version: 66.07
glider: 23
mission: 5
dive: 42
start: 11 21 110 6 24 34
data:
$ID,23
$MISSION,5
$DIVE,42
$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,-50336.57
$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,29
$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,41
$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
$GPS1,211110,061637,2106.460,12542.565,42,1.7,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.8
$GPS2,211110,062343,2106.424,12542.491,31,1.8,31,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.047
$KALMAN_X,-72476.4,73.9,-365.5,40885.6,-3070.7
$KALMAN_Y,-10359.8,-226.8,232.4,-17405.8,-391.0
$MHEAD_RNG_PITCHd_Wd,81.5,135160,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-1.41,-146.0,0.0,0.0,0,134,0.00,0.00,-105.70,0.000,2,0.000,0.000,360,1933,3325,0,0,0,0,0,0
$GC,136,-1.41,-146.0,3.3,-4.6,21,157,10.52,2.17,-2.78,0.000,4,0.160,0.055,2184,885,3439,0,0,0,0,0,0
$GC,196,-1.41,-146.0,13.6,-15.4,32,202,0.00,2.10,0.00,0.000,6,0.000,0.019,2183,1965,3439,0,0,0,0,0,0
$GC,404,-1.41,-146.0,45.1,-14.7,61,408,0.00,1.85,0.00,0.000,4,0.000,0.032,2184,2997,3441,0,0,0,0,0,0
$GC,663,-1.41,-146.0,83.1,-12.0,84,667,0.00,1.85,0.00,0.000,6,0.000,0.025,2184,1957,3442,0,0,0,0,0,0
$GC,928,-1.41,-146.0,106.3,-8.5,109,932,0.00,1.92,0.00,0.000,4,0.000,0.033,2184,3005,3443,0,0,0,0,0,0
$GC,950,-1.41,-146.0,108.1,-8.3,111,954,0.00,1.85,0.00,0.000,6,0.000,0.024,2184,1967,3443,0,0,0,0,0,0
$GC,1216,-1.41,-146.0,128.5,-8.9,136,1220,0.00,2.17,0.00,0.000,4,0.000,0.043,2184,881,3444,0,0,0,0,0,0
$GC,1472,-1.41,-146.0,147.4,-7.1,158,1479,0.00,2.10,0.00,0.000,6,0.000,0.020,2184,1968,3444,0,0,0,0,0,0
$GC,1734,-1.41,-146.0,164.4,-5.7,183,1738,0.00,2.20,0.00,0.000,4,0.000,0.042,2184,883,3445,0,0,0,0,0,0
$GC,1990,-1.41,-146.0,181.3,-6.4,205,1997,0.00,2.10,0.00,0.000,6,0.000,0.021,2183,1960,3445,0,0,0,0,0,0
$GC,2252,-1.41,-146.0,194.9,-4.7,230,2256,0.00,1.90,0.00,0.000,4,0.000,0.037,2184,2994,3445,0,0,0,0,0,0
$GC,2509,-1.41,-146.0,205.6,-4.6,247,2514,0.00,1.85,0.00,0.000,6,0.000,0.025,2184,1978,3445,0,0,0,0,0,0
$GC,2830,-1.41,-146.0,221.8,-5.0,263,2833,0.00,1.88,0.00,0.000,4,0.000,0.036,2184,3002,3444,0,0,0,0,0,0
$GC,3070,-1.41,-146.0,233.5,-5.1,273,3076,0.00,1.85,0.00,0.000,6,0.000,0.025,2184,1980,3444,0,0,0,0,0,0
$GC,3386,-1.41,-146.0,248.0,-4.7,289,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1980,3443,0,0,0,0,0,0
$GC,3695,-1.41,-146.0,261.3,-4.0,304,3698,0.00,1.88,0.00,0.000,4,0.000,0.038,2184,3005,3442,0,0,0,0,0,0
$GC,3952,-1.41,-146.0,271.6,-4.3,315,3956,0.00,1.90,0.00,0.000,6,0.000,0.027,2185,1964,3441,0,0,0,0,0,0
$GC,4273,-1.41,-146.0,283.4,-3.5,331,4277,0.00,1.88,0.00,0.000,4,0.000,0.038,2183,2996,3440,0,0,0,0,0,0
$GC,4530,-1.41,-146.0,293.3,-4.4,342,4535,0.00,1.85,0.00,0.000,6,0.000,0.027,2184,1979,3439,0,0,0,0,0,0
$GC,4869,-1.41,-146.0,307.0,-3.8,355,4873,0.00,1.88,0.00,0.000,4,0.000,0.039,2184,3001,3438,0,0,0,0,0,0
$GC,5126,-1.41,-146.0,318.5,-4.5,360,5131,0.00,1.90,0.00,0.000,6,0.000,0.028,2184,1961,3436,0,0,0,0,0,0
$GC,5463,-1.41,-146.0,332.6,-3.8,369,5467,0.00,2.15,0.00,0.000,4,0.000,0.045,2183,887,3435,0,0,0,0,0,0
$GC,5579,-1.41,-146.0,336.0,-2.7,371,5583,0.00,2.12,0.00,0.000,6,0.000,0.025,2184,1968,3435,0,0,0,0,0,0
$GC,5915,-1.41,-146.0,343.7,-2.7,380,5919,0.00,1.88,0.00,0.000,4,0.000,0.041,2184,2994,3434,0,0,0,0,0,0
$GC,6174,-1.41,-146.0,354.0,-3.8,385,6177,0.00,1.85,0.00,0.000,6,0.000,0.028,2184,1960,3433,0,0,0,0,0,0
$GC,6509,-1.41,-146.0,363.7,-2.5,394,6513,0.00,1.92,0.00,0.000,4,0.000,0.041,2184,2988,3432,0,0,0,0,0,0
$GC,6603,-1.41,-146.0,365.5,-2.1,396,6608,0.00,1.88,0.00,0.000,6,0.000,0.028,2184,1963,3432,0,0,0,0,0,0
$GC,6928,-1.41,-146.0,371.6,-1.9,404,6932,0.00,2.17,0.00,0.000,4,0.000,0.046,2184,881,3431,0,0,0,0,0,0
$GC,7017,-1.41,-146.0,373.8,-2.5,406,7021,0.00,2.10,0.00,0.000,6,0.000,0.025,2183,1973,3430,0,0,0,0,0,0
$GC,7340,-1.41,-146.0,382.3,-2.7,414,7343,0.00,1.90,0.00,0.000,4,0.000,0.044,2184,3008,3429,0,0,0,0,0,0
$GC,7597,-1.41,-146.0,388.2,-2.2,419,7601,0.00,1.88,0.00,0.000,6,0.000,0.029,2184,1981,3428,0,0,0,0,0,0
$GC,7934,-1.41,-146.0,397.1,-3.0,428,7937,0.00,1.88,0.00,0.000,4,0.000,0.043,2184,2994,3427,0,0,0,0,0,0
$GC,8190,-1.41,-146.0,406.9,-3.3,433,8195,0.00,1.88,0.00,0.000,6,0.000,0.029,2184,1972,3426,0,0,0,0,0,0
$GC,8527,-1.41,-146.0,418.0,-3.1,442,8531,0.00,1.90,0.00,0.000,4,0.000,0.043,2183,2993,3425,0,0,0,0,0,0
$GC,8785,-1.41,-146.0,425.3,-2.0,447,8789,0.00,1.88,0.00,0.000,6,0.000,0.030,2183,1974,3425,0,0,0,0,0,0
$GC,9121,-1.41,-146.0,432.5,-2.0,456,9125,0.00,2.17,0.00,0.000,4,0.000,0.046,2183,886,3424,0,0,0,0,0,0
$GC,9232,-1.41,-146.0,435.3,-2.6,458,9237,0.00,2.12,0.00,0.000,6,0.000,0.027,2183,1962,3423,0,0,0,0,0,0
$GC,9575,-1.41,-146.0,441.9,-2.0,467,9578,0.00,1.90,0.00,0.000,4,0.000,0.044,2184,3007,3422,0,0,0,0,0,0
$GC,9832,-1.41,-146.0,448.3,-3.0,472,9836,0.00,1.90,0.00,0.000,6,0.000,0.031,2184,1971,3421,0,0,0,0,0,0
$GC,10168,-1.41,-146.0,456.6,-2.4,481,10172,0.00,1.90,0.00,0.000,4,0.000,0.044,2183,3005,3421,0,0,0,0,0,0
$GC,10425,-1.41,-146.0,463.1,-3.3,486,10430,0.00,1.90,0.00,0.000,6,0.000,0.031,2184,1970,3420,0,0,0,0,0,0
$GC,10762,-1.41,-146.0,468.1,-0.9,495,10766,0.00,2.17,0.00,0.000,4,0.000,0.047,2183,884,3419,0,0,0,0,0,0
$STATE,10961,end dive,NO_VERTICAL_VELOCITY
$STATE,10961,begin apogee
$GC,10966,-0.33,0.0,469.2,0.0,499,11082,1.15,0.00,112.55,1.011,6,0.092,0.000,2423,1963,2841,0,0,0,0,0,0
$STATE,11086,end apogee,CONTROL_FINISHED_OK
$STATE,11086,begin climb
$GC,11087,1.41,146.0,466.4,0.0,502,11213,1.73,2.00,116.20,0.974,4,0.048,0.037,2802,3002,2244,0,0,0,0,0,0
$GC,11301,1.41,146.0,418.9,23.6,507,11307,0.00,2.00,0.00,0.000,6,0.000,0.038,2801,1955,2240,0,0,0,0,0,0
$GC,11626,1.41,146.0,334.9,26.2,515,11630,0.00,1.95,0.00,0.000,4,0.000,0.034,2802,3013,2237,0,0,0,0,0,0
$GC,11663,1.41,146.0,325.8,23.3,515,11670,0.00,2.00,0.00,0.000,6,0.000,0.037,2802,1952,2237,0,0,0,0,0,0
$GC,11977,1.41,146.0,250.2,22.9,528,11981,0.00,1.95,0.00,0.000,4,0.000,0.031,2802,3006,2235,0,0,0,0,0,0
$GC,12116,1.41,146.0,218.9,21.4,534,12121,0.00,1.98,0.00,0.000,6,0.000,0.035,2802,1953,2235,0,0,0,0,0,0
$GC,12439,1.41,146.0,147.8,21.9,560,12443,0.00,2.20,0.00,0.000,4,0.000,0.050,2802,875,2235,0,0,0,0,0,0
$GC,12460,1.41,146.0,142.8,22.6,561,12466,0.00,2.12,0.00,0.000,6,0.000,0.020,2802,1976,2235,0,0,0,0,0,0
$GC,12721,1.41,146.0,90.4,19.9,586,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1978,2235,0,0,0,0,0,0
$GC,12976,1.41,146.0,51.9,13.6,610,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1978,2235,0,0,0,0,0,0
$GC,13236,1.41,146.0,15.9,13.7,643,13242,0.00,1.80,0.00,0.000,4,0.000,0.031,2802,2970,2235,0,0,0,0,0,0
$STATE,13331,end climb,SURFACE_DEPTH_REACHED
$STATE,13331,begin surface coast
$FINISH,0.8,1.009357
$STATE,13353,end surface coast,CONTROL_FINISHED_OK
$STATE,13354,begin surface
$SM_CCo,13374,177.60,0.607,0,0,720,520.04
$SM_GC,1.47,0.00,0.00,177.60,0.000,0.000,0.607,362,1922,720,-9.83,-0.76,520.04
$IRIDIUM_FIX,2101.76,12538.71,150512,202053
$TT8_MAMPS,0.049088
$HUMID,1078863861
$TCM_TEMP,24.30
$XPDR_PINGS,650
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095808512
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.649
$10V_AH,10.0,2.835
$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,24.000,102.625,228.750,177.600,0.000,28.375,33.790,237.748,162.500,0.000,32.549,1355.002,9649.818,551.500,2333.753,91.920,33.355,1557.110,0.000,1936.239,0.000,0.544,0.000
$DEVICE_MAMPS,159.536,55.224,1010.906,606.697,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,447.627,0.000,0.000,0.000,0.000,0.000,0.000,12329.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.846,0.000,0.000
$MEM,355016
$DATA_FILE_SIZE,23400,664
$CAP_FILE_SIZE,130815,0
$CFSIZE,260034560,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,101155,2106.151,12542.235,41,1.3,41,-2.8