version: 66.07
glider: 513
mission: 7
dive: 380
start: 9 1 111 20 54 59
data:
$ID,513
$MISSION,7
$DIVE,380
$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,-430754.84
$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,53
$R_STBD_OVSHOOT,81
$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,379
$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
$GPS1,010911,204337,1911.969,-15645.435,39,1.4,39,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.7
$GPS2,010911,205402,1911.862,-15645.241,11,1.6,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.012,0.239
$KALMAN_X,-183235.5,-1959.1,-256.1,200257.1,6793.4
$KALMAN_Y,-298609.8,584.4,955.9,208459.9,-12176.2
$MHEAD_RNG_PITCHd_Wd,335.9,116932,-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,25,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-57.08,0.000,2,0.000,0.000,36,2154,3765,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.3,-7.5,9,112,9.98,2.15,-1.52,0.000,4,0.245,0.067,2319,3472,3862,0,0,0,0,0,0
$GC,278,-0.80,-136.7,73.1,-28.0,29,285,0.00,2.12,0.00,0.000,6,0.000,0.041,2319,2122,3865,0,0,0,0,0,0
$GC,543,-0.80,-136.7,152.4,-29.4,54,546,0.00,2.20,0.00,0.000,4,0.000,0.044,2319,687,3866,0,0,0,0,0,0
$GC,585,-0.80,-136.7,162.9,-24.3,57,590,0.12,2.12,0.00,0.000,6,0.181,0.045,2339,2054,3867,0,0,0,0,0,0
$GC,843,-0.80,-136.7,224.4,-23.5,76,847,0.00,2.22,0.00,0.000,4,0.000,0.047,2329,3511,3868,0,0,0,0,0,0
$GC,978,-0.80,-136.7,251.1,-17.3,82,982,0.00,2.12,0.00,0.000,6,0.000,0.029,2332,2083,3870,0,0,0,0,0,0
$GC,1237,-0.80,-136.7,297.5,-16.1,95,1241,0.00,2.10,0.00,0.000,4,0.000,0.041,2329,700,3870,0,0,0,0,0,0
$GC,1292,-0.80,-136.7,307.3,-17.8,97,1296,0.00,2.12,0.00,0.000,6,0.000,0.041,2319,2105,3870,0,0,0,0,0,0
$GC,1566,-0.80,-136.7,355.6,-17.3,104,1570,0.00,2.15,0.00,0.000,4,0.000,0.047,2308,3508,3871,0,0,0,0,0,0
$GC,1598,-0.80,-136.7,361.6,-18.0,104,1605,0.12,2.10,0.00,0.000,6,0.163,0.029,2340,2100,3871,0,0,0,0,0,0
$GC,1848,-0.80,-136.7,400.3,-15.1,111,1852,0.00,2.10,0.00,0.000,4,0.000,0.039,2338,702,3870,0,0,0,0,0,0
$GC,1887,-0.80,-136.7,405.8,-13.8,111,1893,0.00,2.12,0.00,0.000,6,0.000,0.041,2331,2101,3870,0,0,0,0,0,0
$GC,2137,-0.80,-136.7,441.3,-14.1,118,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2100,3869,0,0,0,0,0,0
$GC,2381,-0.80,-136.7,476.4,-14.3,124,2385,0.00,2.15,0.00,0.000,4,0.000,0.041,2331,699,3868,0,0,0,0,0,0
$GC,2408,-0.80,-136.7,480.6,-14.5,124,2412,0.00,2.15,0.00,0.000,6,0.000,0.041,2321,2097,3865,0,0,0,0,0,0
$GC,2665,-0.80,-136.7,518.2,-14.7,131,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2096,3864,0,0,0,0,0,0
$GC,2908,-0.80,-136.7,552.3,-13.8,137,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2096,3862,0,0,0,0,0,0
$GC,3151,-0.80,-136.7,584.3,-13.0,143,3155,0.00,2.22,0.00,0.000,4,0.000,0.054,2311,3508,3859,0,0,0,0,0,0
$GC,3207,-0.80,-136.7,591.6,-13.0,144,3212,0.10,2.12,0.00,0.000,6,0.169,0.031,2335,2104,3860,0,0,0,0,0,0
$GC,3473,-0.80,-136.7,624.3,-12.5,151,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2096,3857,0,0,0,0,0,0
$GC,3717,-0.80,-136.7,655.2,-12.4,157,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2096,3855,0,0,0,0,0,0
$GC,3961,-0.80,-136.7,685.5,-12.3,163,3965,0.00,2.15,0.00,0.000,4,0.000,0.044,2338,702,3850,0,0,0,0,0,0
$GC,3995,-0.80,-136.7,690.0,-12.4,163,4000,0.00,2.17,0.00,0.000,6,0.000,0.044,2326,2103,3851,0,0,0,0,0,0
$GC,4245,-0.80,-136.7,722.7,-13.2,170,4249,0.00,2.20,0.00,0.000,4,0.000,0.053,2318,3505,3849,0,0,0,0,0,0
$GC,4289,-0.80,-136.7,728.9,-14.0,171,4293,0.00,2.15,0.00,0.000,6,0.000,0.033,2316,2098,3848,0,0,0,0,0,0
$GC,4574,-0.80,-136.7,767.8,-13.7,178,4578,0.00,2.12,0.00,0.000,4,0.000,0.044,2315,699,3846,0,0,0,0,0,0
$GC,4595,-0.80,-136.7,771.2,-14.2,178,4600,0.12,2.15,0.00,0.000,6,0.183,0.043,2335,2101,3844,0,0,0,0,0,0
$GC,4851,-0.80,-136.7,802.0,-12.0,185,4855,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3504,3844,0,0,0,0,0,0
$GC,4897,-0.80,-136.7,807.2,-11.5,186,4901,0.00,2.12,0.00,0.000,6,0.000,0.032,2326,2097,3843,0,0,0,0,0,0
$GC,5186,-0.80,-136.7,840.5,-11.3,193,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2092,3841,0,0,0,0,0,0
$GC,5429,-0.80,-136.7,866.8,-10.6,199,5433,0.00,2.15,0.00,0.000,4,0.000,0.044,2327,698,3840,0,0,0,0,0,0
$GC,5462,-0.80,-136.7,870.5,-11.1,199,5468,0.00,2.20,0.00,0.000,6,0.000,0.044,2316,2102,3840,0,0,0,0,0,0
$GC,5713,-0.80,-136.7,897.0,-10.7,206,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2101,3838,0,0,0,0,0,0
$STATE,5750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5750,begin apogee
$GC,5757,-0.28,0.0,901.6,10.8,207,5874,0.62,0.00,113.50,1.078,6,0.147,0.000,2500,1921,3300,0,0,0,0,0,0
$STATE,5876,end apogee,CONTROL_FINISHED_OK
$STATE,5876,begin climb
$GC,5879,0.80,136.7,903.8,0.0,210,6012,1.02,2.28,120.97,1.042,4,0.094,0.038,2854,581,2739,0,0,0,0,0,0
$GC,6023,0.80,136.7,886.9,17.2,213,6028,0.00,2.22,0.00,0.000,6,0.000,0.036,2853,1956,2737,0,0,0,0,0,0
$GC,6286,0.80,136.7,835.8,19.9,220,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1955,2733,0,0,0,0,0,0
$GC,6528,0.80,136.7,790.5,18.6,226,6532,0.00,2.30,0.00,0.000,4,0.000,0.054,2854,3374,2730,0,0,0,0,0,0
$GC,6578,0.80,136.7,781.2,17.6,227,6582,0.00,2.12,0.00,0.000,6,0.000,0.032,2862,1989,2730,0,0,0,0,0,0
$GC,6856,0.80,136.7,733.1,17.3,234,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1983,2730,0,0,0,0,0,0
$GC,7101,0.80,136.7,692.3,16.5,240,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1983,2727,0,0,0,0,0,0
$GC,7344,0.80,136.7,651.6,16.5,246,7347,0.00,2.17,0.00,0.000,4,0.000,0.038,2874,557,2727,0,0,0,0,0,0
$GC,7376,0.80,136.7,645.6,17.6,246,7382,0.00,2.17,0.00,0.000,6,0.000,0.035,2873,1965,2724,0,0,0,0,0,0
$GC,7628,0.80,136.7,602.1,17.6,253,7632,0.00,2.25,0.00,0.000,4,0.000,0.054,2873,3363,2724,0,0,0,0,0,0
$GC,7683,0.80,136.7,591.4,18.7,254,7687,0.00,2.17,0.00,0.000,6,0.000,0.031,2882,1958,2725,0,0,0,0,0,0
$GC,7956,0.80,136.7,541.1,18.6,261,7960,0.00,2.25,0.00,0.000,4,0.000,0.051,2882,3364,2724,0,0,0,0,0,0
$GC,7971,0.80,136.7,538.0,17.4,261,7976,0.15,2.12,0.00,0.000,6,0.206,0.031,2857,1950,2722,0,0,0,0,0,0
$GC,8234,0.80,136.7,495.7,16.1,268,8238,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,561,2724,0,0,0,0,0,0
$GC,8279,0.80,136.7,487.7,17.8,269,8284,0.00,2.15,0.00,0.000,6,0.000,0.036,2866,1965,2722,0,0,0,0,0,0
$GC,8568,0.80,136.7,438.1,17.3,276,8572,0.00,2.15,0.00,0.000,4,0.000,0.038,2877,556,2724,0,0,0,0,0,0
$GC,8597,0.80,136.7,433.0,18.5,276,8601,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1960,2721,0,0,0,0,0,0
$GC,8852,0.80,136.7,389.0,17.1,283,8856,0.00,2.17,0.00,0.000,4,0.000,0.040,2887,548,2721,0,0,0,0,0,0
$GC,8879,0.80,136.7,384.3,16.9,283,8884,0.12,2.17,0.00,0.000,6,0.197,0.037,2859,1960,2719,0,0,0,0,0,0
$GC,9131,0.80,136.7,349.5,13.5,289,9135,0.00,2.15,0.00,0.000,4,0.000,0.041,2868,560,2720,0,0,0,0,0,0
$GC,9158,0.80,136.7,346.0,12.0,289,9162,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1961,2720,0,0,0,0,0,0
$GC,9413,0.80,136.7,314.9,12.1,296,9417,0.00,2.22,0.00,0.000,4,0.000,0.053,2868,3367,2720,0,0,0,0,0,0
$GC,9441,0.80,136.7,311.3,13.1,296,9445,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1953,2720,0,0,0,0,0,0
$GC,9706,0.80,136.7,273.7,14.8,307,9710,0.00,2.12,0.00,0.000,4,0.000,0.039,2890,558,2720,0,0,0,0,0,0
$GC,9800,0.80,136.7,261.1,11.2,311,9805,0.15,2.15,0.00,0.000,6,0.189,0.036,2854,1968,2719,0,0,0,0,0,0
$GC,10055,0.80,136.7,237.6,8.8,323,10059,0.00,2.22,0.00,0.000,4,0.000,0.050,2843,3367,2719,0,0,0,0,0,0
$GC,10313,0.80,136.7,211.0,11.5,334,10317,0.00,2.17,0.00,0.000,6,0.000,0.030,2852,1949,2720,0,0,0,0,0,0
$GC,10581,0.80,136.7,182.4,10.2,354,10585,0.00,2.10,0.00,0.000,4,0.000,0.038,2863,554,2720,0,0,0,0,0,0
$GC,10644,0.80,136.7,176.6,9.3,359,10648,0.00,2.15,0.00,0.000,6,0.000,0.033,2863,1966,2717,0,0,0,0,0,0
$GC,10911,0.80,141.7,157.0,8.4,383,10915,0.00,2.20,0.00,0.000,4,0.000,0.049,2863,3358,2718,0,0,0,0,0,0
$GC,11154,0.91,227.0,141.4,5.0,404,11232,0.00,2.12,70.93,0.545,6,0.000,0.026,2874,1949,2372,0,0,0,0,0,0
$GC,11488,0.91,227.0,110.3,11.5,435,11492,0.00,2.12,0.00,0.000,4,0.000,0.039,2885,563,2369,0,0,0,0,0,0
$GC,11695,0.91,227.0,88.8,11.9,453,11699,0.00,2.12,0.00,0.000,6,0.000,0.031,2885,1961,2367,0,0,0,0,0,0
$GC,11962,0.91,227.0,60.4,9.9,477,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1960,2367,0,0,0,0,0,0
$GC,12227,0.91,227.0,32.4,10.3,502,12230,0.00,2.15,0.00,0.000,4,0.000,0.038,2896,560,2369,0,0,0,0,0,0
$GC,12361,0.91,227.0,17.7,10.8,523,12368,0.00,2.15,0.00,0.000,6,0.000,0.031,2896,1964,2370,0,0,0,0,0,0
$STATE,12489,end climb,SURFACE_DEPTH_REACHED
$STATE,12489,begin surface coast
$FINISH,0.4,1.022292
$STATE,12519,end surface coast,CONTROL_FINISHED_OK
$STATE,12519,begin surface
$SM_CCo,12539,34.92,0.414,0,0,2075,300.24
$SM_GC,1.87,0.00,0.00,34.92,0.000,0.000,0.414,56,2143,2075,-7.94,1.16,300.24
$IRIDIUM_FIX,1902.38,-15644.19,240213,111125
$TT8_MAMPS,0.25311
$HUMID,1078835474
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.00
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256852992
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21667545088
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,52.514
$10V_AH,9.8,48.118
$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,20.075,125.750,305.400,34.925,0.000,30.019,40.439,319.849,23.750,0.000,12.808,1197.333,8916.842,399.595,2262.035,431.357,33.357,1203.275,0.000,1868.861,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,72.098,1077.635,414.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.517,0.000,932.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26935,552
$CAP_FILE_SIZE,119902,0
$CFSIZE,260165632,178040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,156.7,1
$GPS,020911,002606,1912.249,-15645.019,31,1.1,31,9.6