version: 66.07
glider: 23
mission: 5
dive: 52
start: 11 22 110 18 9 30
data:
$ID,23
$MISSION,5
$DIVE,52
$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,-50595.051
$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,26
$R_STBD_OVSHOOT,35
$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,51
$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
$GPS1,221110,180427,2101.539,12540.586,34,2.6,53,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.3
$GPS2,221110,180837,2101.481,12540.615,13,1.7,13,-2.8
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,0.064
$KALMAN_X,-104197.8,406.8,-78.2,68747.7,-2095.3
$KALMAN_Y,-19958.0,-172.5,-308.4,-16456.8,-1111.6
$MHEAD_RNG_PITCHd_Wd,77.2,133456,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.41,-146.0,0.0,0.0,0,118,0.00,0.00,-90.82,0.000,2,0.000,0.000,361,1924,3162,0,0,0,0,0,0
$GC,120,-1.41,-146.0,3.3,-6.4,18,151,10.30,2.15,-13.40,0.000,4,0.160,0.057,2144,889,3667,0,0,0,0,0,0
$GC,162,-1.41,-146.0,9.2,-14.3,26,168,0.00,2.10,0.00,0.000,6,0.000,0.021,2144,1970,3669,0,0,0,0,0,0
$GC,364,-1.41,-146.0,49.4,-19.9,54,368,0.00,1.83,0.00,0.000,4,0.000,0.029,2144,2997,3669,0,0,0,0,0,0
$GC,565,-1.41,-146.0,89.3,-14.9,72,570,0.00,1.88,0.00,0.000,6,0.000,0.029,2144,1973,3670,0,0,0,0,0,0
$GC,832,-1.41,-146.0,124.1,-12.3,97,836,0.00,2.17,0.00,0.000,4,0.000,0.045,2144,884,3671,0,0,0,0,0,0
$GC,1089,-1.41,-146.0,154.3,-9.9,119,1095,0.00,2.12,0.00,0.000,6,0.000,0.021,2144,1979,3673,0,0,0,0,0,0
$GC,1350,-1.41,-146.0,180.7,-11.0,144,1353,0.00,1.83,0.00,0.000,4,0.000,0.035,2144,3008,3673,0,0,0,0,0,0
$GC,1450,-1.41,-146.0,192.4,-12.0,153,1454,0.00,1.90,0.00,0.000,6,0.000,0.028,2144,1966,3673,0,0,0,0,0,0
$GC,1711,-1.41,-146.0,219.2,-9.8,169,1715,0.00,1.90,0.00,0.000,4,0.000,0.035,2144,2994,3673,0,0,0,0,0,0
$GC,1838,-1.41,-146.0,232.3,-11.0,174,1845,0.00,1.88,0.00,0.000,6,0.000,0.027,2144,1973,3673,0,0,0,0,0,0
$GC,2154,-1.41,-146.0,263.0,-9.6,190,2158,0.00,1.88,0.00,0.000,4,0.000,0.037,2144,3000,3673,0,0,0,0,0,0
$GC,2360,-1.41,-146.0,282.2,-8.2,199,2365,0.00,1.85,0.00,0.000,6,0.000,0.028,2144,1988,3672,0,0,0,0,0,0
$GC,2686,-1.41,-146.0,308.6,-8.4,213,2690,0.00,1.85,0.00,0.000,4,0.000,0.038,2144,3003,3671,0,0,0,0,0,0
$GC,2943,-1.41,-146.0,332.0,-8.4,218,2948,0.00,1.83,0.00,0.000,6,0.000,0.028,2144,1999,3671,0,0,0,0,0,0
$GC,3280,-1.41,-146.0,355.7,-6.7,227,3283,0.00,1.83,0.00,0.000,4,0.000,0.040,2144,2997,3669,0,0,0,0,0,0
$GC,3538,-1.41,-146.0,372.6,-7.2,232,3542,0.00,1.80,0.00,0.000,6,0.000,0.030,2144,1997,3668,0,0,0,0,0,0
$GC,3874,-1.41,-146.0,397.9,-7.9,241,3877,0.00,1.83,0.00,0.000,4,0.000,0.041,2144,2991,3667,0,0,0,0,0,0
$GC,4131,-1.41,-146.0,416.8,-7.1,246,4135,0.00,1.80,0.00,0.000,6,0.000,0.030,2144,2003,3665,0,0,0,0,0,0
$GC,4467,-1.41,-146.0,438.2,-6.5,255,4471,0.00,1.83,0.00,0.000,4,0.000,0.042,2144,2996,3663,0,0,0,0,0,0
$GC,4724,-1.41,-146.0,459.1,-8.2,260,4729,0.00,1.83,0.00,0.000,6,0.000,0.031,2144,1999,3662,0,0,0,0,0,0
$GC,5061,-1.41,-146.0,482.5,-6.2,269,5065,0.00,1.85,0.00,0.000,4,0.000,0.044,2144,3004,3661,0,0,0,0,0,0
$GC,5318,-1.41,-146.0,497.6,-6.0,274,5322,0.00,1.80,0.00,0.000,6,0.000,0.031,2144,2009,3659,0,0,0,0,0,0
$GC,5655,-1.41,-146.0,514.6,-5.1,283,5658,0.00,1.80,0.00,0.000,4,0.000,0.045,2145,2989,3657,0,0,0,0,0,0
$GC,5850,-1.41,-146.0,525.4,-5.6,287,5854,0.00,1.77,0.00,0.000,6,0.000,0.032,2144,2013,3656,0,0,0,0,0,0
$GC,6163,-1.41,-146.0,541.4,-5.2,295,6166,0.00,1.83,0.00,0.000,4,0.000,0.047,2144,2996,3653,0,0,0,0,0,0
$GC,6347,-1.41,-146.0,553.3,-6.4,299,6351,0.00,1.77,0.00,0.000,6,0.000,0.033,2144,2017,3652,0,0,0,0,0,0
$GC,6671,-1.41,-146.0,572.9,-6.0,307,6674,0.00,1.77,0.00,0.000,4,0.000,0.048,2144,2999,3651,0,0,0,0,0,0
$GC,6793,-1.41,-146.0,580.2,-6.2,309,6798,0.00,1.77,0.00,0.000,6,0.000,0.034,2144,2017,3650,0,0,0,0,0,0
$GC,7130,-1.41,-146.0,598.1,-5.2,318,7133,0.00,1.83,0.00,0.000,4,0.000,0.049,2143,2996,3647,0,0,0,0,0,0
$STATE,7166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7166,begin apogee
$GC,7171,-0.33,0.0,600.1,5.2,318,7289,1.15,0.00,114.32,1.122,6,0.090,0.000,2382,1929,3071,0,0,0,0,0,0
$STATE,7306,end apogee,CONTROL_FINISHED_OK
$STATE,7306,begin climb
$GC,7307,1.41,146.0,599.6,0.0,321,7430,1.75,0.00,117.38,1.081,6,0.054,0.000,2765,1929,2475,0,0,0,0,0,0
$GC,7752,1.41,146.0,504.1,22.6,332,7756,0.00,1.98,0.00,0.000,4,0.000,0.038,2765,2997,2470,0,0,0,0,0,0
$GC,8009,1.41,146.0,449.9,19.8,337,8014,0.00,1.98,0.00,0.000,6,0.000,0.038,2765,1953,2467,0,0,0,0,0,0
$GC,8346,1.41,146.0,381.1,20.3,346,8350,0.00,1.90,0.00,0.000,4,0.000,0.036,2765,2994,2466,0,0,0,0,0,0
$GC,8597,1.41,146.0,331.2,19.6,351,8603,0.00,1.95,0.00,0.000,6,0.000,0.035,2765,1956,2465,0,0,0,0,0,0
$GC,8922,1.41,146.0,270.0,18.1,363,8925,0.00,1.92,0.00,0.000,4,0.000,0.032,2765,3010,2464,0,0,0,0,0,0
$GC,8970,1.41,146.0,261.6,16.5,365,8975,0.00,1.98,0.00,0.000,6,0.000,0.031,2765,1946,2464,0,0,0,0,0,0
$GC,9297,1.41,146.0,206.7,17.0,381,9301,0.00,2.17,0.00,0.000,4,0.000,0.049,2765,888,2464,0,0,0,0,0,0
$GC,9319,1.41,146.0,202.7,18.6,382,9323,0.00,2.08,0.00,0.000,6,0.000,0.020,2765,1978,2464,0,0,0,0,0,0
$GC,9649,1.41,146.0,146.1,16.8,412,9653,0.00,1.83,0.00,0.000,4,0.000,0.031,2765,2986,2464,0,0,0,0,0,0
$GC,9884,1.41,146.0,107.5,14.7,433,9888,0.00,1.90,0.00,0.000,6,0.000,0.028,2765,1950,2465,0,0,0,0,0,0
$GC,10152,1.41,146.0,72.5,11.9,458,10156,0.00,1.88,0.00,0.000,4,0.000,0.031,2765,2989,2468,0,0,0,0,0,0
$GC,10410,1.42,154.1,46.2,9.6,481,10421,0.00,1.83,6.75,0.549,6,0.000,0.025,2765,1980,2443,0,0,0,0,0,0
$GC,10680,1.42,154.1,20.0,10.1,515,10686,0.00,1.85,0.00,0.000,4,0.000,0.028,2764,2996,2442,0,0,0,0,0,0
$STATE,10842,end climb,SURFACE_DEPTH_REACHED
$STATE,10842,begin surface coast
$FINISH,1.0,1.022329
$STATE,10871,end surface coast,CONTROL_FINISHED_OK
$STATE,10871,begin surface
$SM_CCo,10892,173.40,0.595,0,0,951,520.04
$SM_GC,1.44,0.00,0.00,173.40,0.000,0.000,0.595,361,1933,951,-9.66,-0.45,520.04
$IRIDIUM_FIX,2054.83,12539.24,170512,090903
$TT8_MAMPS,0.049088
$HUMID,1078834184
$TCM_TEMP,24.70
$XPDR_PINGS,436
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2095513600
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996372992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,7.916
$10V_AH,10.0,3.522
$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,23.675,83.425,238.450,173.400,0.000,23.898,35.155,101.516,109.000,0.000,15.239,1123.102,7745.468,535.602,1852.340,70.995,33.362,1378.510,0.000,1608.685,0.000,0.545,0.000
$DEVICE_MAMPS,160.303,56.758,1122.121,595.192,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.790,0.000,0.000,0.000,0.000,0.000,0.000,9974.570,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.951,0.000,0.000
$MEM,354776
$DATA_FILE_SIZE,20123,549
$CAP_FILE_SIZE,106043,0
$CFSIZE,260034560,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,211525,2100.831,12541.252,41,1.5,41,-2.8