version: 66.07
glider: 513
mission: 7
dive: 362
start: 8 30 111 1 4 2
data:
$ID,513
$MISSION,7
$DIVE,362
$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,-430375.78
$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,45
$R_STBD_OVSHOOT,37
$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,361
$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
$GPS1,300811,004231,1859.417,-15646.724,61,1.5,61,9.6
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.9
$GPS2,300811,010306,1859.332,-15647.136,13,1.9,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.025,0.238
$KALMAN_X,-192298.8,1372.9,710.5,201656.0,-12184.9
$KALMAN_Y,-253128.6,1062.1,640.3,139602.3,-11160.5
$MHEAD_RNG_PITCHd_Wd,35.0,140187,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-58.45,0.000,2,0.000,0.000,35,2107,3744,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.3,-7.7,9,114,9.88,2.25,-1.80,0.000,4,0.242,0.061,2317,3508,3861,0,0,0,0,0,0
$GC,246,-0.80,-136.7,65.0,-31.7,26,254,0.00,2.20,0.00,0.000,6,0.000,0.036,2319,2104,3864,0,0,0,0,0,0
$GC,511,-0.80,-136.7,154.7,-33.7,51,515,0.00,2.20,0.00,0.000,4,0.000,0.049,2309,3510,3864,0,0,0,0,0,0
$GC,521,-0.80,-136.7,159.6,-33.1,51,529,0.08,2.17,0.00,0.000,6,0.163,0.033,2332,2093,3865,0,0,0,0,0,0
$GC,779,-0.80,-136.7,219.4,-21.1,72,783,0.00,2.22,0.00,0.000,4,0.000,0.051,2323,3508,3866,0,0,0,0,0,0
$GC,825,-0.80,-136.7,228.9,-20.0,74,829,0.00,2.10,0.00,0.000,6,0.000,0.030,2323,2086,3866,0,0,0,0,0,0
$GC,1083,-0.80,-136.7,271.4,-16.7,87,1087,0.00,2.10,0.00,0.000,4,0.000,0.039,2326,696,3868,0,0,0,0,0,0
$GC,1139,-0.80,-136.7,280.7,-16.4,89,1143,0.00,2.15,0.00,0.000,6,0.000,0.045,2313,2105,3868,0,0,0,0,0,0
$GC,1417,-0.80,-136.7,328.7,-17.3,99,1421,0.00,2.17,0.00,0.000,4,0.000,0.053,2301,3505,3868,0,0,0,0,0,0
$GC,1523,-0.80,-136.7,347.4,-15.1,101,1528,0.12,2.10,0.00,0.000,6,0.163,0.031,2334,2094,3868,0,0,0,0,0,0
$GC,1785,-0.80,-136.7,381.7,-12.8,108,1789,0.00,2.10,0.00,0.000,4,0.000,0.039,2334,691,3867,0,0,0,0,0,0
$GC,1808,-0.80,-136.7,385.0,-13.7,108,1813,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2103,3868,0,0,0,0,0,0
$GC,2064,-0.80,-136.7,421.1,-14.1,115,2068,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3508,3866,0,0,0,0,0,0
$GC,2103,-0.80,-136.7,426.9,-14.1,116,2107,0.00,2.12,0.00,0.000,6,0.000,0.030,2314,2092,3865,0,0,0,0,0,0
$GC,2388,-0.80,-136.7,469.4,-15.1,123,2392,0.00,2.08,0.00,0.000,4,0.000,0.038,2314,698,3862,0,0,0,0,0,0
$GC,2420,-0.80,-136.7,474.6,-15.3,123,2427,0.12,2.12,0.00,0.000,6,0.171,0.043,2336,2097,3862,0,0,1,0,0,0
$GC,2670,-0.80,-136.7,506.7,-12.7,130,2674,0.00,2.20,0.00,0.000,4,0.000,0.053,2327,3508,3859,0,0,0,0,0,0
$GC,2756,-0.80,-136.7,517.7,-12.3,132,2760,0.00,2.10,0.00,0.000,6,0.000,0.030,2326,2101,3858,0,0,0,0,0,0
$GC,3045,-0.80,-136.7,556.9,-13.7,139,3049,0.00,2.10,0.00,0.000,4,0.000,0.041,2323,703,3855,0,0,0,0,0,0
$GC,3078,-0.80,-136.7,561.6,-13.7,139,3084,0.00,2.15,0.00,0.000,6,0.000,0.042,2316,2102,3856,0,0,0,0,0,0
$GC,3329,-0.80,-136.7,597.4,-14.3,146,3333,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3510,3852,0,0,0,0,0,0
$GC,3362,-0.80,-136.7,602.2,-13.6,146,3368,0.12,2.10,0.00,0.000,6,0.166,0.031,2337,2099,3852,0,0,0,0,0,0
$GC,3613,-0.80,-136.7,632.5,-12.0,153,3617,0.00,2.10,0.00,0.000,4,0.000,0.042,2337,701,3850,0,0,0,0,0,0
$GC,3658,-0.80,-136.7,638.1,-11.9,154,3662,0.00,2.15,0.00,0.000,6,0.000,0.043,2329,2106,3849,0,0,0,0,0,0
$GC,3936,-0.80,-136.7,671.6,-11.9,161,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2102,3845,0,0,0,0,0,0
$GC,4179,-0.80,-136.7,699.2,-11.2,167,4183,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,700,3844,0,0,0,0,0,0
$GC,4213,-0.80,-136.7,703.3,-13.0,167,4218,0.00,2.17,0.00,0.000,6,0.000,0.044,2319,2096,3843,0,0,0,0,0,0
$GC,4462,-0.80,-136.7,734.9,-12.8,174,4466,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3507,3842,0,0,0,0,0,0
$GC,4490,-0.80,-136.7,738.7,-13.3,174,4494,0.05,2.15,0.00,0.000,6,0.159,0.033,2336,2115,3840,0,0,0,0,0,0
$GC,4746,-0.80,-136.7,768.7,-11.8,181,4750,0.00,2.15,0.00,0.000,4,0.000,0.040,2336,686,3838,0,0,0,0,0,0
$GC,4779,-0.80,-136.7,773.0,-12.4,181,4785,0.00,2.17,0.00,0.000,6,0.000,0.043,2328,2103,3838,0,0,0,0,0,0
$GC,5029,-0.80,-136.7,804.2,-12.5,188,5033,0.00,2.20,0.00,0.000,4,0.000,0.053,2317,3506,3837,0,0,0,0,0,0
$GC,5090,-0.80,-136.7,812.4,-12.9,189,5094,0.00,2.12,0.00,0.000,6,0.000,0.031,2317,2092,3836,0,0,0,0,0,0
$GC,5364,-0.80,-136.7,847.5,-13.0,196,5368,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,698,3834,0,0,0,0,0,0
$GC,5430,-0.80,-136.7,856.5,-12.9,197,5435,0.12,2.17,0.00,0.000,6,0.186,0.044,2336,2102,3833,0,0,0,0,0,0
$GC,5685,-0.80,-136.7,884.1,-10.8,204,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2102,3831,0,0,0,0,0,0
$STATE,5845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5845,begin apogee
$GC,5853,-0.28,0.0,902.0,11.0,208,5968,0.55,0.00,111.05,1.088,6,0.143,0.000,2501,1939,3303,0,0,0,0,0,0
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5973,0.80,136.7,905.8,0.0,211,6104,1.02,2.22,120.18,1.052,4,0.095,0.037,2853,577,2740,0,0,0,0,0,0
$GC,6111,0.80,136.7,892.2,15.6,214,6115,0.00,2.25,0.00,0.000,6,0.000,0.038,2849,1957,2736,0,0,0,0,0,0
$GC,6377,0.80,136.7,842.7,19.3,221,6381,0.00,2.30,0.00,0.000,4,0.000,0.055,2839,3375,2731,0,0,0,0,0,0
$GC,6411,0.80,136.7,836.0,19.3,221,6416,0.00,2.20,0.00,0.000,6,0.000,0.031,2848,1959,2731,0,0,0,0,0,0
$GC,6661,0.80,136.7,790.3,18.4,227,6665,0.00,2.17,0.00,0.000,4,0.000,0.040,2859,559,2728,0,0,0,0,0,0
$GC,6682,0.80,136.7,786.0,19.4,227,6686,0.00,2.20,0.00,0.000,6,0.000,0.037,2850,1973,2727,0,0,0,0,0,0
$GC,6943,0.80,136.7,738.1,18.3,234,6947,0.00,2.22,0.00,0.000,4,0.000,0.053,2839,3373,2727,0,0,0,0,0,0
$GC,6994,0.80,136.7,728.5,19.3,235,6998,0.00,2.15,0.00,0.000,6,0.000,0.031,2849,1953,2727,0,0,0,0,0,0
$GC,7267,0.80,136.7,677.6,19.2,242,7270,0.00,2.12,0.00,0.000,4,0.000,0.040,2859,563,2726,0,0,0,0,0,0
$GC,7299,0.80,136.7,671.1,19.1,242,7305,0.00,2.15,0.00,0.000,6,0.000,0.036,2852,1961,2725,0,0,0,0,0,0
$GC,7551,0.80,136.7,626.3,17.8,249,7555,0.00,2.22,0.00,0.000,4,0.000,0.051,2841,3365,2724,0,0,0,0,0,0
$GC,7583,0.80,136.7,619.9,18.6,249,7587,0.00,2.12,0.00,0.000,6,0.000,0.031,2850,1956,2724,0,0,0,0,0,0
$GC,7839,0.80,136.7,575.6,17.2,256,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1950,2723,0,0,0,0,0,0
$GC,8083,0.80,136.7,533.5,17.4,262,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1950,2722,0,0,0,0,0,0
$GC,8328,0.80,136.7,492.6,16.6,268,8332,0.00,2.25,0.00,0.000,4,0.000,0.051,2842,3368,2722,0,0,0,0,0,0
$GC,8349,0.80,136.7,488.6,16.9,268,8353,0.00,2.12,0.00,0.000,6,0.000,0.031,2850,1962,2722,0,0,0,0,0,0
$GC,8616,0.80,136.7,445.8,16.0,275,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1956,2722,0,0,0,0,0,0
$GC,8860,0.80,136.7,407.9,15.3,281,8864,0.00,2.22,0.00,0.000,4,0.000,0.049,2842,3365,2721,0,0,0,0,0,0
$GC,8934,0.80,136.7,397.2,14.2,282,8938,0.00,2.12,0.00,0.000,6,0.000,0.030,2850,1956,2721,0,0,0,0,0,0
$GC,9184,0.80,136.7,366.2,12.2,288,9188,0.00,2.22,0.00,0.000,4,0.000,0.050,2847,3366,2720,0,0,0,0,0,0
$GC,9216,0.80,136.7,362.3,12.1,288,9223,0.00,2.12,0.00,0.000,6,0.000,0.031,2851,1954,2720,0,0,0,0,0,0
$GC,9468,0.81,148.7,340.9,8.1,295,9477,0.00,0.00,7.60,0.619,6,0.000,0.000,2851,1949,2692,0,0,0,0,0,0
$GC,9750,0.81,148.7,307.9,12.6,302,9754,0.00,2.22,0.00,0.000,4,0.000,0.049,2842,3366,2691,0,0,0,0,0,0
$GC,9772,0.81,148.7,304.6,13.8,302,9776,0.00,2.12,0.00,0.000,6,0.000,0.030,2851,1950,2691,0,0,0,0,0,0
$GC,10038,0.81,148.7,264.5,16.3,314,10042,0.00,2.25,0.00,0.000,4,0.000,0.048,2842,3366,2690,0,0,0,0,0,0
$GC,10199,0.81,148.7,243.0,11.5,321,10203,0.00,2.17,0.00,0.000,6,0.000,0.031,2852,1954,2691,0,0,0,0,0,0
$GC,10460,0.81,148.7,218.8,9.9,334,10464,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,561,2690,0,0,0,0,0,0
$GC,10638,0.81,148.7,197.6,12.2,342,10646,0.00,2.15,0.00,0.000,6,0.000,0.035,2862,1954,2687,0,0,0,0,0,0
$GC,10905,0.81,151.2,173.0,8.5,367,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1957,2689,0,0,0,0,0,0
$GC,11168,0.81,151.2,154.5,8.9,392,11172,0.00,2.20,0.00,0.000,4,0.000,0.049,2862,3364,2689,0,0,0,0,0,0
$GC,11422,1.06,354.3,139.3,-0.0,414,11598,0.15,2.17,164.55,0.547,6,0.064,0.035,2943,1945,1853,0,0,0,0,0,0
$GC,11852,1.06,354.3,71.5,21.3,453,11856,0.00,2.12,0.00,0.000,4,0.000,0.038,2952,574,1848,0,0,0,0,0,0
$GC,11981,1.06,354.3,44.1,22.0,464,11985,0.00,2.10,0.00,0.000,6,0.000,0.030,2948,1966,1849,0,0,0,0,0,0
$STATE,12165,end climb,SURFACE_DEPTH_REACHED
$STATE,12165,begin surface coast
$FINISH,0.3,1.022766
$STATE,12178,end surface coast,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$SM_CCo,12259,0.00,0.000,0,0,1844,357.15
$SM_GC,1.23,7.70,0.00,0.00,0.045,0.000,0.000,60,2131,1844,-7.88,0.88,357.15
$IRIDIUM_FIX,1853.26,-15645.99,210213,191940
$TT8_MAMPS,0.194051
$HUMID,1078993960
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,85
$AR_DIVENUM,362
$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
$24V_AH,23.7,50.301
$10V_AH,9.8,46.542
$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,19.925,134.625,403.375,0.000,0.000,88.889,102.733,660.135,21.250,0.000,31.235,1088.562,8983.188,428.446,2531.791,464.356,33.358,1252.058,0.000,1691.589,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,60.593,1088.373,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.568,0.000,725.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354104
$DATA_FILE_SIZE,23598,494
$CAP_FILE_SIZE,128165,0
$CFSIZE,260165632,179331072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.159,250.3,1
$GPS,300811,042955,1900.057,-15647.034,39,1.8,39,9.6