version: 66.07
glider: 23
mission: 5
dive: 36
start: 11 20 110 9 36 24
data:
$ID,23
$MISSION,5
$DIVE,36
$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,-50166.152
$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,19
$R_STBD_OVSHOOT,49
$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,35
$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
$GPS1,201110,092937,2110.198,12545.405,38,1.3,38,-2.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.7
$GPS2,201110,093532,2110.132,12545.316,12,1.9,12,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.044
$KALMAN_X,-51380.8,-1261.2,189.9,25458.3,-2789.9
$KALMAN_Y,-8486.7,-653.5,144.1,-11887.1,-541.4
$MHEAD_RNG_PITCHd_Wd,82.1,134864,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.41,-146.0,0.0,0.0,0,133,0.00,0.00,-105.90,0.000,2,0.000,0.000,361,1939,3308,0,0,0,0,0,0
$GC,135,-1.41,-146.0,3.2,-5.8,21,157,10.48,2.17,-3.30,0.000,4,0.160,0.052,2184,885,3440,0,0,0,0,0,0
$GC,190,-1.41,-146.0,11.8,-15.0,31,195,0.00,2.08,0.00,0.000,6,0.000,0.020,2184,1951,3440,0,0,0,0,0,0
$GC,393,-1.41,-146.0,42.1,-15.6,61,397,0.00,1.85,0.00,0.000,4,0.000,0.031,2184,2995,3440,0,0,0,0,0,0
$GC,639,-1.41,-146.0,77.4,-10.9,83,644,0.00,1.90,0.00,0.000,6,0.000,0.025,2184,1950,3441,0,0,0,0,0,0
$GC,906,-1.41,-146.0,97.5,-6.3,108,909,0.00,1.90,0.00,0.000,4,0.000,0.033,2184,2995,3442,0,0,0,0,0,0
$GC,1029,-1.41,-146.0,105.4,-6.4,119,1033,0.00,1.85,0.00,0.000,6,0.000,0.024,2184,1953,3443,0,0,0,0,0,0
$GC,1295,-1.41,-146.0,122.4,-6.1,144,1298,0.00,1.90,0.00,0.000,4,0.000,0.034,2184,3003,3444,0,0,0,0,0,0
$GC,1478,-1.41,-146.0,134.5,-5.7,160,1485,0.00,1.80,0.00,0.000,6,0.000,0.023,2184,1996,3444,0,0,0,0,0,0
$GC,1740,-1.41,-146.0,150.8,-6.2,185,1744,0.00,2.22,0.00,0.000,4,0.000,0.041,2185,874,3445,0,0,0,0,0,0
$GC,1760,-1.41,-146.0,152.1,-6.1,186,1767,0.00,2.17,0.00,0.000,6,0.000,0.021,2184,1988,3445,0,0,0,0,0,0
$GC,2022,-1.41,-146.0,167.3,-6.6,211,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1988,3445,0,0,0,0,0,0
$GC,2276,-1.41,-146.0,183.2,-6.1,235,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1988,3445,0,0,0,0,0,0
$GC,2531,-1.41,-146.0,197.8,-5.1,259,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1989,3445,0,0,0,0,0,0
$GC,2790,-1.41,-146.0,209.5,-4.4,274,2794,0.00,1.83,0.00,0.000,4,0.000,0.038,2184,3007,3444,0,0,0,0,0,0
$GC,3047,-1.41,-146.0,223.0,-6.0,285,3052,0.00,1.88,0.00,0.000,6,0.000,0.025,2183,1970,3443,0,0,0,0,0,0
$GC,3369,-1.41,-146.0,239.9,-5.3,301,3372,0.00,1.90,0.00,0.000,4,0.000,0.038,2184,3011,3443,0,0,0,0,0,0
$GC,3625,-1.41,-146.0,255.2,-6.2,312,3630,0.00,1.88,0.00,0.000,6,0.000,0.025,2184,1975,3442,0,0,0,0,0,0
$GC,3947,-1.41,-146.0,270.3,-4.3,328,3950,0.00,1.88,0.00,0.000,4,0.000,0.038,2184,3000,3441,0,0,0,0,0,0
$GC,4203,-1.41,-146.0,280.2,-3.9,339,4208,0.00,1.83,0.00,0.000,6,0.000,0.027,2184,1991,3440,0,0,0,0,0,0
$GC,4525,-1.41,-146.0,291.5,-3.4,355,4528,0.00,1.85,0.00,0.000,4,0.000,0.039,2184,3006,3439,0,0,0,0,0,0
$GC,4781,-1.41,-146.0,300.9,-3.4,366,4786,0.00,1.80,0.00,0.000,6,0.000,0.026,2184,2001,3438,0,0,0,0,0,0
$GC,5118,-1.41,-146.0,313.1,-3.9,375,5122,0.00,1.83,0.00,0.000,4,0.000,0.040,2184,3008,3437,0,0,0,0,0,0
$GC,5375,-1.41,-146.0,321.3,-2.7,380,5380,0.00,1.80,0.00,0.000,6,0.000,0.026,2184,2004,3436,0,0,0,0,0,0
$GC,5712,-1.41,-146.0,331.2,-3.1,389,5716,0.00,1.83,0.00,0.000,4,0.000,0.041,2184,3009,3435,0,0,0,0,0,0
$GC,5969,-1.41,-146.0,339.4,-3.0,394,5974,0.00,1.85,0.00,0.000,6,0.000,0.027,2184,1987,3434,0,0,0,0,0,0
$GC,6306,-1.41,-146.0,348.2,-2.3,403,6309,0.00,1.85,0.00,0.000,4,0.000,0.041,2184,3010,3433,0,0,0,0,0,0
$GC,6479,-1.41,-146.0,351.9,-2.0,406,6485,0.00,1.85,0.00,0.000,6,0.000,0.028,2184,1989,3432,0,0,0,0,0,0
$GC,6809,-1.41,-146.0,360.5,-2.9,415,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1989,3431,0,0,0,0,0,0
$GC,7135,-1.41,-146.0,370.5,-2.9,423,7138,0.00,1.88,0.00,0.000,4,0.000,0.043,2184,2995,3429,0,0,0,0,0,0
$GC,7391,-1.41,-146.0,375.1,-1.8,428,7396,0.00,1.83,0.00,0.000,6,0.000,0.028,2184,1988,3428,0,0,0,0,0,0
$GC,7728,-1.41,-146.0,383.7,-3.0,437,7732,0.00,1.88,0.00,0.000,4,0.000,0.042,2184,3008,3427,0,0,0,0,0,0
$GC,7985,-1.41,-146.0,391.9,-2.7,442,7990,0.00,1.80,0.00,0.000,6,0.000,0.028,2184,2005,3427,0,0,0,0,0,0
$GC,8322,-1.41,-146.0,397.4,-1.3,451,8325,0.00,1.80,0.00,0.000,4,0.000,0.044,2184,3005,3426,0,0,0,0,0,0
$GC,8580,-1.41,-146.0,404.5,-3.2,456,8584,0.00,1.77,0.00,0.000,6,0.000,0.029,2184,2005,3425,0,0,0,0,0,0
$GC,8916,-1.41,-146.0,414.8,-2.7,465,8920,0.00,2.28,0.00,0.000,4,0.000,0.045,2184,882,3424,0,0,0,0,0,0
$GC,9090,-1.41,-146.0,419.2,-2.0,468,9095,0.00,2.20,0.00,0.000,6,0.000,0.028,2184,1999,3424,0,0,0,0,0,0
$GC,9420,-1.41,-146.0,426.2,-2.3,477,9424,0.00,2.28,0.00,0.000,4,0.000,0.045,2184,876,3423,0,0,0,0,0,0
$GC,9524,-1.41,-146.0,429.4,-3.3,479,9529,0.00,2.22,0.00,0.000,6,0.000,0.027,2184,1994,3423,0,0,0,0,0,0
$GC,9838,-1.41,-146.0,438.1,-2.6,487,9841,0.00,2.25,0.00,0.000,4,0.000,0.045,2184,882,3422,0,0,0,0,0,0
$GC,10094,-1.41,-146.0,440.2,-0.6,492,10099,0.00,2.20,0.00,0.000,6,0.000,0.028,2184,1989,3421,0,0,0,0,0,0
$STATE,10145,end dive,NO_VERTICAL_VELOCITY
$STATE,10146,begin apogee
$GC,10149,-0.33,0.0,440.0,0.0,494,10268,1.15,0.00,112.65,0.980,6,0.085,0.000,2424,1920,2841,0,0,0,0,0,0
$STATE,10271,end apogee,CONTROL_FINISHED_OK
$STATE,10271,begin climb
$GC,10272,1.41,146.0,434.7,0.0,497,10398,1.73,2.10,115.60,0.946,4,0.047,0.032,2805,3014,2244,0,0,0,0,0,0
$GC,10498,1.41,146.0,379.7,25.2,502,10503,0.00,1.98,0.00,0.000,6,0.000,0.037,2805,1966,2240,0,0,0,0,0,0
$GC,10811,1.41,146.0,294.2,27.2,510,10815,0.00,1.92,0.00,0.000,4,0.000,0.031,2805,3017,2237,0,0,0,0,0,0
$GC,10860,1.41,146.0,282.3,23.5,512,10865,0.00,2.00,0.00,0.000,6,0.000,0.035,2805,1950,2237,0,0,0,0,0,0
$GC,11187,1.41,146.0,203.2,24.1,528,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1948,2235,0,0,0,0,0,0
$GC,11505,1.41,146.0,126.3,23.3,557,11509,0.00,2.15,0.00,0.000,4,0.000,0.048,2805,885,2234,0,0,0,0,0,0
$GC,11525,1.41,146.0,121.3,23.3,558,11532,0.00,2.12,0.00,0.000,6,0.000,0.019,2805,1978,2234,0,0,0,0,0,0
$GC,11786,1.41,146.0,66.2,19.4,583,11790,0.00,1.83,0.00,0.000,4,0.000,0.031,2805,2988,2234,0,0,0,0,0,0
$GC,11965,1.41,146.0,41.1,13.2,599,11969,0.00,1.90,0.00,0.000,6,0.000,0.027,2805,1949,2235,0,0,0,0,0,0
$STATE,12223,end climb,SURFACE_DEPTH_REACHED
$STATE,12223,begin surface coast
$FINISH,0.7,1.019985
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12242,begin surface
$SM_CCo,12260,177.10,0.605,0,0,720,520.04
$SM_GC,1.28,0.00,0.00,177.10,0.000,0.000,0.605,365,1939,720,-9.82,-0.28,520.04
$IRIDIUM_FIX,2104.07,12543.28,150512,000010
$TT8_MAMPS,0.049088
$HUMID,1078899990
$TCM_TEMP,24.10
$XPDR_PINGS,679
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2096005120
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,5.857
$10V_AH,10.0,2.408
$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,24.025,86.150,228.250,177.100,0.000,23.789,40.183,190.306,169.750,0.000,13.763,1280.503,8796.672,544.235,2105.622,73.579,33.350,1469.604,0.000,1773.200,0.000,0.545,0.000
$DEVICE_MAMPS,159.536,74.399,980.226,605.163,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,431.750,0.000,0.000,0.000,0.000,0.000,0.000,11325.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.812,0.000,0.000
$MEM,354792
$DATA_FILE_SIZE,20098,641
$CAP_FILE_SIZE,119516,0
$CFSIZE,260034560,256643072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,130530,2110.050,12544.906,61,1.4,61,-2.8