version: 66.07
glider: 23
mission: 5
dive: 168
start: 12 21 110 4 1 14
data:
$ID,23
$MISSION,5
$DIVE,168
$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,550
$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,-54783.594
$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,51
$R_STBD_OVSHOOT,25
$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,167
$AR_SAMPLENUM,2
$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
$GPS1,211210,035025,1913.688,12512.998,31,1.6,50,-2.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-55.3
$GPS2,211210,040021,1913.677,12512.804,11,1.6,12,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.133,-0.150
$KALMAN_X,-285253.2,-105.5,17.8,202256.1,-5035.3
$KALMAN_Y,100958.1,-242.4,-83.3,-337191.7,4425.1
$MHEAD_RNG_PITCHd_Wd,224.0,137796,-10.2,-6.000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.84,-146.0,0.0,0.0,0,103,0.00,0.00,-76.10,0.000,2,0.000,0.000,361,2612,2775,0,0,0,0,0,0
$GC,105,-0.84,-146.0,3.3,-1.3,15,157,10.32,1.88,-33.33,0.000,4,0.157,0.060,2168,3734,3669,0,0,0,0,0,0
$GC,408,-0.84,-146.0,47.3,-17.5,61,415,0.00,1.65,0.00,0.000,6,0.000,0.026,2169,2709,3669,0,0,0,0,0,0
$GC,670,-0.84,-146.0,87.8,-14.8,86,673,0.00,1.70,0.00,0.000,4,0.000,0.039,2168,3743,3670,0,0,0,0,0,0
$GC,927,-0.84,-146.0,124.2,-12.5,109,931,0.00,1.75,0.00,0.000,6,0.000,0.025,2168,2650,3670,0,0,0,0,0,0
$GC,1196,-0.84,-146.0,153.6,-12.0,134,1199,0.00,1.77,0.00,0.000,4,0.000,0.040,2169,3742,3671,0,0,0,0,0,0
$GC,1267,-0.84,-146.0,163.3,-13.5,140,1273,0.00,1.70,0.00,0.000,6,0.000,0.023,2168,2675,3671,0,0,0,0,0,0
$GC,1529,-0.84,-146.0,193.1,-10.0,165,1532,0.00,1.75,0.00,0.000,4,0.000,0.041,2169,3748,3671,0,0,0,0,0,0
$GC,1595,-0.84,-146.0,199.6,-9.8,171,1599,0.00,1.73,0.00,0.000,6,0.000,0.025,2169,2655,3671,0,0,0,0,0,0
$GC,1855,-0.84,-146.0,220.7,-7.9,184,1858,0.00,2.05,0.00,0.000,4,0.000,0.039,2168,1630,3671,0,0,0,0,0,0
$GC,1983,-0.84,-146.0,231.1,-8.1,189,1989,0.00,2.10,0.00,0.000,6,0.000,0.029,2168,2681,3670,0,0,0,0,0,0
$GC,2298,-0.84,-146.0,263.0,-11.2,205,2302,0.00,2.10,0.00,0.000,4,0.000,0.038,2169,1626,3670,0,0,0,0,0,0
$GC,2374,-0.84,-146.0,271.3,-10.3,208,2381,0.00,2.08,0.00,0.000,6,0.000,0.029,2168,2665,3670,0,0,0,0,0,0
$GC,2690,-0.84,-146.0,300.0,-8.7,224,2694,0.00,2.10,0.00,0.000,4,0.000,0.040,2168,1626,3669,0,0,0,0,0,0
$GC,2778,-0.84,-146.0,306.5,-7.0,227,2783,0.00,2.08,0.00,0.000,6,0.000,0.031,2168,2659,3668,0,0,0,0,0,0
$GC,3103,-0.84,-146.0,328.7,-7.3,235,3107,0.00,2.10,0.00,0.000,4,0.000,0.040,2168,1623,3667,0,0,0,0,0,0
$GC,3359,-0.84,-146.0,351.6,-8.5,240,3366,0.00,2.08,0.00,0.000,6,0.000,0.031,2168,2652,3665,0,0,0,0,0,0
$GC,3691,-0.84,-146.0,376.5,-7.4,249,3695,0.00,2.08,0.00,0.000,4,0.000,0.041,2168,1631,3664,0,0,0,0,0,0
$GC,3936,-0.84,-146.0,393.8,-7.3,254,3941,0.00,2.05,0.00,0.000,6,0.000,0.032,2168,2642,3662,0,0,0,0,0,0
$GC,4279,-0.84,-146.0,421.0,-8.1,263,4283,0.00,2.08,0.00,0.000,4,0.000,0.041,2169,1622,3660,0,0,0,0,0,0
$GC,4429,-0.84,-146.0,433.0,-8.0,266,4433,0.00,2.05,0.00,0.000,6,0.000,0.032,2168,2633,3659,0,0,0,0,0,0
$GC,4777,-0.84,-146.0,453.0,-4.9,275,4781,0.00,2.05,0.00,0.000,4,0.000,0.041,2168,1626,3658,0,0,0,0,0,0
$GC,4912,-0.84,-146.0,459.7,-5.1,278,4915,0.00,2.05,0.00,0.000,6,0.000,0.033,2168,2650,3657,0,0,0,0,0,0
$GC,5235,-0.84,-146.0,477.3,-5.7,286,5239,0.00,2.08,0.00,0.000,4,0.000,0.041,2169,1618,3654,0,0,0,0,0,0
$GC,5381,-0.84,-146.0,485.7,-5.2,289,5384,0.00,2.05,0.00,0.000,6,0.000,0.034,2168,2645,3653,0,0,0,0,0,0
$GC,5693,-0.84,-146.0,501.6,-4.8,297,5697,0.00,2.05,0.00,0.000,4,0.000,0.041,2168,1626,3650,0,0,0,0,0,0
$GC,5849,-0.84,-146.0,509.5,-5.6,300,5853,0.00,2.05,0.00,0.000,6,0.000,0.034,2168,2646,3649,0,0,0,0,0,0
$GC,6191,-0.84,-146.0,530.4,-6.0,309,6195,0.00,2.08,0.00,0.000,4,0.000,0.042,2168,1625,3647,0,0,0,0,0,0
$GC,6402,-0.84,-146.0,542.4,-5.6,313,6409,0.00,2.05,0.00,0.000,6,0.000,0.034,2168,2633,3645,0,0,0,0,0,0
$GC,6734,-0.84,-146.0,558.0,-4.5,322,6737,0.00,2.03,0.00,0.000,4,0.000,0.042,2168,1630,3643,0,0,0,0,0,0
$GC,6800,-0.84,-146.0,560.9,-4.5,323,6804,0.00,2.03,0.00,0.000,6,0.000,0.035,2168,2624,3643,0,0,0,0,0,0
$GC,7148,-0.84,-146.0,577.8,-5.3,332,7151,0.00,2.05,0.00,0.000,4,0.000,0.043,2168,1623,3641,0,0,0,0,0,0
$GC,7202,-0.84,-146.0,581.3,-6.5,333,7207,0.00,2.05,0.00,0.000,6,0.000,0.035,2168,2623,3640,0,0,0,0,0,0
$GC,7521,-0.84,-146.0,602.5,-6.6,341,7525,0.00,2.05,0.00,0.000,4,0.000,0.044,2168,1624,3638,0,0,0,0,0,0
$GC,7667,-0.84,-146.0,611.7,-5.9,344,7670,0.00,2.03,0.00,0.000,6,0.000,0.036,2168,2627,3637,0,0,0,0,0,0
$GC,7985,-0.84,-146.0,626.7,-4.2,352,7989,0.00,2.05,0.00,0.000,4,0.000,0.044,2168,1625,3636,0,0,0,0,0,0
$GC,8039,-0.84,-146.0,628.7,-3.2,353,8043,0.00,2.03,0.00,0.000,6,0.000,0.036,2168,2612,3635,0,0,0,0,0,0
$GC,8358,-0.84,-146.0,641.8,-4.4,361,8361,0.00,2.00,0.00,0.000,4,0.000,0.044,2169,1630,3633,0,0,0,0,0,0
$GC,8615,-0.84,-146.0,655.0,-5.4,366,8619,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2611,3632,0,0,0,0,0,0
$GC,8952,-0.84,-146.0,674.6,-5.8,375,8956,0.00,2.05,0.00,0.000,4,0.000,0.046,2168,1620,3630,0,0,0,0,0,0
$GC,9209,-0.84,-146.0,689.8,-6.2,380,9214,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2595,3628,0,0,0,0,0,0
$GC,9547,-0.84,-146.0,709.0,-5.7,389,9550,0.00,2.00,0.00,0.000,4,0.000,0.046,2168,1622,3627,0,0,0,0,0,0
$GC,9658,-0.84,-146.0,715.2,-5.7,391,9662,0.00,2.03,0.00,0.000,6,0.000,0.039,2168,2595,3626,0,0,0,0,0,0
$GC,10006,-0.84,-146.0,734.8,-5.9,400,10010,0.00,2.00,0.00,0.000,4,0.000,0.044,2168,1626,3625,0,0,0,0,0,0
$GC,10246,-0.84,-146.0,749.3,-6.0,405,10250,0.00,1.98,0.00,0.000,6,0.000,0.038,2168,2576,3624,0,0,0,0,0,0
$GC,10560,-0.84,-146.0,765.8,-5.1,413,10563,0.00,1.98,0.00,0.000,4,0.000,0.044,2168,1623,3623,0,0,0,0,0,0
$GC,10620,-0.84,-146.0,768.7,-4.4,414,10624,0.00,1.98,0.00,0.000,6,0.000,0.038,2168,2572,3623,0,0,0,0,0,0
$GC,10933,-0.84,-146.0,782.1,-4.4,422,10937,0.00,1.95,0.00,0.000,4,0.000,0.044,2168,1620,3622,0,0,0,0,0,0
$GC,11090,-0.84,-146.0,789.5,-5.2,425,11094,0.00,1.95,0.00,0.000,6,0.000,0.039,2169,2567,3622,0,0,0,0,0,0
$GC,11437,-0.84,-146.0,808.3,-5.7,434,11441,0.00,1.98,0.00,0.000,4,0.000,0.044,2168,1626,3620,0,0,0,0,0,0
$GC,11554,-0.84,-146.0,815.2,-5.7,436,11558,0.00,1.95,0.00,0.000,6,0.000,0.039,2169,2558,3620,0,0,0,0,0,0
$GC,11896,-0.84,-146.0,833.5,-5.2,445,11900,0.00,1.92,0.00,0.000,4,0.000,0.044,2168,1627,3619,0,0,0,0,0,0
$GC,12154,-0.84,-146.0,846.4,-4.8,450,12158,0.00,1.95,0.00,0.000,6,0.000,0.039,2169,2560,3618,0,0,0,0,0,0
$GC,12491,-0.84,-146.0,860.5,-3.9,459,12495,0.00,1.92,0.00,0.000,4,0.000,0.044,2168,1617,3618,0,0,0,0,0,0
$GC,12675,-0.84,-146.0,866.5,-2.8,463,12679,0.00,1.95,0.00,0.000,6,0.000,0.039,2168,2554,3617,0,0,0,0,0,0
$GC,12999,-0.84,-146.0,876.9,-3.3,471,13003,0.00,1.95,0.00,0.000,4,0.000,0.044,2168,1626,3617,0,0,0,0,0,0
$GC,13071,-0.84,-146.0,879.6,-3.7,472,13075,0.00,1.92,0.00,0.000,6,0.000,0.039,2168,2550,3617,0,0,0,0,0,0
$GC,13414,-0.84,-146.0,892.5,-4.2,481,13417,0.00,1.92,0.00,0.000,4,0.000,0.044,2168,1620,3616,0,0,0,0,0,0
$GC,13648,-0.84,-146.0,902.9,-4.8,486,13653,0.00,1.92,0.00,0.000,6,0.000,0.039,2168,2544,3616,0,0,0,0,0,0
$GC,13967,-0.84,-146.0,917.9,-4.8,494,13971,0.00,1.92,0.00,0.000,4,0.000,0.044,2169,1625,3616,0,0,0,0,0,0
$GC,14207,-0.84,-146.0,928.9,-3.7,499,14211,0.00,1.90,0.00,0.000,6,0.000,0.039,2169,2536,3615,0,0,0,0,0,0
$GC,14520,-0.84,-146.0,942.0,-4.0,507,14523,0.00,1.88,0.00,0.000,4,0.000,0.044,2168,1619,3614,0,0,0,0,0,0
$GC,14637,-0.84,-146.0,946.4,-4.1,509,14641,0.00,1.90,0.00,0.000,6,0.000,0.039,2168,2529,3614,0,0,0,0,0,0
$GC,14979,-0.84,-146.0,959.3,-3.9,518,14983,0.00,1.85,0.00,0.000,4,0.000,0.044,2168,1626,3614,0,0,0,0,0,0
$GC,15219,-0.84,-146.0,968.3,-4.4,523,15224,0.00,1.88,0.00,0.000,6,0.000,0.038,2168,2522,3613,0,0,0,0,0,0
$GC,15532,-0.84,-146.0,979.8,-3.7,531,15536,0.00,1.83,0.00,0.000,4,0.000,0.043,2168,1629,3612,0,0,0,0,0,0
$GC,15679,-0.84,-146.0,985.6,-4.9,534,15682,0.00,1.85,0.00,0.000,6,0.000,0.039,2168,2527,3612,0,0,0,0,0,0
$STATE,15791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15791,begin apogee
$GC,15796,-0.33,0.0,990.0,4.0,537,15914,0.57,0.00,114.88,1.509,6,0.097,0.000,2286,1941,3071,0,0,0,0,0,0
$STATE,15917,end apogee,CONTROL_FINISHED_OK
$STATE,15918,begin climb
$GC,15919,0.84,146.0,989.1,0.0,540,16056,1.17,2.42,126.05,1.447,4,0.067,0.057,2536,887,2474,0,0,0,0,0,0
$GC,16088,0.84,146.0,977.1,7.9,544,16093,0.00,2.28,0.00,0.000,6,0.000,0.031,2536,1949,2472,0,0,0,0,0,0
$GC,16413,0.84,146.0,953.7,7.2,552,16417,0.00,2.05,0.00,0.000,4,0.000,0.046,2536,2996,2469,0,0,0,0,0,0
$GC,16512,0.84,146.0,946.6,7.5,554,16517,0.00,2.12,0.00,0.000,6,0.000,0.035,2536,1908,2470,0,0,0,0,0,0
$GC,16830,0.84,147.2,926.7,6.0,562,16834,0.00,2.10,0.00,0.000,4,0.000,0.044,2536,2999,2469,0,0,0,0,0,0
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$STATE,29496,end climb,SURFACE_DEPTH_REACHED
$STATE,29496,begin surface coast
$FINISH,1.9,1.022679
$STATE,29531,end surface coast,CONTROL_FINISHED_OK
$STATE,29531,begin surface
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$IRIDIUM_FIX,1909.23,12515.80,140612,141423
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$HUMID,1078819990
$TCM_TEMP,24.50
$XPDR_PINGS,391
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$AR_CDRIVE_FREE,2035089408
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59477950464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,29.127
$10V_AH,9.9,14.905
$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
$DEVICE_SECS,21.775,262.750,316.050,137.875,0.000,30.637,36.400,376.114,97.750,0.000,14.254,2431.730,22704.938,691.670,4173.393,284.219,33.373,2582.716,0.000,3613.849,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,754.141,0.000,0.000,0.000,0.000,0.000,0.000,25949.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.816,0.000,0.000
$MEM,355016
$DATA_FILE_SIZE,40000,1106
$CAP_FILE_SIZE,260976,0
$CFSIZE,260034560,246276096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,121737,1913.852,12510.038,36,1.5,36,-2.3