version: 66.07
glider: 513
mission: 7
dive: 80
start: 7 14 111 14 42 31
data:
$ID,513
$MISSION,7
$DIVE,80
$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,250
$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,-422076.88
$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,2691
$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,53
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3130
$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,79
$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
$GPS1,140711,142737,1903.177,-15619.365,37,1.0,38,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.8
$GPS2,140711,144137,1903.349,-15619.204,12,1.5,12,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,0.234
$KALMAN_X,4571.7,358.4,177.4,13420.4,48.9
$KALMAN_Y,-196759.1,187.9,304.2,130450.7,-3441.9
$MHEAD_RNG_PITCHd_Wd,346.2,140062,-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,26,-0.93,-117.2,0.0,0.0,0,85,0.00,0.00,-53.08,0.000,6,0.000,0.000,37,2096,3607,0,0,0,0,0,0
$GC,89,-0.93,-117.2,3.6,-7.9,9,104,9.85,2.22,0.00,0.000,4,0.253,0.052,2371,3516,3609,0,0,0,0,0,0
$GC,302,-0.93,-117.2,67.2,-22.8,34,306,0.00,2.10,0.00,0.000,6,0.000,0.037,2371,2108,3614,0,0,0,0,0,0
$GC,568,-0.93,-117.2,123.9,-18.8,58,571,0.00,2.12,0.00,0.000,4,0.000,0.042,2371,699,3615,0,0,0,0,0,0
$GC,695,-0.93,-117.2,147.5,-18.1,69,699,0.00,2.15,0.00,0.000,6,0.000,0.048,2363,2109,3615,0,0,0,0,0,0
$GC,960,-0.93,-117.2,191.3,-15.9,93,964,0.00,2.12,0.00,0.000,4,0.000,0.041,2363,696,3617,0,0,0,0,0,0
$GC,1011,-0.93,-117.2,200.4,-16.4,97,1016,0.15,2.15,0.00,0.000,6,0.189,0.047,2389,2106,3617,0,0,0,0,0,0
$GC,1265,-0.93,-117.2,233.3,-12.1,109,1269,0.00,2.15,0.00,0.000,4,0.000,0.051,2380,3522,3619,0,0,0,0,0,0
$GC,1378,-0.93,-117.2,247.5,-11.8,114,1382,0.00,2.08,0.00,0.000,6,0.000,0.031,2380,2093,3619,0,0,0,0,0,0
$GC,1642,-0.93,-117.2,278.5,-11.8,127,1646,0.00,2.08,0.00,0.000,4,0.000,0.041,2380,695,3617,0,0,0,0,0,0
$GC,1810,-0.93,-117.2,299.3,-11.9,134,1816,0.00,2.15,0.00,0.000,6,0.000,0.047,2370,2108,3619,0,0,0,0,0,0
$GC,2060,-0.93,-117.2,329.8,-12.0,141,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2107,3619,0,0,0,0,0,0
$GC,2303,-0.93,-117.2,359.2,-12.2,147,2307,0.00,2.10,0.00,0.000,4,0.000,0.040,2370,701,3619,0,0,0,0,0,0
$GC,2433,-0.93,-117.2,374.8,-11.3,149,2438,0.00,2.10,0.00,0.000,6,0.000,0.046,2360,2098,3617,0,0,0,0,0,0
$GC,2682,-0.93,-117.2,403.7,-11.4,156,2686,0.00,2.10,0.00,0.000,4,0.000,0.043,2360,701,3617,0,0,0,0,0,0
$GC,2727,-0.93,-117.2,409.2,-12.0,157,2732,0.12,2.12,0.00,0.000,6,0.186,0.044,2384,2113,3617,0,0,0,0,0,0
$GC,3017,-0.93,-117.2,435.1,-8.6,164,3021,0.00,2.12,0.00,0.000,4,0.000,0.054,2374,3502,3611,0,0,0,0,0,0
$GC,3113,-0.93,-117.2,444.2,-9.6,166,3117,0.00,2.05,0.00,0.000,6,0.000,0.031,2374,2100,3614,0,0,0,0,0,0
$GC,3386,-0.93,-117.2,468.6,-9.0,173,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2094,3611,0,0,0,0,0,0
$GC,3629,-0.93,-117.2,490.3,-8.9,179,3633,0.00,2.10,0.00,0.000,4,0.000,0.042,2375,696,3609,0,0,0,0,0,0
$GC,3713,-0.93,-117.2,498.0,-8.7,181,3717,0.00,2.10,0.00,0.000,6,0.000,0.044,2365,2090,3607,0,0,0,0,0,0
$GC,4004,-0.93,-117.2,523.1,-8.8,188,4008,0.00,2.08,0.00,0.000,4,0.000,0.041,2364,697,3606,0,0,0,0,0,0
$GC,4026,-0.93,-117.2,525.4,-9.6,188,4030,0.12,2.12,0.00,0.000,6,0.187,0.045,2384,2109,3606,0,0,0,0,0,0
$GC,4281,-0.93,-117.2,545.9,-8.1,195,4285,0.00,2.12,0.00,0.000,4,0.000,0.044,2385,701,3606,0,0,0,0,0,0
$GC,4326,-0.93,-117.2,550.2,-9.6,196,4330,0.00,2.12,0.00,0.000,6,0.000,0.045,2377,2094,3604,0,0,0,0,0,0
$GC,4603,-0.93,-117.2,578.1,-10.3,203,4607,0.00,2.12,0.00,0.000,4,0.000,0.046,2376,694,3601,0,0,0,0,0,0
$GC,4703,-0.93,-117.2,589.4,-11.4,205,4707,0.00,2.12,0.00,0.000,6,0.000,0.046,2366,2101,3604,0,0,0,0,0,0
$GC,4976,-0.93,-117.2,618.8,-10.7,212,4980,0.00,2.20,0.00,0.000,4,0.000,0.058,2355,3516,3599,0,0,0,0,0,0
$GC,5008,-0.93,-117.2,622.6,-11.5,212,5015,0.12,2.10,0.00,0.000,6,0.179,0.036,2386,2098,3599,0,0,0,0,0,0
$GC,5259,-0.93,-117.2,644.5,-8.5,219,5263,0.00,2.10,0.00,0.000,4,0.000,0.044,2386,696,3597,0,0,0,0,0,0
$GC,5299,-0.93,-117.2,647.9,-8.7,219,5304,0.00,2.15,0.00,0.000,6,0.000,0.044,2378,2110,3597,0,0,0,0,0,0
$GC,5549,-0.93,-117.2,668.6,-8.2,226,5553,0.00,2.12,0.00,0.000,4,0.000,0.044,2378,691,3595,0,0,0,0,0,0
$GC,5599,-0.93,-117.2,673.2,-9.3,227,5603,0.00,2.15,0.00,0.000,6,0.000,0.049,2365,2102,3594,0,0,0,0,0,0
$GC,5872,-0.93,-117.2,696.6,-8.5,234,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2105,3593,0,0,0,0,0,0
$GC,6114,-0.93,-117.2,717.3,-8.3,240,6118,0.00,2.15,0.00,0.000,4,0.000,0.048,2367,700,3595,0,0,0,0,0,0
$GC,6199,-0.93,-117.2,725.1,-9.3,242,6204,0.12,2.17,0.00,0.000,6,0.192,0.051,2387,2106,3591,0,0,0,0,0,0
$GC,6484,-0.93,-117.2,746.1,-7.0,249,6488,0.00,2.12,0.00,0.000,4,0.000,0.047,2387,698,3586,0,0,0,0,0,0
$GC,6517,-0.93,-117.2,748.7,-8.1,249,6522,0.00,2.12,0.00,0.000,6,0.000,0.048,2378,2093,3592,0,0,0,0,0,0
$GC,6768,-0.93,-117.2,767.2,-7.3,256,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2093,3588,0,0,0,0,0,0
$GC,7011,-0.93,-117.2,785.7,-7.6,262,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2092,3586,0,0,0,0,0,0
$GC,7254,-0.93,-117.2,804.1,-7.6,268,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2093,3587,0,0,0,0,0,0
$GC,7498,-0.93,-117.2,822.7,-7.5,274,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2093,3583,0,0,0,0,0,0
$GC,7743,-0.93,-117.2,841.1,-7.5,280,7747,0.00,2.15,0.00,0.000,4,0.000,0.052,2378,697,3585,0,0,0,0,0,0
$GC,7843,-0.93,-117.2,849.6,-8.7,282,7848,0.00,2.17,0.00,0.000,6,0.000,0.049,2368,2108,3584,0,0,0,0,0,0
$GC,8110,-0.93,-117.2,870.3,-7.8,289,8114,0.00,2.15,0.00,0.000,4,0.000,0.048,2368,692,3583,0,0,0,0,0,0
$GC,8167,-0.93,-117.2,875.1,-7.8,290,8172,0.12,2.17,0.00,0.000,6,0.193,0.050,2388,2102,3583,0,0,0,0,0,0
$GC,8439,-0.93,-117.2,893.7,-6.6,297,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2102,3582,0,0,0,0,0,0
$STATE,8558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8559,begin apogee
$GC,8565,-0.28,0.0,901.4,6.3,300,8662,0.65,0.00,94.43,1.147,6,0.146,0.000,2594,1982,3132,0,0,0,0,0,0
$STATE,8665,end apogee,CONTROL_FINISHED_OK
$STATE,8665,begin climb
$GC,8669,0.93,117.2,901.1,0.0,302,8781,1.10,2.38,103.35,1.104,4,0.050,0.051,3006,3396,2654,0,0,0,0,0,0
$GC,8834,0.93,117.2,860.8,34.5,306,8838,0.00,2.20,0.00,0.000,6,0.000,0.033,3016,2001,2648,0,0,0,0,0,0
$GC,9123,0.93,117.2,764.8,32.6,313,9127,0.00,2.22,0.00,0.000,4,0.000,0.049,3013,3398,2643,0,0,0,0,0,0
$GC,9189,0.93,117.2,742.3,34.2,314,9193,0.00,2.15,0.00,0.000,6,0.000,0.033,3022,1986,2644,0,0,0,0,0,0
$GC,9451,0.93,117.2,658.7,31.8,321,9455,0.00,2.22,0.00,0.000,4,0.000,0.051,3020,3398,2641,0,0,0,0,0,0
$GC,9523,0.93,117.2,634.7,31.2,322,9528,0.12,2.17,0.00,0.000,6,0.253,0.034,2999,1985,2641,0,0,0,0,0,0
$GC,9778,0.93,117.2,561.8,28.6,329,9782,0.00,2.22,0.00,0.000,4,0.000,0.048,2989,3402,2640,0,0,0,0,0,0
$GC,9795,0.93,117.2,556.9,28.2,329,9799,0.00,2.12,0.00,0.000,6,0.000,0.031,2997,1981,2640,0,0,0,0,0,0
$GC,10056,0.93,117.2,486.2,26.6,336,10060,0.00,2.22,0.00,0.000,4,0.000,0.048,2985,3407,2639,0,0,0,0,0,0
$GC,10083,0.93,117.2,478.7,27.2,336,10087,0.00,2.12,0.00,0.000,6,0.000,0.033,2998,1988,2639,0,0,0,0,0,0
$GC,10345,0.93,117.2,408.5,27.3,343,10349,0.00,2.20,0.00,0.000,4,0.000,0.049,2996,3401,2638,0,0,0,0,0,0
$GC,10491,0.93,117.2,367.8,26.4,346,10495,0.00,2.12,0.00,0.000,6,0.000,0.033,3005,1982,2637,0,0,0,0,0,0
$GC,10758,0.93,117.2,299.9,24.8,353,10762,0.00,2.22,0.00,0.000,4,0.000,0.048,3006,3409,2636,0,0,0,0,0,0
$GC,10798,0.93,117.2,290.7,22.6,355,10802,0.00,2.15,0.00,0.000,6,0.000,0.032,3017,1984,2637,0,0,0,0,0,0
$GC,11062,0.93,117.2,230.4,22.3,368,11066,0.00,2.22,0.00,0.000,4,0.000,0.050,3017,3399,2635,0,0,0,0,0,0
$GC,11147,0.93,117.2,212.5,21.4,372,11152,0.15,2.10,0.00,0.000,6,0.255,0.029,2997,1977,2635,0,0,0,0,0,0
$GC,11408,0.93,117.2,161.6,18.8,393,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1972,2635,0,0,0,0,0,0
$GC,11664,0.93,117.2,115.7,17.7,417,11668,0.00,2.05,0.00,0.000,4,0.000,0.038,3006,590,2635,0,0,0,0,0,0
$GC,11775,0.93,117.2,98.3,15.0,427,11779,0.00,2.08,0.00,0.000,6,0.000,0.035,2997,2004,2632,0,0,0,0,0,0
$GC,12041,0.93,117.2,65.5,11.3,451,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2004,2631,0,0,0,0,0,0
$GC,12305,0.93,117.2,34.1,11.0,476,12309,0.00,2.12,0.00,0.000,4,0.000,0.045,2986,3392,2634,0,0,0,0,0,0
$GC,12357,0.93,117.2,27.7,11.5,481,12364,0.00,2.10,0.00,0.000,6,0.000,0.028,2995,1987,2639,0,0,0,0,0,0
$STATE,12557,end climb,SURFACE_DEPTH_REACHED
$STATE,12557,begin surface coast
$FINISH,0.2,1.023225
$STATE,12580,end surface coast,CONTROL_FINISHED_OK
$STATE,12580,begin surface
$SM_CCo,12600,69.97,0.492,0,0,2108,250.20
$SM_GC,0.79,0.00,0.00,69.97,0.000,0.000,0.492,56,2134,2108,-8.24,0.96,250.20
$IRIDIUM_FIX,1853.26,-15804.72,060113,080832
$TT8_MAMPS,0.262314
$HUMID,1078939990
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.00
$XPDR_PINGS,67
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5420613632
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59512520704
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,11.247
$10V_AH,10.2,11.162
$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,20.425,124.600,197.775,69.975,0.000,60.633,77.570,434.201,16.750,0.000,14.154,1127.384,9249.574,355.517,2382.529,403.463,33.355,1139.603,0.000,1822.084,0.000,0.541,0.000
$DEVICE_MAMPS,255.411,77.467,1147.432,491.647,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,358.010,0.000,800.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353736
$DATA_FILE_SIZE,27000,522
$CAP_FILE_SIZE,127605,0
$CFSIZE,260165632,200790016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,181507,1904.867,-15618.824,25,1.9,25,9.6