version: 66.07
glider: 23
mission: 5
dive: 210
start: 1 4 111 13 9 33
data:
$ID,23
$MISSION,5
$DIVE,210
$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,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,-55878.852
$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,2360
$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,13
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,209
$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
$GPS1,040111,123337,1819.784,12416.535,31,1.0,31,-2.1
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-52.9
$GPS2,040111,130843,1820.153,12416.221,14,1.4,14,-2.1
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.053
$KALMAN_X,-358950.5,237.9,-364.9,178402.0,-2138.2
$KALMAN_Y,221796.3,-211.9,153.2,-557415.8,3213.3
$MHEAD_RNG_PITCHd_Wd,112.3,2635,-19.8,-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,-1.40,-72.8,0.0,0.0,0,94,0.00,0.00,-65.47,0.000,2,0.000,0.000,363,2548,2558,0,0,0,0,0,0
$GC,97,-1.44,-116.8,3.2,-0.8,13,158,9.52,2.33,-42.22,0.000,4,0.155,0.049,2038,1487,3548,0,0,0,0,0,0
$GC,220,-1.44,-116.8,16.6,-22.4,36,226,0.00,2.28,0.00,0.000,6,0.000,0.026,2039,2592,3549,0,0,0,0,0,0
$GC,420,-1.44,-116.8,63.2,-22.6,60,423,0.00,1.62,0.00,0.000,4,0.000,0.035,2039,3628,3549,0,0,0,0,0,0
$GC,679,-1.44,-116.8,124.3,-22.4,83,683,0.00,1.70,0.00,0.000,6,0.000,0.024,2038,2546,3549,0,0,0,0,0,0
$GC,946,-1.44,-116.8,173.7,-16.2,108,949,0.00,1.73,0.00,0.000,4,0.000,0.037,2039,3638,3550,0,0,0,0,0,0
$GC,1159,-1.44,-116.8,209.1,-15.1,124,1163,0.00,1.67,0.00,0.000,6,0.000,0.024,2038,2551,3550,0,0,0,0,0,0
$GC,1479,-1.44,-116.8,250.2,-13.4,140,1483,0.00,2.20,0.00,0.000,4,0.000,0.036,2040,1508,3550,0,0,0,0,0,0
$GC,1736,-1.44,-116.8,279.0,-10.8,151,1743,0.00,2.22,0.00,0.000,6,0.000,0.027,2038,2564,3549,0,0,0,0,0,0
$GC,2051,-1.44,-116.8,308.9,-9.5,165,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2564,3548,0,0,0,0,0,0
$GC,2376,-1.44,-116.8,340.2,-9.8,173,2379,0.00,1.70,0.00,0.000,4,0.000,0.041,2039,3637,3547,0,0,0,0,0,0
$GC,2606,-1.44,-116.8,360.1,-8.3,178,2609,0.00,1.67,0.00,0.000,6,0.000,0.025,2039,2562,3545,0,0,0,0,0,0
$GC,2929,-1.44,-116.8,385.4,-7.7,186,2933,0.00,2.20,0.00,0.000,4,0.000,0.038,2038,1511,3544,0,0,0,0,0,0
$GC,3058,-1.44,-116.8,395.4,-7.5,189,3062,0.00,2.22,0.00,0.000,6,0.000,0.030,2038,2574,3542,0,0,0,0,0,0
$GC,3380,-1.44,-116.8,417.4,-7.3,197,3384,0.00,1.75,0.00,0.000,4,0.000,0.044,2038,3639,3540,0,0,0,0,0,0
$GC,3637,-1.44,-116.8,440.4,-9.3,202,3642,0.00,1.73,0.00,0.000,6,0.000,0.025,2039,2561,3538,0,0,0,0,0,0
$GC,3974,-1.44,-116.8,470.2,-8.3,211,3977,0.00,1.75,0.00,0.000,4,0.000,0.044,2038,3646,3535,0,0,0,0,0,0
$GC,4231,-1.44,-116.8,489.3,-7.0,216,4236,0.00,1.73,0.00,0.000,6,0.000,0.026,2038,2567,3533,0,0,0,0,0,0
$GC,4568,-1.44,-116.8,509.2,-5.5,225,4572,0.00,1.75,0.00,0.000,4,0.000,0.044,2038,3640,3530,0,0,0,0,0,0
$GC,4825,-1.44,-116.8,525.5,-6.1,230,4829,0.00,1.73,0.00,0.000,6,0.000,0.026,2037,2562,3529,0,0,0,0,0,0
$GC,5162,-1.44,-116.8,545.5,-5.8,239,5166,0.00,1.75,0.00,0.000,4,0.000,0.046,2038,3644,3526,0,0,0,0,0,0
$GC,5290,-1.44,-116.8,553.0,-6.0,241,5296,0.00,1.73,0.00,0.000,6,0.000,0.027,2012,2568,3525,0,0,0,0,0,0
$GC,5621,-1.44,-116.8,570.2,-5.3,250,5625,0.00,2.22,0.00,0.000,4,0.000,0.040,2038,1508,3522,0,0,0,0,0,0
$GC,5654,-1.44,-116.8,572.2,-6.2,250,5660,0.00,2.25,0.00,0.000,6,0.000,0.034,2038,2570,3521,0,0,0,0,0,0
$GC,5985,-1.44,-116.8,593.0,-6.4,259,5989,0.00,2.30,0.00,0.000,4,0.000,0.040,2038,1507,3520,0,0,0,0,0,0
$GC,6241,-1.44,-116.8,610.8,-6.7,264,6248,0.00,2.30,0.00,0.000,6,0.000,0.035,2038,2581,3518,0,0,0,0,0,0
$GC,6573,-1.44,-116.8,630.0,-5.4,273,6577,0.00,2.28,0.00,0.000,4,0.000,0.040,2038,1516,3516,0,0,0,0,0,0
$GC,6594,-1.44,-116.8,631.3,-6.0,273,6598,0.00,2.28,0.00,0.000,6,0.000,0.035,2038,2575,3516,0,0,0,0,0,0
$GC,6937,-1.44,-116.8,649.3,-5.2,282,6940,0.00,1.75,0.00,0.000,4,0.000,0.051,2038,3638,3513,0,0,0,0,0,0
$GC,7195,-1.44,-116.8,662.3,-4.0,287,7198,0.00,1.73,0.00,0.000,6,0.000,0.028,2034,2558,3512,0,0,0,0,0,0
$GC,7531,-1.44,-116.8,673.8,-3.0,296,7535,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1509,3510,0,0,0,0,0,0
$GC,7788,-1.44,-116.8,681.5,-3.3,301,7794,0.00,2.30,0.00,0.000,6,0.000,0.037,2038,2576,3509,0,0,0,0,0,0
$GC,8119,-1.44,-116.8,693.1,-3.6,310,8123,0.00,2.28,0.00,0.000,4,0.000,0.041,2038,1504,3507,0,0,0,0,0,0
$GC,8218,-1.44,-116.8,697.3,-4.3,312,8223,0.00,2.30,0.00,0.000,6,0.000,0.038,2038,2568,3507,0,0,0,0,0,0
$GC,8532,-1.44,-116.8,711.6,-4.8,320,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2567,3504,0,0,0,0,0,0
$GC,8856,-1.44,-116.8,728.5,-5.4,328,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2567,3503,0,0,0,0,0,0
$GC,9181,-1.44,-116.8,745.3,-5.0,336,9185,0.00,1.80,0.00,0.000,4,0.000,0.054,2039,3637,3502,0,0,0,0,0,0
$GC,9438,-1.44,-116.8,758.1,-4.6,341,9443,0.00,1.73,0.00,0.000,6,0.000,0.029,2021,2564,3501,0,0,0,0,0,0
$GC,9776,-1.44,-116.8,772.3,-4.1,350,9779,0.00,1.80,0.00,0.000,4,0.000,0.052,2038,3647,3500,0,0,0,0,0,0
$GC,10033,-1.44,-116.8,783.6,-4.7,355,10037,0.00,1.75,0.00,0.000,6,0.000,0.030,2022,2558,3500,0,0,0,0,0,0
$GC,10370,-1.44,-116.8,796.3,-3.5,364,10374,0.00,2.25,0.00,0.000,4,0.000,0.044,2038,1504,3499,0,0,0,0,0,0
$GC,10621,-1.44,-116.8,806.5,-3.8,369,10625,0.00,2.30,0.00,0.000,6,0.000,0.039,2038,2570,3497,0,0,0,0,0,0
$GC,10958,-1.44,-116.8,820.1,-4.1,378,10962,0.00,1.80,0.00,0.000,4,0.000,0.055,2039,3645,3496,0,0,0,0,0,0
$GC,11216,-1.44,-116.8,829.6,-3.4,383,11220,0.00,1.73,0.00,0.000,6,0.000,0.031,2032,2560,3495,0,0,0,0,0,0
$GC,11552,-1.44,-116.8,840.7,-3.1,392,11556,0.00,1.77,0.00,0.000,4,0.000,0.053,2038,3640,3494,0,0,0,0,0,0
$GC,11810,-1.44,-116.8,849.5,-2.9,397,11814,0.00,1.75,0.00,0.000,6,0.000,0.031,2021,2559,3494,0,0,0,0,0,0
$GC,12146,-1.44,-116.8,857.5,-2.3,406,12150,0.00,1.83,0.00,0.000,4,0.000,0.054,2039,3637,3493,0,0,0,0,0,0
$GC,12404,-1.44,-116.8,863.2,-2.9,411,12408,0.00,1.73,0.00,0.000,6,0.000,0.030,2024,2566,3492,0,0,0,0,0,0
$GC,12741,-1.44,-116.8,870.4,-2.3,420,12744,0.00,1.80,0.00,0.000,4,0.000,0.054,2038,3647,3492,0,0,0,0,0,0
$GC,12986,-1.44,-116.8,878.0,-3.5,425,12991,0.00,1.75,0.00,0.000,6,0.000,0.030,2020,2564,3491,0,0,0,0,0,0
$GC,13335,-1.44,-116.8,890.0,-3.5,434,13339,0.00,2.25,0.00,0.000,4,0.000,0.043,2038,1512,3490,0,0,0,0,0,0
$GC,13592,-1.44,-116.8,899.1,-3.3,439,13598,0.00,2.30,0.00,0.000,6,0.000,0.040,2039,2572,3490,0,0,0,0,0,0
$GC,13923,-1.44,-116.8,911.0,-3.6,448,13927,0.00,2.25,0.00,0.000,4,0.000,0.041,2038,1511,3490,0,0,0,0,0,0
$GC,14180,-1.44,-116.8,919.0,-2.8,453,14186,0.00,2.30,0.00,0.000,6,0.000,0.040,2038,2571,3489,0,0,0,0,0,0
$GC,14511,-1.44,-116.8,928.1,-2.8,462,14515,0.00,2.28,0.00,0.000,4,0.000,0.041,2038,1508,3489,0,0,0,0,0,0
$GC,14768,-1.44,-116.8,935.0,-2.2,467,14774,0.00,2.33,0.00,0.000,6,0.000,0.040,2038,2583,3489,0,0,0,0,0,0
$GC,15099,-1.44,-116.8,942.8,-2.2,476,15103,0.00,2.28,0.00,0.000,4,0.000,0.040,2038,1504,3490,0,0,0,0,0,0
$GC,15356,-1.44,-116.8,947.0,-0.8,481,15362,0.00,2.28,0.00,0.000,6,0.000,0.040,2038,2572,3489,0,0,0,0,0,0
$STATE,15483,end dive,NO_VERTICAL_VELOCITY
$STATE,15484,begin apogee
$GC,15490,-0.33,0.0,948.2,0.0,485,15582,1.23,0.00,88.57,1.483,6,0.110,0.000,2281,1883,3071,0,0,0,0,0,0
$STATE,15585,end apogee,CONTROL_FINISHED_OK
$STATE,15585,begin climb
$GC,15587,1.44,116.8,946.6,0.0,487,15699,1.83,2.12,100.85,1.427,4,0.066,0.035,2670,2921,2594,0,0,0,0,0,0
$GC,15793,1.44,116.8,917.5,16.5,491,15799,0.00,2.17,0.00,0.000,6,0.000,0.038,2670,1855,2589,0,0,0,0,0,0
$GC,16124,1.44,116.8,862.8,16.4,500,16128,0.00,2.10,0.00,0.000,4,0.000,0.035,2672,2923,2587,0,0,0,0,0,0
$GC,16229,1.44,116.8,846.3,15.3,502,16233,0.00,2.17,0.00,0.000,6,0.000,0.038,2670,1859,2588,0,0,0,0,0,0
$GC,16577,1.44,116.8,793.4,15.3,511,16580,0.00,2.12,0.00,0.000,4,0.000,0.036,2670,2922,2587,0,0,0,0,0,0
$GC,16671,1.44,116.8,779.5,14.7,513,16675,0.00,2.17,0.00,0.000,6,0.000,0.038,2670,1853,2587,0,0,0,0,0,0
$GC,16989,1.44,116.8,732.2,14.8,521,16993,0.00,2.10,0.00,0.000,4,0.000,0.036,2670,2919,2586,0,0,0,0,0,0
$GC,17122,1.44,116.8,712.9,14.8,524,17126,0.00,2.12,0.00,0.000,6,0.000,0.038,2670,1860,2586,0,0,0,0,0,0
$GC,17446,1.44,116.8,663.8,15.2,532,17450,0.00,2.05,0.00,0.000,4,0.000,0.035,2670,2919,2586,0,0,0,0,0,0
$GC,17585,1.44,116.8,643.6,13.1,535,17589,0.00,2.12,0.00,0.000,6,0.000,0.036,2670,1847,2586,0,0,0,0,0,0
$GC,17898,1.44,116.8,599.6,13.9,543,17899,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1848,2586,0,0,0,0,0,0
$GC,18222,1.44,116.8,556.5,12.7,551,18226,0.00,2.08,0.00,0.000,4,0.000,0.034,2670,2921,2585,0,0,0,0,0,0
$GC,18389,1.44,116.8,536.6,10.9,554,18396,0.00,2.10,0.00,0.000,6,0.000,0.033,2670,1862,2585,0,0,0,0,0,0
$GC,18720,1.44,116.8,493.7,13.0,563,18724,0.00,2.05,0.00,0.000,4,0.000,0.031,2670,2920,2585,0,0,0,0,0,0
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$STATE,23922,end climb,SURFACE_DEPTH_REACHED
$STATE,23922,begin surface coast
$FINISH,2.1,1.023100
$STATE,23958,end surface coast,CONTROL_FINISHED_OK
$STATE,23958,begin surface
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$SM_GC,2.51,0.00,0.00,189.70,0.000,0.000,0.571,367,2574,525,-9.17,0.11,624.53
$IRIDIUM_FIX,1812.31,12417.30,290612,070720
$TT8_MAMPS,0.049088
$HUMID,1078773539
$TCM_TEMP,25.80
$XPDR_PINGS,451
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091843584
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,36.763
$10V_AH,10.0,20.977
$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
$DEVICE_SECS,22.800,185.700,282.425,189.700,0.000,141.953,225.029,1325.416,112.750,0.000,16.158,2017.774,18388.645,661.717,4809.935,385.824,33.359,2278.270,0.000,3125.488,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,632.631,0.000,0.000,0.000,0.000,0.000,0.000,22637.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.359,0.000,0.000
$MEM,355016
$DATA_FILE_SIZE,33366,933
$CAP_FILE_SIZE,237608,0
$CFSIZE,260034560,241733632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,195354,1818.926,12417.444,40,1.7,41,-2.1