version: 66.07
glider: 23
mission: 5
dive: 47
start: 11 22 110 1 18 41
data:
$ID,23
$MISSION,5
$DIVE,47
$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,-50471.008
$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,18
$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,46
$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
$GPS1,221110,011156,2104.124,12541.380,39,2.4,58,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.3
$GPS2,221110,011749,2104.092,12541.296,15,1.3,33,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.019
$KALMAN_X,-89023.2,398.1,-141.3,54839.8,-3070.6
$KALMAN_Y,-13566.0,108.6,-202.4,-18409.0,-102.3
$MHEAD_RNG_PITCHd_Wd,88.2,134739,-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,-146.0,0.0,0.0,0,124,0.00,0.00,-96.30,0.000,2,0.000,0.000,365,1939,3075,0,0,0,0,0,0
$GC,126,-1.41,-146.0,3.1,-6.3,19,152,10.60,0.00,-10.55,0.000,6,0.164,0.000,2187,1940,3437,0,0,0,0,0,0
$GC,357,-1.41,-146.0,35.2,-15.6,58,361,0.00,1.88,0.00,0.000,4,0.000,0.031,2187,3004,3438,0,0,0,0,0,0
$GC,615,-1.41,-146.0,69.1,-11.9,81,619,0.00,1.95,0.00,0.000,6,0.000,0.027,2187,1935,3440,0,0,0,0,0,0
$GC,882,-1.41,-146.0,91.1,-7.5,106,885,0.00,1.90,0.00,0.000,4,0.000,0.032,2187,2997,3441,0,0,0,0,0,0
$GC,1139,-1.41,-146.0,111.5,-6.8,129,1143,0.00,1.88,0.00,0.000,6,0.000,0.025,2187,1931,3441,0,0,0,0,0,0
$GC,1406,-1.41,-146.0,126.1,-5.3,154,1409,0.00,1.92,0.00,0.000,4,0.000,0.034,2187,2993,3443,0,0,0,0,0,0
$GC,1664,-1.41,-146.0,140.0,-5.4,177,1667,0.00,1.88,0.00,0.000,6,0.000,0.026,2187,1944,3443,0,0,0,0,0,0
$GC,1930,-1.41,-146.0,153.4,-4.8,202,1933,0.00,1.90,0.00,0.000,4,0.000,0.035,2187,2991,3443,0,0,0,0,0,0
$GC,2188,-1.41,-146.0,168.2,-6.6,225,2191,0.00,1.88,0.00,0.000,6,0.000,0.026,2187,1944,3443,0,0,0,0,0,0
$GC,2454,-1.41,-146.0,183.7,-4.8,250,2458,0.00,1.90,0.00,0.000,4,0.000,0.035,2187,2989,3443,0,0,0,0,0,0
$GC,2712,-1.41,-146.0,195.9,-5.7,273,2716,0.00,1.88,0.00,0.000,6,0.000,0.027,2187,1945,3443,0,0,0,0,0,0
$GC,2983,-1.41,-146.0,210.1,-5.3,290,2986,0.00,1.90,0.00,0.000,4,0.000,0.035,2187,2989,3443,0,0,0,0,0,0
$GC,3240,-1.41,-146.0,224.8,-6.1,301,3244,0.00,1.92,0.00,0.000,6,0.000,0.028,2187,1934,3444,0,0,0,0,0,0
$GC,3561,-1.41,-146.0,242.4,-5.3,317,3564,0.00,1.90,0.00,0.000,4,0.000,0.037,2187,2989,3442,0,0,0,0,0,0
$GC,3762,-1.41,-146.0,251.8,-4.4,326,3766,0.00,1.88,0.00,0.000,6,0.000,0.028,2187,1934,3441,0,0,0,0,0,0
$GC,4094,-1.41,-146.0,263.7,-3.6,342,4098,0.00,2.12,0.00,0.000,4,0.000,0.047,2187,884,3440,0,0,0,0,0,0
$GC,4271,-1.41,-146.0,271.2,-4.7,350,4277,0.00,2.05,0.00,0.000,6,0.000,0.023,2187,1927,3439,0,0,0,0,0,0
$GC,4598,-1.41,-146.0,283.5,-3.5,366,4602,0.00,1.90,0.00,0.000,4,0.000,0.038,2187,2986,3438,0,0,0,0,0,0
$GC,4855,-1.41,-146.0,295.2,-5.0,377,4860,0.00,1.92,0.00,0.000,6,0.000,0.028,2187,1938,3436,0,0,0,0,0,0
$GC,5173,-1.41,-146.0,308.4,-4.0,388,5177,0.00,1.92,0.00,0.000,4,0.000,0.039,2187,2987,3436,0,0,0,0,0,0
$GC,5430,-1.41,-146.0,315.4,-2.6,393,5435,0.00,1.95,0.00,0.000,6,0.000,0.028,2187,1925,3435,0,0,0,0,0,0
$GC,5767,-1.41,-146.0,320.2,-1.5,402,5771,0.00,2.10,0.00,0.000,4,0.000,0.048,2187,883,3434,0,0,0,0,0,0
$GC,5822,-1.41,-146.0,321.7,-3.6,403,5826,0.00,2.05,0.00,0.000,6,0.000,0.025,2187,1918,3434,0,0,0,0,0,0
$GC,6135,-1.41,-146.0,334.4,-4.7,411,6139,0.00,2.12,0.00,0.000,4,0.000,0.048,2187,886,3433,0,0,0,0,0,0
$GC,6391,-1.41,-146.0,348.0,-5.5,416,6398,0.00,2.03,0.00,0.000,6,0.000,0.025,2187,1906,3432,0,0,0,0,0,0
$GC,6723,-1.41,-146.0,360.4,-3.1,425,6726,0.00,2.00,0.00,0.000,4,0.000,0.042,2187,3010,3430,0,0,0,0,0,0
$GC,6980,-1.41,-146.0,365.2,-1.6,430,6984,0.00,2.00,0.00,0.000,6,0.000,0.030,2186,1917,3429,0,0,0,0,0,0
$GC,7317,-1.41,-146.0,371.6,-2.6,439,7321,0.00,2.10,0.00,0.000,4,0.000,0.048,2187,888,3428,0,0,0,0,0,0
$GC,7573,-1.41,-146.0,380.8,-3.3,444,7580,0.00,2.10,0.00,0.000,6,0.000,0.026,2187,1948,3428,0,0,0,0,0,0
$GC,7905,-1.41,-146.0,387.2,-1.4,453,7909,0.00,2.15,0.00,0.000,4,0.000,0.048,2187,887,3426,0,0,0,0,0,0
$GC,8066,-1.41,-146.0,390.3,-2.1,456,8070,0.00,2.10,0.00,0.000,6,0.000,0.027,2187,1939,3426,0,0,0,0,0,0
$GC,8403,-1.41,-146.0,401.2,-3.9,465,8406,0.00,1.98,0.00,0.000,4,0.000,0.045,2187,3003,3426,0,0,0,0,0,0
$GC,8660,-1.41,-146.0,410.4,-2.7,470,8664,0.00,1.92,0.00,0.000,6,0.000,0.031,2187,1949,3426,0,0,0,0,0,0
$GC,8997,-1.41,-146.0,415.8,-1.2,479,9000,0.00,1.98,0.00,0.000,4,0.000,0.045,2187,2999,3424,0,0,0,0,0,0
$GC,9254,-1.41,-146.0,418.7,-1.1,484,9258,0.00,1.92,0.00,0.000,6,0.000,0.031,2187,1949,3423,0,0,0,0,0,0
$GC,9591,-1.41,-146.0,425.4,-2.6,493,9594,0.00,1.98,0.00,0.000,4,0.000,0.045,2187,2999,3422,0,0,0,0,0,0
$GC,9673,-1.41,-146.0,428.1,-3.5,494,9680,0.00,1.92,0.00,0.000,6,0.000,0.031,2187,1948,3422,0,0,0,0,0,0
$GC,10005,-1.41,-146.0,435.0,-1.5,503,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1949,3421,0,0,0,0,0,0
$GC,10329,-1.41,-146.0,439.6,-1.6,511,10333,0.00,1.98,0.00,0.000,4,0.000,0.045,2187,2998,3421,0,0,0,0,0,0
$GC,10395,-1.41,-146.0,440.6,-1.5,512,10400,0.00,1.90,0.00,0.000,6,0.000,0.031,2187,1960,3420,0,0,0,0,0,0
$GC,10743,-1.41,-146.0,448.4,-2.4,521,10747,0.00,2.17,0.00,0.000,4,0.000,0.048,2187,888,3419,0,0,0,0,0,0
$GC,10917,-1.41,-146.0,452.5,-1.6,525,10921,0.00,2.10,0.00,0.000,6,0.000,0.029,2187,1959,3419,0,0,0,0,0,0
$GC,11246,-1.41,-146.0,456.4,-0.8,533,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1962,3418,0,0,0,0,0,0
$STATE,11326,end dive,NO_VERTICAL_VELOCITY
$STATE,11326,begin apogee
$GC,11329,-0.33,0.0,457.0,0.0,535,11448,1.15,0.00,112.65,1.009,6,0.083,0.000,2428,1962,2840,0,0,0,0,0,0
$STATE,11451,end apogee,CONTROL_FINISHED_OK
$STATE,11451,begin climb
$GC,11453,1.41,146.0,452.9,0.0,538,11574,1.70,0.00,116.82,0.972,6,0.048,0.000,2803,1963,2245,0,0,0,0,0,0
$GC,11898,1.41,146.0,345.0,25.3,549,11901,0.00,1.88,0.00,0.000,4,0.000,0.033,2804,3002,2237,0,0,0,0,0,0
$GC,11935,1.41,146.0,335.1,25.1,549,11942,0.00,1.98,0.00,0.000,6,0.000,0.036,2804,1957,2236,0,0,0,0,0,0
$GC,12248,1.41,146.0,255.9,27.4,561,12252,0.00,1.90,0.00,0.000,4,0.000,0.030,2804,3004,2235,0,0,0,0,0,0
$GC,12348,1.41,146.0,232.1,22.5,565,12353,0.00,1.98,0.00,0.000,6,0.000,0.033,2804,1944,2234,0,0,0,0,0,0
$GC,12675,1.41,146.0,149.9,23.4,590,12678,0.00,1.90,0.00,0.000,4,0.000,0.029,2804,3008,2234,0,0,0,0,0,0
$GC,12712,1.41,146.0,141.3,21.6,593,12719,0.00,1.95,0.00,0.000,6,0.000,0.031,2804,1953,2234,0,0,0,0,0,0
$GC,12974,1.41,146.0,87.8,15.9,618,12977,0.00,2.17,0.00,0.000,4,0.000,0.048,2804,879,2234,0,0,0,0,0,0
$GC,13006,1.41,146.0,82.3,16.4,621,13010,0.00,2.10,0.00,0.000,6,0.000,0.020,2804,1970,2234,0,0,0,0,0,0
$GC,13272,1.41,146.0,46.4,12.8,646,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1974,2234,0,0,0,0,0,0
$GC,13534,1.41,146.0,9.9,15.0,682,13540,0.00,1.83,0.00,0.000,4,0.000,0.029,2804,2991,2235,0,0,0,0,0,0
$STATE,13583,end climb,SURFACE_DEPTH_REACHED
$STATE,13583,begin surface coast
$FINISH,0.8,1.009718
$STATE,13601,end surface coast,CONTROL_FINISHED_OK
$STATE,13601,begin surface
$SM_CCo,13633,177.93,0.602,0,0,721,520.04
$SM_GC,1.47,0.00,0.00,177.93,0.000,0.000,0.602,365,1936,721,-9.83,-0.37,520.04
$IRIDIUM_FIX,2057.14,12534.14,160512,151545
$TT8_MAMPS,0.049088
$HUMID,1078888377
$TCM_TEMP,24.30
$XPDR_PINGS,627
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095677440
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,7.292
$10V_AH,10.0,3.204
$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,24.100,98.650,229.475,177.925,0.000,30.071,38.463,173.230,156.750,0.000,34.916,1385.680,9883.273,570.028,2239.646,92.781,33.364,1544.869,0.000,1900.729,0.000,0.545,0.000
$DEVICE_MAMPS,164.138,48.321,1009.372,602.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,468.544,0.000,0.000,0.000,0.000,0.000,0.000,12496.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.792,0.000,0.000
$MEM,355000
$DATA_FILE_SIZE,23406,694
$CAP_FILE_SIZE,128329,0
$CFSIZE,260034560,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,051007,2103.439,12540.288,27,1.4,27,-2.8