version: 66.07
glider: 513
mission: 7
dive: 395
start: 9 4 111 5 29 44
data:
$ID,513
$MISSION,7
$DIVE,395
$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,-431108.72
$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,52
$R_STBD_OVSHOOT,88
$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,394
$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
$GPS1,040911,051722,1911.451,-15640.482,81,3.4,100,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.8
$GPS2,040911,052847,1911.227,-15640.302,9,4.9,28,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.238,0.023
$KALMAN_X,-161222.8,-1620.7,-336.8,186576.5,6035.2
$KALMAN_Y,-353278.8,1295.6,854.4,261322.7,-15383.2
$MHEAD_RNG_PITCHd_Wd,338.2,118389,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,80,0.00,0.00,-51.08,0.000,2,0.000,0.000,35,2153,3547,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.4,-5.8,8,106,9.85,2.10,-5.40,0.000,4,0.242,0.066,2318,3457,3859,0,0,0,0,0,0
$GC,269,-0.80,-136.7,68.2,-28.5,29,273,0.00,2.08,0.00,0.000,6,0.000,0.034,2318,2113,3863,0,0,0,0,0,0
$GC,537,-0.80,-136.7,151.7,-25.6,53,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2106,3864,0,0,0,0,0,0
$GC,796,-0.80,-136.7,214.9,-22.0,75,800,0.00,2.15,0.00,0.000,4,0.000,0.041,2318,690,3866,0,0,0,0,0,0
$GC,846,-0.80,-136.7,225.6,-20.2,77,851,0.12,2.08,0.00,0.000,6,0.177,0.044,2338,2048,3867,0,0,0,0,0,0
$GC,1100,-0.80,-136.7,265.9,-14.5,89,1104,0.00,2.05,0.00,0.000,4,0.000,0.041,2338,693,3868,0,0,0,0,0,0
$GC,1138,-0.80,-136.7,272.0,-15.4,90,1143,0.00,2.05,0.00,0.000,6,0.000,0.042,2330,2040,3867,0,0,0,0,0,0
$GC,1392,-0.80,-136.7,314.3,-17.4,101,1396,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3462,3875,0,0,0,0,0,0
$GC,1492,-0.80,-136.7,331.5,-16.6,103,1496,0.00,2.05,0.00,0.000,6,0.000,0.031,2318,2088,3868,0,0,0,0,0,0
$GC,1764,-0.80,-136.7,378.7,-17.4,110,1767,0.00,2.08,0.00,0.000,4,0.000,0.041,2318,708,3871,0,0,0,0,0,0
$GC,1856,-0.80,-136.7,392.8,-16.0,112,1860,0.12,2.05,0.00,0.000,6,0.168,0.044,2340,2049,3868,0,0,0,0,0,0
$GC,2139,-0.80,-136.7,432.1,-13.5,119,2143,0.00,2.20,0.00,0.000,4,0.000,0.051,2331,3454,3868,0,0,0,0,0,0
$GC,2246,-0.80,-136.7,446.7,-13.1,121,2250,0.00,2.05,0.00,0.000,6,0.000,0.030,2331,2098,3865,0,0,0,0,0,0
$GC,2513,-0.80,-136.7,481.8,-13.2,128,2517,0.00,2.08,0.00,0.000,4,0.000,0.040,2331,706,3863,0,0,0,0,0,0
$GC,2557,-0.80,-136.7,488.0,-13.7,129,2561,0.00,2.05,0.00,0.000,6,0.000,0.043,2321,2050,3862,0,0,0,0,0,0
$GC,2842,-0.80,-136.7,526.3,-13.4,136,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2051,3859,0,0,0,0,0,0
$GC,3084,-0.80,-136.7,558.3,-13.3,142,3088,0.00,2.28,0.00,0.000,4,0.000,0.052,2315,3506,3857,0,0,0,0,0,0
$GC,3123,-0.80,-136.7,563.9,-14.0,143,3128,0.12,2.12,0.00,0.000,6,0.160,0.031,2341,2103,3856,0,0,0,0,0,0
$GC,3408,-0.80,-136.7,599.5,-12.6,150,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2097,3853,0,0,0,0,0,0
$GC,3650,-0.80,-136.7,632.8,-13.9,156,3654,0.00,2.12,0.00,0.000,4,0.000,0.041,2341,695,3851,0,0,0,0,0,0
$GC,3683,-0.80,-136.7,638.0,-15.4,156,3689,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2102,3851,0,0,0,0,0,0
$GC,3933,-0.80,-136.7,673.6,-14.3,163,3937,0.00,2.20,0.00,0.000,4,0.000,0.053,2322,3502,3848,0,0,0,0,0,0
$GC,4013,-0.80,-136.7,685.7,-14.9,164,4017,0.00,2.12,0.00,0.000,6,0.000,0.033,2322,2096,3848,0,0,0,0,0,0
$GC,4262,-0.80,-136.7,721.5,-14.2,170,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2089,3846,0,0,0,0,0,0
$GC,4506,-0.80,-136.7,755.1,-13.6,176,4510,0.00,2.10,0.00,0.000,4,0.000,0.040,2321,698,3843,0,0,0,0,0,0
$GC,4541,-0.80,-136.7,759.9,-14.1,176,4547,0.10,2.17,0.00,0.000,6,0.184,0.041,2335,2103,3843,0,0,0,0,0,0
$GC,4790,-0.80,-136.7,791.1,-12.5,183,4794,0.00,2.20,0.00,0.000,4,0.000,0.054,2326,3501,3841,0,0,0,0,0,0
$GC,4818,-0.80,-136.7,794.6,-12.9,183,4822,0.00,2.15,0.00,0.000,6,0.000,0.032,2326,2096,3843,0,0,0,0,0,0
$GC,5073,-0.80,-136.7,826.6,-12.5,190,5077,0.00,2.12,0.00,0.000,4,0.000,0.042,2326,695,3840,0,0,0,0,0,0
$GC,5102,-0.80,-136.7,830.3,-13.1,190,5106,0.00,2.15,0.00,0.000,6,0.000,0.042,2317,2100,3838,0,0,0,0,0,0
$GC,5357,-0.80,-136.7,861.9,-12.4,197,5361,0.00,2.17,0.00,0.000,4,0.000,0.044,2317,697,3837,0,0,1,0,0,0
$GC,5390,-0.80,-136.7,866.5,-13.4,197,5396,0.12,2.17,0.00,0.000,6,0.179,0.045,2335,2101,3837,0,0,0,0,0,0
$GC,5642,-0.80,-136.7,894.6,-11.1,204,5646,0.00,2.25,0.00,0.000,4,0.000,0.054,2322,3511,3835,0,0,0,0,0,0
$STATE,5689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5689,begin apogee
$GC,5698,-0.28,0.0,900.5,11.4,205,5814,0.57,0.00,112.35,1.074,6,0.142,0.000,2507,1948,3301,0,0,0,0,0,0
$STATE,5816,end apogee,CONTROL_FINISHED_OK
$STATE,5816,begin climb
$GC,5820,0.80,136.7,904.4,0.0,208,5945,1.05,0.00,121.40,1.042,6,0.093,0.000,2846,1948,2743,0,0,0,0,0,0
$GC,6175,0.80,136.7,853.0,17.6,217,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,2734,0,0,0,0,0,0
$GC,6417,0.80,136.7,807.6,18.7,223,6421,0.00,2.15,0.00,0.000,4,0.000,0.040,2857,558,2732,0,0,0,0,0,0
$GC,6451,0.80,136.7,801.2,18.1,223,6457,0.00,2.20,0.00,0.000,6,0.000,0.036,2855,1961,2728,0,0,0,0,0,0
$GC,6701,0.80,136.7,753.9,18.5,230,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1962,2729,0,0,0,0,0,0
$GC,6945,0.80,136.7,709.3,18.6,236,6949,0.00,2.28,0.00,0.000,4,0.000,0.054,2855,3375,2729,0,0,0,0,0,0
$GC,6984,0.80,136.7,701.8,19.5,237,6988,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1956,2729,0,0,0,0,0,0
$GC,7269,0.80,136.7,646.8,19.2,244,7273,0.00,2.12,0.00,0.000,4,0.000,0.039,2876,557,2725,0,0,0,0,0,0
$GC,7296,0.80,136.7,640.7,20.2,244,7300,0.00,2.17,0.00,0.000,6,0.000,0.035,2876,1963,2725,0,0,0,0,0,0
$GC,7552,0.80,136.7,592.9,18.2,251,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1966,2725,0,0,0,0,0,0
$GC,7797,0.80,136.7,550.4,17.2,257,7801,0.00,2.25,0.00,0.000,4,0.000,0.053,2876,3364,2725,0,0,0,0,0,0
$GC,7869,0.80,136.7,537.0,18.5,258,7874,0.12,2.12,0.00,0.000,6,0.202,0.030,2857,1950,2725,0,0,0,0,0,0
$GC,8119,0.80,136.7,497.4,15.6,264,8123,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,560,2724,0,0,0,0,0,0
$GC,8171,0.80,136.7,489.2,16.5,265,8175,0.00,2.17,0.00,0.000,6,0.000,0.035,2867,1975,2722,0,0,0,0,0,0
$GC,8443,0.80,136.7,444.2,16.3,272,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1975,2722,0,0,0,0,0,0
$GC,8687,0.80,136.7,404.6,16.2,278,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1977,2722,0,0,0,0,0,0
$GC,8931,0.80,136.7,367.6,15.0,284,8935,0.00,2.20,0.00,0.000,4,0.000,0.051,2867,3362,2722,0,0,0,0,0,0
$GC,9027,0.80,136.7,350.9,16.8,286,9031,0.00,2.10,0.00,0.000,6,0.000,0.030,2877,1960,2722,0,0,0,0,0,0
$GC,9305,0.80,136.7,308.8,15.1,293,9309,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,562,2722,0,0,0,0,0,0
$GC,9326,0.80,136.7,305.1,16.0,293,9331,0.12,2.15,0.00,0.000,6,0.189,0.034,2859,1967,2721,0,0,0,0,0,0
$GC,9586,0.80,136.7,274.8,10.0,305,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1969,2720,0,0,0,0,0,0
$GC,9832,0.80,136.7,251.9,8.8,317,9836,0.00,2.15,0.00,0.000,4,0.000,0.038,2868,557,2717,0,0,0,0,0,0
$GC,9944,0.80,136.7,241.2,10.4,322,9948,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1960,2721,0,0,0,0,0,0
$GC,10209,0.80,136.7,213.3,10.4,335,10213,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3363,2719,0,0,0,0,0,0
$GC,10258,0.80,136.7,207.7,11.3,337,10262,0.00,2.10,0.00,0.000,6,0.000,0.028,2878,1940,2721,0,0,0,0,0,0
$GC,10526,0.80,136.7,182.1,9.7,358,10530,0.00,2.08,0.00,0.000,4,0.000,0.037,2890,557,2725,0,0,0,0,0,0
$GC,10590,0.80,136.7,174.3,11.7,363,10599,0.10,2.15,0.00,0.000,6,0.161,0.032,2860,1967,2720,0,0,0,0,0,0
$GC,10854,0.82,156.9,150.7,7.7,388,10879,0.00,2.22,14.57,0.525,4,0.000,0.048,2859,3356,2660,0,0,0,0,0,0
$GC,11026,0.82,156.9,136.1,9.5,403,11030,0.00,2.08,0.00,0.000,6,0.000,0.028,2869,1968,2659,0,0,0,0,0,0
$GC,11292,1.01,313.8,123.5,1.9,427,11431,0.15,2.20,127.32,0.524,4,0.091,0.035,2943,559,2018,0,0,0,0,0,0
$GC,11639,1.01,313.8,75.2,16.7,457,11646,0.00,2.15,0.00,0.000,6,0.000,0.029,2937,1951,2012,0,0,0,0,0,0
$GC,11907,1.01,313.8,25.5,19.9,484,11915,0.00,2.17,0.00,0.000,4,0.000,0.038,2946,566,2011,0,0,0,0,0,0
$GC,11939,1.01,313.8,19.0,18.0,489,11947,0.00,2.15,0.00,0.000,6,0.000,0.029,2946,1966,2011,0,0,0,0,0,0
$STATE,12035,end climb,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FINISH,0.4,1.022803
$STATE,12056,end surface coast,CONTROL_FINISHED_OK
$STATE,12056,begin surface
$SM_CCo,12146,0.00,0.000,0,0,2010,316.43
$SM_GC,1.56,7.60,0.00,0.00,0.040,0.000,0.000,53,2125,2010,-7.89,0.74,316.43
$IRIDIUM_FIX,1902.38,-15639.09,260213,191955
$TT8_MAMPS,0.148031
$HUMID,1078941281
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.90
$XPDR_PINGS,95
$AR_DIVENUM,395
$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
$24V_AH,23.6,54.344
$10V_AH,9.8,49.458
$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,20.175,120.425,375.650,0.000,0.000,30.246,41.252,366.716,23.750,0.000,31.610,1111.248,8717.953,419.361,2168.615,419.241,33.360,1198.828,0.000,1703.182,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,72.865,1073.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.837,0.000,787.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26911,509
$CAP_FILE_SIZE,116809,0
$CFSIZE,260165632,176955392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.222,169.9,1
$GPS,040911,085432,1911.344,-15640.323,85,1.6,85,9.6