version: 66.05
glider: 80
mission: 11
dive: 180
start: 8 2 108 8 34 38
data:
$ID,80
$MISSION,11
$DIVE,180
$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,-28842.168
$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,2
$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,179
$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
$GPS1,082816,4807.244,-12223.141,10,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,083342,4807.261,-12223.157,26,1.1,26,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.141
$KALMAN_X,17272.8,-137.9,22.7,-16621.8,161.6
$KALMAN_Y,-1462.7,293.0,-64.6,393.2,-126.8
$MHEAD_RNG_PITCHd_Wd,136.1,4966,-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,53,end surface,CONTROL_FINISHED_OK
$STATE,53,begin dive
$GC,56,-0.84,-146.6,0.0,0.0,0,119,0.00,0.00,-60.65,0.000,6,0.000,0.000,146,2215,3077
$GC,123,-0.84,-146.6,0.6,-1.4,6,144,12.45,2.28,0.00,0.000,4,0.004,0.004,2568,3639,3076
$GC,272,-0.84,-146.6,16.1,-5.9,19,279,0.50,3.10,0.00,0.000,6,0.004,0.003,2456,1908,3076
$GC,310,-0.84,-146.6,18.3,-6.1,23,313,0.57,0.00,0.00,0.000,6,0.004,0.000,2569,1909,3079
$GC,342,-0.84,-146.6,20.1,-5.8,26,344,0.60,0.00,0.00,0.000,6,0.004,0.000,2454,1908,3076
$GC,374,-0.84,-146.6,21.8,-5.2,29,376,0.55,0.00,0.00,0.000,6,0.004,0.000,2567,1910,3076
$GC,406,-0.84,-146.6,23.5,-5.5,32,408,0.57,0.00,0.00,0.000,6,0.003,0.000,2459,1908,3076
$GC,438,-0.84,-146.6,25.3,-5.5,35,440,0.35,0.00,0.00,0.000,6,0.003,0.000,2537,1909,3076
$GC,469,-0.84,-146.6,27.1,-5.7,38,471,0.28,0.00,0.00,0.000,6,0.003,0.000,2460,1910,3076
$GC,502,-0.84,-146.6,28.6,-5.0,41,505,0.43,0.00,0.00,0.000,6,0.003,0.000,2537,1908,3076
$GC,533,-0.84,-146.6,30.3,-5.3,44,535,0.35,0.00,0.00,0.000,6,0.004,0.000,2499,1911,3076
$GC,565,-0.84,-146.6,32.1,-5.2,47,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1909,3076
$GC,597,-0.84,-146.6,33.8,-5.5,50,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1910,3076
$GC,629,-0.84,-146.6,35.5,-5.5,53,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1909,3077
$GC,660,-0.84,-146.6,37.2,-5.6,56,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1908,3076
$GC,692,-0.84,-146.6,38.9,-5.3,59,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1910,3076
$GC,724,-0.84,-146.6,40.6,-5.3,62,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1907,3076
$GC,756,-0.84,-146.6,42.4,-5.4,65,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1908,3076
$GC,788,-0.84,-146.6,44.1,-5.4,68,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1909,3077
$GC,820,-0.84,-146.6,45.9,-5.4,71,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1909,3077
$GC,852,-0.84,-146.6,47.7,-5.8,74,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1909,3077
$GC,883,-0.84,-146.6,49.4,-5.4,77,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1910,3076
$GC,915,-0.84,-146.6,51.2,-5.4,80,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1908,3076
$GC,947,-0.84,-146.6,52.8,-5.4,83,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1908,3077
$GC,979,-0.84,-146.6,54.6,-5.4,86,984,0.00,2.60,0.00,0.000,4,0.000,0.003,2500,3583,3076
$GC,1288,-0.84,-146.6,71.3,-5.8,113,1293,0.00,2.85,0.00,0.000,6,0.000,0.004,2501,1927,3077
$GC,1325,-0.84,-146.6,73.3,-5.3,116,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1929,3076
$GC,1357,-0.84,-146.6,75.1,-5.5,119,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1925,3076
$GC,1389,-0.84,-146.6,76.9,-5.7,122,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1927,3078
$GC,1421,-0.84,-146.6,78.6,-5.3,125,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1927,3078
$GC,1452,-0.84,-146.6,80.3,-5.5,128,1457,0.00,2.78,0.00,0.000,4,0.000,0.004,2501,495,3077
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1727,-0.31,0.0,95.1,5.3,151,1854,0.60,0.00,121.90,0.005,6,0.004,0.000,2652,2209,2472
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1858,0.84,146.6,96.9,0.0,164,1984,1.15,0.00,120.82,0.005,6,0.004,0.000,2917,2209,1874
$GC,2016,0.84,146.6,89.5,5.9,180,2022,0.35,2.50,0.00,0.000,4,0.004,0.004,2842,3624,1875
$GC,2325,0.84,146.6,70.8,6.1,207,2332,0.43,2.90,0.00,0.000,6,0.003,0.004,2920,1974,1874
$GC,2363,0.84,146.6,68.4,6.3,210,2369,0.28,2.90,0.00,0.000,4,0.003,0.003,2842,3638,1876
$GC,2643,0.84,146.6,50.5,6.6,234,2650,0.30,2.85,0.00,0.000,6,0.003,0.004,2920,1899,1874
$GC,2681,0.84,146.6,48.2,6.2,238,2683,0.40,0.00,0.00,0.000,6,0.003,0.000,2844,1900,1876
$GC,2713,0.84,146.6,46.3,6.3,241,2715,0.35,0.00,0.00,0.000,6,0.003,0.000,2922,1899,1874
$GC,2745,0.84,146.6,44.3,6.2,244,2747,0.43,0.00,0.00,0.000,6,0.003,0.000,2844,1898,1875
$GC,2776,0.84,146.6,42.4,6.1,247,2779,0.38,0.00,0.00,0.000,6,0.003,0.000,2923,1899,1874
$GC,2810,0.84,146.6,40.4,6.0,250,2812,0.32,0.00,0.00,0.000,6,0.003,0.000,2842,1901,1874
$GC,2840,0.84,146.6,38.6,5.8,253,2842,0.32,0.00,0.00,0.000,6,0.004,0.000,2917,1900,1874
$GC,2872,0.84,146.6,36.7,5.8,256,2874,0.32,0.00,0.00,0.000,6,0.003,0.000,2882,1899,1876
$GC,2904,0.84,146.6,34.8,5.7,259,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1900,1874
$GC,2936,0.84,146.6,33.0,5.9,262,2940,0.00,2.28,0.00,0.000,4,0.000,0.004,2882,526,1874
$GC,3001,0.84,146.6,29.1,5.4,267,3008,0.00,3.15,0.00,0.000,6,0.000,0.004,2882,2247,1875
$GC,3039,0.84,146.6,27.1,5.8,271,3044,0.00,2.53,0.00,0.000,4,0.000,0.004,2882,3678,1874
$GC,3235,0.84,146.6,16.5,5.9,288,3241,0.00,3.17,0.00,0.000,6,0.000,0.004,2881,1934,1875
$GC,3273,0.84,146.6,14.6,5.3,291,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1933,1874
$GC,3305,0.84,146.6,12.9,5.2,294,3309,0.00,2.38,0.00,0.000,4,0.000,0.004,2883,509,1875
$GC,3343,0.84,146.6,11.0,5.1,297,3349,0.00,3.15,0.00,0.000,6,0.000,0.004,2882,2254,1875
$GC,3381,0.86,160.2,9.3,4.6,300,3397,0.00,2.20,10.60,0.005,4,0.000,0.004,2880,3588,1818
$STATE,3552,end climb,SURFACE_DEPTH_REACHED
$STATE,3552,begin surface coast
$FINISH,0.7,0.997332
$STATE,3598,end surface coast,CONTROL_FINISHED_OK
$STATE,3598,begin surface
$SM_CCo,3629,120.85,0.004,16,0,1250,300.00
$SM_GC,0.00,0.00,0.00,120.85,0.000,0.000,0.004,146,1924,1250,-11.71,-4.13,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.192517
$HUMID,1652
$INTERNAL_PRESSURE,12.5298
$TCM_TEMP,15.00
$24V_AH,23.8,19.273
$10V_AH,9.7,39.031
$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,36.675,49.225,253.325,120.850,0.000,0.000,0.000,91.564,0.000,0.000,26.388,657.289,2036.348,601.576,429.544,493.924,33.358,1007.192,0.000,370.434,0.000,0.000,0.000
$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,249.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9569,319
$CAP_FILE_SIZE,77441,8
$CFSIZE,260165632,253538304
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,76,195,16,0
$GPS,020808,094120,4806.912,-12222.758,34,1.1,34,18.0