version: 66.05
glider: 118
mission: 14
dive: 6
start: 8 1 108 22 15 17
data:
$ID,118
$MISSION,14
$DIVE,6
$D_SURF,5
$D_FLARE,4
$D_TGT,360
$D_ABORT,1010
$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,120
$T_MISSION,150
$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,125
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51980
$NAV_MODE,1
$FERRY_MAX,0
$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,21.833332
$TGT_DEFAULT_LON,-159.9166
$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,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55870.617
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2127
$C_ROLL_CLIMB,2127
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2433
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.695755
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,3
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$AR_RESETARS,0.0
$AR_RECORDBELOW,0.0
$AR_NOTIFYAPOGEE,0.0
$AR_DIVENUM,5
$AR_SAMPLENUM,16
$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,6
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,0
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,220220,2155.660,-15941.735,245,1.9,245,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-58.3
$GPS2,221425,2155.656,-15941.690,123,1.4,134,9.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,ASG3
$TGT_LATLONG,2152.000,-15942.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.006,-0.279
$KALMAN_X,-118.7,-97.4,-79.8,-170.6,-160.6
$KALMAN_Y,427.7,385.0,344.5,-1787.0,494.0
$MHEAD_RNG_PITCHd_Wd,169.0,6793,-16.8,-10.000
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.89,-170.3,0.0,0.0,0,78,0.00,0.00,-50.67,0.000,2,0.000,0.000,417,2115,2872
$GC,83,-1.89,-170.3,4.4,-8.5,8,106,11.30,2.42,-4.20,0.000,4,0.124,0.054,2622,726,3131
$GC,159,-1.89,-170.3,22.5,-15.5,19,163,0.00,2.33,0.00,0.000,6,0.000,0.023,2622,2146,3131
$GC,358,-1.89,-170.3,51.2,-13.8,37,362,0.00,2.28,0.00,0.000,4,0.000,0.031,2622,3515,3131
$GC,618,-1.89,-170.3,86.9,-12.2,60,623,0.00,2.30,0.00,0.000,6,0.000,0.023,2622,2121,3132
$GC,954,-1.89,-170.3,125.5,-11.3,91,958,0.00,2.35,0.00,0.000,4,0.000,0.031,2622,3513,3133
$GC,1212,-1.89,-170.3,155.0,-12.0,113,1219,0.00,2.30,0.00,0.000,6,0.000,0.025,2622,2130,3133
$GC,1539,-1.89,-170.3,185.8,-7.0,144,1543,0.00,2.33,0.00,0.000,4,0.000,0.031,2622,3513,3133
$GC,1800,-1.89,-170.3,206.1,-7.6,167,1804,0.00,2.33,0.00,0.000,6,0.000,0.025,2622,2117,3133
$GC,2127,-1.89,-170.3,233.1,-9.0,197,2131,0.00,2.38,0.00,0.000,4,0.000,0.033,2622,3516,3133
$GC,2388,-1.89,-170.3,258.2,-9.4,219,2395,0.00,2.33,0.00,0.000,6,0.000,0.027,2621,2129,3133
$GC,2719,-1.89,-170.3,286.7,-8.5,250,2723,0.00,2.35,0.00,0.000,4,0.000,0.036,2622,3503,3132
$GC,2979,-1.89,-170.3,309.8,-7.5,272,2986,0.00,2.33,0.00,0.000,6,0.000,0.029,2622,2125,3130
$GC,3306,-1.89,-170.3,333.9,-6.7,303,3310,0.00,2.50,0.00,0.000,4,0.000,0.059,2621,720,3128
$GC,3566,-1.89,-170.3,354.3,-8.2,326,3571,0.00,2.35,0.00,0.000,6,0.000,0.033,2622,2114,3126
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3634,begin apogee
$GC,3643,-0.50,0.0,360.2,8.1,332,3781,1.38,0.00,128.05,0.732,6,0.064,0.000,2926,2118,2432
$STATE,3782,end apogee,CONTROL_FINISHED_OK
$STATE,3782,begin climb
$GC,3786,1.89,170.3,363.7,0.0,346,3928,2.25,2.60,129.52,0.709,4,0.035,0.059,3460,721,1737
$GC,4116,1.89,170.3,323.1,16.1,374,4123,0.00,2.42,0.00,0.000,6,0.000,0.033,3460,2120,1731
$GC,4445,1.89,170.3,277.4,14.8,405,4450,0.00,2.47,0.00,0.000,4,0.000,0.044,3462,3532,1728
$GC,4588,1.89,170.3,256.8,13.1,417,4593,0.00,2.42,0.00,0.000,6,0.000,0.033,3461,2127,1727
$GC,4918,1.89,170.3,215.0,12.3,447,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2127,1723
$GC,5245,1.89,170.3,176.3,10.8,478,5249,0.00,2.53,0.00,0.000,4,0.000,0.056,3460,713,1722
$GC,5391,1.89,170.3,158.2,13.3,490,5398,0.00,2.40,0.00,0.000,6,0.000,0.030,3461,2136,1721
$GC,5721,1.89,170.3,117.8,13.2,521,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2142,1720
$GC,6048,1.89,170.3,78.5,12.3,552,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2142,1720
$GC,6367,1.99,252.6,49.6,6.8,582,6437,0.00,2.58,61.55,0.502,4,0.000,0.048,3460,716,1401
$GC,6478,1.99,252.6,39.0,12.6,591,6485,0.00,2.40,0.00,0.000,6,0.000,0.026,3460,2140,1397
$GC,6680,1.99,252.6,15.3,12.0,613,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2141,1395
$GC,6758,1.99,252.6,5.2,14.2,626,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2146,1394
$STATE,6768,end climb,SURFACE_DEPTH_REACHED
$STATE,6768,begin surface coast
$FINISH,0.8,0.999912
$STATE,6808,end surface coast,CONTROL_FINISHED_OK
$STATE,6809,begin surface
$SM_CCo,6839,22.00,0.435,0,0,1209,300.00
$SM_GC,1.36,0.00,0.00,22.00,0.000,0.000,0.435,416,2148,1209,-12.07,0.59,300.00
$IRIDIUM_FIX,2148.09,-15940.77,261097,212104
$TT8_MAMPS,0.239304
$HUMID,1744
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,24.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,18.0
$AR_POSTDIVE_SAMPLENUM,11
$24V_AH,24.0,4.674
$10V_AH,9.9,3.871
$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,27.925,52.675,319.125,22.000,0.000,31.104,26.871,313.265,3.500,51.120,138.244,1244.899,3769.474,408.386,1407.584,773.266,31.410,1072.070,0.000,1239.776,0.000,17.247,0.000
$DEVICE_MAMPS,124.254,59.059,732.485,434.889,0.000,103.000,160.000,223.000,420.000,1000.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,GUMSTIX
$SENSOR_SECS,430.840,0.000,0.000,0.000,0.000,0.000,0.000,95.848
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,18957,635
$CAP_FILE_SIZE,74875,0
$CFSIZE,260034560,255963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,221425,2155.656,-15941.690,123,1.4,134,9.8