version: 66.05
glider: 80
mission: 11
dive: 68
start: 7 28 108 11 51 25
data:
$ID,80
$MISSION,11
$DIVE,68
$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,-26092.611
$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,67
$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
$GPS1,114638,4806.154,-12221.883,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,115028,4806.133,-12221.875,10,1.1,11,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.121
$KALMAN_X,10259.7,-31.7,-52.1,-8053.5,52.7
$KALMAN_Y,-7066.8,35.2,83.5,4017.2,38.5
$MHEAD_RNG_PITCHd_Wd,297.4,4342,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.00,-146.6,0.0,0.0,0,96,0.00,0.00,-67.07,0.000,6,0.000,0.000,146,2173,3075
$GC,100,-1.00,-146.6,0.6,-0.8,7,120,11.90,2.40,0.00,0.000,4,0.004,0.004,2495,3633,3076
$GC,177,-1.00,-146.6,12.2,-8.1,14,182,0.00,3.03,0.00,0.000,6,0.000,0.004,2497,1891,3075
$GC,214,-1.00,-146.6,14.7,-7.0,17,216,0.30,0.00,0.00,0.000,6,0.004,0.000,2417,1889,3075
$GC,246,-1.00,-146.6,16.9,-6.6,20,249,0.60,0.00,0.00,0.000,6,0.003,0.000,2492,1889,3075
$GC,278,-1.00,-146.6,19.0,-6.6,23,283,0.00,3.17,0.00,0.000,4,0.000,0.004,2491,3630,3076
$GC,306,-1.00,-146.6,20.8,-6.5,25,311,0.00,2.60,0.00,0.000,6,0.000,0.004,2491,1960,3075
$GC,343,-1.00,-146.6,23.2,-6.7,28,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1960,3075
$GC,375,-1.00,-146.6,25.3,-6.5,31,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1958,3075
$GC,407,-1.00,-146.6,27.4,-6.4,34,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1960,3075
$GC,439,-1.00,-146.6,29.5,-6.5,37,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1958,3075
$GC,471,-1.00,-146.6,31.6,-6.7,40,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1959,3075
$GC,502,-1.00,-146.6,33.5,-6.2,43,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1959,3075
$GC,534,-1.00,-146.6,35.6,-6.4,46,539,0.00,2.65,0.00,0.000,4,0.000,0.004,2492,3612,3078
$GC,734,-1.00,-146.6,48.4,-6.5,63,741,0.00,2.95,0.00,0.000,6,0.000,0.003,2490,1873,3074
$GC,772,-1.00,-146.6,50.8,-6.7,67,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1873,3075
$GC,804,-1.00,-146.6,52.8,-6.2,70,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1873,3075
$GC,836,-1.00,-146.6,54.9,-6.3,73,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1872,3077
$GC,868,-1.00,-146.6,56.9,-6.4,76,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1874,3076
$GC,900,-1.00,-146.6,59.0,-6.4,79,905,0.00,2.83,0.00,0.000,4,0.000,0.004,2491,3574,3074
$GC,965,-1.00,-146.6,63.3,-6.8,84,972,0.00,2.78,0.00,0.000,6,0.000,0.004,2492,1932,3075
$GC,1004,-1.00,-146.6,65.8,-6.8,88,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1932,3075
$GC,1035,-1.00,-146.6,67.8,-6.4,91,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1932,3075
$GC,1067,-1.00,-146.6,70.0,-6.5,94,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1932,3076
$GC,1099,-1.00,-146.6,72.1,-6.7,97,1104,0.00,2.78,0.00,0.000,4,0.000,0.004,2490,3612,3075
$GC,1351,-1.00,-146.6,88.5,-6.4,119,1357,0.00,2.92,0.00,0.000,6,0.000,0.004,2492,1976,3075
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1383,-0.31,0.0,90.2,6.5,121,1509,0.90,0.00,121.93,0.005,6,0.004,0.000,2674,2172,2472
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1513,1.00,146.6,92.4,0.0,134,1639,1.15,0.00,120.50,0.005,6,0.004,0.000,2937,2174,1875
$GC,1666,1.00,146.6,84.5,6.8,149,1668,0.30,0.00,0.00,0.000,6,0.004,0.000,2861,2173,1876
$GC,1698,1.00,146.6,82.5,6.5,152,1703,0.25,2.50,0.00,0.000,4,0.004,0.004,2938,3604,1874
$GC,1996,1.00,146.6,61.4,7.3,178,2002,0.30,3.20,0.00,0.000,6,0.003,0.004,2862,1895,1875
$GC,2034,1.00,146.6,58.8,7.1,181,2036,0.32,0.00,0.00,0.000,6,0.004,0.000,2900,1893,1875
$GC,2065,1.00,146.6,56.6,6.8,184,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1897,1875
$GC,2097,1.00,146.6,54.5,6.6,187,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1893,1875
$GC,2129,1.00,146.6,52.5,6.6,190,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1893,1875
$GC,2161,1.00,146.6,50.3,6.6,193,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1894,1874
$GC,2193,1.00,146.6,48.3,6.4,196,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1894,1874
$GC,2225,1.00,146.6,46.2,6.5,199,2230,0.00,2.97,0.00,0.000,4,0.000,0.004,2902,3670,1876
$GC,2342,1.00,146.6,38.6,6.6,209,2347,0.00,2.92,0.00,0.000,6,0.000,0.004,2901,1903,1875
$GC,2380,1.00,146.6,36.2,6.3,212,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1903,1874
$GC,2411,1.00,146.6,34.3,6.2,215,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1905,1876
$GC,2443,1.00,146.6,32.4,6.1,218,2448,0.00,2.78,0.00,0.000,4,0.000,0.004,2901,3648,1876
$GC,2565,1.00,146.6,24.9,6.3,228,2572,0.00,3.28,0.00,0.000,6,0.000,0.004,2901,1909,1874
$GC,2603,1.00,146.6,22.6,6.4,232,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1910,1875
$GC,2635,1.01,154.3,20.7,5.8,235,2646,0.00,0.00,8.35,0.005,6,0.000,0.000,2901,1912,1844
$GC,2677,1.01,154.3,18.2,6.0,239,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1910,1843
$GC,2709,1.03,168.6,16.5,5.5,242,2728,0.00,0.00,13.60,0.005,6,0.000,0.000,2901,1911,1784
$GC,2761,1.05,181.9,13.7,5.6,247,2782,0.00,3.10,12.70,0.005,4,0.000,0.004,2901,3646,1730
$GC,2799,1.05,182.2,11.5,6.0,250,2805,0.00,2.97,0.00,0.000,6,0.000,0.004,2899,1908,1731
$GC,2837,1.06,189.6,9.3,5.8,254,2848,0.40,0.00,7.05,0.004,6,0.004,0.000,2977,1905,1697
$GC,2879,1.08,207.0,7.0,5.4,258,2899,0.57,0.00,12.77,0.004,6,0.003,0.000,2865,1908,1626
$GC,2931,1.09,215.8,4.1,5.7,263,2942,0.43,0.00,7.25,0.005,6,0.004,0.000,2978,1906,1594
$GC,2973,1.13,249.1,2.0,4.9,267,2977,0.32,0.00,1.12,0.004,2,0.004,0.000,2940,1906,1593
$STATE,2978,end climb,SURFACE_DEPTH_REACHED
$STATE,2978,begin surface coast
$FINISH,0.2,0.997214
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3054,115.95,0.004,15,0,1045,350.04
$SM_GC,-0.00,0.00,0.00,115.95,0.000,0.000,0.004,147,2213,1045,-11.71,4.04,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1556
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,39384416256
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.580
$10V_AH,9.6,13.880
$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,32.225,52.850,305.275,115.950,0.000,0.000,0.000,82.124,0.000,0.000,11.544,556.632,1622.834,646.561,340.315,319.566,33.355,997.805,0.000,301.762,0.000,0.000,0.000
$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,210.046,0.000,0.000,0.000,0.000,0.000,3347.770,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6440,272
$CAP_FILE_SIZE,70682,8
$CFSIZE,260165632,257433600
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,60,204,15,0
$GPS,280708,124635,4806.386,-12222.124,22,1.1,22,18.0