version: 66.07
glider: 23
mission: 5
dive: 172
start: 12 22 110 14 18 7
data:
$ID,23
$MISSION,5
$DIVE,172
$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,624.53381
$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,-54898.609
$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,2400
$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,2640
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,33
$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,171
$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
$GPS1,221210,135007,1909.208,12506.911,32,1.7,32,-2.3
$_CALLS,5
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-51.7
$GPS2,221210,141716,1908.980,12507.012,11,2.7,30,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.037,-0.197
$KALMAN_X,-293629.4,493.6,-680.9,200739.0,-1836.7
$KALMAN_Y,115112.6,280.4,-85.2,-360554.9,3338.2
$MHEAD_RNG_PITCHd_Wd,192.9,124450,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
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$GC,18110,-0.84,-146.0,936.1,-2.6,605,18114,0.00,1.70,0.00,0.000,6,0.000,0.038,2210,2377,3608,0,0,0,0,0,0
$GC,18447,-0.84,-146.0,947.0,-3.5,614,18451,0.00,1.70,0.00,0.000,4,0.000,0.045,2210,1596,3609,0,0,0,0,0,0
$GC,18705,-0.84,-146.0,956.1,-3.4,619,18709,0.00,1.70,0.00,0.000,6,0.000,0.038,2208,2372,3608,0,0,0,0,0,0
$GC,19041,-0.84,-146.0,966.5,-2.8,628,19045,0.00,2.28,0.00,0.000,4,0.000,0.059,2210,3701,3607,0,0,0,0,0,0
$GC,19299,-0.84,-146.0,973.2,-1.2,633,19303,0.00,2.20,0.00,0.000,6,0.000,0.031,2210,2370,3606,0,0,0,0,0,0
$GC,19635,-0.84,-146.0,979.3,-1.8,642,19639,0.00,1.65,0.00,0.000,4,0.000,0.047,2210,1595,3606,0,0,0,0,0,0
$GC,19787,-0.84,-146.0,982.1,-1.6,645,19790,0.00,1.62,0.00,0.000,6,0.000,0.038,2210,2348,3607,0,0,0,0,0,0
$GC,20099,-0.84,-146.0,989.1,-2.5,653,20102,0.00,1.62,0.00,0.000,4,0.000,0.045,2210,1600,3606,0,0,0,0,0,0
$STATE,20135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20135,begin apogee
$GC,20140,-0.33,0.0,990.1,2.4,653,20257,0.52,0.00,113.78,1.507,6,0.091,0.000,2321,1965,3071,0,0,0,0,0,0
$STATE,20260,end apogee,CONTROL_FINISHED_OK
$STATE,20261,begin climb
$GC,20262,0.84,146.0,990.0,0.0,656,20394,1.23,0.00,125.68,1.447,6,0.065,0.000,2582,1965,2475,0,0,0,0,0,0
$GC,20708,0.84,146.0,955.9,7.2,667,20712,0.00,2.30,0.00,0.000,4,0.000,0.048,2582,910,2469,0,0,0,0,0,0
$GC,20903,0.84,146.0,938.8,8.1,671,20908,0.00,2.25,0.00,0.000,6,0.000,0.030,2582,1963,2468,0,0,0,0,0,0
$GC,21252,0.84,146.0,908.9,8.8,680,21256,0.00,2.33,0.00,0.000,4,0.000,0.050,2582,902,2469,0,0,0,0,0,0
$GC,21290,0.84,146.0,905.1,10.0,681,21294,0.00,2.22,0.00,0.000,6,0.000,0.030,2582,1970,2469,0,0,0,0,0,0
$GC,21613,0.84,146.0,871.9,10.5,689,21614,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1974,2468,0,0,0,0,0,0
$GC,21938,0.84,146.0,836.0,11.1,697,21942,0.00,2.33,0.00,0.000,4,0.000,0.051,2582,912,2467,0,0,0,0,0,0
$GC,21977,0.84,146.0,831.4,12.1,698,21980,0.00,2.17,0.00,0.000,6,0.000,0.030,2581,1960,2466,0,0,0,0,0,0
$GC,22306,0.84,146.0,795.5,10.9,706,22310,0.00,2.30,0.00,0.000,4,0.000,0.049,2582,907,2466,0,0,0,0,0,0
$GC,22344,0.84,146.0,791.0,14.1,707,22348,0.00,2.20,0.00,0.000,6,0.000,0.030,2582,1955,2467,0,0,0,0,0,0
$GC,22667,0.84,146.0,753.9,11.6,715,22668,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1960,2467,0,0,0,0,0,0
$GC,22992,0.84,146.0,717.4,11.1,723,22996,0.00,2.33,0.00,0.000,4,0.000,0.050,2582,905,2466,0,0,0,0,0,0
$GC,23024,0.84,146.0,713.7,11.1,723,23030,0.00,2.20,0.00,0.000,6,0.000,0.031,2582,1939,2466,0,0,0,0,0,0
$GC,23355,0.84,146.0,681.1,9.6,732,23356,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1942,2466,0,0,0,0,0,0
$GC,23680,0.84,146.0,654.0,7.9,740,23684,0.00,2.25,0.00,0.000,4,0.000,0.051,2582,914,2466,0,0,0,0,0,0
$GC,23701,0.84,146.0,652.4,6.3,740,23705,0.00,2.17,0.00,0.000,6,0.000,0.028,2582,1941,2467,0,0,0,0,0,0
$GC,24043,0.84,146.0,624.7,8.5,749,24047,0.00,2.03,0.00,0.000,4,0.000,0.040,2582,3024,2467,0,0,0,0,0,0
$GC,24069,0.84,146.0,622.1,8.9,749,24074,0.00,2.05,0.00,0.000,6,0.000,0.031,2582,1949,2467,0,0,0,0,0,0
$GC,24412,0.84,146.0,587.3,10.6,758,24416,0.00,2.30,0.00,0.000,4,0.000,0.052,2582,887,2467,0,0,0,0,0,0
$GC,24472,0.84,146.0,580.5,13.7,759,24476,0.00,2.20,0.00,0.000,6,0.000,0.026,2582,1940,2467,0,0,0,0,0,0
$GC,24819,0.84,146.0,543.9,10.2,768,24821,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1943,2467,0,0,0,0,0,0
$GC,25144,0.84,146.0,512.7,9.4,776,25145,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1943,2467,0,0,0,0,0,0
$GC,25470,0.84,146.0,482.6,9.1,784,25474,0.00,2.28,0.00,0.000,4,0.000,0.051,2582,900,2468,0,0,0,0,0,0
$GC,25501,0.84,146.0,479.6,9.3,784,25508,0.00,2.17,0.00,0.000,6,0.000,0.025,2582,1944,2468,0,0,0,0,0,0
$GC,25833,0.84,146.0,451.5,8.3,793,25837,0.00,2.30,0.00,0.000,4,0.000,0.052,2582,891,2468,0,0,0,0,0,0
$GC,25909,0.84,146.0,444.5,9.5,794,25916,0.00,2.15,0.00,0.000,6,0.000,0.023,2582,1927,2468,0,0,0,0,0,0
$GC,26240,0.84,146.0,416.9,8.5,803,26241,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1932,2470,0,0,0,0,0,0
$GC,26565,0.84,146.0,389.1,8.4,811,26569,0.00,2.28,0.00,0.000,4,0.000,0.054,2582,889,2470,0,0,0,0,0,0
$GC,26654,0.84,146.0,381.7,8.1,813,26658,0.00,2.10,0.00,0.000,6,0.000,0.022,2582,1909,2470,0,0,0,0,0,0
$GC,26978,0.84,146.0,359.4,7.0,821,26981,0.00,2.03,0.00,0.000,4,0.000,0.033,2582,3013,2471,0,0,0,0,0,0
$GC,27010,0.84,146.2,357.1,6.0,821,27015,0.00,2.10,0.00,0.000,6,0.000,0.031,2582,1912,2471,0,0,0,0,0,0
$GC,27347,0.84,146.2,332.8,7.4,830,27351,0.00,2.20,0.00,0.000,4,0.000,0.054,2582,898,2472,0,0,0,0,0,0
$GC,27413,0.84,147.2,327.4,6.0,831,27417,0.00,2.10,0.00,0.000,6,0.000,0.021,2582,1914,2472,0,0,0,0,0,0
$GC,27760,0.84,147.2,302.1,6.9,840,27762,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1918,2473,0,0,0,0,0,0
$GC,28070,0.84,147.2,279.1,7.8,854,28073,0.00,2.22,0.00,0.000,4,0.000,0.051,2582,899,2475,0,0,0,0,0,0
$GC,28114,0.84,147.2,275.3,9.0,856,28118,0.00,2.10,0.00,0.000,6,0.000,0.021,2582,1919,2475,0,0,0,0,0,0
$GC,28445,0.84,147.2,249.2,7.7,872,28449,0.00,2.22,0.00,0.000,4,0.000,0.050,2582,892,2476,0,0,0,0,0,0
$GC,28477,0.84,147.2,246.6,8.6,873,28481,0.00,2.10,0.00,0.000,6,0.000,0.020,2582,1915,2476,0,0,0,0,0,0
$GC,28798,0.85,159.0,226.4,5.7,889,28819,0.00,2.33,12.70,0.768,4,0.000,0.049,2582,892,2422,0,0,0,0,0,0
$GC,28847,0.86,168.0,223.8,5.8,891,28863,0.00,2.12,8.85,0.719,6,0.000,0.020,2582,1915,2385,0,0,0,0,0,0
$GC,29173,0.87,171.5,204.6,5.9,907,29177,0.00,2.22,0.00,0.000,4,0.000,0.049,2582,887,2385,0,0,0,0,0,0
$GC,29222,0.87,171.5,201.2,6.3,909,29226,0.00,2.08,0.00,0.000,6,0.000,0.020,2582,1899,2385,0,0,0,0,0,0
$GC,29552,0.92,223.1,182.9,4.6,939,29603,0.00,2.28,44.85,0.771,4,0.000,0.050,2582,889,2160,0,0,0,0,0,0
$GC,29626,0.93,226.3,179.1,5.9,946,29630,0.00,2.05,0.00,0.000,6,0.000,0.020,2582,1898,2159,0,0,0,0,0,0
$GC,29887,0.97,262.0,165.1,5.0,970,29929,0.12,2.33,32.15,0.736,4,0.067,0.051,2617,892,2001,0,0,0,0,0,0
$GC,29957,0.97,262.0,160.0,6.5,976,29962,0.00,2.05,0.00,0.000,6,0.000,0.020,2617,1903,2000,0,0,0,0,0,0
$GC,30218,0.97,262.0,141.3,6.7,1001,30221,0.00,2.22,0.00,0.000,4,0.000,0.050,2617,892,1999,0,0,0,0,0,0
$GC,30279,0.97,262.0,136.5,8.3,1006,30282,0.00,2.00,0.00,0.000,6,0.000,0.020,2617,1889,1998,0,0,0,0,0,0
$GC,30545,0.97,262.0,117.6,7.4,1031,30549,0.00,2.20,0.00,0.000,4,0.000,0.051,2617,887,1999,0,0,0,0,0,0
$GC,30584,0.97,262.0,114.7,7.3,1034,30587,0.00,1.98,0.00,0.000,6,0.000,0.020,2618,1882,1999,0,0,0,0,0,0
$GC,30851,0.97,262.0,98.3,6.0,1059,30855,0.00,2.15,0.00,0.000,4,0.000,0.049,2618,900,2000,0,0,0,0,0,0
$GC,30912,0.98,275.7,94.7,5.6,1064,30932,0.00,1.92,12.38,0.619,6,0.000,0.019,2617,1873,1946,0,0,0,0,0,0
$GC,31186,0.98,275.7,77.5,7.1,1090,31190,0.00,2.12,0.00,0.000,4,0.000,0.050,2617,898,1946,0,0,0,0,0,0
$GC,31218,0.98,275.7,74.9,7.6,1092,31225,0.00,1.98,0.00,0.000,6,0.000,0.019,2617,1872,1946,0,0,0,0,0,0
$GC,31482,1.04,329.0,61.0,4.5,1117,31534,0.00,2.22,43.92,0.636,4,0.000,0.049,2617,893,1729,0,0,0,0,0,0
$GC,31562,1.08,370.6,57.1,4.9,1125,31603,0.00,1.98,34.42,0.621,6,0.000,0.020,2618,1872,1559,0,0,0,0,0,0
$GC,31857,1.08,370.6,30.7,10.3,1153,31861,0.00,2.15,0.00,0.000,4,0.000,0.032,2617,3025,1552,0,0,0,0,0,0
$GC,32092,1.08,370.6,5.0,10.3,1193,32098,0.00,2.17,0.00,0.000,6,0.000,0.034,2617,1883,1552,0,0,0,0,0,0
$STATE,32113,end climb,SURFACE_DEPTH_REACHED
$STATE,32113,begin surface coast
$FINISH,1.8,1.022559
$STATE,32142,end surface coast,CONTROL_FINISHED_OK
$STATE,32142,begin surface
$SM_CCo,32163,121.82,0.571,0,0,525,624.53
$SM_GC,2.27,0.00,0.00,121.82,0.000,0.000,0.571,366,2657,525,-9.36,0.48,624.53
$IRIDIUM_FIX,1902.38,12504.94,160612,080818
$TT8_MAMPS,0.049855
$HUMID,1078745152
$TCM_TEMP,25.30
$XPDR_PINGS,596
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2092892160
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59368538112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,30.010
$10V_AH,10.0,15.521
$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,22.175,259.925,428.725,121.825,0.000,143.356,188.221,814.345,149.000,0.000,33.037,2555.306,25226.807,766.020,5006.440,348.887,33.381,2742.084,0.000,3712.325,0.000,0.546,0.000
$DEVICE_MAMPS,158.002,59.059,1507.155,570.648,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,817.350,0.000,0.000,0.000,0.000,0.000,0.000,29059.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.687,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,43339,1202
$CAP_FILE_SIZE,288163,0
$CFSIZE,260034560,245743616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221210,231806,1906.030,12506.317,63,1.5,63,-2.3