version: 66.07
glider: 23
mission: 5
dive: 212
start: 1 5 111 4 29 36
data:
$ID,23
$MISSION,5
$DIVE,212
$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,180
$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,400
$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,-55933.91
$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,2320
$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,33
$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,211
$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
$GPS1,050111,041607,1818.271,12417.821,29,1.7,29,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-48.4
$GPS2,050111,042844,1818.410,12417.659,15,1.6,15,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.058
$KALMAN_X,-364611.1,-573.5,140.2,186831.6,-2708.6
$KALMAN_Y,222989.1,324.5,-758.7,-561431.8,3704.9
$MHEAD_RNG_PITCHd_Wd,63.4,4971,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.78,-45.1,0.0,0.0,0,69,0.00,0.00,-41.30,0.000,2,0.000,0.000,359,2549,2020,0,0,0,0,0,0
$GC,72,-1.85,-108.4,3.0,-0.4,8,159,8.38,1.80,-73.60,0.000,4,0.131,0.055,1914,3636,3512,0,0,0,0,0,0
$GC,413,-1.85,-108.4,77.6,-29.4,56,418,0.00,1.73,0.00,0.000,6,0.000,0.027,1914,2532,3513,0,0,0,0,0,0
$GC,673,-1.85,-108.4,150.4,-23.6,81,677,0.00,2.20,0.00,0.000,4,0.000,0.040,1914,1497,3514,0,0,0,0,0,0
$GC,733,-1.85,-108.4,163.0,-17.7,86,739,0.00,2.25,0.00,0.000,6,0.000,0.026,1914,2572,3514,0,0,0,0,0,0
$GC,1003,-1.85,-108.4,210.8,-14.8,109,1006,0.00,1.70,0.00,0.000,4,0.000,0.038,1914,3642,3514,0,0,0,0,0,0
$GC,1260,-1.85,-108.4,251.5,-13.3,120,1264,0.00,1.73,0.00,0.000,6,0.000,0.023,1914,2554,3515,0,0,0,0,0,0
$GC,1581,-1.85,-108.4,288.1,-11.7,136,1585,0.00,2.22,0.00,0.000,4,0.000,0.038,1914,1503,3515,0,0,0,0,0,0
$GC,1837,-1.85,-108.4,322.4,-13.4,144,1844,0.00,2.25,0.00,0.000,6,0.000,0.029,1914,2563,3515,0,0,0,0,0,0
$GC,2168,-1.85,-108.4,359.4,-10.7,153,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2563,3514,0,0,0,0,0,0
$GC,2493,-1.85,-108.4,389.3,-8.8,161,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2563,3511,0,0,0,0,0,0
$GC,2818,-1.85,-108.4,416.4,-8.7,169,2822,0.00,1.75,0.00,0.000,4,0.000,0.044,1914,3647,3509,0,0,0,0,0,0
$GC,3075,-1.85,-108.4,439.6,-9.5,174,3080,0.00,1.73,0.00,0.000,6,0.000,0.026,1914,2566,3508,0,0,0,0,0,0
$GC,3412,-1.85,-110.2,463.5,-6.8,183,3416,0.00,2.25,0.00,0.000,4,0.000,0.040,1914,1508,3505,0,0,0,0,0,0
$GC,3670,-1.85,-110.2,480.1,-8.1,188,3676,0.00,2.30,0.00,0.000,6,0.000,0.033,1914,2583,3503,0,0,0,0,0,0
$GC,4001,-1.85,-111.5,502.4,-6.9,197,4004,0.00,1.73,0.00,0.000,4,0.000,0.045,1914,3643,3501,0,0,0,0,0,0
$GC,4252,-1.85,-111.5,520.2,-7.4,202,4257,0.00,1.73,0.00,0.000,6,0.000,0.026,1914,2564,3499,0,0,0,0,0,0
$GC,4594,-1.86,-115.4,543.7,-6.6,211,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2565,3496,0,0,0,0,0,0
$GC,4919,-1.87,-127.6,562.8,-5.7,219,4923,0.00,1.73,0.00,0.000,4,0.000,0.044,1914,3632,3493,0,0,0,0,0,0
$GC,5176,-1.87,-131.2,579.6,-6.6,224,5180,0.00,1.70,0.00,0.000,6,0.000,0.027,1912,2565,3491,0,0,0,0,0,0
$GC,5513,-1.88,-135.9,601.3,-6.5,233,5516,0.00,1.73,0.00,0.000,4,0.000,0.047,1914,3630,3489,0,0,0,0,0,0
$GC,5770,-1.89,-145.5,617.8,-6.0,238,5774,0.00,1.70,0.00,0.000,6,0.000,0.028,1905,2568,3487,0,0,0,0,0,0
$GC,6107,-1.91,-159.1,636.0,-5.6,247,6110,0.00,1.75,0.00,0.000,4,0.000,0.048,1914,3633,3484,0,0,0,0,0,0
$GC,6364,-1.91,-163.0,654.2,-6.6,252,6368,0.00,1.73,0.00,0.000,6,0.000,0.028,1900,2561,3482,0,0,0,0,0,0
$GC,6701,-1.92,-175.2,671.6,-5.1,261,6705,0.00,2.28,0.00,0.000,4,0.000,0.045,1913,1507,3480,0,0,0,0,0,0
$GC,6957,-1.92,-175.2,683.6,-3.9,266,6964,0.00,2.30,0.00,0.000,6,0.000,0.038,1913,2568,3479,0,0,0,0,0,0
$GC,7289,-1.92,-175.2,698.5,-4.9,275,7293,0.00,2.25,0.00,0.000,4,0.000,0.043,1913,1516,3477,0,0,0,0,0,0
$GC,7546,-1.92,-175.2,713.0,-4.7,280,7552,0.00,2.25,0.00,0.000,6,0.000,0.038,1913,2577,3476,0,0,0,0,0,0
$GC,7877,-1.92,-175.2,729.5,-4.7,289,7881,0.00,2.28,0.00,0.000,4,0.000,0.042,1914,1512,3474,0,0,0,0,0,0
$GC,7937,-1.92,-175.2,732.4,-4.2,290,7941,0.00,2.30,0.00,0.000,6,0.000,0.038,1913,2578,3474,0,0,0,0,0,0
$GC,8250,-1.92,-175.2,743.4,-3.3,298,8253,0.00,1.75,0.00,0.000,4,0.000,0.052,1914,3639,3472,0,0,0,0,0,0
$GC,8507,-1.92,-175.2,749.8,-2.0,303,8511,0.00,1.73,0.00,0.000,6,0.000,0.029,1909,2570,3472,0,0,0,0,0,0
$GC,8844,-1.92,-175.2,757.7,-2.7,312,8848,0.00,1.77,0.00,0.000,4,0.000,0.051,1914,3638,3470,0,0,0,0,0,0
$GC,9101,-1.92,-175.2,767.7,-4.2,317,9106,0.00,1.73,0.00,0.000,6,0.000,0.029,1900,2568,3469,0,0,0,0,0,0
$GC,9439,-1.92,-175.2,782.5,-4.5,326,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2568,3468,0,0,0,0,0,0
$GC,9763,-1.92,-175.2,795.7,-3.6,334,9767,0.00,2.25,0.00,0.000,4,0.000,0.044,1913,1507,3467,0,0,0,0,0,0
$GC,10021,-1.92,-175.2,803.4,-3.1,339,10026,0.00,2.25,0.00,0.000,6,0.000,0.038,1913,2573,3467,0,0,0,0,0,0
$GC,10352,-1.92,-175.2,809.5,-1.2,348,10355,0.00,2.28,0.00,0.000,4,0.000,0.041,1913,1512,3466,0,0,0,0,0,0
$GC,10609,-1.92,-175.2,811.8,-0.9,353,10613,0.00,2.30,0.00,0.000,6,0.000,0.038,1913,2574,3466,0,0,0,0,0,0
$STATE,10741,end dive,NO_VERTICAL_VELOCITY
$STATE,10741,begin apogee
$GC,10747,-0.33,0.0,813.1,0.0,357,10833,1.73,0.00,81.88,1.361,6,0.123,0.000,2244,1881,3071,0,0,0,0,0,0
$STATE,10836,end apogee,CONTROL_FINISHED_OK
$STATE,10836,begin climb
$GC,10838,1.92,175.2,810.8,0.0,359,10994,2.30,2.35,147.12,1.305,4,0.069,0.054,2738,788,2355,0,0,0,0,0,0
$GC,11134,1.92,175.2,750.7,23.8,365,11138,0.00,2.17,0.00,0.000,6,0.000,0.026,2739,1875,2349,0,0,0,0,0,0
$GC,11458,1.92,175.2,680.9,21.3,373,11461,0.00,2.00,0.00,0.000,4,0.000,0.032,2739,2920,2349,0,0,0,0,0,0
$GC,11575,1.92,175.2,659.3,18.3,375,11579,0.00,2.17,0.00,0.000,6,0.000,0.038,2739,1851,2349,0,0,0,0,0,0
$GC,11917,1.92,175.2,592.1,20.0,384,11921,0.00,2.08,0.00,0.000,4,0.000,0.031,2739,2920,2348,0,0,0,0,0,0
$GC,12085,1.92,175.2,560.6,18.0,387,12089,0.00,2.10,0.00,0.000,6,0.000,0.037,2739,1856,2347,0,0,0,0,0,0
$GC,12415,1.92,175.2,491.5,21.5,395,12419,0.00,2.05,0.00,0.000,4,0.000,0.030,2739,2920,2346,0,0,0,0,0,0
$GC,12542,1.92,175.2,466.7,17.7,397,12549,0.00,2.12,0.00,0.000,6,0.000,0.037,2739,1862,2346,0,0,0,0,0,0
$GC,12874,1.92,175.2,401.3,19.2,406,12877,0.00,2.03,0.00,0.000,4,0.000,0.029,2739,2920,2345,0,0,0,0,0,0
$GC,12967,1.92,175.2,384.7,18.2,408,12972,0.00,2.15,0.00,0.000,6,0.000,0.038,2739,1859,2345,0,0,0,0,0,0
$GC,13292,1.92,175.2,323.9,18.7,416,13295,0.00,2.03,0.00,0.000,4,0.000,0.028,2739,2919,2344,0,0,0,0,0,0
$GC,13386,1.92,175.2,308.6,15.0,418,13390,0.00,2.15,0.00,0.000,6,0.000,0.035,2739,1852,2345,0,0,0,0,0,0
$GC,13714,1.92,175.2,255.3,16.4,432,13717,0.00,2.05,0.00,0.000,4,0.000,0.026,2739,2919,2345,0,0,0,0,0,0
$GC,13791,1.92,175.2,243.1,15.0,435,13795,0.00,2.12,0.00,0.000,6,0.000,0.035,2739,1860,2345,0,0,0,0,0,0
$GC,14112,1.92,175.2,195.9,14.3,452,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1860,2347,0,0,0,0,0,0
$GC,14367,1.92,175.2,162.0,12.6,476,14371,0.00,2.03,0.00,0.000,4,0.000,0.027,2739,2918,2349,0,0,0,0,0,0
$GC,14562,1.92,175.2,137.8,13.7,493,14569,0.00,2.12,0.00,0.000,6,0.000,0.033,2739,1851,2350,0,0,0,0,0,0
$GC,14825,1.92,175.2,112.2,7.7,518,14829,0.00,2.03,0.00,0.000,4,0.000,0.026,2739,2918,2352,0,0,0,0,0,0
$GC,14891,1.92,175.2,106.9,7.7,524,14895,0.00,2.05,0.00,0.000,6,0.000,0.029,2739,1854,2353,0,0,0,0,0,0
$GC,15158,1.92,175.2,87.3,7.5,549,15161,0.00,2.03,0.00,0.000,4,0.000,0.024,2740,2917,2355,0,0,0,0,0,0
$GC,15259,1.92,175.2,79.3,8.1,558,15263,0.00,2.05,0.00,0.000,6,0.000,0.029,2740,1858,2356,0,0,0,0,0,0
$GC,15520,1.92,175.2,56.2,7.9,582,15523,0.00,2.00,0.00,0.000,4,0.000,0.024,2740,2918,2359,0,0,0,0,0,0
$GC,15665,1.92,175.2,41.2,11.0,595,15669,0.00,2.05,0.00,0.000,6,0.000,0.029,2740,1859,2361,0,0,0,0,0,0
$GC,15935,1.92,175.2,9.9,11.9,634,15940,0.00,2.00,0.00,0.000,4,0.000,0.023,2740,2919,2364,0,0,0,0,0,0
$STATE,16012,end climb,SURFACE_DEPTH_REACHED
$STATE,16012,begin surface coast
$FINISH,2.5,1.022449
$STATE,16030,end surface coast,CONTROL_FINISHED_OK
$STATE,16030,begin surface
$SM_CCo,16051,106.35,0.581,0,0,1439,400.08
$SM_GC,2.76,0.00,0.00,106.35,0.000,0.000,0.581,360,2536,1439,-9.02,-0.96,400.08
$IRIDIUM_FIX,1810.04,12419.17,290612,222245
$TT8_MAMPS,0.049088
$HUMID,1078872893
$TCM_TEMP,25.60
$XPDR_PINGS,353
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091778048
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,37.071
$10V_AH,10.0,21.193
$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,22.675,117.400,229.000,106.350,0.000,90.724,147.150,252.024,88.250,0.000,17.428,1391.391,12155.625,482.906,2703.932,169.301,33.356,1589.916,0.000,2122.903,0.000,0.546,0.000
$DEVICE_MAMPS,131.157,55.224,1360.658,581.386,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,440.356,0.000,0.000,0.000,0.000,0.000,0.000,14673.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.891,0.000,0.000
$MEM,354732
$DATA_FILE_SIZE,23420,651
$CAP_FILE_SIZE,144181,0
$CFSIZE,260034560,241672192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,090031,1819.301,12417.917,46,1.3,46,-2.1