version: 66.05
glider: 80
mission: 11
dive: 37
start: 7 27 108 6 40 36
data:
$ID,80
$MISSION,11
$DIVE,37
$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,40
$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,0.0038360001
$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,-25404.127
$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,36
$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
$GPS1,063600,4806.625,-12222.541,6,1.1,6,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,063945,4806.615,-12222.523,7,1.1,7,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.209
$KALMAN_X,7358.1,-87.2,-2.0,-5948.2,-18.1
$KALMAN_Y,-8273.0,261.8,145.8,5828.2,67.0
$MHEAD_RNG_PITCHd_Wd,134.2,1310,-14.0,-7.500
$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,-1.06,-146.6,0.0,0.0,0,97,0.00,0.00,-67.35,0.000,6,0.000,0.000,142,1957,3080
$GC,101,-1.06,-146.6,0.7,-0.9,7,121,12.02,2.85,0.00,0.000,4,0.004,0.003,2494,3603,3079
$GC,425,-1.06,-146.6,31.9,-7.2,36,431,0.30,2.95,0.00,0.000,6,0.003,0.004,2420,1965,3079
$GC,463,-1.06,-146.6,34.9,-7.9,39,469,0.30,2.83,0.00,0.000,4,0.004,0.004,2494,3596,3080
$GC,739,-1.06,-146.6,55.5,-7.5,63,745,0.28,2.78,0.00,0.000,6,0.004,0.004,2422,1966,3079
$GC,777,-1.06,-146.6,58.2,-7.3,66,779,0.32,0.00,0.00,0.000,6,0.003,0.000,2456,1965,3080
$GC,808,-1.06,-146.6,60.6,-7.2,69,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1964,3080
$GC,840,-1.06,-146.6,62.8,-7.0,72,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1965,3080
$GC,872,-1.06,-146.6,65.1,-7.3,75,877,0.00,2.97,0.00,0.000,4,0.000,0.003,2458,3602,3081
$GC,1169,-1.06,-146.6,86.8,-7.5,101,1174,0.00,2.92,0.00,0.000,6,0.000,0.004,2460,1959,3078
$GC,1207,-1.06,-146.6,89.6,-7.3,104,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1958,3080
$STATE,1214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1214,begin apogee
$GC,1221,-0.31,0.0,90.3,7.1,105,1349,1.12,0.00,123.07,0.005,6,0.004,0.000,2679,2164,2472
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1353,1.06,146.6,91.9,0.0,118,1479,1.30,0.00,120.90,0.005,6,0.004,0.000,2977,2166,1875
$GC,1511,1.06,150.7,83.2,7.4,134,1521,0.57,0.00,5.25,0.004,6,0.003,0.000,2861,2166,1859
$GC,1553,1.07,158.0,80.2,7.2,138,1568,0.57,2.53,7.82,0.004,4,0.003,0.004,2973,3643,1828
$GC,1849,1.07,158.0,58.4,8.5,164,1855,0.30,2.92,0.00,0.000,6,0.003,0.004,2897,1894,1829
$GC,1887,1.07,158.0,55.5,7.7,167,1889,0.30,0.00,0.00,0.000,6,0.004,0.000,2972,1895,1828
$GC,1919,1.07,158.0,53.1,7.7,170,1921,0.35,0.00,0.00,0.000,6,0.004,0.000,2896,1893,1828
$GC,1951,1.08,163.5,50.8,7.3,173,1961,0.30,0.00,6.65,0.004,6,0.004,0.000,2974,1893,1804
$GC,1992,1.08,163.5,47.6,7.5,177,1994,0.28,0.00,0.00,0.000,6,0.003,0.000,2895,1892,1804
$GC,2024,1.08,163.5,45.2,7.7,180,2026,0.40,0.00,0.00,0.000,6,0.004,0.000,2973,1894,1804
$GC,2056,1.08,167.5,42.8,7.4,183,2067,0.30,0.00,4.97,0.004,6,0.003,0.000,2896,1893,1789
$GC,2098,1.10,180.9,39.9,7.0,187,2117,0.28,0.00,12.85,0.004,6,0.004,0.000,2971,1894,1735
$GC,2149,1.10,184.0,36.1,7.4,192,2161,0.35,2.28,4.88,0.004,4,0.004,0.004,2891,542,1721
$GC,2196,1.10,185.0,32.6,7.5,196,2201,0.30,2.80,0.00,0.000,6,0.004,0.004,2966,2195,1721
$GC,2233,1.10,185.0,29.8,7.6,199,2235,0.30,0.00,0.00,0.000,6,0.003,0.000,2894,2196,1721
$GC,2265,1.10,185.0,27.4,7.6,202,2267,0.35,0.00,0.00,0.000,6,0.004,0.000,2968,2194,1722
$GC,2298,1.10,185.0,24.8,7.9,205,2300,0.32,0.00,0.00,0.000,6,0.003,0.000,2895,2193,1720
$GC,2329,1.10,185.0,22.4,7.7,208,2331,0.35,0.00,0.00,0.000,6,0.003,0.000,2971,2193,1721
$GC,2361,1.10,185.5,20.1,7.5,211,2363,0.43,0.00,0.00,0.000,6,0.005,0.000,2896,2193,1720
$GC,2393,1.11,191.4,17.8,7.3,214,2407,0.40,2.40,7.65,0.005,4,0.004,0.004,2973,3615,1691
$GC,2481,1.11,191.4,11.1,9.1,222,2487,0.30,2.83,0.00,0.000,6,0.003,0.003,2896,1883,1692
$GC,2519,1.11,191.4,8.0,8.2,225,2521,0.32,0.00,0.00,0.000,6,0.004,0.000,2936,1882,1692
$GC,2551,1.11,191.4,5.5,8.0,228,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1881,1692
$GC,2582,1.11,191.4,2.7,8.6,231,2587,0.00,3.03,0.00,0.000,4,0.000,0.004,2936,3629,1693
$STATE,2589,end climb,SURFACE_DEPTH_REACHED
$STATE,2590,begin surface coast
$FINISH,0.8,0.997292
$STATE,2609,end surface coast,CONTROL_FINISHED_OK
$STATE,2609,begin surface
$SM_CCo,2639,137.40,0.004,18,0,1045,350.04
$SM_GC,-0.00,0.00,0.00,137.40,0.000,0.000,0.004,145,1975,1045,-11.71,-2.71,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1784
$INTERNAL_PRESSURE,12.4712
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,50341249024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,3.393
$10V_AH,9.7,7.314
$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,37.050,39.000,294.050,137.400,0.000,0.000,0.000,80.259,0.000,0.000,8.459,479.842,1376.590,658.503,304.137,278.946,33.341,964.764,0.000,278.827,0.000,0.000,0.000
$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,178.851,0.000,0.000,0.000,0.000,0.000,2972.980,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6466,233
$CAP_FILE_SIZE,61517,7
$CFSIZE,260165632,258449408
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,76,153,18,0
$GPS,270708,072914,4806.389,-12222.351,9,1.1,9,18.0