version: 66.07
glider: 23
mission: 5
dive: 34
start: 11 20 110 4 5 15
data:
$ID,23
$MISSION,5
$DIVE,34
$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,-50113.352
$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,24
$R_STBD_OVSHOOT,45
$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,33
$AR_SAMPLENUM,0
$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
$GPS1,201110,035616,2111.660,12546.212,10,2.4,29,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-55.8
$GPS2,201110,040424,2111.538,12546.134,38,1.6,38,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.068
$KALMAN_X,-45647.0,-408.5,-1036.6,21507.2,-372.7
$KALMAN_Y,-6671.8,-544.2,-295.3,-10759.0,-334.2
$MHEAD_RNG_PITCHd_Wd,109.4,135242,-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,-106.38,0.000,2,0.000,0.000,361,1944,3342,0,0,0,0,0,0
$GC,136,-1.41,-146.0,3.2,-6.0,21,157,10.52,2.20,-2.40,0.000,4,0.162,0.056,2186,883,3440,0,0,0,0,0,0
$GC,203,-1.41,-146.0,13.5,-14.0,33,209,0.00,2.05,0.00,0.000,6,0.000,0.020,2185,1952,3440,0,0,0,0,0,0
$GC,406,-1.41,-146.0,42.9,-14.4,62,409,0.00,1.88,0.00,0.000,4,0.000,0.031,2186,2984,3440,0,0,0,0,0,0
$GC,663,-1.41,-146.0,80.0,-15.8,85,667,0.00,1.88,0.00,0.000,6,0.000,0.028,2186,1959,3441,0,0,0,0,0,0
$GC,930,-1.41,-146.0,104.7,-7.8,110,933,0.00,2.15,0.00,0.000,4,0.000,0.042,2186,875,3442,0,0,0,0,0,0
$GC,1187,-1.41,-146.0,120.3,-5.9,133,1191,0.00,2.08,0.00,0.000,6,0.000,0.021,2186,1976,3443,0,0,0,0,0,0
$GC,1453,-1.41,-146.0,137.6,-5.9,158,1457,0.00,2.20,0.00,0.000,4,0.000,0.041,2186,880,3443,0,0,0,0,0,0
$GC,1547,-1.41,-146.0,143.1,-5.4,166,1554,0.00,2.12,0.00,0.000,6,0.000,0.021,2186,1974,3444,0,0,0,0,0,0
$GC,1809,-1.41,-146.0,153.6,-4.3,191,1813,0.00,2.20,0.00,0.000,4,0.000,0.041,2186,886,3443,0,0,0,0,0,0
$GC,1829,-1.41,-146.0,154.7,-4.6,192,1836,0.00,2.12,0.00,0.000,6,0.000,0.021,2186,1973,3443,0,0,0,0,0,0
$GC,2091,-1.41,-146.0,166.7,-5.7,217,2095,0.00,1.88,0.00,0.000,4,0.000,0.038,2186,2994,3443,0,0,0,0,0,0
$GC,2349,-1.41,-146.0,181.4,-5.6,240,2353,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1972,3443,0,0,0,0,0,0
$GC,2615,-1.41,-146.0,194.8,-4.7,265,2618,0.00,1.90,0.00,0.000,4,0.000,0.037,2186,3002,3442,0,0,0,0,0,0
$GC,2759,-1.41,-146.0,202.5,-4.9,276,2764,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1974,3442,0,0,0,0,0,0
$GC,3080,-1.41,-146.0,217.6,-4.1,292,3084,0.00,1.85,0.00,0.000,4,0.000,0.037,2186,3001,3441,0,0,0,0,0,0
$GC,3337,-1.41,-146.0,227.3,-4.4,303,3342,0.00,1.83,0.00,0.000,6,0.000,0.025,2186,1985,3440,0,0,0,0,0,0
$GC,3658,-1.41,-146.0,240.9,-4.1,319,3662,0.00,1.83,0.00,0.000,4,0.000,0.038,2186,3002,3440,0,0,0,0,0,0
$GC,3915,-1.41,-146.0,251.7,-4.2,330,3920,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1980,3438,0,0,0,0,0,0
$GC,4236,-1.41,-146.0,265.2,-4.4,346,4240,0.00,1.88,0.00,0.000,4,0.000,0.039,2186,3007,3438,0,0,0,0,0,0
$GC,4493,-1.41,-146.0,277.2,-4.1,357,4498,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1985,3435,0,0,0,0,0,0
$GC,4814,-1.41,-146.0,288.0,-2.5,373,4818,0.00,1.83,0.00,0.000,4,0.000,0.039,2186,2994,3434,0,0,0,0,0,0
$GC,5071,-1.41,-146.0,296.5,-3.5,384,5076,0.00,1.88,0.00,0.000,6,0.000,0.028,2186,1963,3433,0,0,0,0,0,0
$STATE,5185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5185,begin apogee
$GC,5188,-0.33,0.0,300.2,3.4,390,5307,1.15,0.00,112.12,0.831,6,0.087,0.000,2424,1963,2840,0,0,0,0,0,0
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5312,1.41,146.0,298.0,0.0,394,5433,1.70,1.95,112.93,0.809,4,0.045,0.029,2805,3011,2244,0,0,0,0,0,0
$GC,5478,1.41,146.0,264.5,25.0,402,5482,0.00,2.00,0.00,0.000,6,0.000,0.034,2805,1950,2242,0,0,0,0,0,0
$GC,5801,1.41,146.0,179.8,25.4,421,5805,0.00,1.95,0.00,0.000,4,0.000,0.028,2804,2997,2239,0,0,0,0,0,0
$GC,5845,1.41,146.0,168.9,23.1,425,5849,0.00,1.95,0.00,0.000,6,0.000,0.031,2805,1949,2239,0,0,0,0,0,0
$GC,6111,1.41,146.0,106.0,20.3,450,6115,0.00,2.17,0.00,0.000,4,0.000,0.048,2805,886,2237,0,0,0,0,0,0
$GC,6161,1.41,146.0,94.3,23.4,454,6165,0.00,2.08,0.00,0.000,6,0.000,0.018,2804,1960,2237,0,0,0,0,0,0
$GC,6427,1.41,146.0,55.6,14.5,479,6430,0.00,1.80,0.00,0.000,4,0.000,0.031,2805,2979,2237,0,0,0,0,0,0
$GC,6464,1.41,146.0,49.7,15.9,482,6471,0.00,1.92,0.00,0.000,6,0.000,0.027,2805,1928,2236,0,0,0,0,0,0
$GC,6733,1.41,146.0,6.8,17.1,519,6738,0.00,1.92,0.00,0.000,4,0.000,0.027,2805,2989,2236,0,0,0,0,0,0
$STATE,6759,end climb,SURFACE_DEPTH_REACHED
$STATE,6759,begin surface coast
$FINISH,0.6,1.009996
$STATE,6777,end surface coast,CONTROL_FINISHED_OK
$STATE,6777,begin surface
$SM_CCo,6798,173.38,0.587,0,0,720,520.04
$SM_GC,1.21,0.00,0.00,173.38,0.000,0.000,0.587,359,1940,720,-9.84,-0.25,520.04
$IRIDIUM_FIX,2106.38,12543.28,140512,202033
$TT8_MAMPS,0.049088
$HUMID,1078836764
$TCM_TEMP,24.40
$XPDR_PINGS,513
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2096070656
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,5.599
$10V_AH,10.0,2.269
$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,23.950,62.800,225.050,173.375,0.000,22.798,35.325,304.402,128.250,0.000,40.038,954.841,4321.024,535.455,1603.193,56.283,33.330,1149.051,0.000,1150.744,0.000,0.546,0.000
$DEVICE_MAMPS,161.837,55.991,830.661,586.755,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.775,0.000,0.000,0.000,0.000,0.000,0.000,6733.890,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.831,0.000,0.000
$MEM,354752
$DATA_FILE_SIZE,16813,527
$CAP_FILE_SIZE,84446,0
$CFSIZE,260034560,256798720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,060244,2110.922,12545.959,30,1.7,30,-2.8