version: 66.07
glider: 23
mission: 5
dive: 45
start: 11 21 110 17 12 13
data:
$ID,23
$MISSION,5
$DIVE,45
$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,-50402.766
$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,20
$R_STBD_OVSHOOT,50
$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,44
$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
$GPS1,211110,170451,2105.448,12541.474,38,2.8,57,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.5
$GPS2,211110,171120,2105.377,12541.479,11,1.2,11,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.063
$KALMAN_X,-81771.8,-603.0,-569.3,49319.5,-1169.3
$KALMAN_Y,-12163.8,-189.6,86.0,-17413.1,-194.0
$MHEAD_RNG_PITCHd_Wd,108.0,135659,-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,-101.60,0.000,2,0.000,0.000,364,1934,3211,0,0,0,0,0,0
$GC,131,-1.41,-146.0,3.4,-7.1,20,153,10.52,2.15,-5.82,0.000,4,0.160,0.056,2187,875,3437,0,0,0,0,0,0
$GC,169,-1.41,-146.0,8.7,-11.5,27,175,0.00,2.08,0.00,0.000,6,0.000,0.020,2187,1958,3438,0,0,0,0,0,0
$GC,379,-1.41,-146.0,39.8,-14.8,59,382,0.00,1.88,0.00,0.000,4,0.000,0.031,2187,2991,3438,0,0,0,0,0,0
$GC,638,-1.41,-146.0,79.8,-17.7,82,641,0.00,1.85,0.00,0.000,6,0.000,0.028,2187,1969,3439,0,0,0,0,0,0
$GC,904,-1.41,-146.0,105.9,-8.7,107,908,0.00,2.17,0.00,0.000,4,0.000,0.044,2187,886,3440,0,0,0,0,0,0
$GC,1161,-1.41,-146.0,129.0,-6.5,129,1167,0.00,2.12,0.00,0.000,6,0.000,0.020,2187,1979,3441,0,0,0,0,0,0
$GC,1422,-1.41,-146.0,142.8,-5.1,154,1426,0.00,2.22,0.00,0.000,4,0.000,0.043,2187,885,3442,0,0,0,0,0,0
$GC,1623,-1.41,-146.0,155.3,-7.3,171,1629,0.00,2.15,0.00,0.000,6,0.000,0.021,2187,1989,3443,0,0,0,0,0,0
$GC,1885,-1.41,-146.0,174.5,-7.4,196,1888,0.00,1.83,0.00,0.000,4,0.000,0.036,2187,3007,3443,0,0,0,0,0,0
$GC,2143,-1.41,-146.0,194.0,-7.5,219,2146,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,2003,3443,0,0,0,0,0,0
$GC,2413,-1.41,-146.0,210.7,-5.4,236,2417,0.00,1.80,0.00,0.000,4,0.000,0.035,2187,3005,3443,0,0,0,0,0,0
$GC,2647,-1.41,-146.0,222.3,-3.4,246,2652,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,2008,3443,0,0,0,0,0,0
$GC,2969,-1.41,-146.0,234.4,-4.6,262,2972,0.00,1.77,0.00,0.000,4,0.000,0.036,2187,3010,3442,0,0,0,0,0,0
$GC,3225,-1.41,-146.0,250.3,-6.7,273,3230,0.00,1.77,0.00,0.000,6,0.000,0.025,2187,2013,3442,0,0,0,0,0,0
$GC,3547,-1.41,-146.0,265.6,-4.4,289,3551,0.00,2.33,0.00,0.000,4,0.000,0.045,2187,875,3441,0,0,0,0,0,0
$GC,3803,-1.41,-146.0,279.1,-5.9,300,3809,0.00,2.25,0.00,0.000,6,0.000,0.022,2187,2014,3440,0,0,0,0,0,0
$GC,4119,-1.41,-146.0,294.7,-4.9,316,4123,0.00,2.35,0.00,0.000,4,0.000,0.044,2187,873,3439,0,0,0,0,0,0
$GC,4375,-1.41,-146.0,306.9,-3.9,324,4381,0.00,2.28,0.00,0.000,6,0.000,0.023,2187,2017,3438,0,0,0,0,0,0
$GC,4706,-1.41,-146.0,314.9,-1.9,333,4711,0.00,2.33,0.00,0.000,4,0.000,0.044,2187,879,3436,0,0,0,0,0,0
$GC,4840,-1.41,-146.0,318.5,-3.3,336,4844,0.00,2.28,0.00,0.000,6,0.000,0.024,2187,2021,3437,0,0,0,0,0,0
$GC,5164,-1.41,-146.0,327.8,-3.1,344,5168,0.00,1.75,0.00,0.000,4,0.000,0.041,2187,3010,3435,0,0,0,0,0,0
$GC,5421,-1.41,-146.0,338.7,-4.3,349,5426,0.00,1.75,0.00,0.000,6,0.000,0.027,2187,2021,3434,0,0,0,0,0,0
$GC,5758,-1.41,-146.0,349.2,-2.6,358,5762,0.00,1.73,0.00,0.000,4,0.000,0.041,2187,2999,3433,0,0,0,0,0,0
$GC,5835,-1.41,-146.0,350.9,-2.1,359,5840,0.00,1.70,0.00,0.000,6,0.000,0.028,2187,2030,3433,0,0,0,0,0,0
$GC,6172,-1.41,-146.0,356.8,-2.0,368,6176,0.00,2.38,0.00,0.000,4,0.000,0.045,2187,877,3431,0,0,0,0,0,0
$GC,6333,-1.41,-146.0,361.1,-2.4,371,6337,0.00,2.30,0.00,0.000,6,0.000,0.026,2187,2023,3431,0,0,0,0,0,0
$GC,6670,-1.41,-146.0,367.4,-1.7,380,6673,0.00,1.73,0.00,0.000,4,0.000,0.043,2187,2997,3430,0,0,0,0,0,0
$GC,6927,-1.41,-146.0,375.6,-3.9,385,6931,0.00,1.70,0.00,0.000,6,0.000,0.028,2187,2032,3428,0,0,0,0,0,0
$GC,7264,-1.41,-146.0,387.9,-3.5,394,7268,0.00,2.38,0.00,0.000,4,0.000,0.046,2187,882,3427,0,0,0,0,0,0
$GC,7385,-1.41,-146.0,392.2,-3.1,396,7391,0.00,2.28,0.00,0.000,6,0.000,0.025,2187,2018,3427,0,0,0,0,0,0
$GC,7716,-1.41,-146.0,401.4,-2.6,405,7720,0.00,1.77,0.00,0.000,4,0.000,0.044,2187,3010,3426,0,0,0,0,0,0
$GC,7973,-1.41,-146.0,407.5,-2.3,410,7978,0.00,1.75,0.00,0.000,6,0.000,0.028,2187,2021,3426,0,0,0,0,0,0
$GC,8310,-1.41,-146.0,411.4,-0.9,419,8314,0.00,1.75,0.00,0.000,4,0.000,0.044,2187,3007,3425,0,0,0,0,0,0
$GC,8567,-1.41,-146.0,415.7,-2.2,424,8572,0.00,1.75,0.00,0.000,6,0.000,0.029,2187,2020,3424,0,0,0,0,0,0
$GC,8904,-1.41,-146.0,423.9,-2.7,433,8907,0.00,1.77,0.00,0.000,4,0.000,0.044,2186,3001,3423,0,0,0,0,0,0
$GC,9093,-1.41,-146.0,429.1,-2.4,437,9098,0.00,1.75,0.00,0.000,6,0.000,0.029,2187,2019,3423,0,0,0,0,0,0
$GC,9412,-1.41,-146.0,434.2,-1.5,445,9416,0.00,2.35,0.00,0.000,4,0.000,0.047,2187,872,3421,0,0,0,0,0,0
$GC,9541,-1.41,-146.0,435.7,-1.3,448,9545,0.00,2.28,0.00,0.000,6,0.000,0.028,2187,2020,3420,0,0,0,0,0,0
$GC,9863,-1.41,-146.0,441.1,-2.0,456,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2021,3420,0,0,0,0,0,0
$GC,10189,-1.41,-146.0,445.7,-1.3,464,10193,0.00,2.38,0.00,0.000,4,0.000,0.047,2187,872,3419,0,0,0,0,0,0
$GC,10445,-1.41,-146.0,449.6,-2.2,469,10452,0.00,2.28,0.00,0.000,6,0.000,0.028,2187,2010,3418,0,0,0,0,0,0
$GC,10776,-1.41,-146.0,456.2,-2.0,478,10780,0.00,1.83,0.00,0.000,4,0.000,0.048,2187,3002,3417,0,0,0,0,0,0
$GC,11033,-1.41,-146.0,460.0,-0.9,483,11038,0.00,1.75,0.00,0.000,6,0.000,0.031,2187,2021,3417,0,0,0,0,0,0
$GC,11370,-1.41,-146.0,464.8,-1.7,492,11374,0.00,1.77,0.00,0.000,4,0.000,0.047,2187,2994,3416,0,0,0,0,0,0
$GC,11627,-1.41,-146.0,470.4,-2.0,497,11631,0.00,1.73,0.00,0.000,6,0.000,0.031,2187,2024,3415,0,0,0,0,0,0
$GC,11964,-1.41,-146.0,476.7,-1.5,506,11967,0.00,1.77,0.00,0.000,4,0.000,0.047,2187,3008,3414,0,0,0,0,0,0
$GC,12221,-1.41,-146.0,478.4,-0.8,511,12225,0.00,1.75,0.00,0.000,6,0.000,0.031,2187,2024,3414,0,0,0,0,0,0
$STATE,12353,end dive,NO_VERTICAL_VELOCITY
$STATE,12353,begin apogee
$GC,12357,-0.33,0.0,478.8,0.0,515,12475,1.15,0.00,112.25,1.025,6,0.088,0.000,2426,1918,2840,0,0,0,0,0,0
$STATE,12478,end apogee,CONTROL_FINISHED_OK
$STATE,12479,begin climb
$GC,12480,1.41,146.0,474.4,0.0,518,12606,1.73,2.08,116.45,0.989,4,0.049,0.035,2804,2996,2244,0,0,0,0,0,0
$GC,12694,1.41,146.0,427.0,23.9,523,12699,0.00,1.95,0.00,0.000,6,0.000,0.039,2805,1969,2241,0,0,0,0,0,0
$GC,13019,1.41,146.0,341.0,26.1,531,13022,0.00,1.90,0.00,0.000,4,0.000,0.033,2805,3006,2238,0,0,0,0,0,0
$GC,13101,1.41,146.0,319.9,23.0,532,13108,0.00,2.00,0.00,0.000,6,0.000,0.036,2804,1943,2236,0,0,0,0,0,0
$GC,13416,1.41,146.0,240.0,23.9,546,13419,0.00,2.17,0.00,0.000,4,0.000,0.051,2805,888,2236,0,0,0,0,0,0
$GC,13447,1.41,146.0,231.4,26.8,547,13454,0.00,2.12,0.00,0.000,6,0.000,0.022,2805,1968,2236,0,0,0,0,0,0
$GC,13769,1.41,146.0,154.2,24.2,572,13773,0.00,2.22,0.00,0.000,4,0.000,0.050,2804,883,2235,0,0,0,0,0,0
$GC,13800,1.41,146.0,145.8,25.3,574,13807,0.00,2.08,0.00,0.000,6,0.000,0.020,2805,1949,2235,0,0,0,0,0,0
$GC,14062,1.41,146.0,91.8,19.1,599,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1952,2235,0,0,0,0,0,0
$GC,14316,1.41,146.0,48.6,12.9,623,14320,0.00,1.88,0.00,0.000,4,0.000,0.031,2805,2985,2236,0,0,0,0,0,0
$GC,14342,1.41,146.0,45.1,12.1,625,14349,0.00,1.95,0.00,0.000,6,0.000,0.026,2805,1918,2235,0,0,0,0,0,0
$GC,14612,1.41,146.0,7.8,16.4,663,14617,0.00,1.90,0.00,0.000,4,0.000,0.029,2805,2989,2236,0,0,0,0,0,0
$STATE,14644,end climb,SURFACE_DEPTH_REACHED
$STATE,14644,begin surface coast
$FINISH,0.9,1.014317
$STATE,14662,end surface coast,CONTROL_FINISHED_OK
$STATE,14662,begin surface
$SM_CCo,14684,177.85,0.611,0,0,720,520.04
$SM_GC,1.34,0.00,0.00,177.85,0.000,0.000,0.611,365,1937,720,-9.83,-0.37,520.04
$IRIDIUM_FIX,2057.14,12457.63,160512,070727
$TT8_MAMPS,0.049088
$HUMID,1078945152
$TCM_TEMP,24.00
$XPDR_PINGS,628
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095742976
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,7.041
$10V_AH,10.0,3.057
$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,24.050,115.650,228.700,177.850,0.000,24.538,33.603,228.320,157.000,0.000,13.191,1411.549,10720.426,576.563,2449.864,100.382,33.361,1652.177,0.000,2079.614,0.000,0.544,0.000
$DEVICE_MAMPS,160.303,55.991,1024.712,610.532,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,452.955,0.000,0.000,0.000,0.000,0.000,0.000,13451.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.735,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,23387,672
$CAP_FILE_SIZE,141476,0
$CFSIZE,260034560,256016384
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,212124,2104.596,12541.883,24,1.5,42,-2.8