version: 66.05
glider: 80
mission: 11
dive: 129
start: 7 30 108 22 17 54
data:
$ID,80
$MISSION,11
$DIVE,129
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,53
$T_MISSION,60
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$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,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,-27556.408
$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,128
$AR_SAMPLENUM,4
$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
$GPS1,221304,4807.701,-12223.558,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,221657,4807.703,-12223.493,10,1.1,10,18.0
$SPEED_LIMITS,0.060,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.082
$KALMAN_X,14201.7,73.9,68.8,-14223.3,-12.7
$KALMAN_Y,-4637.4,82.5,-83.5,4613.1,185.1
$MHEAD_RNG_PITCHd_Wd,279.9,834,-13.2,-5.975
$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,-1.01,-146.6,0.0,0.0,0,92,0.00,0.00,-60.42,0.000,6,0.000,0.000,146,2237,3079
$GC,95,-1.01,-146.6,0.6,-0.9,7,112,11.73,0.00,0.00,0.000,6,0.004,0.000,2504,2236,3078
$GC,144,-1.01,-146.6,9.7,-22.6,12,146,0.32,0.00,0.00,0.000,6,0.004,0.000,2428,2237,3079
$GC,176,-1.01,-146.6,12.9,-13.8,15,178,0.32,0.00,0.00,0.000,6,0.004,0.000,2466,2236,3079
$GC,208,-1.01,-146.6,15.2,-7.3,18,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2237,3078
$GC,239,-1.01,-146.6,17.4,-6.9,21,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3079
$GC,271,-1.01,-146.6,19.5,-6.8,24,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2237,3079
$GC,303,-1.01,-146.6,21.6,-6.7,27,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2236,3080
$GC,335,-1.01,-146.6,23.7,-6.4,30,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2236,3078
$GC,367,-1.01,-146.6,25.7,-6.3,33,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2236,3078
$GC,399,-1.01,-146.6,27.8,-6.6,36,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3079
$GC,431,-1.01,-146.6,29.8,-6.4,39,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2236,3079
$GC,462,-1.01,-146.6,31.9,-6.6,42,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2238,3079
$GC,494,-1.01,-146.6,33.8,-6.1,45,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2237,3079
$GC,527,-1.01,-146.6,35.7,-5.8,48,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3079
$GC,558,-1.01,-146.6,37.6,-5.8,51,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2236,3078
$GC,590,-1.01,-146.6,39.4,-5.8,54,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2236,3079
$GC,622,-1.01,-146.6,41.3,-5.8,57,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2237,3078
$GC,654,-1.01,-146.6,43.0,-5.6,60,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3078
$GC,686,-1.01,-146.6,44.9,-5.8,63,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2236,3079
$GC,718,-1.01,-146.6,46.6,-5.7,66,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3078
$GC,750,-1.01,-146.6,48.4,-5.5,69,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2235,3079
$GC,781,-1.01,-146.6,50.2,-5.5,72,786,0.00,2.95,0.00,0.000,4,0.000,0.004,2466,488,3078
$GC,980,-1.01,-146.6,61.8,-6.8,89,985,0.00,2.92,0.00,0.000,6,0.000,0.004,2464,2228,3079
$GC,1017,-1.01,-146.6,64.2,-6.4,92,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2230,3079
$GC,1049,-1.01,-146.6,66.2,-6.0,95,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2229,3079
$GC,1081,-1.01,-146.6,68.2,-6.4,98,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2229,3078
$GC,1113,-1.01,-146.6,70.2,-6.2,101,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2229,3079
$GC,1145,-1.01,-146.6,72.3,-6.4,104,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2228,3079
$GC,1177,-1.01,-146.6,74.4,-6.4,107,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2229,3079
$GC,1208,-1.01,-146.6,76.4,-6.6,110,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2229,3078
$GC,1240,-1.01,-146.6,78.3,-6.1,113,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2229,3078
$GC,1272,-1.01,-146.6,80.3,-6.1,116,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2228,3079
$GC,1304,-1.01,-146.6,82.1,-6.1,119,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3079
$GC,1336,-1.01,-146.6,84.2,-6.2,122,1340,0.00,2.53,0.00,0.000,4,0.000,0.004,2464,3671,3079
$GC,1402,-1.01,-146.6,88.2,-5.5,127,1408,0.00,3.08,0.00,0.000,6,0.000,0.004,2464,1959,3079
$GC,1440,-1.01,-146.6,90.4,-5.7,131,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1960,3078
$GC,1472,-1.01,-146.6,92.3,-5.9,134,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1959,3079
$GC,1504,-1.01,-146.6,94.0,-5.5,137,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1959,3079
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1529,-0.31,0.0,95.2,5.8,139,1656,0.85,0.00,122.70,0.005,6,0.004,0.000,2652,2161,2472
$STATE,1657,end apogee,CONTROL_FINISHED_OK
$STATE,1657,begin climb
$GC,1660,1.01,146.6,96.6,0.0,152,1786,1.45,0.00,121.00,0.005,6,0.004,0.000,2947,2161,1873
$GC,1813,1.01,146.6,87.5,7.6,167,1815,0.30,0.00,0.00,0.000,6,0.003,0.000,2877,2161,1874
$GC,1845,1.01,146.6,85.2,7.6,170,1847,0.40,0.00,0.00,0.000,6,0.004,0.000,2948,2161,1874
$GC,1877,1.01,146.6,83.0,7.0,173,1879,0.30,0.00,0.00,0.000,6,0.004,0.000,2880,2162,1874
$GC,1908,1.01,146.6,80.8,7.1,176,1911,0.38,0.00,0.00,0.000,6,0.004,0.000,2959,2162,1874
$GC,1941,1.01,146.6,78.5,7.1,179,1943,0.28,0.00,0.00,0.000,6,0.004,0.000,2886,2161,1875
$GC,1972,1.01,146.6,76.3,6.8,182,1977,0.30,2.35,0.00,0.000,4,0.004,0.004,2961,3619,1874
$GC,2282,1.01,148.6,55.9,5.9,209,2288,0.45,2.95,0.00,0.000,6,0.003,0.004,2853,1976,1875
$GC,2319,1.07,196.4,54.3,4.5,212,2371,0.55,2.78,41.80,0.005,4,0.004,0.004,2966,3614,1672
$GC,2417,1.09,213.7,49.2,5.4,221,2441,0.30,2.92,16.48,0.005,6,0.004,0.004,2888,1933,1598
$GC,2480,1.09,213.7,45.5,6.0,227,2485,0.32,2.40,0.00,0.000,4,0.004,0.003,2927,483,1600
$GC,2788,1.09,213.7,24.3,7.0,254,2794,0.00,2.95,0.00,0.000,6,0.000,0.004,2928,2166,1599
$GC,2826,1.09,213.7,21.7,7.2,257,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2166,1599
$GC,2858,1.09,213.7,19.5,6.9,260,2862,0.00,2.53,0.00,0.000,4,0.000,0.004,2925,3614,1599
$GC,2923,1.09,213.7,14.9,6.9,265,2930,0.00,2.90,0.00,0.000,6,0.000,0.004,2927,1927,1599
$GC,2962,1.09,213.7,12.5,6.5,269,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1925,1600
$GC,2993,1.09,213.7,10.2,7.0,272,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1927,1599
$GC,3025,1.09,213.7,7.9,7.4,275,3029,0.00,2.30,0.00,0.000,4,0.000,0.004,2928,505,1599
$GC,3057,1.10,226.9,6.0,5.6,277,3074,0.00,2.78,9.73,0.005,6,0.000,0.003,2927,2190,1548
$GC,3106,1.15,265.9,3.7,4.7,282,3135,0.00,0.00,26.55,0.005,6,0.000,0.000,2928,2190,1387
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,-0.0,1.003371
$STATE,3208,end surface coast,CONTROL_FINISHED_OK
$STATE,3208,begin surface
$SM_CCo,3237,29.42,0.004,4,0,1250,300.00
$SM_GC,-0.00,0.00,0.00,29.42,0.000,0.000,0.004,145,1885,1250,-11.71,-5.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.181779
$HUMID,1516
$INTERNAL_PRESSURE,12.5786
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4017258496
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,18241683456
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,12.971
$10V_AH,9.6,26.778
$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,32.425,39.200,338.250,29.425,0.000,0.000,0.000,82.923,0.000,0.000,11.594,593.877,1734.226,512.549,347.311,347.164,33.337,876.414,0.000,308.863,0.000,0.000,0.000
$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,227.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9616,292
$CAP_FILE_SIZE,75079,8
$CFSIZE,260165632,255459328
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,68,152,4,0
$GPS,300708,231402,4807.771,-12223.588,33,1.1,33,18.0