3574,0.00,2.17,0.00,0.000,6,0.000,0.035,2211,2089,3658,0,0,0,0,0,0
$GC,3844,-1.11,-90.2,754.8,-16.9,161,3848,0.00,2.08,0.00,0.000,4,0.000,0.039,2211,699,3656,0,0,0,0,0,0
$GC,3871,-1.11,-90.2,760.1,-18.2,161,3876,0.15,2.17,0.00,0.000,6,0.211,0.048,2234,2100,3656,0,0,0,0,0,0
$GC,4122,-1.11,-90.2,800.2,-16.1,167,4126,0.00,2.28,0.00,0.000,4,0.000,0.054,2225,3515,3652,0,0,0,0,0,0
$GC,4253,-1.11,-90.2,822.0,-16.2,170,4257,0.00,2.15,0.00,0.000,6,0.000,0.034,2225,2101,3651,0,0,0,0,0,0
$GC,4536,-1.11,-90.2,866.4,-15.5,177,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2099,3649,0,0,0,0,0,0
$STATE,4778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4785,-0.28,0.0,901.1,14.0,183,4863,1.00,0.00,74.25,1.045,6,0.177,0.000,2498,1922,3301,0,0,0,0,0,0
$STATE,4865,end apogee,CONTROL_FINISHED_OK
$STATE,4865,begin climb
$GC,4869,1.11,90.2,903.8,0.0,185,4961,1.35,2.22,80.60,1.021,4,0.097,0.035,2961,576,2932,0,0,0,0,0,0
$GC,5008,1.11,90.2,884.5,21.4,188,5012,0.00,2.20,0.00,0.000,6,0.000,0.034,2952,1958,2927,0,0,0,0,0,0
$GC,5280,1.11,90.2,826.6,20.9,195,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1958,2925,0,0,0,0,0,0
$GC,5523,1.11,90.2,776.5,20.4,201,5527,0.00,2.25,0.00,0.000,4,0.000,0.050,2941,3377,2922,0,0,0,0,0,0
$GC,5601,1.11,90.2,759.7,21.5,202,5605,0.00,2.15,0.00,0.000,6,0.000,0.027,2950,1957,2921,0,0,0,0,0,0
$GC,5853,1.11,90.2,710.6,19.7,208,5857,0.00,2.10,0.00,0.000,4,0.000,0.036,2960,560,2920,0,0,0,0,0,0
$GC,5898,1.11,90.2,701.3,20.8,209,5902,0.00,2.15,0.00,0.000,6,0.000,0.033,2952,1978,2917,0,0,0,0,0,0
$GC,6187,1.11,90.2,646.2,18.5,216,6191,0.00,2.22,0.00,0.000,4,0.000,0.050,2941,3363,2916,0,0,0,0,0,0
$GC,6210,1.11,90.2,642.2,18.3,216,6214,0.00,2.10,0.00,0.000,6,0.000,0.030,2950,1969,2917,0,0,0,0,0,0
$GC,6471,1.11,90.2,595.8,17.6,223,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1969,2914,0,0,0,0,0,0
$GC,6714,1.11,90.2,553.1,17.6,229,6718,0.00,2.20,0.00,0.000,4,0.000,0.047,2941,3357,2914,0,0,0,0,0,0
$GC,6794,1.11,90.2,538.3,18.3,230,6798,0.00,2.10,0.00,0.000,6,0.000,0.027,2950,1957,2914,0,0,0,0,0,0
$GC,7044,1.11,90.2,497.6,16.4,236,7048,0.00,2.10,0.00,0.000,4,0.000,0.036,2961,559,2912,0,0,0,0,0,0
$GC,7084,1.11,90.2,491.4,16.0,237,7088,0.00,2.12,0.00,0.000,6,0.000,0.031,2952,1959,2911,0,0,0,0,0,0
$GC,7369,1.11,90.2,448.1,14.7,244,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1958,2911,0,0,0,0,0,0
$GC,7611,1.11,90.2,414.3,13.9,250,7615,0.00,2.20,0.00,0.000,4,0.000,0.047,2941,3367,2911,0,0,0,0,0,0
$GC,7758,1.11,90.2,394.3,12.9,253,7762,0.00,2.12,0.00,0.000,6,0.000,0.026,2950,1951,2911,0,0,0,0,0,0
$GC,8026,1.11,90.2,362.0,12.2,260,8029,0.00,2.08,0.00,0.000,4,0.000,0.035,2961,570,2910,0,0,0,0,0,0
$GC,8121,1.11,90.2,350.6,12.3,262,8125,0.00,2.12,0.00,0.000,6,0.000,0.031,2953,1964,2908,0,0,0,0,0,0
$GC,8399,1.11,90.2,316.0,12.5,269,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1960,2908,0,0,0,0,0,0
$GC,8645,1.11,90.2,289.1,10.0,277,8649,0.00,2.10,0.00,0.000,4,0.000,0.034,2961,572,2908,0,0,0,0,0,0
$GC,8841,1.11,90.2,272.9,8.6,285,8847,0.00,2.12,0.00,0.000,6,0.000,0.032,2953,1971,2907,0,0,0,0,0,0
$GC,9097,1.11,90.2,247.6,10.5,298,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1969,2914,0,0,0,0,0,0
$GC,9343,1.12,94.7,226.8,8.1,310,9347,0.00,2.20,0.00,0.000,4,0.000,0.048,2956,3365,2907,0,0,0,0,0,0
$GC,9505,1.13,106.4,214.5,7.4,317,9520,0.00,2.10,10.70,0.557,6,0.000,0.027,2962,1948,2866,0,0,0,0,0,0
$GC,9776,1.13,106.4,189.8,8.7,334,9780,0.00,2.05,0.00,0.000,4,0.000,0.034,2972,569,2864,0,0,0,0,0,0
$GC,9884,1.13,107.4,178.9,8.5,343,9888,0.00,2.10,0.00,0.000,6,0.000,0.030,2964,1961,2863,0,0,0,0,0,0
$GC,10151,1.13,107.4,159.3,8.9,367,10155,0.00,2.10,0.00,0.000,4,0.000,0.035,2972,568,2863,0,0,0,0,0,0
$GC,10310,1.14,109.8,144.2,8.3,380,10318,0.00,2.12,3.92,0.362,6,0.000,0.032,2967,1953,2855,0,0,0,0,0,0
$GC,10574,1.19,155.9,128.3,4.0,405,10622,0.00,2.28,39.45,0.525,4,0.000,0.049,2966,3358,2664,0,0,0,0,0,0
$GC,10871,1.19,155.9,88.3,12.3,431,10879,0.00,2.12,0.00,0.000,6,0.000,0.026,2976,1957,2663,0,0,0,0,0,0
$GC,11138,1.20,162.0,64.0,8.0,456,11151,0.00,2.25,6.22,0.381,4,0.000,0.043,2977,3359,2640,0,0,0,0,0,0
$GC,11401,1.21,171.9,44.5,7.6,479,11420,0.00,2.12,9.50,0.404,6,0.000,0.025,2987,1951,2600,0,0,0,0,0,0
$GC,11678,1.21,171.9,14.5,12.3,517,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1951,2604,0,0,0,0,0,0
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,0.2,1.011716
$STATE,11798,end surface coast,CONTROL_FINISHED_OK
$STATE,11802,begin surface
$SM_CCo,11822,70.07,0.420,0,0,2075,300.24
$SM_GC,1.21,0.00,0.00,70.07,0.000,0.000,0.420,48,2119,2075,-7.96,0.57,300.24
$IRIDIUM_FIX,2008.77,-15629.08,170313,141419
$TT8_MAMPS,0.256178
$HUMID,1078958055
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,75
$AR_POSTDIVE_SAMPLENUM,27
$AR_CDRIVE_FREE,6291292160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,2305982464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,69.283
$10V_AH,9.7,64.049
$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,20.475,112.550,224.650,70.075,0.000,141.583,195.333,855.277,18.750,0.000,15.565,1213.518,8389.456,361.085,3085.276,578.023,33.364,1174.781,0.000,1977.605,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,68.263,1045.421,419.549,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.257,0.000,955.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353716
$DATA_FILE_SIZE,26919,539
$CAP_FILE_SIZE,130354,0
$CFSIZE,260165632,168542208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,142.3,1
$GPS,220911,232437,2014.589,-15629.588,39,1.3,39,9.8