version: 66.05
glider: 80
mission: 11
dive: 113
start: 7 30 108 6 51 36
data:
$ID,80
$MISSION,11
$DIVE,113
$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,-27197.494
$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,112
$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
$GPS1,064625,4806.048,-12222.113,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,065040,4806.039,-12222.116,25,1.1,25,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.150
$KALMAN_X,13307.3,-64.5,43.8,-11460.0,144.6
$KALMAN_Y,-5544.0,87.8,-91.5,2442.5,-83.7
$MHEAD_RNG_PITCHd_Wd,134.2,2369,-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,23,begin dive
$GC,26,-1.00,-146.6,0.0,0.0,0,97,0.00,0.00,-67.18,0.000,6,0.000,0.000,146,2234,3080
$GC,100,-1.00,-146.6,0.6,-1.0,7,121,11.68,2.33,0.00,0.000,4,0.004,0.003,2527,3674,3079
$GC,425,-1.00,-146.6,31.1,-7.2,36,431,0.30,2.78,0.00,0.000,6,0.003,0.004,2445,1917,3079
$GC,462,-1.00,-146.6,33.7,-6.9,39,465,0.32,0.00,0.00,0.000,6,0.003,0.000,2484,1915,3080
$GC,494,-1.00,-146.6,35.8,-6.6,42,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1916,3079
$GC,526,-1.00,-146.6,37.9,-6.8,45,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1915,3079
$GC,558,-1.00,-146.6,40.2,-6.8,48,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1916,3080
$GC,590,-1.00,-146.6,42.3,-6.7,51,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1916,3078
$GC,622,-1.00,-146.6,44.4,-6.8,54,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1916,3080
$GC,653,-1.00,-146.6,46.5,-6.4,57,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1916,3080
$GC,685,-1.00,-146.6,48.5,-6.2,60,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1917,3081
$GC,717,-1.00,-146.6,50.6,-6.6,63,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1916,3079
$GC,749,-1.00,-146.6,52.6,-6.1,66,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1916,3080
$GC,781,-1.00,-146.6,54.7,-6.4,69,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1916,3080
$GC,813,-1.00,-146.6,56.8,-6.7,72,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1915,3080
$GC,845,-1.00,-146.6,58.7,-6.4,75,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1917,3079
$GC,876,-1.00,-146.6,60.8,-6.4,78,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1916,3078
$GC,908,-1.00,-146.6,62.7,-6.2,81,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1916,3079
$GC,940,-1.00,-146.6,64.9,-6.7,84,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1916,3080
$GC,972,-1.00,-146.6,67.1,-6.7,87,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1917,3080
$GC,1004,-1.00,-146.6,69.2,-6.9,90,1009,0.00,2.85,0.00,0.000,4,0.000,0.004,2484,3636,3079
$GC,1184,-1.00,-146.6,81.1,-7.0,105,1190,0.00,2.85,0.00,0.000,6,0.000,0.004,2483,1888,3080
$GC,1222,-1.00,-146.6,83.7,-6.9,109,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1888,3079
$GC,1254,-1.00,-146.6,85.7,-6.3,112,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1888,3080
$GC,1285,-1.00,-146.6,87.7,-6.4,115,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1887,3079
$GC,1317,-1.00,-146.6,89.7,-6.3,118,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1887,3079
$STATE,1325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1325,begin apogee
$GC,1332,-0.31,0.0,90.2,6.0,119,1459,0.93,0.00,122.57,0.005,6,0.004,0.000,2669,2195,2472
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1463,1.00,146.6,91.8,0.0,132,1590,1.40,0.00,120.78,0.005,6,0.004,0.000,2972,2193,1875
$GC,1621,1.00,146.6,82.6,7.6,148,1624,0.47,0.00,0.00,0.000,6,0.004,0.000,2859,2194,1875
$GC,1653,1.00,146.6,80.2,7.5,151,1655,0.35,0.00,0.00,0.000,6,0.003,0.000,2934,2195,1875
$GC,1685,1.00,146.6,77.9,7.2,154,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2194,1874
$GC,1717,1.00,146.6,75.5,7.3,157,1719,0.30,0.00,0.00,0.000,6,0.004,0.000,2861,2194,1875
$GC,1749,1.00,146.6,73.3,7.2,160,1751,0.40,0.00,0.00,0.000,6,0.003,0.000,2937,2194,1876
$GC,1781,1.00,146.6,71.1,7.1,163,1783,0.35,0.00,0.00,0.000,6,0.004,0.000,2856,2194,1875
$GC,1813,1.00,146.6,68.8,7.0,166,1815,0.52,0.00,0.00,0.000,6,0.004,0.000,2969,2194,1875
$GC,1844,1.00,146.6,66.5,7.2,169,1847,0.62,0.00,0.00,0.000,6,0.003,0.000,2858,2194,1874
$GC,1876,1.00,146.6,64.2,7.3,172,1879,0.50,0.00,0.00,0.000,6,0.003,0.000,2972,2195,1875
$GC,1908,1.00,146.6,61.8,7.3,175,1911,0.68,0.00,0.00,0.000,6,0.003,0.000,2863,2194,1875
$GC,1941,1.00,146.6,59.5,7.3,178,1943,0.32,0.00,0.00,0.000,6,0.003,0.000,2936,2194,1875
$GC,1972,1.00,146.6,57.2,7.4,181,1974,0.32,0.00,0.00,0.000,6,0.004,0.000,2900,2195,1875
$GC,2004,1.00,146.6,54.8,7.4,184,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2193,1877
$GC,2035,1.00,146.6,52.7,6.9,187,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2194,1875
$GC,2068,1.00,146.6,50.4,7.1,190,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2194,1875
$GC,2099,1.00,146.6,48.1,7.1,193,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2193,1874
$GC,2131,1.00,146.6,45.8,7.1,196,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2194,1875
$GC,2163,1.00,146.6,43.6,6.8,199,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2195,1875
$GC,2195,1.00,146.6,41.4,7.1,202,2200,0.00,2.78,0.00,0.000,4,0.000,0.004,2899,544,1875
$GC,2227,1.00,146.6,39.1,6.5,204,2233,0.00,2.78,0.00,0.000,6,0.000,0.004,2900,2201,1876
$GC,2265,1.00,146.6,36.5,7.0,208,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2200,1874
$GC,2297,1.00,146.6,34.3,7.1,211,2301,0.00,2.42,0.00,0.000,4,0.000,0.004,2899,3647,1875
$GC,2473,1.00,146.6,22.0,7.6,226,2478,0.00,3.03,0.00,0.000,6,0.000,0.004,2899,1894,1876
$GC,2510,1.00,146.6,19.1,7.3,229,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1892,1875
$GC,2542,1.00,146.6,16.8,7.3,232,2546,0.00,2.35,0.00,0.000,4,0.000,0.004,2899,560,1876
$STATE,2757,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.8,0.996944
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2811,175.65,0.004,23,0,1044,350.29
$SM_GC,-0.00,0.00,0.00,175.65,0.000,0.000,0.004,145,2218,1044,-11.71,4.18,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1689
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,23613112320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,11.282
$10V_AH,9.7,23.515
$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,33.900,27.325,243.350,175.650,0.000,0.000,0.000,91.481,0.000,0.000,28.403,525.855,1530.086,667.727,310.602,333.295,33.336,977.621,0.000,263.588,0.000,0.000,0.000
$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,197.121,0.000,0.000,0.000,0.000,0.000,3219.710,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6454,253
$CAP_FILE_SIZE,66492,8
$CFSIZE,260165632,255991808
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,64,108,23,0
$GPS,300708,074412,4805.725,-12221.832,11,1.1,11,18.0