version: 66.07
glider: 513
mission: 7
dive: 416
start: 9 7 111 13 33 51
data:
$ID,513
$MISSION,7
$DIVE,416
$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,-431584.78
$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,46
$R_STBD_OVSHOOT,45
$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,415
$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
$GPS1,070911,131906,1911.254,-15636.345,46,0.9,46,9.6
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,6
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.3
$GPS2,070911,133255,1911.175,-15636.257,12,1.8,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.196,0.137
$KALMAN_X,-123874.4,-641.2,377.2,154550.7,5428.0
$KALMAN_Y,-417739.8,1420.5,1308.1,325106.3,-13070.6
$MHEAD_RNG_PITCHd_Wd,341.7,119176,-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,-51.35,0.000,2,0.000,0.000,39,2099,3522,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.1,-3.5,8,108,9.93,2.28,-6.03,0.000,4,0.244,0.064,2318,3510,3861,0,0,0,0,0,0
$GC,347,-0.80,-136.7,85.9,-27.3,37,351,0.00,2.17,0.00,0.000,6,0.000,0.038,2318,2099,3863,0,0,0,0,0,0
$GC,612,-0.80,-136.7,161.5,-28.9,61,615,0.00,2.10,0.00,0.000,4,0.000,0.038,2318,699,3864,0,0,0,0,0,0
$GC,643,-0.80,-136.7,169.3,-24.7,63,647,0.12,2.12,0.00,0.000,6,0.185,0.040,2337,2089,3864,0,0,0,0,0,0
$GC,912,-0.80,-136.7,223.1,-18.5,82,916,0.00,2.10,0.00,0.000,4,0.000,0.040,2337,692,3865,0,0,0,0,0,0
$GC,945,-0.80,-136.7,229.5,-18.2,83,949,0.00,2.15,0.00,0.000,6,0.000,0.045,2328,2093,3866,0,0,0,0,0,0
$GC,1205,-0.80,-136.7,273.7,-16.7,96,1210,0.00,2.22,0.00,0.000,4,0.000,0.051,2317,3519,3867,0,0,0,0,0,0
$GC,1291,-0.80,-136.7,289.3,-17.5,100,1295,0.00,2.12,0.00,0.000,6,0.000,0.032,2317,2099,3867,0,0,0,0,0,0
$GC,1559,-0.80,-136.7,338.7,-18.7,108,1563,0.00,2.12,0.00,0.000,4,0.000,0.042,2317,691,3866,0,0,0,0,0,0
$GC,1620,-0.80,-136.7,350.6,-18.1,109,1625,0.12,2.17,0.00,0.000,6,0.170,0.041,2338,2101,3867,0,0,0,0,0,0
$GC,1887,-0.80,-136.7,391.5,-15.6,116,1891,0.00,2.20,0.00,0.000,4,0.000,0.049,2329,3510,3867,0,0,0,0,0,0
$GC,1971,-0.80,-136.7,404.7,-14.7,118,1975,0.00,2.10,0.00,0.000,6,0.000,0.029,2329,2096,3866,0,0,0,0,0,0
$GC,2255,-0.80,-136.7,446.4,-14.6,125,2259,0.00,2.10,0.00,0.000,4,0.000,0.039,2329,699,3864,0,0,0,0,0,0
$GC,2323,-0.80,-136.7,455.8,-13.5,126,2327,0.00,2.12,0.00,0.000,6,0.000,0.038,2318,2110,3864,0,0,0,0,0,0
$GC,2578,-0.80,-136.7,496.0,-16.2,133,2582,0.00,2.17,0.00,0.000,4,0.000,0.048,2307,3516,3864,0,0,0,0,0,0
$GC,2623,-0.80,-136.7,503.5,-16.8,134,2628,0.12,2.15,0.00,0.000,6,0.161,0.031,2340,2094,3859,0,0,0,0,0,0
$GC,2900,-0.80,-136.7,542.4,-13.6,141,2904,0.00,2.10,0.00,0.000,4,0.000,0.040,2340,700,3859,0,0,0,0,0,0
$GC,2990,-0.80,-136.7,554.6,-13.3,143,2993,0.00,2.15,0.00,0.000,6,0.000,0.039,2332,2113,3858,0,0,0,0,0,0
$GC,3274,-0.80,-136.7,589.4,-12.1,150,3278,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3507,3854,0,0,0,0,0,0
$GC,3364,-0.80,-136.7,599.9,-10.9,152,3367,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2093,3854,0,0,0,0,0,0
$GC,3649,-0.80,-136.7,632.3,-11.6,159,3653,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,692,3850,0,0,0,0,0,0
$GC,3698,-0.80,-136.7,638.6,-11.5,160,3703,0.10,2.17,0.00,0.000,6,0.185,0.041,2333,2108,3850,0,0,0,0,0,0
$GC,3971,-0.80,-136.7,667.7,-10.6,167,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2108,3848,0,0,0,0,0,0
$GC,4214,-0.80,-136.7,695.9,-11.7,173,4218,0.00,2.12,0.00,0.000,4,0.000,0.040,2334,699,3845,0,0,0,0,0,0
$GC,4253,-0.80,-136.7,701.1,-13.6,173,4259,0.00,2.15,0.00,0.000,6,0.000,0.041,2325,2099,3845,0,0,0,0,0,0
$GC,4503,-0.80,-136.7,735.5,-14.0,180,4507,0.00,2.22,0.00,0.000,4,0.000,0.054,2314,3509,3842,0,0,0,0,0,0
$GC,4575,-0.80,-136.7,746.3,-15.4,181,4578,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,2091,3839,0,0,0,0,0,0
$GC,4831,-0.80,-136.7,784.5,-14.8,188,4835,0.00,2.12,0.00,0.000,4,0.000,0.042,2314,698,3842,0,0,0,0,0,0
$GC,4904,-0.80,-136.7,796.0,-15.3,189,4908,0.08,2.17,0.00,0.000,6,0.139,0.040,2339,2092,3839,0,0,0,0,0,0
$GC,5159,-0.80,-136.7,827.0,-12.1,196,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2089,3836,0,0,0,0,0,0
$GC,5404,-0.80,-136.7,855.3,-11.5,202,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2091,3835,0,0,0,0,0,0
$GC,5646,-0.80,-136.7,881.5,-10.7,208,5650,0.00,2.25,0.00,0.000,4,0.000,0.055,2328,3514,3833,0,0,0,0,0,0
$GC,5701,-0.80,-136.7,887.8,-11.5,209,5705,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,2096,3830,0,0,0,0,0,0
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5857,-0.28,0.0,904.0,10.9,213,5972,0.57,0.00,112.30,1.072,6,0.142,0.000,2500,1926,3300,0,0,0,0,0,0
$STATE,5975,end apogee,CONTROL_FINISHED_OK
$STATE,5975,begin climb
$GC,5977,0.80,136.7,907.4,0.0,216,6103,1.02,0.00,120.72,1.040,6,0.092,0.000,2846,1926,2742,0,0,0,0,0,0
$GC,6344,0.80,136.7,851.1,18.6,225,6348,0.00,2.35,0.00,0.000,4,0.000,0.051,2844,3364,2734,0,0,0,0,0,0
$GC,6393,0.80,136.7,841.1,19.0,226,6397,0.00,2.12,0.00,0.000,6,0.000,0.031,2853,1981,2733,0,0,0,0,0,0
$GC,6671,0.80,136.7,788.4,18.8,233,6675,0.00,2.17,0.00,0.000,4,0.000,0.038,2864,556,2732,0,0,0,0,0,0
$GC,6728,0.80,136.7,777.5,19.0,234,6732,0.00,2.15,0.00,0.000,6,0.000,0.033,2856,1967,2730,0,0,0,0,0,0
$GC,6994,0.80,136.7,728.8,18.1,241,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2730,0,0,0,0,0,0
$GC,7238,0.80,136.7,687.4,16.8,247,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2726,0,0,0,0,0,0
$GC,7481,0.80,136.7,648.6,15.7,253,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2728,0,0,0,0,0,0
$GC,7727,0.80,136.7,611.4,15.0,259,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1968,2728,0,0,0,0,0,0
$GC,7969,0.80,136.7,574.6,15.1,265,7973,0.00,2.25,0.00,0.000,4,0.000,0.051,2854,3368,2726,0,0,0,0,0,0
$GC,8046,0.80,136.7,561.8,16.8,266,8050,0.00,2.12,0.00,0.000,6,0.000,0.029,2863,1960,2727,0,0,0,0,0,0
$GC,8303,0.80,136.7,520.4,16.4,273,8307,0.00,2.10,0.00,0.000,4,0.000,0.039,2874,565,2725,0,0,0,0,0,0
$GC,8375,0.80,136.7,507.9,17.4,274,8379,0.00,2.10,0.00,0.000,6,0.000,0.035,2873,1962,2723,0,0,0,0,0,0
$GC,8630,0.80,136.7,464.2,17.0,281,8634,0.00,2.22,0.00,0.000,4,0.000,0.051,2873,3361,2723,0,0,0,0,0,0
$GC,8698,0.80,136.7,451.6,18.5,282,8703,0.00,2.12,0.00,0.000,6,0.000,0.028,2882,1956,2723,0,0,0,0,0,0
$GC,8954,0.80,136.7,408.3,16.7,289,8958,0.00,2.10,0.00,0.000,4,0.000,0.037,2893,559,2723,0,0,0,0,0,0
$GC,8983,0.80,136.7,403.6,16.5,289,8988,0.15,2.12,0.00,0.000,6,0.190,0.031,2857,1964,2721,0,0,0,0,0,0
$GC,9234,0.80,136.7,369.8,13.0,295,9238,0.00,2.22,0.00,0.000,4,0.000,0.049,2857,3362,2721,0,0,0,0,0,0
$GC,9279,0.80,136.7,363.6,13.6,296,9282,0.00,2.10,0.00,0.000,6,0.000,0.028,2866,1956,2722,0,0,0,0,0,0
$GC,9563,0.80,136.7,324.5,13.9,303,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1953,2722,0,0,0,0,0,0
$GC,9807,0.80,136.7,290.3,13.7,310,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1953,2721,0,0,0,0,0,0
$GC,10055,0.80,136.7,261.2,9.9,322,10060,0.00,2.25,0.00,0.000,4,0.000,0.049,2862,3367,2721,0,0,0,0,0,0
$GC,10140,0.80,136.7,251.0,12.2,326,10144,0.00,2.10,0.00,0.000,6,0.000,0.028,2872,1960,2722,0,0,0,0,0,0
$GC,10406,0.80,136.7,221.3,11.7,339,10410,0.00,2.22,0.00,0.000,4,0.000,0.048,2871,3358,2721,0,0,0,0,0,0
$GC,10483,0.80,136.7,212.4,11.1,342,10490,0.00,2.12,0.00,0.000,6,0.000,0.027,2880,1947,2720,0,0,0,0,0,0
$GC,10743,0.82,152.7,188.3,7.9,361,10759,0.00,2.10,11.23,0.542,4,0.000,0.036,2891,559,2677,0,0,0,0,0,0
$GC,10871,0.82,152.7,177.0,10.6,372,10876,0.12,2.12,0.00,0.000,6,0.180,0.031,2862,1967,2675,0,0,0,0,0,0
$GC,11135,0.88,205.8,155.2,6.3,396,11188,0.00,2.20,45.08,0.551,4,0.000,0.036,2870,565,2461,0,0,0,0,0,0
$GC,11226,0.88,205.8,147.1,10.9,404,11234,0.00,2.17,0.00,0.000,6,0.000,0.033,2870,1960,2458,0,0,0,0,0,0
$GC,11492,0.89,216.0,117.9,8.1,429,11508,0.00,2.28,9.60,0.463,4,0.000,0.048,2871,3362,2422,0,0,0,0,0,0
$GC,11584,0.91,226.0,110.5,8.2,437,11600,0.00,2.12,10.32,0.459,6,0.000,0.028,2881,1957,2378,0,0,0,0,0,0
$GC,11864,0.91,226.0,84.4,10.4,463,11868,0.00,2.12,0.00,0.000,4,0.000,0.039,2892,569,2379,0,0,0,0,0,0
$GC,11906,0.91,226.0,79.4,12.1,466,11915,0.00,2.12,0.00,0.000,6,0.000,0.032,2892,1951,2376,0,0,0,0,0,0
$GC,12173,0.91,226.0,49.1,11.4,491,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1952,2376,0,0,0,0,0,0
$GC,12438,0.91,226.0,19.8,11.2,524,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1952,2381,0,0,0,0,0,0
$STATE,12597,end climb,SURFACE_DEPTH_REACHED
$STATE,12600,begin surface coast
$FINISH,0.4,0.999397
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12628,begin surface
$SM_CCo,12648,36.65,0.411,0,0,2076,300.24
$SM_GC,1.93,0.00,0.00,36.65,0.000,0.000,0.411,44,2122,2076,-7.98,0.65,300.24
$IRIDIUM_FIX,1902.38,-15634.00,020313,070723
$TT8_MAMPS,0.246207
$HUMID,1078865152
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.70
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255673344
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,16281731072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,56.828
$10V_AH,9.8,51.354
$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,19.925,121.175,309.250,36.650,0.000,52.414,113.604,358.651,23.250,0.000,19.264,1218.090,9012.125,411.222,2454.906,423.618,33.359,1214.750,0.000,1913.988,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,65.962,1072.266,411.112,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.659,0.000,942.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,26915,559
$CAP_FILE_SIZE,122035,0
$CFSIZE,260165632,175407104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,167.1,1
$GPS,070911,170655,1911.478,-15636.192,39,1.7,39,9.6