version: 66.07
glider: 511
mission: 10
dive: 23
start: 9 9 111 4 23 11
data:
$ID,511
$MISSION,10
$DIVE,23
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2128
$TGT_DEFAULT_LON,15786
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-72319.641
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.327217
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,450
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,10
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,1
$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
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043997332
$SEABIRD_T_H,0.00064299116
$SEABIRD_T_I,2.7328302e-05
$SEABIRD_T_J,3.0913354e-06
$SEABIRD_C_G,-10.108667
$SEABIRD_C_H,1.1476576
$SEABIRD_C_I,-0.002108841
$SEABIRD_C_J,0.00023981143
$AR_DIVENUM,22
$AR_SAMPLENUM,2
$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,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,090911,040825,2121.149,-15812.703,43,2.0,43,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-81.8
$GPS2,090911,042216,2121.308,-15812.690,12,3.2,31,9.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,W4
$TGT_LATLONG,2119.900,-15810.400
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.184,-0.213
$KALMAN_X,43239.1,-2135.1,-814.7,-40190.6,15514.7
$KALMAN_Y,34725.7,-911.6,-878.0,-31224.6,10845.0
$MHEAD_RNG_PITCHd_Wd,123.1,4734,-15.8,-10.000
$D_GRID,869
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-175.2,0.0,0.0,0,78,0.00,0.00,-50.65,0.000,2,0.000,0.000,50,1882,3048,0,0,0,0,0,0
$GC,81,-0.85,-175.2,5.2,-9.5,5,105,10.65,2.20,-4.65,0.000,4,0.260,0.059,2610,3326,3319,0,0,0,0,0,0
$GC,188,-0.85,-175.2,48.2,-29.3,16,192,0.00,2.15,0.00,0.000,6,0.000,0.036,2610,1908,3323,0,0,0,0,0,0
$GC,448,-0.85,-175.2,114.9,-23.2,40,452,0.00,2.20,0.00,0.000,4,0.000,0.055,2599,3311,3325,0,0,0,0,0,0
$GC,503,-0.85,-175.2,126.9,-22.7,45,508,0.00,2.12,0.00,0.000,6,0.000,0.035,2600,1901,3326,0,0,0,0,0,0
$GC,764,-0.85,-175.2,181.8,-20.2,70,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1894,3327,0,0,0,0,0,0
$GC,1026,-0.85,-175.2,231.6,-18.5,87,1030,0.00,2.20,0.00,0.000,4,0.000,0.053,2588,3318,3330,0,0,0,0,0,0
$GC,1104,-0.85,-175.2,246.8,-20.9,90,1109,0.12,2.12,0.00,0.000,6,0.185,0.038,2621,1902,3331,0,0,0,0,0,0
$GC,1419,-0.85,-175.2,296.7,-14.0,105,1423,0.00,2.12,0.00,0.000,4,0.000,0.050,2621,488,3331,0,0,0,0,0,0
$GC,1461,-0.85,-175.2,302.4,-13.8,107,1465,0.00,2.15,0.00,0.000,6,0.000,0.042,2615,1908,3331,0,0,0,0,0,0
$GC,1790,-0.85,-175.2,347.6,-14.0,115,1794,0.00,2.15,0.00,0.000,4,0.000,0.054,2605,3307,3331,0,0,0,0,0,0
$GC,1863,-0.85,-175.2,357.9,-13.3,116,1867,0.00,2.12,0.00,0.000,6,0.000,0.039,2605,1894,3331,0,0,0,0,0,0
$GC,2198,-0.85,-175.2,405.8,-14.2,125,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1890,3329,0,0,0,0,0,0
$GC,2523,-0.85,-175.2,446.9,-12.6,133,2527,0.00,2.20,0.00,0.000,4,0.000,0.058,2595,3306,3325,0,0,0,0,0,0
$GC,2593,-0.85,-175.2,456.2,-13.2,134,2598,0.12,2.12,0.00,0.000,6,0.180,0.037,2625,1882,3326,0,0,0,0,0,0
$GC,2935,-0.85,-175.2,495.1,-11.1,143,2939,0.00,2.22,0.00,0.000,4,0.000,0.062,2618,3308,3322,0,0,0,0,0,0
$GC,3032,-0.85,-175.2,506.2,-11.5,145,3036,0.00,2.10,0.00,0.000,6,0.000,0.038,2618,1904,3321,0,0,0,0,0,0
$GC,3351,-0.85,-175.2,545.3,-12.3,153,3355,0.00,2.20,0.00,0.000,4,0.000,0.059,2608,3305,3319,0,0,0,0,0,0
$GC,3378,-0.85,-175.2,548.8,-12.1,153,3382,0.00,2.12,0.00,0.000,6,0.000,0.039,2611,1892,3318,0,0,0,0,0,0
$GC,3713,-0.85,-175.2,586.0,-11.1,162,3717,0.00,2.22,0.00,0.000,4,0.000,0.061,2598,3307,3316,0,0,0,0,0,0
$GC,3740,-0.85,-175.2,589.3,-11.8,162,3744,0.00,2.12,0.00,0.000,6,0.000,0.042,2598,1901,3315,0,0,0,0,0,0
$GC,4081,-0.85,-175.2,630.8,-12.2,171,4085,0.00,2.20,0.00,0.000,4,0.000,0.063,2588,3300,3312,0,0,0,0,0,0
$GC,4131,-0.85,-175.2,637.8,-13.5,172,4136,0.15,2.12,0.00,0.000,6,0.178,0.041,2628,1896,3312,0,0,0,0,0,0
$GC,4456,-0.85,-175.2,673.8,-11.2,180,4460,0.00,2.22,0.00,0.000,4,0.000,0.064,2619,3302,3310,0,0,0,0,0,0
$GC,4507,-0.85,-175.2,679.9,-10.8,181,4512,0.00,2.12,0.00,0.000,6,0.000,0.044,2619,1902,3308,0,0,0,0,0,0
$GC,4831,-0.85,-175.2,715.8,-11.0,189,4835,0.00,2.22,0.00,0.000,4,0.000,0.064,2610,3307,3306,0,0,0,0,0,0
$GC,4892,-0.85,-175.2,722.9,-11.2,190,4897,0.00,2.15,0.00,0.000,6,0.000,0.045,2610,1906,3305,0,0,0,0,0,0
$GC,5244,-0.85,-175.2,762.4,-10.9,199,5248,0.00,2.22,0.00,0.000,4,0.000,0.067,2600,3299,3304,0,0,0,0,0,0
$GC,5281,-0.85,-175.2,766.8,-9.7,199,5287,0.00,2.15,0.00,0.000,6,0.000,0.041,2601,1879,3303,0,0,0,0,0,0
$GC,5614,-0.85,-175.2,803.2,-11.1,208,5618,0.00,2.25,0.00,0.000,4,0.000,0.064,2591,3300,3301,0,0,0,0,0,0
$GC,5642,-0.85,-175.2,807.0,-12.3,208,5646,0.12,2.12,0.00,0.000,6,0.183,0.042,2620,1897,3301,0,0,0,0,0,0
$GC,5982,-0.85,-175.2,838.4,-8.7,217,5986,0.00,2.22,0.00,0.000,4,0.000,0.064,2613,3300,3298,0,0,0,0,0,0
$GC,6042,-0.85,-175.2,844.3,-9.6,218,6046,0.00,2.15,0.00,0.000,6,0.000,0.047,2612,1902,3296,0,0,0,0,0,0
$STATE,6308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6308,begin apogee
$GC,6314,-0.28,0.0,869.8,9.3,225,6463,0.60,0.00,146.57,1.262,6,0.145,0.000,2805,2120,2601,0,0,0,0,0,0
$STATE,6472,end apogee,CONTROL_FINISHED_OK
$STATE,6472,begin climb
$GC,6474,0.85,175.2,870.5,0.0,228,6631,1.00,2.38,147.95,1.221,4,0.071,0.051,3172,716,1884,0,0,0,0,0,0
$GC,6686,0.85,175.2,828.5,26.2,233,6691,0.00,2.33,0.00,0.000,6,0.000,0.055,3173,2108,1876,0,0,0,0,0,0
$GC,7009,0.85,175.2,734.7,29.1,241,7013,0.00,2.33,0.00,0.000,4,0.000,0.068,3173,3533,1871,0,0,0,0,0,0
$GC,7119,0.85,175.2,703.5,26.9,243,7123,0.00,2.22,0.00,0.000,6,0.000,0.042,3183,2118,1870,0,0,0,0,0,0
$GC,7463,0.85,175.2,617.3,24.8,252,7468,0.00,2.28,0.00,0.000,4,0.000,0.067,3183,3530,1868,0,0,0,0,0,0
$GC,7560,0.85,175.2,591.2,26.9,254,7565,0.00,2.15,0.00,0.000,6,0.000,0.044,3199,2115,1868,0,0,1,0,0,0
$GC,7878,0.85,175.2,514.0,24.2,262,7882,0.00,2.30,0.00,0.000,4,0.000,0.067,3193,3538,1867,0,0,0,0,0,0
$GC,7905,0.85,175.2,507.0,26.5,262,7909,0.00,2.20,0.00,0.000,6,0.000,0.043,3203,2119,1867,0,0,0,0,0,0
$GC,8245,0.85,175.2,423.8,25.2,271,8250,0.12,2.28,0.00,0.000,4,0.230,0.066,3170,3536,1863,0,0,0,0,0,0
$GC,8343,0.85,175.2,398.7,25.7,273,8347,0.00,2.20,0.00,0.000,6,0.000,0.042,3178,2115,1864,0,0,0,0,0,0
$GC,8660,0.85,175.2,328.4,21.8,281,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2109,1864,0,0,0,0,0,0
$GC,8967,0.85,175.2,264.9,19.8,292,8971,0.00,2.25,0.00,0.000,4,0.000,0.067,3178,3532,1864,0,0,0,0,0,0
$GC,9013,0.85,175.2,254.2,24.3,294,9017,0.00,2.17,0.00,0.000,6,0.000,0.043,3188,2119,1862,0,0,0,0,0,0
$GC,9338,0.85,175.2,189.4,19.4,312,9342,0.00,2.25,0.00,0.000,4,0.000,0.065,3189,3538,1862,0,0,0,0,0,0
$GC,9481,0.85,175.2,159.6,19.1,327,9485,0.00,2.17,0.00,0.000,6,0.000,0.041,3199,2115,1861,0,0,0,0,0,0
$GC,9745,0.85,175.2,113.6,19.4,351,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2111,1860,0,0,0,0,0,0
$GC,9996,0.85,175.2,76.3,14.7,375,10000,0.00,2.25,0.00,0.000,4,0.000,0.065,3199,3538,1860,0,0,0,0,0,0
$GC,10199,0.85,175.2,48.2,12.7,396,10205,0.12,2.17,0.00,0.000,6,0.209,0.045,3178,2116,1860,0,0,0,0,0,0
$GC,10459,0.85,175.2,19.6,10.9,421,10463,0.00,2.15,0.00,0.000,4,0.000,0.054,3188,718,1862,0,0,0,0,0,0
$GC,10561,0.85,175.2,8.8,11.2,431,10567,0.00,2.17,0.00,0.000,6,0.000,0.049,3188,2124,1861,0,0,0,0,0,0
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10617,begin surface coast
$FINISH,0.5,1.022786
$STATE,10640,end surface coast,CONTROL_FINISHED_OK
$STATE,10640,begin surface
$SM_CCo,10665,46.20,0.611,0,0,1578,250.20
$SM_GC,0.69,0.00,0.00,46.20,0.000,0.000,0.611,51,1879,1578,-8.91,-0.59,250.20
$IRIDIUM_FIX,2108.69,-16003.19,030313,191927
$TT8_MAMPS,0.056758
$HUMID,1078867732
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,345.9,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8192524288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,37712658432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,8.595
$10V_AH,10.0,9.360
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,21.225,106.000,294.525,46.200,0.000,58.303,66.153,428.326,22.750,0.000,34.321,1056.355,7905.652,415.470,1880.658,271.023,33.347,1109.050,0.000,1205.799,0.000,170.467,0.000
$DEVICE_MAMPS,260.013,68.263,1262.482,611.299,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,296.329,0.000,0.000,0.000,0.000,0.000,0.000,10684.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,62.795,0.000,0.000
$MEM,304668
$DATA_FILE_SIZE,16716,439
$CAP_FILE_SIZE,120104,0
$CFSIZE,260165632,255991808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,209.2,1
$GPS,090911,072334,2120.090,-15811.575,40,8.2,59,9.8