version: 66.05
glider: 80
mission: 11
dive: 157
start: 8 1 108 5 32 45
data:
$ID,80
$MISSION,11
$DIVE,157
$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,-28240.014
$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,156
$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
$GPS1,052738,4807.938,-12223.980,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,053149,4807.759,-12223.731,13,1.1,13,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,-0.137
$KALMAN_X,15623.4,-4.2,-90.3,-15701.8,65.9
$KALMAN_Y,-2449.8,168.5,165.7,2195.4,-15.5
$MHEAD_RNG_PITCHd_Wd,133.0,6126,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-60.38,0.000,6,0.000,0.000,146,2249,3079
$GC,91,-0.84,-146.6,0.6,-1.5,6,112,12.30,2.12,0.00,0.000,4,0.004,0.004,2552,3599,3080
$GC,416,-0.84,-146.6,25.6,-5.2,35,422,0.30,2.60,0.00,0.000,6,0.003,0.004,2475,1966,3082
$GC,453,-0.84,-146.6,27.8,-5.9,38,456,0.43,0.00,0.00,0.000,6,0.003,0.000,2545,1966,3080
$GC,485,-0.84,-146.6,29.6,-5.5,41,487,0.43,0.00,0.00,0.000,6,0.004,0.000,2469,1967,3080
$GC,517,-0.84,-146.6,31.4,-5.6,44,519,0.30,0.00,0.00,0.000,6,0.004,0.000,2544,1966,3080
$GC,549,-0.84,-146.6,33.0,-5.3,47,551,0.30,0.00,0.00,0.000,6,0.003,0.000,2471,1965,3080
$GC,581,-0.84,-146.6,34.9,-5.6,50,583,0.40,0.00,0.00,0.000,6,0.003,0.000,2549,1966,3080
$GC,613,-0.84,-146.6,36.6,-5.3,53,615,0.30,0.00,0.00,0.000,6,0.004,0.000,2474,1965,3080
$GC,645,-0.84,-146.6,38.2,-5.6,56,647,0.40,0.00,0.00,0.000,6,0.004,0.000,2546,1966,3080
$GC,676,-0.84,-146.6,40.0,-5.6,59,682,0.40,2.65,0.00,0.000,4,0.003,0.003,2472,3609,3080
$GC,986,-0.84,-146.6,56.8,-5.2,86,992,0.30,2.85,0.00,0.000,6,0.004,0.004,2546,1931,3079
$GC,1023,-0.84,-146.6,58.9,-5.6,89,1026,0.43,0.00,0.00,0.000,6,0.004,0.000,2469,1933,3081
$GC,1055,-0.84,-146.6,60.6,-5.4,92,1058,0.35,0.00,0.00,0.000,6,0.003,0.000,2507,1932,3080
$GC,1087,-0.84,-146.6,62.3,-5.3,95,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1932,3081
$GC,1119,-0.84,-146.6,64.0,-5.2,98,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1932,3080
$GC,1151,-0.84,-146.6,65.7,-5.4,101,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1931,3080
$GC,1183,-0.84,-146.6,67.3,-5.2,104,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1933,3080
$GC,1215,-0.84,-146.6,69.2,-5.7,107,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1932,3079
$GC,1246,-0.84,-146.6,70.8,-5.3,110,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1932,3079
$GC,1278,-0.84,-146.6,72.6,-5.6,113,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1931,3080
$GC,1310,-0.84,-146.6,74.3,-5.2,116,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1931,3082
$GC,1342,-0.84,-146.6,75.9,-5.3,119,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1932,3079
$GC,1374,-0.84,-146.6,77.5,-5.1,122,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1933,3079
$GC,1406,-0.84,-146.6,79.2,-5.1,125,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1936,3080
$GC,1438,-0.84,-146.6,80.9,-5.3,128,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1932,3080
$GC,1469,-0.84,-146.6,82.6,-5.3,131,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1932,3080
$GC,1501,-0.84,-146.6,84.2,-5.4,134,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1932,3080
$GC,1533,-0.84,-146.6,85.9,-5.1,137,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1931,3080
$GC,1565,-0.84,-146.6,87.5,-5.0,140,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1933,3082
$GC,1597,-0.84,-146.6,89.2,-5.2,143,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1932,3080
$GC,1629,-0.84,-146.6,91.0,-5.3,146,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1934,3080
$GC,1661,-0.84,-146.6,92.6,-5.2,149,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1931,3080
$GC,1693,-0.84,-146.6,94.3,-5.4,152,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1933,3080
$STATE,1711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1711,begin apogee
$GC,1718,-0.31,0.0,95.3,5.0,154,1845,0.68,0.00,122.80,0.005,6,0.004,0.000,2660,2251,2473
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1849,0.84,146.6,96.6,0.0,167,1976,1.27,0.00,120.93,0.005,6,0.004,0.000,2922,2252,1875
$GC,2008,0.84,146.6,88.9,6.0,183,2013,0.35,2.28,0.00,0.000,4,0.004,0.004,2850,3582,1875
$GC,2287,0.84,146.6,71.3,7.5,207,2294,0.30,2.95,0.00,0.000,6,0.005,0.004,2926,1944,1874
$GC,2325,0.84,146.6,69.1,6.2,211,2328,0.40,0.00,0.00,0.000,6,0.003,0.000,2851,1942,1874
$GC,2357,0.84,146.6,67.1,6.1,214,2363,0.38,2.47,0.00,0.000,4,0.004,0.004,2927,522,1874
$GC,2633,0.84,146.6,50.5,5.8,238,2639,0.47,2.78,0.00,0.000,6,0.004,0.004,2810,2183,1875
$GC,2672,0.84,146.6,48.2,6.2,241,2677,0.52,2.47,0.00,0.000,4,0.004,0.004,2923,3590,1874
$GC,2981,0.84,146.6,30.2,5.8,268,2987,0.47,2.78,0.00,0.000,6,0.003,0.004,2813,1949,1876
$GC,3019,0.84,146.6,27.8,6.6,271,3021,0.57,0.00,0.00,0.000,6,0.004,0.000,2924,1950,1875
$GC,3050,0.84,146.6,25.8,6.2,274,3052,0.47,0.00,0.00,0.000,6,0.004,0.000,2815,1949,1875
$GC,3082,0.84,146.6,24.0,5.9,277,3084,0.57,0.00,0.00,0.000,6,0.003,0.000,2930,1948,1874
$GC,3114,0.84,146.6,22.2,5.8,280,3116,0.62,0.00,0.00,0.000,6,0.004,0.000,2820,1947,1875
$GC,3146,0.84,146.6,20.4,5.5,283,3149,0.57,0.00,0.00,0.000,6,0.004,0.000,2930,1948,1875
$GC,3178,0.84,146.6,18.6,5.7,286,3180,0.57,0.00,0.00,0.000,6,0.003,0.000,2853,1949,1874
$GC,3210,0.84,146.6,16.9,5.6,289,3212,0.32,0.00,0.00,0.000,6,0.003,0.000,2890,1949,1876
$GC,3241,0.84,146.6,15.0,5.6,292,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1948,1873
$GC,3273,0.84,146.6,13.2,5.6,295,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1949,1875
$GC,3305,0.84,146.6,11.5,5.6,298,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1948,1874
$GC,3337,0.84,146.6,9.7,5.6,301,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1948,1874
$GC,3369,0.84,146.6,8.0,5.3,304,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1948,1875
$GC,3401,0.84,146.6,6.2,5.4,307,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1948,1874
$GC,3433,0.84,146.6,4.5,5.2,310,3437,0.00,2.28,0.00,0.000,4,0.000,0.004,2890,477,1874
$GC,3472,0.84,146.6,2.6,5.1,313,3477,0.00,2.95,0.00,0.000,6,0.000,0.004,2889,2214,1874
$STATE,3485,end climb,SURFACE_DEPTH_REACHED
$STATE,3485,begin surface coast
$FINISH,0.8,0.997182
$STATE,3518,end surface coast,CONTROL_FINISHED_OK
$STATE,3518,begin surface
$SM_CCo,3547,131.77,0.004,17,0,1251,300.00
$SM_GC,0.00,0.00,0.00,131.77,0.000,0.000,0.004,144,1905,1251,-11.71,-4.61,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1694
$INTERNAL_PRESSURE,12.4321
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,6415810560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,16.351
$10V_AH,9.7,33.974
$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,39.600,32.075,243.725,131.775,0.000,0.000,0.000,86.344,0.000,0.000,13.609,661.627,2021.658,596.620,391.948,351.603,33.341,988.409,0.000,349.733,0.000,0.000,0.000
$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,249.974,0.000,0.000,0.000,0.000,0.000,3852.070,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9610,317
$CAP_FILE_SIZE,77952,8
$CFSIZE,260165632,254451712
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,81,133,17,0
$GPS,010808,063639,4807.418,-12223.374,28,1.1,28,18.0