version: 66.07
glider: 23
mission: 5
dive: 220
start: 1 7 111 7 6 8
data:
$ID,23
$MISSION,5
$DIVE,220
$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,-56118.18
$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,0.30000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,31
$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,219
$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
$GPS1,070111,065854,1828.314,12417.961,37,1.2,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-54.9
$GPS2,070111,070516,1828.370,12417.923,11,2.1,30,-2.1
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.088
$KALMAN_X,-382304.7,60.1,281.1,204211.9,-5499.6
$KALMAN_Y,197159.8,756.5,960.7,-519346.8,-7648.2
$MHEAD_RNG_PITCHd_Wd,69.7,323164,-11.0,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,31,-0.93,-175.2,0.0,0.0,0,44,0.00,0.00,-11.02,0.000,2,0.000,0.000,362,2393,1718,0,0,0,0,0,0
$GC,47,-0.93,-175.2,3.0,-2.1,2,164,9.52,0.00,-101.68,0.000,6,0.125,0.000,2155,2394,3786,0,0,0,0,0,0
$GC,369,-0.93,-175.2,44.1,-21.9,56,373,0.00,2.80,0.00,0.000,4,0.000,0.044,2154,1128,3788,0,0,0,0,0,0
$GC,385,-0.93,-175.2,47.7,-21.9,57,389,0.00,2.28,0.00,0.000,6,0.000,0.021,2155,2195,3787,0,0,0,0,0,0
$GC,646,-0.93,-175.2,100.4,-20.1,81,649,0.00,1.83,0.00,0.000,4,0.000,0.029,2155,3274,3787,0,0,0,0,0,0
$GC,904,-0.93,-175.2,147.9,-16.4,104,908,0.00,1.88,0.00,0.000,6,0.000,0.028,2154,2189,3788,0,0,0,0,0,0
$GC,1171,-0.93,-175.2,188.0,-13.2,129,1175,0.00,1.88,0.00,0.000,4,0.000,0.031,2155,3280,3790,0,0,0,0,0,0
$GC,1428,-0.93,-175.2,224.2,-14.9,144,1433,0.00,1.90,0.00,0.000,6,0.000,0.027,2155,2197,3789,0,0,0,0,0,0
$GC,1750,-0.93,-175.2,261.0,-11.4,160,1754,0.00,1.90,0.00,0.000,4,0.000,0.034,2155,3273,3790,0,0,0,0,0,0
$GC,1867,-0.93,-175.2,272.5,-9.7,165,1871,0.00,1.90,0.00,0.000,6,0.000,0.028,2154,2193,3791,0,0,0,0,0,0
$GC,2213,-0.93,-175.2,309.8,-10.2,180,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2193,3790,0,0,0,0,0,0
$GC,2538,-0.93,-175.2,341.9,-9.7,188,2541,0.00,1.88,0.00,0.000,4,0.000,0.038,2154,3271,3789,0,0,0,0,0,0
$GC,2795,1.57,-175.2,365.7,-8.3,193,2807,6.38,1.90,0.00,0.000,6,0.063,0.028,3632,2193,3788,18,0,0,0,0,0
$GC,3131,1.57,-175.2,429.8,-22.7,202,3140,4.93,1.90,0.00,0.000,4,0.140,0.038,2707,3258,3786,0,0,0,0,0,0
$GC,3248,1.57,-175.2,443.2,-10.5,204,3252,0.00,1.88,0.00,0.000,6,0.000,0.025,2690,2184,3785,0,0,0,0,0,0
$GC,3590,1.57,-175.2,475.7,-9.7,213,3594,0.00,1.95,0.00,0.000,4,0.000,0.043,2707,3280,3783,0,0,0,0,0,0
$GC,3645,1.57,-175.2,481.4,-11.4,214,3649,0.00,1.88,0.00,0.000,6,0.000,0.025,2690,2193,3782,0,0,0,0,0,0
$GC,3963,1.57,-175.2,511.1,-9.1,222,3967,0.00,2.28,0.00,0.000,4,0.000,0.035,2707,1144,3778,0,0,0,0,0,0
$GC,3984,1.57,-175.2,513.4,-10.5,222,3989,0.00,2.30,0.00,0.000,6,0.000,0.027,2707,2196,3778,0,0,0,0,0,0
$GC,4327,1.57,-175.2,545.7,-9.5,231,4331,0.00,2.30,0.00,0.000,4,0.000,0.035,2707,1140,3774,0,0,0,0,0,0
$GC,4494,1.57,-175.2,564.6,-9.8,234,4501,0.00,2.35,0.00,0.000,6,0.000,0.030,2707,2199,3773,0,0,0,0,0,0
$GC,4826,1.57,-175.2,596.1,-8.8,243,4830,0.00,2.33,0.00,0.000,4,0.000,0.036,2707,1144,3770,0,0,0,0,0,0
$GC,5061,1.57,-175.2,616.0,-8.5,248,5065,0.00,2.35,0.00,0.000,6,0.000,0.031,2707,2205,3767,0,0,0,0,0,0
$GC,5380,1.57,-175.2,644.1,-9.2,256,5383,0.00,1.88,0.00,0.000,4,0.000,0.046,2707,3268,3764,0,0,0,0,0,0
$GC,5424,1.57,-175.2,648.4,-9.1,257,5428,0.00,1.85,0.00,0.000,6,0.000,0.027,2698,2200,3763,0,0,0,0,0,0
$GC,5753,1.57,-175.2,680.4,-9.6,265,5757,0.00,1.92,0.00,0.000,4,0.000,0.042,2707,3276,3760,0,0,0,0,0,0
$GC,5888,1.57,-175.2,694.8,-10.6,268,5892,0.00,1.85,0.00,0.000,6,0.000,0.028,2698,2197,3759,0,0,0,0,0,0
$GC,6218,1.57,-175.2,728.4,-10.2,276,6221,0.00,1.90,0.00,0.000,4,0.000,0.046,2707,3265,3756,0,0,0,0,0,0
$GC,6256,1.57,-175.2,732.2,-9.6,276,6262,0.00,1.88,0.00,0.000,6,0.000,0.028,2663,2201,3756,0,0,0,0,0,0
$GC,6587,1.57,-175.2,763.8,-9.2,285,6590,0.00,1.90,0.00,0.000,4,0.000,0.044,2707,3264,3754,0,0,0,0,0,0
$GC,6614,1.57,-175.2,766.6,-9.7,285,6618,0.00,1.88,0.00,0.000,6,0.000,0.029,2680,2202,3753,0,0,0,0,0,0
$GC,6956,1.57,-175.2,796.9,-9.0,294,6960,0.00,2.38,0.00,0.000,4,0.000,0.044,2707,1137,3751,0,0,0,0,0,0
$GC,7045,1.57,-175.2,805.1,-8.4,296,7049,0.00,2.38,0.00,0.000,6,0.000,0.036,2707,2206,3750,0,0,0,0,0,0
$GC,7369,1.57,-175.2,832.4,-8.2,304,7373,0.00,1.88,0.00,0.000,4,0.000,0.044,2707,3264,3747,0,0,0,0,0,0
$GC,7396,1.57,-175.2,834.8,-9.1,304,7400,0.00,1.90,0.00,0.000,6,0.000,0.029,2693,2191,3747,0,0,0,0,0,0
$GC,7738,1.57,-175.2,863.0,-8.4,313,7743,0.00,2.35,0.00,0.000,4,0.000,0.045,2707,1130,3745,0,0,0,0,0,0
$GC,7827,1.57,-175.2,871.0,-8.7,315,7832,0.00,2.38,0.00,0.000,6,0.000,0.036,2707,2201,3744,0,0,0,0,0,0
$GC,8152,1.57,-175.2,898.9,-8.6,323,8155,0.00,1.92,0.00,0.000,4,0.000,0.047,2708,3267,3742,0,0,0,0,0,0
$GC,8162,1.57,-175.2,899.7,-8.6,323,8166,0.00,1.90,0.00,0.000,6,0.000,0.028,2686,2191,3742,0,0,0,0,0,0
$GC,8481,1.57,-175.2,926.6,-8.5,331,8485,0.00,2.33,0.00,0.000,4,0.000,0.044,2707,1142,3741,0,0,0,0,0,0
$GC,8546,1.57,-175.2,932.8,-9.5,332,8551,0.00,2.38,0.00,0.000,6,0.000,0.036,2707,2212,3741,0,0,0,0,0,0
$GC,8894,1.57,-175.2,962.7,-8.4,341,8898,0.00,2.38,0.00,0.000,4,0.000,0.040,2707,1139,3738,0,0,0,0,0,0
$GC,8927,1.57,-175.2,965.4,-8.4,341,8933,0.00,2.33,0.00,0.000,6,0.000,0.035,2707,2197,3738,0,0,0,0,0,0
$STATE,9256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9256,begin apogee
$GC,9261,-0.33,0.0,992.0,8.1,350,9406,2.05,0.00,140.30,1.487,6,0.097,0.000,2289,1862,3071,0,0,0,0,0,0
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9417,begin climb
$GC,9419,0.93,175.2,992.3,0.0,353,9580,1.25,2.33,149.30,1.425,4,0.059,0.050,2558,798,2355,0,0,0,0,0,0
$GC,9681,0.03,175.2,969.4,9.2,359,9687,0.93,2.15,0.00,0.000,6,0.077,0.029,2368,1875,2350,0,0,0,0,0,0
$GC,9994,0.03,175.2,940.8,10.6,367,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1877,2349,0,0,0,0,0,0
$GC,10319,0.03,175.2,906.6,10.5,375,10323,0.00,2.30,0.00,0.000,4,0.000,0.059,2366,794,2348,0,0,0,0,0,0
$GC,10576,0.03,175.2,879.4,11.0,380,10582,0.00,2.15,0.00,0.000,6,0.000,0.033,2366,1873,2348,0,0,0,0,0,0
$GC,10907,0.03,175.2,843.0,11.1,389,10911,0.00,2.28,0.00,0.000,4,0.000,0.059,2366,788,2346,0,0,0,0,0,0
$GC,11164,3.19,175.2,816.3,10.0,394,11175,3.05,2.17,0.00,0.000,6,0.048,0.033,3057,1864,2346,0,0,0,0,0,0
$GC,11500,3.19,175.2,671.4,45.9,403,11504,0.00,2.22,0.00,0.000,4,0.000,0.054,3057,795,2344,0,0,0,0,0,0
$GC,11509,3.19,175.2,666.4,45.8,403,11514,0.00,2.12,0.00,0.000,6,0.000,0.024,3057,1882,2345,0,0,0,0,0,0
$GC,11822,3.19,175.2,529.0,43.0,411,11826,0.00,2.25,0.00,0.000,4,0.000,0.051,3057,792,2344,0,0,0,0,0,0
$GC,11843,3.19,175.2,519.4,44.3,411,11847,0.00,2.08,0.00,0.000,6,0.000,0.023,3057,1868,2344,0,0,0,0,0,0
$GC,12191,3.19,175.2,372.1,42.7,420,12195,0.00,2.20,0.00,0.000,4,0.000,0.047,3057,796,2343,0,0,0,0,0,0
$GC,12217,3.19,175.2,359.0,47.6,420,12221,0.00,2.08,0.00,0.000,6,0.000,0.021,3058,1868,2344,0,0,0,0,0,0
$GC,12536,3.19,175.2,238.4,35.2,432,12540,0.00,2.17,0.00,0.000,4,0.000,0.039,3057,796,2343,0,0,0,0,0,0
$GC,12630,3.19,175.2,209.2,31.5,436,12634,0.00,2.05,0.00,0.000,6,0.000,0.019,3058,1857,2342,0,0,0,0,0,0
$GC,12959,3.19,175.2,119.0,21.2,465,12963,0.00,2.00,0.00,0.000,4,0.000,0.025,3058,2905,2343,0,0,0,0,0,0
$GC,13088,3.19,175.2,90.1,22.4,476,13093,0.00,2.00,0.00,0.000,6,0.000,0.025,3058,1856,2345,0,0,0,0,0,0
$GC,13350,3.19,175.2,24.6,27.3,502,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1856,2348,0,0,0,0,0,0
$STATE,13432,end climb,SURFACE_DEPTH_REACHED
$STATE,13432,begin surface coast
$FINISH,2.5,1.016795
$STATE,13444,end surface coast,CONTROL_FINISHED_OK
$STATE,13444,begin surface
$SM_CCo,13475,110.05,0.644,0,0,1439,400.08
$SM_GC,2.89,0.00,0.00,110.05,0.000,0.000,0.644,359,2191,1439,-9.20,-0.25,400.08
$IRIDIUM_FIX,1819.13,12418.58,010712,181817
$TT8_MAMPS,0.049088
$HUMID,1079130734
$TCM_TEMP,24.00
$XPDR_PINGS,291
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,2091286528
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077459968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,38.542
$10V_AH,10.0,22.182
$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,39.850,119.200,289.600,110.050,0.000,22.017,48.926,171.255,72.750,0.000,32.997,1116.801,10300.071,550.302,1861.410,140.381,33.358,1400.219,0.000,1509.318,0.000,0.544,0.000
$DEVICE_MAMPS,140.361,59.059,1487.213,643.513,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,351.229,0.000,0.000,0.000,0.000,0.000,0.000,12156.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.229,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,20080,519
$CAP_FILE_SIZE,124703,0
$CFSIZE,260034560,241094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0
$GPS,070111,105408,1828.535,12417.785,38,1.4,40,-2.1