version: 66.05
glider: 80
mission: 11
dive: 111
start: 7 30 108 4 55 23
data:
$ID,80
$MISSION,11
$DIVE,111
$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,-27149.062
$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,110
$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
$GPS1,045018,4806.716,-12222.653,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,045426,4806.671,-12222.662,17,1.1,17,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.148
$KALMAN_X,13134.4,-76.9,-37.1,-11872.9,95.9
$KALMAN_Y,-5437.5,163.8,-31.7,3371.6,-79.1
$MHEAD_RNG_PITCHd_Wd,132.7,1488,-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,25,-1.00,-146.6,0.0,0.0,0,97,0.00,0.00,-67.47,0.000,6,0.000,0.000,147,1923,3079
$GC,100,-1.00,-146.6,0.6,-0.8,7,121,12.00,2.33,0.00,0.000,4,0.004,0.003,2508,483,3079
$GC,126,-1.00,-146.6,4.2,-16.5,9,133,0.30,2.83,0.00,0.000,6,0.003,0.004,2435,2238,3079
$GC,164,-1.00,-146.6,10.5,-17.6,13,170,0.43,2.80,0.00,0.000,4,0.004,0.004,2508,568,3079
$GC,474,-1.00,-146.6,32.7,-7.0,40,480,0.30,3.03,0.00,0.000,6,0.004,0.004,2436,2194,3079
$GC,511,-1.00,-146.6,35.2,-6.9,43,513,0.43,0.00,0.00,0.000,6,0.003,0.000,2513,2194,3079
$GC,543,-1.00,-146.6,37.4,-6.9,46,545,0.35,0.00,0.00,0.000,6,0.003,0.000,2433,2194,3078
$GC,575,-1.00,-146.6,39.7,-7.1,49,577,0.30,0.00,0.00,0.000,6,0.003,0.000,2503,2195,3079
$GC,607,-1.00,-146.6,42.0,-7.2,52,609,0.30,0.00,0.00,0.000,6,0.004,0.000,2434,2194,3079
$GC,638,-1.00,-146.6,44.3,-7.2,55,641,0.30,0.00,0.00,0.000,6,0.004,0.000,2505,2193,3079
$GC,671,-1.00,-146.6,46.5,-7.0,58,673,0.35,0.00,0.00,0.000,6,0.004,0.000,2430,2194,3078
$GC,702,-1.00,-146.6,48.7,-7.1,61,704,0.40,0.00,0.00,0.000,6,0.004,0.000,2506,2194,3078
$GC,735,-1.00,-146.6,50.8,-6.7,64,737,0.32,0.00,0.00,0.000,6,0.003,0.000,2433,2195,3078
$GC,766,-1.00,-146.6,53.0,-6.6,67,768,0.43,0.00,0.00,0.000,6,0.004,0.000,2515,2193,3078
$GC,798,-1.00,-146.6,55.0,-6.2,70,800,0.43,0.00,0.00,0.000,6,0.003,0.000,2433,2193,3078
$GC,830,-1.00,-146.6,57.1,-6.5,73,832,0.38,0.00,0.00,0.000,6,0.004,0.000,2505,2194,3078
$GC,862,-1.00,-146.6,59.1,-6.4,76,864,0.32,0.00,0.00,0.000,6,0.004,0.000,2470,2194,3078
$GC,893,-1.00,-146.6,61.1,-6.4,79,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2195,3079
$GC,925,-1.00,-146.6,63.0,-6.2,82,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2194,3079
$GC,957,-1.00,-146.6,65.1,-6.2,85,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2193,3079
$GC,989,-1.00,-146.6,67.1,-6.4,88,993,0.00,2.28,0.00,0.000,4,0.000,0.004,2470,3652,3077
$GC,1184,-1.00,-146.6,79.8,-6.9,105,1189,0.00,2.92,0.00,0.000,6,0.000,0.003,2469,1922,3078
$GC,1222,-1.00,-146.6,82.3,-6.7,108,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1922,3079
$GC,1254,-1.00,-146.6,84.4,-6.7,111,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1921,3078
$GC,1286,-1.00,-146.6,86.5,-6.5,114,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1922,3079
$GC,1317,-1.00,-146.6,88.4,-6.4,117,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1922,3079
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1347,begin apogee
$GC,1354,-0.31,0.0,90.4,6.1,120,1481,0.88,0.00,122.47,0.005,6,0.004,0.000,2657,2230,2472
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1485,1.00,146.6,91.5,0.0,133,1611,1.30,0.00,121.07,0.005,6,0.004,0.000,2955,2229,1874
$GC,1643,1.00,146.6,82.2,7.5,149,1645,0.45,0.00,0.00,0.000,6,0.004,0.000,2883,2230,1877
$GC,1674,1.00,146.6,79.9,7.2,152,1677,0.43,0.00,0.00,0.000,6,0.003,0.000,2958,2229,1875
$GC,1706,1.00,146.6,77.5,7.5,155,1708,0.30,0.00,0.00,0.000,6,0.003,0.000,2882,2231,1875
$GC,1738,1.00,146.6,75.2,7.3,158,1740,0.43,0.00,0.00,0.000,6,0.003,0.000,2955,2230,1875
$GC,1770,1.00,146.6,72.9,7.2,161,1772,0.30,0.00,0.00,0.000,6,0.003,0.000,2886,2230,1875
$GC,1802,1.00,146.6,70.5,7.3,164,1804,0.38,0.00,0.00,0.000,6,0.003,0.000,2959,2231,1875
$GC,1834,1.00,146.6,68.1,7.5,167,1836,0.30,0.00,0.00,0.000,6,0.003,0.000,2882,2230,1875
$GC,1865,1.00,146.6,65.7,7.5,170,1868,0.40,0.00,0.00,0.000,6,0.003,0.000,2960,2229,1875
$GC,1899,1.00,146.6,63.4,7.4,173,1905,0.25,3.03,0.00,0.000,4,0.004,0.004,2884,496,1874
$GC,1927,1.00,146.6,61.3,7.0,175,1933,0.30,3.03,0.00,0.000,6,0.004,0.004,2959,2171,1875
$GC,1965,1.00,146.6,58.4,7.6,178,1970,0.57,2.30,0.00,0.000,4,0.004,0.004,2849,3606,1875
$GC,2274,1.00,146.6,36.8,7.3,205,2280,0.45,2.90,0.00,0.000,6,0.004,0.004,2958,1965,1876
$GC,2311,1.00,146.6,34.0,7.6,208,2314,0.30,0.00,0.00,0.000,6,0.003,0.000,2881,1963,1874
$GC,2343,1.00,146.6,31.7,7.1,211,2345,0.32,0.00,0.00,0.000,6,0.004,0.000,2915,1962,1875
$GC,2375,1.00,146.6,29.5,7.1,214,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1963,1875
$GC,2407,1.00,146.6,27.4,6.5,217,2411,0.00,2.40,0.00,0.000,4,0.000,0.003,2914,475,1875
$GC,2517,1.00,146.6,19.7,7.2,226,2524,0.00,2.90,0.00,0.000,6,0.000,0.003,2915,2230,1874
$GC,2556,1.00,146.6,17.1,6.9,230,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2230,1876
$GC,2587,1.00,146.6,15.0,6.8,233,2592,0.00,2.35,0.00,0.000,4,0.000,0.004,2914,3575,1877
$GC,2754,1.00,146.6,3.0,7.3,247,2761,0.00,2.83,0.00,0.000,6,0.000,0.004,2915,1913,1875
$STATE,2779,end climb,SURFACE_DEPTH_REACHED
$STATE,2779,begin surface coast
$FINISH,0.5,0.997005
$STATE,2812,end surface coast,CONTROL_FINISHED_OK
$STATE,2812,begin surface
$SM_CCo,2840,175.55,0.004,23,0,1044,350.04
$SM_GC,-0.00,0.00,0.00,175.55,0.000,0.000,0.004,145,2221,1044,-11.71,4.33,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1811
$INTERNAL_PRESSURE,12.4907
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,24314642432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,11.070
$10V_AH,9.6,23.083
$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,38.725,38.750,243.550,175.550,0.000,0.000,0.000,91.455,0.000,0.000,19.932,536.844,1533.719,680.779,317.861,321.027,33.340,1001.498,0.000,280.815,0.000,0.000,0.000
$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,197.017,0.000,0.000,0.000,0.000,0.000,3247.200,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6459,253
$CAP_FILE_SIZE,68711,8
$CFSIZE,260165632,256057344
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,90,163,23,0
$GPS,300708,054851,4806.388,-12222.270,33,1.1,33,18.0