version: 66.05
glider: 80
mission: 11
dive: 147
start: 7 31 108 18 13 43
data:
$ID,80
$MISSION,11
$DIVE,147
$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,75
$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,-28005.453
$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,146
$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
$GPS1,180817,4805.467,-12221.369,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,181247,4805.476,-12221.393,34,1.1,34,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.102
$KALMAN_X,15775.7,-120.4,-56.0,-12882.4,174.9
$KALMAN_Y,-3834.6,-3.4,2.5,-313.5,16.0
$MHEAD_RNG_PITCHd_Wd,292.5,5678,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-146.6,0.0,0.0,0,89,0.00,0.00,-60.65,0.000,6,0.000,0.000,147,1943,3075
$GC,93,-0.84,-146.6,0.6,-1.4,6,113,11.73,2.35,0.00,0.000,4,0.004,0.003,2533,518,3075
$GC,417,-0.84,-146.6,27.0,-5.6,35,423,0.30,3.08,0.00,0.000,6,0.004,0.004,2461,2248,3074
$GC,455,-0.84,-146.6,29.2,-5.9,38,461,0.30,3.03,0.00,0.000,4,0.004,0.004,2540,482,3075
$GC,765,-0.84,-146.6,46.6,-5.8,65,771,0.30,3.05,0.00,0.000,6,0.004,0.004,2465,2233,3073
$GC,802,-0.84,-146.6,48.6,-5.3,68,804,0.40,0.00,0.00,0.000,6,0.004,0.000,2537,2235,3074
$GC,834,-0.84,-146.6,50.4,-5.7,71,836,0.28,0.00,0.00,0.000,6,0.003,0.000,2460,2234,3074
$GC,866,-0.84,-146.6,52.1,-5.4,74,868,0.40,0.00,0.00,0.000,6,0.004,0.000,2539,2233,3074
$GC,898,-0.84,-146.6,53.8,-5.1,77,900,0.35,0.00,0.00,0.000,6,0.004,0.000,2462,2233,3074
$GC,930,-0.84,-146.6,55.5,-5.3,80,932,0.30,0.00,0.00,0.000,6,0.003,0.000,2535,2235,3075
$GC,963,-0.84,-146.6,57.1,-5.3,83,965,0.45,0.00,0.00,0.000,6,0.003,0.000,2458,2234,3074
$GC,993,-0.84,-146.6,58.7,-5.2,86,998,0.57,2.53,0.00,0.000,4,0.004,0.004,2533,3660,3074
$GC,1303,-0.84,-146.6,75.9,-5.7,113,1310,0.30,3.17,0.00,0.000,6,0.004,0.004,2459,1912,3074
$GC,1341,-0.84,-146.6,78.1,-5.7,116,1343,0.30,0.00,0.00,0.000,6,0.004,0.000,2531,1911,3075
$GC,1373,-0.84,-146.6,79.9,-5.7,119,1375,0.35,0.00,0.00,0.000,6,0.004,0.000,2455,1912,3073
$GC,1405,-0.84,-146.6,81.7,-5.7,122,1407,0.45,0.00,0.00,0.000,6,0.003,0.000,2531,1913,3074
$GC,1436,-0.84,-146.6,83.4,-5.6,125,1442,0.30,3.05,0.00,0.000,4,0.004,0.004,2492,3640,3073
$GC,1580,-0.84,-146.6,91.2,-5.7,137,1585,0.00,2.78,0.00,0.000,6,0.000,0.004,2491,1898,3075
$GC,1617,-0.84,-146.6,93.4,-5.4,140,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1898,3074
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1654,-0.31,0.0,95.1,5.4,143,1780,0.77,0.00,121.78,0.005,6,0.004,0.000,2679,2209,2473
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1784,0.84,146.6,97.3,0.0,156,1911,1.23,0.00,121.20,0.005,6,0.004,0.000,2935,2209,1874
$GC,1943,0.84,146.6,90.1,5.9,172,1952,0.65,2.85,0.00,0.000,4,0.004,0.004,2824,470,1874
$GC,2227,0.84,146.6,72.7,5.8,197,2234,0.30,2.92,0.00,0.000,6,0.004,0.004,2901,2254,1874
$GC,2266,0.84,146.6,70.5,6.0,201,2269,0.38,0.00,0.00,0.000,6,0.004,0.000,2820,2253,1875
$GC,2297,0.84,146.6,68.4,6.1,204,2299,0.45,0.00,0.00,0.000,6,0.003,0.000,2931,2254,1875
$GC,2329,0.84,146.6,66.5,6.3,207,2331,0.60,0.00,0.00,0.000,6,0.004,0.000,2861,2254,1875
$GC,2361,0.84,146.6,64.5,6.2,210,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2253,1878
$GC,2393,0.84,146.6,62.7,5.9,213,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2254,1874
$GC,2424,0.84,146.6,60.7,6.1,216,2429,0.00,2.35,0.00,0.000,4,0.000,0.004,2860,3604,1874
$GC,2594,0.84,146.6,50.4,6.6,230,2600,0.00,2.58,0.00,0.000,6,0.000,0.004,2859,1953,1875
$GC,2631,0.84,146.6,48.0,6.4,234,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1950,1875
$GC,2663,0.84,146.6,46.0,6.1,237,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1954,1875
$GC,2695,0.84,146.6,44.2,5.8,240,2699,0.00,2.40,0.00,0.000,4,0.000,0.004,2862,531,1874
$GC,3003,0.84,146.6,26.2,5.8,267,3008,0.00,2.60,0.00,0.000,6,0.000,0.004,2860,2174,1874
$GC,3040,0.84,146.6,24.0,6.1,270,3045,0.00,2.78,0.00,0.000,4,0.000,0.004,2860,526,1875
$GC,3348,0.84,146.6,6.7,5.6,297,3353,0.00,2.85,0.00,0.000,6,0.000,0.004,2861,2169,1875
$GC,3386,0.84,148.7,4.9,5.0,300,3395,0.00,0.00,3.55,0.004,6,0.000,0.000,2864,2169,1864
$GC,3427,0.84,148.7,2.8,5.2,304,3432,0.00,2.85,0.00,0.000,4,0.000,0.004,2861,498,1865
$GC,3448,0.91,206.3,2.0,3.2,305,3457,0.30,3.03,1.75,0.004,2,0.003,0.004,2939,2243,1864
$STATE,3458,end climb,SURFACE_DEPTH_REACHED
$STATE,3458,begin surface coast
$FINISH,0.5,0.997231
$STATE,3523,end surface coast,CONTROL_FINISHED_OK
$STATE,3523,begin surface
$SM_CCo,3552,130.12,0.004,17,0,1249,300.00
$SM_GC,0.00,0.00,0.00,130.12,0.000,0.000,0.004,146,1940,1249,-11.71,-3.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1561
$INTERNAL_PRESSURE,12.4517
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,10643800064
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,15.127
$10V_AH,9.6,31.452
$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,36.125,51.225,248.275,130.125,0.000,0.000,0.000,86.061,0.000,0.000,34.626,633.199,2026.106,609.139,457.537,320.096,33.347,1017.427,0.000,391.585,0.000,0.000,0.000
$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,244.014,0.000,0.000,0.000,0.000,0.000,3856.410,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9580,312
$CAP_FILE_SIZE,69834,8
$CFSIZE,260165632,254820352
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,75,201,17,0
$GPS,310708,191741,4805.638,-12221.626,27,1.1,27,18.0