version: 66.07
glider: 23
mission: 5
dive: 44
start: 11 21 110 13 35 45
data:
$ID,23
$MISSION,5
$DIVE,44
$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,-50388.941
$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,21
$R_STBD_OVSHOOT,45
$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,43
$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
$GPS1,211110,132801,2105.884,12541.721,43,2.0,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.4
$GPS2,211110,133453,2105.829,12541.672,14,2.0,16,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.036
$KALMAN_X,-78703.0,-1030.6,-60.5,46504.7,-2860.8
$KALMAN_Y,-11314.3,-297.6,-276.4,-16960.0,454.2
$MHEAD_RNG_PITCHd_Wd,101.5,135800,-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,25,-1.41,-146.0,0.0,0.0,0,129,0.00,0.00,-101.28,0.000,2,0.000,0.000,363,1956,3201,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.1,-5.9,20,156,10.48,2.25,-6.38,0.000,4,0.159,0.058,2185,882,3438,0,0,0,0,0,0
$GC,161,-1.41,-146.0,7.1,-10.9,26,167,0.00,2.08,0.00,0.000,6,0.000,0.021,2185,1945,3439,0,0,0,0,0,0
$GC,367,-1.41,-146.0,37.7,-15.8,59,370,0.00,1.90,0.00,0.000,4,0.000,0.031,2185,2995,3439,0,0,0,0,0,0
$GC,624,-1.41,-146.0,77.4,-13.9,82,628,0.00,1.85,0.00,0.000,6,0.000,0.026,2185,1976,3439,0,0,0,0,0,0
$GC,891,-1.41,-146.0,101.5,-8.4,107,895,0.00,2.20,0.00,0.000,4,0.000,0.043,2185,874,3441,0,0,0,0,0,0
$GC,1147,-1.41,-146.0,121.6,-9.2,129,1154,0.00,2.17,0.00,0.000,6,0.000,0.020,2185,1994,3442,0,0,0,0,0,0
$GC,1409,-1.41,-146.0,140.2,-6.5,154,1413,0.00,2.28,0.00,0.000,4,0.000,0.041,2185,874,3443,0,0,0,0,0,0
$GC,1515,-1.41,-146.0,146.7,-5.7,163,1518,0.00,2.17,0.00,0.000,6,0.000,0.021,2185,2002,3443,0,0,0,0,0,0
$GC,1781,-1.41,-146.0,163.7,-7.0,188,1785,0.00,1.80,0.00,0.000,4,0.000,0.036,2185,3010,3443,0,0,0,0,0,0
$GC,2039,-1.41,-146.0,180.6,-6.3,211,2043,0.00,1.80,0.00,0.000,6,0.000,0.025,2186,2005,3443,0,0,0,0,0,0
$GC,2305,-1.41,-146.0,195.6,-5.5,236,2309,0.00,2.28,0.00,0.000,4,0.000,0.044,2185,885,3443,0,0,0,0,0,0
$GC,2517,-1.41,-146.0,207.9,-6.3,248,2523,0.00,2.20,0.00,0.000,6,0.000,0.022,2185,2003,3443,0,0,0,0,0,0
$GC,2833,-1.41,-146.0,224.1,-5.1,264,2836,0.00,1.80,0.00,0.000,4,0.000,0.038,2185,3010,3443,0,0,0,0,0,0
$GC,3090,-1.41,-146.0,239.2,-5.6,275,3094,0.00,1.80,0.00,0.000,6,0.000,0.026,2185,2006,3441,0,0,0,0,0,0
$GC,3411,-1.41,-146.0,254.6,-4.5,291,3414,0.00,1.80,0.00,0.000,4,0.000,0.038,2184,3006,3441,0,0,0,0,0,0
$GC,3667,-1.41,-146.0,264.5,-3.3,302,3672,0.00,1.77,0.00,0.000,6,0.000,0.026,2185,2009,3440,0,0,0,0,0,0
$GC,3989,-1.41,-146.0,276.0,-4.1,318,3992,0.00,1.80,0.00,0.000,4,0.000,0.038,2185,3010,3439,0,0,0,0,0,0
$GC,4245,-1.41,-146.0,288.0,-4.0,329,4250,0.00,1.80,0.00,0.000,6,0.000,0.027,2185,2006,3438,0,0,0,0,0,0
$GC,4567,-1.41,-146.0,297.7,-2.9,345,4571,0.00,2.28,0.00,0.000,4,0.000,0.046,2185,883,3437,0,0,0,0,0,0
$GC,4823,-1.41,-146.0,308.7,-4.6,352,4829,0.00,2.22,0.00,0.000,6,0.000,0.024,2185,2006,3436,0,0,0,0,0,0
$GC,5154,-1.41,-146.0,323.6,-4.5,361,5158,0.00,2.30,0.00,0.000,4,0.000,0.044,2185,882,3435,0,0,0,0,0,0
$GC,5411,-1.41,-146.0,334.5,-3.6,366,5418,0.00,2.22,0.00,0.000,6,0.000,0.024,2185,2008,3434,0,0,0,0,0,0
$GC,5742,-1.41,-146.0,341.1,-1.9,375,5746,0.00,2.33,0.00,0.000,4,0.000,0.044,2185,874,3433,0,0,0,0,0,0
$GC,5943,-1.41,-146.0,348.4,-4.5,379,5948,0.00,2.25,0.00,0.000,6,0.000,0.025,2185,2007,3431,0,0,0,0,0,0
$GC,6285,-1.41,-146.0,360.7,-3.3,388,6289,0.00,1.77,0.00,0.000,4,0.000,0.043,2185,3007,3430,0,0,0,0,0,0
$GC,6542,-1.41,-146.0,366.9,-2.3,393,6547,0.00,1.77,0.00,0.000,6,0.000,0.028,2185,2016,3429,0,0,0,0,0,0
$GC,6879,-1.41,-146.0,375.5,-3.0,402,6883,0.00,1.80,0.00,0.000,4,0.000,0.041,2186,3007,3428,0,0,0,0,0,0
$GC,7085,-1.41,-146.0,383.4,-4.2,406,7090,0.00,1.75,0.00,0.000,6,0.000,0.028,2185,2022,3427,0,0,0,0,0,0
$GC,7428,-1.41,-146.0,396.6,-3.8,415,7431,0.00,1.77,0.00,0.000,4,0.000,0.044,2185,3001,3426,0,0,0,0,0,0
$GC,7686,-1.41,-146.0,403.5,-2.0,420,7690,0.00,1.70,0.00,0.000,6,0.000,0.030,2185,2028,3426,0,0,0,0,0,0
$GC,8022,-1.41,-146.0,409.9,-2.0,429,8026,0.00,1.77,0.00,0.000,4,0.000,0.044,2185,2998,3425,0,0,0,0,0,0
$GC,8161,-1.41,-146.0,413.0,-2.1,432,8165,0.00,1.73,0.00,0.000,6,0.000,0.029,2185,2028,3424,0,0,0,0,0,0
$GC,8485,-1.41,-146.0,420.0,-2.1,440,8489,0.00,2.38,0.00,0.000,4,0.000,0.046,2185,874,3423,0,0,0,0,0,0
$GC,8690,-1.41,-146.0,424.1,-1.5,444,8695,0.00,2.30,0.00,0.000,6,0.000,0.028,2185,2019,3422,0,0,0,0,0,0
$GC,9027,-1.41,-146.0,430.1,-2.0,453,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2021,3421,0,0,0,0,0,0
$GC,9352,-1.41,-146.0,438.0,-2.3,461,9356,0.00,2.35,0.00,0.000,4,0.000,0.046,2185,881,3421,0,0,0,0,0,0
$GC,9609,-1.41,-146.0,442.3,-1.3,466,9616,0.00,2.28,0.00,0.000,6,0.000,0.028,2185,2015,3420,0,0,0,0,0,0
$GC,9940,-1.41,-146.0,445.2,-0.6,475,9945,0.00,2.35,0.00,0.000,4,0.000,0.046,2185,875,3419,0,0,0,0,0,0
$STATE,9978,end dive,NO_VERTICAL_VELOCITY
$STATE,9978,begin apogee
$GC,9983,-0.33,0.0,445.5,0.0,476,10100,1.15,0.00,112.40,0.986,6,0.089,0.000,2422,1954,2841,0,0,0,0,0,0
$STATE,10104,end apogee,CONTROL_FINISHED_OK
$STATE,10104,begin climb
$GC,10105,1.41,146.0,442.0,0.0,479,10231,1.73,2.03,115.75,0.948,4,0.048,0.035,2804,3014,2244,0,0,0,0,0,0
$GC,10483,1.41,146.0,357.1,23.2,487,10488,0.00,2.03,0.00,0.000,6,0.000,0.036,2804,1937,2240,0,0,0,0,0,0
$GC,10800,1.41,146.0,277.5,24.2,497,10804,0.00,1.95,0.00,0.000,4,0.000,0.031,2805,3003,2237,0,0,0,0,0,0
$GC,10872,1.41,146.0,260.7,24.8,500,10877,0.00,2.00,0.00,0.000,6,0.000,0.037,2804,1941,2237,0,0,0,0,0,0
$GC,11190,1.41,146.0,186.5,22.9,518,11194,0.00,2.17,0.00,0.000,4,0.000,0.049,2804,878,2237,0,0,0,0,0,0
$GC,11217,1.41,146.0,179.4,26.2,520,11221,0.00,2.10,0.00,0.000,6,0.000,0.019,2804,1987,2236,0,0,0,0,0,0
$GC,11483,1.41,146.0,120.0,18.6,545,11487,0.00,1.75,0.00,0.000,4,0.000,0.030,2805,2982,2236,0,0,0,0,0,0
$GC,11565,1.41,146.0,104.2,19.6,552,11572,0.00,1.92,0.00,0.000,6,0.000,0.031,2805,1941,2235,0,0,0,0,0,0
$GC,11827,1.41,146.0,60.1,12.5,577,11831,0.00,2.12,0.00,0.000,4,0.000,0.046,2804,889,2235,0,0,0,0,0,0
$GC,11864,1.41,146.0,54.6,14.9,580,11870,0.00,2.03,0.00,0.000,6,0.000,0.018,2805,1935,2236,0,0,0,0,0,0
$GC,12130,1.41,146.0,16.8,14.5,613,12135,0.00,1.88,0.00,0.000,4,0.000,0.029,2805,3006,2236,0,0,0,0,0,0
$STATE,12229,end climb,SURFACE_DEPTH_REACHED
$STATE,12229,begin surface coast
$FINISH,0.9,1.022333
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12242,begin surface
$SM_CCo,12263,176.65,0.595,0,0,720,520.04
$SM_GC,1.39,0.00,0.00,176.65,0.000,0.000,0.595,364,1933,720,-9.83,-0.42,520.04
$IRIDIUM_FIX,2059.45,12543.81,160512,040431
$TT8_MAMPS,0.049088
$HUMID,1078893539
$TCM_TEMP,24.30
$XPDR_PINGS,666
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095742976
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,6.910
$10V_AH,10.0,2.977
$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,23.975,101.175,228.150,176.650,0.000,39.454,35.606,231.107,166.500,0.000,18.191,1281.483,8716.313,556.099,2218.950,87.931,33.350,1508.512,0.000,1833.650,0.000,0.544,0.000
$DEVICE_MAMPS,158.769,58.292,986.362,595.192,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,425.984,0.000,0.000,0.000,0.000,0.000,0.000,11384.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.930,0.000,0.000
$MEM,355032
$DATA_FILE_SIZE,20056,633
$CAP_FILE_SIZE,122987,0
$CFSIZE,260034560,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,170451,2105.448,12541.474,38,2.8,57,-2.8