version: 66.07
glider: 513
mission: 7
dive: 410
start: 9 6 111 14 36 16
data:
$ID,513
$MISSION,7
$DIVE,410
$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,-431434.19
$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,77
$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,409
$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
$GPS1,060911,142536,1911.014,-15636.759,36,0.9,41,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.7
$GPS2,060911,143519,1910.826,-15636.658,12,1.0,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.037,0.236
$KALMAN_X,-135692.6,537.4,71.0,164797.6,2380.2
$KALMAN_Y,-400410.0,2294.4,1287.8,306276.2,-18124.0
$MHEAD_RNG_PITCHd_Wd,336.7,119731,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.55,0.000,2,0.000,0.000,42,2145,3733,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.9,-5.9,9,112,9.95,2.15,-2.12,0.000,4,0.245,0.064,2317,3468,3864,0,0,0,0,0,0
$GC,254,-0.80,-136.7,64.5,-29.3,28,262,0.00,2.12,0.00,0.000,6,0.000,0.036,2318,2125,3871,0,0,0,0,0,0
$GC,518,-0.80,-136.7,145.0,-27.6,53,522,0.00,2.12,0.00,0.000,4,0.000,0.047,2308,3476,3868,0,0,0,0,0,0
$GC,538,-0.80,-136.7,150.2,-26.7,54,543,0.12,2.12,0.00,0.000,6,0.182,0.034,2337,2093,3868,0,0,0,0,0,0
$GC,810,-0.80,-136.7,211.5,-22.1,77,814,0.00,2.10,0.00,0.000,4,0.000,0.041,2333,691,3870,0,0,0,0,0,0
$GC,871,-0.80,-136.7,223.9,-18.7,79,877,0.00,2.10,0.00,0.000,6,0.000,0.041,2329,2062,3870,0,0,0,0,0,0
$GC,1126,-0.80,-136.7,272.5,-19.9,92,1131,0.00,2.25,0.00,0.000,4,0.000,0.051,2318,3509,3872,0,0,0,0,0,0
$GC,1199,-0.80,-136.7,286.5,-17.3,95,1203,0.00,2.15,0.00,0.000,6,0.000,0.031,2317,2083,3872,0,0,0,0,0,0
$GC,1457,-0.80,-136.7,330.0,-16.4,104,1460,0.00,2.05,0.00,0.000,4,0.000,0.039,2318,703,3872,0,0,0,0,0,0
$GC,1507,-0.80,-136.7,338.8,-17.0,105,1511,0.12,2.10,0.00,0.000,6,0.173,0.040,2338,2104,3873,0,0,0,0,0,0
$GC,1784,-0.80,-136.7,377.9,-14.2,112,1788,0.00,2.22,0.00,0.000,4,0.000,0.051,2329,3510,3873,0,0,0,0,0,0
$GC,1938,-0.80,-136.7,398.5,-13.8,115,1942,0.00,2.12,0.00,0.000,6,0.000,0.030,2328,2101,3872,0,0,0,0,0,0
$GC,2199,-0.80,-136.7,435.7,-14.1,122,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2092,3871,0,0,0,0,0,0
$GC,2442,-0.80,-136.7,471.3,-14.6,128,2446,0.00,2.10,0.00,0.000,4,0.000,0.038,2329,701,3869,0,0,0,0,0,0
$GC,2528,-0.80,-136.7,483.4,-13.5,130,2532,0.00,2.12,0.00,0.000,6,0.000,0.038,2319,2099,3868,0,0,0,0,0,0
$GC,2812,-0.80,-136.7,524.4,-14.2,137,2816,0.00,2.22,0.00,0.000,4,0.000,0.051,2307,3516,3869,0,0,0,0,0,0
$GC,2897,-0.80,-136.7,536.1,-12.9,139,2902,0.12,2.15,0.00,0.000,6,0.160,0.032,2339,2102,3862,0,0,0,0,0,0
$GC,3181,-0.80,-136.7,567.4,-10.9,146,3185,0.00,2.10,0.00,0.000,4,0.000,0.038,2340,687,3862,0,0,0,0,0,0
$GC,3242,-0.80,-136.7,574.9,-11.8,147,3246,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2096,3861,0,0,0,0,0,0
$GC,3510,-0.80,-136.7,604.9,-11.3,154,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2101,3859,0,0,0,0,0,0
$GC,3753,-0.80,-136.7,634.4,-12.0,160,3757,0.00,2.25,0.00,0.000,4,0.000,0.054,2320,3514,3857,0,0,0,0,0,0
$GC,3808,-0.80,-136.7,641.6,-13.0,161,3812,0.00,2.17,0.00,0.000,6,0.000,0.032,2320,2093,3856,0,0,0,0,0,0
$GC,4080,-0.80,-136.7,678.9,-14.1,168,4084,0.00,2.28,0.00,0.000,4,0.000,0.053,2309,3517,3853,0,0,0,0,0,0
$GC,4108,-0.80,-136.7,683.1,-15.0,168,4112,0.00,2.17,0.00,0.000,6,0.000,0.033,2309,2098,3853,0,0,0,0,0,0
$GC,4364,-0.80,-136.7,721.8,-15.3,175,4368,0.12,2.15,0.00,0.000,4,0.179,0.041,2341,698,3851,0,0,0,0,0,0
$GC,4430,-0.80,-136.7,730.8,-12.6,176,4434,0.00,2.15,0.00,0.000,6,0.000,0.041,2332,2113,3851,0,0,0,0,0,0
$GC,4692,-0.80,-136.7,763.5,-12.6,183,4696,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3511,3848,0,0,0,0,0,0
$GC,4748,-0.80,-136.7,771.1,-12.5,184,4752,0.00,2.17,0.00,0.000,6,0.000,0.031,2321,2088,3850,0,0,0,0,0,0
$GC,5022,-0.80,-136.7,805.0,-12.4,191,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2082,3849,0,0,0,0,0,0
$GC,5266,-0.80,-136.7,834.5,-12.1,197,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2082,3844,0,0,0,0,0,0
$GC,5508,-0.80,-136.7,863.9,-11.9,203,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2082,3843,0,0,0,0,0,0
$GC,5752,-0.80,-136.7,891.5,-11.2,209,5756,0.00,2.12,0.00,0.000,4,0.000,0.045,2322,702,3839,0,0,0,0,0,0
$GC,5779,-0.80,-136.7,895.0,-12.1,209,5783,0.00,2.12,0.00,0.000,6,0.000,0.042,2311,2094,3840,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5837,-0.28,0.0,900.8,11.5,211,5954,0.65,0.00,113.43,1.073,6,0.147,0.000,2502,1928,3301,0,0,0,0,0,0
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5959,0.80,136.7,904.1,0.0,214,6092,1.02,2.28,120.55,1.038,4,0.092,0.036,2856,566,2741,0,0,0,0,0,0
$GC,6109,0.80,136.7,886.8,17.3,217,6113,0.00,2.25,0.00,0.000,6,0.000,0.035,2847,1963,2736,0,0,0,0,0,0
$GC,6364,0.80,136.7,837.9,19.3,224,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1963,2733,0,0,0,0,0,0
$GC,6609,0.80,136.7,791.0,19.4,230,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1963,2731,0,0,0,0,0,0
$GC,6851,0.80,136.7,743.9,19.3,236,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1963,2730,0,0,0,0,0,0
$GC,7095,0.80,136.7,699.2,18.1,242,7099,0.00,2.28,0.00,0.000,4,0.000,0.053,2837,3374,2728,0,0,0,0,0,0
$GC,7140,0.80,136.7,691.0,18.1,243,7144,0.00,2.15,0.00,0.000,6,0.000,0.031,2846,1970,2731,0,0,0,0,0,0
$GC,7430,0.80,136.7,641.3,17.1,250,7434,0.00,2.12,0.00,0.000,4,0.000,0.039,2857,561,2727,0,0,0,0,0,0
$GC,7496,0.80,136.7,629.2,17.0,251,7500,0.00,2.15,0.00,0.000,6,0.000,0.035,2848,1970,2724,0,0,0,0,0,0
$GC,7757,0.80,136.7,586.7,16.0,258,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1970,2725,0,0,0,0,0,0
$GC,8001,0.80,136.7,547.5,15.5,264,8005,0.00,2.22,0.00,0.000,4,0.000,0.052,2838,3361,2724,0,0,0,0,0,0
$GC,8034,0.80,136.7,541.5,17.0,264,8041,0.00,2.12,0.00,0.000,6,0.000,0.029,2847,1952,2724,0,0,0,0,0,0
$GC,8284,0.80,136.7,502.3,15.5,271,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1950,2723,0,0,0,0,0,0
$GC,8528,0.80,136.7,465.4,15.2,277,8532,0.00,2.08,0.00,0.000,4,0.000,0.038,2855,563,2726,0,0,0,0,0,0
$GC,8579,0.80,136.7,457.4,15.8,278,8583,0.00,2.12,0.00,0.000,6,0.000,0.033,2851,1963,2722,0,0,0,0,0,0
$GC,8852,0.80,136.7,412.5,16.5,285,8856,0.00,2.12,0.00,0.000,4,0.000,0.038,2860,561,2721,0,0,0,0,0,0
$GC,8901,0.80,136.7,404.3,17.0,286,8905,0.00,2.12,0.00,0.000,6,0.000,0.034,2856,1957,2721,0,0,0,0,0,0
$GC,9181,0.80,136.7,360.5,15.4,293,9185,0.00,2.25,0.00,0.000,4,0.000,0.053,2856,3363,2721,0,0,0,0,0,0
$GC,9275,0.80,136.7,345.7,15.3,295,9279,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1953,2724,0,0,0,0,0,0
$GC,9553,0.80,136.7,307.1,14.1,302,9557,0.00,2.28,0.00,0.000,4,0.000,0.048,2861,3371,2721,0,0,0,0,0,0
$GC,9684,0.80,136.7,287.3,14.8,306,9688,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1953,2721,0,0,0,0,0,0
$GC,9949,0.80,136.7,253.7,12.0,319,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1944,2721,0,0,0,0,0,0
$GC,10198,0.80,136.7,229.2,10.4,331,10202,0.00,2.08,0.00,0.000,4,0.000,0.035,2881,557,2720,0,0,0,0,0,0
$GC,10382,0.80,136.7,209.5,11.0,339,10386,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1968,2718,0,0,0,0,0,0
$GC,10650,0.80,136.7,183.9,9.2,360,10654,0.00,2.20,0.00,0.000,4,0.000,0.048,2881,3372,2715,0,0,0,0,0,0
$GC,10878,0.80,136.7,158.9,8.9,380,10883,0.15,2.12,0.00,0.000,6,0.182,0.028,2854,1949,2720,0,0,0,0,0,0
$GC,11143,0.89,210.5,142.4,5.4,404,11207,0.00,2.15,58.03,0.547,4,0.000,0.038,2859,572,2440,0,0,0,0,0,0
$GC,11349,0.89,210.5,128.5,9.0,422,11353,0.00,2.12,0.00,0.000,6,0.000,0.032,2863,1964,2435,0,0,0,0,0,0
$GC,11614,0.91,231.1,106.2,7.7,446,11639,0.00,2.25,17.35,0.482,4,0.000,0.048,2863,3351,2359,0,0,0,0,0,0
$GC,11837,0.91,231.1,85.3,9.4,466,11841,0.00,2.10,0.00,0.000,6,0.000,0.030,2871,1964,2359,0,0,0,0,0,0
$GC,12105,0.91,231.1,58.0,10.9,490,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1962,2359,0,0,0,0,0,0
$GC,12368,0.91,231.1,28.2,11.0,516,12376,0.00,2.15,0.00,0.000,4,0.000,0.038,2883,561,2359,0,0,0,0,0,0
$GC,12416,0.91,231.1,22.7,11.1,524,12425,0.00,2.12,0.00,0.000,6,0.000,0.031,2883,1962,2359,0,0,0,0,0,0
$STATE,12592,end climb,SURFACE_DEPTH_REACHED
$STATE,12592,begin surface coast
$FINISH,0.4,1.023089
$STATE,12621,end surface coast,CONTROL_FINISHED_OK
$STATE,12621,begin surface
$SM_CCo,12641,34.55,0.412,0,0,2075,300.24
$SM_GC,2.06,0.00,0.00,34.55,0.000,0.000,0.412,55,2151,2075,-7.95,1.44,300.24
$IRIDIUM_FIX,1902.38,-15639.09,010313,050548
$TT8_MAMPS,0.307567
$HUMID,1078852248
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.70
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255869952
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,17205592064
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,56.157
$10V_AH,9.8,50.813
$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,19.825,116.925,309.350,34.550,0.000,29.458,32.536,278.124,24.000,0.000,19.455,1220.862,8896.104,398.428,2335.377,416.013,33.361,1233.113,0.000,1969.052,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,69.030,1073.033,411.879,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,382.918,0.000,962.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26934,561
$CAP_FILE_SIZE,119979,0
$CFSIZE,260165632,175845376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,163.0,1
$GPS,060911,180907,1910.970,-15636.550,33,1.1,33,9.6