version: 66.05
glider: 80
mission: 11
dive: 161
start: 8 1 108 10 9 28
data:
$ID,80
$MISSION,11
$DIVE,161
$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,-28313.896
$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,160
$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
$GPS1,100410,4806.485,-12222.437,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,100833,4806.490,-12222.429,28,1.1,28,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.147
$KALMAN_X,16044.6,50.4,186.4,-14840.2,101.9
$KALMAN_Y,-2061.4,14.6,-222.7,0.5,69.5
$MHEAD_RNG_PITCHd_Wd,141.4,3277,-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,-60.47,0.000,6,0.000,0.000,146,1939,3074
$GC,92,-0.84,-146.6,0.6,-1.3,6,112,12.23,2.30,0.00,0.000,4,0.004,0.003,2566,606,3077
$GC,162,-0.84,-146.6,10.5,-7.5,12,169,0.50,2.75,0.00,0.000,6,0.004,0.004,2455,2237,3075
$GC,201,-0.84,-146.6,12.8,-6.4,16,207,0.35,2.97,0.00,0.000,4,0.004,0.004,2533,477,3075
$GC,510,-0.84,-146.6,31.1,-5.3,43,516,0.30,3.00,0.00,0.000,6,0.004,0.004,2460,2225,3075
$GC,547,-0.84,-146.6,33.2,-5.7,46,553,0.38,2.80,0.00,0.000,4,0.004,0.004,2532,465,3075
$GC,681,-0.84,-146.6,40.4,-5.2,57,689,0.30,3.15,0.00,0.000,6,0.003,0.004,2456,2211,3075
$GC,721,-0.84,-146.6,42.4,-5.3,61,723,0.47,0.00,0.00,0.000,6,0.003,0.000,2569,2211,3075
$GC,751,-0.84,-146.6,44.0,-5.3,64,753,0.55,0.00,0.00,0.000,6,0.004,0.000,2458,2209,3075
$GC,783,-0.84,-146.6,45.7,-5.4,67,785,0.38,0.00,0.00,0.000,6,0.003,0.000,2532,2209,3075
$GC,814,-0.84,-146.6,47.4,-5.4,70,817,0.32,0.00,0.00,0.000,6,0.003,0.000,2496,2209,3075
$GC,846,-0.84,-146.6,49.1,-5.2,73,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2209,3076
$GC,878,-0.84,-146.6,50.8,-5.3,76,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2210,3076
$GC,910,-0.84,-146.6,52.5,-5.3,79,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2210,3075
$GC,943,-0.84,-146.6,54.0,-5.0,82,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2210,3075
$GC,974,-0.84,-146.6,55.7,-5.0,85,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2210,3076
$GC,1006,-0.84,-146.6,57.3,-5.2,88,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2211,3075
$GC,1037,-0.84,-146.6,59.1,-5.5,91,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2210,3075
$GC,1069,-0.84,-146.6,60.7,-5.3,94,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2209,3075
$GC,1101,-0.84,-146.6,62.4,-5.1,97,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2211,3075
$GC,1133,-0.84,-146.6,64.0,-5.2,100,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2209,3075
$GC,1165,-0.84,-146.6,65.7,-5.3,103,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2210,3076
$GC,1197,-0.84,-146.6,67.4,-5.1,106,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2209,3076
$GC,1229,-0.84,-146.6,69.1,-5.3,109,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2210,3074
$GC,1261,-0.84,-146.6,70.7,-5.1,112,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2210,3075
$GC,1292,-0.84,-146.6,72.4,-5.4,115,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2208,3074
$GC,1324,-0.84,-146.6,74.1,-5.4,118,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2210,3075
$GC,1356,-0.84,-146.6,75.8,-5.2,121,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2209,3075
$GC,1389,-0.84,-146.6,77.4,-5.0,124,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2210,3075
$GC,1420,-0.84,-146.6,79.1,-5.3,127,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2210,3075
$GC,1452,-0.84,-146.6,80.7,-5.0,130,1456,0.00,2.40,0.00,0.000,4,0.000,0.004,2497,3674,3075
$GC,1551,-0.84,-146.6,85.9,-5.0,138,1558,0.00,3.03,0.00,0.000,6,0.000,0.004,2496,1889,3075
$GC,1590,-0.84,-146.6,87.9,-5.4,142,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1888,3074
$GC,1621,-0.84,-146.6,89.6,-5.4,145,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1888,3074
$GC,1653,-0.84,-146.6,91.3,-5.3,148,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1888,3075
$GC,1685,-0.84,-146.6,92.9,-5.2,151,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1889,3075
$GC,1717,-0.84,-146.6,94.6,-5.1,154,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1890,3076
$STATE,1725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1725,begin apogee
$GC,1732,-0.31,0.0,95.1,5.1,155,1859,0.77,0.00,122.18,0.005,6,0.004,0.000,2647,2180,2472
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1863,0.84,146.6,96.3,0.0,168,1991,1.25,2.42,120.85,0.005,4,0.004,0.003,2903,3504,1875
$GC,2294,0.84,146.6,71.5,6.4,208,2300,0.43,2.65,0.00,0.000,6,0.004,0.004,2829,1973,1874
$GC,2332,0.84,146.6,68.9,7.0,211,2334,0.35,0.00,0.00,0.000,6,0.004,0.000,2901,1975,1874
$GC,2363,0.84,146.6,66.8,6.7,214,2365,0.30,0.00,0.00,0.000,6,0.003,0.000,2825,1978,1875
$GC,2395,0.84,146.6,64.7,6.5,217,2397,0.30,0.00,0.00,0.000,6,0.003,0.000,2900,1975,1874
$GC,2427,0.84,146.6,62.6,6.6,220,2429,0.30,0.00,0.00,0.000,6,0.003,0.000,2826,1974,1874
$GC,2459,0.84,146.6,60.5,6.5,223,2461,0.35,0.00,0.00,0.000,6,0.003,0.000,2903,1975,1874
$GC,2491,0.84,146.6,58.4,6.6,226,2493,0.30,0.00,0.00,0.000,6,0.004,0.000,2827,1976,1874
$GC,2523,0.84,146.6,56.3,6.7,229,2525,0.35,0.00,0.00,0.000,6,0.003,0.000,2900,1976,1874
$GC,2556,0.84,146.6,54.2,6.5,232,2558,0.32,0.00,0.00,0.000,6,0.004,0.000,2823,1975,1875
$GC,2586,0.84,146.6,52.2,6.7,235,2588,0.32,0.00,0.00,0.000,6,0.003,0.000,2899,1974,1874
$GC,2618,0.84,146.6,50.2,6.2,238,2620,0.30,0.00,0.00,0.000,6,0.003,0.000,2828,1976,1875
$GC,2650,0.84,146.6,48.1,6.4,241,2652,0.30,0.00,0.00,0.000,6,0.003,0.000,2908,1976,1874
$GC,2682,0.84,146.6,46.1,6.3,244,2684,0.30,0.00,0.00,0.000,6,0.003,0.000,2831,1975,1874
$GC,2714,0.84,146.6,44.0,6.4,247,2716,0.43,0.00,0.00,0.000,6,0.003,0.000,2903,1975,1874
$GC,2746,0.84,146.6,41.9,6.6,250,2748,0.30,0.00,0.00,0.000,6,0.004,0.000,2828,1975,1875
$GC,2777,0.84,146.6,40.0,6.2,253,2780,0.43,0.00,0.00,0.000,6,0.003,0.000,2903,1976,1874
$GC,2809,0.84,146.6,38.1,6.2,256,2812,0.43,0.00,0.00,0.000,6,0.003,0.000,2825,1975,1874
$GC,2841,0.84,146.6,36.1,6.1,259,2844,0.32,0.00,0.00,0.000,6,0.005,0.000,2901,1974,1874
$GC,2873,0.84,146.6,34.3,5.5,262,2875,0.38,0.00,0.00,0.000,6,0.004,0.000,2823,1974,1874
$GC,2906,0.84,146.6,32.5,5.6,265,2909,0.40,0.00,0.00,0.000,6,0.003,0.000,2896,1974,1875
$GC,2937,0.84,146.6,30.6,5.9,268,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1975,1874
$GC,2969,0.84,146.6,28.8,5.8,271,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1973,1874
$GC,3000,0.84,146.6,26.9,5.8,274,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1975,1874
$GC,3032,0.84,146.6,25.1,5.9,277,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1974,1874
$GC,3064,0.84,146.6,23.2,5.9,280,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1977,1875
$GC,3096,0.84,146.6,21.4,5.6,283,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1975,1874
$GC,3128,0.84,146.6,19.4,6.0,286,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1973,1874
$GC,3160,0.84,146.6,17.5,6.0,289,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1974,1875
$GC,3192,0.84,146.6,15.7,5.7,292,3196,0.00,2.58,0.00,0.000,4,0.000,0.004,2894,512,1874
$GC,3242,0.84,146.6,12.8,6.1,296,3247,0.00,3.20,0.00,0.000,6,0.000,0.003,2895,2264,1875
$GC,3279,0.84,146.6,10.6,5.8,299,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2264,1874
$GC,3311,0.84,146.6,8.9,5.5,302,3315,0.00,2.28,0.00,0.000,4,0.000,0.004,2895,3604,1875
$GC,3361,0.84,146.6,5.9,6.0,306,3366,0.00,2.78,0.00,0.000,6,0.000,0.004,2896,1979,1874
$GC,3398,0.84,146.6,3.8,5.6,309,3403,0.00,2.53,0.00,0.000,4,0.000,0.004,2894,542,1874
$STATE,3434,end climb,SURFACE_DEPTH_REACHED
$STATE,3434,begin surface coast
$FINISH,0.7,0.997120
$STATE,3469,end surface coast,CONTROL_FINISHED_OK
$STATE,3469,begin surface
$SM_CCo,3500,131.80,0.004,17,0,1249,300.00
$SM_GC,0.00,0.00,0.00,131.80,0.000,0.000,0.004,145,2232,1249,-11.70,4.66,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1829
$INTERNAL_PRESSURE,12.4321
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,4665704448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,16.849
$10V_AH,9.7,34.998
$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,38.675,44.375,243.025,131.800,0.000,0.000,0.000,85.943,0.000,0.000,28.404,677.022,1940.096,616.292,376.952,379.054,33.343,999.722,0.000,319.081,0.000,0.000,0.000
$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,248.144,0.000,0.000,0.000,0.000,0.000,3807.210,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9565,315
$CAP_FILE_SIZE,86283,8
$CFSIZE,260165632,254304256
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,96,175,17,0
$GPS,010808,111239,4806.226,-12222.136,30,1.1,30,18.0