version: 66.07
glider: 513
mission: 7
dive: 66
start: 7 12 111 11 5 37
data:
$ID,513
$MISSION,7
$DIVE,66
$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,-421835.16
$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,52
$R_STBD_OVSHOOT,54
$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,65
$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
$GPS1,120711,104607,1850.887,-15628.924,36,1.8,36,9.6
$_CALLS,3
$_XMS_NAKs,26
$_XMS_TOUTs,3
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,120711,110443,1850.780,-15629.004,11,1.5,16,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,0.232
$KALMAN_X,5934.4,570.1,65.2,-5133.1,-3526.7
$KALMAN_Y,-172123.8,873.6,475.2,81665.7,-6447.1
$MHEAD_RNG_PITCHd_Wd,341.9,158433,-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,-59.83,0.000,6,0.000,0.000,36,2114,3586,0,0,0,0,0,0
$GC,97,-0.93,-117.2,3.9,-8.2,10,111,9.65,2.17,0.00,0.000,4,0.249,0.052,2350,3499,3588,0,0,0,0,0,0
$GC,121,-0.93,-117.2,14.6,-36.0,13,128,0.00,2.12,0.00,0.000,6,0.000,0.035,2354,2116,3590,0,0,0,0,0,0
$GC,393,-0.93,-117.2,91.4,-23.4,42,397,0.00,2.10,0.00,0.000,4,0.000,0.050,2346,3491,3591,0,0,0,0,0,0
$GC,646,-0.93,-117.2,148.6,-19.4,64,654,0.00,2.10,0.00,0.000,6,0.000,0.033,2346,2094,3593,0,0,0,0,0,0
$GC,911,-0.93,-117.2,194.2,-17.9,89,915,0.00,2.15,0.00,0.000,4,0.000,0.051,2336,3493,3594,0,0,0,0,0,0
$GC,1005,-0.93,-117.2,212.3,-17.0,94,1010,0.12,2.05,0.00,0.000,6,0.195,0.033,2366,2092,3593,0,0,0,0,0,0
$GC,1258,-0.93,-117.2,248.7,-13.6,106,1262,0.00,2.05,0.00,0.000,4,0.000,0.038,2362,703,3596,0,0,0,0,0,0
$GC,1320,-0.93,-117.2,256.4,-11.9,108,1326,0.00,2.08,0.00,0.000,6,0.000,0.046,2354,2081,3596,0,0,0,0,0,0
$GC,1574,-0.93,-117.2,288.6,-14.7,121,1577,0.00,2.03,0.00,0.000,4,0.000,0.036,2357,702,3596,0,0,0,0,0,0
$GC,1590,-0.93,-117.2,291.2,-14.8,121,1595,0.00,2.10,0.00,0.000,6,0.000,0.043,2347,2105,3596,0,0,0,0,0,0
$GC,1861,-0.93,-117.2,329.0,-14.1,130,1865,0.00,2.10,0.00,0.000,4,0.000,0.038,2347,695,3596,0,0,0,0,0,0
$GC,1996,-0.93,-117.2,347.6,-13.4,133,2001,0.12,2.10,0.00,0.000,6,0.186,0.042,2372,2106,3596,0,0,0,0,0,0
$GC,2279,-0.93,-117.2,377.3,-10.6,140,2283,0.00,2.10,0.00,0.000,4,0.000,0.037,2368,694,3596,0,0,0,0,0,0
$GC,2358,-0.93,-117.2,386.6,-12.7,141,2363,0.00,2.12,0.00,0.000,6,0.000,0.042,2359,2105,3596,0,0,0,0,0,0
$GC,2607,-0.93,-117.2,416.1,-11.4,148,2611,0.00,2.12,0.00,0.000,4,0.000,0.051,2348,3504,3594,0,0,0,0,0,0
$GC,2634,-0.93,-117.2,419.5,-12.1,148,2638,0.00,2.05,0.00,0.000,6,0.000,0.031,2349,2099,3594,0,0,0,0,0,0
$GC,2896,-0.93,-117.2,449.7,-11.3,155,2900,0.00,2.05,0.00,0.000,4,0.000,0.041,2349,703,3590,0,0,0,0,0,0
$GC,2945,-0.93,-117.2,455.7,-11.3,156,2950,0.12,2.10,0.00,0.000,6,0.185,0.047,2368,2101,3592,0,0,0,0,0,0
$GC,3224,-0.93,-117.2,483.1,-9.7,163,3227,0.00,2.12,0.00,0.000,4,0.000,0.054,2360,3501,3589,0,0,0,0,0,0
$GC,3285,-0.93,-117.2,489.6,-10.6,164,3289,0.00,2.05,0.00,0.000,6,0.000,0.031,2360,2097,3588,0,0,0,0,0,0
$GC,3552,-0.93,-117.2,515.3,-9.4,171,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2092,3586,0,0,0,0,0,0
$GC,3796,-0.93,-117.2,537.0,-9.0,177,3800,0.00,2.08,0.00,0.000,4,0.000,0.041,2360,696,3584,0,0,0,0,0,0
$GC,3857,-0.93,-117.2,543.3,-10.6,178,3861,0.00,2.10,0.00,0.000,6,0.000,0.044,2350,2101,3583,0,0,0,0,0,0
$GC,4124,-0.93,-117.2,569.5,-9.8,185,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2101,3581,0,0,0,0,0,0
$GC,4367,-0.93,-117.2,594.6,-10.4,191,4371,0.00,2.10,0.00,0.000,4,0.000,0.044,2350,699,3579,0,0,0,0,0,0
$GC,4401,-0.93,-117.2,598.4,-11.4,191,4407,0.12,2.12,0.00,0.000,6,0.190,0.046,2369,2106,3579,0,0,0,0,0,0
$GC,4651,-0.93,-117.2,622.2,-9.3,198,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2106,3576,0,0,0,0,0,0
$GC,4895,-0.93,-117.2,645.0,-9.2,204,4899,0.00,2.10,0.00,0.000,4,0.000,0.042,2369,699,3572,0,0,0,0,0,0
$GC,4951,-0.93,-117.2,650.2,-9.3,205,4955,0.00,2.12,0.00,0.000,6,0.000,0.045,2361,2107,3574,0,0,0,0,0,0
$GC,5224,-0.93,-117.2,674.2,-8.6,212,5228,0.00,2.10,0.00,0.000,4,0.000,0.042,2360,697,3571,0,0,0,0,0,0
$GC,5309,-0.93,-117.2,681.6,-8.9,214,5313,0.00,2.12,0.00,0.000,6,0.000,0.045,2351,2110,3570,0,0,0,0,0,0
$GC,5598,-0.93,-117.2,705.1,-8.0,221,5602,0.00,2.10,0.00,0.000,4,0.000,0.042,2351,698,3569,0,0,0,0,0,0
$GC,5633,-0.93,-117.2,708.5,-9.5,221,5639,0.00,2.15,0.00,0.000,6,0.000,0.047,2340,2105,3568,0,0,0,0,0,0
$GC,5883,-0.93,-117.2,730.2,-8.5,228,5888,0.12,2.12,0.00,0.000,4,0.197,0.042,2368,703,3567,0,0,0,0,0,0
$GC,5924,-0.93,-117.2,733.2,-7.4,229,5928,0.00,2.12,0.00,0.000,6,0.000,0.046,2361,2106,3567,0,0,0,0,0,0
$GC,6207,-0.93,-117.2,754.7,-7.7,236,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2106,3565,0,0,0,0,0,0
$GC,6451,-0.93,-117.2,774.2,-8.0,242,6455,0.00,2.17,0.00,0.000,4,0.000,0.057,2352,3517,3564,0,0,0,0,0,0
$GC,6524,-0.93,-117.2,780.7,-9.9,243,6528,0.00,2.10,0.00,0.000,6,0.000,0.035,2354,2111,3563,0,0,0,0,0,0
$GC,6779,-0.93,-117.2,803.2,-8.8,250,6783,0.00,2.12,0.00,0.000,4,0.000,0.047,2351,692,3560,0,0,0,0,0,0
$GC,6944,-0.93,-117.2,818.7,-9.4,253,6948,0.00,2.15,0.00,0.000,6,0.000,0.048,2340,2109,3562,0,0,0,0,0,0
$GC,7194,-0.93,-117.2,840.8,-8.6,259,7196,0.12,0.00,0.00,0.000,6,0.199,0.000,2369,2105,3560,0,0,0,0,0,0
$GC,7438,-0.93,-117.2,858.7,-7.3,265,7441,0.00,2.12,0.00,0.000,4,0.000,0.042,2370,687,3559,0,0,0,0,0,0
$GC,7479,-0.93,-117.2,861.9,-8.5,266,7483,0.00,2.17,0.00,0.000,6,0.000,0.048,2361,2105,3559,0,0,0,0,0,0
$GC,7762,-0.93,-117.2,882.4,-7.0,273,7766,0.00,2.15,0.00,0.000,4,0.000,0.044,2361,686,3561,0,0,0,0,0,0
$GC,7801,-0.93,-117.2,885.4,-8.0,274,7805,0.00,2.15,0.00,0.000,6,0.000,0.048,2351,2104,3558,0,0,0,0,0,0
$STATE,8001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8001,begin apogee
$GC,8008,-0.28,0.0,900.2,7.2,279,8106,0.75,0.00,94.60,1.147,6,0.164,0.000,2575,1965,3109,0,0,0,0,0,0
$STATE,8121,end apogee,CONTROL_FINISHED_OK
$STATE,8121,begin climb
$GC,8124,0.93,117.2,900.2,0.0,281,8232,1.10,0.00,104.62,1.101,6,0.070,0.000,2970,1964,2632,0,0,0,0,0,0
$GC,8454,0.93,117.2,812.6,30.1,290,8458,0.00,2.30,0.00,0.000,4,0.000,0.051,2968,3398,2624,0,0,0,0,0,0
$GC,8489,0.93,117.2,802.2,28.9,290,8494,0.00,2.15,0.00,0.000,6,0.000,0.031,2977,1999,2624,0,0,0,0,0,0
$GC,8738,0.93,117.2,728.4,29.4,297,8742,0.00,2.22,0.00,0.000,4,0.000,0.050,2977,3401,2621,0,0,0,0,0,0
$GC,8765,0.93,117.2,719.8,29.6,297,8769,0.00,2.12,0.00,0.000,6,0.000,0.031,2987,1984,2622,0,0,0,0,0,0
$GC,9022,0.93,117.2,646.3,28.7,304,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1979,2620,0,0,0,0,0,0
$GC,9265,0.93,117.2,578.1,28.1,310,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1978,2619,0,0,0,0,0,0
$GC,9509,0.93,117.2,508.7,28.8,316,9513,0.00,2.20,0.00,0.000,4,0.000,0.049,2987,3396,2618,0,0,0,0,0,0
$GC,9530,0.93,117.2,502.0,29.4,316,9534,0.00,2.12,0.00,0.000,6,0.000,0.032,2996,1995,2618,0,0,0,0,0,0
$GC,9792,0.93,117.2,427.1,28.7,323,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1989,2617,0,0,0,0,0,0
$GC,10035,0.93,117.2,359.9,26.9,329,10039,0.00,2.17,0.00,0.000,4,0.000,0.048,2996,3395,2616,0,0,0,0,0,0
$GC,10107,0.93,117.2,341.2,25.6,330,10112,0.15,2.08,0.00,0.000,6,0.237,0.031,2974,1983,2616,0,0,0,0,0,0
$GC,10365,0.93,117.2,285.7,20.9,338,10369,0.00,2.08,0.00,0.000,4,0.000,0.041,2983,595,2615,0,0,0,0,0,0
$GC,10398,0.93,117.2,278.1,20.4,339,10403,0.00,2.08,0.00,0.000,6,0.000,0.036,2981,1998,2613,0,0,0,0,0,0
$GC,10651,0.93,117.2,226.0,20.6,352,10655,0.00,2.15,0.00,0.000,4,0.000,0.051,2981,3387,2613,0,0,0,0,0,0
$GC,10724,0.93,117.2,210.5,23.0,355,10728,0.00,2.05,0.00,0.000,6,0.000,0.031,2989,1991,2614,0,0,0,0,0,0
$GC,10987,0.93,117.2,156.8,21.1,377,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1986,2612,0,0,0,0,0,0
$GC,11242,0.93,117.2,112.7,15.2,401,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1986,2612,0,0,0,0,0,0
$GC,11505,0.93,117.2,74.4,10.8,426,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1986,2613,0,0,0,0,0,0
$GC,11760,0.93,117.2,46.9,12.7,450,11764,0.00,2.15,0.00,0.000,4,0.000,0.048,2988,3390,2614,0,0,0,0,0,0
$GC,12010,0.93,117.2,12.4,12.0,484,12017,0.00,2.08,0.00,0.000,6,0.000,0.029,2996,1995,2619,0,0,0,0,0,0
$STATE,12080,end climb,SURFACE_DEPTH_REACHED
$STATE,12080,begin surface coast
$FINISH,0.2,1.023174
$STATE,12102,end surface coast,CONTROL_FINISHED_OK
$STATE,12105,begin surface
$SM_CCo,12125,87.22,0.485,0,0,1886,300.24
$SM_GC,1.03,0.00,0.00,87.22,0.000,0.000,0.485,56,2135,1886,-8.17,0.96,300.24
$IRIDIUM_FIX,1846.42,-15631.63,040113,050528
$TT8_MAMPS,0.060593
$HUMID,1078924506
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.10
$XPDR_PINGS,11
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343557120
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59982807040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.806
$10V_AH,10.4,9.979
$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,20.100,114.650,199.225,87.225,0.000,92.031,111.643,577.198,2.750,0.000,18.656,1062.054,9023.897,406.453,2460.549,379.485,33.351,1111.316,0.000,1676.275,0.000,0.542,0.000
$DEVICE_MAMPS,248.508,79.768,1146.665,484.744,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.821,0.000,774.447,0.000,0.000,0.000,0.000,14160.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.760,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,23568,501
$CAP_FILE_SIZE,123007,0
$CFSIZE,260165632,201777152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,143037,1851.453,-15629.232,32,1.0,33,9.6