version: 66.07
glider: 23
mission: 5
dive: 174
start: 12 23 110 8 57 49
data:
$ID,23
$MISSION,5
$DIVE,174
$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,-54935.125
$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,32
$R_STBD_OVSHOOT,43
$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,173
$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
$GPS1,231210,084401,1905.190,12501.619,41,1.7,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-44.7
$GPS2,231210,085656,1905.401,12501.646,15,1.2,15,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.010,-0.200
$KALMAN_X,-297816.3,-484.5,898.1,195060.9,-3275.4
$KALMAN_Y,119838.3,522.0,-325.8,-371910.3,2723.9
$MHEAD_RNG_PITCHd_Wd,185.2,113129,-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,18268,-0.84,-146.0,930.1,-3.3,611,18272,0.00,1.65,0.00,0.000,6,0.000,0.038,2209,2357,3605,0,0,0,0,0,0
$GC,18605,-0.84,-146.0,940.3,-2.9,620,18609,0.00,1.62,0.00,0.000,4,0.000,0.041,2209,1591,3605,0,0,0,0,0,0
$GC,18863,-0.84,-146.0,946.9,-1.9,625,18867,0.00,1.65,0.00,0.000,6,0.000,0.038,2209,2348,3605,0,0,0,0,0,0
$GC,19199,-0.84,-146.0,955.7,-2.8,634,19203,0.00,1.62,0.00,0.000,4,0.000,0.041,2209,1586,3604,0,0,0,0,0,0
$GC,19457,-0.84,-146.0,962.3,-2.8,639,19461,0.00,1.62,0.00,0.000,6,0.000,0.038,2209,2333,3604,0,0,0,0,0,0
$GC,19793,-0.84,-146.0,969.6,-2.1,648,19797,0.00,1.60,0.00,0.000,4,0.000,0.041,2209,1594,3604,0,0,0,0,0,0
$GC,20039,-0.84,-146.0,974.7,-2.5,653,20044,0.00,1.60,0.00,0.000,6,0.000,0.038,2209,2336,3604,0,0,0,0,0,0
$GC,20387,-0.84,-146.0,981.1,-1.9,662,20390,0.00,1.60,0.00,0.000,4,0.000,0.042,2209,1596,3603,0,0,0,0,0,0
$GC,20538,-0.84,-146.0,984.2,-2.9,665,20542,0.00,1.58,0.00,0.000,6,0.000,0.038,2209,2327,3603,0,0,0,0,0,0
$STATE,20808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20808,begin apogee
$GC,20813,-0.33,0.0,990.8,2.6,672,20931,0.55,0.00,113.18,1.518,6,0.091,0.000,2323,1959,3072,0,0,0,0,0,0
$STATE,20934,end apogee,CONTROL_FINISHED_OK
$STATE,20934,begin climb
$GC,20936,0.84,146.0,989.3,0.0,675,21072,1.20,2.40,126.35,1.458,4,0.065,0.046,2579,895,2475,0,0,0,0,0,0
$GC,21093,0.84,146.0,976.8,9.0,678,21099,0.00,2.30,0.00,0.000,6,0.000,0.030,2579,1957,2472,0,0,0,0,0,0
$GC,21424,0.84,146.0,943.6,10.2,687,21426,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1961,2469,0,0,0,0,0,0
$GC,21749,0.84,146.0,910.0,10.6,695,21753,0.00,2.30,0.00,0.000,4,0.000,0.049,2579,898,2467,0,0,0,0,0,0
$GC,21809,0.84,146.0,902.9,11.7,696,21813,0.00,2.28,0.00,0.000,6,0.000,0.030,2579,1961,2467,0,0,0,0,0,0
$GC,22122,0.84,146.0,867.0,11.6,704,22126,0.00,2.35,0.00,0.000,4,0.000,0.049,2579,890,2468,0,0,0,0,0,0
$GC,22160,0.84,146.0,862.2,11.1,705,22164,0.00,2.22,0.00,0.000,6,0.000,0.031,2580,1960,2469,0,0,0,0,0,0
$GC,22483,0.84,146.0,825.2,11.1,713,22487,0.00,2.35,0.00,0.000,4,0.000,0.049,2579,898,2467,0,0,0,0,0,0
$GC,22522,0.84,146.0,820.7,10.9,714,22526,0.00,2.20,0.00,0.000,6,0.000,0.030,2579,1953,2467,0,0,0,0,0,0
$GC,22845,0.84,146.0,785.0,11.0,722,22846,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1958,2467,0,0,0,0,0,0
$GC,23170,0.84,146.0,752.2,9.8,730,23174,0.00,2.30,0.00,0.000,4,0.000,0.048,2580,899,2466,0,0,0,0,0,0
$GC,23209,0.84,146.0,748.3,10.6,731,23213,0.00,2.20,0.00,0.000,6,0.000,0.030,2579,1956,2467,0,0,0,0,0,0
$GC,23532,0.84,146.0,718.8,8.9,739,23533,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1960,2466,0,0,0,0,0,0
$GC,23856,0.84,146.0,691.7,8.2,747,23860,0.00,2.33,0.00,0.000,4,0.000,0.048,2579,900,2466,0,0,0,0,0,0
$GC,23900,0.84,146.0,688.0,7.5,748,23905,0.00,2.22,0.00,0.000,6,0.000,0.029,2580,1948,2466,0,0,0,0,0,0
$GC,24224,0.84,146.0,661.2,8.4,756,24225,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1953,2466,0,0,0,0,0,0
$GC,24549,0.84,146.0,632.5,8.9,764,24553,0.00,2.28,0.00,0.000,4,0.000,0.048,2579,899,2466,0,0,0,0,0,0
$GC,24599,0.84,146.0,627.6,10.1,765,24603,0.00,2.17,0.00,0.000,6,0.000,0.028,2579,1950,2466,0,0,0,0,0,0
$GC,24916,0.84,146.0,596.4,10.0,773,24920,0.00,2.30,0.00,0.000,4,0.000,0.048,2579,893,2467,0,0,0,0,0,0
$GC,24943,0.84,146.0,593.6,10.3,773,24947,0.00,2.20,0.00,0.000,6,0.000,0.027,2579,1950,2466,0,0,0,0,0,0
$GC,25273,0.84,146.0,560.5,9.9,781,25277,0.00,2.30,0.00,0.000,4,0.000,0.048,2579,889,2466,0,0,0,0,0,0
$GC,25317,0.84,146.0,555.9,9.7,782,25321,0.00,2.15,0.00,0.000,6,0.000,0.027,2579,1937,2466,0,0,0,0,0,0
$GC,25646,0.84,146.0,522.4,9.8,790,25647,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1941,2467,0,0,0,0,0,0
$GC,25972,0.84,146.0,495.6,7.8,798,25976,0.00,2.28,0.00,0.000,4,0.000,0.048,2579,888,2467,0,0,0,0,0,0
$GC,26076,0.84,146.0,486.1,9.2,800,26081,0.00,2.17,0.00,0.000,6,0.000,0.025,2580,1933,2467,0,0,0,0,0,0
$GC,26425,0.84,146.0,459.0,7.5,809,26428,0.00,2.00,0.00,0.000,4,0.000,0.036,2579,3012,2468,0,0,0,0,0,0
$GC,26451,0.84,146.0,457.0,7.5,809,26456,0.00,2.05,0.00,0.000,6,0.000,0.029,2580,1928,2469,0,0,0,0,0,0
$GC,26793,0.84,146.0,432.2,7.4,818,26797,0.00,2.22,0.00,0.000,4,0.000,0.048,2580,898,2469,0,0,0,0,0,0
$GC,26870,0.84,146.0,426.3,7.6,819,26877,0.00,2.15,0.00,0.000,6,0.000,0.024,2579,1929,2468,0,0,0,0,0,0
$GC,27202,0.84,146.0,402.4,7.5,828,27203,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1933,2470,0,0,0,0,0,0
$GC,27527,0.84,146.0,375.7,8.6,836,27531,0.00,2.25,0.00,0.000,4,0.000,0.048,2579,894,2470,0,0,0,0,0,0
$GC,27610,0.84,146.0,368.1,8.1,838,27614,0.00,2.08,0.00,0.000,6,0.000,0.022,2579,1921,2470,0,0,0,0,0,0
$GC,27939,0.84,146.0,344.1,6.6,846,27940,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1925,2471,0,0,0,0,0,0
$GC,28264,0.84,148.1,325.1,5.9,854,28268,0.00,2.22,0.00,0.000,4,0.000,0.048,2579,899,2472,0,0,0,0,0,0
$GC,28330,0.86,162.8,320.5,5.6,855,28350,0.00,2.08,14.80,0.887,6,0.000,0.021,2580,1907,2406,0,0,0,0,0,0
$GC,28676,0.86,162.8,298.0,6.6,864,28677,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1906,2406,0,0,0,0,0,0
$GC,28984,0.87,172.7,279.4,5.7,879,28999,0.00,2.22,9.77,0.793,4,0.000,0.048,2579,896,2367,0,0,0,0,0,0
$GC,29088,0.87,172.7,272.7,6.6,883,29094,0.00,2.08,0.00,0.000,6,0.000,0.021,2579,1898,2366,0,0,0,0,0,0
$GC,29403,0.87,172.7,249.4,8.0,899,29407,0.00,2.20,0.00,0.000,4,0.000,0.047,2580,888,2368,0,0,0,0,0,0
$GC,29475,0.87,172.7,243.6,6.7,902,29479,0.00,2.08,0.00,0.000,6,0.000,0.021,2580,1894,2368,0,0,0,0,0,0
$GC,29796,0.93,225.6,225.5,4.5,918,29846,0.10,2.28,43.83,0.819,4,0.074,0.048,2613,896,2150,0,0,0,0,0,0
$GC,29895,0.93,225.6,218.9,7.8,922,29902,0.00,2.08,0.00,0.000,6,0.000,0.020,2613,1898,2148,0,0,0,0,0,0
$GC,30212,0.93,225.6,196.4,6.5,940,30216,0.00,2.20,0.00,0.000,4,0.000,0.049,2613,897,2148,0,0,0,0,0,0
$GC,30255,0.93,225.6,193.1,7.4,943,30261,0.00,2.05,0.00,0.000,6,0.000,0.019,2613,1890,2148,0,0,0,0,0,0
$GC,30517,0.93,225.6,174.7,7.1,968,30521,0.00,2.15,0.00,0.000,4,0.000,0.047,2613,898,2149,0,0,0,0,0,0
$GC,30544,0.93,225.6,172.6,8.1,970,30548,0.00,2.00,0.00,0.000,6,0.000,0.020,2613,1893,2150,0,0,0,0,0,0
$GC,30812,0.93,225.6,154.3,6.7,995,30816,0.00,2.17,0.00,0.000,4,0.000,0.048,2613,900,2151,0,0,0,0,0,0
$GC,30852,0.93,226.0,151.6,6.0,998,30855,0.00,2.00,0.00,0.000,6,0.000,0.020,2613,1896,2151,0,0,0,0,0,0
$GC,31118,0.93,226.0,134.5,6.4,1023,31122,0.00,2.17,0.00,0.000,4,0.000,0.047,2613,886,2152,0,0,0,0,0,0
$GC,31146,0.93,226.0,132.6,6.0,1025,31149,0.00,2.00,0.00,0.000,6,0.000,0.019,2613,1888,2152,0,0,0,0,0,0
$GC,31412,1.04,326.0,120.2,3.2,1050,31504,0.00,2.28,81.32,0.708,4,0.000,0.045,2613,895,1739,0,0,0,0,0,0
$GC,31530,1.04,326.0,115.0,6.3,1061,31537,0.00,2.03,0.00,0.000,6,0.000,0.018,2613,1879,1736,0,0,0,0,0,0
$GC,31793,1.04,326.0,94.6,8.2,1086,31797,0.00,2.15,0.00,0.000,4,0.000,0.048,2613,897,1732,0,0,0,0,0,0
$GC,31922,1.04,326.0,83.7,9.5,1097,31925,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1879,1733,0,0,0,0,0,0
$GC,32188,1.04,326.0,61.0,9.7,1122,32192,0.00,2.15,0.00,0.000,4,0.000,0.049,2612,898,1733,0,0,0,0,0,0
$GC,32294,1.04,326.0,50.5,8.1,1131,32297,0.00,2.03,0.00,0.000,6,0.000,0.022,2612,1880,1733,0,0,0,0,0,0
$GC,32557,1.04,326.0,22.0,11.2,1161,32563,0.00,2.15,0.00,0.000,4,0.000,0.048,2613,897,1735,0,0,0,0,0,0
$GC,32626,1.04,326.0,14.1,11.9,1173,32631,0.00,1.95,0.00,0.000,6,0.000,0.024,2612,1870,1735,0,0,0,0,0,0
$STATE,32736,end climb,SURFACE_DEPTH_REACHED
$STATE,32736,begin surface coast
$FINISH,1.8,1.004486
$STATE,32777,end surface coast,CONTROL_FINISHED_OK
$STATE,32777,begin surface
$SM_CCo,32798,91.85,0.569,0,0,950,520.04
$SM_GC,2.43,0.00,0.00,91.85,0.000,0.000,0.569,364,2650,950,-9.37,0.31,520.04
$IRIDIUM_FIX,1900.10,12506.81,160612,181841
$TT8_MAMPS,0.055224
$HUMID,1078781281
$TCM_TEMP,25.00
$XPDR_PINGS,578
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2092826624
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59368538112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,30.449
$10V_AH,9.9,15.825
$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,21.800,258.775,389.250,91.850,0.000,28.094,32.726,555.689,144.500,0.000,17.287,2609.231,25444.709,706.257,4590.240,299.137,33.387,2734.426,0.000,3861.126,0.000,0.545,0.000
$DEVICE_MAMPS,145.730,49.088,1517.893,569.114,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,817.151,0.000,0.000,0.000,0.000,0.000,0.000,28821.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.276,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,43368,1200
$CAP_FILE_SIZE,281684,1
$CFSIZE,260034560,245518336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,180736,1904.051,12501.164,40,1.1,46,-2.3