version: 66.07
glider: 511
mission: 11
dive: 23
start: 9 15 111 0 40 36
data:
$ID,511
$MISSION,11
$DIVE,23
$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,150
$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,-73378.711
$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,2840
$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,40
$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,1
$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
$GPS1,150911,003102,2119.678,-15812.648,10,1.9,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-77.7
$GPS2,150911,004014,2119.728,-15812.588,14,1.9,14,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W6
$TGT_LATLONG,2122.400,-15811.900
$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,3.7,5089,-17.5,-10.000
$D_GRID,1095
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.88,-146.0,0.0,0.0,0,97,0.00,0.00,-70.25,0.000,2,0.000,0.000,55,1898,3027,0,0,0,0,0,0
$GC,100,-0.88,-146.0,4.6,-7.8,7,121,11.20,2.22,-2.83,0.000,4,0.281,0.059,2538,3344,3199,0,0,0,0,0,0
$GC,280,-0.88,-146.0,66.7,-30.7,26,284,0.00,2.12,0.00,0.000,6,0.000,0.036,2538,1920,3203,0,0,0,0,0,0
$GC,541,-0.88,-146.0,136.0,-24.9,50,545,0.00,2.15,0.00,0.000,4,0.000,0.049,2534,510,3205,0,0,0,0,0,0
$GC,623,-0.88,-146.0,154.8,-20.7,58,629,0.00,2.15,0.00,0.000,6,0.000,0.041,2537,1935,3206,0,0,0,0,0,0
$GC,883,-0.88,-146.0,205.5,-19.3,82,887,0.00,2.15,0.00,0.000,4,0.000,0.053,2537,3332,3209,0,0,0,0,0,0
$GC,933,-0.88,-146.0,215.1,-17.7,84,937,0.00,2.12,0.00,0.000,6,0.000,0.035,2536,1906,3207,0,0,0,0,0,0
$GC,1252,-0.88,-146.0,267.4,-14.3,100,1256,0.00,2.10,0.00,0.000,4,0.000,0.048,2537,525,3211,0,0,0,0,0,0
$GC,1330,-0.88,-146.0,279.1,-14.7,103,1334,0.00,2.12,0.00,0.000,6,0.000,0.041,2537,1923,3211,0,0,0,0,0,0
$GC,1645,-0.88,-146.0,326.6,-15.5,114,1649,0.00,2.17,0.00,0.000,4,0.000,0.056,2537,3331,3211,0,0,0,0,0,0
$GC,1677,-0.88,-146.0,332.1,-15.5,114,1681,0.00,2.10,0.00,0.000,6,0.000,0.037,2536,1923,3211,0,0,0,0,0,0
$GC,2008,-0.88,-146.0,382.1,-15.0,122,2012,0.00,2.17,0.00,0.000,4,0.000,0.057,2536,3326,3211,0,0,0,0,0,0
$GC,2114,-0.88,-146.0,396.4,-12.2,124,2118,0.00,2.08,0.00,0.000,6,0.000,0.038,2537,1920,3210,0,0,0,0,0,0
$GC,2466,-0.88,-146.0,440.4,-12.6,133,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1917,3210,0,0,0,0,0,0
$GC,2787,-0.88,-146.0,486.3,-14.2,141,2791,0.00,2.17,0.00,0.000,4,0.000,0.061,2537,3321,3205,0,0,0,0,0,0
$GC,2880,-0.88,-146.0,499.2,-13.2,143,2884,0.00,2.10,0.00,0.000,6,0.000,0.041,2537,1918,3206,0,0,0,0,0,0
$GC,3203,-0.88,-146.0,537.9,-11.4,151,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1917,3197,0,0,0,0,0,0
$GC,3527,-0.88,-146.0,576.0,-12.0,159,3531,0.00,2.25,0.00,0.000,4,0.000,0.064,2536,3326,3196,0,0,0,0,0,0
$GC,3582,-0.88,-146.0,582.8,-11.4,160,3586,0.00,2.12,0.00,0.000,6,0.000,0.042,2537,1913,3195,0,0,0,0,0,0
$GC,3896,-0.88,-146.0,624.7,-13.8,168,3900,0.00,2.25,0.00,0.000,4,0.000,0.066,2542,3326,3193,0,0,0,0,0,0
$GC,3969,-0.88,-146.0,635.0,-12.6,169,3973,0.00,2.12,0.00,0.000,6,0.000,0.044,2537,1919,3192,0,0,0,0,0,0
$GC,4305,-0.88,-146.0,678.2,-12.6,178,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1918,3189,0,0,0,0,0,0
$GC,4629,-0.88,-146.0,716.5,-11.7,186,4633,0.00,2.22,0.00,0.000,4,0.000,0.067,2536,3318,3185,0,0,0,0,0,0
$GC,4693,-0.88,-146.0,723.8,-10.6,187,4697,0.00,2.10,0.00,0.000,6,0.000,0.041,2536,1913,3186,0,0,0,0,0,0
$GC,5039,-0.88,-146.0,761.3,-11.2,196,5043,0.00,2.22,0.00,0.000,4,0.000,0.064,2536,3321,3184,0,0,0,0,0,0
$GC,5135,-0.88,-146.0,773.2,-11.8,198,5139,0.00,2.10,0.00,0.000,6,0.000,0.040,2536,1916,3183,0,0,0,0,0,0
$GC,5453,-0.88,-146.0,808.8,-11.3,206,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1913,3181,0,0,0,0,0,0
$GC,5777,-0.88,-146.0,846.2,-11.3,214,5781,0.00,2.22,0.00,0.000,4,0.000,0.061,2536,3326,3179,0,0,0,0,0,0
$GC,5829,-0.88,-146.0,852.3,-11.3,215,5833,0.00,2.10,0.00,0.000,6,0.000,0.040,2536,1918,3178,0,0,0,0,0,0
$GC,6152,-0.88,-146.0,890.9,-12.5,223,6156,0.00,2.17,0.00,0.000,4,0.000,0.059,2536,3321,3177,0,0,0,0,0,0
$GC,6235,-0.88,-146.0,901.6,-11.9,224,6241,0.00,2.12,0.00,0.000,6,0.000,0.040,2536,1914,3176,0,0,0,0,0,0
$GC,6567,-0.88,-146.0,941.1,-11.7,233,6571,0.00,2.20,0.00,0.000,4,0.000,0.061,2536,3326,3175,0,0,0,0,0,0
$GC,6642,-0.88,-146.0,949.9,-11.9,234,6647,0.00,2.10,0.00,0.000,6,0.000,0.040,2536,1921,3174,0,0,0,0,0,0
$STATE,6737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6738,begin apogee
$GC,6743,-0.28,0.0,961.2,11.9,237,6868,0.68,0.00,121.35,1.333,6,0.158,0.000,2744,2117,2600,0,0,0,0,0,0
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6878,0.88,146.0,964.9,0.0,240,7012,1.02,2.35,125.72,1.293,4,0.061,0.053,3134,718,2005,0,0,1,0,0,0
$GC,7040,0.88,146.0,940.1,24.4,243,7046,0.00,2.28,0.00,0.000,6,0.000,0.050,3134,2099,2000,0,0,0,0,0,0
$GC,7370,0.88,146.0,853.2,26.3,252,7375,0.00,2.30,0.00,0.000,4,0.000,0.064,3134,3525,1993,0,0,0,0,0,0
$GC,7444,0.88,146.0,833.1,27.4,253,7448,0.00,2.20,0.00,0.000,6,0.000,0.042,3145,2111,1992,0,0,0,0,0,0
$GC,7779,0.88,146.0,747.4,25.5,262,7783,0.00,2.28,0.00,0.000,4,0.000,0.064,3144,3525,1990,0,0,0,0,0,0
$GC,7822,0.88,146.0,735.6,30.0,263,7826,0.12,2.17,0.00,0.000,6,0.245,0.041,3129,2112,1991,0,0,0,0,0,0
$GC,8149,0.88,146.0,658.2,23.2,271,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2104,1989,0,0,0,0,0,0
$GC,8474,0.88,146.0,581.4,24.2,279,8478,0.00,2.25,0.00,0.000,4,0.000,0.065,3128,3520,1988,0,0,0,0,0,0
$GC,8516,0.88,146.0,570.8,24.8,280,8521,0.00,2.20,0.00,0.000,6,0.000,0.044,3138,2094,1988,0,0,0,0,0,0
$GC,8843,0.88,146.0,496.3,22.3,288,8847,0.00,2.17,0.00,0.000,4,0.000,0.054,3144,702,1987,0,0,0,0,0,0
$GC,8935,0.88,146.0,475.3,23.2,290,8939,0.00,2.20,0.00,0.000,6,0.000,0.052,3149,2114,1986,0,0,0,0,0,0
$GC,9257,0.88,146.0,397.9,25.4,298,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2114,1985,0,0,0,0,0,0
$GC,9582,0.88,146.0,325.9,22.5,306,9586,0.00,2.25,0.00,0.000,4,0.000,0.063,3148,3523,1986,0,0,0,0,0,0
$GC,9720,0.88,146.0,292.9,23.7,309,9725,0.15,2.15,0.00,0.000,6,0.232,0.043,3124,2118,1984,0,0,0,0,0,0
$GC,10045,0.88,146.0,234.7,15.4,325,10049,0.00,2.20,0.00,0.000,4,0.000,0.055,3134,701,1981,0,0,0,0,0,0
$GC,10166,0.88,146.0,213.6,16.7,330,10170,0.00,2.17,0.00,0.000,6,0.000,0.050,3134,2107,1981,0,0,0,0,0,0
$GC,10492,0.88,146.0,158.5,18.2,357,10496,0.00,2.20,0.00,0.000,4,0.000,0.062,3134,3522,1981,0,0,0,0,0,0
$GC,10553,0.88,146.0,147.8,18.2,363,10557,0.00,2.15,0.00,0.000,6,0.000,0.045,3144,2114,1980,0,0,0,0,0,0
$GC,10815,0.88,146.0,114.1,12.5,387,10819,0.00,2.22,0.00,0.000,4,0.000,0.065,3144,3521,1978,0,0,0,0,0,0
$GC,11084,0.90,159.2,81.2,9.4,416,11097,0.00,2.17,7.62,0.613,6,0.000,0.045,3154,2103,1952,0,0,0,0,0,0
$GC,11358,0.92,174.7,53.8,9.3,442,11376,0.00,2.33,13.82,0.621,4,0.000,0.060,3150,3524,1888,0,0,0,0,0,0
$GC,11639,0.92,174.7,19.7,11.2,472,11645,0.00,2.17,0.00,0.000,6,0.000,0.043,3164,2117,1887,0,0,0,0,0,0
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11781,begin surface coast
$FINISH,-0.2,1.017062
$STATE,11803,end surface coast,CONTROL_FINISHED_OK
$STATE,11803,begin surface
$SM_CCo,11825,118.12,0.590,0,0,1071,375.30
$SM_GC,0.89,0.00,0.00,118.12,0.000,0.000,0.590,62,1901,1071,-8.69,-0.54,375.30
$IRIDIUM_FIX,2111.01,-15814.06,090313,171759
$TT8_MAMPS,0.056758
$HUMID,1078760635
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,448.6,0.0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,7301922816
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,47549644800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,12.198
$10V_AH,9.9,15.728
$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,21.375,105.300,268.525,118.125,0.000,24.747,32.548,333.944,25.000,0.000,15.779,1085.855,8809.119,475.423,1895.417,244.897,0.000,1241.353,0.000,1368.656,0.000,185.839,0.000
$DEVICE_MAMPS,280.722,66.729,1333.046,589.823,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,329.001,0.000,0.000,0.000,0.000,0.000,0.000,11515.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,98.832,0.000,0.000
$MEM,304512
$DATA_FILE_SIZE,16786,488
$CAP_FILE_SIZE,124099,0
$CFSIZE,260165632,256729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150911,040127,2120.923,-15812.178,35,2.4,54,9.8