version: 66.05
glider: 80
mission: 11
dive: 64
start: 7 28 108 7 56 47
data:
$ID,80
$MISSION,11
$DIVE,64
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,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,-26005.83
$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,63
$AR_SAMPLENUM,3
$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
$GPS1,075124,4805.098,-12220.960,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,075550,4805.084,-12220.951,29,1.1,29,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.141
$KALMAN_X,9869.7,-14.7,106.5,-6697.4,7.8
$KALMAN_Y,-7472.5,95.0,-8.4,2509.0,-26.6
$MHEAD_RNG_PITCHd_Wd,308.1,6585,-13.2,-6.000
$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,-1.00,-146.6,0.0,0.0,0,95,0.00,0.00,-67.45,0.000,6,0.000,0.000,174,1899,3076
$GC,99,-1.00,-146.6,0.6,-0.8,7,119,11.68,2.15,0.00,0.000,4,0.004,0.004,2503,547,3077
$GC,191,-1.00,-146.6,11.4,-7.8,15,199,0.30,3.15,0.00,0.000,6,0.004,0.004,2429,2210,3078
$GC,230,-1.00,-146.6,13.9,-7.0,19,232,0.40,0.00,0.00,0.000,6,0.004,0.000,2507,2211,3076
$GC,261,-1.00,-146.6,16.1,-6.9,22,264,0.40,0.00,0.00,0.000,6,0.004,0.000,2434,2212,3076
$GC,293,-1.00,-146.6,18.2,-6.7,25,295,0.43,0.00,0.00,0.000,6,0.004,0.000,2507,2210,3076
$GC,325,-1.00,-146.6,20.4,-6.8,28,327,0.43,0.00,0.00,0.000,6,0.004,0.000,2435,2211,3077
$GC,357,-1.00,-146.6,22.5,-6.6,31,359,0.40,0.00,0.00,0.000,6,0.005,0.000,2507,2211,3076
$GC,389,-1.00,-146.6,24.6,-6.3,34,391,0.40,0.00,0.00,0.000,6,0.003,0.000,2431,2211,3075
$GC,421,-1.00,-146.6,26.7,-6.5,37,423,0.38,0.00,0.00,0.000,6,0.003,0.000,2507,2212,3076
$GC,453,-1.00,-146.6,28.8,-6.7,40,458,0.25,2.53,0.00,0.000,4,0.004,0.004,2425,3663,3074
$GC,582,-1.00,-146.6,36.9,-6.5,51,587,0.30,2.78,0.00,0.000,6,0.003,0.004,2501,1907,3077
$GC,619,-1.00,-146.6,39.2,-6.3,54,621,0.30,0.00,0.00,0.000,6,0.003,0.000,2428,1907,3077
$GC,651,-1.00,-146.6,41.2,-6.2,57,653,0.35,0.00,0.00,0.000,6,0.004,0.000,2506,1906,3076
$GC,683,-1.00,-146.6,43.2,-6.1,60,685,0.30,0.00,0.00,0.000,6,0.004,0.000,2427,1906,3076
$GC,715,-1.00,-146.6,45.1,-6.1,63,717,0.30,0.00,0.00,0.000,6,0.003,0.000,2503,1906,3077
$GC,748,-1.00,-146.6,47.0,-6.1,66,750,0.40,0.00,0.00,0.000,6,0.004,0.000,2433,1906,3076
$GC,778,-1.00,-146.6,49.1,-6.4,69,784,0.40,2.85,0.00,0.000,4,0.004,0.004,2506,3659,3077
$GC,1032,-1.00,-146.6,65.7,-7.0,91,1038,0.30,3.00,0.00,0.000,6,0.004,0.004,2422,1917,3076
$GC,1069,-1.00,-146.6,68.2,-6.7,94,1072,0.30,0.00,0.00,0.000,6,0.003,0.000,2502,1916,3076
$GC,1101,-1.00,-146.6,70.3,-6.4,97,1103,0.30,0.00,0.00,0.000,6,0.004,0.000,2431,1916,3078
$GC,1133,-1.00,-146.6,72.4,-6.4,100,1135,0.43,0.00,0.00,0.000,6,0.004,0.000,2508,1917,3074
$GC,1165,-1.00,-146.6,74.5,-6.8,103,1167,0.40,0.00,0.00,0.000,6,0.003,0.000,2431,1917,3077
$GC,1197,-1.00,-146.6,76.6,-6.4,106,1199,0.30,0.00,0.00,0.000,6,0.003,0.000,2507,1918,3076
$GC,1229,-1.00,-146.6,78.7,-6.6,109,1231,0.35,0.00,0.00,0.000,6,0.004,0.000,2436,1918,3076
$GC,1260,-1.00,-146.6,80.7,-6.5,112,1262,0.40,0.00,0.00,0.000,6,0.004,0.000,2509,1919,3076
$GC,1293,-1.00,-146.6,82.9,-6.5,115,1299,0.30,2.80,0.00,0.000,4,0.004,0.004,2433,3572,3076
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1412,-0.31,0.0,90.2,6.1,124,1539,1.10,0.00,121.85,0.005,6,0.004,0.000,2660,1917,2473
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1543,1.00,146.6,92.1,0.0,137,1670,1.40,0.00,120.62,0.005,6,0.004,0.000,2954,1915,1874
$GC,1702,1.00,146.6,83.0,7.7,153,1704,0.30,0.00,0.00,0.000,6,0.003,0.000,2876,1914,1875
$GC,1733,1.00,146.6,80.6,7.4,156,1739,0.25,3.03,0.00,0.000,4,0.004,0.004,2951,3570,1875
$GC,2002,1.00,146.6,60.7,8.3,179,2009,0.30,2.90,0.00,0.000,6,0.004,0.004,2878,1910,1875
$GC,2040,1.00,146.6,57.9,7.6,183,2043,0.43,0.00,0.00,0.000,6,0.004,0.000,2951,1909,1875
$GC,2072,1.00,146.6,55.6,7.3,186,2074,0.30,0.00,0.00,0.000,6,0.003,0.000,2882,1910,1875
$GC,2104,1.00,146.6,53.1,7.7,189,2106,0.30,0.00,0.00,0.000,6,0.003,0.000,2954,1910,1875
$GC,2136,1.00,146.6,50.9,7.2,192,2138,0.38,0.00,0.00,0.000,6,0.003,0.000,2878,1910,1874
$GC,2168,1.00,146.6,48.5,7.3,195,2170,0.40,0.00,0.00,0.000,6,0.003,0.000,2954,1910,1872
$GC,2200,1.00,146.6,46.1,7.3,198,2202,0.43,0.00,0.00,0.000,6,0.004,0.000,2880,1910,1875
$GC,2233,1.00,146.6,43.8,7.5,201,2235,0.38,0.00,0.00,0.000,6,0.003,0.000,2954,1910,1875
$GC,2263,1.00,146.6,41.6,7.2,204,2265,0.30,0.00,0.00,0.000,6,0.003,0.000,2878,1910,1875
$GC,2295,1.00,146.6,39.2,7.4,207,2297,0.38,0.00,0.00,0.000,6,0.003,0.000,2957,1910,1875
$GC,2327,1.00,146.6,37.1,6.9,210,2332,0.25,3.03,0.00,0.000,4,0.005,0.004,2876,3636,1875
$GC,2360,1.00,146.6,34.4,8.1,212,2367,0.30,3.17,0.00,0.000,6,0.004,0.004,2948,1915,1875
$GC,2398,1.00,146.6,31.7,7.5,216,2400,0.43,0.00,0.00,0.000,6,0.003,0.000,2871,1914,1875
$GC,2431,1.00,146.6,29.5,7.0,219,2433,0.30,0.00,0.00,0.000,6,0.003,0.000,2947,1914,1875
$GC,2461,1.00,146.6,27.3,7.1,222,2463,0.35,0.00,0.00,0.000,6,0.004,0.000,2870,1914,1875
$GC,2493,1.00,146.6,25.0,7.0,225,2495,0.32,0.00,0.00,0.000,6,0.003,0.000,2907,1913,1874
$GC,2525,1.00,146.6,22.8,6.9,228,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1915,1876
$GC,2557,1.00,146.6,20.7,6.7,231,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1912,1875
$GC,2589,1.00,146.6,18.6,6.6,234,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1914,1875
$GC,2621,1.00,146.6,16.4,6.9,237,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1915,1874
$GC,2653,1.00,146.6,14.2,6.8,240,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1914,1875
$GC,2684,1.00,146.6,12.2,6.5,243,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1913,1875
$GC,2716,1.00,146.6,10.1,6.7,246,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1914,1875
$GC,2748,1.00,146.6,8.0,6.5,249,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1913,1876
$GC,2780,1.00,146.6,6.1,6.1,252,2784,0.00,2.45,0.00,0.000,4,0.000,0.004,2908,461,1875
$GC,2819,1.02,156.9,3.7,5.7,255,2833,0.00,2.97,8.48,0.005,6,0.000,0.004,2909,2210,1835
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2843,begin surface coast
$FINISH,0.6,0.997358
$STATE,2875,end surface coast,CONTROL_FINISHED_OK
$STATE,2875,begin surface
$SM_CCo,2904,167.12,0.004,22,0,1047,350.29
$SM_GC,0.00,0.00,0.00,167.12,0.000,0.000,0.004,146,1898,1047,-11.72,-4.83,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1615
$INTERNAL_PRESSURE,12.5395
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,40879390720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.152
$10V_AH,9.6,13.000
$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,43.375,40.050,250.950,167.125,0.000,0.000,0.000,106.031,0.000,0.000,29.542,568.296,1542.599,681.170,324.393,343.914,33.374,1008.803,0.000,275.492,0.000,0.000,0.000
$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,201.814,0.000,0.000,0.000,0.000,0.000,3307.250,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6440,260
$CAP_FILE_SIZE,76698,8
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,95,161,22,0
$GPS,280708,085044,4805.426,-12221.160,12,1.1,12,18.0