version: 66.07
glider: 513
mission: 7
dive: 63
start: 7 12 111 0 1 33
data:
$ID,513
$MISSION,7
$DIVE,63
$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,300
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-421785.09
$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,2671
$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,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3110
$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,62
$AR_SAMPLENUM,3
$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
$GPS1,110711,234836,1849.892,-15631.178,33,0.9,37,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.2
$GPS2,120711,000038,1849.738,-15631.219,11,1.6,11,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.084,0.219
$KALMAN_X,11288.6,-461.6,-103.3,-13145.3,-891.7
$KALMAN_Y,-166378.9,975.4,468.4,73906.5,-8061.6
$MHEAD_RNG_PITCHd_Wd,11.4,159710,-19.7,-10.000
$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,-0.93,-117.2,0.0,0.0,0,93,0.00,0.00,-61.58,0.000,6,0.000,0.000,37,2129,3584,0,0,0,0,0,0
$GC,97,-0.93,-117.2,3.6,-7.9,10,112,9.75,2.12,0.00,0.000,4,0.253,0.054,2353,3487,3586,0,0,0,0,0,0
$GC,264,-0.93,-117.2,55.9,-25.7,32,268,0.00,2.08,0.00,0.000,6,0.000,0.037,2354,2108,3590,0,0,0,0,0,0
$GC,527,-0.93,-117.2,120.9,-23.5,56,531,0.00,2.12,0.00,0.000,4,0.000,0.052,2345,3498,3592,0,0,0,0,0,0
$GC,579,-0.93,-117.2,132.8,-21.8,60,583,0.00,2.10,0.00,0.000,6,0.000,0.033,2346,2088,3592,0,0,0,0,0,0
$GC,844,-0.93,-117.2,186.3,-18.3,84,848,0.00,2.05,0.00,0.000,4,0.000,0.040,2346,696,3593,0,0,0,0,0,0
$GC,886,-0.93,-117.2,195.3,-17.8,87,894,0.10,2.12,0.00,0.000,6,0.170,0.047,2364,2071,3591,0,0,0,0,0,0
$GC,1152,-0.93,-117.2,233.3,-14.1,102,1156,0.00,2.17,0.00,0.000,4,0.000,0.051,2356,3510,3593,0,0,0,0,0,0
$GC,1252,-0.93,-117.2,247.4,-13.9,106,1256,0.00,2.10,0.00,0.000,6,0.000,0.031,2355,2097,3595,0,0,0,0,0,0
$GC,1511,-0.93,-117.2,279.5,-11.2,119,1515,0.00,2.05,0.00,0.000,4,0.000,0.038,2355,696,3597,0,0,0,0,0,0
$GC,1623,-0.93,-117.2,294.6,-13.7,124,1627,0.00,2.12,0.00,0.000,6,0.000,0.044,2345,2112,3595,0,0,0,0,0,0
$GC,1885,-0.93,-117.2,326.9,-12.1,132,1888,0.00,2.12,0.00,0.000,4,0.000,0.051,2330,3513,3597,0,0,0,0,0,0
$GC,1958,-0.93,-117.2,335.3,-11.4,133,1962,0.12,2.08,0.00,0.000,6,0.188,0.033,2364,2099,3597,0,0,0,0,0,0
$GC,2212,-0.93,-117.2,360.8,-10.0,140,2216,0.00,2.12,0.00,0.000,4,0.000,0.051,2356,3500,3597,0,0,0,0,0,0
$GC,2256,-0.93,-117.2,365.7,-10.7,141,2260,0.00,2.05,0.00,0.000,6,0.000,0.030,2359,2086,3597,0,0,0,0,0,0
$GC,2541,-0.93,-117.2,398.5,-12.0,148,2544,0.00,2.08,0.00,0.000,4,0.000,0.040,2356,696,3596,0,0,0,0,0,0
$GC,2710,-0.93,-117.2,420.8,-13.1,151,2714,0.00,2.12,0.00,0.000,6,0.000,0.044,2345,2104,3595,0,0,0,0,0,0
$GC,2967,-0.93,-117.2,452.1,-11.8,158,2970,0.00,2.12,0.00,0.000,4,0.000,0.051,2334,3503,3593,0,0,0,0,0,0
$GC,2999,-0.93,-117.2,456.2,-11.9,158,3006,0.12,2.05,0.00,0.000,6,0.186,0.031,2364,2094,3596,0,0,0,0,0,0
$GC,3250,-0.93,-117.2,481.1,-10.0,165,3254,0.00,2.08,0.00,0.000,4,0.000,0.038,2364,692,3590,0,0,0,0,0,0
$GC,3282,-0.93,-117.2,484.7,-10.4,165,3286,0.00,2.12,0.00,0.000,6,0.000,0.044,2357,2108,3590,0,0,0,0,0,0
$GC,3539,-0.93,-117.2,512.5,-11.1,172,3543,0.00,2.12,0.00,0.000,4,0.000,0.041,2356,691,3587,0,0,0,0,0,0
$GC,3639,-0.93,-117.2,524.3,-11.8,174,3643,0.00,2.12,0.00,0.000,6,0.000,0.047,2345,2104,3588,0,0,0,0,0,0
$GC,3911,-0.93,-117.2,552.7,-10.1,181,3915,0.00,2.12,0.00,0.000,4,0.000,0.054,2334,3503,3586,0,0,0,0,0,0
$GC,4001,-0.93,-117.2,561.3,-9.9,183,4005,0.12,2.05,0.00,0.000,6,0.186,0.032,2364,2100,3587,0,0,0,0,0,0
$GC,4280,-0.93,-117.2,578.9,-5.8,190,4283,0.00,2.08,0.00,0.000,4,0.000,0.042,2365,699,3582,0,0,0,0,0,0
$GC,4342,-0.93,-117.2,583.0,-6.4,191,4346,0.00,2.12,0.00,0.000,6,0.000,0.047,2357,2102,3581,0,0,0,0,0,0
$GC,4603,-0.93,-117.2,598.9,-6.0,198,4607,0.00,2.10,0.00,0.000,4,0.000,0.041,2357,695,3579,0,0,0,0,0,0
$GC,4664,-0.93,-117.2,603.1,-7.3,199,4668,0.00,2.12,0.00,0.000,6,0.000,0.046,2351,2101,3579,0,0,0,0,0,0
$GC,4926,-0.93,-117.2,622.8,-7.7,206,4930,0.00,2.12,0.00,0.000,4,0.000,0.055,2335,3502,3576,0,0,0,0,0,0
$GC,4949,-0.93,-117.2,624.9,-8.8,206,4954,0.12,2.08,0.00,0.000,6,0.186,0.035,2365,2093,3574,0,0,0,0,0,0
$GC,5204,-0.93,-117.2,646.3,-8.4,213,5208,0.00,2.20,0.00,0.000,4,0.000,0.054,2357,3517,3574,0,0,0,0,0,0
$GC,5226,-0.93,-117.2,648.2,-8.7,213,5230,0.00,2.08,0.00,0.000,6,0.000,0.035,2356,2108,3574,0,0,0,0,0,0
$GC,5482,-0.93,-117.2,673.0,-9.8,220,5486,0.00,2.10,0.00,0.000,4,0.000,0.044,2356,694,3572,0,0,0,0,0,0
$GC,5595,-0.93,-117.2,684.8,-10.0,222,5598,0.00,2.12,0.00,0.000,6,0.000,0.048,2346,2099,3571,0,0,0,0,0,0
$GC,5855,-0.93,-117.2,711.3,-10.2,229,5859,0.00,2.17,0.00,0.000,4,0.000,0.056,2335,3507,3570,0,0,0,0,0,0
$GC,5933,-0.93,-117.2,719.9,-11.0,230,5938,0.12,2.10,0.00,0.000,6,0.188,0.036,2365,2090,3568,0,0,0,0,0,0
$GC,6190,-0.93,-117.2,742.5,-8.7,237,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2085,3570,0,0,0,0,0,0
$GC,6433,-0.93,-117.2,761.9,-7.8,243,6437,0.00,2.10,0.00,0.000,4,0.000,0.043,2365,689,3567,0,0,0,0,0,0
$GC,6506,-0.93,-117.2,767.9,-8.2,244,6510,0.00,2.12,0.00,0.000,6,0.000,0.048,2357,2098,3567,0,0,0,0,0,0
$GC,6757,-0.93,-117.2,788.2,-8.3,250,6761,0.00,2.12,0.00,0.000,4,0.000,0.045,2357,683,3565,0,0,0,0,0,0
$GC,6812,-0.93,-117.2,793.2,-8.7,251,6816,0.00,2.17,0.00,0.000,6,0.000,0.048,2346,2106,3565,0,0,0,0,0,0
$GC,7085,-0.93,-117.2,816.9,-8.9,258,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2106,3564,0,0,0,0,0,0
$GC,7329,-0.93,-117.2,838.6,-8.9,264,7333,0.00,2.12,0.00,0.000,4,0.000,0.043,2346,684,3562,0,0,0,0,0,0
$GC,7374,-0.93,-117.2,843.0,-9.8,265,7379,0.12,2.15,0.00,0.000,6,0.203,0.048,2364,2100,3563,0,0,0,0,0,0
$GC,7651,-0.93,-117.2,865.2,-7.9,272,7655,0.00,2.12,0.00,0.000,4,0.000,0.047,2364,696,3562,0,0,1,0,0,0
$GC,7680,-0.93,-117.2,867.5,-8.7,272,7684,0.00,2.12,0.00,0.000,6,0.000,0.047,2356,2102,3562,0,0,0,0,0,0
$GC,7930,-0.93,-117.2,888.6,-8.5,278,7934,0.00,2.12,0.00,0.000,4,0.000,0.044,2356,692,3560,0,0,0,0,0,0
$GC,7958,-0.93,-117.2,890.9,-8.7,278,7962,0.00,2.15,0.00,0.000,6,0.000,0.048,2346,2102,3560,0,0,0,0,0,0
$STATE,8083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8083,begin apogee
$GC,8091,-0.28,0.0,901.9,8.6,281,8189,0.77,0.00,95.18,1.151,6,0.165,0.000,2577,1963,3110,0,0,0,0,0,0
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8194,0.93,117.2,902.7,0.0,283,8307,1.10,2.38,103.68,1.111,4,0.064,0.049,2976,3393,2632,0,0,0,0,0,0
$GC,8330,0.93,117.2,874.4,29.8,286,8335,0.00,2.17,0.00,0.000,6,0.000,0.029,2986,2002,2629,0,0,0,0,0,0
$GC,8597,0.93,117.2,792.7,30.9,293,8601,0.00,2.17,0.00,0.000,4,0.000,0.048,2984,3397,2623,0,0,0,0,0,0
$GC,8618,0.93,117.2,785.7,32.5,293,8622,0.00,2.17,0.00,0.000,6,0.000,0.032,2992,1990,2623,0,0,0,0,0,0
$GC,8879,0.93,117.2,706.9,30.0,300,8883,0.00,2.22,0.00,0.000,4,0.000,0.048,2992,3402,2621,0,0,0,0,0,0
$GC,8912,0.93,117.2,695.8,32.5,300,8919,0.12,2.12,0.00,0.000,6,0.250,0.030,2979,1978,2620,0,0,0,0,0,0
$GC,9162,0.93,117.2,623.8,28.8,307,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1973,2619,0,0,0,0,0,0
$GC,9406,0.93,117.2,554.3,28.5,313,9410,0.00,2.10,0.00,0.000,4,0.000,0.039,2987,588,2619,0,0,0,0,0,0
$GC,9439,0.93,117.2,544.8,28.6,313,9445,0.00,2.12,0.00,0.000,6,0.000,0.037,2987,1996,2616,0,0,0,0,0,0
$GC,9689,0.93,117.2,476.1,27.5,320,9693,0.00,2.10,0.00,0.000,4,0.000,0.038,2996,581,2616,0,0,0,0,0,0
$GC,9705,0.93,117.2,471.5,28.4,320,9709,0.00,2.10,0.00,0.000,6,0.000,0.036,2996,1987,2615,0,0,0,0,0,0
$GC,9966,0.93,117.2,401.2,26.2,327,9970,0.00,2.15,0.00,0.000,4,0.000,0.046,2994,3408,2619,0,0,0,0,0,0
$GC,9993,0.93,117.2,393.6,26.3,327,9997,0.12,2.10,0.00,0.000,6,0.249,0.029,2979,1977,2615,0,0,0,0,0,0
$GC,10248,0.93,117.2,333.3,23.2,334,10252,0.00,2.08,0.00,0.000,4,0.000,0.039,2987,588,2614,0,0,0,0,0,0
$GC,10304,0.93,117.2,319.7,24.2,335,10308,0.00,2.10,0.00,0.000,6,0.000,0.035,2994,2002,2613,0,0,0,0,0,0
$GC,10557,0.93,117.2,260.9,22.9,345,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2004,2620,0,0,0,0,0,0
$GC,10805,0.93,117.2,207.2,20.1,357,10809,0.00,2.12,0.00,0.000,4,0.000,0.038,2997,578,2612,0,0,0,0,0,0
$GC,10833,0.93,117.2,201.9,19.3,358,10837,0.00,2.10,0.00,0.000,6,0.000,0.035,2992,1990,2611,0,0,0,0,0,0
$GC,11098,0.93,117.2,155.4,18.2,381,11102,0.00,2.12,0.00,0.000,4,0.000,0.050,2991,3391,2611,0,0,0,0,0,0
$GC,11347,0.93,117.2,109.8,15.1,403,11354,0.00,2.10,0.00,0.000,6,0.000,0.030,2997,1979,2610,0,0,0,0,0,0
$GC,11611,0.93,117.2,74.5,11.9,428,11615,0.00,2.15,0.00,0.000,4,0.000,0.046,3000,3399,2612,0,0,0,0,0,0
$GC,11860,0.93,117.2,40.9,14.5,450,11868,0.12,2.08,0.00,0.000,6,0.222,0.028,2978,1994,2617,0,0,0,0,0,0
$GC,12121,0.93,117.2,8.0,13.7,491,12128,0.00,2.15,0.00,0.000,4,0.000,0.043,2968,3396,2615,0,0,0,0,0,0
$STATE,12160,end climb,SURFACE_DEPTH_REACHED
$STATE,12160,begin surface coast
$FINISH,0.1,1.023027
$STATE,12188,end surface coast,CONTROL_FINISHED_OK
$STATE,12188,begin surface
$SM_CCo,12210,93.10,0.492,0,0,1885,300.24
$SM_GC,0.80,0.00,0.00,93.10,0.000,0.000,0.492,55,2121,1885,-8.17,0.48,300.24
$IRIDIUM_FIX,1841.87,-15630.45,030113,181820
$TT8_MAMPS,0.062127
$HUMID,1078936119
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.10
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343655424
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59983495168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.474
$10V_AH,10.3,9.679
$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,20.600,144.200,198.850,93.100,0.000,53.843,67.134,342.327,3.000,0.000,13.762,1101.412,8904.056,392.151,2259.161,373.385,33.353,1181.416,0.000,1787.289,0.000,0.540,0.000
$DEVICE_MAMPS,253.110,67.496,1150.500,491.647,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.666,0.000,774.453,0.000,0.000,0.000,0.000,13812.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.205,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,23629,503
$CAP_FILE_SIZE,128567,0
$CFSIZE,260165632,201981952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120711,032807,1850.583,-15630.716,37,1.0,37,9.6