version: 66.07
glider: 513
mission: 7
dive: 376
start: 9 1 111 6 7 16
data:
$ID,513
$MISSION,7
$DIVE,376
$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,-430640.59
$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,56
$R_STBD_OVSHOOT,36
$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,375
$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
$GPS1,010911,055201,1909.819,-15647.022,76,1.3,76,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.5
$GPS2,010911,060619,1909.658,-15646.724,10,1.6,16,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.191,0.144
$KALMAN_X,-191206.5,575.4,-53.5,202869.6,3800.0
$KALMAN_Y,-287900.4,980.7,787.7,193432.0,-11352.8
$MHEAD_RNG_PITCHd_Wd,351.2,121050,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.10,0.000,2,0.000,0.000,36,2106,3572,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.5,-5.9,8,106,9.95,2.15,-5.07,0.000,4,0.244,0.048,2337,698,3860,0,0,0,0,0,0
$GC,259,-0.80,-136.7,64.3,-29.4,29,266,0.00,2.20,0.00,0.000,6,0.000,0.043,2329,2095,3863,0,0,0,0,0,0
$GC,522,-0.80,-136.7,148.2,-26.1,54,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2099,3867,0,0,0,0,0,0
$GC,785,-0.80,-136.7,210.6,-22.2,77,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2099,3866,0,0,0,0,0,0
$GC,1031,-0.80,-136.7,263.1,-20.7,89,1035,0.00,2.10,0.00,0.000,4,0.000,0.039,2334,708,3867,0,0,0,0,0,0
$GC,1052,-0.80,-136.7,267.8,-21.0,90,1056,0.00,2.12,0.00,0.000,6,0.000,0.044,2319,2102,3868,0,0,0,0,0,0
$GC,1317,-0.80,-136.7,316.5,-17.6,101,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2102,3868,0,0,0,0,0,0
$GC,1559,-0.80,-136.7,355.6,-15.9,107,1563,0.00,2.12,0.00,0.000,4,0.000,0.041,2319,704,3868,0,0,0,0,0,0
$GC,1598,-0.80,-136.7,362.2,-15.6,107,1605,0.12,2.15,0.00,0.000,6,0.170,0.042,2340,2101,3868,0,0,0,0,0,0
$GC,1849,-0.80,-136.7,397.3,-14.1,114,1853,0.00,2.22,0.00,0.000,4,0.000,0.052,2330,3514,3868,0,0,0,0,0,0
$GC,1865,-0.80,-136.7,400.1,-14.9,114,1869,0.00,2.08,0.00,0.000,6,0.000,0.031,2330,2107,3868,0,0,0,0,0,0
$GC,2131,-0.80,-136.7,437.8,-13.9,121,2135,0.00,2.10,0.00,0.000,4,0.000,0.039,2330,700,3866,0,0,0,0,0,0
$GC,2171,-0.80,-136.7,443.3,-13.4,122,2175,0.00,2.15,0.00,0.000,6,0.000,0.040,2321,2104,3864,0,0,0,0,0,0
$GC,2454,-0.80,-136.7,483.2,-14.6,129,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2103,3862,0,0,0,0,0,0
$GC,2698,-0.80,-136.7,520.0,-15.4,135,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2102,3858,0,0,0,0,0,0
$GC,2941,-0.80,-136.7,557.5,-15.4,141,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2103,3858,0,0,0,0,0,0
$GC,3186,-0.80,-136.7,594.3,-15.1,147,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2103,3856,0,0,0,0,0,0
$GC,3429,-0.80,-136.7,629.6,-14.6,153,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2103,3854,0,0,0,0,0,0
$GC,3673,-0.80,-136.7,664.0,-13.8,159,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2103,3850,0,0,0,0,0,0
$GC,3916,-0.80,-136.7,697.6,-13.9,165,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2103,3847,0,0,0,0,0,0
$GC,4160,-0.80,-136.7,732.0,-14.2,171,4164,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3510,3845,0,0,0,0,0,0
$GC,4201,-0.80,-136.7,737.7,-14.9,172,4206,0.12,2.10,0.00,0.000,6,0.166,0.031,2341,2103,3844,0,0,0,0,0,0
$GC,4484,-0.80,-136.7,772.1,-11.9,179,4488,0.00,2.15,0.00,0.000,4,0.000,0.042,2341,697,3843,0,0,0,0,0,0
$GC,4558,-0.80,-136.7,781.0,-11.5,180,4562,0.00,2.17,0.00,0.000,6,0.000,0.041,2332,2104,3842,0,0,0,0,0,0
$GC,4807,-0.80,-136.7,810.6,-11.9,186,4811,0.00,2.20,0.00,0.000,4,0.000,0.053,2322,3508,3839,0,0,0,0,0,0
$GC,4852,-0.80,-136.7,816.3,-13.2,187,4856,0.00,2.10,0.00,0.000,6,0.000,0.029,2321,2107,3839,0,0,0,0,0,0
$GC,5135,-0.80,-136.7,852.2,-12.9,194,5139,0.00,2.17,0.00,0.000,4,0.000,0.043,2322,689,3837,0,0,0,0,0,0
$GC,5157,-0.80,-136.7,855.2,-13.4,194,5161,0.00,2.22,0.00,0.000,6,0.000,0.050,2311,2098,3836,0,0,0,0,0,0
$GC,5418,-0.80,-136.7,889.9,-13.3,201,5422,0.00,2.22,0.00,0.000,4,0.000,0.053,2300,3508,3835,0,0,0,0,0,0
$GC,5485,-0.80,-136.7,899.2,-13.6,202,5490,0.15,2.15,0.00,0.000,6,0.164,0.031,2338,2092,3834,0,0,0,0,0,0
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5500,-0.28,0.0,900.5,13.2,202,5616,0.52,0.00,112.65,1.079,6,0.141,0.000,2501,1926,3300,0,0,0,0,0,0
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5621,0.80,136.7,904.4,0.0,205,5751,1.02,2.50,122.30,1.042,4,0.094,0.051,2839,3359,2741,0,0,0,0,0,0
$GC,5769,0.80,136.7,890.5,15.6,209,5773,0.00,2.20,0.00,0.000,6,0.000,0.028,2848,1978,2740,0,0,0,0,0,0
$GC,6030,0.80,136.7,843.4,18.4,216,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1972,2733,0,0,0,0,0,0
$GC,6273,0.80,136.7,801.1,17.0,222,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1972,2731,0,0,0,0,0,0
$GC,6517,0.80,136.7,761.0,16.5,228,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1973,2729,0,0,0,0,0,0
$GC,6762,0.80,136.7,722.8,15.8,234,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1972,2731,0,0,0,0,0,0
$GC,7005,0.80,136.7,680.7,17.3,240,7009,0.00,2.17,0.00,0.000,4,0.000,0.039,2859,556,2727,0,0,0,0,0,0
$GC,7049,0.80,136.7,672.2,19.1,241,7053,0.00,2.15,0.00,0.000,6,0.000,0.034,2850,1966,2724,0,0,0,0,0,0
$GC,7334,0.80,136.7,622.8,17.0,248,7338,0.00,2.22,0.00,0.000,4,0.000,0.052,2840,3365,2725,0,0,0,0,0,0
$GC,7356,0.80,136.7,618.3,18.5,248,7360,0.00,2.17,0.00,0.000,6,0.000,0.031,2848,1950,2725,0,0,0,0,0,0
$GC,7612,0.80,136.7,575.0,16.8,255,7616,0.00,2.12,0.00,0.000,4,0.000,0.038,2859,550,2725,0,0,0,0,0,0
$GC,7639,0.80,136.7,570.3,17.0,255,7643,0.00,2.15,0.00,0.000,6,0.000,0.035,2851,1966,2723,0,0,0,0,0,0
$GC,7896,0.80,136.7,527.8,16.3,262,7900,0.00,2.25,0.00,0.000,4,0.000,0.051,2840,3374,2723,0,0,0,0,0,0
$GC,7951,0.80,136.7,517.8,18.1,263,7955,0.00,2.17,0.00,0.000,6,0.000,0.031,2849,1949,2723,0,0,0,0,0,0
$GC,8223,0.80,136.7,475.9,14.9,270,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1945,2722,0,0,0,0,0,0
$GC,8469,0.80,136.7,439.5,14.9,276,8473,0.00,2.25,0.00,0.000,4,0.000,0.048,2841,3372,2722,0,0,0,0,0,0
$GC,8479,0.80,136.7,437.5,15.2,276,8483,0.00,2.12,0.00,0.000,6,0.000,0.030,2849,1960,2723,0,0,0,0,0,0
$GC,8746,0.80,136.7,398.6,14.4,283,8750,0.00,2.12,0.00,0.000,4,0.000,0.039,2860,559,2721,0,0,0,0,0,0
$GC,8802,0.80,136.7,390.1,16.3,284,8807,0.00,2.15,0.00,0.000,6,0.000,0.033,2852,1965,2720,0,0,0,0,0,0
$GC,9075,0.80,136.7,350.5,14.1,291,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1964,2720,0,0,0,0,0,0
$GC,9318,0.80,136.7,319.1,12.5,297,9322,0.00,2.12,0.00,0.000,4,0.000,0.039,2861,561,2720,0,0,0,0,0,0
$GC,9363,0.80,136.7,313.4,12.3,298,9366,0.00,2.12,0.00,0.000,6,0.000,0.035,2852,1965,2719,0,0,0,0,0,0
$GC,9629,0.80,136.7,286.5,10.9,307,9633,0.00,2.22,0.00,0.000,4,0.000,0.051,2842,3362,2717,0,0,0,0,0,0
$GC,9747,0.80,136.7,275.3,9.4,312,9751,0.00,2.10,0.00,0.000,6,0.000,0.028,2850,1966,2720,0,0,0,0,0,0
$GC,10002,0.80,136.7,247.4,10.7,324,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1962,2720,0,0,0,0,0,0
$GC,10249,0.80,136.7,221.6,10.2,336,10252,0.00,2.12,0.00,0.000,4,0.000,0.037,2862,557,2720,0,0,0,0,0,0
$GC,10334,0.80,136.7,212.3,10.9,340,10338,0.00,2.12,0.00,0.000,6,0.000,0.031,2853,1977,2719,0,0,0,0,0,0
$GC,10595,0.84,175.0,188.7,7.0,358,10626,0.00,0.00,28.73,0.587,6,0.000,0.000,2853,1978,2587,0,0,0,0,0,0
$GC,10880,0.84,175.0,163.3,9.3,385,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1973,2585,0,0,0,0,0,0
$GC,11145,0.99,296.3,148.4,3.4,410,11253,0.17,2.22,98.40,0.552,4,0.081,0.042,2939,559,2092,0,0,0,0,0,0
$GC,11302,0.99,296.3,130.8,17.1,423,11306,0.00,2.15,0.00,0.000,6,0.000,0.031,2930,1958,2089,0,0,0,0,0,0
$GC,11567,0.99,296.3,86.6,16.8,447,11571,0.00,2.22,0.00,0.000,4,0.000,0.044,2919,3371,2086,0,0,0,0,0,0
$GC,11588,0.99,296.3,82.0,17.9,448,11596,0.00,2.17,0.00,0.000,6,0.000,0.029,2927,1968,2086,0,0,0,0,0,0
$GC,11853,0.99,296.3,37.7,16.5,473,11857,0.00,2.12,0.00,0.000,4,0.000,0.038,2939,552,2086,0,0,0,0,0,0
$GC,11980,0.99,296.3,16.6,16.6,491,11989,0.00,2.15,0.00,0.000,6,0.000,0.030,2937,1959,2086,0,0,0,0,0,0
$STATE,12059,end climb,SURFACE_DEPTH_REACHED
$STATE,12059,begin surface coast
$FINISH,0.3,1.022781
$STATE,12077,end surface coast,CONTROL_FINISHED_OK
$STATE,12081,begin surface
$SM_CCo,12101,0.93,0.074,0,0,2075,300.24
$SM_GC,2.35,0.00,0.00,0.93,0.000,0.000,0.074,56,2148,2075,-7.95,1.36,300.24
$IRIDIUM_FIX,1902.38,-15644.19,240213,000013
$TT8_MAMPS,0.243139
$HUMID,1078929668
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.10
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256984064
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,22305275904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,52.047
$10V_AH,9.9,47.768
$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,19.800,100.125,362.075,0.925,0.000,55.209,75.057,433.376,23.000,0.000,18.237,1075.268,8958.221,415.226,2094.940,424.813,33.358,1100.117,0.000,1557.053,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,65.195,1079.169,73.632,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.488,0.000,777.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,26894,508
$CAP_FILE_SIZE,110354,0
$CFSIZE,260165632,178339840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,167.1,1
$GPS,010911,093056,1910.583,-15646.519,38,3.6,57,9.6