version: 66.07
glider: 513
mission: 7
dive: 71
start: 7 13 111 4 55 44
data:
$ID,513
$MISSION,7
$DIVE,71
$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,-421918.56
$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,50
$R_STBD_OVSHOOT,38
$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,70
$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
$GPS1,130711,044037,1854.116,-15626.909,28,1.0,28,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.5
$GPS2,130711,045450,1854.022,-15626.929,15,1.6,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.144,0.186
$KALMAN_X,5457.9,-202.2,342.3,-541.8,-1932.5
$KALMAN_Y,-183474.4,934.8,447.4,98993.1,-6480.8
$MHEAD_RNG_PITCHd_Wd,28.2,153223,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.93,-117.2,0.0,0.0,0,94,0.00,0.00,-59.60,0.000,6,0.000,0.000,41,2099,3590,0,0,0,0,0,0
$GC,98,-0.93,-117.2,3.8,-8.2,10,113,9.70,2.25,0.00,0.000,4,0.251,0.059,2347,3507,3586,0,0,0,0,0,0
$GC,169,-0.93,-117.2,31.7,-26.8,22,177,0.00,2.15,0.00,0.000,6,0.000,0.035,2353,2105,3594,0,0,0,0,0,0
$GC,432,-0.93,-117.2,100.9,-22.5,47,436,0.00,2.20,0.00,0.000,4,0.000,0.054,2340,3513,3594,0,0,0,0,0,0
$GC,462,-0.93,-117.2,108.0,-25.2,49,466,0.00,2.10,0.00,0.000,6,0.000,0.033,2345,2091,3597,0,0,0,0,0,0
$GC,725,-0.93,-117.2,158.1,-17.4,73,729,0.00,2.08,0.00,0.000,4,0.000,0.038,2343,687,3596,0,0,0,0,0,0
$GC,779,-0.93,-117.2,166.8,-15.2,77,787,0.08,2.17,0.00,0.000,6,0.171,0.047,2360,2090,3596,0,0,0,0,0,0
$GC,1039,-0.93,-117.2,209.7,-15.6,99,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3598,0,0,0,0,0,0
$GC,1285,-0.93,-117.2,246.2,-14.5,111,1289,0.00,2.08,0.00,0.000,4,0.000,0.041,2366,698,3599,0,0,0,0,0,0
$GC,1348,-0.93,-117.2,255.0,-13.8,114,1353,0.00,2.12,0.00,0.000,6,0.000,0.043,2352,2113,3599,0,0,0,0,0,0
$GC,1620,-0.93,-117.2,289.6,-11.7,127,1624,0.00,2.10,0.00,0.000,4,0.000,0.051,2341,3502,3600,0,0,0,0,0,0
$GC,1659,-0.93,-117.2,294.8,-13.9,129,1663,0.00,2.05,0.00,0.000,6,0.000,0.031,2341,2094,3600,0,0,0,0,0,0
$GC,1942,-0.93,-117.2,330.6,-12.4,137,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2088,3600,0,0,0,0,0,0
$GC,2184,-0.93,-117.2,361.3,-12.5,143,2188,0.00,2.08,0.00,0.000,4,0.000,0.039,2341,689,3599,0,0,0,0,0,0
$GC,2240,-0.93,-117.2,368.7,-13.1,144,2245,0.08,2.15,0.00,0.000,6,0.170,0.045,2366,2086,3600,0,0,0,0,0,0
$GC,2513,-0.93,-117.2,399.7,-11.0,151,2516,0.00,2.05,0.00,0.000,4,0.000,0.039,2365,700,3597,0,0,0,0,0,0
$GC,2540,-0.93,-117.2,403.1,-11.5,151,2544,0.00,2.10,0.00,0.000,6,0.000,0.042,2357,2107,3598,0,0,0,0,0,0
$GC,2800,-0.93,-117.2,432.5,-11.1,158,2804,0.00,2.15,0.00,0.000,4,0.000,0.051,2346,3514,3596,0,0,0,0,0,0
$GC,2874,-0.93,-117.2,441.3,-11.8,159,2878,0.00,2.08,0.00,0.000,6,0.000,0.034,2346,2094,3595,0,0,0,0,0,0
$GC,3123,-0.93,-117.2,469.1,-10.9,165,3127,0.00,2.05,0.00,0.000,4,0.000,0.041,2349,698,3593,0,0,0,0,0,0
$GC,3229,-0.93,-117.2,480.8,-11.1,167,3233,0.12,2.10,0.00,0.000,6,0.189,0.046,2366,2103,3595,0,0,0,0,0,0
$GC,3496,-0.93,-117.2,504.5,-8.8,174,3500,0.00,2.10,0.00,0.000,4,0.000,0.042,2366,692,3593,0,0,0,0,0,0
$GC,3540,-0.93,-117.2,508.9,-9.6,175,3544,0.00,2.15,0.00,0.000,6,0.000,0.045,2353,2104,3590,0,0,0,0,0,0
$GC,3817,-0.93,-117.2,535.6,-9.6,182,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2103,3587,0,0,0,0,0,0
$GC,4062,-0.93,-117.2,559.3,-9.7,188,4066,0.00,2.10,0.00,0.000,4,0.000,0.043,2358,698,3585,0,0,0,0,0,0
$GC,4106,-0.93,-117.2,563.8,-10.0,189,4110,0.00,2.12,0.00,0.000,6,0.000,0.044,2347,2107,3584,0,0,0,0,0,0
$GC,4384,-0.93,-117.2,589.9,-9.3,196,4388,0.00,2.10,0.00,0.000,4,0.000,0.041,2347,695,3580,0,0,0,0,0,0
$GC,4440,-0.93,-117.2,596.0,-10.5,197,4444,0.12,2.12,0.00,0.000,6,0.193,0.045,2365,2105,3582,0,0,0,0,0,0
$GC,4706,-0.93,-117.2,621.0,-9.3,204,4710,0.00,2.10,0.00,0.000,4,0.000,0.041,2366,692,3580,0,0,0,0,0,0
$GC,4836,-0.93,-117.2,633.9,-10.1,207,4840,0.00,2.12,0.00,0.000,6,0.000,0.045,2358,2097,3579,0,0,0,0,0,0
$GC,5119,-0.93,-117.2,659.9,-9.1,214,5123,0.00,2.10,0.00,0.000,4,0.000,0.044,2358,698,3579,0,0,1,0,0,0
$GC,5205,-0.93,-117.2,668.0,-9.0,216,5209,0.00,2.15,0.00,0.000,6,0.000,0.047,2347,2105,3576,0,0,0,0,0,0
$GC,5489,-0.93,-117.2,693.4,-8.9,223,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2105,3574,0,0,0,0,0,0
$GC,5732,-0.93,-117.2,716.0,-9.3,229,5736,0.00,2.10,0.00,0.000,4,0.000,0.042,2347,698,3573,0,0,0,0,0,0
$GC,5793,-0.93,-117.2,722.1,-10.0,230,5797,0.12,2.12,0.00,0.000,6,0.193,0.046,2367,2102,3570,0,0,0,0,0,0
$GC,6060,-0.93,-117.2,743.3,-7.8,237,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2101,3572,0,0,0,0,0,0
$GC,6303,-0.93,-117.2,761.9,-7.6,243,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2101,3569,0,0,0,0,0,0
$GC,6547,-0.93,-117.2,779.5,-7.2,249,6551,0.00,2.12,0.00,0.000,4,0.000,0.046,2367,693,3569,0,0,0,0,0,0
$GC,6633,-0.93,-117.2,786.1,-7.4,251,6637,0.00,2.15,0.00,0.000,6,0.000,0.047,2358,2103,3569,0,0,0,0,0,0
$GC,6916,-0.93,-117.2,805.3,-6.6,258,6920,0.00,2.12,0.00,0.000,4,0.000,0.047,2358,699,3567,0,0,0,0,0,0
$GC,7029,-0.93,-117.2,813.5,-7.8,260,7033,0.00,2.15,0.00,0.000,6,0.000,0.046,2348,2101,3567,0,0,0,0,0,0
$GC,7284,-0.93,-117.2,831.3,-6.9,267,7288,0.00,2.10,0.00,0.000,4,0.000,0.046,2348,699,3566,0,0,0,0,0,0
$GC,7345,-0.93,-117.2,836.2,-8.6,268,7350,0.12,2.15,0.00,0.000,6,0.196,0.046,2368,2102,3565,0,0,0,0,0,0
$GC,7606,-0.93,-117.2,853.3,-6.5,275,7610,0.00,2.15,0.00,0.000,4,0.000,0.059,2358,3502,3564,0,0,0,0,0,0
$GC,7651,-0.93,-117.2,856.5,-7.1,276,7655,0.00,2.10,0.00,0.000,6,0.000,0.035,2359,2095,3565,0,0,0,0,0,0
$GC,7929,-0.93,-117.2,875.8,-6.9,283,7933,0.00,2.10,0.00,0.000,4,0.000,0.046,2359,695,3564,0,0,0,0,0,0
$GC,8047,-0.93,-117.2,885.0,-7.9,285,8051,0.00,2.12,0.00,0.000,6,0.000,0.045,2348,2099,3563,0,0,0,0,0,0
$STATE,8253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8254,begin apogee
$GC,8260,-0.28,0.0,900.5,7.4,290,8359,0.75,0.00,95.35,1.146,6,0.164,0.000,2569,1982,3110,0,0,0,0,0,0
$STATE,8381,end apogee,CONTROL_FINISHED_OK
$STATE,8381,begin climb
$GC,8385,0.93,117.2,900.5,0.0,292,8492,1.10,0.00,103.15,1.104,6,0.069,0.000,2969,1982,2633,0,0,0,0,0,0
$GC,8710,0.93,117.2,811.7,31.4,300,8714,0.00,2.25,0.00,0.000,4,0.000,0.050,2965,3395,2626,0,0,0,0,0,0
$GC,8737,0.93,117.2,802.9,31.7,300,8742,0.00,2.15,0.00,0.000,6,0.000,0.032,2974,1993,2626,0,0,0,0,0,0
$GC,8993,0.93,117.2,725.8,29.9,307,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1988,2620,0,0,0,0,0,0
$GC,9236,0.93,117.2,652.2,30.4,313,9240,0.00,2.20,0.00,0.000,4,0.000,0.050,2974,3404,2622,0,0,0,0,0,0
$GC,9286,0.93,117.2,637.2,29.3,314,9290,0.00,2.10,0.00,0.000,6,0.000,0.030,2983,1984,2622,0,0,0,0,0,0
$GC,9564,0.93,117.2,553.2,30.3,321,9568,0.00,2.08,0.00,0.000,4,0.000,0.038,2994,590,2616,0,0,0,0,0,0
$GC,9608,0.93,117.2,539.4,32.5,322,9612,0.00,2.12,0.00,0.000,6,0.000,0.036,2993,1999,2619,0,0,0,0,0,0
$GC,9891,0.93,117.2,453.7,30.4,329,9895,0.00,2.12,0.00,0.000,4,0.000,0.048,2993,3390,2618,0,0,0,0,0,0
$GC,9914,0.93,117.2,447.2,29.5,329,9919,0.12,2.10,0.00,0.000,6,0.247,0.030,2977,1979,2618,0,0,0,0,0,0
$GC,10169,0.93,117.2,380.1,25.7,336,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1974,2617,0,0,0,0,0,0
$GC,10412,0.93,117.2,321.7,23.9,342,10416,0.00,2.20,0.00,0.000,4,0.000,0.050,2967,3405,2617,0,0,0,0,0,0
$GC,10504,0.93,117.2,301.6,22.5,344,10508,0.00,2.08,0.00,0.000,6,0.000,0.030,2980,1995,2617,0,0,0,0,0,0
$GC,10764,0.93,117.2,243.5,21.4,356,10768,0.00,2.08,0.00,0.000,4,0.000,0.038,2987,586,2616,0,0,0,0,0,0
$GC,10808,0.93,117.2,233.4,23.5,358,10812,0.00,2.10,0.00,0.000,6,0.000,0.034,2986,1997,2614,0,0,0,0,0,0
$GC,11070,0.93,117.2,181.2,19.6,374,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2001,2614,0,0,0,0,0,0
$GC,11332,0.93,117.2,132.8,16.9,399,11336,0.00,2.10,0.00,0.000,4,0.000,0.037,2997,579,2614,0,0,0,0,0,0
$GC,11377,0.93,117.2,124.8,16.7,402,11384,0.00,2.12,0.00,0.000,6,0.000,0.034,2996,1984,2613,0,0,0,0,0,0
$GC,11641,0.93,117.2,85.6,15.5,427,11645,0.00,2.12,0.00,0.000,4,0.000,0.044,2997,3400,2613,0,0,0,0,0,0
$GC,11890,0.93,117.2,52.5,13.4,449,11899,0.10,2.10,0.00,0.000,6,0.212,0.026,2981,1975,2616,0,0,0,0,0,0
$GC,12155,0.93,117.2,21.3,14.0,479,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1974,2617,0,0,0,0,0,0
$STATE,12307,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,0.0,1.023161
$STATE,12332,end surface coast,CONTROL_FINISHED_OK
$STATE,12332,begin surface
$SM_CCo,12351,88.93,0.484,0,0,1885,300.49
$SM_GC,1.10,0.00,0.00,88.93,0.000,0.000,0.484,60,2128,1885,-8.16,0.82,300.49
$IRIDIUM_FIX,1846.42,-15624.46,040113,232318
$TT8_MAMPS,0.256178
$HUMID,1078910313
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.30
$XPDR_PINGS,65
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6112772096
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59845312512
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,10.312
$10V_AH,10.2,10.406
$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,20.125,119.075,198.500,88.925,0.000,56.385,69.829,461.155,16.250,0.000,17.332,1093.096,9076.495,383.777,2371.712,378.552,33.348,1142.359,0.000,1768.086,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,72.865,1145.898,483.977,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.883,0.000,794.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353772
$DATA_FILE_SIZE,26943,512
$CAP_FILE_SIZE,124215,0
$CFSIZE,260165632,201433088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130711,082437,1854.757,-15625.960,31,1.0,32,9.6