version: 66.07
glider: 23
mission: 5
dive: 41
start: 11 21 110 2 11 0
data:
$ID,23
$MISSION,5
$DIVE,41
$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,-50303.391
$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,40
$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
$GPS1,211110,015825,2107.232,12543.895,29,1.5,47,-2.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.0
$GPS2,211110,021008,2107.129,12543.768,16,1.9,16,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.124
$KALMAN_X,-68646.8,709.2,-187.2,38449.2,-4625.2
$KALMAN_Y,-10978.4,224.1,175.0,-15875.5,-974.2
$MHEAD_RNG_PITCHd_Wd,124.2,133982,-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,-101.60,0.000,2,0.000,0.000,364,1929,3233,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.2,-6.2,20,153,10.48,2.10,-5.25,0.000,4,0.160,0.054,2186,892,3436,0,0,0,0,0,0
$GC,191,-1.41,-146.0,12.0,-14.1,31,198,0.00,2.08,0.00,0.000,6,0.000,0.020,2187,1955,3437,0,0,0,0,0,0
$GC,400,-1.41,-146.0,43.8,-15.2,61,404,0.00,1.88,0.00,0.000,4,0.000,0.031,2187,2987,3438,0,0,0,0,0,0
$GC,658,-1.41,-146.0,80.3,-11.7,84,662,0.00,1.85,0.00,0.000,6,0.000,0.026,2187,1969,3438,0,0,0,0,0,0
$GC,924,-1.41,-146.0,98.7,-6.9,109,928,0.00,2.17,0.00,0.000,4,0.000,0.042,2186,878,3440,0,0,0,0,0,0
$GC,1182,-1.41,-146.0,115.7,-6.1,132,1186,0.00,2.08,0.00,0.000,6,0.000,0.021,2187,1975,3440,0,0,0,0,0,0
$GC,1448,-1.41,-146.0,129.8,-4.7,157,1452,0.00,2.22,0.00,0.000,4,0.000,0.041,2186,875,3442,0,0,0,0,0,0
$GC,1650,-1.41,-146.0,140.5,-5.4,175,1654,0.00,2.15,0.00,0.000,6,0.000,0.021,2187,1993,3442,0,0,0,0,0,0
$GC,1911,-1.41,-146.0,156.0,-6.3,199,1914,0.00,1.83,0.00,0.000,4,0.000,0.037,2187,3008,3441,0,0,0,0,0,0
$GC,2170,-1.41,-146.0,170.8,-5.7,222,2173,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,2003,3441,0,0,0,0,0,0
$GC,2436,-1.41,-146.0,184.2,-4.8,247,2440,0.00,2.25,0.00,0.000,4,0.000,0.044,2186,882,3441,0,0,0,0,0,0
$GC,2659,-1.41,-146.0,195.6,-4.4,266,2665,0.00,2.20,0.00,0.000,6,0.000,0.022,2187,1999,3440,0,0,0,0,0,0
$GC,2916,-1.41,-146.0,207.0,-5.0,284,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1999,3439,0,0,0,0,0,0
$GC,3225,-1.41,-146.0,222.1,-4.7,299,3228,0.00,1.83,0.00,0.000,4,0.000,0.038,2187,3015,3438,0,0,0,0,0,0
$GC,3482,-1.41,-146.0,233.3,-4.3,310,3486,0.00,1.83,0.00,0.000,6,0.000,0.026,2187,2000,3437,0,0,0,0,0,0
$GC,3803,-1.41,-146.0,245.8,-4.3,326,3807,0.00,1.83,0.00,0.000,4,0.000,0.038,2187,3018,3436,0,0,0,0,0,0
$GC,3919,-1.41,-146.0,251.8,-5.3,331,3924,0.00,1.85,0.00,0.000,6,0.000,0.026,2186,1996,3435,0,0,0,0,0,0
$GC,4246,-1.41,-146.0,266.9,-4.3,347,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1996,3434,0,0,0,0,0,0
$GC,4555,-1.41,-146.0,281.3,-4.6,362,4559,0.00,1.85,0.00,0.000,4,0.000,0.040,2187,3008,3433,0,0,0,0,0,0
$GC,4723,-1.41,-146.0,288.9,-4.8,369,4727,0.00,1.80,0.00,0.000,6,0.000,0.027,2186,2004,3432,0,0,0,0,0,0
$GC,5044,-1.41,-146.0,299.5,-2.8,385,5048,0.00,2.30,0.00,0.000,4,0.000,0.045,2187,873,3430,0,0,0,0,0,0
$GC,5149,-1.41,-146.0,303.1,-3.6,388,5153,0.00,2.22,0.00,0.000,6,0.000,0.024,2187,2001,3430,0,0,0,0,0,0
$GC,5497,-1.41,-146.0,317.1,-4.3,397,5500,0.00,1.83,0.00,0.000,4,0.000,0.043,2186,3009,3430,0,0,0,0,0,0
$GC,5753,-1.41,-146.0,327.1,-3.7,402,5758,0.00,1.80,0.00,0.000,6,0.000,0.027,2186,2006,3428,0,0,0,0,0,0
$GC,6090,-1.41,-146.0,335.5,-2.4,411,6094,0.00,1.83,0.00,0.000,4,0.000,0.041,2186,3009,3427,0,0,0,0,0,0
$GC,6190,-1.41,-146.0,338.1,-2.2,413,6194,0.00,1.85,0.00,0.000,6,0.000,0.028,2187,1990,3426,0,0,0,0,0,0
$GC,6508,-1.41,-146.0,346.7,-2.9,421,6512,0.00,1.85,0.00,0.000,4,0.000,0.041,2186,3010,3426,0,0,0,0,0,0
$GC,6765,-1.41,-146.0,355.5,-3.9,426,6770,0.00,1.83,0.00,0.000,6,0.000,0.028,2186,2000,3425,0,0,0,0,0,0
$GC,7102,-1.41,-146.0,366.2,-2.9,435,7106,0.00,1.85,0.00,0.000,4,0.000,0.043,2187,3015,3424,0,0,0,0,0,0
$GC,7135,-1.41,-146.0,367.0,-2.8,435,7139,0.00,1.88,0.00,0.000,6,0.000,0.029,2186,1984,3424,0,0,0,0,0,0
$GC,7471,-1.41,-146.0,373.1,-1.6,444,7475,0.00,1.90,0.00,0.000,4,0.000,0.043,2187,3014,3423,0,0,0,0,0,0
$GC,7728,-1.41,-146.0,378.7,-2.6,449,7733,0.00,1.83,0.00,0.000,6,0.000,0.028,2186,2004,3422,0,0,0,0,0,0
$GC,8065,-1.41,-146.0,387.5,-2.4,458,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2004,3421,0,0,0,0,0,0
$GC,8390,-1.41,-146.0,394.1,-2.0,466,8393,0.00,1.83,0.00,0.000,4,0.000,0.044,2187,2999,3421,0,0,0,0,0,0
$GC,8647,-1.41,-146.0,399.8,-2.8,471,8651,0.00,1.80,0.00,0.000,6,0.000,0.029,2186,2005,3420,0,0,0,0,0,0
$GC,8984,-1.41,-146.0,408.7,-2.7,480,8987,0.00,1.80,0.00,0.000,4,0.000,0.044,2187,3002,3419,0,0,0,0,0,0
$GC,9240,-1.41,-146.0,415.4,-2.1,485,9245,0.00,1.77,0.00,0.000,6,0.000,0.029,2187,2013,3418,0,0,0,0,0,0
$GC,9577,-1.41,-146.0,423.3,-2.5,494,9581,0.00,1.83,0.00,0.000,4,0.000,0.045,2187,3000,3417,0,0,0,0,0,0
$GC,9834,-1.41,-146.0,430.4,-2.6,499,9839,0.00,1.77,0.00,0.000,6,0.000,0.029,2187,2012,3416,0,0,0,0,0,0
$GC,10171,-1.41,-146.0,436.4,-1.5,508,10175,0.00,1.83,0.00,0.000,4,0.000,0.045,2187,3012,3415,0,0,0,0,0,0
$GC,10428,-1.41,-146.0,440.1,-1.5,513,10433,0.00,1.80,0.00,0.000,6,0.000,0.030,2187,2009,3414,0,0,0,0,0,0
$GC,10765,-1.41,-146.0,446.4,-2.0,522,10768,0.00,1.83,0.00,0.000,4,0.000,0.045,2186,3007,3413,0,0,0,0,0,0
$GC,10791,-1.41,-146.0,446.9,-1.9,522,10796,0.00,1.80,0.00,0.000,6,0.000,0.030,2187,2007,3413,0,0,0,0,0,0
$GC,11134,-1.41,-146.0,450.6,-0.7,531,11138,0.00,1.85,0.00,0.000,4,0.000,0.046,2187,3002,3412,0,0,0,0,0,0
$GC,11256,-1.41,-146.0,451.8,-1.1,533,11260,0.00,1.77,0.00,0.000,6,0.000,0.030,2187,2013,3412,0,0,0,0,0,0
$GC,11593,-1.41,-146.0,456.4,-1.7,542,11597,0.00,2.30,0.00,0.000,4,0.000,0.046,2186,882,3411,0,0,0,0,0,0
$GC,11849,-1.41,-146.0,460.5,-1.4,547,11855,0.00,2.22,0.00,0.000,6,0.000,0.028,2186,2001,3411,0,0,0,0,0,0
$STATE,12138,end dive,NO_VERTICAL_VELOCITY
$STATE,12138,begin apogee
$GC,12142,-0.33,0.0,462.9,0.0,555,12260,1.15,0.00,111.03,1.014,6,0.087,0.000,2426,1922,2840,0,0,0,0,0,0
$STATE,12264,end apogee,CONTROL_FINISHED_OK
$STATE,12264,begin climb
$GC,12265,1.41,146.0,458.3,0.0,558,12391,1.73,2.08,116.28,0.976,4,0.048,0.035,2805,3001,2244,0,0,0,0,0,0
$GC,12642,1.41,146.0,367.0,27.0,566,12647,0.00,1.98,0.00,0.000,6,0.000,0.038,2806,1964,2239,0,0,0,0,0,0
$GC,12959,1.41,146.0,284.3,25.9,575,12963,0.00,1.90,0.00,0.000,4,0.000,0.032,2805,3013,2237,0,0,0,0,0,0
$GC,13216,1.41,146.0,224.5,23.8,586,13221,0.00,2.00,0.00,0.000,6,0.000,0.035,2805,1949,2236,0,0,0,0,0,0
$GC,13544,1.41,146.0,148.3,23.5,612,13547,0.00,1.92,0.00,0.000,4,0.000,0.028,2805,3015,2235,0,0,0,0,0,0
$GC,13570,1.41,146.0,141.6,22.8,614,13577,0.00,1.98,0.00,0.000,6,0.000,0.030,2805,1944,2235,0,0,0,0,0,0
$GC,13831,1.41,146.0,87.8,19.9,639,13833,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1944,2235,0,0,0,0,0,0
$GC,14086,1.41,146.0,51.5,13.0,663,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1944,2235,0,0,0,0,0,0
$GC,14346,1.41,146.0,15.7,15.0,695,14351,0.00,1.90,0.00,0.000,4,0.000,0.028,2805,3019,2236,0,0,0,0,0,0
$STATE,14428,end climb,SURFACE_DEPTH_REACHED
$STATE,14429,begin surface coast
$FINISH,0.7,1.022262
$STATE,14448,end surface coast,CONTROL_FINISHED_OK
$STATE,14448,begin surface
$SM_CCo,14469,178.05,0.607,0,0,721,520.04
$SM_GC,1.27,0.00,0.00,178.05,0.000,0.000,0.607,360,1933,721,-9.85,-0.45,520.04
$IRIDIUM_FIX,2101.76,12541.93,150512,202040
$TT8_MAMPS,0.049088
$HUMID,1078901281
$TCM_TEMP,24.20
$XPDR_PINGS,666
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095841280
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.519
$10V_AH,10.0,2.760
$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,24.000,100.575,227.300,178.050,0.000,62.224,97.958,353.347,166.500,0.000,17.425,1442.064,10631.339,550.577,2631.247,104.255,33.352,1593.503,0.000,2020.252,0.000,0.545,0.000
$DEVICE_MAMPS,159.536,66.729,1013.974,606.697,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,481.654,0.000,0.000,0.000,0.000,0.000,0.000,13546.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.039,0.000,0.000
$MEM,355084
$DATA_FILE_SIZE,23392,713
$CAP_FILE_SIZE,141015,0
$CFSIZE,260034560,256290816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,061637,2106.460,12542.565,42,1.7,42,-2.8