version: 66.07
glider: 511
mission: 12
dive: 65
start: 11 3 111 23 2 40
data:
$ID,511
$MISSION,12
$DIVE,65
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$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,300
$T_MISSION,630
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76252.992
$T_RSLEEP,1
$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,31
$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,1800
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,21
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,10
$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,64
$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,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,031111,225719,2119.820,-15812.555,13,1.8,30,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.7
$GPS2,031111,230210,2119.838,-15812.553,10,3.1,29,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,W6
$TGT_LATLONG,2122.400,-15811.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,3.5,4877,-18.2,-10.000
$D_GRID,1085
$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,22,begin dive
$GC,25,-0.75,-136.3,0.0,0.0,0,97,0.00,0.00,-70.38,0.000,2,0.000,0.000,40,1784,3132,0,0,0,0,0,0
$GC,100,-0.75,-136.3,4.6,-7.2,7,119,10.30,2.25,-0.45,0.000,4,0.234,0.061,2637,3209,3161,0,0,0,0,0,0
$GC,216,-0.75,-136.3,46.4,-25.4,19,222,0.00,2.15,0.00,0.000,6,0.000,0.043,2638,1810,3162,0,0,0,0,0,0
$GC,477,-0.75,-136.3,109.8,-23.4,44,480,0.00,2.20,0.00,0.000,4,0.000,0.055,2637,393,3163,0,0,0,0,0,0
$GC,554,-0.75,-136.3,127.8,-18.6,52,560,0.00,2.17,0.00,0.000,6,0.000,0.048,2627,1808,3163,0,0,0,0,0,0
$GC,815,-0.75,-136.3,172.0,-17.1,77,819,0.00,2.17,0.00,0.000,4,0.000,0.057,2616,3213,3164,0,0,0,0,0,0
$GC,861,-0.75,-136.3,179.8,-16.0,81,867,0.15,2.15,0.00,0.000,6,0.178,0.044,2657,1794,3165,0,0,0,0,0,0
$GC,1129,-0.75,-136.3,214.4,-13.0,102,1133,0.00,2.22,0.00,0.000,4,0.000,0.055,2646,3218,3165,0,0,0,0,0,0
$GC,1171,-0.75,-136.3,220.1,-13.1,104,1175,0.00,2.15,0.00,0.000,6,0.000,0.044,2646,1799,3166,0,0,0,0,0,0
$GC,1499,-0.75,-136.3,264.2,-14.0,120,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1799,3165,0,0,0,0,0,0
$GC,1808,-0.75,-136.3,305.8,-13.2,134,1812,0.00,2.17,0.00,0.000,4,0.000,0.054,2646,387,3165,0,0,0,0,0,0
$GC,1844,-0.75,-136.3,310.0,-11.0,134,1850,0.00,2.20,0.00,0.000,6,0.000,0.045,2636,1809,3163,0,0,0,0,0,0
$GC,2175,-0.75,-136.3,347.0,-11.0,143,2179,0.00,2.20,0.00,0.000,4,0.000,0.056,2636,393,3163,0,0,0,0,0,0
$GC,2202,-0.75,-136.3,350.5,-12.1,143,2206,0.00,2.20,0.00,0.000,6,0.000,0.048,2626,1807,3162,0,0,0,0,0,0
$GC,2537,-0.75,-136.3,390.4,-11.8,152,2539,0.10,0.00,0.00,0.000,6,0.201,0.000,2650,1807,3160,0,0,0,0,0,0
$GC,2862,-0.75,-136.3,424.7,-10.1,160,2866,0.00,2.17,0.00,0.000,4,0.000,0.056,2641,3221,3156,0,0,0,0,0,0
$GC,2968,-0.75,-136.3,434.2,-9.0,162,2972,0.00,2.20,0.00,0.000,6,0.000,0.042,2642,1782,3155,0,0,0,0,0,0
$GC,3318,-0.75,-136.3,467.1,-10.0,171,3322,0.00,2.28,0.00,0.000,4,0.000,0.064,2631,3209,3155,0,0,0,0,0,0
$GC,3368,-0.75,-136.3,472.9,-11.2,172,3372,0.00,2.15,0.00,0.000,6,0.000,0.043,2631,1801,3151,0,0,0,0,0,0
$GC,3690,-0.75,-136.3,506.8,-10.2,180,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1800,3150,0,0,0,0,0,0
$GC,4015,-0.75,-136.3,539.0,-9.7,188,4019,0.00,2.28,0.00,0.000,4,0.000,0.066,2621,3219,3146,0,0,1,0,0,0
$GC,4117,-0.75,-136.3,549.0,-9.8,190,4122,0.12,2.17,0.00,0.000,6,0.179,0.047,2653,1800,3144,0,0,0,0,0,0
$GC,4431,-0.75,-136.3,574.8,-8.4,198,4435,0.00,2.25,0.00,0.000,4,0.000,0.067,2643,3211,3141,0,0,0,0,0,0
$GC,4520,-0.75,-136.3,582.3,-8.8,200,4524,0.00,2.20,0.00,0.000,6,0.000,0.049,2643,1799,3140,0,0,0,0,0,0
$GC,4847,-0.75,-136.3,612.2,-9.2,208,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1799,3138,0,0,0,0,0,0
$GC,5172,-0.75,-136.3,641.7,-9.0,216,5176,0.00,2.28,0.00,0.000,4,0.000,0.069,2637,3206,3134,0,0,0,0,0,0
$GC,5204,-0.75,-136.3,644.9,-10.1,216,5208,0.00,2.17,0.00,0.000,6,0.000,0.048,2634,1797,3133,0,0,0,0,0,0
$GC,5535,-0.75,-136.3,675.8,-9.4,224,5539,0.00,2.28,0.00,0.000,4,0.000,0.071,2624,3208,3131,0,0,0,0,0,0
$GC,5600,-0.75,-136.3,682.4,-10.3,225,5604,0.12,2.20,0.00,0.000,6,0.185,0.053,2657,1797,3130,0,0,0,0,0,0
$GC,5945,-0.75,-136.3,712.8,-8.8,234,5949,0.00,2.28,0.00,0.000,4,0.000,0.071,2647,3206,3129,0,0,0,0,0,0
$GC,5996,-0.75,-136.3,717.6,-9.2,235,6000,0.00,2.17,0.00,0.000,6,0.000,0.048,2647,1790,3128,0,0,0,0,0,0
$GC,6314,-0.75,-136.3,745.6,-8.5,243,6318,0.00,2.28,0.00,0.000,4,0.000,0.064,2637,3214,3127,0,0,0,0,0,0
$GC,6357,-0.75,-136.3,748.9,-8.6,243,6362,0.00,2.22,0.00,0.000,6,0.000,0.049,2637,1794,3123,0,0,0,0,0,0
$GC,6688,-0.75,-136.3,778.0,-8.4,252,6692,0.00,2.28,0.00,0.000,4,0.000,0.071,2627,3206,3124,0,0,0,0,0,0
$GC,6757,-0.75,-136.3,784.3,-9.1,253,6761,0.00,2.17,0.00,0.000,6,0.000,0.048,2627,1800,3127,0,0,0,0,0,0
$GC,7097,-0.75,-136.3,813.7,-8.6,262,7101,0.00,2.28,0.00,0.000,4,0.000,0.070,2617,3208,3121,0,0,0,0,0,0
$GC,7133,-0.75,-136.3,817.5,-10.3,262,7139,0.15,2.17,0.00,0.000,6,0.177,0.049,2657,1800,3121,0,0,0,0,0,0
$GC,7464,-0.75,-136.3,846.8,-9.1,271,7468,0.00,2.30,0.00,0.000,4,0.000,0.072,2648,3203,3120,0,0,0,0,0,0
$GC,7529,-0.75,-136.3,853.2,-9.4,272,7533,0.00,2.17,0.00,0.000,6,0.000,0.048,2648,1799,3119,0,0,0,0,0,0
$GC,7873,-0.75,-136.3,882.0,-7.9,281,7877,0.00,2.28,0.00,0.000,4,0.000,0.066,2638,3206,3121,0,0,0,0,0,0
$GC,7970,-0.75,-136.3,889.1,-7.2,283,7975,0.00,2.20,0.00,0.000,6,0.000,0.048,2638,1789,3120,0,0,0,0,0,0
$STATE,8124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8124,begin apogee
$GC,8130,-0.23,0.0,901.4,8.2,287,8246,0.60,0.00,111.93,1.291,6,0.147,0.000,2819,2246,2600,0,0,0,0,0,0
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8257,0.75,136.3,903.9,0.0,290,8381,0.93,0.00,120.05,1.250,6,0.081,0.000,3141,2246,2044,0,0,0,0,0,0
$GC,8694,0.75,136.3,828.0,19.7,301,8698,0.00,2.35,0.00,0.000,4,0.000,0.071,3137,3656,2032,0,0,0,0,0,0
$GC,8791,0.75,136.3,807.0,22.5,303,8795,0.00,2.22,0.00,0.000,6,0.000,0.049,3151,2243,2031,0,0,1,0,0,0
$GC,9113,0.75,136.3,738.9,21.1,311,9117,0.00,2.35,0.00,0.000,4,0.000,0.069,3151,3656,2030,0,0,0,0,0,0
$GC,9187,0.75,136.3,722.2,23.9,312,9191,0.00,2.20,0.00,0.000,6,0.000,0.049,3161,2251,2030,0,0,1,0,0,0
$GC,9522,0.75,136.3,650.3,21.8,321,9526,0.00,2.30,0.00,0.000,4,0.000,0.071,3161,3656,2028,0,0,0,0,0,0
$GC,9573,0.75,136.3,637.8,25.7,322,9577,0.00,2.20,0.00,0.000,6,0.000,0.050,3171,2247,2028,0,0,1,0,0,0
$GC,9890,0.75,136.3,568.2,21.9,330,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2240,2027,0,0,0,0,0,0
$GC,10215,0.75,136.3,501.6,19.6,338,10219,0.00,2.33,0.00,0.000,4,0.000,0.071,3169,3655,2027,0,0,0,0,0,0
$GC,10341,0.75,136.3,474.8,20.9,340,10346,0.15,2.17,0.00,0.000,6,0.226,0.050,3148,2249,2027,0,0,1,0,0,0
$GC,10672,0.75,136.3,419.5,16.3,348,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2248,2026,0,0,0,0,0,0
$GC,10997,0.75,136.3,363.2,17.1,356,11001,0.00,2.33,0.00,0.000,4,0.000,0.071,3146,3656,2025,0,0,0,0,0,0
$GC,11178,0.75,136.3,329.6,17.9,360,11182,0.00,2.20,0.00,0.000,6,0.000,0.049,3154,2248,2025,0,0,0,0,0,0
$GC,11507,0.75,136.3,270.4,18.9,371,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2241,2023,0,0,0,0,0,0
$GC,11816,0.75,136.3,218.3,14.8,386,11820,0.00,2.30,0.00,0.000,4,0.000,0.068,3154,3658,2022,0,0,0,0,0,0
$GC,11890,0.75,136.3,206.5,14.5,389,11894,0.00,2.17,0.00,0.000,6,0.000,0.047,3165,2237,2022,0,0,1,0,0,0
$GC,12217,0.75,136.3,163.3,14.2,418,12221,0.00,2.30,0.00,0.000,4,0.000,0.066,3165,3658,2021,0,0,0,0,0,0
$GC,12309,0.75,136.3,149.0,14.9,427,12315,0.12,2.17,0.00,0.000,6,0.216,0.046,3147,2255,2021,0,0,0,0,0,0
$GC,12569,0.75,136.3,115.2,12.1,452,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2243,2021,0,0,0,0,0,0
$GC,12825,0.84,208.9,94.8,6.4,476,12884,0.00,2.25,52.33,0.701,4,0.000,0.054,3156,833,1747,0,0,0,0,0,0
$GC,12896,0.84,208.9,89.0,10.5,484,12900,0.00,2.30,0.00,0.000,6,0.000,0.053,3156,2255,1743,0,0,0,0,0,0
$GC,13159,0.84,208.9,57.4,12.5,508,13163,0.00,2.25,0.00,0.000,4,0.000,0.062,3156,3662,1739,0,0,0,0,0,0
$GC,13286,0.84,208.9,38.9,14.6,521,13290,0.00,2.25,0.00,0.000,6,0.000,0.049,3166,2245,1737,0,0,0,0,0,0
$GC,13547,0.84,208.9,4.0,13.0,545,13552,0.00,2.33,0.00,0.000,4,0.000,0.067,3166,3663,1739,0,0,0,0,0,0
$STATE,13554,end climb,SURFACE_DEPTH_REACHED
$STATE,13554,begin surface coast
$FINISH,-0.5,1.013562
$STATE,13580,end surface coast,CONTROL_FINISHED_OK
$STATE,13580,begin surface
$SM_CCo,13609,79.18,0.588,0,0,1172,350.04
$SM_GC,0.59,0.00,0.00,79.18,0.000,0.000,0.588,48,1795,1172,-8.91,-0.14,350.04
$IRIDIUM_FIX,2113.32,-15814.06,280413,171732
$TT8_MAMPS,0.056758
$HUMID,1078893539
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,446.0,0.0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,7852032000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56977096704
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,20.184
$10V_AH,10.0,20.114
$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,20.950,126.375,284.300,79.175,0.000,0.000,0.000,0.000,0.250,0.000,32.579,1153.391,10486.465,487.876,1522.701,150.067,0.000,1288.734,0.000,1439.148,0.000,2.875,0.000
$DEVICE_MAMPS,233.935,72.098,1290.861,587.522,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.361,0.000,0.000,0.000,0.000,0.000,0.000,15159.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,58.731,0.000,0.000
$MEM,304412
$DATA_FILE_SIZE,20128,548
$CAP_FILE_SIZE,165869,0
$CFSIZE,260165632,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041111,025207,2121.692,-15812.036,27,2.0,27,9.8