version: 66.07
glider: 23
mission: 5
dive: 37
start: 11 20 110 13 12 18
data:
$ID,23
$MISSION,5
$DIVE,37
$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,-50198.543
$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,25
$R_STBD_OVSHOOT,46
$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,36
$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
$GPS1,201110,130530,2110.050,12544.906,61,1.4,61,-2.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-49.8
$GPS2,201110,131127,2110.000,12544.832,10,2.2,29,-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,-0.011
$KALMAN_X,-54584.7,-1284.8,-204.8,28234.7,-1962.3
$KALMAN_Y,-9602.5,-180.3,21.7,-11364.7,-499.0
$MHEAD_RNG_PITCHd_Wd,95.4,135410,-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,-146.0,0.0,0.0,0,129,0.00,0.00,-101.47,0.000,2,0.000,0.000,365,1939,3203,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.1,-5.8,20,153,10.48,2.20,-6.28,0.000,4,0.159,0.056,2187,889,3438,0,0,0,0,0,0
$GC,186,-1.41,-146.0,11.0,-14.7,30,192,0.00,2.08,0.00,0.000,6,0.000,0.019,2187,1957,3439,0,0,0,0,0,0
$GC,390,-1.41,-146.0,40.0,-15.0,61,393,0.00,1.85,0.00,0.000,4,0.000,0.031,2187,2990,3440,0,0,0,0,0,0
$GC,649,-1.41,-146.0,74.0,-11.3,84,652,0.00,1.85,0.00,0.000,6,0.000,0.025,2187,1958,3441,0,0,0,0,0,0
$GC,915,-1.41,-146.0,98.3,-7.4,109,918,0.00,1.90,0.00,0.000,4,0.000,0.034,2187,2994,3442,0,0,0,0,0,0
$GC,1143,-1.41,-146.0,115.4,-8.0,129,1150,0.00,1.85,0.00,0.000,6,0.000,0.024,2187,1969,3443,0,0,0,0,0,0
$GC,1405,-1.41,-146.0,132.8,-6.0,154,1408,0.00,1.83,0.00,0.000,4,0.000,0.034,2187,2987,3444,0,0,0,0,0,0
$GC,1663,-1.41,-146.0,149.8,-7.4,177,1666,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,1995,3444,0,0,0,0,0,0
$GC,1929,-1.41,-146.0,167.4,-5.7,202,1932,0.00,1.80,0.00,0.000,4,0.000,0.035,2187,2992,3444,0,0,0,0,0,0
$GC,2097,-1.41,-146.0,175.6,-5.0,217,2101,0.00,1.75,0.00,0.000,6,0.000,0.025,2187,1991,3444,0,0,0,0,0,0
$GC,2363,-1.41,-146.0,189.5,-6.2,242,2367,0.00,1.83,0.00,0.000,4,0.000,0.035,2187,3001,3444,0,0,0,0,0,0
$GC,2486,-1.41,-146.0,197.9,-6.3,253,2490,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,2003,3445,0,0,0,0,0,0
$GC,2745,-1.41,-146.0,211.5,-5.0,267,2749,0.00,2.28,0.00,0.000,4,0.000,0.044,2187,878,3443,0,0,0,0,0,0
$GC,2928,-1.41,-146.0,224.0,-6.7,275,2933,0.00,2.17,0.00,0.000,6,0.000,0.022,2187,1990,3443,0,0,0,0,0,0
$GC,3249,-1.41,-146.0,241.1,-4.8,291,3253,0.00,1.83,0.00,0.000,4,0.000,0.039,2187,3005,3443,0,0,0,0,0,0
$GC,3433,-1.41,-146.0,250.0,-4.4,299,3438,0.00,1.80,0.00,0.000,6,0.000,0.025,2187,2000,3442,0,0,0,0,0,0
$GC,3760,-1.41,-146.0,265.1,-5.1,315,3764,0.00,2.28,0.00,0.000,4,0.000,0.044,2187,875,3442,0,0,0,0,0,0
$GC,3825,-1.41,-146.0,268.7,-5.5,318,3830,0.00,2.20,0.00,0.000,6,0.000,0.023,2187,1996,3441,0,0,0,0,0,0
$GC,4152,-1.41,-146.0,287.6,-5.7,334,4156,0.00,2.25,0.00,0.000,4,0.000,0.043,2187,883,3440,0,0,0,0,0,0
$GC,4190,-1.41,-146.0,289.7,-5.4,336,4194,0.00,2.15,0.00,0.000,6,0.000,0.025,2187,1988,3440,0,0,0,0,0,0
$GC,4521,-1.41,-146.0,301.5,-2.7,351,4524,0.00,1.85,0.00,0.000,4,0.000,0.041,2187,3010,3439,0,0,0,0,0,0
$GC,4778,-1.41,-146.0,308.3,-2.8,356,4782,0.00,1.85,0.00,0.000,6,0.000,0.026,2188,1986,3438,0,0,0,0,0,0
$GC,5115,-1.41,-146.0,320.1,-3.8,365,5118,0.00,1.85,0.00,0.000,4,0.000,0.041,2187,3010,3437,0,0,0,0,0,0
$GC,5371,-1.41,-146.0,327.3,-2.4,370,5376,0.00,1.85,0.00,0.000,6,0.000,0.027,2187,1988,3436,0,0,0,0,0,0
$GC,5708,-1.41,-146.0,337.6,-3.4,379,5712,0.00,1.83,0.00,0.000,4,0.000,0.041,2187,2997,3434,0,0,0,0,0,0
$GC,5892,-1.41,-146.0,344.5,-3.5,383,5897,0.00,1.77,0.00,0.000,6,0.000,0.027,2187,2005,3434,0,0,0,0,0,0
$GC,6217,-1.41,-146.0,350.9,-1.4,391,6221,0.00,2.30,0.00,0.000,4,0.000,0.044,2187,875,3433,0,0,0,0,0,0
$GC,6473,-1.41,-146.0,355.5,-2.6,396,6480,0.00,2.20,0.00,0.000,6,0.000,0.025,2187,1990,3432,0,0,0,0,0,0
$GC,6805,-1.41,-146.0,365.1,-3.1,405,6808,0.00,1.88,0.00,0.000,4,0.000,0.044,2187,3003,3431,0,0,0,0,0,0
$GC,6849,-1.41,-146.0,366.5,-2.8,406,6852,0.00,1.80,0.00,0.000,6,0.000,0.029,2187,2004,3431,0,0,0,0,0,0
$GC,7178,-1.41,-146.0,374.3,-2.1,414,7182,0.00,1.80,0.00,0.000,4,0.000,0.043,2187,2998,3430,0,0,0,0,0,0
$GC,7435,-1.41,-146.0,379.7,-2.3,419,7440,0.00,1.77,0.00,0.000,6,0.000,0.028,2187,2012,3428,0,0,0,0,0,0
$GC,7772,-1.41,-146.0,388.8,-2.6,428,7775,0.00,1.80,0.00,0.000,4,0.000,0.044,2187,2998,3427,0,0,0,0,0,0
$GC,8029,-1.41,-146.0,394.4,-2.2,433,8033,0.00,1.75,0.00,0.000,6,0.000,0.028,2187,2018,3426,0,0,0,0,0,0
$GC,8366,-1.41,-146.0,400.0,-1.5,442,8369,0.00,1.77,0.00,0.000,4,0.000,0.045,2187,3008,3426,0,0,0,0,0,0
$GC,8622,-1.41,-146.0,403.0,-1.2,447,8627,0.00,1.77,0.00,0.000,6,0.000,0.028,2187,2015,3425,0,0,0,0,0,0
$GC,8959,-1.41,-146.0,408.5,-2.2,456,8963,0.00,1.80,0.00,0.000,4,0.000,0.044,2187,3006,3424,0,0,0,0,0,0
$GC,9216,-1.41,-146.0,418.1,-3.2,461,9218,0.00,0.05,0.00,0.000,6,0.000,0.112,2187,2961,3423,0,0,0,0,0,0
$GC,9548,-1.41,-146.0,426.0,-2.0,470,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2961,3422,0,0,0,0,0,0
$GC,9873,-1.41,-146.0,429.8,-1.2,478,9881,0.00,4.03,0.00,0.000,4,0.000,0.038,2187,882,3421,0,0,0,0,0,0
$GC,10134,-1.41,-146.0,432.8,-1.2,483,10140,0.00,2.28,0.00,0.000,6,0.000,0.028,2187,2020,3420,0,0,0,0,0,0
$STATE,10261,end dive,NO_VERTICAL_VELOCITY
$STATE,10261,begin apogee
$GC,10264,-0.33,0.0,433.5,0.0,487,10383,1.15,0.00,112.85,0.973,6,0.083,0.000,2428,1921,2840,0,0,0,0,0,0
$STATE,10386,end apogee,CONTROL_FINISHED_OK
$STATE,10386,begin climb
$GC,10388,1.41,146.0,429.4,0.0,490,10514,1.70,2.10,115.68,0.938,4,0.047,0.033,2805,3013,2245,0,0,0,0,0,0
$GC,10755,1.41,146.0,344.9,24.3,498,10759,0.00,1.92,0.00,0.000,6,0.000,0.038,2805,1968,2239,0,0,0,0,0,0
$GC,11084,1.41,146.0,257.9,25.9,510,11088,0.00,2.25,0.00,0.000,4,0.000,0.051,2805,881,2237,0,0,0,0,0,0
$GC,11110,1.41,146.0,250.7,26.8,511,11115,0.00,2.15,0.00,0.000,6,0.000,0.021,2805,1973,2237,0,0,0,0,0,0
$GC,11429,1.41,146.0,172.3,23.9,531,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1977,2235,0,0,0,0,0,0
$GC,11684,1.41,146.0,115.5,20.5,555,11688,0.00,1.83,0.00,0.000,4,0.000,0.029,2805,3012,2235,0,0,0,0,0,0
$GC,11762,1.41,146.0,99.7,18.6,562,11766,0.00,1.98,0.00,0.000,6,0.000,0.032,2805,1943,2235,0,0,0,0,0,0
$GC,12029,1.41,146.0,55.5,13.3,587,12032,0.00,1.90,0.00,0.000,4,0.000,0.029,2805,2996,2235,0,0,0,0,0,0
$GC,12196,1.41,146.0,32.6,13.5,602,12201,0.00,1.90,0.00,0.000,6,0.000,0.025,2805,1947,2235,0,0,0,0,0,0
$STATE,12391,end climb,SURFACE_DEPTH_REACHED
$STATE,12391,begin surface coast
$FINISH,0.9,1.008183
$STATE,12409,end surface coast,CONTROL_FINISHED_OK
$STATE,12409,begin surface
$SM_CCo,12428,177.35,0.605,0,0,721,520.04
$SM_GC,1.36,0.00,0.00,177.35,0.000,0.000,0.605,364,1936,721,-9.83,-0.37,520.04
$IRIDIUM_FIX,2104.07,12548.38,150512,030351
$TT8_MAMPS,0.049088
$HUMID,1078894829
$TCM_TEMP,24.30
$XPDR_PINGS,681
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095972352
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,5.982
$10V_AH,10.0,2.479
$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,23.975,93.625,228.525,177.350,0.000,27.413,33.897,176.165,170.250,0.000,31.763,1297.788,8887.609,540.745,2172.955,69.274,33.362,1493.048,0.000,1833.320,0.000,0.544,0.000
$DEVICE_MAMPS,158.769,111.982,973.323,605.163,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,429.997,0.000,0.000,0.000,0.000,0.000,0.000,11483.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.833,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,20085,638
$CAP_FILE_SIZE,123086,0
$CFSIZE,260034560,256573440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,164336,2110.103,12544.940,25,1.7,25,-2.8