version: 66.05
glider: 80
mission: 11
dive: 135
start: 7 31 108 5 1 32
data:
$ID,80
$MISSION,11
$DIVE,135
$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,70
$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,-27693.617
$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,134
$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
$GPS1,045619,4806.596,-12222.392,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050036,4806.588,-12222.396,14,1.1,14,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.152
$KALMAN_X,15038.2,-41.1,-44.5,-13474.8,250.6
$KALMAN_Y,-4431.9,138.8,16.3,2188.3,-104.5
$MHEAD_RNG_PITCHd_Wd,147.5,3411,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.84,-146.6,0.0,0.0,0,92,0.00,0.00,-60.30,0.000,6,0.000,0.000,148,1973,3079
$GC,95,-0.84,-146.6,0.6,-0.9,7,116,11.93,2.65,0.00,0.000,4,0.004,0.004,2545,3615,3077
$GC,391,-0.84,-146.6,24.4,-6.5,33,398,0.30,2.80,0.00,0.000,6,0.004,0.004,2471,1948,3078
$GC,429,-0.84,-146.6,26.5,-6.1,37,431,0.38,0.00,0.00,0.000,6,0.003,0.000,2548,1947,3078
$GC,461,-0.84,-146.6,28.4,-5.8,40,463,0.38,0.00,0.00,0.000,6,0.003,0.000,2475,1947,3078
$GC,492,-0.84,-146.6,30.3,-5.9,43,495,0.38,0.00,0.00,0.000,6,0.004,0.000,2550,1947,3078
$GC,524,-0.84,-146.6,31.9,-5.5,46,526,0.38,0.00,0.00,0.000,6,0.004,0.000,2475,1947,3078
$GC,556,-0.84,-146.6,33.6,-5.3,49,558,0.30,0.00,0.00,0.000,6,0.003,0.000,2554,1947,3079
$GC,588,-0.84,-146.6,35.3,-5.3,52,590,0.38,0.00,0.00,0.000,6,0.003,0.000,2478,1947,3079
$GC,620,-0.84,-146.6,36.9,-5.0,55,622,0.30,0.00,0.00,0.000,6,0.003,0.000,2551,1947,3078
$GC,652,-0.84,-146.6,38.6,-5.3,58,658,0.35,2.83,0.00,0.000,4,0.003,0.004,2475,3639,3079
$GC,811,-0.84,-146.6,46.9,-5.4,71,818,0.30,3.03,0.00,0.000,6,0.003,0.004,2547,1955,3077
$GC,848,-0.84,-146.6,49.0,-5.4,75,850,0.40,0.00,0.00,0.000,6,0.004,0.000,2473,1955,3079
$GC,881,-0.84,-146.6,50.6,-5.0,78,883,0.30,0.00,0.00,0.000,6,0.004,0.000,2552,1954,3078
$GC,912,-0.84,-146.6,52.4,-5.3,81,914,0.32,0.00,0.00,0.000,6,0.004,0.000,2477,1954,3078
$GC,944,-0.84,-146.6,54.1,-5.4,84,946,0.30,0.00,0.00,0.000,6,0.003,0.000,2553,1954,3078
$GC,975,-0.84,-146.6,55.8,-5.3,87,977,0.30,0.00,0.00,0.000,6,0.004,0.000,2477,1954,3078
$GC,1007,-0.84,-146.6,57.5,-5.4,90,1009,0.40,0.00,0.00,0.000,6,0.003,0.000,2551,1956,3078
$GC,1039,-0.84,-146.6,59.2,-5.4,93,1041,0.40,0.00,0.00,0.000,6,0.003,0.000,2475,1953,3077
$GC,1071,-0.84,-146.6,60.9,-5.3,96,1077,0.28,3.03,0.00,0.000,4,0.004,0.004,2553,3672,3078
$GC,1380,-0.84,-146.6,77.1,-5.1,123,1390,0.30,3.15,0.00,0.000,6,0.003,0.004,2483,1940,3078
$GC,1423,-0.84,-146.6,79.6,-6.0,127,1425,0.38,0.00,0.00,0.000,6,0.003,0.000,2555,1939,3078
$GC,1453,-0.84,-146.6,81.1,-5.1,130,1455,0.35,0.00,0.00,0.000,6,0.004,0.000,2480,1938,3077
$GC,1485,-0.84,-146.6,83.0,-5.7,133,1487,0.32,0.00,0.00,0.000,6,0.003,0.000,2554,1938,3078
$GC,1517,-0.84,-146.6,84.6,-5.3,136,1519,0.32,0.00,0.00,0.000,6,0.004,0.000,2516,1938,3078
$GC,1549,-0.84,-146.6,86.3,-5.4,139,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1938,3081
$GC,1580,-0.84,-146.6,88.0,-5.3,142,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1939,3079
$GC,1612,-0.84,-146.6,89.8,-5.7,145,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1938,3077
$GC,1644,-0.84,-146.6,91.5,-5.2,148,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1938,3078
$GC,1676,-0.84,-146.6,93.3,-5.5,151,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1937,3077
$STATE,1705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1705,begin apogee
$GC,1712,-0.31,0.0,95.0,5.5,154,1839,0.60,0.00,122.60,0.005,6,0.005,0.000,2628,2243,2472
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1843,0.84,146.6,97.2,0.0,167,1973,1.50,2.15,121.07,0.005,4,0.004,0.004,2933,3590,1874
$GC,2164,0.84,146.6,80.1,5.8,197,2171,0.47,2.78,0.00,0.000,6,0.004,0.004,2820,1895,1874
$GC,2202,0.84,146.6,77.8,6.0,201,2204,0.52,0.00,0.00,0.000,6,0.004,0.000,2931,1895,1874
$GC,2234,0.84,146.6,75.9,6.1,204,2236,0.57,0.00,0.00,0.000,6,0.004,0.000,2823,1894,1875
$GC,2266,0.84,146.6,74.0,6.0,207,2268,0.30,0.00,0.00,0.000,6,0.004,0.000,2898,1895,1874
$GC,2298,0.84,146.6,72.1,6.0,210,2300,0.38,0.00,0.00,0.000,6,0.003,0.000,2823,1895,1875
$GC,2329,0.84,146.6,70.2,6.1,213,2335,0.55,2.90,0.00,0.000,4,0.004,0.004,2933,3668,1874
$GC,2639,0.84,146.6,51.8,6.2,240,2649,0.50,3.15,0.00,0.000,6,0.003,0.004,2820,1937,1874
$GC,2681,0.84,146.6,49.0,6.8,244,2683,0.52,0.00,0.00,0.000,6,0.004,0.000,2934,1939,1874
$GC,2713,0.84,146.6,46.9,6.6,247,2715,0.68,0.00,0.00,0.000,6,0.003,0.000,2822,1937,1875
$GC,2745,0.84,146.6,45.1,5.9,250,2750,0.38,2.40,0.00,0.000,4,0.004,0.004,2897,462,1874
$GC,2912,0.84,146.6,35.1,6.0,264,2919,0.30,2.90,0.00,0.000,6,0.004,0.004,2823,2235,1874
$GC,2950,0.84,146.6,32.9,5.9,268,2955,0.35,2.15,0.00,0.000,4,0.004,0.004,2894,3580,1874
$GC,3259,0.84,146.6,14.4,6.2,295,3264,0.00,2.90,0.00,0.000,6,0.000,0.004,2895,1940,1875
$GC,3297,0.84,146.6,12.4,5.6,298,3302,0.00,2.95,0.00,0.000,4,0.000,0.004,2894,3611,1875
$GC,3430,0.84,146.6,4.5,6.5,309,3436,0.00,2.78,0.00,0.000,6,0.000,0.004,2894,1877,1875
$GC,3468,0.84,146.6,2.5,5.7,313,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1876,1875
$STATE,3476,end climb,SURFACE_DEPTH_REACHED
$STATE,3476,begin surface coast
$FINISH,0.7,0.997114
$STATE,3509,end surface coast,CONTROL_FINISHED_OK
$STATE,3509,begin surface
$SM_CCo,3538,132.15,0.004,17,0,1251,300.00
$SM_GC,-0.00,0.00,0.00,132.15,0.000,0.000,0.004,143,2183,1251,-11.72,3.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1537
$INTERNAL_PRESSURE,12.5298
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,15594487808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,13.699
$10V_AH,9.7,28.507
$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,41.675,45.700,243.675,132.150,0.000,0.000,0.000,89.056,0.000,0.000,14.654,648.696,1995.237,617.424,415.133,344.573,33.347,1016.289,0.000,369.532,0.000,0.000,0.000
$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,246.907,0.000,0.000,0.000,0.000,0.000,3843.390,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9574,317
$CAP_FILE_SIZE,76118,8
$CFSIZE,260165632,255238144
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,91,195,17,0
$GPS,310708,060516,4806.170,-12222.157,24,1.1,24,18.0