version: 66.07
glider: 513
mission: 7
dive: 370
start: 8 31 111 7 52 23
data:
$ID,513
$MISSION,7
$DIVE,370
$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,-430538.94
$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,35
$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,369
$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
$GPS1,310811,073254,1905.154,-15648.155,62,1.0,80,9.6
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.8
$GPS2,310811,075126,1905.151,-15648.124,11,1.5,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.020,0.238
$KALMAN_X,-200592.6,1857.0,138.6,208317.9,-5883.0
$KALMAN_Y,-270435.2,237.8,708.3,168458.9,-8449.7
$MHEAD_RNG_PITCHd_Wd,13.8,129475,-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,-136.7,0.0,0.0,0,83,0.00,0.00,-53.30,0.000,2,0.000,0.000,36,2093,3635,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.8,-6.4,8,109,9.95,2.28,-3.83,0.000,4,0.244,0.060,2320,3508,3860,0,0,0,0,0,0
$GC,337,-0.80,-136.7,89.6,-29.5,35,341,0.00,2.12,0.00,0.000,6,0.000,0.040,2321,2116,3862,0,0,0,0,0,0
$GC,604,-0.80,-136.7,166.7,-24.7,59,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2108,3862,0,0,0,0,0,0
$GC,872,-0.80,-136.7,230.5,-23.6,79,876,0.00,2.15,0.00,0.000,4,0.000,0.040,2321,687,3865,0,0,0,0,0,0
$GC,921,-0.80,-136.7,242.3,-20.7,81,925,0.00,2.15,0.00,0.000,6,0.000,0.042,2310,2103,3865,0,0,0,0,0,0
$GC,1182,-0.80,-136.7,295.5,-19.6,94,1184,0.10,0.00,0.00,0.000,6,0.190,0.000,2334,2102,3865,0,0,0,0,0,0
$GC,1425,-0.80,-136.7,338.5,-17.2,101,1429,0.00,2.15,0.00,0.000,4,0.000,0.039,2334,681,3867,0,0,0,0,0,0
$GC,1497,-0.80,-136.7,351.3,-16.8,102,1501,0.00,2.20,0.00,0.000,6,0.000,0.042,2326,2103,3864,0,0,0,0,0,0
$GC,1753,-0.80,-136.7,395.0,-17.0,109,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2102,3865,0,0,0,0,0,0
$GC,1996,-0.80,-136.7,432.7,-15.3,115,2000,0.00,2.20,0.00,0.000,4,0.000,0.052,2315,3512,3865,0,0,0,0,0,0
$GC,2029,-0.80,-136.7,437.8,-14.6,115,2033,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2080,3866,0,0,0,0,0,0
$GC,2285,-0.80,-136.7,474.0,-14.1,122,2289,0.00,2.08,0.00,0.000,4,0.000,0.042,2315,698,3863,0,0,0,0,0,0
$GC,2342,-0.80,-136.7,481.3,-11.8,123,2346,0.12,2.12,0.00,0.000,6,0.176,0.041,2335,2105,3863,0,0,0,0,0,0
$GC,2608,-0.80,-136.7,508.5,-10.0,130,2612,0.00,2.12,0.00,0.000,4,0.000,0.041,2333,699,3859,0,0,0,0,0,0
$GC,2641,-0.80,-136.7,512.0,-10.0,130,2647,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2104,3859,0,0,0,0,0,0
$GC,2892,-0.80,-136.7,543.3,-12.9,137,2896,0.00,2.20,0.00,0.000,4,0.000,0.054,2316,3507,3857,0,0,0,0,0,0
$GC,2930,-0.80,-136.7,548.8,-13.5,137,2935,0.00,2.10,0.00,0.000,6,0.000,0.032,2313,2099,3856,0,0,0,0,0,0
$GC,3180,-0.80,-136.7,582.6,-13.6,144,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2092,3854,0,0,0,0,0,0
$GC,3423,-0.80,-136.7,615.2,-13.5,150,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2092,3851,0,0,0,0,0,0
$GC,3669,-0.80,-136.7,648.7,-14.0,156,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2092,3849,0,0,0,0,0,0
$GC,3911,-0.80,-136.7,683.1,-14.1,162,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2092,3846,0,0,0,0,0,0
$GC,4155,-0.80,-136.7,715.3,-12.9,168,4159,0.00,2.12,0.00,0.000,4,0.000,0.042,2316,703,3843,0,0,0,0,0,0
$GC,4227,-0.80,-136.7,724.9,-13.0,169,4232,0.08,2.17,0.00,0.000,6,0.161,0.042,2340,2090,3843,0,0,0,0,0,0
$GC,4483,-0.80,-136.7,752.7,-10.8,176,4487,0.00,2.25,0.00,0.000,4,0.000,0.055,2331,3513,3840,0,0,0,0,0,0
$GC,4523,-0.80,-136.7,757.1,-11.2,177,4527,0.00,2.12,0.00,0.000,6,0.000,0.033,2331,2109,3839,0,0,0,0,0,0
$GC,4806,-0.80,-136.7,788.4,-11.0,184,4810,0.00,2.15,0.00,0.000,4,0.000,0.044,2331,693,3837,0,0,0,0,0,0
$GC,4851,-0.80,-136.7,793.5,-11.1,185,4855,0.00,2.17,0.00,0.000,6,0.000,0.043,2320,2107,3837,0,0,0,0,0,0
$GC,5129,-0.80,-136.7,824.1,-11.0,192,5133,0.00,2.17,0.00,0.000,4,0.000,0.044,2321,691,3834,0,0,0,0,0,0
$GC,5156,-0.80,-136.7,827.2,-11.6,192,5160,0.10,2.17,0.00,0.000,6,0.189,0.043,2334,2106,3834,0,0,0,0,0,0
$GC,5407,-0.80,-136.7,852.0,-10.0,198,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2105,3832,0,0,0,0,0,0
$GC,5649,-0.80,-136.7,876.0,-9.7,204,5653,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3513,3830,0,0,0,0,0,0
$GC,5699,-0.80,-136.7,881.2,-10.5,205,5703,0.00,2.12,0.00,0.000,6,0.000,0.030,2325,2094,3830,0,0,0,0,0,0
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5896,-0.28,0.0,900.5,10.3,210,6011,0.60,0.00,111.62,1.079,6,0.143,0.000,2502,1922,3300,0,0,0,0,0,0
$STATE,6013,end apogee,CONTROL_FINISHED_OK
$STATE,6013,begin climb
$GC,6016,0.80,136.7,903.1,0.0,213,6142,1.05,0.00,121.65,1.045,6,0.093,0.000,2849,1922,2743,0,0,0,0,0,0
$GC,6375,0.80,136.7,848.0,18.4,222,6380,0.00,2.33,0.00,0.000,4,0.000,0.053,2847,3363,2734,0,0,0,0,0,0
$GC,6442,0.80,136.7,834.9,19.6,223,6446,0.00,2.12,0.00,0.000,6,0.000,0.028,2856,1973,2733,0,0,0,0,0,0
$GC,6703,0.80,136.7,787.5,17.9,230,6707,0.00,2.15,0.00,0.000,4,0.000,0.039,2867,561,2731,0,0,0,0,0,0
$GC,6731,0.80,136.7,782.5,17.0,230,6735,0.00,2.17,0.00,0.000,6,0.000,0.035,2868,1964,2729,0,0,0,0,0,0
$GC,6982,0.80,136.7,737.1,18.2,236,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1966,2733,0,0,0,0,0,0
$GC,7224,0.80,136.7,692.7,18.3,242,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1965,2728,0,0,0,0,0,0
$GC,7468,0.80,136.7,648.1,18.0,248,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1967,2727,0,0,0,0,0,0
$GC,7712,0.80,136.7,603.5,18.1,254,7716,0.00,2.22,0.00,0.000,4,0.000,0.054,2866,3363,2726,0,0,0,0,0,0
$GC,7755,0.80,136.7,595.1,20.2,255,7759,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1954,2727,0,0,0,0,0,0
$GC,8032,0.80,136.7,542.0,19.0,262,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1949,2725,0,0,0,0,0,0
$GC,8276,0.80,136.7,496.1,18.9,268,8280,0.00,2.12,0.00,0.000,4,0.000,0.039,2889,561,2724,0,0,0,0,0,0
$GC,8332,0.80,136.7,485.6,19.0,269,8337,0.15,2.12,0.00,0.000,6,0.194,0.035,2854,1964,2720,0,0,0,0,0,0
$GC,8598,0.80,136.7,444.5,14.6,276,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1963,2722,0,0,0,0,0,0
$GC,8842,0.80,136.7,410.7,14.0,282,8846,0.00,2.12,0.00,0.000,4,0.000,0.037,2863,560,2722,0,0,0,0,0,0
$GC,8859,0.80,136.7,408.5,13.5,282,8863,0.00,2.12,0.00,0.000,6,0.000,0.035,2863,1961,2721,0,0,0,0,0,0
$GC,9119,0.80,136.7,370.9,14.9,289,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1960,2721,0,0,0,0,0,0
$GC,9363,0.80,136.7,336.4,14.0,295,9367,0.00,2.22,0.00,0.000,4,0.000,0.051,2864,3361,2721,0,0,0,0,0,0
$GC,9430,0.80,136.7,327.1,14.6,296,9434,0.00,2.10,0.00,0.000,6,0.000,0.029,2874,1956,2725,0,0,0,0,0,0
$GC,9693,0.80,136.7,291.9,13.4,304,9697,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,558,2721,0,0,0,0,0,0
$GC,9733,0.80,136.7,286.7,13.2,306,9738,0.10,2.12,0.00,0.000,6,0.196,0.033,2860,1967,2719,0,0,0,0,0,0
$GC,9999,0.80,136.7,258.6,9.2,319,10003,0.00,2.22,0.00,0.000,4,0.000,0.051,2850,3367,2720,0,0,0,0,0,0
$GC,10256,0.80,136.7,224.9,11.2,330,10263,0.00,2.12,0.00,0.000,6,0.000,0.028,2858,1950,2720,0,0,0,0,0,0
$GC,10512,0.80,136.7,201.3,8.9,343,10516,0.00,2.22,0.00,0.000,4,0.000,0.049,2858,3361,2721,0,0,0,0,0,0
$GC,10718,0.80,136.7,179.4,9.4,361,10722,0.00,2.08,0.00,0.000,6,0.000,0.027,2869,1957,2720,0,0,0,0,0,0
$GC,10984,0.80,136.7,158.3,9.1,385,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1954,2721,0,0,0,0,0,0
$GC,11248,0.94,257.2,144.8,3.5,410,11358,0.00,2.35,94.43,0.551,4,0.000,0.048,2869,3362,2253,0,0,0,0,0,0
$GC,11584,0.94,257.2,113.1,12.4,439,11592,0.00,2.15,0.00,0.000,6,0.000,0.028,2880,1976,2249,0,0,0,0,0,0
$GC,11851,0.94,257.2,86.3,9.3,464,11855,0.00,2.17,0.00,0.000,4,0.000,0.038,2891,547,2247,0,0,0,0,0,0
$GC,11970,0.94,257.2,73.3,10.7,474,11979,0.00,2.17,0.00,0.000,6,0.000,0.031,2891,1965,2246,0,0,0,0,0,0
$GC,12235,0.94,257.2,42.2,12.5,499,12239,0.00,2.20,0.00,0.000,4,0.000,0.046,2895,3370,2247,0,0,0,0,0,0
$GC,12278,0.94,257.2,36.2,14.3,502,12282,0.00,2.12,0.00,0.000,6,0.000,0.029,2901,1953,2247,0,0,0,0,0,0
$GC,12542,0.94,257.2,3.5,13.8,545,12550,0.00,2.12,0.00,0.000,4,0.000,0.038,2912,563,2249,0,0,0,0,0,0
$STATE,12556,end climb,SURFACE_DEPTH_REACHED
$STATE,12556,begin surface coast
$FINISH,0.3,1.010915
$STATE,12568,end surface coast,CONTROL_FINISHED_OK
$STATE,12568,begin surface
$SM_CCo,12592,20.02,0.403,0,0,2075,300.49
$SM_GC,1.11,0.00,0.00,20.02,0.000,0.000,0.403,56,2102,2075,-7.93,0.06,300.49
$IRIDIUM_FIX,1857.82,-15650.18,230213,020215
$TT8_MAMPS,0.256178
$HUMID,1078857410
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.00
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257180672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,23214784512
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,51.312
$10V_AH,9.9,47.271
$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,19.750,108.550,327.700,20.025,0.000,76.995,103.254,562.486,23.750,0.000,13.479,1164.146,9155.473,431.043,2520.950,460.588,33.357,1180.711,0.000,1810.247,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,63.661,1079.169,402.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.414,0.000,916.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353600
$DATA_FILE_SIZE,26924,549
$CAP_FILE_SIZE,120234,0
$CFSIZE,260165632,178749440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,217.8,1
$GPS,310811,112406,1905.859,-15648.144,31,1.1,31,9.6