version: 66.07
glider: 23
mission: 5
dive: 40
start: 11 20 110 23 5 57
data:
$ID,23
$MISSION,5
$DIVE,40
$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,-50285.336
$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,22
$R_STBD_OVSHOOT,51
$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,39
$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
$GPS1,201110,225430,2108.103,12545.101,38,1.3,38,-2.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-54.1
$GPS2,201110,230506,2108.031,12544.977,16,1.7,32,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.128
$KALMAN_X,-64764.9,848.5,289.1,36027.8,-3745.7
$KALMAN_Y,-11328.4,715.3,152.1,-14316.5,-1580.4
$MHEAD_RNG_PITCHd_Wd,125.3,133144,-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,24,begin dive
$GC,25,-1.41,-146.0,0.0,0.0,0,129,0.00,0.00,-100.93,0.000,2,0.000,0.000,364,1956,3220,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.2,-6.0,20,152,10.50,2.17,-5.65,0.000,4,0.160,0.057,2186,883,3437,0,0,0,0,0,0
$GC,214,-1.41,-146.0,17.3,-17.4,35,220,0.00,2.08,0.00,0.000,6,0.000,0.021,2186,1952,3438,0,0,0,0,0,0
$GC,421,-1.41,-146.0,51.2,-16.2,61,425,0.00,1.85,0.00,0.000,4,0.000,0.031,2186,2995,3439,0,0,0,0,0,0
$GC,679,-1.41,-146.0,86.3,-8.3,84,683,0.00,1.83,0.00,0.000,6,0.000,0.024,2186,1954,3440,0,0,0,0,0,0
$GC,945,-1.41,-146.0,106.7,-8.6,109,949,0.00,1.90,0.00,0.000,4,0.000,0.033,2186,3003,3441,0,0,0,0,0,0
$GC,1068,-1.41,-146.0,116.6,-7.3,120,1072,0.00,1.85,0.00,0.000,6,0.000,0.024,2186,1960,3441,0,0,0,0,0,0
$GC,1334,-1.41,-146.0,133.1,-6.8,145,1338,0.00,1.88,0.00,0.000,4,0.000,0.035,2186,2993,3442,0,0,0,0,0,0
$GC,1484,-1.41,-146.0,143.2,-6.7,158,1491,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1972,3442,0,0,0,0,0,0
$GC,1746,-1.41,-146.0,155.2,-4.0,183,1749,0.00,1.85,0.00,0.000,4,0.000,0.035,2186,2990,3442,0,0,0,0,0,0
$GC,2003,-1.41,-146.0,169.4,-6.3,206,2007,0.00,1.85,0.00,0.000,6,0.000,0.025,2186,1958,3442,0,0,0,0,0,0
$GC,2270,-1.41,-146.0,182.9,-4.6,231,2273,0.00,1.88,0.00,0.000,4,0.000,0.035,2186,2998,3442,0,0,0,0,0,0
$GC,2527,-1.41,-146.0,196.2,-5.0,254,2531,0.00,1.88,0.00,0.000,6,0.000,0.026,2186,1950,3441,0,0,0,0,0,0
$GC,2799,-1.41,-146.0,207.2,-4.1,272,2802,0.00,1.90,0.00,0.000,4,0.000,0.035,2186,2992,3442,0,0,0,0,0,0
$GC,3056,-1.41,-146.0,218.7,-4.4,283,3060,0.00,1.88,0.00,0.000,6,0.000,0.025,2186,1958,3440,0,0,0,0,0,0
$GC,3377,-1.41,-146.0,231.8,-3.8,299,3381,0.00,1.90,0.00,0.000,4,0.000,0.037,2186,2986,3440,0,0,0,0,0,0
$GC,3499,-1.41,-146.0,236.8,-4.2,304,3504,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1971,3439,0,0,0,0,0,0
$GC,3821,-1.41,-146.0,252.0,-4.9,320,3825,0.00,1.88,0.00,0.000,4,0.000,0.037,2186,2995,3438,0,0,0,0,0,0
$GC,3870,-1.41,-146.0,254.5,-4.8,322,3872,0.00,0.05,0.00,0.000,6,0.000,0.107,2186,2937,3438,0,0,0,0,0,0
$GC,4192,-1.41,-146.0,267.7,-3.6,338,4200,0.00,3.95,0.00,0.000,4,0.000,0.038,2186,885,3436,0,0,0,0,0,0
$GC,4313,-1.41,-146.0,272.2,-3.9,343,4317,0.00,2.10,0.00,0.000,6,0.000,0.023,2186,1959,3435,0,0,0,0,0,0
$GC,4635,-1.41,-146.0,284.7,-4.2,359,4639,0.00,1.90,0.00,0.000,4,0.000,0.039,2186,3005,3434,0,0,0,0,0,0
$GC,4770,-1.41,-146.0,290.8,-4.6,365,4773,0.00,1.90,0.00,0.000,6,0.000,0.028,2186,1953,3434,0,0,0,0,0,0
$GC,5120,-1.41,-146.0,304.0,-3.3,379,5124,0.00,2.12,0.00,0.000,4,0.000,0.045,2186,893,3433,0,0,0,0,0,0
$GC,5320,-1.41,-146.0,312.2,-4.2,383,5325,0.00,2.10,0.00,0.000,6,0.000,0.023,2186,1962,3432,0,0,0,0,0,0
$GC,5663,-1.41,-146.0,323.9,-3.3,392,5667,0.00,1.90,0.00,0.000,4,0.000,0.041,2186,3004,3431,0,0,0,0,0,0
$GC,5920,-1.41,-146.0,332.4,-3.4,397,5924,0.00,1.92,0.00,0.000,6,0.000,0.028,2186,1953,3430,0,0,0,0,0,0
$GC,6257,-1.41,-146.0,341.2,-2.4,406,6260,0.00,1.92,0.00,0.000,4,0.000,0.040,2186,2996,3429,0,0,0,0,0,0
$GC,6294,-1.41,-146.0,342.3,-2.9,406,6301,0.00,1.92,0.00,0.000,6,0.000,0.028,2186,1941,3429,0,0,0,0,0,0
$GC,6626,-1.41,-146.0,352.5,-3.2,415,6629,0.00,2.12,0.00,0.000,4,0.000,0.045,2186,891,3427,0,0,0,0,0,0
$GC,6730,-1.41,-146.0,356.1,-3.3,417,6735,0.00,2.08,0.00,0.000,6,0.000,0.025,2186,1941,3428,0,0,0,0,0,0
$GC,7079,-1.41,-146.0,365.0,-2.3,426,7083,0.00,1.95,0.00,0.000,4,0.000,0.041,2186,3008,3426,0,0,0,0,0,0
$GC,7335,-1.41,-146.0,371.5,-2.5,431,7340,0.00,1.95,0.00,0.000,6,0.000,0.029,2186,1942,3426,0,0,0,0,0,0
$GC,7672,-1.41,-146.0,378.6,-2.2,440,7676,0.00,1.95,0.00,0.000,4,0.000,0.042,2186,2996,3425,0,0,0,0,0,0
$GC,7890,-1.41,-146.0,382.8,-1.2,444,7896,0.00,1.92,0.00,0.000,6,0.000,0.029,2186,1943,3424,0,0,0,0,0,0
$STATE,8138,end dive,NO_VERTICAL_VELOCITY
$STATE,8138,begin apogee
$GC,8142,-0.33,0.0,384.9,0.0,451,8261,1.15,0.00,112.00,0.923,6,0.091,0.000,2422,1944,2841,0,0,0,0,0,0
$STATE,8264,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8265,1.41,146.0,381.0,0.0,454,8388,1.73,2.30,114.38,0.893,4,0.048,0.050,2805,887,2243,0,0,0,0,0,0
$GC,8539,1.41,146.0,311.7,31.2,460,8543,0.00,2.12,0.00,0.000,6,0.000,0.021,2805,1961,2239,0,0,0,0,0,0
$GC,8855,1.41,146.0,229.4,26.2,474,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1966,2237,0,0,0,0,0,0
$GC,9170,1.41,146.0,148.7,25.6,498,9174,0.00,2.22,0.00,0.000,4,0.000,0.048,2804,889,2235,0,0,0,0,0,0
$GC,9192,1.41,146.0,142.9,27.5,500,9196,0.00,2.08,0.00,0.000,6,0.000,0.020,2805,1958,2236,0,0,0,0,0,0
$GC,9458,1.41,146.0,86.7,19.3,525,9462,0.00,2.20,0.00,0.000,4,0.000,0.044,2805,889,2235,0,0,0,0,0,0
$GC,9466,1.41,146.0,84.8,17.7,525,9473,0.00,2.05,0.00,0.000,6,0.000,0.020,2805,1941,2235,0,0,0,0,0,0
$GC,9728,1.41,146.0,48.3,13.1,550,9732,0.00,1.88,0.00,0.000,4,0.000,0.032,2804,2983,2234,0,0,0,0,0,0
$GC,9879,1.41,146.0,27.2,14.1,565,9885,0.00,1.88,0.00,0.000,6,0.000,0.026,2805,1940,2234,0,0,0,0,0,0
$STATE,10041,end climb,SURFACE_DEPTH_REACHED
$STATE,10041,begin surface coast
$FINISH,0.6,1.016860
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10077,175.23,0.602,0,0,721,520.04
$SM_GC,1.23,0.00,0.00,175.23,0.000,0.000,0.602,364,1929,721,-9.83,-0.57,520.04
$IRIDIUM_FIX,2059.45,12543.81,150512,171751
$TT8_MAMPS,0.049088
$HUMID,1078852248
$TCM_TEMP,24.20
$XPDR_PINGS,638
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095874048
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.377
$10V_AH,10.0,2.677
$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,24.025,82.750,226.375,175.225,0.000,54.018,78.389,308.595,159.500,0.000,33.922,1151.326,7105.851,531.825,2037.131,68.942,33.353,1323.428,0.000,1492.541,0.000,0.544,0.000
$DEVICE_MAMPS,160.303,107.380,922.701,602.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,401.494,0.000,0.000,0.000,0.000,0.000,0.000,9688.780,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.433,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,20108,597
$CAP_FILE_SIZE,109166,0
$CFSIZE,260034560,256397312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,015825,2107.232,12543.895,29,1.5,47,-2.8