version: 66.05
glider: 80
mission: 11
dive: 158
start: 8 1 108 6 41 48
data:
$ID,80
$MISSION,11
$DIVE,158
$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,63
$T_MISSION,75
$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,-28261.68
$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,157
$AR_SAMPLENUM,5
$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
$GPS1,063639,4807.418,-12223.374,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,064053,4807.429,-12223.389,20,1.1,20,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.139
$KALMAN_X,15714.4,-16.9,-33.1,-15413.1,127.1
$KALMAN_Y,-2416.8,154.4,57.7,1675.0,-83.2
$MHEAD_RNG_PITCHd_Wd,134.6,5383,-10.6,-5.026
$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,23,begin dive
$GC,26,-0.84,-146.6,0.0,0.0,0,89,0.00,0.00,-60.62,0.000,6,0.000,0.000,146,1906,3082
$GC,93,-0.84,-146.6,0.6,-1.5,6,114,11.73,2.78,0.00,0.000,4,0.004,0.004,2553,3628,3080
$GC,219,-0.84,-146.6,14.8,-5.8,17,227,0.30,2.90,0.00,0.000,6,0.003,0.004,2476,1881,3080
$GC,258,-0.84,-146.6,16.9,-5.9,21,263,0.35,2.47,0.00,0.000,4,0.004,0.004,2554,482,3080
$GC,567,-0.84,-146.6,34.4,-5.3,48,573,0.30,3.03,0.00,0.000,6,0.004,0.004,2481,2230,3081
$GC,605,-0.84,-146.6,36.3,-5.4,51,611,0.38,2.85,0.00,0.000,4,0.004,0.004,2554,502,3079
$GC,915,-0.84,-146.6,52.9,-5.2,78,921,0.30,2.80,0.00,0.000,6,0.004,0.004,2481,2243,3079
$GC,953,-0.84,-146.6,54.7,-5.0,81,959,0.32,3.03,0.00,0.000,4,0.005,0.003,2554,494,3079
$GC,1262,-0.84,-146.6,71.0,-5.4,108,1268,0.30,3.03,0.00,0.000,6,0.003,0.004,2474,2231,3080
$GC,1300,-0.84,-146.6,72.9,-5.0,111,1302,0.32,0.00,0.00,0.000,6,0.003,0.000,2511,2229,3080
$GC,1331,-0.84,-146.6,74.4,-5.1,114,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2231,3080
$GC,1364,-0.84,-146.6,76.0,-4.9,117,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2231,3079
$GC,1395,-0.84,-146.6,77.6,-4.8,120,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2229,3080
$GC,1427,-0.84,-146.6,79.2,-4.9,123,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2230,3080
$GC,1459,-0.84,-146.6,80.8,-5.1,126,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2230,3080
$GC,1491,-0.84,-146.6,82.5,-5.1,129,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2231,3080
$GC,1522,-0.84,-146.6,84.2,-5.2,132,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2229,3080
$GC,1554,-0.84,-146.6,85.7,-5.0,135,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2229,3080
$GC,1587,-0.84,-146.6,87.3,-5.0,138,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2231,3079
$GC,1618,-0.84,-146.6,89.0,-5.2,141,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2230,3080
$GC,1650,-0.84,-146.6,90.6,-5.1,144,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2230,3082
$GC,1682,-0.84,-146.6,92.3,-5.1,147,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2230,3080
$GC,1714,-0.84,-146.6,93.9,-5.2,150,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2231,3080
$STATE,1743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1743,begin apogee
$GC,1750,-0.31,0.0,95.2,4.5,153,1877,0.73,0.00,123.50,0.005,6,0.004,0.000,2668,1933,2473
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1881,0.84,146.6,96.3,0.0,166,2008,1.15,0.00,120.80,0.005,6,0.004,0.000,2889,1934,1874
$GC,2039,0.84,146.6,88.2,6.2,182,2044,0.00,2.92,0.00,0.000,4,0.000,0.004,2887,3596,1874
$GC,2341,0.84,146.6,69.2,7.1,208,2347,0.00,2.67,0.00,0.000,6,0.000,0.004,2889,1943,1874
$GC,2379,0.84,146.6,66.8,6.3,212,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1942,1875
$GC,2411,0.84,146.6,64.9,6.3,215,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1942,1874
$GC,2443,0.84,146.6,62.8,6.4,218,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1943,1875
$GC,2474,0.84,146.6,60.9,6.2,221,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1943,1874
$GC,2507,0.84,146.6,58.9,6.2,224,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1943,1874
$GC,2538,0.84,146.6,57.0,6.0,227,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1944,1875
$GC,2570,0.84,146.6,55.0,6.2,230,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1942,1874
$GC,2602,0.84,146.6,53.2,5.7,233,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1943,1876
$GC,2634,0.84,146.6,51.3,6.1,236,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1942,1875
$GC,2666,0.84,146.6,49.4,5.9,239,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1943,1874
$GC,2697,0.84,146.6,47.4,6.1,242,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1942,1874
$GC,2730,0.84,146.6,45.6,5.9,245,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1942,1874
$GC,2761,0.84,146.6,43.8,5.7,248,2766,0.00,2.78,0.00,0.000,4,0.000,0.004,2890,512,1875
$GC,3013,0.84,146.6,29.6,5.5,270,3018,0.00,2.78,0.00,0.000,6,0.000,0.004,2891,2258,1875
$GC,3050,0.84,146.6,27.6,5.4,273,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2257,1874
$GC,3082,0.84,146.6,25.8,5.6,276,3087,0.00,2.28,0.00,0.000,4,0.000,0.004,2890,3577,1875
$GC,3391,0.84,146.6,9.6,5.3,303,3396,0.00,2.85,0.00,0.000,6,0.000,0.004,2889,1939,1875
$GC,3428,0.84,146.6,7.7,5.0,306,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1938,1875
$GC,3460,0.85,155.8,6.2,4.7,309,3474,0.00,2.72,7.85,0.005,4,0.000,0.004,2890,3600,1835
$GC,3503,0.87,173.2,4.1,4.5,312,3521,0.00,2.85,12.82,0.005,6,0.000,0.004,2889,1971,1763
$STATE,3548,end climb,SURFACE_DEPTH_REACHED
$STATE,3548,begin surface coast
$FINISH,0.7,0.997293
$STATE,3581,end surface coast,CONTROL_FINISHED_OK
$STATE,3581,begin surface
$SM_CCo,3610,109.38,0.004,14,0,1250,300.00
$SM_GC,0.00,0.00,0.00,109.38,0.000,0.000,0.004,146,2164,1250,-11.71,2.77,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1692
$INTERNAL_PRESSURE,12.4224
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,5968855040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,16.476
$10V_AH,9.7,34.232
$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,30.500,45.450,264.975,109.375,0.000,0.000,0.000,86.315,0.000,0.000,21.035,640.921,2072.222,573.794,432.399,332.207,33.338,978.512,0.000,377.338,0.000,0.000,0.000
$DEVICE_MAMPS,4.602,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,250.795,0.000,0.000,0.000,0.000,0.000,3882.460,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9592,320
$CAP_FILE_SIZE,71391,8
$CFSIZE,260165632,254423040
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,55,178,14,0
$GPS,010808,074558,4807.151,-12222.926,17,1.1,17,18.0