version: 66.07
glider: 23
mission: 5
dive: 33
start: 11 20 110 2 1 59
data:
$ID,23
$MISSION,5
$DIVE,33
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,100
$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,100
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-50072.684
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,1949
$C_ROLL_CLIMB,1949
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,32
$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
$GPS1,201110,014836,2112.432,12546.667,39,1.3,39,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-54.7
$GPS2,201110,020108,2112.225,12546.561,8,1.3,8,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,0.001
$KALMAN_X,-44103.0,-62.7,-854.1,20165.4,-891.7
$KALMAN_Y,-5633.7,-223.6,-437.1,-10707.1,-415.0
$MHEAD_RNG_PITCHd_Wd,92.5,135413,-18.7,-10.000
$D_GRID,300
$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,24,-1.41,-146.0,0.0,0.0,0,134,0.00,0.00,-106.47,0.000,2,0.000,0.000,364,1923,3348,0,0,0,0,0,0
$GC,136,-1.41,-146.0,3.2,-5.7,21,157,10.45,2.17,-2.22,0.000,4,0.159,0.058,2186,888,3440,0,0,0,0,0,0
$GC,230,-1.41,-146.0,17.6,-13.9,38,236,0.00,2.05,0.00,0.000,6,0.000,0.021,2186,1942,3439,0,0,0,0,0,0
$GC,437,-1.41,-146.0,48.5,-15.4,65,440,0.00,1.90,0.00,0.000,4,0.000,0.032,2186,3002,3441,0,0,0,0,0,0
$GC,694,-1.41,-146.0,84.9,-9.2,88,698,0.00,1.88,0.00,0.000,6,0.000,0.025,2186,1947,3441,0,0,0,0,0,0
$GC,961,-1.41,-146.0,105.7,-7.4,113,964,0.00,2.12,0.00,0.000,4,0.000,0.041,2186,880,3441,0,0,0,0,0,0
$GC,1217,-1.41,-146.0,123.4,-6.8,135,1224,0.00,2.12,0.00,0.000,6,0.000,0.020,2185,1978,3442,0,0,0,0,0,0
$GC,1479,-1.41,-146.0,136.5,-4.8,160,1483,0.00,2.20,0.00,0.000,4,0.000,0.041,2185,886,3442,0,0,0,0,0,0
$GC,1679,-1.41,-146.0,147.2,-5.9,177,1685,0.00,2.12,0.00,0.000,6,0.000,0.021,2186,1976,3442,0,0,0,0,0,0
$GC,1941,-1.41,-146.0,162.9,-5.6,202,1944,0.00,1.85,0.00,0.000,4,0.000,0.038,2186,2999,3442,0,0,0,0,0,0
$GC,2198,-1.41,-146.0,176.2,-5.1,225,2202,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1962,3442,0,0,0,0,0,0
$GC,2465,-1.41,-146.0,190.1,-5.0,250,2468,0.00,1.90,0.00,0.000,4,0.000,0.037,2186,3001,3442,0,0,0,0,0,0
$GC,2622,-1.41,-146.0,198.2,-5.4,264,2626,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1978,3441,0,0,0,0,0,0
$GC,2892,-1.41,-146.0,211.7,-5.4,279,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1979,3440,0,0,0,0,0,0
$GC,3200,-1.41,-146.0,227.7,-5.3,294,3204,0.00,1.88,0.00,0.000,4,0.000,0.038,2186,3007,3440,0,0,0,0,0,0
$GC,3457,-1.41,-146.0,241.4,-4.9,305,3462,0.00,1.88,0.00,0.000,6,0.000,0.025,2186,1973,3438,0,0,0,0,0,0
$GC,3779,-1.41,-146.0,254.8,-3.6,321,3782,0.00,1.88,0.00,0.000,4,0.000,0.038,2186,3009,3437,0,0,0,0,0,0
$GC,4035,-1.41,-146.0,264.3,-3.5,332,4040,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1986,3435,0,0,0,0,0,0
$GC,4357,-1.41,-146.0,275.2,-3.9,348,4360,0.00,1.85,0.00,0.000,4,0.000,0.039,2186,2998,3434,0,0,0,0,0,0
$GC,4613,-1.41,-146.0,287.2,-4.5,359,4618,0.00,1.85,0.00,0.000,6,0.000,0.027,2186,1980,3433,0,0,0,0,0,0
$GC,4935,-1.41,-146.0,299.4,-3.5,375,4938,0.00,1.88,0.00,0.000,4,0.000,0.041,2186,2999,3432,0,0,0,0,0,0
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4955,begin apogee
$GC,4961,-0.33,0.0,300.1,3.3,376,5078,1.15,0.00,111.82,0.829,6,0.091,0.000,2422,1938,2841,0,0,0,0,0,0
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5082,1.41,146.0,297.5,0.0,380,5205,1.73,2.22,112.35,0.805,4,0.049,0.049,2804,889,2246,0,0,0,0,0,0
$GC,5227,1.41,146.0,268.4,28.8,387,5231,0.00,2.10,0.00,0.000,6,0.000,0.019,2804,1981,2243,0,0,0,0,0,0
$GC,5550,1.41,146.0,186.6,24.7,405,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1985,2240,0,0,0,0,0,0
$GC,5804,1.41,146.0,125.2,22.9,429,5809,0.00,2.28,0.00,0.000,4,0.000,0.048,2804,898,2238,0,0,0,0,0,0
$GC,5831,1.41,146.0,118.6,25.0,431,5838,0.00,2.05,0.00,0.000,6,0.000,0.018,2804,1965,2237,0,0,0,0,0,0
$GC,6092,1.41,146.0,73.7,11.0,456,6096,0.00,2.20,0.00,0.000,4,0.000,0.043,2804,886,2236,0,0,0,0,0,0
$GC,6119,1.41,146.0,70.5,11.8,458,6123,0.00,2.05,0.00,0.000,6,0.000,0.019,2804,1936,2236,0,0,0,0,0,0
$GC,6385,1.41,146.0,31.1,15.4,483,6389,0.00,1.90,0.00,0.000,4,0.000,0.030,2804,2999,2235,0,0,0,0,0,0
$GC,6514,1.41,146.0,11.2,15.5,505,6519,0.00,1.90,0.00,0.000,6,0.000,0.027,2804,1954,2235,0,0,0,0,0,0
$STATE,6568,end climb,SURFACE_DEPTH_REACHED
$STATE,6568,begin surface coast
$FINISH,0.5,1.012061
$STATE,6586,end surface coast,CONTROL_FINISHED_OK
$STATE,6587,begin surface
$SM_CCo,6606,173.25,0.584,0,0,720,520.04
$SM_GC,1.21,0.00,0.00,173.25,0.000,0.000,0.584,362,1943,720,-9.83,-0.17,520.04
$IRIDIUM_FIX,2104.07,12523.39,140512,202057
$TT8_MAMPS,0.049088
$HUMID,1078792893
$TCM_TEMP,24.40
$XPDR_PINGS,493
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2096103424
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,5.483
$10V_AH,10.0,2.217
$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,23.950,55.675,224.175,173.250,0.000,48.011,81.010,455.102,123.250,0.000,10.250,921.680,4298.915,511.357,1752.212,58.462,33.334,1106.989,0.000,1102.997,0.000,0.546,0.000
$DEVICE_MAMPS,158.769,58.292,829.127,584.454,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.707,0.000,0.000,0.000,0.000,0.000,0.000,6808.410,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,5.400,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,16785,518
$CAP_FILE_SIZE,86359,0
$CFSIZE,260034560,256851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,035616,2111.660,12546.212,10,2.4,29,-2.8