version: 66.07
glider: 513
mission: 7
dive: 378
start: 9 1 111 13 28 27
data:
$ID,513
$MISSION,7
$DIVE,378
$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,-430711.28
$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,51
$R_STBD_OVSHOOT,44
$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,377
$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
$GPS1,010911,131636,1911.101,-15646.191,36,1.4,36,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,6
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.4
$GPS2,010911,132731,1910.954,-15646.002,15,1.5,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.010,0.239
$KALMAN_X,-184538.6,-547.7,-698.5,199258.2,7019.6
$KALMAN_Y,-291613.2,1154.7,385.9,199787.4,-10121.1
$MHEAD_RNG_PITCHd_Wd,340.7,118627,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.50,0.000,2,0.000,0.000,37,2123,3757,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.2,-7.1,9,116,9.95,2.25,-1.60,0.000,4,0.245,0.066,2323,3508,3862,0,0,0,0,0,0
$GC,312,-0.80,-136.7,84.3,-29.9,32,316,0.00,2.12,0.00,0.000,6,0.000,0.036,2317,2119,3865,0,0,0,0,0,0
$GC,580,-0.80,-136.7,164.7,-26.4,56,583,0.00,2.17,0.00,0.000,4,0.000,0.042,2317,690,3867,0,0,0,0,0,0
$GC,653,-0.80,-136.7,182.7,-22.8,62,658,0.12,2.15,0.00,0.000,6,0.186,0.046,2336,2087,3867,0,0,0,0,0,0
$GC,910,-0.80,-136.7,232.4,-18.4,78,914,0.00,2.12,0.00,0.000,4,0.000,0.039,2335,685,3868,0,0,0,0,0,0
$GC,973,-0.80,-136.7,244.3,-18.1,81,977,0.00,2.17,0.00,0.000,6,0.000,0.046,2328,2099,3868,0,0,0,0,0,0
$GC,1237,-0.80,-136.7,293.2,-17.3,94,1241,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3517,3870,0,0,0,0,0,0
$GC,1373,-0.80,-136.7,316.5,-17.2,98,1377,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2089,3870,0,0,0,0,0,0
$GC,1650,-0.80,-136.7,364.3,-17.9,105,1654,0.00,2.10,0.00,0.000,4,0.000,0.041,2316,698,3870,0,0,0,0,0,0
$GC,1730,-0.80,-136.7,377.0,-15.9,106,1736,0.12,2.17,0.00,0.000,6,0.170,0.042,2337,2112,3870,0,0,0,0,0,0
$GC,1979,-0.80,-136.7,411.9,-14.0,113,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2111,3869,0,0,0,0,0,0
$GC,2223,-0.80,-136.7,442.4,-12.2,119,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2112,3868,0,0,0,0,0,0
$GC,2467,-0.80,-136.7,471.9,-12.2,125,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2111,3866,0,0,0,0,0,0
$GC,2712,-0.80,-136.7,501.0,-12.0,131,2716,0.00,2.17,0.00,0.000,4,0.000,0.043,2337,699,3863,0,0,0,0,0,0
$GC,2752,-0.80,-136.7,506.1,-12.4,132,2756,0.00,2.15,0.00,0.000,6,0.000,0.042,2329,2105,3865,0,0,0,0,0,0
$GC,3035,-0.80,-136.7,545.3,-13.9,139,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2105,3860,0,0,0,0,0,0
$GC,3279,-0.80,-136.7,579.0,-13.9,145,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2104,3858,0,0,0,0,0,0
$GC,3524,-0.80,-136.7,612.8,-14.0,151,3528,0.00,2.15,0.00,0.000,4,0.000,0.041,2329,691,3855,0,0,0,0,0,0
$GC,3551,-0.80,-136.7,617.0,-14.1,151,3555,0.00,2.20,0.00,0.000,6,0.000,0.043,2318,2101,3855,0,0,0,0,0,0
$GC,3807,-0.80,-136.7,652.6,-14.2,158,3811,0.00,2.22,0.00,0.000,4,0.000,0.056,2308,3517,3852,0,0,0,0,0,0
$GC,3841,-0.80,-136.7,657.5,-14.6,158,3847,0.12,2.15,0.00,0.000,6,0.163,0.032,2336,2093,3852,0,0,0,0,0,0
$GC,4091,-0.80,-136.7,688.2,-12.2,165,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2086,3850,0,0,0,0,0,0
$GC,4334,-0.80,-136.7,716.8,-11.7,171,4338,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,696,3847,0,0,0,0,0,0
$GC,4362,-0.80,-136.7,720.1,-11.6,171,4366,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2103,3847,0,0,0,0,0,0
$GC,4618,-0.80,-136.7,750.3,-11.6,178,4622,0.00,2.22,0.00,0.000,4,0.000,0.053,2320,3510,3845,0,0,0,0,0,0
$GC,4658,-0.80,-136.7,755.4,-12.4,179,4662,0.00,2.12,0.00,0.000,6,0.000,0.029,2320,2099,3844,0,0,0,0,0,0
$GC,4941,-0.80,-136.7,790.6,-12.4,186,4945,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,697,3843,0,0,0,0,0,0
$GC,4981,-0.80,-136.7,795.7,-13.1,187,4986,0.12,2.15,0.00,0.000,6,0.179,0.041,2341,2103,3842,0,0,0,0,0,0
$GC,5264,-0.80,-136.7,827.2,-11.2,194,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2102,3840,0,0,0,0,0,0
$GC,5509,-0.80,-136.7,856.7,-12.2,200,5513,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3510,3838,0,0,0,0,0,0
$GC,5571,-0.80,-136.7,865.0,-13.3,201,5575,0.00,2.15,0.00,0.000,6,0.000,0.029,2331,2089,3838,0,0,0,0,0,0
$GC,5838,-0.80,-136.7,900.0,-13.3,208,5842,0.00,2.05,0.00,0.000,3,0.000,0.042,2331,733,3836,0,0,0,0,0,0
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5843,begin apogee
$GC,5851,-0.28,0.0,900.7,13.3,208,5967,0.57,0.00,112.38,1.081,6,0.147,0.000,2495,1960,3301,0,0,0,0,0,0
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5994,0.80,136.7,907.9,0.0,211,6121,1.05,0.00,120.12,1.053,6,0.096,0.000,2846,1961,2744,0,0,0,0,0,0
$GC,6361,0.80,136.7,858.6,17.4,220,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1964,2735,0,0,0,0,0,0
$GC,6603,0.80,136.7,813.8,18.5,226,6607,0.00,2.28,0.00,0.000,4,0.000,0.058,2845,3361,2732,0,0,0,0,0,0
$GC,6659,0.80,136.7,801.9,21.6,227,6663,0.00,2.17,0.00,0.000,6,0.000,0.030,2853,1952,2732,0,0,0,0,0,0
$GC,6931,0.80,136.7,747.4,20.1,234,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1947,2730,0,0,0,0,0,0
$GC,7177,0.80,136.7,698.6,20.0,240,7180,0.00,2.12,0.00,0.000,4,0.000,0.040,2865,560,2732,0,0,0,0,0,0
$GC,7204,0.80,136.7,692.8,18.7,240,7208,0.00,2.15,0.00,0.000,6,0.000,0.037,2856,1961,2727,0,0,0,0,0,0
$GC,7465,0.80,136.7,644.6,18.3,247,7469,0.00,2.20,0.00,0.000,4,0.000,0.050,2846,3363,2727,0,0,0,0,0,0
$GC,7510,0.80,136.7,636.3,19.0,248,7514,0.00,2.12,0.00,0.000,6,0.000,0.029,2854,1950,2727,0,0,0,0,0,0
$GC,7787,0.80,136.7,586.2,18.1,255,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1947,2726,0,0,0,0,0,0
$GC,8031,0.80,136.7,543.4,17.5,261,8035,0.00,2.10,0.00,0.000,4,0.000,0.040,2866,563,2726,0,0,0,0,0,0
$GC,8063,0.80,136.7,537.4,18.2,261,8067,0.00,2.15,0.00,0.000,6,0.000,0.035,2853,1964,2724,0,0,0,0,0,0
$GC,8320,0.80,136.7,494.5,16.8,268,8325,0.00,2.20,0.00,0.000,4,0.000,0.053,2847,3361,2724,0,0,0,0,0,0
$GC,8382,0.80,136.7,483.5,16.8,269,8386,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1952,2725,0,0,0,0,0,0
$GC,8649,0.80,136.7,439.9,16.4,276,8653,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,561,2724,0,0,0,0,0,0
$GC,8671,0.80,136.7,436.0,16.5,276,8676,0.00,2.15,0.00,0.000,6,0.000,0.035,2858,1963,2723,0,0,0,0,0,0
$GC,8927,0.80,136.7,394.6,16.1,283,8931,0.00,2.20,0.00,0.000,4,0.000,0.050,2847,3361,2723,0,0,0,0,0,0
$GC,8942,0.80,136.7,391.7,16.9,283,8946,0.00,2.12,0.00,0.000,6,0.000,0.030,2856,1960,2723,0,0,0,0,0,0
$GC,9216,0.80,136.7,348.2,16.0,290,9220,0.00,2.12,0.00,0.000,4,0.000,0.039,2867,558,2723,0,0,0,0,0,0
$GC,9248,0.80,136.7,342.9,15.7,290,9254,0.00,2.12,0.00,0.000,6,0.000,0.033,2860,1961,2720,0,0,0,0,0,0
$GC,9498,0.80,136.7,306.1,14.5,297,9502,0.00,2.22,0.00,0.000,4,0.000,0.052,2859,3368,2722,0,0,0,0,0,0
$GC,9565,0.80,136.7,296.5,14.0,298,9569,0.00,2.12,0.00,0.000,6,0.000,0.031,2864,1960,2723,0,0,0,0,0,0
$GC,9826,0.80,136.7,266.9,10.9,311,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1953,2722,0,0,0,0,0,0
$GC,10072,0.80,136.7,239.2,11.8,323,10076,0.00,2.22,0.00,0.000,4,0.000,0.049,2867,3360,2720,0,0,0,0,0,0
$GC,10330,0.80,136.7,212.0,10.2,334,10335,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1949,2722,0,0,0,0,0,0
$GC,10589,0.80,136.7,187.2,9.4,353,10593,0.00,2.10,0.00,0.000,4,0.000,0.037,2887,559,2721,0,0,0,0,0,0
$GC,10838,0.80,136.7,163.5,10.1,375,10848,0.10,2.15,0.00,0.000,6,0.166,0.031,2858,1965,2720,0,0,0,0,0,0
$GC,11102,0.83,162.0,144.5,7.5,400,11127,0.00,2.17,18.50,0.534,4,0.000,0.047,2847,3358,2641,0,0,0,0,0,0
$GC,11232,0.87,193.8,134.0,7.2,411,11269,0.00,2.10,27.23,0.532,6,0.000,0.028,2857,1948,2513,0,0,0,0,0,0
$GC,11525,0.95,265.3,111.3,5.5,438,11590,0.12,2.15,59.47,0.517,4,0.097,0.036,2920,571,2217,0,0,0,0,0,0
$GC,11717,0.95,265.3,90.9,13.2,454,11721,0.00,2.12,0.00,0.000,6,0.000,0.031,2920,1961,2212,0,0,0,0,0,0
$GC,11987,0.95,265.3,51.0,15.6,479,11991,0.00,2.20,0.00,0.000,4,0.000,0.046,2920,3359,2212,0,0,0,0,0,0
$GC,12051,0.95,265.3,40.4,16.3,484,12055,0.00,2.10,0.00,0.000,6,0.000,0.029,2930,1968,2212,0,0,0,0,0,0
$STATE,12292,end climb,SURFACE_DEPTH_REACHED
$STATE,12293,begin surface coast
$FINISH,0.2,1.022640
$STATE,12310,end surface coast,CONTROL_FINISHED_OK
$STATE,12311,begin surface
$SM_CCo,12332,17.27,0.409,0,0,2075,300.49
$SM_GC,1.65,0.00,0.00,17.27,0.000,0.000,0.409,50,2121,2075,-7.96,0.59,300.49
$IRIDIUM_FIX,1902.38,-15647.19,240213,030303
$TT8_MAMPS,0.259246
$HUMID,1078934829
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.00
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256918528
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21986181120
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,52.272
$10V_AH,9.8,47.940
$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,20.000,116.400,337.700,17.275,0.000,31.259,33.949,340.280,23.500,0.000,34.363,1144.319,8813.286,384.934,2246.717,421.237,33.354,1182.101,0.000,1798.162,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,70.564,1081.470,408.811,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.173,0.000,840.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26846,526
$CAP_FILE_SIZE,116564,0
$CFSIZE,260165632,178192384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,166.3,1
$GPS,010911,165555,1911.503,-15645.990,38,1.6,38,9.6