version: 66.05
glider: 80
mission: 11
dive: 51
start: 7 27 108 19 35 5
data:
$ID,80
$MISSION,11
$DIVE,51
$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,45
$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,-25741.002
$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,50
$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
$GPS1,193021,4807.751,-12223.698,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,193410,4807.722,-12223.627,12,1.1,12,18.0
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.102,-0.202
$KALMAN_X,8677.2,244.6,80.1,-9045.8,41.7
$KALMAN_Y,-7919.5,-86.0,109.0,7908.1,1.5
$MHEAD_RNG_PITCHd_Wd,135.3,1546,-12.4,-6.667
$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,-0.96,-146.6,0.0,0.0,0,97,0.00,0.00,-67.28,0.000,6,0.000,0.000,166,2194,3078
$GC,100,-0.96,-146.6,0.6,-0.6,7,121,11.52,2.33,0.00,0.000,4,0.004,0.004,2539,3628,3078
$GC,424,-0.96,-146.6,30.5,-6.2,36,430,0.47,2.78,0.00,0.000,6,0.004,0.004,2423,1971,3078
$GC,462,-0.96,-146.6,33.0,-6.8,39,467,0.45,2.70,0.00,0.000,4,0.005,0.004,2540,3612,3077
$GC,738,-0.96,-146.6,51.3,-6.4,63,744,0.45,2.90,0.00,0.000,6,0.003,0.004,2426,1950,3077
$GC,775,-0.96,-146.6,53.7,-6.3,66,778,0.57,0.00,0.00,0.000,6,0.003,0.000,2539,1949,3077
$GC,807,-0.96,-146.6,55.7,-6.2,69,810,0.47,0.00,0.00,0.000,6,0.003,0.000,2422,1949,3078
$GC,839,-0.96,-146.6,57.8,-6.6,72,841,0.47,0.00,0.00,0.000,6,0.003,0.000,2537,1950,3078
$GC,871,-0.96,-146.6,59.8,-6.5,75,873,0.47,0.00,0.00,0.000,6,0.003,0.000,2425,1951,3077
$GC,903,-0.96,-146.6,61.9,-6.5,78,905,0.47,0.00,0.00,0.000,6,0.003,0.000,2541,1950,3078
$GC,935,-0.96,-146.6,64.0,-6.5,81,937,0.50,0.00,0.00,0.000,6,0.003,0.000,2426,1948,3078
$GC,967,-0.96,-146.6,66.1,-6.6,84,969,0.47,0.00,0.00,0.000,6,0.004,0.000,2540,1949,3078
$GC,998,-0.96,-146.6,68.1,-6.4,87,1001,0.47,0.00,0.00,0.000,6,0.003,0.000,2428,1951,3079
$GC,1030,-0.96,-146.6,70.3,-6.5,90,1033,0.57,0.00,0.00,0.000,6,0.003,0.000,2547,1951,3078
$GC,1062,-0.96,-146.6,72.2,-6.3,93,1064,0.47,0.00,0.00,0.000,6,0.004,0.000,2432,1949,3078
$GC,1094,-0.96,-146.6,74.3,-6.6,96,1097,0.57,0.00,0.00,0.000,6,0.003,0.000,2545,1949,3078
$GC,1126,-0.96,-146.6,76.4,-6.7,99,1128,0.47,0.00,0.00,0.000,6,0.004,0.000,2432,1949,3077
$GC,1158,-0.96,-146.6,78.4,-6.3,102,1160,0.32,0.00,0.00,0.000,6,0.004,0.000,2504,1949,3078
$GC,1190,-0.96,-146.6,80.5,-6.6,105,1192,0.43,0.00,0.00,0.000,6,0.004,0.000,2433,1950,3078
$GC,1223,-0.96,-146.6,82.7,-6.5,108,1225,0.32,0.00,0.00,0.000,6,0.004,0.000,2508,1951,3078
$GC,1253,-0.96,-146.6,84.7,-6.4,111,1255,0.38,0.00,0.00,0.000,6,0.003,0.000,2432,1949,3079
$GC,1285,-0.96,-146.6,86.8,-6.6,114,1291,0.30,2.83,0.00,0.000,4,0.004,0.004,2506,3592,3079
$STATE,1333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1334,begin apogee
$GC,1344,-0.31,0.0,90.2,6.3,118,1471,0.75,0.00,122.60,0.005,6,0.004,0.000,2655,1951,2472
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin climb
$GC,1475,0.96,146.6,92.5,0.0,131,1601,1.45,0.00,120.55,0.005,6,0.003,0.000,2951,1951,1875
$GC,1630,0.96,146.6,84.7,7.0,146,1632,0.47,0.00,0.00,0.000,6,0.004,0.000,2842,1950,1876
$GC,1659,0.96,146.6,82.5,6.7,149,1669,0.57,2.90,0.00,0.000,4,0.004,0.003,2952,3612,1874
$GC,1973,0.96,146.6,60.9,7.8,177,1979,0.40,2.83,0.00,0.000,6,0.003,0.004,2838,1943,1875
$GC,2010,0.96,146.6,57.9,8.1,180,2013,0.55,0.00,0.00,0.000,6,0.003,0.000,2953,1942,1875
$GC,2042,0.96,146.6,55.5,7.7,183,2045,0.68,0.00,0.00,0.000,6,0.004,0.000,2840,1942,1875
$GC,2074,0.96,146.6,53.3,6.9,186,2076,0.57,0.00,0.00,0.000,6,0.004,0.000,2951,1943,1875
$GC,2106,0.96,146.6,51.2,6.7,189,2108,0.52,0.00,0.00,0.000,6,0.004,0.000,2877,1944,1875
$GC,2138,0.96,146.6,49.1,6.7,192,2140,0.38,0.00,0.00,0.000,6,0.004,0.000,2948,1942,1874
$GC,2170,0.96,149.0,47.0,6.6,195,2180,0.50,0.00,4.32,0.004,6,0.003,0.000,2836,1944,1862
$GC,2212,0.99,176.7,44.6,5.8,199,2242,0.52,0.00,24.25,0.005,6,0.004,0.000,2953,1944,1752
$GC,2274,1.01,188.2,40.7,6.3,205,2288,0.32,0.00,11.48,0.004,6,0.003,0.000,2876,1943,1704
$GC,2315,1.01,188.2,37.9,6.7,209,2321,0.32,2.90,0.00,0.000,4,0.003,0.004,2953,3609,1704
$GC,2389,1.01,188.2,32.9,7.7,215,2395,0.43,2.78,0.00,0.000,6,0.003,0.004,2876,1972,1704
$GC,2426,1.01,188.2,30.2,7.5,218,2428,0.28,0.00,0.00,0.000,6,0.004,0.000,2946,1972,1704
$GC,2458,1.01,188.2,27.8,7.3,221,2460,0.30,0.00,0.00,0.000,6,0.003,0.000,2874,1973,1705
$GC,2490,1.01,188.2,25.5,7.3,224,2492,0.35,0.00,0.00,0.000,6,0.003,0.000,2950,1973,1704
$GC,2522,1.01,188.2,23.3,6.9,227,2524,0.38,0.00,0.00,0.000,6,0.003,0.000,2879,1972,1704
$GC,2555,1.01,188.2,21.2,6.8,230,2557,0.30,0.00,0.00,0.000,6,0.004,0.000,2953,1972,1704
$GC,2585,1.01,188.2,19.0,6.7,233,2587,0.28,0.00,0.00,0.000,6,0.004,0.000,2874,1974,1704
$GC,2617,1.02,195.6,17.0,6.4,236,2628,0.30,0.00,8.07,0.004,6,0.003,0.000,2912,1972,1673
$GC,2659,1.02,198.4,14.3,6.6,240,2668,0.00,0.00,4.50,0.004,6,0.000,0.000,2911,1973,1662
$GC,2701,1.02,198.4,11.4,7.2,244,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1974,1661
$GC,2733,1.02,201.2,9.3,6.6,247,2744,0.00,2.92,3.65,0.004,4,0.000,0.004,2911,3662,1651
$GC,2827,1.02,201.2,2.9,8.3,255,2834,0.00,3.15,0.00,0.000,6,0.000,0.004,2912,1912,1651
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,0.9,0.997101
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2903,128.82,0.004,17,0,1046,350.04
$SM_GC,-0.00,0.00,0.00,128.82,0.000,0.000,0.004,144,2220,1046,-11.70,4.21,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1831
$INTERNAL_PRESSURE,12.5102
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,45452984320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,4.802
$10V_AH,9.6,10.225
$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,45.600,34.250,299.425,128.825,0.000,0.000,0.000,80.058,0.000,0.000,12.633,552.858,1510.050,660.025,324.190,308.939,33.350,994.179,0.000,291.738,0.000,0.000,0.000
$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,200.648,0.000,0.000,0.000,0.000,0.000,3224.050,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6472,260
$CAP_FILE_SIZE,73615,8
$CFSIZE,260165632,257982464
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,96,136,17,0
$GPS,270708,202813,4807.486,-12223.428,27,1.1,27,18.0