version: 66.07
glider: 23
mission: 5
dive: 218
start: 1 6 111 17 48 29
data:
$ID,23
$MISSION,5
$DIVE,218
$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,-56071.176
$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,2350
$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,2400
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,29
$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,217
$AR_SAMPLENUM,2
$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
$GPS1,060111,173801,1825.441,12418.444,38,1.7,38,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-59.0
$GPS2,060111,174737,1825.386,12418.390,10,1.7,10,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.035,0.227
$KALMAN_X,-375477.1,-20.1,-533.8,199088.9,-699.3
$KALMAN_Y,203576.3,-385.0,1354.0,-530550.2,-9235.5
$MHEAD_RNG_PITCHd_Wd,10.8,328744,-11.1,-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,-0.93,-175.2,0.0,0.0,0,64,0.00,0.00,-35.65,0.000,2,0.000,0.000,362,2399,2313,0,0,0,0,0,0
$GC,67,-0.93,-175.2,3.0,-0.0,7,159,9.82,1.75,-75.00,0.000,4,0.141,0.051,2144,3476,3784,0,0,0,0,0,0
$GC,411,-0.93,-175.2,55.6,-22.8,59,418,0.00,1.83,0.00,0.000,6,0.000,0.030,2143,2378,3785,0,0,0,0,0,0
$GC,672,-0.93,-175.2,106.4,-20.0,84,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2377,3786,0,0,0,0,0,0
$GC,927,-0.93,-175.2,147.8,-13.9,108,931,0.00,1.77,0.00,0.000,4,0.000,0.032,2143,3466,3787,0,0,0,0,0,0
$GC,1085,-0.93,-175.2,173.2,-15.4,122,1089,0.00,1.73,0.00,0.000,6,0.000,0.026,2143,2390,3787,0,0,0,0,0,0
$GC,1350,-0.93,-175.2,211.9,-14.1,143,1353,0.00,1.75,0.00,0.000,4,0.000,0.035,2144,3473,3788,0,0,0,0,0,0
$GC,1539,-0.93,-175.2,238.4,-11.9,151,1544,0.00,1.77,0.00,0.000,6,0.000,0.025,2144,2388,3788,0,0,0,0,0,0
$GC,1860,-0.93,-175.2,277.0,-12.1,167,1864,0.00,2.28,0.00,0.000,4,0.000,0.040,2143,1337,3788,0,0,0,0,0,0
$GC,1892,-0.93,-175.2,281.3,-13.5,168,1898,0.00,2.30,0.00,0.000,6,0.000,0.025,2143,2408,3788,0,0,0,0,0,0
$GC,2225,-0.93,-175.2,314.0,-8.6,181,2229,0.00,2.33,0.00,0.000,4,0.000,0.039,2143,1343,3787,0,0,0,0,0,0
$GC,2291,-0.93,-175.2,320.4,-10.2,182,2296,0.00,2.28,0.00,0.000,6,0.000,0.025,2143,2398,3787,0,0,0,0,0,0
$GC,2634,-0.93,-175.2,351.5,-9.5,191,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2397,3786,0,0,0,0,0,0
$GC,2958,-0.93,-175.2,384.5,-10.3,199,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2397,3784,0,0,0,0,0,0
$GC,3283,-0.93,-175.2,415.3,-9.0,207,3287,0.00,2.33,0.00,0.000,4,0.000,0.042,2143,1343,3782,0,0,0,0,0,0
$GC,3412,-0.93,-175.2,426.6,-8.7,210,3417,0.00,2.28,0.00,0.000,6,0.000,0.028,2143,2404,3781,0,0,0,0,0,0
$GC,3735,-0.93,-175.2,456.3,-9.3,218,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2404,3778,0,0,0,0,0,0
$GC,4060,-0.93,-175.2,484.7,-9.1,226,4064,0.00,2.35,0.00,0.000,4,0.000,0.043,2144,1340,3776,0,0,0,0,0,0
$GC,4160,-0.93,-175.2,493.2,-8.1,228,4165,0.00,2.30,0.00,0.000,6,0.000,0.029,2143,2398,3775,0,0,0,0,0,0
$GC,4473,-0.93,-175.2,515.6,-7.1,236,4477,0.00,2.35,0.00,0.000,4,0.000,0.042,2143,1335,3773,0,0,0,0,0,0
$GC,4594,-0.93,-175.2,524.6,-7.2,238,4601,0.00,2.33,0.00,0.000,6,0.000,0.030,2143,2406,3771,0,0,0,0,0,0
$GC,4925,-0.93,-175.2,551.5,-8.6,247,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2406,3770,0,0,0,0,0,0
$GC,5250,-0.93,-175.2,578.0,-7.8,255,5254,0.00,2.35,0.00,0.000,4,0.000,0.044,2143,1333,3766,0,0,0,0,0,0
$GC,5294,-0.93,-175.2,581.4,-7.7,256,5298,0.00,2.35,0.00,0.000,6,0.000,0.031,2143,2408,3765,0,0,0,0,0,0
$GC,5618,-0.93,-175.2,604.7,-7.5,264,5622,0.00,2.35,0.00,0.000,4,0.000,0.043,2144,1348,3762,0,0,0,0,0,0
$GC,5644,-0.93,-175.2,606.9,-8.0,264,5648,0.00,2.33,0.00,0.000,6,0.000,0.031,2143,2409,3762,0,0,0,0,0,0
$GC,5981,-0.93,-175.2,630.6,-6.6,273,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2409,3761,0,0,0,0,0,0
$GC,6306,-0.93,-175.2,650.7,-6.3,281,6310,0.00,2.35,0.00,0.000,4,0.000,0.044,2143,1338,3758,0,0,0,0,0,0
$GC,6405,-0.93,-175.2,658.2,-7.5,283,6409,0.00,2.35,0.00,0.000,6,0.000,0.034,2143,2407,3757,0,0,0,0,0,0
$GC,6718,-0.93,-175.2,683.1,-8.3,291,6722,0.00,2.35,0.00,0.000,4,0.000,0.045,2143,1339,3754,0,0,0,0,0,0
$GC,6913,-0.93,-175.2,697.3,-6.5,295,6917,0.00,2.35,0.00,0.000,6,0.000,0.035,2143,2406,3753,0,0,0,0,0,0
$GC,7261,-0.93,-175.2,715.1,-4.7,304,7265,0.00,2.38,0.00,0.000,4,0.000,0.045,2143,1336,3751,0,0,0,0,0,0
$GC,7345,-0.93,-175.2,718.9,-4.5,306,7349,0.00,2.35,0.00,0.000,6,0.000,0.036,2143,2412,3751,0,0,0,0,0,0
$GC,7668,-0.93,-175.2,732.1,-4.1,314,7672,0.00,2.38,0.00,0.000,4,0.000,0.045,2143,1341,3748,0,0,0,0,0,0
$GC,7740,-0.93,-175.2,735.4,-4.3,315,7744,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2415,3748,0,0,0,0,0,0
$GC,8070,-0.93,-175.2,753.3,-5.8,323,8075,0.00,2.38,0.00,0.000,4,0.000,0.045,2143,1335,3747,0,0,0,0,0,0
$GC,8114,-0.93,-175.2,756.3,-6.8,324,8118,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2397,3747,0,0,0,0,0,0
$GC,8439,-0.93,-175.2,777.8,-6.8,332,8443,0.00,2.33,0.00,0.000,4,0.000,0.044,2144,1342,3744,0,0,0,0,0,0
$GC,8504,-0.93,-175.2,782.6,-7.1,333,8509,0.00,2.35,0.00,0.000,6,0.000,0.036,2143,2399,3743,0,0,0,0,0,0
$GC,8847,-0.93,-175.2,805.4,-6.6,342,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2399,3741,0,0,0,0,0,0
$GC,9172,-0.93,-175.2,826.1,-6.3,350,9176,0.00,2.33,0.00,0.000,4,0.000,0.044,2143,1346,3740,0,0,0,0,0,0
$GC,9226,-0.93,-175.2,829.7,-6.5,351,9230,0.00,2.35,0.00,0.000,6,0.000,0.037,2143,2401,3739,0,0,0,0,0,0
$GC,9540,-0.93,-175.2,847.2,-5.6,359,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2401,3738,0,0,0,0,0,0
$GC,9864,-0.93,-175.2,865.0,-5.5,367,9868,0.00,2.40,0.00,0.000,4,0.000,0.045,2143,1337,3737,0,0,0,0,0,0
$GC,9948,-0.93,-175.2,869.8,-5.0,369,9952,0.00,2.33,0.00,0.000,6,0.000,0.038,2143,2405,3737,0,0,0,0,0,0
$GC,10272,-0.93,-175.2,887.2,-5.4,377,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2404,3735,0,0,0,0,0,0
$GC,10597,-0.93,-175.2,904.0,-5.2,385,10601,0.00,2.38,0.00,0.000,4,0.000,0.045,2142,1338,3734,0,0,0,0,0,0
$GC,10742,-0.93,-175.2,912.2,-5.1,388,10746,0.00,2.33,0.00,0.000,6,0.000,0.038,2143,2406,3735,0,0,0,0,0,0
$GC,11089,-0.93,-175.2,931.8,-5.7,397,11093,0.00,2.35,0.00,0.000,4,0.000,0.045,2143,1342,3733,0,0,0,0,0,0
$GC,11132,-0.93,-175.2,934.4,-5.0,398,11136,0.00,2.38,0.00,0.000,6,0.000,0.038,2143,2408,3733,0,0,0,0,0,0
$GC,11456,-0.93,-175.2,952.0,-5.4,406,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2407,3733,0,0,0,0,0,0
$GC,11781,-0.93,-175.2,969.5,-5.6,414,11785,0.00,2.35,0.00,0.000,4,0.000,0.046,2143,1342,3732,0,0,0,0,0,0
$GC,11858,-0.93,-175.2,974.1,-6.0,415,11864,0.00,2.35,0.00,0.000,6,0.000,0.038,2143,2426,3731,0,0,0,0,0,0
$STATE,12146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12147,begin apogee
$GC,12153,-0.33,0.0,992.5,6.6,423,12296,0.65,0.00,139.65,1.503,6,0.096,0.000,2276,1871,3072,0,0,0,0,0,0
$STATE,12297,end apogee,CONTROL_FINISHED_OK
$STATE,12297,begin climb
$GC,12299,0.93,175.2,995.6,0.0,426,12454,1.33,0.00,151.35,1.440,6,0.065,0.000,2553,1872,2356,0,0,0,0,0,0
$GC,12754,0.97,207.8,968.5,6.1,438,12788,0.00,2.17,28.35,1.382,4,0.000,0.043,2553,2910,2224,0,0,0,0,0,0
$GC,12856,1.01,246.5,962.0,6.0,440,12896,0.00,2.10,35.20,1.389,6,0.000,0.035,2553,1852,2065,0,0,0,0,0,0
$GC,13204,1.01,250.3,938.5,6.9,449,13208,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2913,2059,0,0,0,0,0,0
$GC,13275,1.02,253.3,933.3,6.9,450,13280,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1858,2059,0,0,0,0,0,0
$GC,13612,1.02,253.3,907.4,7.9,459,13615,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2914,2058,0,0,0,0,0,0
$GC,13689,1.02,253.3,900.8,8.5,460,13695,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1859,2057,0,0,0,0,0,0
$GC,14020,1.02,253.3,871.5,9.0,469,14024,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2914,2056,0,0,0,0,0,0
$GC,14091,1.02,253.3,864.9,9.4,470,14096,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1863,2056,0,0,0,0,0,0
$GC,14428,1.02,253.3,836.2,8.3,479,14432,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,2913,2056,0,0,0,0,0,0
$GC,14494,1.02,253.3,830.8,8.2,480,14499,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1859,2055,0,0,0,0,0,0
$GC,14842,1.02,253.3,803.5,8.0,489,14846,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,2913,2055,0,0,0,0,0,0
$GC,14908,1.02,253.3,798.0,8.3,490,14913,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1857,2055,0,0,0,0,0,0
$GC,15251,1.02,253.3,766.4,9.5,499,15254,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,2912,2054,0,0,0,0,0,0
$GC,15322,1.02,253.3,759.3,9.5,500,15327,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1856,2055,0,0,0,0,0,0
$GC,15664,1.02,253.3,726.7,9.3,509,15668,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2913,2055,0,0,0,0,0,0
$GC,15753,1.02,253.3,718.9,8.6,511,15757,0.00,2.12,0.00,0.000,6,0.000,0.035,2553,1861,2055,0,0,0,0,0,0
$GC,16077,1.02,253.3,692.7,7.9,519,16081,0.00,2.12,0.00,0.000,4,0.000,0.044,2553,2914,2055,0,0,0,0,0,0
$GC,16166,1.02,253.3,686.0,7.5,521,16170,0.00,2.15,0.00,0.000,6,0.000,0.035,2553,1855,2054,0,0,0,0,0,0
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$STATE,23401,end climb,SURFACE_DEPTH_REACHED
$STATE,23401,begin surface coast
$FINISH,2.3,1.022517
$STATE,23436,end surface coast,CONTROL_FINISHED_OK
$STATE,23437,begin surface
$SM_CCo,23455,40.65,0.567,0,0,1440,400.08
$SM_GC,2.92,0.00,0.00,40.65,0.000,0.000,0.567,363,2397,1440,-9.14,-0.03,400.08
$IRIDIUM_FIX,1816.86,12420.45,010712,121232
$TT8_MAMPS,0.049088
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$TCM_TEMP,24.40
$XPDR_PINGS,169
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$AR_CDRIVE_FREE,2091352064
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077591040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,38.197
$10V_AH,9.9,22.012
$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
$DEVICE_SECS,21.500,190.925,416.900,40.650,0.000,58.233,72.450,256.408,42.250,0.000,11.977,1789.630,18508.686,663.116,2897.493,213.606,33.365,1973.351,0.000,2427.130,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,589.145,0.000,0.000,0.000,0.000,0.000,0.000,20633.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.476,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,30018,866
$CAP_FILE_SIZE,188187,0
$CFSIZE,260034560,241172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,002137,1826.448,12417.502,36,1.3,36,-2.1