version: 66.07
glider: 23
mission: 5
dive: 48
start: 11 22 110 5 16 22
data:
$ID,23
$MISSION,5
$DIVE,48
$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,-50505.23
$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,13
$R_STBD_OVSHOOT,44
$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,47
$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
$GPS1,221110,051007,2103.439,12540.288,27,1.4,27,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.2
$GPS2,221110,051531,2103.422,12540.230,32,1.4,32,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.015
$KALMAN_X,-92507.0,-169.9,-715.4,57624.8,-2053.0
$KALMAN_Y,-14832.5,-110.7,-125.7,-18228.7,-625.8
$MHEAD_RNG_PITCHd_Wd,89.1,135745,-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,-96.15,0.000,2,0.000,0.000,365,1936,3086,0,0,0,0,0,0
$GC,126,-1.41,-146.0,3.0,-5.3,19,152,10.48,1.92,-10.30,0.000,4,0.159,0.047,2187,2998,3438,0,0,0,0,0,0
$GC,405,-1.41,-146.0,42.6,-17.2,63,409,0.00,1.95,0.00,0.000,6,0.000,0.030,2187,1939,3440,0,0,0,0,0,0
$GC,671,-1.41,-146.0,81.1,-13.5,88,675,0.00,1.88,0.00,0.000,4,0.000,0.031,2187,2989,3440,0,0,0,0,0,0
$GC,929,-1.41,-146.0,104.4,-7.6,111,933,0.00,1.88,0.00,0.000,6,0.000,0.025,2187,1937,3442,0,0,0,0,0,0
$GC,1195,-1.41,-146.0,121.5,-6.3,136,1199,0.00,2.12,0.00,0.000,4,0.000,0.044,2187,883,3443,0,0,0,0,0,0
$GC,1451,-1.41,-146.0,139.6,-7.4,158,1458,0.00,2.12,0.00,0.000,6,0.000,0.020,2187,1974,3444,0,0,0,0,0,0
$GC,1713,-1.41,-146.0,153.7,-5.2,183,1717,0.00,2.22,0.00,0.000,4,0.000,0.043,2187,883,3444,0,0,0,0,0,0
$GC,1823,-1.41,-146.0,159.8,-4.8,192,1830,0.00,2.15,0.00,0.000,6,0.000,0.021,2187,1986,3445,0,0,0,0,0,0
$GC,2085,-1.41,-146.0,173.8,-7.1,217,2088,0.00,1.83,0.00,0.000,4,0.000,0.036,2187,3002,3444,0,0,0,0,0,0
$GC,2224,-1.41,-146.0,184.7,-7.8,229,2230,0.00,1.83,0.00,0.000,6,0.000,0.025,2187,1990,3444,0,0,0,0,0,0
$GC,2495,-1.41,-146.0,202.5,-5.5,253,2498,0.00,1.83,0.00,0.000,4,0.000,0.035,2187,2996,3444,0,0,0,0,0,0
$GC,2752,-1.41,-146.0,213.2,-3.3,264,2757,0.00,1.80,0.00,0.000,6,0.000,0.025,2186,1997,3443,0,0,0,0,0,0
$GC,3073,-1.41,-146.0,225.7,-3.9,280,3077,0.00,1.83,0.00,0.000,4,0.000,0.036,2186,3008,3444,0,0,0,0,0,0
$GC,3330,-1.41,-146.0,236.4,-3.9,291,3334,0.00,1.80,0.00,0.000,6,0.000,0.026,2187,2005,3443,0,0,0,0,0,0
$GC,3651,-1.41,-146.0,250.4,-4.7,307,3655,0.00,1.80,0.00,0.000,4,0.000,0.037,2187,3004,3442,0,0,0,0,0,0
$GC,3840,-1.41,-146.0,260.7,-5.7,315,3845,0.00,1.80,0.00,0.000,6,0.000,0.027,2187,2004,3441,0,0,0,0,0,0
$GC,4162,-1.41,-146.0,275.0,-4.3,331,4166,0.00,2.30,0.00,0.000,4,0.000,0.046,2187,875,3440,0,0,0,0,0,0
$GC,4307,-1.41,-146.0,281.9,-5.3,337,4313,0.00,2.22,0.00,0.000,6,0.000,0.023,2187,2002,3439,0,0,0,0,0,0
$GC,4623,-1.41,-146.0,291.4,-1.9,353,4627,0.00,1.80,0.00,0.000,4,0.000,0.040,2186,3006,3438,0,0,0,0,0,0
$GC,4880,-1.41,-146.0,299.1,-4.2,364,4885,0.00,1.77,0.00,0.000,6,0.000,0.027,2186,2013,3437,0,0,0,0,0,0
$GC,5196,-1.41,-146.0,314.5,-5.4,373,5200,0.00,1.77,0.00,0.000,4,0.000,0.039,2186,2997,3436,0,0,0,0,0,0
$GC,5453,-1.41,-146.0,327.0,-4.4,378,5458,0.00,1.80,0.00,0.000,6,0.000,0.028,2187,2002,3435,0,0,0,0,0,0
$GC,5790,-1.41,-146.0,339.6,-3.7,387,5793,0.00,1.80,0.00,0.000,4,0.000,0.040,2187,2992,3435,0,0,0,0,0,0
$GC,6047,-1.41,-146.0,350.1,-4.4,392,6051,0.00,1.75,0.00,0.000,6,0.000,0.028,2187,2013,3432,0,0,0,0,0,0
$GC,6384,-1.41,-146.0,361.3,-3.2,401,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2013,3432,0,0,0,0,0,0
$GC,6709,-1.41,-146.0,370.4,-2.8,409,6713,0.00,2.33,0.00,0.000,4,0.000,0.046,2186,877,3431,0,0,0,0,0,0
$GC,6802,-1.41,-146.0,373.4,-3.4,411,6807,0.00,2.22,0.00,0.000,6,0.000,0.025,2186,1999,3431,0,0,0,0,0,0
$GC,7121,-1.41,-146.0,382.7,-3.0,419,7125,0.00,1.83,0.00,0.000,4,0.000,0.043,2187,3010,3430,0,0,0,0,0,0
$GC,7221,-1.41,-146.0,385.5,-2.9,421,7225,0.00,1.80,0.00,0.000,6,0.000,0.028,2187,2007,3430,0,0,0,0,0,0
$GC,7539,-1.41,-146.0,392.3,-2.2,429,7543,0.00,2.30,0.00,0.000,4,0.000,0.046,2186,880,3429,0,0,0,0,0,0
$GC,7707,-1.41,-146.0,396.7,-3.1,432,7713,0.00,2.28,0.00,0.000,6,0.000,0.027,2186,2016,3428,0,0,0,0,0,0
$GC,8038,-1.41,-146.0,406.5,-3.2,441,8041,0.00,1.80,0.00,0.000,4,0.000,0.044,2187,3017,3427,0,0,0,0,0,0
$GC,8294,-1.41,-146.0,414.4,-2.5,446,8299,0.00,1.80,0.00,0.000,6,0.000,0.029,2187,2014,3427,0,0,0,0,0,0
$GC,8631,-1.41,-146.0,419.1,-0.9,455,8635,0.00,2.30,0.00,0.000,4,0.000,0.046,2187,881,3426,0,0,0,0,0,0
$GC,8815,-1.41,-146.0,421.7,-2.1,459,8820,0.00,2.30,0.00,0.000,6,0.000,0.028,2186,2022,3425,0,0,0,0,0,0
$GC,9134,-1.41,-146.0,429.3,-2.7,467,9138,0.00,2.35,0.00,0.000,4,0.000,0.046,2186,880,3424,0,0,0,0,0,0
$GC,9390,-1.41,-146.0,436.5,-2.4,472,9396,0.00,2.30,0.00,0.000,6,0.000,0.028,2187,2021,3424,0,0,0,0,0,0
$STATE,9598,end dive,NO_VERTICAL_VELOCITY
$STATE,9598,begin apogee
$GC,9602,-0.33,0.0,437.7,0.0,478,9720,1.15,0.00,113.15,0.971,6,0.087,0.000,2424,1908,2841,0,0,0,0,0,0
$STATE,9724,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin climb
$GC,9725,1.41,146.0,432.3,0.0,481,9847,1.73,0.00,115.97,0.940,6,0.051,0.000,2802,1908,2245,0,0,0,0,0,0
$GC,10171,1.41,146.0,318.1,27.7,492,10174,0.00,2.03,0.00,0.000,4,0.000,0.032,2802,3019,2238,0,0,0,0,0,0
$GC,10230,1.41,146.0,302.5,25.7,493,10236,0.00,1.95,0.00,0.000,6,0.000,0.035,2803,1980,2237,0,0,0,0,0,0
$GC,10548,1.41,146.0,223.6,24.4,508,10552,0.00,1.85,0.00,0.000,4,0.000,0.030,2803,3015,2236,0,0,0,0,0,0
$GC,10621,1.41,146.0,206.7,21.8,511,10624,0.00,1.92,0.00,0.000,6,0.000,0.035,2803,1960,2234,0,0,0,0,0,0
$GC,10944,1.41,146.0,134.8,21.3,540,10948,0.00,2.17,0.00,0.000,4,0.000,0.050,2802,884,2235,0,0,0,0,0,0
$GC,10982,1.41,146.0,124.9,27.0,543,10988,0.00,2.15,0.00,0.000,6,0.000,0.018,2803,1988,2235,0,0,0,0,0,0
$GC,11243,1.41,146.0,76.9,16.9,568,11247,0.00,2.28,0.00,0.000,4,0.000,0.044,2802,883,2235,0,0,0,0,0,0
$GC,11331,1.41,146.0,61.4,17.0,575,11338,0.00,2.10,0.00,0.000,6,0.000,0.018,2802,1962,2235,0,0,0,0,0,0
$GC,11595,1.41,146.0,26.1,13.6,602,11600,0.00,1.83,0.00,0.000,4,0.000,0.031,2803,3002,2235,0,0,0,0,0,0
$GC,11701,1.41,146.0,10.9,13.2,621,11707,0.00,1.92,0.00,0.000,6,0.000,0.027,2803,1939,2235,0,0,0,0,0,0
$STATE,11756,end climb,SURFACE_DEPTH_REACHED
$STATE,11756,begin surface coast
$FINISH,0.9,1.016686
$STATE,11780,end surface coast,CONTROL_FINISHED_OK
$STATE,11780,begin surface
$SM_CCo,11799,176.80,0.602,0,0,720,520.04
$SM_GC,1.48,0.00,0.00,176.80,0.000,0.000,0.602,362,1928,720,-9.84,-0.59,520.04
$IRIDIUM_FIX,2054.83,12539.24,160512,191905
$TT8_MAMPS,0.049088
$HUMID,1078870313
$TCM_TEMP,24.30
$XPDR_PINGS,639
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095644672
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,7.413
$10V_AH,10.0,3.271
$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,24.025,91.975,229.125,176.800,0.000,33.175,46.117,132.302,159.750,0.000,33.592,1253.392,8407.129,561.051,1999.712,83.972,33.360,1446.858,0.000,1703.653,0.000,0.544,0.000
$DEVICE_MAMPS,158.769,50.622,971.022,602.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,427.230,0.000,0.000,0.000,0.000,0.000,0.000,10869.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.859,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,20073,635
$CAP_FILE_SIZE,115000,0
$CFSIZE,260034560,255873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,083736,2103.087,12539.949,44,0.9,50,-2.8