version: 66.07
glider: 23
mission: 5
dive: 208
start: 1 4 111 0 7 10
data:
$ID,23
$MISSION,5
$DIVE,208
$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,-55846.383
$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,35
$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,207
$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
$GPS1,030111,235100,1820.192,12417.136,40,1.1,40,-2.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-51.3
$GPS2,040111,000620,1820.256,12416.964,11,1.1,11,-2.1
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,-0.113
$KALMAN_X,-352462.4,-683.1,-313.2,174065.9,331.3
$KALMAN_Y,214396.4,-33.7,380.6,-550234.0,2370.5
$MHEAD_RNG_PITCHd_Wd,160.3,1675,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.78,-45.1,0.0,0.0,0,90,0.00,0.00,-61.28,0.000,2,0.000,0.000,363,2604,2474,0,0,0,0,0,0
$GC,93,-1.84,-103.2,3.1,-1.0,12,159,9.40,2.40,-47.33,0.000,4,0.153,0.053,2018,1505,3492,0,0,0,0,0,0
$GC,266,-1.84,-103.2,30.0,-25.6,44,271,0.00,2.17,0.00,0.000,6,0.000,0.025,2018,2568,3493,0,0,0,0,0,0
$GC,462,-1.84,-103.2,88.6,-29.7,63,466,0.00,1.73,0.00,0.000,4,0.000,0.037,2018,3645,3493,0,0,0,0,0,0
$GC,720,-1.84,-103.2,154.0,-20.0,86,724,0.00,1.67,0.00,0.000,6,0.000,0.024,2018,2585,3494,0,0,0,0,0,0
$GC,986,-1.84,-103.2,195.7,-13.4,111,990,0.00,1.70,0.00,0.000,4,0.000,0.036,2018,3643,3495,0,0,0,0,0,0
$GC,997,-1.84,-103.2,197.1,-13.7,112,1000,0.00,1.65,0.00,0.000,6,0.000,0.023,2018,2571,3495,0,0,0,0,0,0
$GC,1256,-1.84,-103.2,228.8,-9.9,126,1260,0.00,2.25,0.00,0.000,4,0.000,0.037,2018,1509,3496,0,0,0,0,0,0
$GC,1435,-1.84,-103.2,246.4,-10.0,134,1439,0.00,2.28,0.00,0.000,6,0.000,0.028,2018,2625,3496,0,0,0,0,0,0
$GC,1760,-1.84,-103.2,277.9,-9.8,150,1764,0.00,2.33,0.00,0.000,4,0.000,0.038,2018,1513,3496,0,0,0,0,0,0
$GC,1939,-1.84,-103.2,296.3,-10.3,158,1943,0.00,2.30,0.00,0.000,6,0.000,0.029,2018,2604,3496,0,0,0,0,0,0
$GC,2281,-1.84,-103.2,327.8,-8.9,168,2285,0.00,1.67,0.00,0.000,4,0.000,0.042,2017,3626,3495,0,0,0,0,0,0
$GC,2538,-1.84,-103.2,348.2,-7.5,173,2543,0.00,1.65,0.00,0.000,6,0.000,0.025,2018,2599,3494,0,0,0,0,0,0
$GC,2875,-1.85,-108.6,371.3,-6.4,182,2879,0.00,1.67,0.00,0.000,4,0.000,0.043,2018,3641,3492,0,0,0,0,0,0
$GC,3133,-1.85,-112.0,389.1,-6.7,187,3137,0.00,1.67,0.00,0.000,6,0.000,0.025,2018,2595,3490,0,0,0,0,0,0
$GC,3469,-1.86,-113.2,410.4,-6.9,196,3473,0.00,1.70,0.00,0.000,4,0.000,0.042,2020,3639,3488,0,0,0,0,0,0
$GC,3726,-1.86,-113.2,430.2,-7.3,201,3731,0.00,1.67,0.00,0.000,6,0.000,0.025,2018,2593,3486,0,0,0,0,0,0
$GC,4064,-1.86,-116.8,449.6,-4.9,210,4067,0.00,1.70,0.00,0.000,4,0.000,0.044,2018,3634,3484,0,0,0,0,0,0
$GC,4321,-1.86,-116.8,462.6,-5.4,215,4325,0.00,1.67,0.00,0.000,6,0.000,0.025,2018,2590,3482,0,0,0,0,0,0
$GC,4658,-1.86,-116.8,481.0,-5.6,224,4661,0.00,1.70,0.00,0.000,4,0.000,0.044,2018,3630,3479,0,0,0,0,0,0
$GC,4915,-1.86,-116.8,495.0,-5.0,229,4919,0.00,1.67,0.00,0.000,6,0.000,0.026,2003,2584,3477,0,0,0,0,0,0
$GC,5252,-1.86,-116.8,512.4,-4.9,238,5255,0.00,1.70,0.00,0.000,4,0.000,0.044,2018,3634,3476,0,0,0,0,0,0
$GC,5503,-1.86,-116.8,524.3,-5.0,243,5508,0.00,1.67,0.00,0.000,6,0.000,0.026,2011,2589,3474,0,0,0,0,0,0
$GC,5846,-1.86,-116.8,542.4,-5.6,252,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2590,3472,0,0,0,0,0,0
$GC,6171,-1.86,-116.8,558.5,-4.8,260,6175,0.00,2.30,0.00,0.000,4,0.000,0.041,2018,1505,3469,0,0,0,0,0,0
$GC,6399,-1.86,-116.8,566.6,-3.0,265,6404,0.00,2.35,0.00,0.000,6,0.000,0.035,2018,2610,3468,0,0,0,0,0,0
$GC,6718,-1.86,-116.8,575.5,-2.8,273,6722,0.00,1.70,0.00,0.000,4,0.000,0.050,2018,3630,3466,0,0,0,0,0,0
$GC,6976,-1.86,-116.8,586.1,-4.3,278,6980,0.00,1.67,0.00,0.000,6,0.000,0.028,2013,2589,3464,0,0,0,0,0,0
$GC,7312,-1.86,-116.8,601.8,-4.9,287,7317,0.00,2.28,0.00,0.000,4,0.000,0.043,2018,1511,3463,0,0,0,0,0,0
$GC,7570,-1.86,-116.8,614.2,-4.9,292,7576,0.00,2.33,0.00,0.000,6,0.000,0.037,2018,2602,3461,0,0,0,0,0,0
$GC,7901,-1.86,-116.8,631.0,-5.1,301,7905,0.00,2.33,0.00,0.000,4,0.000,0.042,2018,1515,3459,0,0,0,0,0,0
$GC,8158,-1.86,-116.8,642.9,-3.8,306,8164,0.00,2.25,0.00,0.000,6,0.000,0.037,2018,2566,3459,0,0,0,0,0,0
$GC,8489,-1.86,-116.8,655.4,-3.6,315,8493,0.00,2.28,0.00,0.000,4,0.000,0.044,2018,1512,3457,0,0,0,0,0,0
$GC,8678,-1.86,-116.8,661.4,-2.9,319,8683,0.00,2.30,0.00,0.000,6,0.000,0.038,2018,2582,3457,0,0,0,0,0,0
$GC,8997,-1.86,-116.8,669.2,-2.2,327,9001,0.00,2.30,0.00,0.000,4,0.000,0.043,2018,1511,3455,0,0,0,0,0,0
$GC,9165,-1.86,-116.8,673.1,-2.7,330,9171,0.00,2.30,0.00,0.000,6,0.000,0.038,2018,2578,3455,0,0,0,0,0,0
$GC,9496,-1.86,-116.8,681.1,-2.3,339,9500,0.00,1.77,0.00,0.000,4,0.000,0.053,2018,3633,3453,0,0,0,0,0,0
$GC,9636,-1.86,-116.8,685.0,-2.9,342,9639,0.00,1.67,0.00,0.000,6,0.000,0.029,2012,2565,3452,0,0,0,0,0,0
$GC,9959,-1.86,-116.8,695.2,-3.1,350,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2565,3451,0,0,0,0,0,0
$GC,10284,-1.86,-116.8,706.8,-3.8,358,10288,0.00,2.25,0.00,0.000,4,0.000,0.046,2018,1510,3450,0,0,0,0,0,0
$GC,10542,-1.86,-116.8,715.5,-3.5,363,10548,0.00,2.28,0.00,0.000,6,0.000,0.039,2018,2559,3449,0,0,0,0,0,0
$GC,10873,-1.86,-116.8,724.7,-2.5,372,10877,0.00,2.25,0.00,0.000,4,0.000,0.043,2018,1516,3448,0,0,0,0,0,0
$GC,11130,-1.86,-116.8,730.0,-1.7,377,11137,0.00,2.28,0.00,0.000,6,0.000,0.038,2018,2566,3448,0,0,0,0,0,0
$GC,11462,-1.86,-116.8,736.4,-2.0,386,11466,0.00,2.28,0.00,0.000,4,0.000,0.041,2018,1507,3447,0,0,0,0,0,0
$GC,11719,-1.86,-116.8,740.2,-1.3,391,11725,0.00,2.30,0.00,0.000,6,0.000,0.038,2017,2569,3447,0,0,0,0,0,0
$STATE,12048,end dive,NO_VERTICAL_VELOCITY
$STATE,12048,begin apogee
$GC,12055,-0.33,0.0,743.2,0.0,400,12136,1.67,0.00,77.62,1.316,6,0.114,0.000,2346,1881,3071,0,0,0,0,0,0
$STATE,12140,end apogee,CONTROL_FINISHED_OK
$STATE,12140,begin climb
$GC,12141,1.86,116.8,741.4,0.0,402,12249,2.20,2.08,98.25,1.260,4,0.058,0.031,2829,2922,2593,0,0,0,0,0,0
$GC,12501,1.86,116.8,660.0,23.5,410,12506,0.00,2.17,0.00,0.000,6,0.000,0.036,2829,1852,2588,0,0,0,0,0,0
$GC,12814,1.86,116.8,584.4,23.7,418,12818,0.00,2.17,0.00,0.000,4,0.000,0.049,2829,790,2587,0,0,0,0,0,0
$GC,12902,1.86,116.8,562.2,23.1,420,12907,0.00,2.20,0.00,0.000,6,0.000,0.025,2829,1890,2586,0,0,0,0,0,0
$GC,13227,1.86,116.8,486.4,24.0,428,13231,0.00,1.95,0.00,0.000,4,0.000,0.031,2829,2922,2585,0,0,0,0,0,0
$GC,13484,1.86,116.8,428.0,21.1,433,13489,0.00,2.03,0.00,0.000,6,0.000,0.031,2829,1891,2585,0,0,0,0,0,0
$GC,13821,1.86,116.8,354.1,21.7,442,13825,0.00,2.25,0.00,0.000,4,0.000,0.042,2828,788,2585,0,0,0,0,0,0
$GC,13972,1.86,116.8,319.5,20.5,445,13976,0.00,2.20,0.00,0.000,6,0.000,0.021,2829,1914,2584,0,0,0,0,0,0
$GC,14302,1.86,116.8,259.7,18.1,458,14306,0.00,1.83,0.00,0.000,4,0.000,0.028,2829,2919,2584,0,0,0,0,0,0
$GC,14560,1.86,116.8,211.3,18.8,469,14564,0.00,1.92,0.00,0.000,6,0.000,0.025,2829,1906,2585,0,0,0,0,0,0
$GC,14888,1.86,116.8,158.3,14.3,497,14891,0.00,1.88,0.00,0.000,4,0.000,0.026,2829,2922,2587,0,0,0,0,0,0
$GC,15147,1.86,116.8,127.0,9.8,520,15151,0.00,1.85,0.00,0.000,6,0.000,0.022,2829,1913,2588,0,0,0,0,0,0
$GC,15414,1.88,132.7,110.6,5.4,545,15435,0.00,2.35,13.12,0.686,4,0.000,0.038,2829,793,2530,0,0,0,0,0,0
$GC,15686,1.88,132.7,86.4,9.2,569,15692,0.00,2.28,0.00,0.000,6,0.000,0.017,2829,1959,2531,0,0,0,0,0,0
$GC,15949,1.88,132.7,59.4,10.6,594,15952,0.00,1.75,0.00,0.000,4,0.000,0.025,2829,2919,2535,0,0,0,0,0,0
$GC,16062,1.88,132.7,46.6,11.5,604,16065,0.00,1.83,0.00,0.000,6,0.000,0.022,2829,1931,2536,0,0,0,0,0,0
$GC,16329,1.88,132.7,15.7,9.8,639,16334,0.00,1.83,0.00,0.000,4,0.000,0.021,2830,2918,2539,0,0,0,0,0,0
$STATE,16440,end climb,SURFACE_DEPTH_REACHED
$STATE,16440,begin surface coast
$FINISH,2.3,1.022502
$STATE,16463,end surface coast,CONTROL_FINISHED_OK
$STATE,16463,begin surface
$SM_CCo,16484,183.65,0.589,0,0,950,520.04
$SM_GC,2.62,0.00,0.00,183.65,0.000,0.000,0.589,364,2553,950,-9.48,-0.48,520.04
$IRIDIUM_FIX,1812.31,12414.14,280612,181828
$TT8_MAMPS,0.049088
$HUMID,1078919345
$TCM_TEMP,25.40
$XPDR_PINGS,371
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091909120
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,36.346
$10V_AH,10.0,20.711
$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,23.900,120.725,189.000,183.650,0.000,53.714,91.246,593.182,92.750,0.000,13.238,1459.776,12287.497,532.258,3046.336,259.953,33.377,1709.841,0.000,2306.195,0.000,0.545,0.000
$DEVICE_MAMPS,153.400,52.923,1316.172,589.056,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,448.860,0.000,0.000,0.000,0.000,0.000,0.000,15245.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.054,0.000,0.000
$MEM,354924
$DATA_FILE_SIZE,23404,663
$CAP_FILE_SIZE,158450,0
$CFSIZE,260034560,242003968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,044636,1820.586,12416.267,42,1.2,47,-2.1