version: 66.07
glider: 513
mission: 7
dive: 360
start: 8 29 111 17 24 32
data:
$ID,513
$MISSION,7
$DIVE,360
$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,-430330.53
$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,48
$R_STBD_OVSHOOT,79
$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,359
$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
$GPS1,290811,170730,1859.673,-15646.529,39,1.7,40,9.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.1
$GPS2,290811,172334,1859.592,-15646.742,13,2.5,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.147,0.189
$KALMAN_X,-184325.3,376.5,90.2,195986.4,-7941.9
$KALMAN_Y,-247932.7,1406.3,1154.4,134025.1,-13323.7
$MHEAD_RNG_PITCHd_Wd,55.0,3143,-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,27,-0.80,-136.7,0.0,0.0,0,138,0.00,0.00,-108.18,0.000,2,0.000,0.000,35,2144,3604,0,0,0,0,0,0
$GC,143,-0.80,-136.7,3.4,-5.3,16,164,9.82,2.12,-4.38,0.000,4,0.242,0.062,2321,3466,3857,0,0,0,0,0,0
$GC,216,-0.80,-136.7,35.5,-37.9,27,220,0.00,2.10,0.00,0.000,6,0.000,0.044,2321,2110,3859,0,0,0,0,0,0
$GC,480,-0.80,-136.7,127.2,-32.9,51,484,0.00,2.15,0.00,0.000,4,0.000,0.041,2321,689,3860,0,0,0,0,0,0
$GC,499,-0.80,-136.7,134.3,-34.3,52,503,0.00,2.10,0.00,0.000,6,0.000,0.045,2311,2046,3859,0,0,0,0,0,0
$GC,771,-0.80,-136.7,206.5,-23.1,76,774,0.00,2.05,0.00,0.000,4,0.000,0.041,2311,689,3860,0,0,0,0,0,0
$GC,822,-0.80,-136.7,217.6,-21.0,78,826,0.15,2.10,0.00,0.000,6,0.171,0.044,2339,2046,3861,0,0,0,0,0,0
$GC,1075,-0.80,-136.7,263.6,-18.2,90,1079,0.00,2.22,0.00,0.000,4,0.000,0.054,2330,3466,3863,0,0,0,0,0,0
$GC,1166,-0.80,-136.7,278.5,-16.2,94,1170,0.00,2.08,0.00,0.000,6,0.000,0.033,2330,2090,3860,0,0,0,0,0,0
$GC,1436,-0.80,-136.7,323.0,-16.5,104,1440,0.00,2.08,0.00,0.000,4,0.000,0.040,2333,697,3862,0,0,0,0,0,0
$GC,1468,-0.80,-136.7,329.3,-17.8,104,1474,0.00,2.10,0.00,0.000,6,0.000,0.041,2320,2059,3862,0,0,0,0,0,0
$GC,1718,-0.80,-136.7,369.7,-16.2,111,1722,0.00,2.28,0.00,0.000,4,0.000,0.054,2308,3521,3861,0,0,0,0,0,0
$GC,1942,-0.80,-136.7,408.5,-16.2,116,1947,0.08,2.17,0.00,0.000,6,0.143,0.033,2347,2091,3861,0,0,0,0,0,0
$GC,2226,-0.80,-136.7,446.2,-12.8,123,2230,0.00,2.08,0.00,0.000,4,0.000,0.040,2351,701,3858,0,0,0,0,0,0
$GC,2286,-0.80,-136.7,453.9,-11.8,124,2290,0.00,2.15,0.00,0.000,6,0.000,0.042,2342,2103,3857,0,0,0,0,0,0
$GC,2559,-0.80,-136.7,486.6,-11.6,131,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2102,3854,0,0,0,0,0,0
$GC,2803,-0.80,-136.7,514.0,-11.0,137,2807,0.00,2.17,0.00,0.000,4,0.000,0.052,2332,3510,3852,0,0,0,0,0,0
$GC,2854,-0.80,-136.7,519.8,-11.0,138,2858,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2091,3850,0,0,0,0,0,0
$GC,3126,-0.80,-136.7,552.2,-12.2,145,3130,0.00,2.08,0.00,0.000,4,0.000,0.039,2331,699,3847,0,0,0,0,0,0
$GC,3147,-0.80,-136.7,554.8,-11.5,145,3151,0.00,2.15,0.00,0.000,6,0.000,0.042,2321,2102,3846,0,0,0,0,0,0
$GC,3410,-0.80,-136.7,588.3,-13.0,152,3414,0.00,2.17,0.00,0.000,4,0.000,0.051,2306,3506,3843,0,0,0,0,0,0
$GC,3442,-0.80,-136.7,593.4,-14.1,152,3447,0.10,2.12,0.00,0.000,6,0.173,0.030,2334,2092,3843,0,0,0,0,0,0
$GC,3692,-0.80,-136.7,626.5,-13.5,158,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2086,3840,0,0,0,0,0,0
$GC,3938,-0.80,-136.7,660.8,-14.1,164,3942,0.00,2.10,0.00,0.000,4,0.000,0.040,2334,701,3838,0,0,0,0,0,0
$GC,3993,-0.80,-136.7,669.1,-14.0,165,3997,0.00,2.17,0.00,0.000,6,0.000,0.042,2326,2110,3837,0,0,0,0,0,0
$GC,4266,-0.80,-136.7,707.4,-13.8,172,4270,0.00,2.20,0.00,0.000,4,0.000,0.054,2315,3502,3834,0,0,0,0,0,0
$GC,4287,-0.80,-136.7,710.6,-14.1,172,4291,0.00,2.10,0.00,0.000,6,0.000,0.032,2315,2102,3833,0,0,0,0,0,0
$GC,4550,-0.80,-136.7,746.2,-13.5,179,4553,0.00,2.12,0.00,0.000,4,0.000,0.043,2314,703,3829,0,0,0,0,0,0
$GC,4566,-0.80,-136.7,748.7,-12.9,179,4570,0.12,2.17,0.00,0.000,6,0.185,0.043,2334,2101,3831,0,0,0,0,0,0
$GC,4832,-0.80,-136.7,778.6,-11.0,186,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3828,0,0,0,0,0,0
$GC,5078,-0.80,-136.7,806.1,-11.3,192,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3826,0,0,0,0,0,0
$GC,5319,-0.80,-136.7,831.9,-10.3,198,5323,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3509,3825,0,0,0,0,0,0
$GC,5414,-0.80,-136.7,841.6,-10.0,200,5418,0.00,2.10,0.00,0.000,6,0.000,0.029,2325,2097,3823,0,0,0,0,0,0
$GC,5688,-0.80,-136.7,868.8,-10.1,207,5692,0.00,2.12,0.00,0.000,4,0.000,0.044,2326,706,3821,0,0,0,0,0,0
$GC,5771,-0.80,-136.7,878.0,-10.0,208,5776,0.00,2.17,0.00,0.000,6,0.000,0.044,2314,2102,3821,0,0,0,0,0,0
$STATE,5978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5978,begin apogee
$GC,5984,-0.28,0.0,900.2,10.6,214,6100,0.62,0.00,109.07,1.080,6,0.150,0.000,2498,1927,3299,0,0,0,0,0,0
$STATE,6102,end apogee,CONTROL_FINISHED_OK
$STATE,6102,begin climb
$GC,6106,0.80,136.7,902.2,0.0,217,6238,1.05,2.28,120.25,1.045,4,0.096,0.039,2858,580,2741,0,0,0,0,0,0
$GC,6274,0.80,136.7,880.3,20.4,221,6278,0.00,2.22,0.00,0.000,6,0.000,0.036,2851,1957,2737,0,0,0,0,0,0
$GC,6557,0.80,136.7,823.2,20.4,228,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1959,2734,0,0,0,0,0,0
$GC,6800,0.80,136.7,776.4,18.9,234,6804,0.00,2.25,0.00,0.000,4,0.000,0.054,2840,3366,2732,0,0,0,0,0,0
$GC,6863,0.80,136.7,764.5,18.7,235,6867,0.00,2.10,0.00,0.000,6,0.000,0.031,2855,1976,2732,0,0,0,0,0,0
$GC,7123,0.80,136.7,714.5,19.1,242,7127,0.00,2.15,0.00,0.000,4,0.000,0.040,2859,562,2728,0,0,0,0,0,0
$GC,7168,0.80,136.7,705.7,19.7,243,7171,0.00,2.15,0.00,0.000,6,0.000,0.037,2860,1960,2725,0,0,0,0,0,0
$GC,7453,0.80,136.7,653.7,18.0,250,7457,0.00,2.28,0.00,0.000,4,0.000,0.053,2861,3381,2725,0,0,0,0,0,0
$GC,7480,0.80,136.7,648.3,19.4,250,7484,0.00,2.17,0.00,0.000,6,0.000,0.031,2870,1953,2726,0,0,0,0,0,0
$GC,7735,0.80,136.7,602.0,18.3,257,7739,0.00,2.10,0.00,0.000,4,0.000,0.039,2881,561,2724,0,0,0,0,0,0
$GC,7768,0.80,136.7,595.6,19.2,257,7772,0.00,2.17,0.00,0.000,6,0.000,0.036,2881,1967,2723,0,0,0,0,0,0
$GC,8026,0.80,136.7,548.2,18.4,264,8030,0.00,2.22,0.00,0.000,4,0.000,0.052,2881,3375,2723,0,0,0,0,0,0
$GC,8092,0.80,136.7,535.1,19.1,265,8097,0.08,2.17,0.00,0.000,6,0.160,0.031,2858,1960,2723,0,0,0,0,0,0
$GC,8353,0.80,136.7,492.6,16.4,272,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1951,2722,0,0,0,0,0,0
$GC,8598,0.80,136.7,453.5,15.9,278,8602,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,563,2722,0,0,0,0,0,0
$GC,8625,0.80,136.7,448.6,16.9,278,8629,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1965,2720,0,0,0,0,0,0
$GC,8886,0.80,136.7,406.8,16.0,285,8890,0.00,2.20,0.00,0.000,4,0.000,0.051,2873,3363,2720,0,0,0,0,0,0
$GC,8919,0.80,136.7,401.4,16.4,285,8925,0.00,2.12,0.00,0.000,6,0.000,0.030,2877,1958,2720,0,0,0,0,0,0
$GC,9171,0.80,136.7,365.6,14.0,292,9175,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,557,2720,0,0,0,0,0,0
$GC,9181,0.80,136.7,363.8,13.6,292,9186,0.12,2.12,0.00,0.000,6,0.195,0.033,2860,1962,2718,0,0,0,0,0,0
$GC,9447,0.80,136.7,329.2,13.0,299,9451,0.00,2.22,0.00,0.000,4,0.000,0.049,2849,3367,2721,0,0,0,0,0,0
$GC,9672,0.80,136.7,296.8,14.1,304,9676,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,1960,2716,0,0,0,0,0,0
$GC,9937,0.80,136.7,264.9,11.2,317,9941,0.00,2.22,0.00,0.000,4,0.000,0.049,2850,3375,2721,0,0,0,0,0,0
$GC,9988,0.80,136.7,259.2,11.6,319,9992,0.00,2.12,0.00,0.000,6,0.000,0.029,2858,1958,2719,0,0,0,0,0,0
$GC,10247,0.80,136.7,230.0,11.9,332,10251,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,555,2716,0,0,0,0,0,0
$GC,10348,0.80,136.7,219.1,10.1,336,10354,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1960,2718,0,0,0,0,0,0
$GC,10606,0.80,136.7,193.7,9.5,352,10610,0.00,2.20,0.00,0.000,4,0.000,0.048,2869,3363,2717,0,0,0,0,0,0
$GC,10860,0.80,136.7,170.8,9.2,374,10868,0.00,2.12,0.00,0.000,6,0.000,0.028,2876,1958,2716,0,0,0,0,0,0
$GC,11125,0.80,136.7,148.1,9.4,399,11129,0.00,2.22,0.00,0.000,4,0.000,0.047,2880,3365,2718,0,0,0,0,0,0
$GC,11178,0.80,136.7,143.4,8.8,403,11183,0.15,2.10,0.00,0.000,6,0.179,0.028,2853,1970,2719,0,0,0,0,0,0
$GC,11441,0.97,277.5,134.1,2.6,427,11565,0.15,2.25,109.93,0.535,4,0.091,0.038,2924,557,2166,0,0,0,0,0,0
$GC,11765,0.97,277.5,91.9,15.1,455,11770,0.00,2.12,0.00,0.000,6,0.000,0.030,2923,1964,2160,0,0,0,0,0,0
$GC,12031,0.97,277.5,49.4,15.4,479,12035,0.00,2.20,0.00,0.000,4,0.000,0.045,2924,3363,2159,0,0,0,0,0,0
$GC,12105,0.97,277.5,37.1,16.9,485,12109,0.00,2.15,0.00,0.000,6,0.000,0.028,2933,1947,2159,0,0,0,0,0,0
$STATE,12309,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,0.4,1.022818
$STATE,12326,end surface coast,CONTROL_FINISHED_OK
$STATE,12327,begin surface
$SM_CCo,12347,9.77,0.384,0,0,2076,300.49
$SM_GC,2.39,0.00,0.00,9.77,0.000,0.000,0.384,52,2133,2076,-7.96,1.05,300.49
$IRIDIUM_FIX,1853.26,-15648.08,210213,111136
$TT8_MAMPS,0.26845
$HUMID,1078969668
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.10
$XPDR_PINGS,88
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257508352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,24761696256
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,49.996
$10V_AH,9.9,46.367
$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,20.150,133.900,339.250,9.775,0.000,57.859,66.601,526.448,22.000,0.000,34.646,1152.611,8817.351,417.606,2518.028,424.602,33.356,1274.647,0.000,1840.929,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,62.127,1079.936,383.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.898,0.000,823.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26940,521
$CAP_FILE_SIZE,126899,0
$CFSIZE,260165632,179474432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,240.7,1
$GPS,290811,205227,1859.627,-15646.552,58,1.5,58,9.6