version: 66.05
glider: 80
mission: 11
dive: 71
start: 7 28 108 14 48 23
data:
$ID,80
$MISSION,11
$DIVE,71
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,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,-26157.51
$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,70
$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
$GPS1,144254,4806.781,-12222.535,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,144727,4806.751,-12222.545,32,1.1,33,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.123
$KALMAN_X,10451.1,4.7,-50.1,-9111.0,81.7
$KALMAN_Y,-6962.9,9.8,50.0,5115.8,-22.0
$MHEAD_RNG_PITCHd_Wd,298.4,2931,-13.2,-6.000
$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,-1.00,-146.6,0.0,0.0,0,97,0.00,0.00,-67.43,0.000,6,0.000,0.000,144,2215,3079
$GC,101,-1.00,-146.6,0.6,-0.8,7,121,12.02,2.65,0.00,0.000,4,0.004,0.004,2518,557,3078
$GC,126,-1.00,-146.6,5.2,-21.2,9,133,0.30,2.90,0.00,0.000,6,0.003,0.004,2442,2205,3077
$GC,164,-1.00,-146.6,12.1,-19.1,13,169,0.30,2.40,0.00,0.000,4,0.004,0.004,2519,3650,3078
$GC,208,-1.00,-146.6,15.9,-7.9,16,215,0.30,2.90,0.00,0.000,6,0.003,0.003,2442,1964,3079
$GC,246,-1.00,-146.6,18.8,-8.1,20,252,0.35,2.70,0.00,0.000,4,0.004,0.004,2518,3609,3079
$GC,537,-1.00,-146.6,40.9,-7.5,45,544,0.30,2.85,0.00,0.000,6,0.004,0.004,2441,1961,3079
$GC,575,-1.00,-146.6,43.7,-7.7,49,578,0.40,0.00,0.00,0.000,6,0.004,0.000,2511,1962,3078
$GC,607,-1.00,-146.6,46.1,-7.5,52,609,0.40,0.00,0.00,0.000,6,0.004,0.000,2436,1961,3079
$GC,639,-1.00,-146.6,48.5,-7.5,55,641,0.32,0.00,0.00,0.000,6,0.003,0.000,2474,1961,3080
$GC,671,-1.00,-146.6,50.8,-7.4,58,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1961,3078
$GC,703,-1.00,-146.6,53.0,-7.1,61,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1961,3078
$GC,735,-1.00,-146.6,55.4,-7.4,64,740,0.00,2.80,0.00,0.000,4,0.000,0.004,2474,3602,3079
$GC,774,-1.00,-146.6,58.3,-7.6,67,778,0.00,2.78,0.00,0.000,6,0.000,0.004,2472,1945,3079
$GC,811,-1.00,-146.6,61.0,-7.3,70,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1945,3079
$GC,843,-1.00,-146.6,63.6,-7.6,73,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1946,3080
$GC,875,-1.00,-146.6,65.9,-7.6,76,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1946,3080
$GC,907,-1.00,-146.6,68.3,-7.6,79,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1945,3079
$GC,938,-1.00,-146.6,70.7,-7.3,82,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1946,3079
$GC,970,-1.00,-146.6,73.2,-7.7,85,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1945,3078
$GC,1002,-1.00,-146.6,75.5,-7.3,88,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1946,3079
$GC,1034,-1.00,-146.6,77.9,-7.8,91,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1947,3079
$GC,1066,-1.00,-146.6,80.4,-7.5,94,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1945,3079
$GC,1098,-1.00,-146.6,82.6,-7.1,97,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1946,3079
$GC,1130,-1.00,-146.6,84.9,-7.1,100,1134,0.00,2.88,0.00,0.000,4,0.000,0.004,2475,3594,3079
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1209,-0.31,0.0,90.1,6.9,106,1336,0.90,0.00,122.43,0.005,6,0.004,0.000,2662,1944,2473
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1340,1.00,146.6,92.4,0.0,119,1466,1.42,0.00,120.60,0.005,6,0.004,0.000,2962,1945,1874
$GC,1495,1.00,146.6,84.0,7.6,134,1498,0.57,0.00,0.00,0.000,6,0.004,0.000,2856,1945,1875
$GC,1525,1.00,146.6,81.7,7.2,137,1527,0.45,0.00,0.00,0.000,6,0.004,0.000,2972,1947,1875
$GC,1556,1.00,146.6,79.3,7.5,140,1559,0.55,0.00,0.00,0.000,6,0.004,0.000,2857,1945,1875
$GC,1588,1.00,146.6,77.0,7.5,143,1594,0.40,2.78,0.00,0.000,4,0.004,0.003,2892,3583,1876
$GC,1898,1.00,146.6,53.9,8.1,170,1903,0.00,2.60,0.00,0.000,6,0.000,0.004,2894,1942,1875
$GC,1935,1.00,146.6,51.0,7.9,173,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1942,1876
$GC,1967,1.00,146.6,48.6,7.5,176,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1943,1875
$GC,1999,1.00,146.6,46.4,7.1,179,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1943,1875
$GC,2031,1.00,146.6,44.1,7.0,182,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1943,1874
$GC,2063,1.00,146.6,41.9,7.1,185,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1941,1875
$GC,2095,1.00,146.6,39.7,7.0,188,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1943,1875
$GC,2126,1.00,146.6,37.4,7.1,191,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1943,1875
$GC,2158,1.00,146.6,35.2,6.9,194,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1941,1875
$GC,2190,1.00,146.6,33.0,7.0,197,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1942,1876
$GC,2222,1.00,146.6,30.7,7.0,200,2227,0.00,2.95,0.00,0.000,4,0.000,0.004,2896,3600,1875
$GC,2272,1.00,146.6,26.9,7.8,204,2277,0.00,3.03,0.00,0.000,6,0.000,0.004,2895,1939,1875
$GC,2309,1.00,146.6,24.1,7.7,207,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1937,1875
$GC,2341,1.00,146.6,21.6,7.6,210,2346,0.00,2.42,0.00,0.000,4,0.000,0.003,2895,519,1875
$GC,2437,1.00,146.6,14.7,7.1,218,2442,0.00,2.85,0.00,0.000,6,0.000,0.004,2895,2173,1876
$GC,2474,1.00,146.6,12.0,7.4,221,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2174,1875
$GC,2506,1.00,146.6,9.5,7.6,224,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2172,1875
$GC,2538,1.00,146.6,7.1,7.3,227,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2172,1875
$GC,2570,1.00,146.6,5.1,6.7,230,2575,0.00,2.60,0.00,0.000,4,0.000,0.004,2894,3602,1875
$GC,2579,1.00,146.6,4.1,7.4,230,2586,0.00,2.70,0.00,0.000,6,0.000,0.004,2895,1955,1874
$STATE,2615,end climb,SURFACE_DEPTH_REACHED
$STATE,2615,begin surface coast
$FINISH,0.7,0.997129
$STATE,2648,end surface coast,CONTROL_FINISHED_OK
$STATE,2648,begin surface
$SM_CCo,2676,175.65,0.004,23,0,1045,350.04
$SM_GC,-0.00,0.00,0.00,175.65,0.000,0.000,0.004,145,2158,1045,-11.71,2.46,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1533
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,38323224576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,6.901
$10V_AH,9.7,14.524
$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,33.450,49.775,243.025,175.650,0.000,0.000,0.000,101.211,0.000,0.000,33.614,503.742,1419.177,677.523,317.994,332.073,33.357,991.344,0.000,264.686,0.000,0.000,0.000
$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,184.876,0.000,0.000,0.000,0.000,0.000,3119.130,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6455,237
$CAP_FILE_SIZE,67045,8
$CFSIZE,260165632,257339392
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,67,191,23,0
$GPS,280708,153852,4806.952,-12222.759,19,1.1,19,18.0