version: 66.05
glider: 80
mission: 11
dive: 120
start: 7 30 108 13 24 56
data:
$ID,80
$MISSION,11
$DIVE,120
$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,-27340.791
$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,119
$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
$GPS1,131958,4805.622,-12221.479,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,132358,4805.591,-12221.464,13,1.1,13,18.0
$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,13530.0,50.1,-60.4,-10888.2,23.0
$KALMAN_Y,-5146.3,-144.7,126.2,1229.5,113.4
$MHEAD_RNG_PITCHd_Wd,297.4,5453,-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,26,-1.00,-146.6,0.0,0.0,0,97,0.00,0.00,-67.07,0.000,6,0.000,0.000,146,2207,3074
$GC,100,-1.00,-146.6,0.6,-0.9,7,121,11.95,2.30,0.00,0.000,4,0.004,0.004,2524,3557,3077
$GC,194,-1.00,-146.6,14.7,-8.4,15,201,0.30,2.65,0.00,0.000,6,0.003,0.004,2451,1922,3076
$GC,232,-1.00,-146.6,17.5,-7.8,19,234,0.28,0.00,0.00,0.000,6,0.004,0.000,2529,1923,3075
$GC,264,-1.00,-146.6,19.9,-7.4,22,266,0.45,0.00,0.00,0.000,6,0.004,0.000,2417,1923,3074
$GC,295,-1.00,-146.6,22.2,-7.4,25,298,0.60,0.00,0.00,0.000,6,0.003,0.000,2535,1923,3074
$GC,327,-1.00,-146.6,24.4,-7.0,28,330,0.45,0.00,0.00,0.000,6,0.003,0.000,2416,1923,3074
$GC,359,-1.00,-146.6,26.7,-7.0,31,362,0.57,0.00,0.00,0.000,6,0.003,0.000,2530,1922,3075
$GC,391,-1.00,-146.6,29.0,-7.0,34,393,0.57,0.00,0.00,0.000,6,0.004,0.000,2421,1922,3075
$GC,423,-1.00,-146.6,31.2,-7.0,37,425,0.55,0.00,0.00,0.000,6,0.004,0.000,2531,1923,3074
$GC,455,-1.00,-146.6,33.4,-6.9,40,457,0.57,0.00,0.00,0.000,6,0.003,0.000,2418,1922,3074
$GC,487,-1.00,-146.6,35.6,-7.1,43,489,0.38,0.00,0.00,0.000,6,0.003,0.000,2498,1922,3074
$GC,518,-1.00,-146.6,37.8,-6.9,46,521,0.40,0.00,0.00,0.000,6,0.004,0.000,2426,1922,3074
$GC,552,-1.00,-146.6,40.0,-6.8,49,554,0.30,0.00,0.00,0.000,6,0.004,0.000,2501,1923,3074
$GC,582,-1.00,-146.6,42.1,-6.8,52,584,0.38,0.00,0.00,0.000,6,0.004,0.000,2425,1923,3074
$GC,614,-1.00,-146.6,44.2,-6.4,55,616,0.40,0.00,0.00,0.000,6,0.004,0.000,2496,1922,3074
$GC,646,-1.00,-146.6,46.2,-6.5,58,648,0.35,0.00,0.00,0.000,6,0.004,0.000,2419,1922,3074
$GC,678,-1.00,-146.6,48.3,-6.4,61,680,0.43,0.00,0.00,0.000,6,0.004,0.000,2494,1923,3074
$GC,710,-1.00,-146.6,50.4,-6.6,64,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1923,3075
$GC,741,-1.00,-146.6,52.4,-6.4,67,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1922,3075
$GC,774,-1.00,-146.6,54.3,-6.1,70,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1923,3074
$GC,805,-1.00,-146.6,56.4,-6.5,73,811,0.28,2.85,0.00,0.000,4,0.004,0.004,2421,3658,3075
$GC,890,-1.00,-146.6,61.6,-6.2,80,899,0.47,3.03,0.00,0.000,6,0.003,0.004,2530,1885,3074
$GC,931,-1.00,-146.6,64.1,-6.4,84,934,0.68,0.00,0.00,0.000,6,0.003,0.000,2423,1886,3074
$GC,963,-1.00,-146.6,66.1,-6.1,87,966,0.38,0.00,0.00,0.000,6,0.004,0.000,2496,1885,3075
$GC,995,-1.00,-146.6,68.1,-6.2,90,997,0.30,0.00,0.00,0.000,6,0.003,0.000,2425,1885,3075
$GC,1028,-1.00,-146.6,70.1,-6.0,93,1031,0.38,0.00,0.00,0.000,6,0.004,0.000,2502,1885,3074
$GC,1059,-1.00,-146.6,72.0,-6.2,96,1061,0.32,0.00,0.00,0.000,6,0.004,0.000,2430,1885,3074
$GC,1090,-1.00,-146.6,73.9,-6.1,99,1093,0.30,0.00,0.00,0.000,6,0.004,0.000,2508,1885,3073
$GC,1122,-1.00,-146.6,75.9,-6.2,102,1128,0.40,2.97,0.00,0.000,4,0.004,0.003,2436,3640,3074
$GC,1246,-1.00,-146.6,83.8,-6.6,112,1253,0.30,3.15,0.00,0.000,6,0.003,0.004,2510,1911,3074
$GC,1284,-1.00,-146.6,86.1,-6.4,116,1286,0.30,0.00,0.00,0.000,6,0.004,0.000,2436,1911,3074
$GC,1316,-1.00,-146.6,88.2,-6.5,119,1318,0.43,0.00,0.00,0.000,6,0.004,0.000,2507,1912,3074
$STATE,1345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1345,begin apogee
$GC,1352,-0.31,0.0,90.2,6.3,122,1479,0.73,0.00,121.88,0.005,6,0.004,0.000,2660,2219,2473
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1483,1.00,146.6,92.0,0.0,135,1609,1.35,0.00,120.97,0.005,6,0.004,0.000,2965,2221,1874
$GC,1641,1.00,146.6,82.8,7.6,151,1643,0.45,0.00,0.00,0.000,6,0.004,0.000,2852,2219,1874
$GC,1673,1.00,146.6,80.4,7.7,154,1675,0.47,0.00,0.00,0.000,6,0.004,0.000,2957,2221,1874
$GC,1705,1.00,146.6,78.0,7.3,157,1707,0.38,0.00,0.00,0.000,6,0.003,0.000,2884,2220,1875
$GC,1736,1.00,146.6,75.7,7.4,160,1738,0.32,0.00,0.00,0.000,6,0.004,0.000,2918,2220,1876
$GC,1768,1.00,146.6,73.3,7.5,163,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2221,1875
$GC,1800,1.00,146.6,70.9,7.6,166,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2220,1875
$GC,1832,1.00,146.6,68.4,7.6,169,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2220,1876
$GC,1864,1.00,146.6,66.0,7.5,172,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2221,1874
$GC,1896,1.00,146.6,63.5,7.9,175,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,1876
$GC,1928,1.00,146.6,61.0,7.9,178,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2219,1878
$GC,1959,1.00,146.6,58.5,7.9,181,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,1875
$GC,1991,1.00,146.6,55.9,8.0,184,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2219,1875
$GC,2023,1.00,146.6,53.6,7.5,187,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,1875
$GC,2055,1.00,146.6,51.1,7.5,190,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,1875
$GC,2087,1.00,146.6,48.8,7.3,193,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2221,1875
$GC,2119,1.00,146.6,46.4,7.5,196,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2221,1874
$GC,2151,1.00,146.6,44.0,7.5,199,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2218,1875
$GC,2182,1.00,146.6,41.7,7.3,202,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2221,1875
$GC,2214,1.00,146.6,39.4,7.4,205,2220,0.00,2.92,0.00,0.000,4,0.000,0.004,2918,471,1875
$GC,2235,1.00,146.6,37.8,7.3,206,2242,0.00,3.03,0.00,0.000,6,0.000,0.004,2919,2249,1875
$GC,2274,1.00,146.6,35.1,7.3,210,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,1875
$GC,2305,1.00,146.6,32.9,6.9,213,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2249,1875
$GC,2337,1.00,146.6,30.8,6.8,216,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2249,1876
$GC,2369,1.00,146.6,28.8,6.4,219,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2249,1875
$GC,2401,1.00,146.6,26.8,6.2,222,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2250,1876
$GC,2433,1.01,148.6,24.9,5.9,225,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2248,1876
$GC,2465,1.01,148.6,23.0,6.1,228,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2249,1876
$GC,2497,1.01,151.5,21.1,5.9,231,2506,0.00,0.00,6.05,0.004,6,0.000,0.000,2918,2248,1855
$GC,2539,1.01,154.5,18.7,5.9,235,2548,0.00,0.00,4.70,0.004,6,0.000,0.000,2918,2250,1841
$GC,2581,1.02,158.2,16.2,5.9,239,2590,0.00,0.00,4.93,0.004,6,0.000,0.000,2920,2248,1827
$GC,2623,1.05,179.7,14.0,5.3,243,2647,0.00,2.30,19.55,0.005,4,0.000,0.004,2919,3585,1737
$GC,2704,1.05,179.7,9.0,6.3,250,2708,0.00,2.60,0.00,0.000,6,0.000,0.004,2918,1955,1737
$GC,2742,1.05,185.7,6.8,5.8,253,2753,0.00,2.60,5.62,0.005,4,0.000,0.003,2918,533,1712
$GC,2776,1.05,185.7,4.7,6.7,256,2781,0.00,2.78,0.00,0.000,6,0.000,0.004,2918,2169,1715
$GC,2813,1.05,185.7,2.3,6.3,259,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2170,1713
$STATE,2821,end climb,SURFACE_DEPTH_REACHED
$STATE,2821,begin surface coast
$FINISH,0.0,0.997131
$STATE,2854,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2883,142.65,0.004,19,0,1044,350.04
$SM_GC,0.00,0.00,0.00,142.65,0.000,0.000,0.004,146,1964,1044,-11.72,-3.00,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04602
$HUMID,1628
$INTERNAL_PRESSURE,12.5591
$TCM_TEMP,15.00
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,4122574848
$AR_CDRIVE_SIZE,4223664128
$AR_DDRIVE_FREE,21230256128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,12.001
$10V_AH,9.6,24.986
$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,41.200,33.950,283.700,142.650,0.000,0.000,0.000,90.301,0.000,0.000,13.618,569.023,1487.151,685.800,271.905,360.512,33.341,997.706,0.000,240.466,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,4.602,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,204.280,0.000,0.000,0.000,0.000,0.000,3247.200,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6422,263
$CAP_FILE_SIZE,79890,8
$CFSIZE,260165632,255750144
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,98,145,19,0
$GPS,300708,141811,4805.840,-12221.698,31,1.1,31,18.0