version: 66.07
glider: 513
mission: 7
dive: 382
start: 9 2 111 4 19 20
data:
$ID,513
$MISSION,7
$DIVE,382
$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,-430793.12
$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,54
$R_STBD_OVSHOOT,82
$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,381
$AR_SAMPLENUM,2
$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
$GPS1,020911,040901,1912.532,-15644.925,40,1.6,40,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-80.2
$GPS2,020911,041820,1912.362,-15644.696,16,1.6,16,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.139,0.187
$KALMAN_X,-184934.4,43.5,-404.1,201043.1,2959.4
$KALMAN_Y,-306485.1,1292.4,629.6,216876.7,-13259.3
$MHEAD_RNG_PITCHd_Wd,338.1,116007,-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,-51.12,0.000,2,0.000,0.000,35,2154,3527,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.0,-4.1,8,107,10.00,2.22,-6.07,0.000,4,0.246,0.051,2337,702,3858,0,0,0,0,0,0
$GC,180,-0.80,-136.7,38.0,-31.6,22,184,0.00,2.12,0.00,0.000,6,0.000,0.042,2328,2063,3861,0,0,0,0,0,0
$GC,445,-0.80,-136.7,124.2,-31.9,46,449,0.00,2.05,0.00,0.000,4,0.000,0.039,2328,706,3863,0,0,0,0,0,0
$GC,466,-0.80,-136.7,130.8,-31.5,47,470,0.00,2.15,0.00,0.000,6,0.000,0.043,2320,2104,3863,0,0,0,0,0,0
$GC,732,-0.80,-136.7,200.5,-23.9,71,736,0.00,2.12,0.00,0.000,4,0.000,0.039,2318,708,3865,0,0,0,0,0,0
$GC,754,-0.80,-136.7,207.1,-23.6,72,759,0.12,2.17,0.00,0.000,6,0.182,0.044,2336,2105,3864,0,0,0,0,0,0
$GC,1014,-0.80,-136.7,254.6,-16.1,85,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2105,3867,0,0,0,0,0,0
$GC,1260,-0.80,-136.7,294.7,-16.4,97,1264,0.00,2.12,0.00,0.000,4,0.000,0.040,2337,709,3868,0,0,0,0,0,0
$GC,1299,-0.80,-136.7,301.5,-16.6,98,1306,0.00,2.12,0.00,0.000,6,0.000,0.042,2327,2103,3868,0,0,0,0,0,0
$GC,1549,-0.80,-136.7,341.6,-15.9,105,1553,0.00,2.20,0.00,0.000,4,0.000,0.053,2318,3508,3868,0,0,0,0,0,0
$GC,1589,-0.80,-136.7,347.8,-15.5,106,1593,0.00,2.10,0.00,0.000,6,0.000,0.030,2318,2103,3868,0,0,0,0,0,0
$GC,1872,-0.80,-136.7,392.8,-16.5,113,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2098,3869,0,0,0,0,0,0
$GC,2116,-0.80,-136.7,431.2,-15.8,119,2120,0.00,2.12,0.00,0.000,4,0.000,0.042,2318,704,3866,0,0,0,0,0,0
$GC,2206,-0.80,-136.7,445.1,-15.2,121,2211,0.12,2.15,0.00,0.000,6,0.169,0.044,2339,2104,3863,0,0,0,0,0,0
$GC,2483,-0.80,-136.7,482.2,-13.5,128,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2104,3863,0,0,0,0,0,0
$GC,2727,-0.80,-136.7,514.1,-13.0,134,2731,0.00,2.22,0.00,0.000,4,0.000,0.054,2330,3513,3859,0,0,0,0,0,0
$GC,2766,-0.80,-136.7,519.3,-13.2,134,2773,0.00,2.10,0.00,0.000,6,0.000,0.030,2330,2106,3863,0,0,0,0,0,0
$GC,3016,-0.80,-136.7,552.9,-13.3,141,3020,0.00,2.15,0.00,0.000,4,0.000,0.041,2330,694,3857,0,0,0,0,0,0
$GC,3055,-0.80,-136.7,558.3,-13.9,142,3059,0.00,2.15,0.00,0.000,6,0.000,0.044,2320,2099,3857,0,0,0,0,0,0
$GC,3339,-0.80,-136.7,597.4,-14.1,149,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2099,3855,0,0,0,0,0,0
$GC,3582,-0.80,-136.7,631.3,-14.0,155,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2098,3854,0,0,0,0,0,0
$GC,3825,-0.80,-136.7,667.0,-14.7,161,3829,0.00,2.22,0.00,0.000,4,0.000,0.055,2309,3509,3850,0,0,0,0,0,0
$GC,3865,-0.80,-136.7,673.1,-14.6,162,3870,0.12,2.12,0.00,0.000,6,0.164,0.031,2340,2101,3849,0,0,0,0,0,0
$GC,4150,-0.80,-136.7,712.0,-13.9,169,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2101,3847,0,0,0,0,0,0
$GC,4392,-0.80,-136.7,745.4,-13.6,175,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2096,3844,0,0,0,0,0,0
$GC,4635,-0.80,-136.7,777.7,-13.2,181,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2096,3841,0,0,0,0,0,0
$GC,4881,-0.80,-136.7,807.8,-12.3,187,4885,0.00,2.15,0.00,0.000,4,0.000,0.045,2341,695,3841,0,0,0,0,0,0
$GC,4925,-0.80,-136.7,813.7,-12.6,188,4929,0.00,2.17,0.00,0.000,6,0.000,0.044,2332,2103,3843,0,0,0,0,0,0
$GC,5209,-0.80,-136.7,848.5,-12.3,195,5213,0.00,2.22,0.00,0.000,4,0.000,0.054,2322,3513,3838,0,0,0,0,0,0
$GC,5282,-0.80,-136.7,857.8,-12.6,196,5286,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2097,3838,0,0,0,0,0,0
$GC,5532,-0.80,-136.7,888.4,-12.3,202,5536,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,702,3836,0,0,0,0,0,0
$GC,5576,-0.80,-136.7,894.0,-12.8,203,5579,0.00,2.17,0.00,0.000,6,0.000,0.045,2311,2102,3835,0,0,0,0,0,0
$STATE,5654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5662,-0.28,0.0,904.0,12.6,205,5778,0.65,0.00,113.00,1.080,6,0.147,0.000,2501,1927,3300,0,0,0,0,0,0
$STATE,5780,end apogee,CONTROL_FINISHED_OK
$STATE,5780,begin climb
$GC,5783,0.80,136.7,908.0,0.0,208,5911,1.05,0.00,121.03,1.045,6,0.094,0.000,2846,1929,2743,0,0,0,0,0,0
$GC,6150,0.80,136.7,851.6,18.7,217,6154,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,581,2733,0,0,0,0,0,0
$GC,6171,0.80,136.7,847.2,18.1,217,6175,0.00,2.17,0.00,0.000,6,0.000,0.036,2852,1963,2732,0,0,0,0,0,0
$GC,6433,0.80,136.7,800.5,17.7,224,6437,0.00,2.25,0.00,0.000,4,0.000,0.054,2852,3365,2729,0,0,0,0,0,0
$GC,6467,0.80,136.7,794.3,19.3,224,6472,0.00,2.12,0.00,0.000,6,0.000,0.033,2861,1976,2731,0,0,0,0,0,0
$GC,6717,0.80,136.7,748.6,18.2,231,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1971,2732,0,0,0,0,0,0
$GC,6960,0.80,136.7,704.6,18.1,237,6964,0.00,2.17,0.00,0.000,4,0.000,0.040,2872,561,2729,0,0,0,0,0,0
$GC,6976,0.80,136.7,701.5,17.7,237,6980,0.00,2.15,0.00,0.000,6,0.000,0.035,2869,1966,2726,0,0,0,0,0,0
$GC,7244,0.80,136.7,654.0,17.5,244,7248,0.00,2.25,0.00,0.000,4,0.000,0.053,2868,3371,2726,0,0,0,0,0,0
$GC,7294,0.80,136.7,644.4,18.5,245,7298,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1958,2726,0,0,0,0,0,0
$GC,7572,0.80,136.7,594.8,17.7,252,7576,0.00,2.12,0.00,0.000,4,0.000,0.039,2888,559,2726,0,0,0,0,0,0
$GC,7657,0.80,136.7,579.9,17.9,254,7662,0.12,2.17,0.00,0.000,6,0.198,0.035,2860,1972,2724,0,0,0,0,0,0
$GC,7941,0.80,136.7,532.0,16.6,261,7945,0.00,2.22,0.00,0.000,4,0.000,0.052,2849,3364,2723,0,0,0,0,0,0
$GC,8014,0.80,136.7,519.3,17.1,262,8018,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1955,2723,0,0,0,0,0,0
$GC,8264,0.80,136.7,476.2,17.3,268,8268,0.00,2.25,0.00,0.000,4,0.000,0.050,2850,3365,2723,0,0,0,0,0,0
$GC,8308,0.80,136.7,468.2,17.5,269,8312,0.00,2.12,0.00,0.000,6,0.000,0.031,2859,1952,2723,0,0,0,0,0,0
$GC,8593,0.80,136.7,418.4,18.0,276,8597,0.00,2.10,0.00,0.000,4,0.000,0.038,2870,562,2723,0,0,0,0,0,0
$GC,8654,0.80,136.7,407.1,18.4,277,8658,0.00,2.17,0.00,0.000,6,0.000,0.035,2870,1995,2721,0,0,0,0,0,0
$GC,8920,0.80,136.7,363.9,15.7,284,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1995,2719,0,0,0,0,0,0
$GC,9164,0.80,136.7,330.0,13.6,290,9168,0.00,2.15,0.00,0.000,4,0.000,0.051,2870,3359,2720,0,0,0,0,0,0
$GC,9187,0.80,136.7,327.3,11.7,290,9191,0.00,2.10,0.00,0.000,6,0.000,0.030,2880,1960,2721,0,0,0,0,0,0
$GC,9442,0.80,136.7,299.5,10.3,297,9446,0.00,2.22,0.00,0.000,4,0.000,0.049,2880,3360,2721,0,0,0,0,0,0
$GC,9482,0.80,136.7,294.8,12.3,299,9486,0.15,2.10,0.00,0.000,6,0.190,0.028,2854,1958,2721,0,0,0,0,0,0
$GC,9747,0.80,136.7,267.7,10.6,312,9751,0.00,2.10,0.00,0.000,4,0.000,0.038,2864,568,2721,0,0,0,0,0,0
$GC,9977,0.80,136.7,239.8,10.4,322,9981,0.00,2.15,0.00,0.000,6,0.000,0.035,2864,1965,2720,0,0,0,0,0,0
$GC,10232,0.80,136.7,217.0,9.5,334,10236,0.00,2.22,0.00,0.000,4,0.000,0.050,2863,3359,2718,0,0,0,0,0,0
$GC,10420,0.80,136.7,194.3,12.3,344,10428,0.00,2.15,0.00,0.000,6,0.000,0.028,2874,1948,2720,0,0,0,0,0,0
$GC,10688,0.83,164.1,170.5,7.4,369,10719,0.00,2.15,20.27,0.568,4,0.000,0.037,2885,567,2629,0,0,0,0,0,0
$GC,10800,0.83,164.1,159.9,9.2,379,10804,0.00,2.10,0.00,0.000,6,0.000,0.031,2888,1963,2627,0,0,0,0,0,0
$GC,11071,0.85,183.4,135.5,7.8,404,11090,0.00,0.00,17.27,0.525,6,0.000,0.000,2885,1962,2555,0,0,0,0,0,0
$GC,11348,0.86,188.1,109.7,8.4,430,11362,0.00,2.17,5.47,0.407,4,0.000,0.036,2895,564,2533,0,0,0,0,0,0
$GC,11378,0.90,220.3,107.1,7.2,432,11413,0.00,2.15,28.25,0.506,6,0.000,0.032,2895,1959,2400,0,0,0,0,0,0
$GC,11678,0.90,220.3,77.5,10.7,460,11682,0.00,2.22,0.00,0.000,4,0.000,0.046,2895,3372,2397,0,0,0,0,0,0
$GC,11720,0.90,220.3,72.6,11.9,463,11724,0.00,2.15,0.00,0.000,6,0.000,0.028,2906,1956,2398,0,0,0,0,0,0
$GC,11988,0.90,220.3,42.1,12.4,487,11991,0.00,2.10,0.00,0.000,4,0.000,0.038,2917,561,2398,0,0,0,0,0,0
$GC,12089,0.90,220.3,29.0,12.9,496,12097,0.08,2.12,0.00,0.000,6,0.157,0.030,2894,1960,2398,0,0,0,0,0,0
$STATE,12320,end climb,SURFACE_DEPTH_REACHED
$STATE,12321,begin surface coast
$FINISH,0.3,1.022750
$STATE,12349,end surface coast,CONTROL_FINISHED_OK
$STATE,12349,begin surface
$SM_CCo,12371,40.47,0.420,0,0,2075,300.49
$SM_GC,2.09,0.00,0.00,40.47,0.000,0.000,0.420,54,2151,2075,-7.93,1.44,300.49
$IRIDIUM_FIX,1902.38,-15649.28,240213,181822
$TT8_MAMPS,0.286858
$HUMID,1078853539
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,102
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256787456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,21432926208
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,52.732
$10V_AH,9.8,48.292
$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,19.975,121.075,305.300,40.475,0.000,30.309,34.693,269.176,25.500,0.000,23.120,1185.018,8819.992,404.592,2161.649,408.795,33.356,1186.188,0.000,1811.247,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,66.729,1079.936,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.704,0.000,899.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,26901,543
$CAP_FILE_SIZE,118292,0
$CFSIZE,260165632,177901568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,157.2,1
$GPS,020911,074757,1912.786,-15644.552,45,1.6,45,9.6