version: 66.05
glider: 80
mission: 11
dive: 29
start: 7 26 108 23 28 57
data:
$ID,80
$MISSION,11
$DIVE,29
$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,-25244.158
$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,28
$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
$GPS1,232414,4807.967,-12223.857,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,232803,4807.968,-12223.857,13,1.1,13,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.093,-0.217
$KALMAN_X,6640.5,1.3,65.3,-7035.1,39.2
$KALMAN_Y,-8253.7,70.5,-201.2,8850.2,77.8
$MHEAD_RNG_PITCHd_Wd,138.8,2083,-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,25,-1.06,-146.6,0.0,0.0,0,95,0.00,0.00,-67.32,0.000,6,0.000,0.000,147,2065,3079
$GC,99,-1.06,-146.6,0.6,-0.9,7,120,11.48,2.47,0.00,0.000,4,0.004,0.004,2492,509,3080
$GC,378,-1.06,-146.6,27.4,-7.8,32,384,0.30,2.85,0.00,0.000,6,0.004,0.004,2413,2170,3081
$GC,416,-1.06,-146.6,30.1,-7.2,35,418,0.32,0.00,0.00,0.000,6,0.004,0.000,2451,2170,3079
$GC,448,-1.06,-146.6,32.4,-7.2,38,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2169,3078
$GC,480,-1.06,-146.6,34.6,-7.1,41,485,0.00,2.65,0.00,0.000,4,0.000,0.004,2452,3621,3079
$GC,788,-1.06,-146.6,56.0,-6.5,68,794,0.00,3.03,0.00,0.000,6,0.000,0.004,2449,1958,3079
$GC,826,-1.06,-146.6,58.6,-6.8,71,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1957,3080
$GC,858,-1.06,-146.6,60.8,-6.9,74,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1957,3080
$GC,890,-1.06,-146.6,63.0,-7.0,77,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1957,3080
$GC,922,-1.06,-146.6,65.3,-7.2,80,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1958,3079
$GC,954,-1.06,-146.6,67.6,-7.2,83,958,0.00,2.60,0.00,0.000,4,0.000,0.004,2450,3583,3079
$GC,1233,-1.06,-146.6,87.3,-6.7,107,1239,0.00,2.65,0.00,0.000,6,0.000,0.004,2450,1946,3079
$GC,1271,-1.06,-146.6,90.0,-7.4,111,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1946,3080
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1286,-0.31,0.0,90.5,6.8,112,1413,1.10,0.00,122.60,0.005,6,0.004,0.000,2673,2254,2472
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,1.06,146.6,92.3,0.0,125,1544,1.42,0.00,121.00,0.005,6,0.004,0.000,2935,2256,1874
$GC,1575,1.07,159.1,83.6,7.1,141,1590,0.00,0.00,12.12,0.004,6,0.000,0.000,2934,2255,1824
$GC,1617,1.08,167.8,80.6,7.2,145,1628,0.00,0.00,8.98,0.005,6,0.000,0.000,2934,2254,1789
$GC,1659,1.09,173.0,77.6,7.3,149,1669,0.00,0.00,6.28,0.004,6,0.000,0.000,2935,2255,1766
$GC,1701,1.10,182.5,74.6,7.2,153,1713,0.00,0.00,9.73,0.004,6,0.000,0.000,2935,2256,1728
$GC,1743,1.11,192.2,71.6,7.2,157,1755,0.00,0.00,9.75,0.004,6,0.000,0.000,2935,2255,1689
$GC,1785,1.14,211.3,68.7,6.8,161,1805,0.00,0.00,17.52,0.005,6,0.000,0.000,2935,2255,1610
$GC,1837,1.15,224.9,65.0,7.0,166,1852,0.00,0.00,12.98,0.005,6,0.000,0.000,2935,2254,1556
$GC,1879,1.15,224.9,61.7,7.9,170,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2255,1555
$GC,1911,1.15,225.9,59.4,7.5,173,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2254,1556
$GC,1943,1.16,228.6,57.0,7.4,176,1953,0.00,0.00,5.12,0.004,6,0.000,0.000,2933,2255,1540
$GC,1985,1.16,228.6,53.9,7.5,180,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2255,1539
$GC,2017,1.16,231.7,51.5,7.4,183,2027,0.00,0.00,4.28,0.004,6,0.000,0.000,2935,2256,1528
$GC,2059,1.16,231.7,48.3,7.7,187,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2254,1529
$GC,2091,1.16,231.7,45.9,7.8,190,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2256,1528
$GC,2123,1.17,241.5,43.7,7.2,193,2135,0.00,0.00,10.00,0.005,6,0.000,0.000,2934,2255,1487
$GC,2165,1.18,248.6,40.7,7.3,197,2175,0.00,0.00,8.02,0.004,6,0.000,0.000,2934,2255,1458
$GC,2207,1.19,252.8,37.6,7.4,201,2216,0.00,0.00,5.30,0.004,6,0.000,0.000,2934,2256,1442
$GC,2249,1.19,256.7,34.5,7.4,205,2258,0.00,0.00,5.05,0.004,6,0.000,0.000,2932,2255,1426
$GC,2290,1.20,263.1,31.4,7.3,209,2300,0.00,0.00,7.38,0.004,6,0.000,0.000,2935,2256,1398
$GC,2334,1.21,275.0,28.5,7.1,213,2352,0.38,0.00,11.57,0.005,6,0.004,0.000,3008,2256,1351
$GC,2385,1.22,282.9,24.8,7.2,218,2397,0.55,0.00,8.38,0.004,6,0.004,0.000,2900,2255,1319
$GC,2426,1.24,295.7,21.8,7.1,222,2442,0.45,0.00,12.38,0.005,6,0.004,0.000,3011,2255,1267
$GC,2469,1.25,300.8,18.8,7.3,226,2479,0.32,0.00,6.38,0.004,6,0.003,0.000,2974,2256,1246
$GC,2511,1.27,317.1,15.9,6.9,230,2530,0.00,0.00,14.90,0.005,6,0.000,0.000,2973,2256,1181
$GC,2563,1.29,338.7,12.4,6.8,235,2588,0.00,2.15,19.60,0.005,4,0.000,0.004,2974,3614,1092
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,0.9,0.997422
$STATE,2726,end surface coast,CONTROL_FINISHED_OK
$STATE,2726,begin surface
$SM_CCo,2757,11.05,0.004,1,0,1045,350.04
$SM_GC,-0.00,0.00,0.00,11.05,0.000,0.000,0.004,146,1956,1045,-11.71,-3.17,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.180245
$HUMID,1698
$INTERNAL_PRESSURE,12.4809
$TCM_TEMP,15.00
$AR_DIVENUM,29
$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
$24V_AH,23.8,2.605
$10V_AH,9.6,5.510
$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,30.425,21.750,439.300,11.050,0.000,0.000,0.000,80.532,0.000,0.000,13.654,480.548,1362.308,576.122,299.781,300.834,33.349,882.828,0.000,269.623,0.000,0.000,0.000
$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,188.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6451,249
$CAP_FILE_SIZE,62080,8
$CFSIZE,260165632,258703360
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,71,90,1,0
$GPS,270708,001613,4807.686,-12223.581,10,1.1,10,18.0