version: 66.07
glider: 23
mission: 5
dive: 158
start: 12 18 110 3 6 58
data:
$ID,23
$MISSION,5
$DIVE,158
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,471
$T_MISSION,720
$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,-54475.621
$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,2360
$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,2680
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,22
$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,157
$AR_SAMPLENUM,1
$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
$GPS1,181210,025507,1929.043,12534.479,33,1.7,33,-2.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-52.0
$GPS2,181210,030606,1928.952,12534.157,39,1.1,39,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,-0.194
$KALMAN_X,-256403.8,305.4,-540.0,210399.6,-4842.7
$KALMAN_Y,76462.5,-427.9,207.2,-284497.2,3167.9
$MHEAD_RNG_PITCHd_Wd,158.7,184459,-12.7,-7.006
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-1.00,-146.0,0.0,0.0,0,99,0.00,0.00,-70.60,0.000,2,0.000,0.000,366,2618,2668,0,0,0,0,0,0
$GC,101,-1.00,-146.0,3.1,-1.4,14,162,10.05,2.05,-42.15,0.000,4,0.155,0.050,2135,1630,3668,0,0,0,0,0,0
$GC,335,-1.00,-146.0,37.0,-17.9,54,342,0.00,2.10,0.00,0.000,6,0.000,0.025,2135,2702,3668,0,0,0,0,0,0
$GC,596,-1.00,-146.0,88.4,-20.2,79,600,0.00,2.12,0.00,0.000,4,0.000,0.039,2135,1636,3669,0,0,0,0,0,0
$GC,707,-1.00,-146.0,112.8,-22.6,88,713,0.00,2.03,0.00,0.000,6,0.000,0.025,2134,2665,3669,0,0,0,0,0,0
$GC,968,-1.00,-146.0,159.0,-15.1,113,972,0.00,1.70,0.00,0.000,4,0.000,0.040,2135,3733,3669,0,0,0,0,0,0
$GC,1035,-1.00,-146.0,166.9,-11.1,119,1039,0.00,1.67,0.00,0.000,6,0.000,0.023,2135,2682,3670,0,0,0,0,0,0
$GC,1301,-1.00,-146.0,189.0,-9.7,144,1305,0.00,2.08,0.00,0.000,4,0.000,0.036,2135,1626,3670,0,0,0,0,0,0
$GC,1351,-1.00,-146.0,194.4,-11.1,148,1355,0.00,2.05,0.00,0.000,6,0.000,0.027,2135,2678,3670,0,0,0,0,0,0
$GC,1611,-1.00,-146.0,232.4,-15.8,163,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2678,3670,0,0,0,0,0,0
$GC,1920,-1.00,-146.0,275.5,-10.8,178,1923,0.00,2.08,0.00,0.000,4,0.000,0.035,2135,1626,3670,0,0,0,0,0,0
$GC,1991,-1.00,-146.0,282.7,-9.4,181,1996,0.00,2.08,0.00,0.000,6,0.000,0.028,2135,2672,3670,0,0,0,0,0,0
$GC,2317,-1.00,-146.0,305.8,-6.8,195,2321,0.00,2.10,0.00,0.000,4,0.000,0.036,2135,1615,3669,0,0,0,0,0,0
$GC,2439,-1.00,-146.0,314.4,-7.4,197,2445,0.00,2.10,0.00,0.000,6,0.000,0.029,2135,2668,3667,0,0,0,0,0,0
$GC,2770,-1.00,-146.0,345.4,-10.4,206,2774,0.00,2.08,0.00,0.000,4,0.000,0.037,2135,1619,3666,0,0,0,0,0,0
$GC,2926,-1.00,-146.0,361.9,-10.3,209,2930,0.00,2.08,0.00,0.000,6,0.000,0.030,2135,2662,3666,0,0,0,0,0,0
$GC,3274,-1.00,-146.0,391.4,-7.2,218,3278,0.00,2.08,0.00,0.000,4,0.000,0.037,2135,1622,3664,0,0,0,0,0,0
$GC,3362,-1.00,-146.0,396.5,-5.6,220,3367,0.00,2.05,0.00,0.000,6,0.000,0.031,2135,2646,3663,0,0,0,0,0,0
$GC,3686,-1.00,-146.0,418.4,-7.7,228,3690,0.00,2.05,0.00,0.000,4,0.000,0.038,2135,1621,3661,0,0,0,0,0,0
$GC,3731,-1.00,-146.0,422.2,-8.1,229,3734,0.00,2.05,0.00,0.000,6,0.000,0.031,2135,2657,3660,0,0,0,0,0,0
$GC,4054,-1.00,-146.0,449.2,-8.4,237,4058,0.00,2.08,0.00,0.000,4,0.000,0.038,2135,1616,3659,0,0,0,0,0,0
$GC,4080,-1.00,-146.0,451.7,-9.2,237,4085,0.00,2.08,0.00,0.000,6,0.000,0.031,2135,2647,3659,0,0,0,0,0,0
$GC,4423,-1.00,-146.0,480.5,-8.0,246,4426,0.00,2.05,0.00,0.000,4,0.000,0.038,2135,1627,3656,0,0,0,0,0,0
$GC,4550,-1.00,-146.0,489.5,-6.7,248,4557,0.00,2.03,0.00,0.000,6,0.000,0.031,2135,2633,3655,0,0,0,0,0,0
$GC,4882,-1.00,-146.0,510.6,-6.4,257,4885,0.00,1.83,0.00,0.000,4,0.000,0.050,2135,3745,3652,0,0,0,0,0,0
$GC,5054,-1.00,-146.0,524.0,-7.9,260,5061,0.00,1.80,0.00,0.000,6,0.000,0.024,2135,2619,3650,0,0,0,0,0,0
$GC,5386,-1.00,-146.0,547.6,-6.8,269,5390,0.00,1.98,0.00,0.000,4,0.000,0.039,2135,1621,3649,0,0,0,0,0,0
$GC,5503,-1.00,-146.0,555.2,-6.1,271,5507,0.00,2.03,0.00,0.000,6,0.000,0.033,2134,2625,3647,0,0,0,0,0,0
$GC,5845,-1.00,-146.0,575.6,-6.0,280,5848,0.00,2.03,0.00,0.000,4,0.000,0.040,2135,1625,3645,0,0,0,0,0,0
$GC,5894,-1.00,-146.0,578.8,-6.3,281,5898,0.00,2.03,0.00,0.000,6,0.000,0.034,2135,2627,3644,0,0,0,0,0,0
$GC,6218,-1.00,-146.0,600.4,-6.9,289,6222,0.00,2.03,0.00,0.000,4,0.000,0.041,2135,1617,3643,0,0,0,0,0,0
$GC,6453,-1.00,-146.0,616.7,-6.8,294,6457,0.00,2.03,0.00,0.000,6,0.000,0.035,2135,2612,3640,0,0,0,0,0,0
$GC,6772,-1.00,-146.0,636.7,-6.4,302,6775,0.00,2.00,0.00,0.000,4,0.000,0.042,2134,1619,3639,0,0,0,0,0,0
$GC,6894,-1.00,-146.0,644.4,-7.1,304,6899,0.00,2.03,0.00,0.000,6,0.000,0.035,2135,2614,3638,0,0,0,0,0,0
$GC,7231,-1.00,-146.0,663.1,-5.5,313,7235,0.00,2.03,0.00,0.000,4,0.000,0.043,2135,1622,3636,0,0,0,0,0,0
$GC,7257,-1.00,-146.0,664.7,-5.9,313,7261,0.00,2.00,0.00,0.000,6,0.000,0.036,2135,2598,3636,0,0,0,0,0,0
$GC,7600,-1.00,-146.0,683.0,-5.4,322,7603,0.00,1.90,0.00,0.000,4,0.000,0.055,2135,3734,3634,0,0,0,0,0,0
$GC,7851,-1.00,-146.0,699.2,-7.1,327,7856,0.00,1.85,0.00,0.000,6,0.000,0.028,2135,2591,3633,0,0,0,0,0,0
$GC,8194,-1.00,-146.0,721.0,-6.5,336,8197,0.00,2.00,0.00,0.000,4,0.000,0.046,2135,1618,3630,0,0,0,0,0,0
$GC,8373,-1.00,-146.0,731.4,-5.7,340,8377,0.00,2.03,0.00,0.000,6,0.000,0.038,2135,2628,3630,0,0,0,0,0,0
$GC,8702,-1.00,-146.0,746.7,-4.1,348,8706,0.00,2.05,0.00,0.000,4,0.000,0.043,2135,1622,3628,0,0,0,0,0,0
$GC,8763,-1.00,-146.0,749.2,-4.4,349,8767,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2590,3628,0,0,0,0,0,0
$GC,9076,-1.00,-146.0,760.3,-3.5,357,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2590,3626,0,0,0,0,0,0
$GC,9401,-1.00,-146.0,774.1,-4.5,365,9404,0.00,2.00,0.00,0.000,4,0.000,0.043,2134,1619,3624,0,0,0,0,0,0
$GC,9433,-1.00,-146.0,775.8,-4.8,365,9437,0.00,2.03,0.00,0.000,6,0.000,0.038,2135,2601,3625,0,0,0,0,0,0
$GC,9770,-1.00,-146.0,794.5,-5.8,374,9774,0.00,2.00,0.00,0.000,4,0.000,0.042,2135,1625,3623,0,0,0,0,0,0
$GC,9819,-1.00,-146.0,797.5,-5.8,375,9824,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2587,3623,0,0,0,0,0,0
$GC,10144,-1.00,-146.0,815.2,-5.4,383,10147,0.00,1.98,0.00,0.000,4,0.000,0.042,2135,1627,3622,0,0,0,0,0,0
$GC,10401,-1.00,-146.0,827.7,-5.1,388,10405,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2588,3621,0,0,0,0,0,0
$GC,10738,-1.00,-146.0,845.4,-5.3,397,10741,0.00,1.98,0.00,0.000,4,0.000,0.042,2135,1626,3620,0,0,0,0,0,0
$GC,10995,-1.00,-146.0,859.9,-6.0,402,10999,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2588,3619,0,0,0,0,0,0
$GC,11332,-1.00,-146.0,879.6,-6.1,411,11335,0.00,2.00,0.00,0.000,4,0.000,0.041,2135,1615,3619,0,0,0,0,0,0
$GC,11561,-1.00,-146.0,891.7,-5.0,416,11565,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2575,3618,0,0,0,0,0,0
$GC,11885,-1.00,-146.0,905.2,-4.2,424,11889,0.00,1.98,0.00,0.000,4,0.000,0.041,2135,1616,3618,0,0,0,0,0,0
$GC,11940,-1.00,-146.0,907.6,-5.1,425,11944,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2573,3618,0,0,0,0,0,0
$GC,12259,-1.00,-146.0,921.0,-4.3,433,12262,0.00,1.98,0.00,0.000,4,0.000,0.041,2135,1629,3617,0,0,0,0,0,0
$GC,12308,-1.00,-146.0,923.4,-4.6,434,12312,0.00,1.98,0.00,0.000,6,0.000,0.038,2135,2573,3617,0,0,0,0,0,0
$GC,12632,-1.00,-146.0,938.7,-4.9,442,12636,0.00,1.95,0.00,0.000,4,0.000,0.041,2135,1624,3616,0,0,0,0,0,0
$GC,12743,-1.00,-146.0,944.3,-4.9,444,12747,0.00,1.98,0.00,0.000,6,0.000,0.038,2135,2569,3616,0,0,0,0,0,0
$GC,13091,-1.00,-146.0,960.5,-4.5,453,13095,0.00,1.95,0.00,0.000,4,0.000,0.041,2135,1625,3615,0,0,0,0,0,0
$GC,13152,-1.00,-146.0,963.1,-4.9,454,13156,0.00,1.98,0.00,0.000,6,0.000,0.038,2135,2567,3615,0,0,0,0,0,0
$GC,13465,-1.00,-146.0,974.2,-3.3,462,13469,0.00,1.95,0.00,0.000,4,0.000,0.041,2135,1624,3614,0,0,0,0,0,0
$GC,13622,-1.00,-146.0,978.1,-2.5,465,13626,0.00,1.92,0.00,0.000,6,0.000,0.039,2134,2564,3613,0,0,0,0,0,0
$GC,13969,-1.00,-146.0,983.8,-1.4,474,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2563,3613,0,0,0,0,0,0
$GC,14294,-1.00,-146.0,989.3,-1.7,482,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2564,3613,0,0,0,0,0,0
$STATE,14375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14375,begin apogee
$GC,14381,-0.33,0.0,990.7,1.7,484,14498,0.73,0.00,114.45,1.500,6,0.096,0.000,2284,1947,3071,0,0,0,0,0,0
$STATE,14502,end apogee,CONTROL_FINISHED_OK
$STATE,14502,begin climb
$GC,14503,1.00,146.0,987.0,0.0,487,14640,1.38,2.42,125.57,1.439,4,0.066,0.051,2574,873,2475,0,0,0,0,0,0
$GC,14655,1.00,146.0,971.1,11.6,490,14660,0.00,2.28,0.00,0.000,6,0.000,0.028,2574,1948,2472,0,0,0,0,0,0
$GC,14992,1.00,146.0,931.2,11.7,499,14997,0.00,2.30,0.00,0.000,4,0.000,0.051,2574,881,2469,0,0,0,0,0,0
$GC,15013,1.00,146.0,928.8,11.4,499,15018,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1941,2469,0,0,0,0,0,0
$GC,15356,1.00,146.0,891.3,10.6,508,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1945,2469,0,0,0,0,0,0
$GC,15680,1.00,146.0,858.8,9.9,516,15684,0.00,2.30,0.00,0.000,4,0.000,0.051,2574,870,2468,0,0,0,0,0,0
$GC,15735,1.00,146.0,853.1,10.2,517,15740,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1933,2467,0,0,0,0,0,0
$GC,16048,1.00,146.0,823.5,9.4,525,16049,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1940,2467,0,0,0,0,0,0
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$STATE,26013,end climb,SURFACE_DEPTH_REACHED
$STATE,26013,begin surface coast
$FINISH,1.8,0.998747
$STATE,26049,end surface coast,CONTROL_FINISHED_OK
$STATE,26049,begin surface
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$IRIDIUM_FIX,1925.22,12536.25,110612,131328
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$HUMID,1078804506
$TCM_TEMP,25.20
$XPDR_PINGS,441
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2093318144
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,27.134
$10V_AH,9.9,13.673
$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
$DEVICE_SECS,22.250,231.550,500.525,31.325,0.000,24.202,34.337,425.161,110.250,0.000,40.781,2040.452,20456.199,704.244,3309.076,244.254,33.372,2226.902,0.000,2717.611,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,675.019,0.000,0.000,0.000,0.000,0.000,0.000,22933.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.627,0.000,0.000
$MEM,354960
$DATA_FILE_SIZE,36665,994
$CAP_FILE_SIZE,223534,0
$CFSIZE,260034560,247234560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181210,102330,1928.239,12532.803,39,1.2,40,-2.4