version: 66.07
glider: 500
mission: 5
dive: 180
start: 12 12 110 19 48 21
data:
$ID,500
$MISSION,5
$DIVE,180
$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,-124544.23
$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,38
$R_STBD_OVSHOOT,39
$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,179
$AR_SAMPLENUM,1
$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
$GPS1,121210,193907,2026.986,12648.732,29,1.0,29,-2.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.2
$GPS2,121210,194726,2027.045,12648.684,11,1.1,11,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,-0.130
$KALMAN_X,-241665.8,-215.7,350.8,607567.4,-1568.8
$KALMAN_Y,131137.3,407.3,-76.6,-210405.2,4439.9
$MHEAD_RNG_PITCHd_Wd,149.0,1881,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.97,-54.0,0.0,0.0,0,115,0.00,0.00,-85.68,0.000,6,0.000,0.000,129,2287,3137,0,0,0,0,0,0
$GC,118,-1.05,-122.7,1.9,-1.3,17,145,9.62,2.47,-7.65,0.000,4,0.223,0.063,2675,677,3418,0,0,0,0,0,0
$GC,162,-1.05,-122.7,10.2,-21.4,25,168,0.00,2.40,0.00,0.000,6,0.000,0.051,2665,2262,3418,0,0,0,0,0,0
$GC,369,-1.05,-122.7,75.4,-31.1,50,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2263,3420,0,0,0,0,0,0
$GC,623,-1.05,-122.7,152.4,-23.0,74,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2263,3421,0,0,0,0,0,0
$GC,877,-1.05,-122.7,199.8,-15.8,98,881,0.00,2.35,0.00,0.000,4,0.000,0.049,2665,678,3422,0,0,0,0,0,0
$GC,983,-1.05,-122.7,216.9,-15.2,103,989,0.00,2.42,0.00,0.000,6,0.000,0.056,2652,2305,3423,0,0,0,0,0,0
$GC,1299,-1.05,-122.7,260.5,-11.7,119,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2305,3425,0,0,0,0,0,0
$GC,1607,-1.05,-122.7,300.0,-12.2,134,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2305,3426,0,0,0,0,0,0
$GC,1912,-1.05,-122.7,333.9,-11.0,142,1917,0.00,2.40,0.00,0.000,4,0.000,0.053,2652,688,3426,0,0,0,0,0,0
$GC,2164,-1.05,-122.7,363.4,-11.5,147,2169,0.10,2.42,0.00,0.000,6,0.177,0.058,2671,2271,3425,0,0,0,0,0,0
$GC,2501,-1.05,-122.7,401.5,-11.5,156,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2271,3426,0,0,0,0,0,0
$GC,2825,-1.05,-123.4,433.5,-8.9,164,2829,0.00,2.38,0.00,0.000,4,0.000,0.054,2661,3861,3425,0,0,0,0,0,0
$GC,2885,-1.06,-128.9,438.8,-8.4,165,2889,0.00,2.38,0.00,0.000,6,0.000,0.038,2660,2272,3423,0,0,0,0,0,0
$GC,3234,-1.07,-137.3,466.0,-8.1,174,3238,0.00,2.38,0.00,0.000,4,0.000,0.050,2660,671,3423,0,0,0,0,0,0
$GC,3402,-1.07,-137.6,482.0,-9.0,177,3406,0.00,2.38,0.00,0.000,6,0.000,0.052,2648,2284,3421,0,0,0,0,0,0
$GC,3733,-1.08,-147.5,508.5,-7.9,185,3737,0.00,2.38,0.00,0.000,4,0.000,0.053,2645,686,3420,0,0,0,0,0,0
$GC,3990,-1.08,-147.5,530.6,-9.0,190,3996,0.12,2.40,0.00,0.000,6,0.199,0.051,2667,2309,3419,0,0,0,0,0,0
$GC,4322,-1.09,-155.7,555.8,-7.1,199,4326,0.00,2.40,0.00,0.000,4,0.000,0.044,2667,682,3417,0,0,0,0,0,0
$GC,4376,-1.09,-155.7,560.3,-8.3,200,4380,0.00,2.33,0.00,0.000,6,0.000,0.046,2656,2274,3417,0,0,0,0,0,0
$GC,4689,-1.09,-155.7,585.3,-8.0,208,4693,0.00,2.35,0.00,0.000,4,0.000,0.047,2656,679,3415,0,0,0,0,0,0
$GC,4733,-1.09,-155.7,589.0,-8.1,209,4737,0.00,2.35,0.00,0.000,6,0.000,0.045,2644,2270,3413,0,0,0,0,0,0
$GC,5050,-1.09,-155.7,612.8,-7.7,217,5055,0.00,2.35,0.00,0.000,4,0.000,0.050,2632,3848,3413,0,0,0,0,0,0
$GC,5105,-1.09,-155.7,617.3,-8.4,218,5110,0.12,2.30,0.00,0.000,6,0.176,0.036,2664,2256,3413,0,0,0,0,0,0
$GC,5419,-1.09,-155.7,643.9,-9.0,226,5423,0.00,2.40,0.00,0.000,4,0.000,0.051,2655,3858,3411,0,0,0,0,0,0
$GC,5490,-1.09,-155.7,650.6,-9.5,227,5494,0.00,2.35,0.00,0.000,6,0.000,0.037,2657,2276,3410,0,0,0,0,0,0
$GC,5827,-1.09,-155.7,674.6,-7.0,236,5832,0.00,2.33,0.00,0.000,4,0.000,0.044,2653,668,3408,0,0,0,0,0,0
$GC,5950,-1.09,-155.7,682.8,-6.7,238,5956,0.00,2.35,0.00,0.000,6,0.000,0.046,2641,2283,3408,0,0,0,0,0,0
$GC,6281,-1.09,-155.7,699.4,-5.1,247,6285,0.00,2.35,0.00,0.000,4,0.000,0.050,2629,3849,3406,0,0,0,0,0,0
$GC,6538,-1.09,-155.7,716.4,-6.5,252,6544,0.12,2.33,0.00,0.000,6,0.176,0.036,2662,2249,3404,0,0,0,0,0,0
$GC,6870,-1.09,-155.7,736.8,-5.9,261,6874,0.00,2.40,0.00,0.000,4,0.000,0.050,2651,3842,3403,0,0,0,0,0,0
$GC,7126,-1.09,-155.7,750.9,-5.0,266,7133,0.00,2.33,0.00,0.000,6,0.000,0.034,2650,2247,3401,0,0,0,0,0,0
$GC,7458,-1.09,-155.7,767.9,-5.3,275,7463,0.00,2.42,0.00,0.000,4,0.000,0.050,2638,3850,3400,0,0,0,0,0,0
$GC,7717,-1.09,-155.7,784.3,-6.2,280,7722,0.00,2.33,0.00,0.000,6,0.000,0.035,2638,2270,3399,0,0,0,0,0,0
$GC,8047,-1.09,-155.7,802.0,-4.9,289,8052,0.10,2.40,0.00,0.000,4,0.187,0.048,2652,3842,3398,0,0,0,0,0,0
$GC,8181,-1.09,-155.7,808.2,-4.8,292,8185,0.00,2.28,0.00,0.000,6,0.000,0.033,2653,2267,3396,0,0,0,0,0,0
$GC,8500,-1.09,-155.7,818.4,-3.0,300,8504,0.00,2.33,0.00,0.000,4,0.000,0.044,2652,680,3395,0,0,0,0,0,0
$GC,8664,-1.09,-155.7,823.6,-3.4,303,8668,0.00,2.33,0.00,0.000,6,0.000,0.044,2641,2271,3394,0,0,0,0,0,0
$GC,9000,-1.09,-155.7,832.3,-2.6,312,9004,0.00,2.33,0.00,0.000,4,0.000,0.044,2641,684,3393,0,0,0,0,0,0
$GC,9258,-1.09,-155.7,837.9,-2.8,317,9264,0.15,2.35,0.00,0.000,6,0.194,0.044,2664,2278,3392,0,0,0,0,0,0
$GC,9588,-1.09,-155.7,845.1,-2.2,326,9592,0.00,2.38,0.00,0.000,4,0.000,0.051,2657,3841,3390,0,0,0,0,0,0
$GC,9847,-1.09,-155.7,853.4,-3.0,331,9851,0.00,2.30,0.00,0.000,6,0.000,0.034,2656,2253,3390,0,0,0,0,0,0
$GC,10177,-1.09,-155.7,865.7,-3.6,339,10181,0.00,2.40,0.00,0.000,4,0.000,0.051,2644,3841,3388,0,0,0,0,0,0
$GC,10434,-1.09,-155.7,874.7,-3.6,344,10440,0.00,2.28,0.00,0.000,6,0.000,0.035,2644,2268,3387,0,0,0,0,0,0
$GC,10765,-1.09,-155.7,884.7,-2.6,353,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2267,3385,0,0,0,0,0,0
$GC,11091,-1.09,-155.7,893.0,-2.6,361,11095,0.00,2.40,0.00,0.000,4,0.000,0.051,2629,3846,3387,0,0,0,0,0,0
$GC,11348,-1.09,-155.7,901.6,-3.9,366,11353,0.12,2.30,0.00,0.000,6,0.176,0.035,2670,2269,3386,0,0,0,0,0,0
$GC,11685,-1.09,-155.7,909.6,-2.3,375,11689,0.00,2.40,0.00,0.000,4,0.000,0.050,2653,3847,3386,0,0,0,0,0,0
$GC,11942,-1.09,-155.7,916.2,-2.5,380,11948,0.00,2.35,0.00,0.000,6,0.000,0.036,2654,2255,3386,0,0,0,0,0,0
$GC,12274,-1.09,-155.7,922.4,-1.6,389,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,3385,0,0,0,0,0,0
$GC,12598,-1.09,-155.7,929.2,-2.2,397,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,3384,0,0,0,0,0,0
$GC,12923,-1.09,-155.7,933.8,-1.2,405,12927,0.00,2.33,0.00,0.000,4,0.000,0.047,2653,693,3383,0,0,0,0,0,0
$GC,13179,-1.09,-155.7,937.1,-1.7,410,13186,0.00,2.35,0.00,0.000,6,0.000,0.045,2642,2267,3383,0,0,0,0,0,0
$STATE,13306,end dive,NO_VERTICAL_VELOCITY
$STATE,13306,begin apogee
$GC,13312,-0.23,0.0,938.3,0.0,414,13413,0.98,0.00,98.15,1.343,6,0.159,0.000,2937,1853,2917,0,0,0,0,0,0
$STATE,13416,end apogee,CONTROL_FINISHED_OK
$STATE,13416,begin climb
$GC,13418,1.09,155.7,936.5,0.0,416,13568,1.20,2.67,141.40,1.297,4,0.072,0.053,3369,3428,2279,0,0,0,0,0,0
$GC,13613,1.09,155.7,894.5,27.1,420,13618,0.00,2.50,0.00,0.000,6,0.000,0.044,3380,1863,2271,0,0,0,0,0,0
$GC,13943,1.09,155.7,804.2,27.2,428,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1863,2263,0,0,0,0,0,0
$GC,14268,1.09,155.7,715.6,27.2,436,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1862,2261,0,0,0,0,0,0
$GC,14594,1.09,155.7,632.9,25.1,444,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1862,2260,0,0,0,0,0,0
$GC,14918,1.09,155.7,553.5,24.6,452,14923,0.00,2.42,0.00,0.000,4,0.000,0.051,3372,3443,2257,0,0,0,0,0,0
$GC,14979,1.09,155.7,538.3,25.2,453,14983,0.00,2.45,0.00,0.000,6,0.000,0.046,3381,1849,2258,0,0,0,0,0,0
$GC,15328,1.09,155.7,457.3,23.4,462,15331,0.00,2.42,0.00,0.000,4,0.000,0.054,3379,3433,2256,0,0,0,0,0,0
$GC,15393,1.09,155.7,441.0,22.8,463,15398,0.00,2.42,0.00,0.000,6,0.000,0.044,3390,1847,2253,0,0,0,0,0,0
$GC,15741,1.09,155.7,359.3,24.1,472,15746,0.00,2.40,0.00,0.000,4,0.000,0.057,3402,262,2254,0,0,0,0,0,0
$GC,15786,1.09,155.7,348.7,23.6,473,15790,0.00,2.38,0.00,0.000,6,0.000,0.047,3399,1847,2254,0,0,0,0,0,0
$GC,16104,1.09,155.7,274.7,21.9,483,16108,0.00,2.40,0.00,0.000,4,0.000,0.053,3394,3439,2254,0,0,0,0,0,0
$GC,16211,1.09,155.7,252.2,20.7,488,16216,0.12,2.40,0.00,0.000,6,0.173,0.042,3371,1840,2254,0,0,0,0,0,0
$GC,16526,1.09,155.7,198.0,16.2,504,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1839,2254,0,0,0,0,0,0
$GC,16782,1.09,155.7,158.7,14.3,528,16786,0.00,2.45,0.00,0.000,4,0.000,0.052,3371,3446,2254,0,0,0,0,0,0
$GC,16899,1.09,155.7,141.6,15.0,538,16903,0.00,2.40,0.00,0.000,6,0.000,0.042,3381,1853,2254,0,0,0,0,0,0
$GC,17162,1.09,155.7,109.1,12.9,562,17163,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1853,2254,0,0,0,0,0,0
$GC,17413,1.09,155.7,77.6,12.9,586,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1850,2255,0,0,0,0,0,0
$GC,17669,1.09,155.7,45.8,12.6,610,17673,0.00,2.40,0.00,0.000,4,0.000,0.051,3382,3450,2258,0,0,0,0,0,0
$GC,17797,1.09,155.7,28.1,13.7,622,17803,0.00,2.38,0.00,0.000,6,0.000,0.041,3393,1847,2259,0,0,0,0,0,0
$STATE,17986,end climb,SURFACE_DEPTH_REACHED
$STATE,17986,begin surface coast
$FINISH,0.6,1.022530
$STATE,18010,end surface coast,CONTROL_FINISHED_OK
$STATE,18010,begin surface
$SM_CCo,18034,158.00,0.599,0,0,873,500.40
$SM_GC,1.11,0.00,0.00,158.00,0.000,0.000,0.599,104,2290,873,-9.11,0.57,500.40
$IRIDIUM_FIX,2017.96,12647.13,060612,090919
$TT8_MAMPS,0.058292
$HUMID,1078678055
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,25.20
$XPDR_PINGS,16
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8274345984
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56237621248
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,29.969
$10V_AH,10.2,22.773
$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,20.875,139.225,239.550,158.000,0.000,24.556,33.345,294.094,4.000,0.000,13.507,1424.920,14057.558,546.243,2412.610,256.934,33.361,1618.477,0.000,2006.570,0.000,0.541,0.000
$DEVICE_MAMPS,223.197,62.894,1343.017,599.027,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,449.276,0.000,0.000,0.000,0.000,0.000,0.000,18857.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.545,0.000,0.000
$MEM,354980
$DATA_FILE_SIZE,23450,660
$CAP_FILE_SIZE,151124,0
$CFSIZE,260165632,209633280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131210,005301,2025.925,12650.492,35,1.3,35,-2.6