version: 66.07
glider: 513
mission: 7
dive: 389
start: 9 3 111 6 52 24
data:
$ID,513
$MISSION,7
$DIVE,389
$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,-430978.44
$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,39
$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,388
$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
$GPS1,030911,063400,1912.774,-15642.337,76,1.4,76,9.6
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.4
$GPS2,030911,065126,1912.351,-15641.919,12,1.9,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.023,0.238
$KALMAN_X,-169764.5,-870.1,-834.0,192048.8,6992.5
$KALMAN_Y,-328836.7,846.6,393.5,239885.4,-12776.5
$MHEAD_RNG_PITCHd_Wd,331.9,116149,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.80,-136.7,0.0,0.0,0,85,0.00,0.00,-51.40,0.000,2,0.000,0.000,34,2110,3558,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.4,-5.7,8,110,9.98,0.00,-5.40,0.000,6,0.243,0.000,2340,2106,3859,0,0,0,0,0,0
$GC,370,-0.80,-136.7,99.4,-32.9,39,374,0.00,2.12,0.00,0.000,4,0.000,0.047,2349,713,3862,0,0,0,0,0,0
$GC,391,-0.80,-136.7,108.0,-32.3,40,399,0.00,2.17,0.00,0.000,6,0.000,0.045,2341,2085,3862,0,0,0,0,0,0
$GC,654,-0.80,-136.7,177.1,-22.0,65,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2087,3863,0,0,0,0,0,0
$GC,915,-0.80,-136.7,230.0,-19.8,83,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2087,3865,0,0,0,0,0,0
$GC,1161,-0.80,-136.7,272.8,-16.4,95,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2087,3865,0,0,0,0,0,0
$GC,1407,-0.80,-136.7,306.8,-13.3,106,1411,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3521,3866,0,0,0,0,0,0
$GC,1424,-0.80,-136.7,309.2,-13.6,106,1428,0.00,2.12,0.00,0.000,6,0.000,0.030,2331,2101,3866,0,0,0,0,0,0
$GC,1690,-0.80,-136.7,349.6,-15.5,113,1694,0.00,2.10,0.00,0.000,4,0.000,0.041,2330,703,3866,0,0,0,0,0,0
$GC,1746,-0.80,-136.7,358.3,-15.3,114,1750,0.00,2.17,0.00,0.000,6,0.000,0.043,2320,2106,3866,0,0,0,0,0,0
$GC,2019,-0.80,-136.7,406.1,-18.2,121,2023,0.00,2.17,0.00,0.000,4,0.000,0.051,2309,3513,3865,0,0,0,0,0,0
$GC,2052,-0.80,-136.7,412.8,-19.7,121,2058,0.12,2.12,0.00,0.000,6,0.162,0.031,2341,2103,3864,0,0,0,0,0,0
$GC,2302,-0.80,-136.7,451.4,-14.9,128,2305,0.00,2.10,0.00,0.000,4,0.000,0.043,2341,700,3863,0,0,0,0,0,0
$GC,2375,-0.80,-136.7,461.9,-14.3,129,2379,0.00,2.17,0.00,0.000,6,0.000,0.045,2332,2104,3862,0,0,0,0,0,0
$GC,2626,-0.80,-136.7,494.2,-12.6,135,2630,0.00,2.22,0.00,0.000,4,0.000,0.052,2322,3522,3859,0,0,0,0,0,0
$GC,2658,-0.80,-136.7,498.6,-12.9,135,2664,0.00,2.15,0.00,0.000,6,0.000,0.032,2322,2094,3859,0,0,0,0,0,0
$GC,2908,-0.80,-136.7,531.1,-13.2,142,2912,0.00,2.12,0.00,0.000,4,0.000,0.042,2321,690,3856,0,0,0,0,0,0
$GC,2960,-0.80,-136.7,538.1,-13.0,143,2963,0.00,2.17,0.00,0.000,6,0.000,0.044,2311,2105,3855,0,0,0,0,0,0
$GC,3232,-0.80,-136.7,577.4,-14.5,150,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2104,3853,0,0,0,0,0,0
$GC,3475,-0.80,-136.7,613.0,-14.6,156,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2104,3850,0,0,0,0,0,0
$GC,3720,-0.80,-136.7,647.5,-14.0,162,3722,0.10,0.00,0.00,0.000,6,0.186,0.000,2335,2104,3847,0,0,0,0,0,0
$GC,3963,-0.80,-136.7,678.4,-12.7,168,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3845,0,0,0,0,0,0
$GC,4207,-0.80,-136.7,709.3,-12.5,174,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2104,3845,0,0,0,0,0,0
$GC,4450,-0.80,-136.7,741.7,-13.4,180,4454,0.00,2.20,0.00,0.000,4,0.000,0.054,2326,3507,3841,0,0,0,0,0,0
$GC,4524,-0.80,-136.7,752.0,-13.8,181,4528,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,2096,3840,0,0,0,0,0,0
$GC,4774,-0.80,-136.7,788.2,-14.6,187,4778,0.00,2.12,0.00,0.000,4,0.000,0.042,2326,700,3838,0,0,0,0,0,0
$GC,4830,-0.80,-136.7,796.6,-15.0,188,4834,0.00,2.17,0.00,0.000,6,0.000,0.044,2316,2105,3838,0,0,0,0,0,0
$GC,5104,-0.80,-136.7,835.9,-14.4,195,5108,0.00,2.25,0.00,0.000,4,0.000,0.056,2304,3515,3835,0,0,0,0,0,0
$GC,5159,-0.80,-136.7,843.9,-13.9,196,5164,0.12,2.17,0.00,0.000,6,0.170,0.036,2336,2097,3838,0,0,0,0,0,0
$GC,5426,-0.80,-136.7,875.5,-11.7,203,5430,0.00,2.15,0.00,0.000,4,0.000,0.043,2337,693,3832,0,0,0,0,0,0
$GC,5482,-0.80,-136.7,882.5,-11.9,204,5486,0.00,2.17,0.00,0.000,6,0.000,0.042,2328,2099,3832,0,0,0,0,0,0
$STATE,5665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5665,begin apogee
$GC,5672,-0.28,0.0,904.8,12.0,209,5788,0.57,0.00,111.20,1.082,6,0.143,0.000,2499,1923,3302,0,0,0,0,0,0
$STATE,5790,end apogee,CONTROL_FINISHED_OK
$STATE,5790,begin climb
$GC,5793,0.80,136.7,909.6,0.0,212,5926,1.02,2.25,120.50,1.048,4,0.094,0.038,2853,587,2741,0,0,0,0,0,0
$GC,5943,0.80,136.7,895.5,15.7,215,5947,0.00,2.25,0.00,0.000,6,0.000,0.039,2853,1957,2737,0,0,0,0,0,0
$GC,6205,0.80,136.7,848.4,18.2,222,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1959,2737,0,0,0,0,0,0
$GC,6447,0.80,136.7,805.1,17.4,228,6452,0.00,2.28,0.00,0.000,4,0.000,0.054,2853,3366,2732,0,0,0,0,0,0
$GC,6514,0.80,136.7,793.1,17.5,229,6518,0.00,2.12,0.00,0.000,6,0.000,0.038,2863,1980,2731,0,0,0,0,0,0
$GC,6777,0.80,136.7,746.3,17.7,236,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1974,2729,0,0,0,0,0,0
$GC,7019,0.80,136.7,702.2,18.1,242,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1974,2728,0,0,0,0,0,0
$GC,7263,0.80,136.7,656.6,19.0,248,7267,0.00,2.25,0.00,0.000,4,0.000,0.057,2859,3363,2725,0,0,0,0,0,0
$GC,7279,0.80,136.7,653.2,19.4,248,7283,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1955,2727,0,0,0,0,0,0
$GC,7548,0.80,136.7,600.8,19.4,255,7552,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,558,2726,0,0,0,0,0,0
$GC,7575,0.80,136.7,594.7,19.8,255,7579,0.00,2.15,0.00,0.000,6,0.000,0.035,2879,1965,2724,0,0,0,0,0,0
$GC,7831,0.80,136.7,544.8,19.7,262,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1969,2724,0,0,0,0,0,0
$GC,8074,0.80,136.7,499.7,17.9,268,8078,0.00,2.25,0.00,0.000,4,0.000,0.054,2879,3370,2724,0,0,0,0,0,0
$GC,8120,0.80,136.7,491.2,19.2,269,8124,0.15,2.15,0.00,0.000,6,0.201,0.034,2854,1956,2724,0,0,0,0,0,0
$GC,8397,0.80,136.7,448.5,15.0,276,8401,0.00,2.10,0.00,0.000,4,0.000,0.040,2864,563,2723,0,0,0,0,0,0
$GC,8446,0.80,136.7,441.3,13.9,277,8450,0.00,2.15,0.00,0.000,6,0.000,0.037,2855,1967,2721,0,0,0,0,0,0
$GC,8726,0.80,136.7,403.9,13.1,284,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1966,2721,0,0,0,0,0,0
$GC,8968,0.80,136.7,372.6,13.2,290,8972,0.00,2.22,0.00,0.000,4,0.000,0.054,2855,3363,2719,0,0,0,0,0,0
$GC,9034,0.80,136.7,362.4,15.3,291,9038,0.00,2.12,0.00,0.000,6,0.000,0.029,2864,1963,2721,0,0,0,0,0,0
$GC,9302,0.80,136.7,321.9,15.5,298,9306,0.00,2.12,0.00,0.000,4,0.000,0.038,2875,556,2721,0,0,0,0,0,0
$GC,9336,0.80,136.7,316.7,15.2,298,9343,0.00,2.17,0.00,0.000,6,0.000,0.036,2880,1966,2720,0,0,0,0,0,0
$GC,9588,0.80,136.7,281.6,12.5,308,9592,0.00,2.12,0.00,0.000,4,0.000,0.038,2884,556,2719,0,0,0,0,0,0
$GC,9606,0.80,136.7,279.6,12.0,309,9611,0.12,2.15,0.00,0.000,6,0.188,0.034,2855,1962,2719,0,0,0,0,0,0
$GC,9870,0.80,136.7,252.2,10.9,322,9874,0.00,2.20,0.00,0.000,4,0.000,0.050,2848,3362,2719,0,0,0,0,0,0
$GC,10118,0.80,136.7,221.1,10.6,333,10122,0.00,2.12,0.00,0.000,6,0.000,0.028,2853,1941,2717,0,0,0,0,0,0
$GC,10382,0.80,136.7,198.3,8.8,346,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1939,2719,0,0,0,0,0,0
$GC,10641,0.82,157.4,178.1,7.7,370,10666,0.00,2.30,14.35,0.548,4,0.000,0.048,2853,3362,2660,0,0,0,0,0,0
$GC,10779,0.82,157.4,163.7,11.2,382,10783,0.00,2.10,0.00,0.000,6,0.000,0.028,2864,1950,2660,0,0,0,0,0,0
$GC,11046,0.89,216.8,145.4,6.1,406,11101,0.00,0.00,50.30,0.547,6,0.000,0.000,2867,1947,2416,0,0,0,0,0,0
$GC,11358,0.89,216.8,116.4,9.7,435,11362,0.00,2.08,0.00,0.000,4,0.000,0.038,2875,578,2412,0,0,0,0,0,0
$GC,11606,0.90,219.1,95.0,8.5,457,11610,0.00,2.10,0.00,0.000,6,0.000,0.031,2871,1964,2410,0,0,0,0,0,0
$GC,11872,0.90,219.1,70.1,9.9,481,11876,0.00,2.20,0.00,0.000,4,0.000,0.048,2875,3365,2411,0,0,0,0,0,0
$GC,12103,0.90,219.1,44.6,10.6,501,12110,0.00,2.10,0.00,0.000,6,0.000,0.028,2885,1978,2413,0,0,0,0,0,0
$GC,12368,0.90,219.1,18.3,9.9,536,12375,0.00,2.15,0.00,0.000,4,0.000,0.038,2896,563,2414,0,0,0,0,0,0
$STATE,12519,end climb,SURFACE_DEPTH_REACHED
$STATE,12519,begin surface coast
$FINISH,0.3,1.010329
$STATE,12547,end surface coast,CONTROL_FINISHED_OK
$STATE,12547,begin surface
$SM_CCo,12570,40.45,0.413,0,0,2079,300.24
$SM_GC,1.99,0.00,0.00,40.45,0.000,0.000,0.413,51,2120,2079,-7.96,0.54,300.24
$IRIDIUM_FIX,1904.66,-15641.19,260213,000021
$TT8_MAMPS,0.259246
$HUMID,1078796764
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.30
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6256558080
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,20432486400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,53.606
$10V_AH,9.8,48.931
$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,19.775,108.575,296.350,40.450,0.000,59.223,76.133,606.597,23.750,0.000,13.943,1207.971,9003.152,398.075,2599.858,454.025,33.353,1173.322,0.000,1879.287,0.000,0.543,0.000
$DEVICE_MAMPS,243.139,61.360,1082.237,413.413,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.182,0.000,985.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26934,569
$CAP_FILE_SIZE,121867,0
$CFSIZE,260165632,177389568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243,159.8,1
$GPS,030911,102408,1912.307,-15641.873,34,1.5,34,9.6