version: 66.07
glider: 23
mission: 5
dive: 38
start: 11 20 110 16 56 41
data:
$ID,23
$MISSION,5
$DIVE,38
$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,-50216.266
$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,48
$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,37
$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
$GPS1,201110,164336,2110.103,12544.940,25,1.7,25,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-52.5
$GPS2,201110,165549,2110.053,12544.882,10,2.0,15,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.102
$KALMAN_X,-57802.1,-560.2,-476.4,31085.1,-727.9
$KALMAN_Y,-9995.9,549.8,-96.4,-11491.0,-77.7
$MHEAD_RNG_PITCHd_Wd,118.3,135396,-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,-101.57,0.000,2,0.000,0.000,363,1938,3224,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.2,-7.3,20,153,10.55,2.15,-5.68,0.000,4,0.162,0.059,2185,884,3437,0,0,0,0,0,0
$GC,208,-1.41,-146.0,13.9,-14.6,34,214,0.00,2.08,0.00,0.000,6,0.000,0.019,2185,1954,3438,0,0,0,0,0,0
$GC,416,-1.41,-146.0,45.5,-15.6,63,420,0.00,1.88,0.00,0.000,4,0.000,0.032,2186,3000,3439,0,0,0,0,0,0
$GC,674,-1.41,-146.0,79.4,-8.2,86,678,0.00,1.88,0.00,0.000,6,0.000,0.025,2185,1967,3439,0,0,0,0,0,0
$GC,940,-1.41,-146.0,105.1,-9.5,111,944,0.00,1.85,0.00,0.000,4,0.000,0.033,2185,2989,3440,0,0,0,0,0,0
$GC,1198,-1.41,-146.0,124.0,-7.0,134,1202,0.00,1.80,0.00,0.000,6,0.000,0.024,2186,1961,3441,0,0,0,0,0,0
$GC,1464,-1.41,-146.0,141.8,-7.4,159,1468,0.00,1.88,0.00,0.000,4,0.000,0.033,2186,2996,3441,0,0,0,0,0,0
$GC,1722,-1.41,-146.0,159.5,-7.8,182,1726,0.00,1.80,0.00,0.000,6,0.000,0.025,2185,1994,3442,0,0,0,0,0,0
$GC,1988,-1.41,-146.0,178.2,-6.0,207,1992,0.00,1.80,0.00,0.000,4,0.000,0.035,2185,2988,3442,0,0,0,0,0,0
$GC,2246,-1.41,-146.0,191.3,-4.9,230,2250,0.00,1.77,0.00,0.000,6,0.000,0.025,2185,1990,3442,0,0,0,0,0,0
$GC,2520,-1.41,-146.0,207.2,-6.7,251,2524,0.00,2.22,0.00,0.000,4,0.000,0.044,2186,878,3441,0,0,0,0,0,0
$GC,2777,-1.41,-146.0,223.8,-5.7,262,2781,0.00,2.20,0.00,0.000,6,0.000,0.021,2185,2001,3441,0,0,0,0,0,0
$GC,3098,-1.41,-146.0,239.2,-4.5,278,3102,0.00,2.30,0.00,0.000,4,0.000,0.042,2185,874,3440,0,0,0,0,0,0
$GC,3354,-1.41,-146.0,252.7,-5.8,289,3361,0.00,2.20,0.00,0.000,6,0.000,0.021,2185,1995,3439,0,0,0,0,0,0
$GC,3670,-1.41,-146.0,265.8,-3.5,305,3674,0.00,2.28,0.00,0.000,4,0.000,0.042,2185,873,3438,0,0,0,0,0,0
$GC,3927,-1.41,-146.0,275.5,-3.3,316,3931,0.00,2.22,0.00,0.000,6,0.000,0.022,2185,2001,3437,0,0,0,0,0,0
$GC,4248,-1.41,-146.0,287.3,-4.0,332,4251,0.00,1.77,0.00,0.000,4,0.000,0.041,2185,2998,3436,0,0,0,0,0,0
$GC,4292,-1.41,-146.0,289.1,-4.7,334,4296,0.00,1.80,0.00,0.000,6,0.000,0.027,2185,2000,3436,0,0,0,0,0,0
$GC,4643,-1.41,-146.0,303.1,-3.5,349,4646,0.00,1.83,0.00,0.000,4,0.000,0.040,2185,3003,3434,0,0,0,0,0,0
$GC,4838,-1.41,-146.0,309.4,-3.1,353,4843,0.00,1.80,0.00,0.000,6,0.000,0.026,2185,2000,3433,0,0,0,0,0,0
$GC,5151,-1.41,-146.0,319.4,-3.3,361,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2000,3432,0,0,0,0,0,0
$GC,5476,-1.41,-146.0,329.8,-2.8,369,5479,0.00,1.83,0.00,0.000,4,0.000,0.041,2185,3001,3431,0,0,0,0,0,0
$GC,5733,-1.41,-146.0,333.3,-0.9,374,5737,0.00,1.77,0.00,0.000,6,0.000,0.028,2185,2008,3430,0,0,0,0,0,0
$STATE,5825,end dive,NO_VERTICAL_VELOCITY
$STATE,5825,begin apogee
$GC,5829,-0.33,0.0,334.1,0.0,377,5947,1.15,0.00,112.72,0.852,6,0.085,0.000,2424,1908,2841,0,0,0,0,0,0
$STATE,5950,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$GC,5951,1.41,146.0,329.7,0.0,380,6073,1.75,2.03,113.90,0.825,4,0.048,0.028,2809,3011,2244,0,0,0,0,0,0
$GC,6152,1.41,146.0,283.9,26.3,386,6156,0.00,1.92,0.00,0.000,6,0.000,0.033,2807,1981,2240,0,0,0,0,0,0
$GC,6483,1.41,146.0,199.4,24.1,402,6487,0.00,2.28,0.00,0.000,4,0.000,0.049,2807,876,2237,0,0,0,0,0,0
$GC,6520,1.41,146.0,189.3,27.9,405,6527,0.00,2.15,0.00,0.000,6,0.000,0.019,2807,1975,2237,0,0,0,0,0,0
$GC,6782,1.41,146.0,127.0,22.4,430,6786,0.00,1.85,0.00,0.000,4,0.000,0.031,2807,2992,2236,0,0,0,0,0,0
$GC,6853,1.41,146.0,112.2,20.9,436,6860,0.00,1.95,0.00,0.000,6,0.000,0.031,2807,1941,2236,0,0,0,0,0,0
$GC,7114,1.41,146.0,61.1,16.3,461,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1941,2235,0,0,0,0,0,0
$GC,7372,1.41,146.0,23.6,15.4,488,7378,0.00,1.88,0.00,0.000,4,0.000,0.028,2807,2997,2235,0,0,0,0,0,0
$GC,7461,1.41,146.0,10.5,13.4,504,7467,0.00,1.92,0.00,0.000,6,0.000,0.025,2807,1935,2234,0,0,0,0,0,0
$STATE,7510,end climb,SURFACE_DEPTH_REACHED
$STATE,7510,begin surface coast
$FINISH,0.7,1.009138
$STATE,7529,end surface coast,CONTROL_FINISHED_OK
$STATE,7529,begin surface
$SM_CCo,7548,174.15,0.588,0,0,721,520.04
$SM_GC,1.34,0.00,0.00,174.15,0.000,0.000,0.588,362,1925,721,-9.83,-0.68,520.04
$IRIDIUM_FIX,2104.07,12541.93,150512,111146
$TT8_MAMPS,0.049088
$HUMID,1078805797
$TCM_TEMP,24.30
$XPDR_PINGS,528
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095939584
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,6.105
$10V_AH,10.0,2.535
$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,24.100,59.225,226.625,174.150,0.000,93.415,152.728,253.550,132.000,0.000,17.092,963.462,5128.357,523.289,1787.487,60.863,33.354,1165.035,0.000,1213.231,0.000,0.545,0.000
$DEVICE_MAMPS,161.837,59.059,852.137,588.289,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.783,0.000,0.000,0.000,0.000,0.000,0.000,7576.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,5.044,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,16777,516
$CAP_FILE_SIZE,88818,0
$CFSIZE,260034560,256540672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201110,190636,2109.313,12545.231,24,1.2,24,-2.8