version: 66.07
glider: 511
mission: 11
dive: 26
start: 9 15 111 9 55 55
data:
$ID,511
$MISSION,11
$DIVE,26
$D_SURF,3
$D_FLARE,3
$D_TGT,960
$D_ABORT,1000
$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,320
$T_MISSION,640
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52011
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,375
$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,-73454.766
$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,2825
$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,1920
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$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,25
$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
$GPS1,150911,094015,2122.077,-15813.787,8,3.5,28,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-79.4
$GPS2,150911,095534,2122.107,-15813.633,15,3.2,34,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,W1
$TGT_LATLONG,2121.100,-15814.900
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.027,0.195
$KALMAN_X,522.9,811.6,-243.0,-1184.8,391.6
$KALMAN_Y,-14216.6,569.5,575.6,16185.5,-5440.3
$MHEAD_RNG_PITCHd_Wd,219.7,2873,-27.2,-10.000
$D_GRID,855
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.17,-63.0,0.0,0.0,0,94,0.00,0.00,-64.95,0.000,6,0.000,0.000,55,1891,2856,0,0,0,0,0,0
$GC,97,-1.24,-122.7,2.7,-3.6,6,117,10.50,2.05,-4.85,0.000,4,0.277,0.050,2417,526,3103,0,0,0,0,0,0
$GC,248,-1.24,-122.7,61.1,-33.1,22,252,0.00,2.17,0.00,0.000,6,0.000,0.045,2415,1930,3105,0,0,0,0,0,0
$GC,515,-1.24,-122.7,142.2,-29.0,47,519,0.00,2.10,0.00,0.000,4,0.000,0.044,2416,538,3108,0,0,0,0,0,0
$GC,545,-1.24,-122.7,151.0,-28.7,49,551,0.00,2.10,0.00,0.000,6,0.000,0.042,2414,1928,3109,0,0,1,0,0,0
$GC,815,-1.24,-122.7,220.6,-22.9,71,818,0.00,2.15,0.00,0.000,4,0.000,0.054,2414,3325,3111,0,0,0,0,0,0
$GC,832,-1.24,-122.7,225.4,-23.6,71,838,0.00,2.08,0.00,0.000,6,0.000,0.035,2413,1928,3112,0,0,0,0,0,0
$GC,1147,-1.24,-122.7,296.1,-19.7,87,1151,0.00,2.12,0.00,0.000,4,0.000,0.048,2414,520,3116,0,0,0,0,0,0
$GC,1179,-1.24,-122.7,303.1,-21.0,88,1183,0.00,2.12,0.00,0.000,6,0.000,0.042,2411,1926,3113,0,0,0,0,0,0
$GC,1512,-1.24,-122.7,373.3,-20.8,96,1516,0.00,2.15,0.00,0.000,4,0.000,0.048,2414,514,3113,0,0,0,0,0,0
$GC,1782,-1.24,-122.7,430.5,-20.5,101,1786,0.00,2.12,0.00,0.000,6,0.000,0.043,2411,1928,3113,0,0,0,0,0,0
$GC,2115,-1.24,-122.7,495.3,-19.1,109,2119,0.00,2.15,0.00,0.000,4,0.000,0.048,2414,519,3110,0,0,0,0,0,0
$GC,2295,-1.24,-122.7,531.0,-18.3,113,2299,0.00,2.15,0.00,0.000,6,0.000,0.047,2414,1923,3108,0,0,0,0,0,0
$GC,2623,-1.24,-122.7,595.7,-19.8,121,2627,0.00,2.15,0.00,0.000,4,0.000,0.052,2414,529,3105,0,0,0,0,0,0
$GC,2650,-1.24,-122.7,601.4,-19.5,121,2654,0.00,2.12,0.00,0.000,6,0.000,0.048,2414,1919,3105,0,0,0,0,0,0
$GC,2987,-1.24,-122.7,667.7,-19.8,130,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1919,3103,0,0,0,0,0,0
$GC,3310,-1.24,-122.7,729.6,-19.1,138,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1919,3097,0,0,0,0,0,0
$GC,3635,-1.24,-122.7,787.9,-17.7,146,3639,0.00,2.15,0.00,0.000,4,0.000,0.055,2414,525,3092,0,0,0,0,0,0
$GC,3690,-1.24,-122.7,797.7,-17.9,147,3694,0.00,2.15,0.00,0.000,6,0.000,0.051,2414,1913,3092,0,0,0,0,0,0
$GC,4009,-1.24,-122.7,850.8,-16.9,155,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1912,3090,0,0,0,0,0,0
$STATE,4045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4051,-0.28,0.0,857.5,16.7,156,4157,1.10,0.00,101.97,1.244,6,0.196,0.000,2729,2116,2600,0,0,0,0,0,0
$STATE,4165,end apogee,CONTROL_FINISHED_OK
$STATE,4165,begin climb
$GC,4167,1.24,122.7,860.3,0.0,158,4278,1.40,0.00,107.40,1.203,6,0.085,0.000,3217,2115,2099,0,0,0,0,0,0
$GC,4578,1.24,122.7,752.6,30.7,169,4582,0.00,2.25,0.00,0.000,4,0.000,0.064,3218,3510,2087,0,0,0,0,0,0
$GC,4605,1.24,122.7,743.7,30.5,169,4609,0.00,2.20,0.00,0.000,6,0.000,0.047,3227,2117,2086,0,0,0,0,0,0
$GC,4940,1.24,122.7,643.4,29.0,178,4944,0.00,2.22,0.00,0.000,4,0.000,0.063,3227,3508,2084,0,0,0,0,0,0
$GC,4953,1.24,122.7,639.2,28.8,178,4958,0.00,2.17,0.00,0.000,6,0.000,0.042,3237,2105,2084,0,0,0,0,0,0
$GC,5266,1.24,122.7,548.4,29.0,186,5270,0.00,2.22,0.00,0.000,4,0.000,0.063,3237,3509,2081,0,0,0,0,0,0
$GC,5280,1.24,122.7,544.1,28.4,186,5284,0.00,2.17,0.00,0.000,6,0.000,0.042,3247,2105,2080,0,0,0,0,0,0
$GC,5628,1.24,122.7,443.8,27.8,195,5632,0.00,2.17,0.00,0.000,4,0.000,0.054,3258,701,2079,0,0,0,0,0,0
$GC,5702,1.24,122.7,422.4,27.8,196,5707,0.15,2.22,0.00,0.000,6,0.244,0.057,3224,2096,2074,0,0,0,0,0,0
$GC,6043,1.24,122.7,338.4,23.6,205,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2096,2076,0,0,0,0,0,0
$GC,6349,1.24,122.7,272.2,20.6,215,6352,0.00,2.20,0.00,0.000,4,0.000,0.058,3235,701,2074,0,0,0,0,0,0
$GC,6431,1.24,122.7,254.2,22.3,218,6437,0.00,2.22,0.00,0.000,6,0.000,0.055,3226,2113,2073,0,0,0,0,0,0
$GC,6747,1.24,122.7,192.2,20.7,235,6751,0.00,2.22,0.00,0.000,4,0.000,0.059,3235,698,2071,0,0,0,0,0,0
$GC,6771,1.24,122.7,187.5,20.5,237,6775,0.00,2.22,0.00,0.000,6,0.000,0.054,3234,2113,2071,0,0,0,0,0,0
$GC,7034,1.24,122.7,146.3,16.3,261,7038,0.00,2.22,0.00,0.000,4,0.000,0.060,3243,701,2070,0,0,0,0,0,0
$GC,7113,1.24,122.7,131.7,15.6,269,7117,0.00,2.22,0.00,0.000,6,0.000,0.054,3243,2114,2069,0,0,0,0,0,0
$GC,7377,1.24,122.7,93.6,11.1,293,7381,0.00,2.17,0.00,0.000,4,0.000,0.058,3241,3525,2068,0,0,0,0,0,0
$GC,7493,1.24,122.7,80.4,10.7,305,7497,0.00,2.17,0.00,0.000,6,0.000,0.044,3254,2109,2069,0,0,0,0,0,0
$GC,7755,1.30,169.2,62.0,5.1,329,7792,0.00,2.22,31.58,0.660,4,0.000,0.050,3265,704,1909,0,0,0,0,0,0
$GC,8056,1.30,169.2,14.3,18.4,362,8061,0.00,2.17,0.00,0.000,6,0.000,0.048,3264,2113,1905,0,0,0,0,0,0
$STATE,8124,end climb,SURFACE_DEPTH_REACHED
$STATE,8124,begin surface coast
$FINISH,0.4,1.022761
$STATE,8135,end surface coast,CONTROL_FINISHED_OK
$STATE,8135,begin surface
$SM_CCo,8161,122.53,0.601,0,0,1072,375.06
$SM_GC,0.77,0.00,0.00,122.53,0.000,0.000,0.601,57,1888,1072,-8.65,-0.96,375.06
$IRIDIUM_FIX,2113.32,-15811.06,100313,040458
$TT8_MAMPS,0.056758
$HUMID,1078856119
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,338.4,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7977140224
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45264961536
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,12.575
$10V_AH,10.1,16.533
$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,21.725,74.375,240.950,122.525,0.000,59.575,72.898,505.896,21.750,0.000,36.765,815.333,5980.888,470.833,1680.176,244.005,0.000,984.028,0.000,919.699,0.000,164.859,0.000
$DEVICE_MAMPS,276.887,68.263,1244.074,601.328,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,247.956,0.000,0.000,0.000,0.000,0.000,0.000,8555.730,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,76.723,0.000,0.000
$MEM,304476
$DATA_FILE_SIZE,13453,369
$CAP_FILE_SIZE,99993,0
$CFSIZE,260165632,256585728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150911,121531,2121.346,-15814.155,40,1.6,41,9.8