version: 66.05
glider: 80
mission: 11
dive: 112
start: 7 30 108 5 53 51
data:
$ID,80
$MISSION,11
$DIVE,112
$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,-27168.461
$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,111
$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
$GPS1,054851,4806.388,-12222.270,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,055254,4806.366,-12222.279,16,1.1,16,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.161
$KALMAN_X,13325.3,-79.3,-8.3,-11616.5,139.9
$KALMAN_Y,-5500.6,135.9,-59.8,2925.6,-109.6
$MHEAD_RNG_PITCHd_Wd,143.3,761,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-67.25,0.000,6,0.000,0.000,146,2221,3075
$GC,100,-1.00,-146.6,0.6,-0.8,7,121,11.52,2.67,0.00,0.000,4,0.004,0.004,2507,559,3074
$GC,126,-1.00,-146.6,3.4,-13.3,9,133,0.30,2.65,0.00,0.000,6,0.004,0.004,2431,2242,3076
$GC,164,-1.00,-146.6,11.8,-23.4,13,170,0.30,2.53,0.00,0.000,4,0.004,0.004,2471,3660,3073
$GC,473,-1.00,-146.6,34.4,-7.4,40,478,0.00,3.03,0.00,0.000,6,0.000,0.004,2471,1913,3074
$GC,511,-1.00,-146.6,36.8,-6.3,43,515,0.00,2.95,0.00,0.000,4,0.000,0.004,2473,3679,3075
$GC,763,-1.00,-146.6,53.2,-6.3,65,768,0.00,3.15,0.00,0.000,6,0.000,0.004,2471,1927,3075
$GC,800,-1.00,-146.6,55.7,-6.9,68,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1928,3075
$GC,832,-1.00,-146.6,57.8,-6.4,71,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1928,3074
$GC,864,-1.00,-146.6,59.8,-6.3,74,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1926,3074
$GC,896,-1.00,-146.6,61.7,-6.1,77,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1928,3076
$GC,928,-1.00,-146.6,63.8,-6.3,80,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1927,3074
$GC,959,-1.00,-146.6,65.7,-6.3,83,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1925,3075
$GC,991,-1.00,-146.6,67.7,-6.1,86,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1927,3074
$GC,1023,-1.00,-146.6,69.7,-6.3,89,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1927,3075
$GC,1055,-1.00,-146.6,71.6,-6.0,92,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1927,3074
$GC,1087,-1.00,-146.6,73.6,-6.1,95,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1927,3075
$GC,1119,-1.00,-146.6,75.6,-6.2,98,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1928,3075
$GC,1151,-1.00,-146.6,77.6,-6.3,101,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1927,3075
$GC,1183,-1.00,-146.6,79.6,-6.3,104,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1927,3074
$GC,1214,-1.00,-146.6,81.6,-6.3,107,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1926,3073
$GC,1246,-1.00,-146.6,83.7,-6.6,110,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1927,3075
$GC,1278,-1.00,-146.6,85.7,-6.2,113,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1927,3074
$GC,1310,-1.00,-146.6,87.8,-6.6,116,1315,0.00,2.65,0.00,0.000,4,0.000,0.004,2471,3584,3074
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1356,-0.31,0.0,90.3,6.2,119,1483,0.88,0.00,121.53,0.005,6,0.004,0.000,2654,1951,2472
$STATE,1484,end apogee,CONTROL_FINISHED_OK
$STATE,1484,begin climb
$GC,1487,1.00,146.6,91.5,0.0,132,1613,1.42,0.00,120.38,0.005,6,0.004,0.000,2952,1952,1874
$GC,1640,1.00,146.6,82.4,7.6,147,1646,0.32,2.88,0.00,0.000,4,0.004,0.004,2874,3594,1874
$GC,1950,1.00,146.6,58.7,7.1,174,1956,0.30,2.83,0.00,0.000,6,0.004,0.004,2948,1939,1875
$GC,1987,1.00,146.6,55.5,8.7,177,1989,0.38,0.00,0.00,0.000,6,0.004,0.000,2876,1938,1875
$GC,2019,1.00,146.6,53.1,7.7,180,2021,0.28,0.00,0.00,0.000,6,0.004,0.000,2948,1937,1875
$GC,2051,1.00,146.6,50.7,7.6,183,2053,0.32,0.00,0.00,0.000,6,0.004,0.000,2875,1939,1874
$GC,2083,1.00,146.6,48.3,7.4,186,2085,0.43,0.00,0.00,0.000,6,0.003,0.000,2952,1939,1875
$GC,2115,1.00,146.6,45.8,7.8,189,2117,0.30,0.00,0.00,0.000,6,0.004,0.000,2875,1939,1875
$GC,2146,1.00,146.6,43.3,7.9,192,2149,0.40,0.00,0.00,0.000,6,0.003,0.000,2951,1938,1875
$GC,2178,1.00,146.6,40.9,7.6,195,2181,0.32,0.00,0.00,0.000,6,0.003,0.000,2875,1939,1874
$GC,2210,1.00,146.6,38.5,7.5,198,2212,0.40,0.00,0.00,0.000,6,0.003,0.000,2951,1937,1875
$GC,2242,1.00,146.6,36.1,7.6,201,2244,0.30,0.00,0.00,0.000,6,0.003,0.000,2877,1939,1875
$GC,2274,1.00,146.6,33.6,7.6,204,2279,0.35,2.47,0.00,0.000,4,0.004,0.004,2954,493,1875
$GC,2329,1.00,146.6,29.4,7.4,208,2336,0.30,2.92,0.00,0.000,6,0.003,0.003,2877,2163,1875
$GC,2367,1.00,146.6,26.7,7.3,212,2369,0.40,0.00,0.00,0.000,6,0.003,0.000,2952,2163,1875
$GC,2399,1.00,146.6,24.5,7.1,215,2401,0.40,0.00,0.00,0.000,6,0.003,0.000,2878,2163,1875
$GC,2431,1.00,146.6,22.2,7.1,218,2433,0.40,0.00,0.00,0.000,6,0.003,0.000,2957,2164,1874
$GC,2463,1.00,146.6,20.0,7.1,221,2465,0.30,0.00,0.00,0.000,6,0.003,0.000,2881,2164,1875
$GC,2495,1.00,146.6,17.8,7.0,224,2497,0.30,0.00,0.00,0.000,6,0.004,0.000,2952,2164,1876
$GC,2526,1.00,146.6,15.4,7.3,227,2528,0.35,0.00,0.00,0.000,6,0.003,0.000,2878,2163,1874
$GC,2560,1.00,146.6,13.2,7.1,230,2562,0.35,0.00,0.00,0.000,6,0.005,0.000,2950,2163,1875
$GC,2590,1.00,146.6,11.0,6.8,233,2592,0.30,0.00,0.00,0.000,6,0.003,0.000,2877,2163,1876
$GC,2622,1.00,146.6,8.9,6.5,236,2624,0.40,0.00,0.00,0.000,6,0.004,0.000,2955,2164,1874
$GC,2654,1.00,146.6,6.7,7.0,239,2656,0.30,0.00,0.00,0.000,6,0.003,0.000,2881,2165,1875
$GC,2686,1.00,146.6,4.6,6.8,242,2691,0.25,2.53,0.00,0.000,4,0.004,0.004,2958,3589,1875
$GC,2718,1.00,146.6,2.1,7.2,244,2725,0.30,3.03,0.00,0.000,6,0.003,0.003,2877,1928,1875
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,0.2,0.997002
$STATE,2776,end surface coast,CONTROL_FINISHED_OK
$STATE,2776,begin surface
$SM_CCo,2804,175.20,0.004,23,0,1046,350.04
$SM_GC,0.00,0.00,0.00,175.20,0.000,0.000,0.004,145,2235,1046,-11.72,4.66,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1728
$INTERNAL_PRESSURE,12.5102
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,23964352512
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,11.177
$10V_AH,9.6,23.299
$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,37.225,39.625,241.900,175.200,0.000,0.000,0.000,91.471,0.000,0.000,18.768,529.755,1505.328,674.069,313.315,327.489,33.355,992.939,0.000,271.874,0.000,0.000,0.000
$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,194.550,0.000,0.000,0.000,0.000,0.000,3220.430,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6445,250
$CAP_FILE_SIZE,69728,8
$CFSIZE,260165632,256020480
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,77,152,23,0
$GPS,300708,064625,4806.048,-12222.113,16,1.1,16,18.0