version: 66.07
glider: 513
mission: 7
dive: 345
start: 8 27 111 9 58 47
data:
$ID,513
$MISSION,7
$DIVE,345
$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,-429994.59
$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,64
$R_STBD_OVSHOOT,34
$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,344
$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
$GPS1,270811,093906,1859.438,-15646.525,36,1.2,36,9.6
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,6
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.9
$GPS2,270811,095749,1859.322,-15646.874,14,1.4,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.177,0.161
$KALMAN_X,-149397.4,847.5,465.2,159976.3,-12375.0
$KALMAN_Y,-206933.1,1385.8,723.4,92983.3,-12944.2
$MHEAD_RNG_PITCHd_Wd,45.7,3514,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-52.40,0.000,2,0.000,0.000,36,2083,3605,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.9,-5.7,8,107,9.88,2.35,-4.22,0.000,4,0.243,0.067,2320,3509,3864,0,0,0,0,0,0
$GC,237,-0.80,-136.7,59.1,-31.7,26,241,0.00,2.15,0.00,0.000,6,0.000,0.036,2320,2132,3863,0,0,0,0,0,0
$GC,501,-0.80,-136.7,149.6,-32.5,50,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2126,3864,0,0,0,0,0,0
$GC,761,-0.80,-136.7,214.0,-21.1,72,765,0.00,2.17,0.00,0.000,4,0.000,0.041,2320,681,3866,0,0,0,0,0,0
$GC,794,-0.80,-136.7,221.3,-21.3,73,799,0.00,2.17,0.00,0.000,6,0.000,0.043,2309,2105,3865,0,0,0,0,0,0
$GC,1049,-0.80,-136.7,268.6,-17.0,86,1053,0.12,2.20,0.00,0.000,4,0.180,0.051,2331,3506,3867,0,0,0,0,0,0
$GC,1070,-0.80,-136.7,272.5,-16.3,87,1074,0.00,2.15,0.00,0.000,6,0.000,0.031,2331,2081,3866,0,0,0,0,0,0
$GC,1354,-0.80,-136.7,316.8,-17.9,99,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2075,3867,0,0,0,0,0,0
$GC,1598,-0.80,-136.7,358.7,-17.0,105,1602,0.00,2.08,0.00,0.000,4,0.000,0.038,2331,684,3868,0,0,0,0,0,0
$GC,1655,-0.80,-136.7,367.3,-14.8,106,1659,0.00,2.15,0.00,0.000,6,0.000,0.041,2321,2110,3868,0,0,0,0,0,0
$GC,1927,-0.80,-136.7,409.8,-15.6,113,1931,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3515,3867,0,0,0,0,0,0
$GC,1999,-0.80,-136.7,421.1,-15.1,114,2003,0.10,2.12,0.00,0.000,6,0.171,0.029,2334,2087,3866,0,0,0,0,0,0
$GC,2250,-0.80,-136.7,458.4,-15.3,120,2254,0.00,2.05,0.00,0.000,4,0.000,0.040,2334,708,3863,0,0,0,0,0,0
$GC,2285,-0.80,-136.7,464.2,-16.4,120,2290,0.00,2.10,0.00,0.000,6,0.000,0.044,2326,2097,3863,0,0,0,0,0,0
$GC,2534,-0.80,-136.7,503.4,-15.3,127,2538,0.00,2.22,0.00,0.000,4,0.000,0.051,2315,3508,3861,0,0,0,0,0,0
$GC,2557,-0.80,-136.7,507.1,-16.2,127,2561,0.00,2.10,0.00,0.000,6,0.000,0.031,2315,2105,3863,0,0,0,0,0,0
$GC,2813,-0.80,-136.7,547.5,-15.9,134,2817,0.00,2.12,0.00,0.000,4,0.000,0.040,2315,693,3858,0,0,0,0,0,0
$GC,2851,-0.80,-136.7,553.6,-15.4,134,2858,0.12,2.15,0.00,0.000,6,0.179,0.043,2335,2097,3857,0,0,0,0,0,0
$GC,3102,-0.80,-136.7,586.3,-12.8,141,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2097,3855,0,0,0,0,0,0
$GC,3345,-0.80,-136.7,617.2,-12.4,147,3349,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3511,3852,0,0,0,0,0,0
$GC,3400,-0.80,-136.7,623.9,-11.6,148,3404,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2096,3851,0,0,0,0,0,0
$GC,3673,-0.80,-136.7,656.6,-11.9,155,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2089,3849,0,0,0,0,0,0
$GC,3916,-0.80,-136.7,683.8,-11.1,161,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3846,0,0,0,0,0,0
$GC,4160,-0.80,-136.7,709.9,-10.6,167,4163,0.00,2.10,0.00,0.000,4,0.000,0.041,2326,703,3844,0,0,0,0,0,0
$GC,4221,-0.80,-136.7,716.6,-11.0,168,4224,0.00,2.17,0.00,0.000,6,0.000,0.044,2316,2108,3843,0,0,0,0,0,0
$GC,4489,-0.80,-136.7,748.3,-12.1,175,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2107,3841,0,0,0,0,0,0
$GC,4731,-0.80,-136.7,780.6,-13.1,181,4735,0.00,2.20,0.00,0.000,4,0.000,0.054,2305,3505,3838,0,0,0,0,0,0
$GC,4780,-0.80,-136.7,787.1,-13.5,182,4785,0.12,2.12,0.00,0.000,6,0.170,0.035,2335,2102,3838,0,0,0,0,0,0
$GC,5053,-0.80,-136.7,820.1,-12.1,189,5057,0.00,2.12,0.00,0.000,4,0.000,0.043,2336,698,3836,0,0,0,0,0,0
$GC,5081,-0.80,-136.7,823.8,-12.7,189,5085,0.00,2.17,0.00,0.000,6,0.000,0.044,2328,2103,3836,0,0,0,0,0,0
$GC,5337,-0.80,-136.7,855.7,-12.6,196,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2106,3834,0,0,0,0,0,0
$GC,5580,-0.80,-136.7,885.9,-12.3,202,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2106,3832,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5699,begin apogee
$GC,5707,-0.28,0.0,900.2,11.9,205,5823,0.60,0.00,111.07,1.077,6,0.145,0.000,2505,1930,3301,0,0,0,0,0,0
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5849,0.80,136.7,904.0,0.0,208,5981,1.02,2.28,120.10,1.043,4,0.094,0.038,2859,582,2741,0,0,0,0,0,0
$GC,5998,0.80,136.7,886.5,18.8,211,6002,0.00,2.20,0.00,0.000,6,0.000,0.036,2854,1965,2737,0,0,1,0,0,0
$GC,6259,0.80,136.7,834.3,20.1,218,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1966,2733,0,0,0,0,0,0
$GC,6503,0.80,136.7,787.1,19.2,224,6507,0.00,2.25,0.00,0.000,4,0.000,0.053,2854,3364,2730,0,0,0,0,0,0
$GC,6520,0.80,136.7,783.6,19.3,224,6525,0.00,2.15,0.00,0.000,6,0.000,0.030,2863,1974,2730,0,0,0,0,0,0
$GC,6781,0.80,136.7,731.6,20.0,231,6785,0.00,2.22,0.00,0.000,4,0.000,0.050,2854,3367,2724,0,0,0,0,0,0
$GC,6814,0.80,136.7,724.8,20.6,231,6821,0.00,2.17,0.00,0.000,6,0.000,0.030,2867,1954,2729,0,0,0,0,0,0
$GC,7065,0.80,136.7,675.9,19.7,238,7069,0.00,2.10,0.00,0.000,4,0.000,0.038,2874,561,2727,0,0,0,0,0,0
$GC,7115,0.80,136.7,665.2,20.0,239,7119,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1966,2725,0,0,0,0,0,0
$GC,7393,0.80,136.7,611.1,19.4,246,7397,0.00,2.20,0.00,0.000,4,0.000,0.051,2873,3361,2725,0,0,0,0,0,0
$GC,7495,0.80,136.7,590.9,19.9,248,7499,0.00,2.15,0.00,0.000,6,0.000,0.030,2883,1954,2725,0,0,0,0,0,0
$GC,7763,0.80,136.7,541.2,18.7,255,7767,0.00,2.10,0.00,0.000,4,0.000,0.037,2901,558,2725,0,0,0,0,0,0
$GC,7803,0.80,136.7,533.8,18.9,256,7808,0.15,2.12,0.00,0.000,6,0.195,0.033,2859,1964,2721,0,0,0,0,0,0
$GC,8087,0.80,136.7,489.3,15.4,263,8091,0.00,2.22,0.00,0.000,4,0.000,0.050,2848,3361,2723,0,0,0,0,0,0
$GC,8109,0.80,136.7,485.7,15.4,263,8113,0.00,2.15,0.00,0.000,6,0.000,0.030,2858,1953,2723,0,0,0,0,0,0
$GC,8370,0.80,136.7,447.3,14.6,270,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1948,2723,0,0,0,0,0,0
$GC,8616,0.80,136.7,412.9,14.3,276,8620,0.00,2.22,0.00,0.000,4,0.000,0.048,2858,3363,2722,0,0,0,0,0,0
$GC,8632,0.80,136.7,410.1,13.8,276,8635,0.00,2.12,0.00,0.000,6,0.000,0.029,2870,1957,2723,0,0,0,0,0,0
$GC,8898,0.80,136.7,372.0,14.1,283,8902,0.00,2.22,0.00,0.000,4,0.000,0.048,2868,3359,2723,0,0,0,0,0,0
$GC,8920,0.80,136.7,368.9,13.9,283,8924,0.00,2.12,0.00,0.000,6,0.000,0.030,2879,1955,2722,0,0,0,0,0,0
$GC,9183,0.80,136.7,330.2,15.3,290,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1954,2721,0,0,0,0,0,0
$GC,9426,0.80,136.7,293.6,14.6,297,9430,0.00,2.22,0.00,0.000,4,0.000,0.046,2884,3359,2722,0,0,0,0,0,0
$GC,9505,0.80,136.7,280.4,17.7,300,9511,0.12,2.12,0.00,0.000,6,0.199,0.028,2859,1955,2721,0,0,0,0,0,0
$GC,9760,0.80,136.7,245.8,12.5,313,9764,0.00,2.10,0.00,0.000,4,0.000,0.036,2868,561,2720,0,0,0,0,0,0
$GC,9867,0.80,136.7,232.8,10.7,318,9871,0.00,2.10,0.00,0.000,6,0.000,0.033,2868,1963,2718,0,0,0,0,0,0
$GC,10133,0.80,136.7,207.2,10.7,331,10137,0.00,2.12,0.00,0.000,4,0.000,0.036,2878,560,2719,0,0,0,0,0,0
$GC,10278,0.80,136.7,191.0,11.9,340,10285,0.00,2.15,0.00,0.000,6,0.000,0.033,2878,1965,2717,0,0,0,0,0,0
$GC,10544,0.84,174.6,169.1,7.0,365,10581,0.00,2.17,28.23,0.574,4,0.000,0.035,2888,560,2587,0,0,0,0,0,0
$GC,10630,0.85,176.8,161.7,8.5,372,10637,0.00,2.15,0.00,0.000,6,0.000,0.032,2888,1954,2584,0,0,0,0,0,0
$GC,10898,0.96,266.6,143.0,4.8,397,10981,0.00,2.28,75.65,0.549,4,0.000,0.047,2888,3364,2210,0,0,0,0,0,0
$GC,11195,0.96,266.6,109.7,13.7,423,11199,0.00,2.17,0.00,0.000,6,0.000,0.031,2899,1959,2209,0,0,0,0,0,0
$GC,11460,0.96,266.6,72.6,14.8,447,11464,0.00,2.12,0.00,0.000,4,0.000,0.038,2915,551,2206,0,0,0,0,0,0
$GC,11568,0.96,266.6,57.1,13.8,456,11572,0.00,2.12,0.00,0.000,6,0.000,0.031,2909,1970,2206,0,0,0,0,0,0
$GC,11832,0.96,266.6,18.5,14.1,487,11840,0.00,2.20,0.00,0.000,4,0.000,0.047,2906,3353,2207,0,0,0,0,0,0
$GC,11908,0.96,266.6,6.9,14.6,500,11915,0.00,2.15,0.00,0.000,6,0.000,0.030,2920,1960,2208,0,0,0,0,0,0
$STATE,11934,end climb,SURFACE_DEPTH_REACHED
$STATE,11934,begin surface coast
$FINISH,0.3,1.012238
$STATE,11957,end surface coast,CONTROL_FINISHED_OK
$STATE,11957,begin surface
$SM_CCo,11977,16.05,0.403,0,0,2076,300.49
$SM_GC,2.02,0.00,0.00,16.05,0.000,0.000,0.403,56,2130,2076,-7.94,0.85,300.49
$IRIDIUM_FIX,1850.98,-15648.98,190213,040400
$TT8_MAMPS,0.244673
$HUMID,1078921926
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,89
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257999872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27066040320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,48.099
$10V_AH,9.8,43.959
$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,19.775,121.500,335.050,16.050,0.000,86.043,140.073,517.933,22.250,0.000,16.306,1104.012,8751.269,403.063,2447.511,419.082,33.354,1162.516,0.000,1662.640,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,66.729,1076.868,403.442,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.342,0.000,797.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26937,508
$CAP_FILE_SIZE,118544,0
$CFSIZE,260165632,180547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,238.4,1
$GPS,270811,132034,1859.548,-15646.704,50,1.8,54,9.6