version: 66.07
glider: 23
mission: 5
dive: 51
start: 11 22 110 15 5 45
data:
$ID,23
$MISSION,5
$DIVE,51
$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,-50579.18
$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,2460
$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,37
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$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,50
$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
$GPS1,221110,150000,2102.292,12539.985,36,1.3,36,-2.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.2
$GPS2,221110,150454,2102.256,12539.996,32,1.2,37,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.039
$KALMAN_X,-101562.8,-547.9,-10.6,65926.1,-2150.8
$KALMAN_Y,-18025.2,-319.8,-206.5,-16909.8,-821.0
$MHEAD_RNG_PITCHd_Wd,83.4,135075,-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,-146.0,0.0,0.0,0,119,0.00,0.00,-91.05,0.000,2,0.000,0.000,364,1926,3185,0,0,0,0,0,0
$GC,121,-1.41,-146.0,3.2,-5.3,18,152,10.40,2.12,-12.65,0.000,4,0.164,0.055,2148,907,3668,0,0,0,0,0,0
$GC,180,-1.41,-146.0,12.7,-19.2,29,186,0.00,2.05,0.00,0.000,6,0.000,0.021,2147,1953,3670,0,0,0,0,0,0
$GC,381,-1.41,-146.0,55.8,-21.8,55,385,0.00,1.85,0.00,0.000,4,0.000,0.029,2148,2991,3670,0,0,0,0,0,0
$GC,638,-1.41,-146.0,98.6,-14.9,78,643,0.00,1.83,0.00,0.000,6,0.000,0.027,2148,1989,3671,0,0,0,0,0,0
$GC,904,-1.41,-146.0,132.8,-10.8,103,908,0.00,2.20,0.00,0.000,4,0.000,0.044,2147,883,3674,0,0,0,0,0,0
$GC,1161,-1.41,-146.0,162.4,-10.2,125,1168,0.00,2.10,0.00,0.000,6,0.000,0.021,2148,1967,3674,0,0,0,0,0,0
$GC,1423,-1.41,-146.0,189.5,-11.8,150,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,1970,3675,0,0,0,0,0,0
$GC,1683,-1.41,-146.0,216.6,-10.0,167,1687,0.00,1.88,0.00,0.000,4,0.000,0.035,2148,2996,3675,0,0,0,0,0,0
$GC,1795,-1.41,-146.0,228.5,-10.6,172,1799,0.00,1.88,0.00,0.000,6,0.000,0.028,2148,1965,3675,0,0,0,0,0,0
$GC,2128,-1.41,-146.0,260.4,-9.0,188,2131,0.00,1.85,0.00,0.000,4,0.000,0.036,2148,2991,3675,0,0,0,0,0,0
$GC,2385,-1.41,-146.0,283.2,-8.7,199,2390,0.00,1.85,0.00,0.000,6,0.000,0.028,2148,1980,3674,0,0,0,0,0,0
$GC,2704,-1.41,-146.0,313.3,-9.4,212,2708,0.00,1.83,0.00,0.000,4,0.000,0.038,2148,2990,3673,0,0,0,0,0,0
$GC,2961,-1.41,-146.0,336.1,-7.3,217,2966,0.00,1.83,0.00,0.000,6,0.000,0.028,2147,1991,3672,0,0,0,0,0,0
$GC,3298,-1.41,-146.0,362.0,-8.3,226,3302,0.00,1.88,0.00,0.000,4,0.000,0.041,2147,2999,3671,0,0,0,0,0,0
$GC,3555,-1.41,-146.0,383.2,-7.5,231,3560,0.00,1.85,0.00,0.000,6,0.000,0.029,2147,1987,3669,0,0,0,0,0,0
$GC,3892,-1.41,-146.0,406.2,-7.3,240,3895,0.00,1.85,0.00,0.000,4,0.000,0.041,2148,2993,3668,0,0,0,0,0,0
$GC,4149,-1.41,-146.0,425.3,-6.7,245,4153,0.00,1.80,0.00,0.000,6,0.000,0.030,2147,2003,3667,0,0,0,0,0,0
$GC,4486,-1.41,-146.0,447.6,-7.0,254,4490,0.00,2.30,0.00,0.000,4,0.000,0.047,2147,872,3664,0,0,0,0,0,0
$GC,4743,-1.41,-146.0,469.5,-7.9,259,4749,0.00,2.25,0.00,0.000,6,0.000,0.028,2148,2000,3663,0,0,0,0,0,0
$GC,5074,-1.41,-146.0,492.6,-6.7,268,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2000,3661,0,0,0,0,0,0
$GC,5399,-1.41,-146.0,513.9,-6.5,276,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2000,3660,0,0,0,0,0,0
$GC,5724,-1.41,-146.0,535.1,-6.7,284,5727,0.00,1.83,0.00,0.000,4,0.000,0.046,2147,2996,3658,0,0,0,0,0,0
$GC,5980,-1.41,-146.0,552.6,-6.6,289,5985,0.00,1.77,0.00,0.000,6,0.000,0.033,2148,2019,3655,0,0,0,0,0,0
$GC,6318,-1.41,-146.0,574.4,-6.7,298,6321,0.00,1.77,0.00,0.000,4,0.000,0.048,2148,2986,3653,0,0,0,0,0,0
$GC,6574,-1.41,-146.0,594.1,-7.9,303,6579,0.00,1.75,0.00,0.000,6,0.000,0.035,2147,2022,3651,0,0,0,0,0,0
$STATE,6666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6666,begin apogee
$GC,6670,-0.33,0.0,600.6,7.1,306,6789,1.15,0.00,114.78,1.118,6,0.085,0.000,2386,1925,3071,0,0,0,0,0,0
$STATE,6792,end apogee,CONTROL_FINISHED_OK
$STATE,6792,begin climb
$GC,6793,1.41,146.0,601.4,0.0,309,6920,1.73,2.22,117.70,1.078,4,0.051,0.054,2765,894,2474,0,0,0,0,0,0
$GC,6963,1.41,146.0,573.6,22.3,313,6968,0.00,2.15,0.00,0.000,6,0.000,0.026,2765,1955,2472,0,0,0,0,0,0
$GC,7282,1.41,146.0,506.4,20.9,321,7286,0.00,1.92,0.00,0.000,4,0.000,0.040,2765,3002,2468,0,0,0,0,0,0
$GC,7522,1.41,146.0,457.3,19.3,326,7527,0.00,1.95,0.00,0.000,6,0.000,0.037,2765,1965,2467,0,0,0,0,0,0
$GC,7835,1.41,146.0,394.4,20.7,334,7839,0.00,1.92,0.00,0.000,4,0.000,0.037,2765,2996,2465,0,0,0,0,0,0
$GC,8092,1.41,146.0,343.4,19.2,339,8097,0.00,1.92,0.00,0.000,6,0.000,0.033,2765,1964,2464,0,0,0,0,0,0
$GC,8409,1.41,146.0,283.3,18.4,349,8413,0.00,1.88,0.00,0.000,4,0.000,0.033,2765,3010,2463,0,0,0,0,0,0
$GC,8458,1.41,146.0,275.0,16.2,351,8463,0.00,1.92,0.00,0.000,6,0.000,0.031,2765,1967,2463,0,0,0,0,0,0
$GC,8785,1.41,146.0,218.7,17.3,367,8789,0.00,1.85,0.00,0.000,4,0.000,0.030,2765,3004,2463,0,0,0,0,0,0
$GC,8817,1.41,146.0,212.8,17.9,368,8822,0.00,1.92,0.00,0.000,6,0.000,0.030,2765,1963,2463,0,0,0,0,0,0
$GC,9146,1.41,146.0,156.5,17.1,396,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1963,2464,0,0,0,0,0,0
$GC,9400,1.41,146.0,117.1,13.4,420,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1961,2464,0,0,0,0,0,0
$GC,9656,1.41,146.0,83.0,12.1,444,9659,0.00,1.85,0.00,0.000,4,0.000,0.029,2765,3003,2464,0,0,0,0,0,0
$GC,9914,1.46,193.7,59.1,7.8,467,9955,0.00,1.83,35.72,0.662,6,0.000,0.024,2765,1960,2281,0,0,0,0,0,0
$GC,10209,1.46,193.7,27.5,11.9,496,10215,0.00,1.90,0.00,0.000,4,0.000,0.028,2765,3002,2281,0,0,0,0,0,0
$GC,10321,1.46,193.7,14.4,11.0,516,10327,0.00,1.85,0.00,0.000,6,0.000,0.025,2765,1980,2282,0,0,0,0,0,0
$STATE,10420,end climb,SURFACE_DEPTH_REACHED
$STATE,10420,begin surface coast
$FINISH,0.7,1.010431
$STATE,10445,end surface coast,CONTROL_FINISHED_OK
$STATE,10445,begin surface
$SM_CCo,10464,154.52,0.594,0,0,950,520.04
$SM_GC,1.45,0.00,0.00,154.52,0.000,0.000,0.594,361,1926,950,-9.66,-0.65,520.04
$IRIDIUM_FIX,2054.83,12540.58,170512,060635
$TT8_MAMPS,0.049088
$HUMID,1078819990
$TCM_TEMP,24.90
$XPDR_PINGS,396
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095546368
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,7.792
$10V_AH,10.0,3.459
$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,23.700,69.675,268.200,154.525,0.000,24.101,41.632,114.590,99.000,0.000,39.318,1069.400,7475.402,535.274,1776.354,66.147,33.360,1332.611,0.000,1504.655,0.000,0.544,0.000
$DEVICE_MAMPS,164.138,106.613,1117.519,593.658,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.691,0.000,0.000,0.000,0.000,0.000,0.000,9606.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.975,0.000,0.000
$MEM,354744
$DATA_FILE_SIZE,16760,538
$CAP_FILE_SIZE,100238,0
$CFSIZE,260034560,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,180427,2101.539,12540.586,34,2.6,53,-2.8