version: 66.05
glider: 80
mission: 11
dive: 19
start: 7 26 108 15 45 47
data:
$ID,80
$MISSION,11
$DIVE,19
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-24997.045
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4065
$C_PITCH,2692
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2069
$C_ROLL_CLIMB,2069
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,2473
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.16054545
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$AR_RESETARS,0.0
$AR_RECORDBELOW,0.0
$AR_NOTIFYAPOGEE,0.0
$AR_DIVENUM,18
$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,0
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,1
$GPS1,154103,4806.892,-12222.630,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,154454,4806.827,-12222.564,9,1.1,9,18.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.210,0.154
$KALMAN_X,5031.0,808.0,21.3,-4593.7,67.4
$KALMAN_Y,-6410.3,-1047.5,0.3,5813.5,103.1
$MHEAD_RNG_PITCHd_Wd,288.3,2805,-18.2,-10.000
$D_GRID,100
$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
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.32,-146.6,0.0,0.0,0,97,0.00,0.00,-67.15,0.000,6,0.000,0.000,147,1932,3080
$GC,100,-1.32,-146.6,0.6,-0.6,7,114,10.98,0.00,0.00,0.000,6,0.004,0.000,2447,1933,3080
$GC,143,-1.32,-146.6,9.3,-22.0,11,145,0.40,0.00,0.00,0.000,6,0.004,0.000,2372,1932,3080
$GC,175,-1.32,-146.6,13.4,-14.2,14,177,0.30,0.00,0.00,0.000,6,0.003,0.000,2448,1932,3080
$GC,208,-1.32,-146.6,17.5,-13.1,17,210,0.38,0.00,0.00,0.000,6,0.004,0.000,2368,1931,3079
$GC,238,-1.32,-146.6,21.6,-12.7,20,240,0.28,0.00,0.00,0.000,6,0.003,0.000,2445,1932,3079
$GC,270,-1.32,-146.6,25.5,-12.7,23,272,0.43,0.00,0.00,0.000,6,0.003,0.000,2367,1931,3080
$GC,302,-1.32,-146.6,29.5,-12.2,26,304,0.28,0.00,0.00,0.000,6,0.004,0.000,2440,1932,3080
$GC,334,-1.32,-146.6,33.3,-12.1,29,336,0.43,0.00,0.00,0.000,6,0.004,0.000,2367,1930,3080
$GC,366,-1.32,-146.6,37.2,-12.1,32,368,0.40,0.00,0.00,0.000,6,0.003,0.000,2443,1931,3079
$GC,398,-1.32,-146.6,41.2,-12.5,35,400,0.43,0.00,0.00,0.000,6,0.004,0.000,2370,1932,3081
$GC,430,-1.32,-146.6,45.0,-12.2,38,432,0.30,0.00,0.00,0.000,6,0.004,0.000,2442,1932,3080
$GC,461,-1.32,-146.6,48.8,-12.0,41,464,0.40,0.00,0.00,0.000,6,0.003,0.000,2371,1933,3079
$GC,494,-1.32,-146.6,52.6,-12.0,44,497,0.32,0.00,0.00,0.000,6,0.003,0.000,2409,1931,3079
$GC,525,-1.32,-146.6,56.4,-12.0,47,530,0.00,2.80,0.00,0.000,4,0.000,0.004,2407,3605,3082
$GC,676,-1.32,-146.6,74.9,-12.1,60,681,0.00,2.78,0.00,0.000,6,0.000,0.004,2408,1938,3080
$GC,714,-1.32,-146.6,79.6,-13.0,63,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1938,3080
$GC,745,-1.32,-146.6,83.7,-13.0,66,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1938,3080
$GC,777,-1.32,-146.6,87.7,-12.7,69,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1938,3080
$STATE,796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,796,begin apogee
$GC,803,-0.31,0.0,90.3,12.3,71,931,1.35,0.00,123.38,0.005,6,0.004,0.000,2664,2258,2473
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,934,1.32,146.6,93.1,0.0,84,1061,1.80,0.00,121.03,0.005,6,0.004,0.000,3008,2257,1876
$GC,1093,1.32,146.6,79.8,11.7,100,1095,0.32,0.00,0.00,0.000,6,0.003,0.000,2934,2256,1875
$GC,1124,1.32,146.6,76.2,11.5,103,1126,0.35,0.00,0.00,0.000,6,0.004,0.000,3006,2257,1875
$GC,1156,1.32,146.6,72.6,11.2,106,1158,0.43,0.00,0.00,0.000,6,0.003,0.000,2931,2257,1874
$GC,1188,1.32,146.6,69.0,11.3,109,1190,0.40,0.00,0.00,0.000,6,0.004,0.000,3007,2257,1874
$GC,1220,1.32,146.6,65.3,11.5,112,1222,0.40,0.00,0.00,0.000,6,0.003,0.000,2936,2257,1875
$GC,1252,1.32,146.6,61.7,11.4,115,1254,0.32,0.00,0.00,0.000,6,0.003,0.000,2968,2258,1876
$GC,1283,1.32,146.6,58.1,11.3,118,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2258,1874
$GC,1315,1.32,146.6,54.6,11.2,121,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2257,1876
$GC,1347,1.32,146.6,51.1,10.9,124,1351,0.00,2.28,0.00,0.000,4,0.000,0.004,2970,3601,1874
$GC,1656,1.32,146.6,18.4,10.1,151,1661,0.00,2.78,0.00,0.000,6,0.000,0.004,2969,1929,1874
$GC,1693,1.32,146.6,14.6,10.2,154,1698,0.00,2.65,0.00,0.000,4,0.000,0.004,2970,3601,1874
$STATE,1812,end climb,SURFACE_DEPTH_REACHED
$STATE,1812,begin surface coast
$FINISH,0.7,0.997379
$STATE,1827,end surface coast,CONTROL_FINISHED_OK
$STATE,1827,begin surface
$SM_CCo,1857,175.52,0.004,23,0,1045,350.29
$SM_GC,0.00,0.00,0.00,175.52,0.000,0.000,0.004,205,1965,1045,-11.44,-2.94,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1608
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,55658020864
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,1.751
$10V_AH,9.7,3.899
$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,34.850,16.825,244.400,175.525,0.000,0.000,0.000,95.887,0.000,0.000,10.441,351.496,920.558,644.827,197.359,275.566,33.331,856.175,0.000,179.244,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.242,0.000,0.000,0.000,0.000,0.000,2323.980,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,3315,165
$CAP_FILE_SIZE,49018,8
$CFSIZE,260165632,259014656
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,75,66,23,0
$GPS,260708,162236,4806.966,-12222.792,18,1.1,18,18.0