version: 66.07
glider: 513
mission: 7
dive: 350
start: 8 28 111 3 49 3
data:
$ID,513
$MISSION,7
$DIVE,350
$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,-430102.28
$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,64
$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,349
$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
$GPS1,280811,033810,1859.840,-15645.929,8,2.3,27,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.2
$GPS2,280811,034807,1859.748,-15646.062,34,1.2,34,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.180,0.158
$KALMAN_X,-161618.4,1662.1,1179.9,172058.7,-12795.7
$KALMAN_Y,-218452.9,1078.9,712.2,105610.0,-12370.0
$MHEAD_RNG_PITCHd_Wd,53.6,1919,-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,-51.47,0.000,2,0.000,0.000,39,2140,3540,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.2,-4.7,8,107,9.90,2.15,-5.65,0.000,4,0.245,0.061,2320,3494,3860,0,0,0,0,0,0
$GC,216,-0.80,-136.7,51.7,-29.3,25,224,0.00,2.15,0.00,0.000,6,0.000,0.036,2320,2122,3864,0,0,0,0,0,0
$GC,481,-0.80,-136.7,140.1,-32.3,50,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2115,3867,0,0,0,0,0,0
$GC,753,-0.80,-136.7,209.4,-21.3,74,757,0.00,2.15,0.00,0.000,4,0.000,0.037,2320,689,3867,0,0,0,0,0,0
$GC,825,-0.80,-136.7,225.7,-20.3,77,829,0.12,2.10,0.00,0.000,6,0.188,0.041,2338,2082,3868,0,0,0,0,0,0
$GC,1078,-0.80,-136.7,272.3,-18.0,89,1082,0.00,2.22,0.00,0.000,4,0.000,0.048,2329,3508,3870,0,0,0,0,0,0
$GC,1129,-0.80,-136.7,280.8,-15.5,91,1133,0.00,2.12,0.00,0.000,6,0.000,0.030,2329,2089,3873,0,0,0,0,0,0
$GC,1381,-0.80,-136.7,322.8,-16.8,100,1385,0.00,2.22,0.00,0.000,4,0.000,0.051,2318,3511,3871,0,0,0,0,0,0
$GC,1414,-0.80,-136.7,328.7,-17.9,100,1420,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,2101,3871,0,0,0,0,0,0
$GC,1666,-0.80,-136.7,374.5,-18.4,107,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2095,3871,0,0,0,0,0,0
$GC,1908,-0.80,-136.7,416.6,-17.1,113,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2095,3870,0,0,0,0,0,0
$GC,2152,-0.80,-136.7,455.0,-15.7,119,2156,0.00,2.10,0.00,0.000,4,0.000,0.038,2319,687,3868,0,0,0,0,0,0
$GC,2192,-0.80,-136.7,461.6,-16.9,120,2197,0.12,2.17,0.00,0.000,6,0.172,0.042,2339,2108,3868,0,0,0,0,0,0
$GC,2475,-0.80,-136.7,503.5,-14.6,127,2479,0.00,2.22,0.00,0.000,4,0.000,0.054,2330,3505,3865,0,0,0,0,0,0
$GC,2524,-0.80,-136.7,511.2,-15.5,128,2528,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,2096,3864,0,0,0,0,0,0
$GC,2804,-0.80,-136.7,550.7,-13.9,135,2807,0.00,2.10,0.00,0.000,4,0.000,0.040,2330,688,3862,0,0,0,0,0,0
$GC,2820,-0.80,-136.7,553.2,-13.8,135,2824,0.00,2.17,0.00,0.000,6,0.000,0.043,2320,2096,3865,0,0,0,0,0,0
$GC,3086,-0.80,-136.7,589.3,-13.5,142,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2096,3862,0,0,0,0,0,0
$GC,3331,-0.80,-136.7,621.7,-13.1,148,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2096,3857,0,0,0,0,0,0
$GC,3575,-0.80,-136.7,653.0,-12.8,154,3579,0.00,2.12,0.00,0.000,4,0.000,0.044,2320,701,3854,0,0,0,0,0,0
$GC,3607,-0.80,-136.7,657.6,-13.2,154,3614,0.10,2.17,0.00,0.000,6,0.185,0.044,2333,2110,3857,0,0,0,0,0,0
$GC,3857,-0.80,-136.7,686.7,-11.7,161,3861,0.00,2.22,0.00,0.000,4,0.000,0.055,2324,3509,3852,0,0,0,0,0,0
$GC,3885,-0.80,-136.7,690.2,-12.4,161,3888,0.00,2.15,0.00,0.000,6,0.000,0.034,2324,2100,3852,0,0,0,0,0,0
$GC,4148,-0.80,-136.7,723.1,-12.8,168,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2094,3849,0,0,0,0,0,0
$GC,4390,-0.80,-136.7,754.3,-12.9,174,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2093,3847,0,0,0,0,0,0
$GC,4634,-0.80,-136.7,786.0,-12.9,180,4638,0.00,2.12,0.00,0.000,4,0.000,0.043,2324,695,3845,0,0,0,0,0,0
$GC,4679,-0.80,-136.7,792.2,-13.5,181,4683,0.00,2.17,0.00,0.000,6,0.000,0.045,2314,2103,3844,0,0,0,0,0,0
$GC,4957,-0.80,-136.7,829.6,-13.6,188,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2102,3842,0,0,0,0,0,0
$GC,5200,-0.80,-136.7,863.2,-13.8,194,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2102,3840,0,0,0,0,0,0
$GC,5444,-0.80,-136.7,896.0,-13.4,200,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2102,3839,0,0,0,0,0,0
$STATE,5482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5482,begin apogee
$GC,5490,-0.28,0.0,901.4,13.3,201,5606,0.65,0.00,111.95,1.083,6,0.150,0.000,2503,1937,3299,0,0,0,0,0,0
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5632,0.80,136.7,906.1,0.0,204,5757,1.02,0.00,120.45,1.048,6,0.093,0.000,2847,1937,2743,0,0,0,0,0,0
$GC,5997,0.80,136.7,855.8,16.8,213,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1937,2734,0,0,0,0,0,0
$GC,6241,0.80,136.7,815.6,16.5,219,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1937,2731,0,0,0,0,0,0
$GC,6484,0.80,136.7,776.4,15.9,225,6488,0.00,2.08,0.00,0.000,4,0.000,0.040,2858,576,2729,0,0,0,0,0,0
$GC,6500,0.80,136.7,773.4,16.3,225,6504,0.00,2.12,0.00,0.000,6,0.000,0.038,2858,1958,2728,0,0,0,0,0,0
$GC,6769,0.80,136.7,727.4,17.6,232,6773,0.00,2.28,0.00,0.000,4,0.000,0.055,2849,3377,2728,0,0,0,0,0,0
$GC,6829,0.80,136.7,716.0,18.3,233,6833,0.00,2.17,0.00,0.000,6,0.000,0.032,2858,1961,2728,0,0,0,0,0,0
$GC,7102,0.80,136.7,668.3,17.7,240,7106,0.00,2.12,0.00,0.000,4,0.000,0.040,2869,561,2727,0,0,0,0,0,0
$GC,7124,0.80,136.7,664.1,18.1,240,7128,0.00,2.15,0.00,0.000,6,0.000,0.036,2869,1973,2725,0,0,0,0,0,0
$GC,7380,0.80,136.7,617.0,18.1,247,7383,0.00,2.15,0.00,0.000,4,0.000,0.038,2879,561,2725,0,0,0,0,0,0
$GC,7407,0.80,136.7,611.6,18.9,247,7411,0.00,2.12,0.00,0.000,6,0.000,0.035,2881,1955,2724,0,0,0,0,0,0
$GC,7658,0.80,136.7,566.1,18.2,253,7662,0.00,2.25,0.00,0.000,4,0.000,0.052,2880,3367,2722,0,0,0,0,0,0
$GC,7679,0.80,136.7,561.4,20.4,253,7684,0.15,2.12,0.00,0.000,6,0.207,0.031,2855,1960,2724,0,0,0,0,0,0
$GC,7935,0.80,136.7,518.7,16.4,260,7939,0.00,2.25,0.00,0.000,4,0.000,0.051,2845,3370,2724,0,0,0,0,0,0
$GC,7967,0.80,136.7,512.7,17.3,260,7971,0.00,2.12,0.00,0.000,6,0.000,0.030,2854,1965,2724,0,0,0,0,0,0
$GC,8224,0.80,136.7,471.8,16.3,267,8228,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,560,2724,0,0,0,0,0,0
$GC,8268,0.80,136.7,464.3,16.8,268,8271,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1963,2722,0,0,0,0,0,0
$GC,8551,0.80,136.7,417.0,17.0,275,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1964,2722,0,0,0,0,0,0
$GC,8796,0.80,136.7,377.0,16.3,281,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1964,2722,0,0,0,0,0,0
$GC,9039,0.80,136.7,339.5,15.3,287,9043,0.00,2.22,0.00,0.000,4,0.000,0.052,2866,3359,2722,0,0,0,0,0,0
$GC,9088,0.80,136.7,332.1,14.6,288,9092,0.00,2.15,0.00,0.000,6,0.000,0.030,2876,1947,2722,0,0,0,0,0,0
$GC,9368,0.80,136.7,296.5,11.9,295,9372,0.00,2.25,0.00,0.000,4,0.000,0.050,2876,3361,2721,0,0,0,0,0,0
$GC,9434,0.80,136.7,288.3,11.9,298,9439,0.12,2.15,0.00,0.000,6,0.205,0.029,2858,1968,2719,0,0,0,0,0,0
$GC,9699,0.80,136.7,260.6,10.3,311,9703,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,554,2721,0,0,0,0,0,0
$GC,9722,0.80,136.7,258.1,11.3,312,9726,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1967,2719,0,0,0,0,0,0
$GC,9986,0.80,136.7,227.5,11.8,325,9990,0.00,2.20,0.00,0.000,4,0.000,0.049,2868,3363,2719,0,0,0,0,0,0
$GC,10166,0.80,136.7,205.8,11.7,333,10171,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1952,2720,0,0,0,0,0,0
$GC,10430,0.83,161.4,183.9,7.5,354,10455,0.00,2.22,17.80,0.571,4,0.000,0.045,2876,3362,2641,0,0,0,0,0,0
$GC,10538,0.83,165.7,174.8,8.4,363,10552,0.00,2.12,5.78,0.463,6,0.000,0.027,2888,1946,2623,0,0,0,0,0,0
$GC,10806,0.83,165.7,149.9,8.7,388,10810,0.00,2.22,0.00,0.000,4,0.000,0.046,2888,3362,2623,0,0,0,0,0,0
$GC,10880,0.83,165.7,142.0,12.0,394,10885,0.15,2.12,0.00,0.000,6,0.186,0.028,2861,1959,2623,0,0,0,0,0,0
$GC,11144,0.96,266.7,125.4,4.3,418,11236,0.12,2.17,82.20,0.531,4,0.095,0.035,2925,561,2212,0,0,0,0,0,0
$GC,11370,0.96,266.7,101.2,14.0,437,11374,0.00,2.12,0.00,0.000,6,0.000,0.031,2925,1963,2207,0,0,0,0,0,0
$GC,11635,0.96,266.7,58.1,17.4,461,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1965,2206,0,0,0,0,0,0
$GC,11899,0.96,266.7,13.4,16.9,495,11907,0.00,2.22,0.00,0.000,4,0.000,0.045,2925,3364,2206,0,0,0,0,0,0
$STATE,11962,end climb,SURFACE_DEPTH_REACHED
$STATE,11962,begin surface coast
$FINISH,0.4,1.022681
$STATE,11979,end surface coast,CONTROL_FINISHED_OK
$STATE,11979,begin surface
$SM_CCo,12002,16.88,0.407,0,0,2076,300.24
$SM_GC,2.07,0.00,0.00,16.88,0.000,0.000,0.407,54,2103,2076,-7.95,0.06,300.24
$IRIDIUM_FIX,1850.98,-15645.99,190213,181810
$TT8_MAMPS,0.246207
$HUMID,1078925797
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.90
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257836032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,26293600256
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,48.665
$10V_AH,9.7,44.367
$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,20.125,108.075,338.175,16.875,0.000,30.933,38.126,285.409,21.750,0.000,36.046,1086.437,8737.921,404.420,2010.636,385.016,33.361,1117.258,0.000,1601.937,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,62.127,1083.004,407.277,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.402,0.000,804.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26870,509
$CAP_FILE_SIZE,108907,0
$CFSIZE,260165632,180207616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,232.5,1
$GPS,280811,071131,1859.940,-15645.591,67,1.2,68,9.6