version: 66.07
glider: 513
mission: 7
dive: 44
start: 7 8 111 23 0 22
data:
$ID,513
$MISSION,7
$DIVE,44
$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,300
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-421425.5
$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,2590
$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,2180
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2962
$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,43
$AR_SAMPLENUM,3
$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
$GPS1,080711,224906,1850.914,-15642.695,28,1.3,29,9.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.0
$GPS2,080711,225926,1850.776,-15642.827,15,2.0,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,0.141
$KALMAN_X,31473.6,247.4,246.5,-54642.0,-3326.8
$KALMAN_Y,-107919.7,27.4,327.9,18457.6,-5326.5
$MHEAD_RNG_PITCHd_Wd,43.7,156029,-19.7,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.93,-117.2,0.0,0.0,0,92,0.00,0.00,-62.28,0.000,6,0.000,0.000,35,2195,3441,0,0,0,0,0,0
$GC,96,-0.93,-117.2,2.8,-6.2,10,111,9.48,2.17,0.00,0.000,4,0.252,0.054,2278,3576,3444,0,0,0,0,0,0
$GC,233,-0.93,-117.2,49.2,-32.2,29,237,0.00,2.08,0.00,0.000,6,0.000,0.035,2288,2187,3447,0,0,0,0,0,0
$GC,502,-0.93,-117.2,123.2,-21.1,54,506,0.00,2.10,0.00,0.000,4,0.000,0.042,2287,777,3448,0,0,0,0,0,0
$GC,564,-0.93,-117.2,137.4,-21.6,59,568,0.00,2.12,0.00,0.000,6,0.000,0.048,2278,2169,3448,0,0,0,0,0,0
$GC,830,-0.93,-117.2,188.5,-18.0,83,834,0.00,2.08,0.00,0.000,4,0.000,0.039,2278,770,3450,0,0,0,0,0,0
$GC,934,-0.93,-117.2,206.4,-16.4,91,938,0.00,2.17,0.00,0.000,6,0.000,0.048,2267,2188,3450,0,0,0,0,0,0
$GC,1198,-0.93,-117.2,249.5,-15.0,104,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2188,3451,0,0,0,0,0,0
$GC,1446,-0.93,-117.2,284.9,-12.8,116,1450,0.00,2.10,0.00,0.000,4,0.000,0.039,2267,777,3453,0,0,0,0,0,0
$GC,1605,-0.93,-117.2,303.1,-11.5,122,1609,0.12,2.15,0.00,0.000,6,0.209,0.048,2286,2186,3453,0,0,0,0,0,0
$GC,1871,-0.93,-117.2,331.7,-10.9,129,1874,0.00,2.12,0.00,0.000,4,0.000,0.057,2277,3588,3454,0,0,0,0,0,0
$GC,2029,-0.93,-117.2,352.4,-13.8,132,2033,0.00,2.05,0.00,0.000,6,0.000,0.034,2284,2179,3454,0,0,0,0,0,0
$GC,2284,-0.93,-117.2,382.1,-11.3,139,2287,0.00,2.05,0.00,0.000,4,0.000,0.040,2277,781,3450,0,0,0,0,0,0
$GC,2301,-0.93,-117.2,383.8,-10.5,139,2305,0.00,2.12,0.00,0.000,6,0.000,0.048,2269,2173,3456,0,0,0,0,0,0
$GC,2573,-0.93,-117.2,408.5,-8.5,146,2577,0.00,2.17,0.00,0.000,4,0.000,0.060,2260,3598,3450,0,0,0,0,0,0
$GC,2667,-0.93,-117.2,418.0,-10.5,148,2671,0.00,2.10,0.00,0.000,6,0.000,0.035,2260,2163,3452,0,0,0,0,0,0
$GC,2946,-0.93,-117.2,446.7,-10.5,155,2950,0.00,2.05,0.00,0.000,4,0.000,0.043,2260,775,3451,0,0,0,0,0,0
$GC,2990,-0.93,-117.2,451.8,-10.8,156,2995,0.15,2.15,0.00,0.000,6,0.212,0.051,2285,2187,3451,0,0,0,0,0,0
$GC,3274,-0.93,-117.2,481.6,-10.0,163,3278,0.00,2.15,0.00,0.000,4,0.000,0.059,2277,3588,3448,0,0,0,0,0,0
$GC,3307,-0.93,-117.2,485.1,-10.6,163,3313,0.00,2.08,0.00,0.000,6,0.000,0.036,2279,2183,3448,0,0,0,0,0,0
$GC,3557,-0.93,-117.2,507.2,-8.8,170,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2177,3444,0,0,0,0,0,0
$GC,3801,-0.93,-117.2,528.8,-8.8,176,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2177,3444,0,0,0,0,0,0
$GC,4046,-0.93,-117.2,549.6,-8.5,182,4050,0.00,2.08,0.00,0.000,4,0.000,0.042,2281,779,3442,0,0,0,0,0,0
$GC,4090,-0.93,-117.2,553.8,-8.7,183,4094,0.00,2.12,0.00,0.000,6,0.000,0.049,2270,2181,3441,0,0,0,0,0,0
$GC,4368,-0.93,-117.2,580.9,-10.1,190,4372,0.00,2.15,0.00,0.000,4,0.000,0.060,2259,3588,3439,0,0,0,0,0,0
$GC,4446,-0.93,-117.2,589.8,-10.9,191,4452,0.12,2.08,0.00,0.000,6,0.216,0.037,2287,2175,3437,0,0,0,0,0,0
$GC,4695,-0.93,-117.2,615.3,-10.3,198,4699,0.00,2.17,0.00,0.000,4,0.000,0.057,2278,3589,3437,0,0,0,0,0,0
$GC,4739,-0.93,-117.2,620.3,-11.9,199,4743,0.00,2.08,0.00,0.000,6,0.000,0.036,2278,2174,3436,0,0,0,0,0,0
$GC,5024,-0.93,-117.2,648.4,-9.6,206,5028,0.00,2.20,0.00,0.000,4,0.000,0.058,2269,3597,3433,0,0,0,0,0,0
$GC,5147,-0.93,-117.2,660.8,-10.1,208,5153,0.00,2.10,0.00,0.000,6,0.000,0.035,2268,2179,3433,0,0,0,0,0,0
$GC,5397,-0.93,-117.2,681.9,-8.3,215,5401,0.00,2.08,0.00,0.000,4,0.000,0.042,2265,771,3431,0,0,0,0,0,0
$GC,5540,-0.93,-117.2,693.8,-8.8,218,5545,0.12,2.15,0.00,0.000,6,0.216,0.052,2285,2182,3430,0,0,0,0,0,0
$GC,5812,-0.93,-117.2,714.3,-7.6,225,5816,0.00,2.10,0.00,0.000,4,0.000,0.044,2287,774,3426,0,0,0,0,0,0
$GC,5862,-0.93,-117.2,718.5,-8.3,226,5866,0.00,2.17,0.00,0.000,6,0.000,0.052,2278,2181,3427,0,0,0,0,0,0
$GC,6135,-0.93,-117.2,739.5,-7.6,233,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2184,3427,0,0,0,0,0,0
$GC,6378,-0.93,-117.2,758.5,-7.7,239,6382,0.00,2.12,0.00,0.000,4,0.000,0.044,2277,779,3426,0,0,0,0,0,0
$GC,6486,-0.93,-117.2,767.4,-8.3,241,6490,0.00,2.15,0.00,0.000,6,0.000,0.052,2267,2177,3425,0,0,0,0,0,0
$GC,6758,-0.93,-117.2,788.0,-7.4,248,6762,0.00,2.10,0.00,0.000,4,0.000,0.044,2267,778,3424,0,0,0,0,0,0
$GC,6797,-0.93,-117.2,791.0,-7.8,249,6802,0.00,2.17,0.00,0.000,6,0.000,0.052,2257,2189,3424,0,0,0,0,0,0
$GC,7083,-0.93,-117.2,812.1,-7.2,256,7087,0.12,2.15,0.00,0.000,4,0.224,0.043,2288,773,3422,0,0,0,0,0,0
$GC,7127,-0.93,-117.2,815.5,-7.3,257,7132,0.00,2.15,0.00,0.000,6,0.000,0.052,2278,2174,3422,0,0,0,0,0,0
$GC,7407,-0.93,-117.2,834.6,-6.8,264,7410,0.00,2.10,0.00,0.000,4,0.000,0.045,2279,773,3421,0,0,0,0,0,0
$GC,7518,-0.93,-117.2,843.3,-8.2,266,7522,0.00,2.17,0.00,0.000,6,0.000,0.052,2268,2187,3421,0,0,0,0,0,0
$GC,7780,-0.93,-117.2,864.5,-8.3,273,7784,0.00,2.12,0.00,0.000,4,0.000,0.043,2268,770,3420,0,0,0,0,0,0
$GC,8009,-0.93,-117.2,882.8,-8.3,278,8014,0.12,2.20,0.00,0.000,6,0.221,0.056,2288,2187,3418,0,0,0,0,0,0
$STATE,8284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8284,begin apogee
$GC,8291,-0.28,0.0,902.3,6.9,285,8390,0.73,0.00,95.35,1.173,6,0.186,0.000,2495,1962,2964,0,0,0,0,0,0
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8395,0.93,117.2,903.7,0.0,287,8504,1.20,0.00,105.47,1.128,6,0.100,0.000,2886,1962,2484,0,0,0,0,0,0
$GC,8730,0.93,117.2,822.6,27.6,296,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1963,2476,0,0,0,0,0,0
$GC,8975,0.93,117.2,753.3,28.4,302,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1962,2474,0,0,0,0,0,0
$GC,9218,0.93,117.2,683.4,28.7,308,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1965,2476,0,0,0,0,0,0
$GC,9461,0.93,117.2,617.3,26.9,314,9465,0.00,2.28,0.00,0.000,4,0.000,0.054,2886,3406,2470,0,0,0,0,0,0
$GC,9483,0.93,117.2,611.0,27.5,314,9487,0.00,2.12,0.00,0.000,6,0.000,0.032,2898,1993,2472,0,0,0,0,0,0
$GC,9751,0.93,117.2,536.7,28.4,321,9755,0.00,2.12,0.00,0.000,4,0.000,0.040,2909,583,2467,0,0,0,0,0,0
$GC,9774,0.93,117.2,529.9,29.8,321,9778,0.00,2.15,0.00,0.000,6,0.000,0.038,2909,2006,2467,0,0,0,0,0,0
$GC,10028,0.93,117.2,458.8,27.8,328,10032,0.00,2.12,0.00,0.000,4,0.000,0.052,2909,3394,2473,0,0,0,0,0,0
$GC,10062,0.93,117.2,449.6,28.8,328,10068,0.00,2.10,0.00,0.000,6,0.000,0.032,2920,1992,2470,0,0,0,0,0,0
$GC,10312,0.93,117.2,382.1,26.7,335,10316,0.00,2.12,0.00,0.000,4,0.000,0.040,2931,580,2468,0,0,0,0,0,0
$GC,10328,0.93,117.2,377.6,26.6,335,10332,0.15,2.12,0.00,0.000,6,0.218,0.036,2897,1993,2467,0,0,0,0,0,0
$GC,10594,0.93,117.2,314.6,23.4,342,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2001,2467,0,0,0,0,0,0
$GC,10841,0.93,117.2,262.1,18.5,352,10845,0.00,2.15,0.00,0.000,4,0.000,0.046,2906,577,2467,0,0,0,0,0,0
$GC,10930,0.93,117.2,242.7,23.0,356,10934,0.00,2.15,0.00,0.000,6,0.000,0.041,2906,1994,2464,0,0,0,0,0,0
$GC,11190,0.93,117.2,190.6,21.3,370,11194,0.00,2.12,0.00,0.000,4,0.000,0.053,2907,3393,2464,0,0,0,0,0,0
$GC,11274,0.93,117.2,174.1,19.6,377,11278,0.00,2.08,0.00,0.000,6,0.000,0.033,2917,1981,2465,0,0,0,0,0,0
$GC,11539,0.93,117.2,131.3,14.4,401,11543,0.00,2.17,0.00,0.000,4,0.000,0.051,2917,3398,2464,0,0,0,0,0,0
$GC,11602,0.93,117.2,121.3,14.8,406,11606,0.15,2.10,0.00,0.000,6,0.216,0.033,2893,1989,2465,0,0,0,0,0,0
$GC,11865,0.93,117.2,87.8,11.9,430,11869,0.00,2.08,0.00,0.000,4,0.000,0.043,2902,586,2464,0,0,0,0,0,0
$GC,12019,0.93,117.2,69.5,11.5,443,12027,0.00,2.12,0.00,0.000,6,0.000,0.037,2902,1994,2467,0,0,0,0,0,0
$GC,12286,0.93,117.2,34.6,13.5,468,12290,0.00,2.12,0.00,0.000,4,0.000,0.043,2911,584,2467,0,0,0,0,0,0
$GC,12306,0.93,117.2,31.8,12.3,469,12310,0.00,2.10,0.00,0.000,6,0.000,0.035,2917,1993,2466,0,0,0,0,0,0
$STATE,12543,end climb,SURFACE_DEPTH_REACHED
$STATE,12543,begin surface coast
$FINISH,-0.0,1.023018
$STATE,12566,end surface coast,CONTROL_FINISHED_OK
$STATE,12566,begin surface
$SM_CCo,12586,88.05,0.498,0,0,1740,300.24
$SM_GC,0.95,0.00,0.00,88.05,0.000,0.000,0.498,49,2179,1740,-7.93,-0.03,300.24
$IRIDIUM_FIX,1844.15,-15644.80,311212,121241
$TT8_MAMPS,0.060593
$HUMID,1078847087
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,25.00
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344278016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59987853312
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,7.306
$10V_AH,10.2,7.737
$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,20.075,123.850,200.825,88.050,0.000,24.678,31.356,356.166,2.500,0.000,17.134,1120.223,9179.171,402.065,2222.041,374.263,33.364,1162.161,0.000,1799.649,0.000,0.539,0.000
$DEVICE_MAMPS,252.343,65.195,1172.743,497.783,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.548,0.000,784.367,0.000,0.000,0.000,0.000,14081.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.945,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,26916,516
$CAP_FILE_SIZE,121818,0
$CFSIZE,260165632,203374592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,023307,1850.573,-15642.156,36,1.6,36,9.6