version: 66.07
glider: 500
mission: 5
dive: 179
start: 12 12 110 15 35 3
data:
$ID,500
$MISSION,5
$DIVE,179
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,366
$T_MISSION,720
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124530.09
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,178
$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
$GPS1,121210,152125,2026.608,12649.824,38,1.0,38,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.4
$GPS2,121210,153408,2026.728,12649.664,11,1.0,11,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.082,-0.133
$KALMAN_X,-240588.7,-944.0,-138.5,609397.7,-882.7
$KALMAN_Y,128123.7,-265.2,117.5,-207486.5,3542.7
$MHEAD_RNG_PITCHd_Wd,214.2,2924,-27.1,-9.016
$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,-0.97,-54.0,0.0,0.0,0,118,0.00,0.00,-85.68,0.000,6,0.000,0.000,105,2268,3136,0,0,0,0,0,0
$GC,121,-1.04,-110.7,2.3,-2.7,18,143,9.65,2.40,-5.85,0.000,4,0.219,0.058,2681,674,3371,0,0,0,0,0,0
$GC,395,-1.04,-110.7,77.9,-29.0,52,401,0.00,2.42,0.00,0.000,6,0.000,0.052,2671,2271,3369,0,0,0,0,0,0
$GC,657,-1.04,-110.7,145.9,-19.9,77,661,0.00,2.40,0.00,0.000,4,0.000,0.060,2658,3854,3370,0,0,0,0,0,0
$GC,701,-1.04,-110.7,155.6,-22.9,80,706,0.00,2.38,0.00,0.000,6,0.000,0.047,2658,2272,3370,0,0,0,0,0,0
$GC,962,-1.04,-110.7,200.8,-13.5,105,966,0.00,2.35,0.00,0.000,4,0.000,0.053,2656,665,3371,0,0,0,0,0,0
$GC,1000,-1.04,-110.7,206.1,-13.5,107,1005,0.15,2.40,0.00,0.000,6,0.195,0.054,2684,2273,3371,0,0,0,0,0,0
$GC,1326,-1.04,-114.0,243.9,-8.6,123,1330,0.00,2.35,0.00,0.000,4,0.000,0.053,2681,678,3373,0,0,0,0,0,0
$GC,1582,-1.04,-114.0,270.3,-10.5,134,1589,0.00,2.40,0.00,0.000,6,0.000,0.053,2674,2277,3373,0,0,0,0,0,0
$GC,1899,-1.05,-117.2,298.3,-8.7,150,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2270,3373,0,0,0,0,0,0
$GC,2203,-1.05,-117.3,326.2,-9.0,158,2207,0.00,2.40,0.00,0.000,4,0.000,0.065,2661,3848,3371,0,0,0,0,0,0
$GC,2285,-1.05,-117.3,334.8,-10.4,159,2292,0.00,2.38,0.00,0.000,6,0.000,0.043,2667,2263,3373,0,0,0,0,0,0
$GC,2617,-1.05,-121.6,363.0,-8.5,168,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2262,3372,0,0,0,0,0,0
$GC,2943,-1.07,-137.8,387.8,-7.2,176,2947,0.00,2.33,0.00,0.000,4,0.000,0.051,2662,674,3371,0,0,0,0,0,0
$GC,3171,-1.09,-155.7,401.8,-5.1,181,3176,0.00,2.38,0.00,0.000,6,0.000,0.049,2649,2286,3370,0,0,0,0,0,0
$GC,3491,-1.09,-155.7,419.7,-6.6,189,3495,0.00,2.40,0.00,0.000,4,0.000,0.051,2650,673,3368,0,0,0,0,0,0
$GC,3749,-1.09,-155.7,438.6,-7.6,194,3754,0.00,2.38,0.00,0.000,6,0.000,0.053,2637,2269,3366,0,0,0,0,0,0
$GC,4079,-1.09,-155.7,460.0,-6.3,203,4084,0.10,2.35,0.00,0.000,4,0.206,0.052,2661,682,3368,0,0,0,0,0,0
$GC,4337,-1.09,-155.7,473.7,-5.2,208,4343,0.00,2.38,0.00,0.000,6,0.000,0.053,2650,2270,3364,0,0,0,0,0,0
$GC,4667,-1.09,-155.7,490.5,-5.1,217,4672,0.00,2.38,0.00,0.000,4,0.000,0.053,2636,3851,3363,0,0,0,0,0,0
$GC,4925,-1.09,-155.7,502.0,-4.5,222,4931,0.00,2.33,0.00,0.000,6,0.000,0.038,2638,2262,3361,0,0,0,0,0,0
$GC,5256,-1.09,-155.7,516.1,-4.8,231,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2262,3359,0,0,0,0,0,0
$GC,5582,-1.09,-155.7,535.6,-5.9,239,5586,0.00,2.40,0.00,0.000,4,0.000,0.054,2623,3860,3357,0,0,0,0,0,0
$GC,5739,-1.09,-155.7,545.9,-6.1,242,5744,0.15,2.33,0.00,0.000,6,0.175,0.035,2665,2256,3356,0,0,0,0,0,0
$GC,6080,-1.09,-155.7,558.8,-2.9,251,6084,0.00,2.28,0.00,0.000,4,0.000,0.045,2666,686,3355,0,0,0,0,0,0
$GC,6338,-1.09,-155.7,565.4,-2.2,256,6344,0.00,2.35,0.00,0.000,6,0.000,0.044,2655,2284,3355,0,0,0,0,0,0
$GC,6670,-1.09,-155.7,574.4,-2.7,265,6674,0.00,2.35,0.00,0.000,4,0.000,0.042,2655,670,3352,0,0,0,0,0,0
$GC,6927,-1.09,-155.7,582.8,-3.9,270,6931,0.00,2.33,0.00,0.000,6,0.000,0.045,2643,2267,3351,0,0,0,0,0,0
$GC,7265,-1.09,-155.7,596.4,-4.2,279,7269,0.00,2.30,0.00,0.000,4,0.000,0.043,2643,680,3353,0,0,0,0,0,0
$GC,7291,-1.09,-155.7,597.7,-4.5,279,7296,0.12,2.35,0.00,0.000,6,0.199,0.044,2662,2272,3349,0,0,0,0,0,0
$GC,7628,-1.09,-155.7,611.4,-3.7,288,7632,0.00,2.35,0.00,0.000,4,0.000,0.051,2651,3849,3348,0,0,0,0,0,0
$GC,7884,-1.09,-155.7,619.4,-3.1,293,7891,0.00,2.30,0.00,0.000,6,0.000,0.036,2651,2255,3347,0,0,0,0,0,0
$GC,8216,-1.09,-155.7,627.6,-3.1,302,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2258,3346,0,0,0,0,0,0
$GC,8541,-1.09,-155.7,640.8,-4.5,310,8545,0.00,2.30,0.00,0.000,4,0.000,0.045,2650,689,3344,0,0,0,0,0,0
$GC,8799,-1.09,-155.7,651.2,-4.0,315,8803,0.00,2.33,0.00,0.000,6,0.000,0.045,2639,2272,3343,0,0,0,0,0,0
$GC,9129,-1.09,-155.7,660.1,-2.4,323,9133,0.00,2.33,0.00,0.000,4,0.000,0.044,2639,682,3342,0,0,0,0,0,0
$GC,9235,-1.09,-155.7,662.4,-2.2,325,9240,0.15,2.35,0.00,0.000,6,0.191,0.043,2662,2273,3340,0,0,0,0,0,0
$GC,9584,-1.09,-155.7,667.7,-1.7,334,9588,0.00,2.35,0.00,0.000,4,0.000,0.044,2666,677,3341,0,0,0,0,0,0
$GC,9842,-1.09,-155.7,674.8,-3.0,339,9846,0.00,2.38,0.00,0.000,6,0.000,0.043,2662,2281,3340,0,0,0,0,0,0
$GC,10172,-1.09,-155.7,682.6,-2.3,347,10177,0.00,2.38,0.00,0.000,4,0.000,0.051,2643,3861,3339,0,0,0,0,0,0
$GC,10430,-1.09,-155.7,688.4,-2.1,352,10436,0.00,2.35,0.00,0.000,6,0.000,0.035,2647,2266,3338,0,0,0,0,0,0
$STATE,10760,end dive,NO_VERTICAL_VELOCITY
$STATE,10760,begin apogee
$GC,10765,-0.23,0.0,691.3,0.0,361,10854,0.98,0.00,85.03,1.147,6,0.160,0.000,2940,1857,2916,0,0,0,0,0,0
$STATE,10863,end apogee,CONTROL_FINISHED_OK
$STATE,10863,begin climb
$GC,10865,1.09,155.7,689.5,0.0,363,11010,1.23,2.55,134.48,1.114,4,0.091,0.051,3381,277,2279,0,0,0,0,0,0
$GC,11195,1.09,155.7,616.9,24.1,370,11199,0.00,2.42,0.00,0.000,6,0.000,0.044,3373,1845,2267,0,0,0,0,0,0
$GC,11532,1.09,155.7,532.0,25.4,379,11536,0.00,2.45,0.00,0.000,4,0.000,0.053,3366,3446,2261,0,0,0,0,0,0
$GC,11608,1.09,155.7,511.8,25.8,380,11614,0.00,2.45,0.00,0.000,6,0.000,0.045,3376,1863,2260,0,0,0,0,0,0
$GC,11940,1.09,155.7,428.9,25.2,389,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1862,2258,0,0,0,0,0,0
$GC,12264,1.09,155.7,353.2,22.4,397,12268,0.00,2.42,0.00,0.000,4,0.000,0.051,3388,254,2254,0,0,0,0,0,0
$GC,12280,1.09,155.7,349.7,21.3,397,12284,0.00,2.40,0.00,0.000,6,0.000,0.044,3379,1859,2255,0,0,0,0,0,0
$GC,12609,1.09,155.7,279.7,21.6,407,12613,0.00,2.40,0.00,0.000,4,0.000,0.054,3372,3449,2255,0,0,0,0,0,0
$GC,12680,1.09,155.7,263.6,21.4,410,12685,0.00,2.42,0.00,0.000,6,0.000,0.044,3380,1855,2254,0,0,0,0,0,0
$GC,13002,1.09,155.7,198.5,18.6,426,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1855,2254,0,0,0,0,0,0
$GC,13256,1.09,155.7,152.5,17.7,450,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1854,2253,0,0,0,0,0,0
$GC,13511,1.09,155.7,111.2,14.0,474,13515,0.00,2.40,0.00,0.000,4,0.000,0.053,3373,3449,2253,0,0,0,0,0,0
$GC,13561,1.09,155.7,104.5,13.1,478,13565,0.00,2.40,0.00,0.000,6,0.000,0.044,3384,1838,2253,0,0,0,0,0,0
$GC,13822,1.09,155.7,72.2,12.2,502,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1838,2252,0,0,0,0,0,0
$GC,14077,1.09,155.7,40.3,11.8,526,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1838,2253,0,0,0,0,0,0
$GC,14341,1.09,155.7,4.8,14.4,566,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1835,2253,0,0,0,0,0,0
$STATE,14355,end climb,SURFACE_DEPTH_REACHED
$STATE,14355,begin surface coast
$FINISH,0.4,1.009833
$STATE,14379,end surface coast,CONTROL_FINISHED_OK
$STATE,14379,begin surface
$SM_CCo,14408,156.60,0.598,0,0,879,500.16
$SM_GC,1.14,0.00,0.00,156.60,0.000,0.000,0.598,138,2284,879,-9.01,0.40,500.16
$IRIDIUM_FIX,2020.26,12648.51,060612,090941
$TT8_MAMPS,0.059059
$HUMID,1078736119
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,25.00
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8306262016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56255184896
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,29.832
$10V_AH,10.2,22.619
$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,20.550,110.400,219.500,156.600,0.000,62.263,78.729,400.856,0.500,0.000,13.295,1214.167,11039.896,509.461,2319.281,246.706,33.369,1428.213,0.000,1724.970,0.000,0.542,0.000
$DEVICE_MAMPS,219.362,65.195,1147.432,598.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.902,0.000,0.000,0.000,0.000,0.000,0.000,15640.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.003,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,20037,573
$CAP_FILE_SIZE,130832,0
$CFSIZE,260165632,209735680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,193907,2026.986,12648.732,29,1.0,29,-2.6