version: 66.07
glider: 23
mission: 5
dive: 187
start: 12 28 110 7 43 20
data:
$ID,23
$MISSION,5
$DIVE,187
$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,1100
$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,120
$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,-55289.344
$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,2370
$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,2570
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,44
$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,186
$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
$GPS1,281210,072436,1846.600,12434.700,62,1.2,74,-2.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-54.4
$GPS2,281210,074231,1846.613,12434.420,12,1.3,29,-2.2
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.080,-0.174
$KALMAN_X,-323799.8,-1309.0,-744.3,176567.0,1509.8
$KALMAN_Y,160173.3,-549.7,489.1,-446800.0,3707.4
$MHEAD_RNG_PITCHd_Wd,206.9,55997,-14.7,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.11,-116.8,0.0,0.0,0,104,0.00,0.00,-76.38,0.000,2,0.000,0.000,360,2528,2793,0,0,0,0,0,0
$GC,106,-1.11,-116.8,3.2,-1.4,15,148,10.12,2.12,-25.38,0.000,4,0.160,0.048,2121,1515,3547,0,0,0,0,0,0
$GC,343,-1.11,-116.8,43.5,-21.0,52,350,0.00,2.17,0.00,0.000,6,0.000,0.024,2121,2563,3548,0,0,0,0,0,0
$GC,605,-1.11,-116.8,97.7,-18.8,77,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2562,3548,0,0,0,0,0,0
$GC,859,-1.11,-116.8,138.3,-15.3,101,863,0.00,1.73,0.00,0.000,4,0.000,0.036,2121,3643,3549,0,0,0,0,0,0
$GC,1117,-1.11,-116.8,177.3,-13.5,124,1121,0.00,1.73,0.00,0.000,6,0.000,0.022,2121,2556,3549,0,0,0,0,0,0
$GC,1393,-1.11,-116.8,211.0,-11.8,146,1396,0.00,1.75,0.00,0.000,4,0.000,0.037,2121,3641,3549,0,0,0,0,0,0
$GC,1650,-1.11,-116.8,235.3,-9.4,157,1655,0.00,1.70,0.00,0.000,6,0.000,0.021,2121,2567,3549,0,0,0,0,0,0
$GC,1971,-1.11,-116.8,264.7,-9.0,173,1975,0.00,1.73,0.00,0.000,4,0.000,0.039,2121,3634,3548,0,0,0,0,0,0
$GC,2228,-1.11,-116.8,287.1,-7.5,184,2233,0.00,1.70,0.00,0.000,6,0.000,0.021,2121,2564,3547,0,0,0,0,0,0
$GC,2569,-1.11,-116.8,309.1,-6.7,198,2572,0.00,2.20,0.00,0.000,4,0.000,0.038,2121,1509,3546,0,0,0,0,0,0
$GC,2617,-1.11,-116.8,313.1,-8.3,199,2622,0.00,2.20,0.00,0.000,6,0.000,0.028,2121,2559,3546,0,0,0,0,0,0
$GC,2942,-1.11,-116.8,337.9,-7.5,207,2946,0.00,2.17,0.00,0.000,4,0.000,0.037,2121,1518,3543,0,0,0,0,0,0
$GC,3192,-1.11,-116.8,357.2,-7.3,212,3197,0.00,2.17,0.00,0.000,6,0.000,0.028,2121,2554,3542,0,0,0,0,0,0
$GC,3530,-1.11,-116.8,380.4,-7.3,221,3534,0.00,2.17,0.00,0.000,4,0.000,0.037,2121,1510,3540,0,0,0,0,0,0
$GC,3584,-1.11,-116.8,384.1,-6.2,222,3589,0.00,2.17,0.00,0.000,6,0.000,0.028,2121,2548,3539,0,0,0,0,0,0
$GC,3898,-1.11,-116.8,402.5,-5.6,230,3901,0.00,2.17,0.00,0.000,4,0.000,0.037,2121,1517,3538,0,0,0,0,0,0
$GC,3964,-1.11,-116.8,406.3,-6.3,231,3968,0.00,2.15,0.00,0.000,6,0.000,0.029,2121,2550,3537,0,0,0,0,0,0
$GC,4306,-1.11,-116.8,421.9,-4.7,240,4309,0.00,1.80,0.00,0.000,4,0.000,0.045,2121,3645,3534,0,0,0,0,0,0
$GC,4563,-1.11,-116.8,439.4,-7.3,245,4568,0.00,1.77,0.00,0.000,6,0.000,0.024,2121,2546,3533,0,0,0,0,0,0
$GC,4900,-1.11,-116.8,460.9,-6.6,254,4904,0.00,2.15,0.00,0.000,4,0.000,0.038,2121,1512,3530,0,0,0,0,0,0
$GC,5011,-1.11,-116.8,467.9,-6.1,256,5015,0.00,2.17,0.00,0.000,6,0.000,0.031,2121,2542,3530,0,0,0,0,0,0
$GC,5353,-1.11,-116.8,487.9,-6.0,265,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2541,3527,0,0,0,0,0,0
$GC,5678,-1.11,-116.8,506.8,-5.8,273,5682,0.00,2.15,0.00,0.000,4,0.000,0.038,2121,1513,3525,0,0,0,0,0,0
$GC,5924,-1.11,-116.8,521.0,-6.1,278,5928,0.00,2.15,0.00,0.000,6,0.000,0.031,2121,2531,3523,0,0,0,0,0,0
$GC,6266,-1.11,-116.8,540.7,-5.9,287,6270,0.00,1.85,0.00,0.000,4,0.000,0.048,2121,3646,3521,0,0,0,0,0,0
$GC,6401,-1.11,-116.8,549.3,-6.4,290,6405,0.00,1.80,0.00,0.000,6,0.000,0.026,2121,2526,3520,0,0,0,0,0,0
$GC,6730,-1.11,-116.8,564.8,-4.1,298,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2526,3519,0,0,0,0,0,0
$GC,7055,-1.11,-116.8,575.6,-3.4,306,7059,0.00,1.85,0.00,0.000,4,0.000,0.047,2121,3634,3516,0,0,0,0,0,0
$GC,7138,-1.11,-116.8,579.4,-4.3,307,7144,0.00,1.80,0.00,0.000,6,0.000,0.025,2121,2525,3515,0,0,0,0,0,0
$GC,7470,-1.11,-116.8,595.0,-4.9,316,7473,0.00,2.15,0.00,0.000,4,0.000,0.040,2121,1498,3513,0,0,0,0,0,0
$GC,7564,-1.11,-116.8,599.8,-5.0,318,7568,0.00,2.20,0.00,0.000,6,0.000,0.033,2121,2537,3513,0,0,0,0,0,0
$GC,7882,-1.11,-116.8,614.7,-4.7,326,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2537,3512,0,0,0,0,0,0
$GC,8207,-1.11,-116.8,629.7,-4.6,334,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2537,3509,0,0,0,0,0,0
$GC,8533,-1.11,-116.8,645.5,-5.1,342,8536,0.00,2.17,0.00,0.000,4,0.000,0.040,2121,1510,3508,0,0,0,0,0,0
$GC,8790,-1.11,-116.8,659.2,-4.8,347,8796,0.00,2.20,0.00,0.000,6,0.000,0.035,2121,2568,3508,0,0,0,0,0,0
$GC,9121,-1.11,-116.8,673.3,-4.0,356,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2567,3506,0,0,0,0,0,0
$GC,9446,-1.11,-116.8,683.3,-2.8,364,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2567,3505,0,0,0,0,0,0
$GC,9771,-1.11,-116.8,693.7,-3.4,372,9775,0.00,2.22,0.00,0.000,4,0.000,0.041,2121,1506,3503,0,0,0,0,0,0
$GC,9933,-1.11,-116.8,700.0,-4.5,375,9937,0.00,2.17,0.00,0.000,6,0.000,0.037,2121,2537,3503,0,0,0,0,0,0
$GC,10263,-1.11,-116.8,714.2,-4.5,383,10267,0.00,2.17,0.00,0.000,4,0.000,0.042,2121,1501,3501,0,0,0,0,0,0
$GC,10415,-1.11,-116.8,721.6,-4.9,386,10419,0.00,2.20,0.00,0.000,6,0.000,0.038,2121,2543,3501,0,0,0,0,0,0
$GC,10756,-1.11,-116.8,737.5,-4.5,395,10760,0.00,2.17,0.00,0.000,4,0.000,0.041,2121,1501,3499,0,0,0,0,0,0
$GC,10806,-1.11,-116.8,739.6,-4.5,396,10810,0.00,2.20,0.00,0.000,6,0.000,0.038,2121,2543,3499,0,0,0,0,0,0
$GC,11124,-1.11,-116.8,753.8,-4.4,404,11128,0.00,1.85,0.00,0.000,4,0.000,0.056,2121,3646,3498,0,0,0,0,0,0
$GC,11270,-1.11,-116.8,760.5,-4.9,407,11273,0.00,1.80,0.00,0.000,6,0.000,0.029,2119,2531,3498,0,0,0,0,0,0
$GC,11588,-1.11,-116.8,772.7,-3.5,415,11592,0.00,2.15,0.00,0.000,4,0.000,0.043,2121,1503,3497,0,0,0,0,0,0
$GC,11845,-1.11,-116.8,780.9,-3.5,420,11851,0.00,2.20,0.00,0.000,6,0.000,0.038,2121,2529,3496,0,0,0,0,0,0
$GC,12176,-1.11,-116.8,792.5,-3.4,429,12180,0.00,2.17,0.00,0.000,4,0.000,0.040,2121,1499,3495,0,0,0,0,0,0
$GC,12434,-1.11,-116.8,802.6,-4.1,434,12439,0.00,2.17,0.00,0.000,6,0.000,0.038,2121,2519,3495,0,0,0,0,0,0
$GC,12764,-1.11,-116.8,815.3,-3.8,443,12768,0.00,2.15,0.00,0.000,4,0.000,0.040,2121,1496,3494,0,0,0,0,0,0
$GC,13022,-1.11,-116.8,824.5,-3.1,448,13026,0.00,2.20,0.00,0.000,6,0.000,0.038,2120,2524,3493,0,0,0,0,0,0
$GC,13358,-1.11,-116.8,834.0,-2.6,457,13362,0.00,2.15,0.00,0.000,4,0.000,0.041,2121,1511,3492,0,0,0,0,0,0
$GC,13526,-1.11,-116.8,837.9,-2.5,460,13532,0.00,2.17,0.00,0.000,6,0.000,0.038,2121,2523,3492,0,0,0,0,0,0
$GC,13857,-1.11,-116.8,844.9,-2.1,469,13861,0.00,2.15,0.00,0.000,4,0.000,0.041,2121,1496,3491,0,0,0,0,0,0
$GC,13940,-1.11,-116.8,846.8,-2.0,470,13945,0.00,2.20,0.00,0.000,6,0.000,0.038,2121,2537,3491,0,0,0,0,0,0
$GC,14271,-1.11,-116.8,854.3,-2.3,479,14274,0.00,2.17,0.00,0.000,4,0.000,0.041,2121,1499,3491,0,0,0,0,0,0
$GC,14528,-1.11,-116.8,859.2,-1.1,484,14534,0.00,2.17,0.00,0.000,6,0.000,0.038,2121,2514,3490,0,0,0,0,0,0
$GC,14859,-1.11,-116.8,863.1,-1.0,493,14863,0.00,2.12,0.00,0.000,4,0.000,0.041,2121,1499,3489,0,0,0,0,0,0
$GC,15116,-1.11,-116.8,865.2,-1.0,498,15122,0.00,2.17,0.00,0.000,6,0.000,0.038,2121,2516,3489,0,0,0,0,0,0
$STATE,15242,end dive,NO_VERTICAL_VELOCITY
$STATE,15242,begin apogee
$GC,15248,-0.33,0.0,866.1,0.0,502,15339,0.85,0.00,87.68,1.417,6,0.098,0.000,2293,1874,3071,0,0,0,0,0,0
$STATE,15343,end apogee,CONTROL_FINISHED_OK
$STATE,15343,begin climb
$GC,15344,1.11,116.8,864.4,0.0,504,15454,1.48,2.17,99.60,1.361,4,0.064,0.042,2609,2922,2593,0,0,0,0,0,0
$GC,15515,1.11,116.8,846.4,12.1,508,15520,0.00,2.15,0.00,0.000,6,0.000,0.035,2609,1855,2590,0,0,0,0,0,0
$GC,15839,1.11,116.8,810.7,10.7,516,15843,0.00,2.08,0.00,0.000,4,0.000,0.038,2609,2922,2588,0,0,0,0,0,0
$GC,15928,1.11,116.8,801.2,10.7,518,15932,0.00,2.10,0.00,0.000,6,0.000,0.036,2608,1868,2587,0,0,0,0,0,0
$GC,16252,1.11,116.8,767.3,10.7,526,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1868,2586,0,0,0,0,0,0
$GC,16577,1.11,116.8,730.8,11.3,534,16581,0.00,2.08,0.00,0.000,4,0.000,0.038,2609,2925,2585,0,0,0,0,0,0
$GC,16693,1.11,116.8,717.9,9.5,536,16698,0.00,2.10,0.00,0.000,6,0.000,0.035,2609,1867,2586,0,0,0,0,0,0
$GC,17036,1.11,116.8,683.1,9.9,545,17039,0.00,2.05,0.00,0.000,4,0.000,0.038,2609,2920,2585,0,0,0,0,0,0
$GC,17157,1.11,116.8,671.4,10.8,547,17162,0.00,2.03,0.00,0.000,6,0.000,0.034,2609,1882,2586,0,0,0,0,0,0
$GC,17495,1.11,116.8,640.4,9.4,556,17498,0.00,2.00,0.00,0.000,4,0.000,0.037,2609,2922,2585,0,0,0,0,0,0
$GC,17555,1.11,116.8,634.6,9.6,557,17560,0.00,2.03,0.00,0.000,6,0.000,0.034,2609,1885,2585,0,0,0,0,0,0
$GC,17868,1.11,116.8,603.3,10.4,565,17872,0.00,2.00,0.00,0.000,4,0.000,0.036,2609,2927,2585,0,0,0,0,0,0
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$STATE,25214,end climb,SURFACE_DEPTH_REACHED
$STATE,25216,begin surface coast
$FINISH,2.5,1.022299
$STATE,25220,end surface coast,CONTROL_FINISHED_OK
$STATE,25221,begin surface
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59256143872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,33.039
$10V_AH,10.0,17.722
$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
$DEVICE_SECS,22.775,212.350,435.050,54.450,0.000,78.471,114.117,567.725,124.250,0.000,30.641,2055.207,19620.881,651.735,3774.752,251.321,33.380,2216.300,0.000,2892.449,0.000,0.547,0.000
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$SENSOR_SECS,671.212,0.000,0.000,0.000,0.000,0.000,0.000,22760.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.622,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,33420,991
$CAP_FILE_SIZE,227992,0
$CFSIZE,260034560,244019200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281210,144636,1845.740,12431.959,46,1.5,47,-2.2