version: 66.07
glider: 23
mission: 5
dive: 207
start: 1 3 111 18 48 14
data:
$ID,23
$MISSION,5
$DIVE,207
$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,-55832.516
$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,2425
$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,42
$R_STBD_OVSHOOT,19
$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,206
$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
$GPS1,030111,182530,1820.181,12417.987,36,1.8,42,-2.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-50.8
$GPS2,030111,184725,1820.116,12417.870,36,1.7,36,-2.1
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,-0.112
$KALMAN_X,-351623.9,585.5,448.4,172744.2,-1732.3
$KALMAN_Y,212709.8,-593.0,-785.9,-547069.1,3833.9
$MHEAD_RNG_PITCHd_Wd,159.6,1997,-26.0,-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,24,begin dive
$GC,25,-1.78,-45.1,0.0,0.0,0,98,0.00,0.00,-70.70,0.000,2,0.000,0.000,365,2527,2680,0,0,0,0,0,0
$GC,101,-1.85,-106.4,3.1,-0.6,14,148,9.55,2.17,-31.30,0.000,4,0.162,0.048,2018,1521,3506,0,0,0,0,0,0
$GC,327,-1.85,-106.4,50.7,-27.4,48,333,0.00,2.25,0.00,0.000,6,0.000,0.027,2018,2585,3507,0,0,0,0,0,0
$GC,588,-1.85,-106.4,116.1,-26.1,73,592,0.00,1.65,0.00,0.000,4,0.000,0.037,2019,3626,3507,0,0,0,0,0,0
$GC,846,-1.85,-106.4,167.4,-18.8,96,850,0.00,1.65,0.00,0.000,6,0.000,0.024,2018,2553,3507,0,0,0,0,0,0
$GC,1109,-1.85,-106.4,213.4,-15.9,117,1113,0.00,2.22,0.00,0.000,4,0.000,0.038,2018,1507,3508,0,0,0,0,0,0
$GC,1249,-1.85,-106.4,230.8,-9.9,123,1253,0.00,2.28,0.00,0.000,6,0.000,0.028,2019,2590,3508,0,0,0,0,0,0
$GC,1575,-1.85,-106.4,264.6,-10.2,139,1579,0.00,2.28,0.00,0.000,4,0.000,0.038,2018,1515,3508,0,0,0,0,0,0
$GC,1663,-1.85,-106.4,274.4,-9.8,143,1667,0.00,2.28,0.00,0.000,6,0.000,0.028,2018,2591,3508,0,0,0,0,0,0
$GC,1989,-1.85,-106.4,308.1,-10.1,157,1992,0.00,1.70,0.00,0.000,4,0.000,0.041,2018,3634,3507,0,0,0,0,0,0
$GC,2246,-1.85,-106.4,329.9,-7.9,162,2250,0.00,1.65,0.00,0.000,6,0.000,0.024,2018,2594,3506,0,0,0,0,0,0
$GC,2582,-1.85,-106.4,357.9,-8.4,171,2586,0.00,1.67,0.00,0.000,4,0.000,0.041,2018,3631,3505,0,0,0,0,0,0
$GC,2839,-1.85,-106.4,382.5,-9.6,176,2844,0.00,1.65,0.00,0.000,6,0.000,0.025,2019,2595,3503,0,0,0,0,0,0
$GC,3176,-1.85,-106.4,411.0,-8.6,185,3180,0.00,1.67,0.00,0.000,4,0.000,0.041,2018,3631,3501,0,0,0,0,0,0
$GC,3433,-1.85,-107.2,431.9,-6.9,190,3438,0.00,1.65,0.00,0.000,6,0.000,0.024,2019,2590,3499,0,0,0,0,0,0
$GC,3770,-1.85,-110.9,453.7,-6.6,199,3774,0.00,2.30,0.00,0.000,4,0.000,0.040,2018,1515,3498,0,0,0,0,0,0
$GC,4026,-1.85,-110.9,472.9,-7.2,204,4033,0.00,2.33,0.00,0.000,6,0.000,0.033,2019,2608,3495,0,0,0,0,0,0
$GC,4358,-1.86,-114.4,494.7,-6.6,213,4362,0.00,2.35,0.00,0.000,4,0.000,0.040,2018,1505,3493,0,0,0,0,0,0
$GC,4614,-1.86,-116.8,510.5,-5.5,218,4619,0.00,2.35,0.00,0.000,6,0.000,0.033,2018,2609,3491,0,0,0,0,0,0
$GC,4951,-1.86,-116.8,526.4,-4.4,227,4956,0.00,2.35,0.00,0.000,4,0.000,0.040,2018,1507,3489,0,0,0,0,0,0
$GC,5209,-1.86,-116.8,539.2,-5.1,232,5215,0.00,2.35,0.00,0.000,6,0.000,0.034,2018,2613,3487,0,0,0,0,0,0
$GC,5540,-1.86,-116.8,557.5,-5.8,241,5544,0.00,2.35,0.00,0.000,4,0.000,0.041,2018,1512,3484,0,0,0,0,0,0
$GC,5617,-1.86,-116.8,562.4,-6.2,242,5623,0.00,2.35,0.00,0.000,6,0.000,0.035,2018,2617,3484,0,0,0,0,0,0
$GC,5948,-1.86,-116.8,578.4,-4.5,251,5951,0.00,1.67,0.00,0.000,4,0.000,0.048,2018,3639,3482,0,0,0,0,0,0
$GC,6205,-1.86,-116.8,591.7,-5.4,256,6209,0.00,1.65,0.00,0.000,6,0.000,0.028,2018,2610,3480,0,0,0,0,0,0
$GC,6542,-1.86,-116.8,607.8,-4.6,265,6545,0.00,1.67,0.00,0.000,4,0.000,0.048,2018,3637,3478,0,0,0,0,0,0
$GC,6760,-1.86,-116.8,619.1,-4.6,269,6766,0.00,1.67,0.00,0.000,6,0.000,0.028,1998,2598,3476,0,0,0,0,0,0
$GC,7091,-1.86,-116.8,632.0,-3.8,278,7095,0.00,2.33,0.00,0.000,4,0.000,0.044,2018,1509,3474,0,0,0,0,0,0
$GC,7258,-1.86,-116.8,637.8,-3.5,281,7264,0.00,2.35,0.00,0.000,6,0.000,0.036,2018,2610,3473,0,0,0,0,0,0
$GC,7589,-1.86,-116.8,650.2,-3.7,290,7592,0.00,1.67,0.00,0.000,4,0.000,0.051,2018,3630,3471,0,0,0,0,0,0
$GC,7846,-1.86,-116.8,658.4,-2.9,295,7850,0.00,1.65,0.00,0.000,6,0.000,0.028,2009,2605,3470,0,0,0,0,0,0
$GC,8183,-1.86,-116.8,669.4,-3.3,304,8187,0.00,1.70,0.00,0.000,4,0.000,0.051,2018,3630,3468,0,0,0,0,0,0
$GC,8441,-1.86,-116.8,677.4,-3.3,309,8445,0.00,1.65,0.00,0.000,6,0.000,0.028,2007,2611,3467,0,0,0,0,0,0
$GC,8777,-1.86,-116.8,688.2,-3.3,318,8781,0.00,1.70,0.00,0.000,4,0.000,0.051,2018,3634,3467,0,0,0,0,0,0
$GC,9034,-1.86,-116.8,698.0,-3.8,323,9039,0.00,1.67,0.00,0.000,6,0.000,0.028,2001,2598,3465,0,0,0,0,0,0
$GC,9372,-1.86,-116.8,710.7,-3.9,332,9376,0.00,2.33,0.00,0.000,4,0.000,0.046,2018,1513,3464,0,0,0,0,0,0
$GC,9511,-1.86,-116.8,716.8,-4.4,335,9516,0.00,2.30,0.00,0.000,6,0.000,0.038,2018,2606,3464,0,0,0,0,0,0
$GC,9824,-1.86,-116.8,728.2,-3.3,343,9828,0.00,1.70,0.00,0.000,4,0.000,0.054,2018,3633,3462,0,0,0,0,0,0
$GC,10081,-1.86,-116.8,735.5,-3.0,348,10086,0.00,1.65,0.00,0.000,6,0.000,0.029,2001,2609,3462,0,0,0,0,0,0
$GC,10419,-1.86,-116.8,742.2,-1.7,357,10422,0.00,1.70,0.00,0.000,4,0.000,0.053,2018,3631,3462,0,0,0,0,0,0
$GC,10676,-1.86,-116.8,746.4,-1.6,362,10680,0.00,1.65,0.00,0.000,6,0.000,0.030,2007,2608,3460,0,0,0,0,0,0
$GC,11013,-1.86,-116.8,753.3,-2.4,371,11017,0.00,1.70,0.00,0.000,4,0.000,0.052,2018,3633,3459,0,0,0,0,0,0
$GC,11096,-1.86,-116.8,756.1,-3.9,372,11102,0.00,1.65,0.00,0.000,6,0.000,0.029,1991,2611,3458,0,0,0,0,0,0
$GC,11428,-1.86,-116.8,765.3,-2.8,381,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2611,3458,0,0,0,0,0,0
$GC,11752,-1.86,-116.8,772.0,-1.8,389,11756,0.00,2.35,0.00,0.000,4,0.000,0.045,2018,1506,3456,0,0,0,0,0,0
$GC,12010,-1.86,-116.8,776.7,-1.4,394,12015,0.00,2.33,0.00,0.000,6,0.000,0.039,2018,2619,3456,0,0,0,0,0,0
$GC,12341,-1.86,-116.8,780.0,-0.9,403,12345,0.00,2.35,0.00,0.000,4,0.000,0.042,2018,1512,3456,0,0,0,0,0,0
$GC,12598,-1.86,-116.8,782.8,-1.1,408,12602,0.00,2.38,0.00,0.000,6,0.000,0.040,2018,2620,3456,0,0,0,0,0,0
$GC,12935,-1.86,-116.8,786.7,-1.1,417,12939,0.00,2.33,0.00,0.000,4,0.000,0.042,2018,1516,3455,0,0,0,0,0,0
$GC,13153,-1.86,-116.8,788.5,-0.3,422,13157,0.00,2.33,0.00,0.000,6,0.000,0.039,2016,2620,3454,0,0,0,0,0,0
$STATE,13312,end dive,NO_VERTICAL_VELOCITY
$STATE,13312,begin apogee
$GC,13318,-0.33,0.0,789.3,0.0,426,13402,1.67,0.00,79.82,1.355,6,0.110,0.000,2349,1884,3072,0,0,0,0,0,0
$STATE,13405,end apogee,CONTROL_FINISHED_OK
$STATE,13405,begin climb
$GC,13407,1.86,116.8,787.3,0.0,428,13515,2.20,2.05,98.65,1.308,4,0.058,0.030,2833,2917,2593,0,0,0,0,0,0
$GC,13666,1.86,116.8,727.3,24.9,434,13671,0.00,2.15,0.00,0.000,6,0.000,0.038,2833,1843,2589,0,0,0,0,0,0
$GC,13984,1.86,116.8,641.2,26.8,442,13988,0.00,2.17,0.00,0.000,4,0.000,0.050,2831,788,2587,0,0,0,0,0,0
$GC,14141,1.86,116.8,597.9,25.9,445,14145,0.00,2.15,0.00,0.000,6,0.000,0.025,2833,1888,2587,0,0,0,0,0,0
$GC,14477,1.86,116.8,516.4,24.0,454,14481,0.00,1.95,0.00,0.000,4,0.000,0.031,2833,2918,2587,0,0,0,0,0,0
$GC,14734,1.86,116.8,457.4,21.9,459,14739,0.00,2.03,0.00,0.000,6,0.000,0.033,2833,1891,2586,0,0,0,0,0,0
$GC,15071,1.86,116.8,381.9,21.5,468,15075,0.00,2.25,0.00,0.000,4,0.000,0.044,2832,777,2585,0,0,0,0,0,0
$GC,15181,1.86,116.8,356.6,21.8,470,15186,0.00,2.22,0.00,0.000,6,0.000,0.022,2833,1900,2585,0,0,0,0,0,0
$GC,15504,1.86,116.8,290.4,19.9,479,15507,0.00,1.92,0.00,0.000,4,0.000,0.028,2834,2923,2585,0,0,0,0,0,0
$GC,15761,1.86,116.8,240.4,18.8,490,15765,0.00,1.98,0.00,0.000,6,0.000,0.028,2833,1901,2586,0,0,0,0,0,0
$GC,16085,1.86,116.8,181.9,16.3,511,16088,0.00,1.92,0.00,0.000,4,0.000,0.027,2833,2922,2588,0,0,0,0,0,0
$GC,16344,1.86,116.8,144.8,12.3,534,16348,0.00,1.88,0.00,0.000,6,0.000,0.024,2833,1909,2588,0,0,0,0,0,0
$GC,16611,1.86,116.8,115.3,10.9,559,16615,0.00,2.22,0.00,0.000,4,0.000,0.038,2833,801,2590,0,0,0,0,0,0
$GC,16867,1.86,116.8,97.1,7.8,581,16874,0.00,2.30,0.00,0.000,6,0.000,0.018,2834,1974,2593,0,0,0,0,0,0
$GC,17130,1.86,116.8,76.7,7.8,606,17134,0.00,2.35,0.00,0.000,4,0.000,0.035,2834,801,2595,0,0,0,0,0,0
$GC,17173,1.86,116.8,73.5,7.6,609,17179,0.00,2.28,0.00,0.000,6,0.000,0.017,2833,1972,2596,0,0,0,0,0,0
$GC,17435,1.86,116.8,46.5,10.8,634,17439,0.00,1.73,0.00,0.000,4,0.000,0.025,2834,2925,2601,0,0,0,0,0,0
$GC,17695,1.86,116.8,16.5,7.8,667,17700,0.00,1.80,0.00,0.000,6,0.000,0.022,2833,1958,2602,0,0,0,0,0,0
$STATE,17827,end climb,SURFACE_DEPTH_REACHED
$STATE,17827,begin surface coast
$FINISH,2.1,1.009288
$STATE,17851,end surface coast,CONTROL_FINISHED_OK
$STATE,17851,begin surface
$SM_CCo,17883,191.62,0.594,0,0,950,520.04
$SM_GC,2.79,0.00,0.00,191.62,0.000,0.000,0.594,363,2606,950,-9.49,1.02,520.04
$IRIDIUM_FIX,1812.31,12417.30,280612,121221
$TT8_MAMPS,0.049088
$HUMID,1078896119
$TCM_TEMP,25.30
$XPDR_PINGS,382
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091941888
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,36.196
$10V_AH,10.0,20.618
$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,24.150,135.775,178.475,191.625,0.000,147.000,183.685,547.825,95.500,0.000,38.095,1556.490,13580.822,539.461,3500.487,202.644,33.380,1800.223,0.000,2476.703,0.000,0.545,0.000
$DEVICE_MAMPS,161.837,53.690,1355.289,593.658,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,471.534,0.000,0.000,0.000,0.000,0.000,0.000,16799.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.275,0.000,0.000
$MEM,354720
$DATA_FILE_SIZE,23459,695
$CAP_FILE_SIZE,173306,0
$CFSIZE,260034560,242061312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030111,235100,1820.192,12417.136,40,1.1,40,-2.1