version: 66.07
glider: 513
mission: 7
dive: 359
start: 8 29 111 13 41 9
data:
$ID,513
$MISSION,7
$DIVE,359
$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,-430295.25
$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,77
$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,358
$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
$GPS1,290811,131445,1859.407,-15646.125,206,3.1,225,9.6
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.5
$GPS2,290811,134013,1859.240,-15646.547,10,1.1,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.159,0.178
$KALMAN_X,-181841.6,159.3,891.8,193262.5,-9717.5
$KALMAN_Y,-245395.5,1568.5,582.6,131251.6,-12454.7
$MHEAD_RNG_PITCHd_Wd,40.9,3053,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,84,0.00,0.00,-52.80,0.000,2,0.000,0.000,39,2149,3592,0,0,0,0,0,0
$GC,89,-0.80,-136.7,3.3,-4.5,8,110,9.93,0.00,-4.62,0.000,6,0.244,0.000,2327,2145,3856,0,0,0,0,0,0
$GC,374,-0.80,-136.7,107.5,-33.6,39,378,0.00,2.08,0.00,0.000,4,0.000,0.050,2314,3469,3859,0,0,0,0,0,0
$GC,396,-0.80,-136.7,114.4,-33.1,40,400,0.00,2.05,0.00,0.000,6,0.000,0.033,2317,2108,3859,0,0,0,0,0,0
$GC,660,-0.80,-136.7,194.5,-24.8,64,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2101,3860,0,0,0,0,0,0
$GC,915,-0.80,-136.7,245.4,-18.5,78,919,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,697,3862,0,0,0,0,0,0
$GC,942,-0.80,-136.7,251.1,-20.1,79,946,0.12,2.08,0.00,0.000,6,0.174,0.042,2339,2052,3863,0,0,0,0,0,0
$GC,1208,-0.80,-136.7,292.6,-16.1,92,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2054,3864,0,0,0,0,0,0
$GC,1472,-0.80,-136.7,332.7,-15.2,100,1476,0.00,2.25,0.00,0.000,4,0.000,0.049,2329,3517,3863,0,0,0,0,0,0
$GC,1596,-0.80,-136.7,353.6,-16.7,102,1602,0.00,2.12,0.00,0.000,6,0.000,0.031,2329,2094,3861,0,0,0,0,0,0
$GC,1846,-0.80,-136.7,392.9,-15.3,109,1850,0.00,2.08,0.00,0.000,4,0.000,0.040,2329,700,3862,0,0,0,0,0,0
$GC,1924,-0.80,-136.7,403.8,-13.7,110,1929,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2113,3861,0,0,0,0,0,0
$GC,2175,-0.80,-136.7,439.5,-14.4,117,2179,0.00,2.12,0.00,0.000,4,0.000,0.041,2319,700,3859,0,0,0,0,0,0
$GC,2202,-0.80,-136.7,443.7,-14.6,117,2207,0.12,2.12,0.00,0.000,6,0.170,0.041,2344,2103,3859,0,0,0,0,0,0
$GC,2457,-0.80,-136.7,475.7,-12.5,124,2461,0.00,2.20,0.00,0.000,4,0.000,0.051,2331,3509,3855,0,0,0,0,0,0
$GC,2490,-0.80,-136.7,480.1,-13.0,124,2496,0.00,2.12,0.00,0.000,6,0.000,0.031,2331,2092,3856,0,0,0,0,0,0
$GC,2741,-0.80,-136.7,512.1,-12.9,131,2745,0.00,2.08,0.00,0.000,4,0.000,0.039,2331,700,3853,0,0,0,0,0,0
$GC,2774,-0.80,-136.7,516.7,-12.9,131,2781,0.00,2.12,0.00,0.000,6,0.000,0.040,2321,2103,3853,0,0,0,0,0,0
$GC,3024,-0.80,-136.7,549.2,-12.9,138,3028,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3509,3850,0,0,0,0,0,0
$GC,3087,-0.80,-136.7,557.2,-12.5,139,3091,0.10,2.08,0.00,0.000,6,0.173,0.029,2334,2101,3849,0,0,0,0,0,0
$GC,3347,-0.80,-136.7,587.5,-11.6,146,3351,0.00,2.12,0.00,0.000,4,0.000,0.044,2334,698,3846,0,0,0,0,0,0
$GC,3379,-0.80,-136.7,591.3,-11.4,146,3385,0.00,2.17,0.00,0.000,6,0.000,0.042,2326,2105,3846,0,0,0,0,0,0
$GC,3631,-0.80,-136.7,619.9,-11.4,153,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2104,3843,0,0,0,0,0,0
$GC,3873,-0.80,-136.7,647.7,-11.3,159,3877,0.00,2.15,0.00,0.000,4,0.000,0.043,2323,696,3841,0,0,0,0,0,0
$GC,3900,-0.80,-136.7,651.1,-12.5,159,3904,0.00,2.20,0.00,0.000,6,0.000,0.041,2311,2102,3840,0,0,0,0,0,0
$GC,4155,-0.80,-136.7,681.5,-12.0,166,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2101,3837,0,0,0,0,0,0
$GC,4401,-0.80,-136.7,712.5,-13.0,172,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2102,3835,0,0,0,0,0,0
$GC,4643,-0.80,-136.7,744.3,-13.0,178,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2101,3832,0,0,0,0,0,0
$GC,4887,-0.80,-136.7,775.1,-12.7,184,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2101,3833,0,0,0,0,0,0
$GC,5130,-0.80,-136.7,806.1,-12.7,190,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2102,3829,0,0,0,0,0,0
$GC,5376,-0.80,-136.7,836.3,-12.5,196,5380,0.00,2.22,0.00,0.000,4,0.000,0.053,2304,3508,3827,0,0,0,0,0,0
$GC,5425,-0.80,-136.7,843.0,-12.1,197,5430,0.12,2.10,0.00,0.000,6,0.170,0.031,2336,2109,3826,0,0,0,0,0,0
$GC,5698,-0.80,-136.7,872.8,-10.9,204,5702,0.00,2.17,0.00,0.000,4,0.000,0.045,2336,686,3824,0,0,0,0,0,0
$GC,5771,-0.80,-136.7,881.0,-10.1,205,5775,0.00,2.20,0.00,0.000,6,0.000,0.047,2328,2098,3825,0,0,0,0,0,0
$STATE,5942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5948,-0.28,0.0,900.2,11.2,210,6064,0.60,0.00,109.57,1.081,6,0.143,0.000,2505,1916,3299,0,0,0,0,0,0
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6069,0.80,136.7,903.3,0.0,213,6199,1.02,2.17,119.03,1.050,4,0.092,0.038,2859,590,2742,0,0,0,0,0,0
$GC,6216,0.80,136.7,886.7,17.7,216,6219,0.00,2.20,0.00,0.000,6,0.000,0.037,2859,1960,2738,0,0,0,0,0,0
$GC,6478,0.80,136.7,834.1,20.4,223,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1959,2734,0,0,0,0,0,0
$GC,6720,0.80,136.7,786.2,19.3,229,6724,0.00,2.25,0.00,0.000,4,0.000,0.053,2859,3369,2729,0,0,0,0,0,0
$GC,6798,0.80,136.7,769.7,21.4,230,6804,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1972,2732,0,0,0,0,0,0
$GC,7048,0.80,136.7,718.2,20.8,237,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1968,2730,0,0,0,0,0,0
$GC,7293,0.80,136.7,668.9,20.3,243,7297,0.00,2.15,0.00,0.000,4,0.000,0.041,2881,563,2729,0,0,0,0,0,0
$GC,7333,0.80,136.7,660.7,20.7,244,7337,0.00,2.17,0.00,0.000,6,0.000,0.037,2877,1962,2726,0,0,0,0,0,0
$GC,7617,0.80,136.7,604.3,19.8,251,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1960,2729,0,0,0,0,0,0
$GC,7861,0.80,136.7,557.8,18.9,257,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1961,2726,0,0,0,0,0,0
$GC,8104,0.80,136.7,514.6,17.5,263,8108,0.00,2.22,0.00,0.000,4,0.000,0.054,2881,3365,2725,0,0,0,0,0,0
$GC,8177,0.80,136.7,502.4,16.5,264,8181,0.15,2.15,0.00,0.000,6,0.200,0.031,2856,1954,2724,0,0,0,0,0,0
$GC,8427,0.80,136.7,466.9,14.0,270,8430,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,558,2724,0,0,0,0,0,0
$GC,8450,0.80,136.7,463.7,14.0,270,8453,0.00,2.17,0.00,0.000,6,0.000,0.038,2857,1961,2723,0,0,0,0,0,0
$GC,8705,0.80,136.7,427.7,13.9,277,8709,0.00,2.12,0.00,0.000,4,0.000,0.041,2866,562,2723,0,0,0,0,0,0
$GC,8737,0.80,136.7,422.5,16.1,277,8743,0.00,2.17,0.00,0.000,6,0.000,0.039,2863,1964,2722,0,0,0,0,0,0
$GC,8989,0.80,136.7,384.2,15.5,284,8993,0.00,2.22,0.00,0.000,4,0.000,0.052,2863,3366,2722,0,0,0,0,0,0
$GC,9016,0.80,136.7,379.7,16.2,284,9019,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1959,2724,0,0,0,0,0,0
$GC,9271,0.80,136.7,345.1,13.2,291,9275,0.00,2.25,0.00,0.000,4,0.000,0.052,2870,3367,2721,0,0,0,0,0,0
$GC,9384,0.80,136.7,329.5,14.4,293,9389,0.00,2.10,0.00,0.000,6,0.000,0.029,2879,1951,2724,0,0,0,0,0,0
$GC,9648,0.80,136.7,291.7,14.6,301,9652,0.00,2.22,0.00,0.000,4,0.000,0.049,2877,3366,2722,0,0,0,0,0,0
$GC,9884,0.80,136.7,256.0,13.3,311,9891,0.12,2.12,0.00,0.000,6,0.200,0.029,2858,1946,2722,0,0,0,0,0,0
$GC,10138,0.80,136.7,228.7,10.3,324,10142,0.00,2.25,0.00,0.000,4,0.000,0.048,2847,3383,2721,0,0,0,0,0,0
$GC,10312,0.80,136.7,209.1,11.6,332,10316,0.00,2.12,0.00,0.000,6,0.000,0.029,2856,1968,2721,0,0,0,0,0,0
$GC,10575,0.82,160.3,182.9,7.6,353,10598,0.00,0.00,17.20,0.573,6,0.000,0.000,2856,1963,2647,0,0,0,0,0,0
$GC,10858,0.88,209.0,159.9,6.5,379,10906,0.00,2.15,41.30,0.568,4,0.000,0.037,2867,563,2446,0,0,0,0,0,0
$GC,10956,0.95,262.3,154.0,6.3,387,11007,0.10,2.15,44.35,0.555,6,0.111,0.035,2911,1964,2230,0,0,0,0,0,0
$GC,11271,0.95,262.3,113.4,15.6,416,11275,0.00,2.20,0.00,0.000,4,0.000,0.047,2911,3367,2224,0,0,0,0,0,0
$GC,11301,0.95,262.3,108.4,18.3,418,11305,0.00,2.12,0.00,0.000,6,0.000,0.030,2921,1962,2224,0,0,0,0,0,0
$GC,11566,0.95,262.3,67.4,15.7,442,11570,0.00,2.15,0.00,0.000,4,0.000,0.038,2932,551,2224,0,0,0,0,0,0
$GC,11588,0.95,262.3,63.3,14.7,443,11597,0.08,2.15,0.00,0.000,6,0.164,0.031,2916,1959,2221,0,0,0,0,0,0
$GC,11853,0.95,262.3,23.1,15.2,471,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1963,2223,0,0,0,0,0,0
$STATE,11978,end climb,SURFACE_DEPTH_REACHED
$STATE,11978,begin surface coast
$FINISH,0.3,1.022829
$STATE,12003,end surface coast,CONTROL_FINISHED_OK
$STATE,12003,begin surface
$SM_CCo,12023,259.98,0.426,0,0,393,712.83
$SM_GC,1.05,0.00,0.00,259.98,0.000,0.000,0.426,46,2146,393,-7.95,1.30,712.83
$IRIDIUM_FIX,1853.26,-15648.08,210213,070702
$TT8_MAMPS,0.060593
$HUMID,1078778700
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,26.00
$XPDR_PINGS,91
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6334414848
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,24856690688
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,49.869
$10V_AH,9.8,46.279
$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,20.075,108.100,331.450,259.975,0.000,142.760,183.341,688.792,22.750,0.000,18.954,1074.596,9019.511,644.712,2581.960,496.478,33.358,1383.839,0.000,1608.036,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,69.030,1081.470,426.452,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,339.645,0.000,754.677,0.000,0.000,0.000,0.000,265471.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.985,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,23559,498
$CAP_FILE_SIZE,125208,0
$CFSIZE,260165632,179539968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,242.3,1
$GPS,290811,170730,1859.673,-15646.529,39,1.7,40,9.6