version: 66.07
glider: 23
mission: 5
dive: 35
start: 11 20 110 6 11 52
data:
$ID,23
$MISSION,5
$DIVE,35
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,420
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-50151.762
$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,17
$R_STBD_OVSHOOT,54
$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,34
$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
$GPS1,201110,060244,2110.922,12545.959,30,1.7,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-55.8
$GPS2,201110,061101,2110.823,12545.836,36,1.7,36,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.057
$KALMAN_X,-47487.2,-723.7,-646.9,22762.6,-836.1
$KALMAN_Y,-7589.0,-721.0,-75.4,-11210.7,-733.9
$MHEAD_RNG_PITCHd_Wd,106.6,134876,-18.7,-10.000
$D_GRID,600
$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,-106.38,0.000,2,0.000,0.000,360,1940,3333,0,0,0,0,0,0
$GC,136,-1.41,-146.0,3.2,-5.5,21,157,10.55,2.20,-2.65,0.000,4,0.162,0.054,2188,874,3440,0,0,0,0,0,0
$GC,196,-1.41,-146.0,12.5,-13.5,32,202,0.00,2.08,0.00,0.000,6,0.000,0.020,2188,1949,3440,0,0,0,0,0,0
$GC,405,-1.41,-146.0,41.9,-14.0,62,409,0.00,1.90,0.00,0.000,4,0.000,0.032,2188,2992,3440,0,0,0,0,0,0
$GC,662,-1.41,-146.0,77.3,-14.7,85,666,0.00,1.90,0.00,0.000,6,0.000,0.028,2188,1956,3441,0,0,0,0,0,0
$GC,928,-1.41,-146.0,104.1,-6.9,110,932,0.00,1.90,0.00,0.000,4,0.000,0.033,2188,2988,3442,0,0,0,0,0,0
$GC,1062,-1.41,-146.0,113.4,-6.7,122,1066,0.00,1.83,0.00,0.000,6,0.000,0.024,2187,1954,3442,0,0,0,0,0,0
$GC,1329,-1.41,-146.0,129.9,-5.4,147,1332,0.00,1.90,0.00,0.000,4,0.000,0.034,2188,3002,3443,0,0,0,0,0,0
$GC,1400,-1.41,-146.0,134.4,-6.3,153,1406,0.00,1.80,0.00,0.000,6,0.000,0.024,2188,1995,3443,0,0,0,0,0,0
$GC,1662,-1.41,-146.0,150.0,-6.2,178,1665,0.00,1.77,0.00,0.000,4,0.000,0.035,2188,2989,3443,0,0,0,0,0,0
$GC,1766,-1.41,-146.0,155.9,-5.7,187,1773,0.00,1.80,0.00,0.000,6,0.000,0.023,2188,1989,3444,0,0,0,0,0,0
$GC,2028,-1.41,-146.0,170.6,-6.0,212,2032,0.00,1.83,0.00,0.000,4,0.000,0.035,2188,2997,3443,0,0,0,0,0,0
$GC,2287,-1.41,-146.0,184.9,-4.9,235,2291,0.00,1.75,0.00,0.000,6,0.000,0.025,2188,2003,3442,0,0,0,0,0,0
$GC,2553,-1.41,-146.0,197.5,-4.7,260,2557,0.00,1.80,0.00,0.000,4,0.000,0.037,2188,3002,3442,0,0,0,0,0,0
$GC,2620,-1.41,-146.0,200.5,-4.6,266,2623,0.00,1.77,0.00,0.000,6,0.000,0.026,2188,2006,3442,0,0,0,0,0,0
$GC,2952,-1.41,-146.0,215.4,-4.1,282,2955,0.00,1.77,0.00,0.000,4,0.000,0.037,2188,2990,3441,0,0,0,0,0,0
$GC,3011,-1.41,-146.0,218.3,-5.0,284,3018,0.00,1.77,0.00,0.000,6,0.000,0.025,2188,2002,3441,0,0,0,0,0,0
$GC,3328,-1.41,-146.0,232.8,-4.4,300,3331,0.00,1.80,0.00,0.000,4,0.000,0.038,2188,2996,3440,0,0,0,0,0,0
$GC,3584,-1.41,-146.0,245.6,-5.2,311,3589,0.00,1.75,0.00,0.000,6,0.000,0.025,2188,2013,3439,0,0,0,0,0,0
$GC,3906,-1.41,-146.0,262.0,-4.9,327,3909,0.00,1.75,0.00,0.000,4,0.000,0.038,2188,2984,3437,0,0,0,0,0,0
$GC,4162,-1.41,-146.0,273.0,-4.7,338,4167,0.00,1.70,0.00,0.000,6,0.000,0.026,2188,2021,3437,0,0,0,0,0,0
$GC,4484,-1.41,-146.0,285.6,-4.2,354,4487,0.00,1.73,0.00,0.000,4,0.000,0.040,2188,2985,3435,0,0,0,0,0,0
$GC,4740,-1.41,-146.0,295.5,-4.2,365,4745,0.00,1.70,0.00,0.000,6,0.000,0.026,2187,2022,3434,0,0,0,0,0,0
$GC,5079,-1.41,-146.0,307.2,-3.5,377,5083,0.00,1.70,0.00,0.000,4,0.000,0.041,2188,2987,3433,0,0,0,0,0,0
$GC,5325,-1.41,-146.0,317.1,-4.1,382,5329,0.00,1.67,0.00,0.000,6,0.000,0.026,2188,2027,3432,0,0,0,0,0,0
$GC,5673,-1.41,-146.0,328.5,-2.8,391,5676,0.00,1.73,0.00,0.000,4,0.000,0.041,2188,2993,3430,0,0,0,0,0,0
$GC,5772,-1.41,-146.0,331.2,-3.1,393,5777,0.00,1.70,0.00,0.000,6,0.000,0.027,2188,2029,3430,0,0,0,0,0,0
$GC,6091,-1.41,-146.0,339.5,-2.8,401,6095,0.00,2.33,0.00,0.000,4,0.000,0.044,2188,882,3429,0,0,0,0,0,0
$GC,6117,-1.41,-146.0,340.4,-3.2,401,6121,0.00,2.30,0.00,0.000,6,0.000,0.025,2188,2032,3429,0,0,0,0,0,0
$GC,6453,-1.41,-146.0,351.7,-3.6,410,6457,0.00,1.70,0.00,0.000,4,0.000,0.044,2188,2987,3428,0,0,0,0,0,0
$GC,6711,-1.41,-146.0,359.7,-2.5,415,6715,0.00,1.65,0.00,0.000,6,0.000,0.028,2188,2044,3427,0,0,0,0,0,0
$GC,7047,-1.41,-146.0,366.5,-1.6,424,7051,0.00,1.67,0.00,0.000,4,0.000,0.043,2188,2985,3426,0,0,0,0,0,0
$GC,7304,-1.41,-146.0,370.7,-2.0,429,7309,0.00,1.65,0.00,0.000,6,0.000,0.028,2188,2044,3425,0,0,0,0,0,0
$GC,7641,-1.41,-146.0,376.7,-2.0,438,7644,0.00,1.67,0.00,0.000,4,0.000,0.043,2188,2991,3425,0,0,0,0,0,0
$GC,7897,-1.41,-146.0,381.6,-1.6,443,7899,0.00,0.08,0.00,0.000,6,0.000,0.081,2188,2938,3424,0,0,0,0,0,0
$GC,8229,-1.41,-146.0,387.7,-2.0,452,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2938,3424,0,0,0,0,0,0
$GC,8555,-1.41,-146.0,396.0,-2.6,460,8562,0.00,4.00,0.00,0.000,4,0.000,0.039,2188,876,3421,0,0,0,0,0,0
$GC,8815,-1.41,-146.0,401.2,-1.9,465,8822,0.00,2.33,0.00,0.000,6,0.000,0.027,2188,2032,3421,0,0,0,0,0,0
$GC,9147,-1.41,-146.0,405.3,-1.0,474,9151,0.00,2.38,0.00,0.000,4,0.000,0.045,2188,873,3420,0,0,0,0,0,0
$GC,9403,-1.41,-146.0,408.8,-1.0,479,9409,0.00,2.30,0.00,0.000,6,0.000,0.028,2188,2023,3419,0,0,0,0,0,0
$STATE,9530,end dive,NO_VERTICAL_VELOCITY
$STATE,9530,begin apogee
$GC,9534,-0.33,0.0,409.8,0.0,483,9652,1.12,0.00,111.72,0.952,6,0.084,0.000,2424,1911,2841,0,0,0,0,0,0
$STATE,9655,end apogee,CONTROL_FINISHED_OK
$STATE,9655,begin climb
$GC,9656,1.41,146.0,406.2,0.0,486,9780,1.73,2.10,114.50,0.920,4,0.048,0.034,2805,2999,2245,0,0,0,0,0,0
$GC,9986,1.41,146.0,332.8,24.4,493,9991,0.00,1.95,0.00,0.000,6,0.000,0.038,2805,1971,2240,0,0,0,0,0,0
$GC,10311,1.41,146.0,251.8,24.4,506,10315,0.00,1.88,0.00,0.000,4,0.000,0.031,2805,2987,2238,0,0,0,0,0,0
$GC,10382,1.41,146.0,235.5,22.2,509,10387,0.00,1.95,0.00,0.000,6,0.000,0.034,2805,1945,2237,0,0,0,0,0,0
$GC,10704,1.41,146.0,159.3,23.2,532,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1945,2236,0,0,0,0,0,0
$GC,10958,1.41,146.0,99.6,22.2,556,10962,0.00,2.17,0.00,0.000,4,0.000,0.049,2805,880,2236,0,0,0,0,0,0
$GC,10980,1.41,146.0,94.3,23.7,558,10984,0.00,2.10,0.00,0.000,6,0.000,0.019,2805,1969,2236,0,0,0,0,0,0
$GC,11246,1.41,146.0,50.1,13.9,583,11250,0.00,2.20,0.00,0.000,4,0.000,0.044,2805,888,2236,0,0,0,0,0,0
$GC,11283,1.41,146.0,44.6,15.3,586,11291,0.00,2.05,0.00,0.000,6,0.000,0.018,2805,1951,2236,0,0,0,0,0,0
$GC,11554,1.41,146.0,3.1,16.3,626,11559,0.00,1.85,0.00,0.000,4,0.000,0.026,2805,2990,2236,0,0,0,0,0,0
$STATE,11563,end climb,SURFACE_DEPTH_REACHED
$STATE,11563,begin surface coast
$FINISH,0.7,1.022609
$STATE,11581,end surface coast,CONTROL_FINISHED_OK
$STATE,11581,begin surface
$SM_CCo,11602,176.70,0.601,0,0,720,520.04
$SM_GC,1.21,0.00,0.00,176.70,0.000,0.000,0.601,362,1939,720,-9.84,-0.31,520.04
$IRIDIUM_FIX,2101.76,12527.16,140512,222225
$TT8_MAMPS,0.049088
$HUMID,1078930958
$TCM_TEMP,24.10
$XPDR_PINGS,693
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2096037888
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,5.731
$10V_AH,10.0,2.339
$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,24.000,91.425,226.225,176.700,0.000,30.970,43.683,298.617,173.250,0.000,37.783,1249.391,8242.421,552.500,2171.262,72.429,33.333,1445.024,0.000,1698.046,0.000,0.545,0.000
$DEVICE_MAMPS,161.837,80.535,951.847,601.328,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,424.410,0.000,0.000,0.000,0.000,0.000,0.000,10916.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.035,0.000,0.000
$MEM,354776
$DATA_FILE_SIZE,20061,631
$CAP_FILE_SIZE,120021,0
$CFSIZE,260034560,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,092937,2110.198,12545.405,38,1.3,38,-2.8