version: 66.07
glider: 511
mission: 10
dive: 27
start: 9 9 111 16 47 12
data:
$ID,511
$MISSION,10
$DIVE,27
$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,-72434.859
$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,39
$R_STBD_OVSHOOT,27
$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,26
$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
$GPS1,090911,162600,2118.744,-15812.431,101,1.4,102,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-81.5
$GPS2,090911,164614,2118.729,-15812.367,11,1.4,11,9.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,W3
$TGT_LATLONG,2118.400,-15813.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.269,-0.084
$KALMAN_X,55903.9,-1870.3,-877.9,-52507.4,14925.6
$KALMAN_Y,35202.1,-1959.2,-652.4,-35665.6,5778.0
$MHEAD_RNG_PITCHd_Wd,218.2,1562,-27.2,-10.000
$D_GRID,1128
$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,24,begin dive
$GC,26,-1.17,-63.0,0.0,0.0,0,77,0.00,0.00,-47.30,0.000,6,0.000,0.000,52,1884,2856,0,0,0,0,0,0
$GC,80,-1.22,-109.5,3.5,-5.0,5,102,10.05,2.15,-3.85,0.000,4,0.251,0.065,2498,492,3051,0,0,0,0,0,0
$GC,361,-1.22,-109.5,103.6,-27.9,35,367,0.00,2.12,0.00,0.000,6,0.000,0.037,2489,1919,3054,0,0,0,0,0,0
$GC,622,-1.22,-109.5,168.2,-27.2,60,626,0.00,2.17,0.00,0.000,4,0.000,0.045,2490,486,3057,0,0,0,0,0,0
$GC,889,-1.22,-109.5,230.6,-23.3,79,895,0.00,2.10,0.00,0.000,6,0.000,0.035,2484,1905,3058,0,0,0,0,0,0
$GC,1206,-1.22,-109.5,296.0,-17.2,95,1210,0.00,2.15,0.00,0.000,4,0.000,0.045,2479,490,3060,0,0,0,0,0,0
$GC,1473,-1.22,-109.5,351.8,-19.2,101,1480,0.15,2.10,0.00,0.000,6,0.215,0.038,2505,1897,3060,0,0,0,0,0,0
$GC,1805,-1.22,-109.5,406.5,-16.2,110,1809,0.00,2.12,0.00,0.000,4,0.000,0.048,2506,490,3060,0,0,0,0,0,0
$GC,2073,-1.22,-109.5,454.6,-18.3,115,2078,0.00,2.12,0.00,0.000,6,0.000,0.040,2497,1902,3058,0,0,0,0,0,0
$GC,2405,-1.22,-109.5,516.1,-18.8,124,2408,0.00,2.17,0.00,0.000,4,0.000,0.051,2497,489,3055,0,0,0,0,0,0
$GC,2673,-1.22,-109.5,564.0,-16.0,129,2678,0.00,2.10,0.00,0.000,6,0.000,0.042,2486,1890,3052,0,0,0,0,0,0
$GC,3004,-1.22,-109.5,614.3,-15.7,138,3008,0.00,2.15,0.00,0.000,4,0.000,0.053,2487,498,3049,0,0,0,0,0,0
$GC,3271,-1.22,-109.5,658.3,-17.1,143,3276,0.00,2.15,0.00,0.000,6,0.000,0.045,2477,1899,3046,0,0,0,0,0,0
$GC,3604,-1.22,-109.5,715.2,-17.3,152,3609,0.12,2.20,0.00,0.000,4,0.225,0.054,2506,493,3041,0,0,0,0,0,0
$GC,3872,-1.22,-109.5,759.1,-17.0,157,3881,0.00,2.17,0.00,0.000,6,0.000,0.047,2497,1907,3039,0,0,0,0,0,0
$GC,4203,-1.22,-109.5,808.1,-14.2,166,4207,0.00,2.20,0.00,0.000,4,0.000,0.056,2497,493,3036,0,0,0,0,0,0
$GC,4291,-1.22,-109.5,820.7,-13.5,167,4296,0.00,2.17,0.00,0.000,6,0.000,0.048,2486,1899,3035,0,0,0,0,0,0
$GC,4621,-1.22,-109.5,867.6,-14.5,176,4625,0.00,2.20,0.00,0.000,4,0.000,0.058,2486,492,3032,0,0,0,0,0,0
$GC,4801,-1.22,-109.5,896.5,-15.1,179,4806,0.00,2.17,0.00,0.000,6,0.000,0.050,2473,1901,3031,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4853,-0.28,0.0,903.4,15.4,181,4948,1.10,0.00,91.80,1.282,6,0.191,0.000,2801,2128,2604,0,0,0,0,0,0
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4959,1.22,109.5,905.8,0.0,183,5061,1.42,0.00,97.78,1.243,6,0.079,0.000,3297,2124,2154,0,0,0,0,0,0
$GC,5372,1.22,109.5,800.8,28.5,194,5376,0.00,2.25,0.00,0.000,4,0.000,0.064,3292,3520,2142,0,0,0,0,0,0
$GC,5427,1.22,109.5,783.3,31.8,195,5431,0.00,2.20,0.00,0.000,6,0.000,0.046,3302,2117,2141,0,0,0,0,0,0
$GC,5745,1.22,109.5,692.0,28.4,203,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2114,2138,0,0,0,0,0,0
$GC,6069,1.22,109.5,601.6,27.7,211,6073,0.00,2.25,0.00,0.000,4,0.000,0.064,3301,3517,2135,0,0,0,0,0,0
$GC,6097,1.22,109.5,593.1,29.6,211,6101,0.00,2.15,0.00,0.000,6,0.000,0.044,3318,2112,2138,0,0,1,0,0,0
$GC,6432,1.22,109.5,504.3,26.0,220,6436,0.00,2.15,0.00,0.000,4,0.000,0.055,3322,717,2133,0,0,0,0,0,0
$GC,6505,1.22,109.5,485.5,24.7,221,6509,0.00,2.20,0.00,0.000,6,0.000,0.054,3324,2108,2131,0,0,0,0,0,0
$GC,6840,1.22,109.5,401.0,24.6,230,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2112,2128,0,0,0,0,0,0
$GC,7165,1.22,109.5,323.9,23.3,238,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2111,2133,0,0,0,0,0,0
$GC,7473,1.22,109.5,253.3,25.0,250,7477,0.00,2.22,0.00,0.000,4,0.000,0.063,3324,3535,2128,0,0,0,0,0,0
$GC,7703,1.22,109.5,205.4,19.9,260,7707,0.15,2.17,0.00,0.000,6,0.250,0.048,3301,2120,2127,0,0,0,0,0,0
$GC,8036,1.22,109.5,147.1,15.0,290,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2116,2125,0,0,0,0,0,0
$GC,8291,1.22,109.5,107.5,16.7,314,8295,0.00,2.25,0.00,0.000,4,0.000,0.064,3301,3529,2125,0,0,0,0,0,0
$GC,8557,1.27,150.4,79.6,5.7,342,8591,0.00,2.17,28.08,0.701,6,0.000,0.047,3309,2115,1986,0,0,0,0,0,0
$GC,8853,1.27,150.4,49.7,12.1,371,8857,0.00,2.25,0.00,0.000,4,0.000,0.061,3310,3542,1979,0,0,0,0,0,0
$GC,9119,1.27,150.4,15.1,12.0,399,9124,0.00,2.17,0.00,0.000,6,0.000,0.042,3320,2121,1980,0,0,0,0,0,0
$STATE,9218,end climb,SURFACE_DEPTH_REACHED
$STATE,9218,begin surface coast
$FINISH,-0.3,1.022802
$STATE,9241,end surface coast,CONTROL_FINISHED_OK
$STATE,9241,begin surface
$SM_CCo,9267,65.18,0.610,0,0,1579,250.45
$SM_GC,1.77,0.00,0.00,65.18,0.000,0.000,0.610,55,1886,1579,-8.87,-0.42,250.45
$IRIDIUM_FIX,2108.69,-15811.92,040313,101022
$TT8_MAMPS,0.056758
$HUMID,1078896119
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,441.2,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8148516864
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,33815494656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,9.095
$10V_AH,10.0,10.257
$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,21.550,65.850,217.650,65.175,0.000,115.640,275.580,448.238,23.000,0.000,14.688,1018.571,6573.655,388.110,2303.977,252.979,33.340,1077.528,0.000,1354.614,0.000,172.440,0.000
$DEVICE_MAMPS,250.809,65.195,1281.657,609.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,276.085,0.000,0.000,0.000,0.000,0.000,0.000,9881.960,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,61.055,0.000,0.000
$MEM,304668
$DATA_FILE_SIZE,13461,411
$CAP_FILE_SIZE,108878,0
$CFSIZE,260165632,255774720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.016, 62.7,1
$GPS,090911,192455,2117.875,-15812.287,76,1.0,77,9.8