version: 66.07
glider: 500
mission: 5
dive: 182
start: 12 13 110 5 17 46
data:
$ID,500
$MISSION,5
$DIVE,182
$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,-124573.94
$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,32
$R_STBD_OVSHOOT,30
$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,181
$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
$GPS1,131210,050337,2025.687,12649.301,40,1.0,41,-2.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.1
$GPS2,131210,051650,2025.717,12649.098,12,1.0,12,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.060
$KALMAN_X,-240868.1,1276.8,247.4,606084.6,-2342.4
$KALMAN_Y,134060.9,-1135.9,98.1,-214402.1,3574.3
$MHEAD_RNG_PITCHd_Wd,69.8,4377,-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,-54.0,0.0,0.0,0,114,0.00,0.00,-85.53,0.000,6,0.000,0.000,111,2279,3136,0,0,0,0,0,0
$GC,117,-1.04,-113.4,1.9,-2.4,17,139,9.73,2.45,-6.75,0.000,4,0.222,0.066,2668,3846,3379,0,0,0,0,0,0
$GC,357,-1.04,-113.4,69.7,-30.9,49,364,0.00,2.38,0.00,0.000,6,0.000,0.038,2667,2272,3380,0,0,0,0,0,0
$GC,619,-1.04,-113.4,137.8,-20.1,74,624,0.00,2.40,0.00,0.000,4,0.000,0.050,2657,3851,3381,0,0,0,0,0,0
$GC,748,-1.04,-113.4,167.9,-21.3,85,752,0.00,2.35,0.00,0.000,6,0.000,0.037,2655,2246,3387,0,0,0,0,0,0
$GC,1007,-1.04,-113.4,210.4,-16.4,106,1011,0.00,2.30,0.00,0.000,4,0.000,0.045,2655,678,3383,0,0,0,0,0,0
$GC,1045,-1.04,-113.4,216.1,-14.3,108,1050,0.15,2.33,0.00,0.000,6,0.192,0.047,2679,2283,3383,0,0,0,0,0,0
$GC,1372,-1.04,-113.4,255.9,-10.5,124,1376,0.00,2.33,0.00,0.000,4,0.000,0.045,2682,692,3385,0,0,0,0,0,0
$GC,1612,-1.04,-113.4,282.7,-11.6,135,1616,0.00,2.30,0.00,0.000,6,0.000,0.048,2671,2272,3385,0,0,0,0,0,0
$GC,1942,-1.04,-113.4,316.9,-10.1,147,1946,0.00,2.30,0.00,0.000,4,0.000,0.046,2671,692,3383,0,0,0,0,0,0
$GC,1990,-1.04,-113.4,321.8,-9.3,148,1995,0.00,2.35,0.00,0.000,6,0.000,0.048,2660,2272,3385,0,0,0,0,0,0
$GC,2309,-1.04,-113.4,351.9,-9.7,156,2313,0.00,2.35,0.00,0.000,4,0.000,0.051,2648,3858,3384,0,0,0,0,0,0
$GC,2527,-1.04,-113.4,372.6,-9.7,161,2532,0.15,2.33,0.00,0.000,6,0.175,0.035,2687,2253,3383,0,0,0,0,0,0
$GC,2851,-1.07,-137.2,396.5,-6.3,169,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2252,3382,0,0,0,0,0,0
$GC,3175,-1.09,-155.7,417.6,-6.5,177,3180,0.00,2.30,0.00,0.000,4,0.000,0.046,2687,692,3380,0,0,0,0,0,0
$GC,3191,-1.09,-155.7,418.7,-6.5,177,3195,0.00,2.30,0.00,0.000,6,0.000,0.045,2674,2284,3380,0,0,0,0,0,0
$GC,3539,-1.09,-155.7,438.0,-4.8,186,3543,0.00,2.30,0.00,0.000,4,0.000,0.044,2676,700,3378,0,0,0,0,0,0
$GC,3796,-1.09,-155.7,451.0,-5.0,191,3802,0.00,2.28,0.00,0.000,6,0.000,0.041,2664,2288,3376,0,0,0,0,0,0
$GC,4128,-1.09,-155.7,470.6,-6.1,200,4132,0.00,2.33,0.00,0.000,4,0.000,0.042,2665,685,3374,0,0,0,0,0,0
$GC,4334,-1.09,-155.7,482.8,-6.6,204,4338,0.00,2.33,0.00,0.000,6,0.000,0.041,2653,2264,3373,0,0,0,0,0,0
$GC,4677,-1.09,-155.7,502.1,-5.4,213,4682,0.00,2.38,0.00,0.000,4,0.000,0.048,2640,3853,3371,0,0,0,0,0,0
$GC,4688,-1.09,-155.7,502.8,-5.3,213,4692,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2273,3370,0,0,0,0,0,0
$GC,5000,-1.09,-155.7,520.6,-5.4,221,5005,0.00,2.35,0.00,0.000,4,0.000,0.049,2629,3843,3369,0,0,0,0,0,0
$GC,5258,-1.09,-155.7,535.4,-6.0,226,5264,0.12,2.28,0.00,0.000,6,0.177,0.033,2661,2250,3368,0,0,0,0,0,0
$GC,5589,-1.09,-155.7,552.4,-5.3,235,5593,0.00,2.40,0.00,0.000,4,0.000,0.051,2650,3846,3366,0,0,0,0,0,0
$GC,5813,-1.09,-155.7,563.5,-4.7,240,5817,0.00,2.25,0.00,0.000,6,0.000,0.035,2650,2272,3364,0,0,0,0,0,0
$GC,6136,-1.09,-155.7,576.4,-3.9,248,6140,0.00,2.35,0.00,0.000,4,0.000,0.049,2638,3842,3362,0,0,0,0,0,0
$GC,6376,-1.09,-155.7,587.9,-4.9,253,6380,0.00,2.30,0.00,0.000,6,0.000,0.033,2638,2250,3362,0,0,0,0,0,0
$GC,6725,-1.09,-155.7,602.4,-3.8,262,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2245,3359,0,0,0,0,0,0
$GC,7049,-1.09,-155.7,614.8,-3.8,270,7054,0.10,2.42,0.00,0.000,4,0.186,0.048,2652,3840,3358,0,0,0,0,0,0
$GC,7307,-1.09,-155.7,623.0,-3.1,275,7312,0.00,2.28,0.00,0.000,6,0.000,0.032,2652,2265,3357,0,0,0,0,0,0
$GC,7637,-1.09,-155.7,631.2,-2.8,284,7641,0.00,2.28,0.00,0.000,4,0.000,0.043,2652,697,3354,0,0,0,0,0,0
$GC,7895,-1.09,-155.7,640.3,-3.9,289,7900,0.00,2.30,0.00,0.000,6,0.000,0.042,2637,2271,3353,0,0,0,0,0,0
$GC,8226,-1.09,-155.7,653.7,-4.1,298,8230,0.00,2.30,0.00,0.000,4,0.000,0.043,2640,701,3354,0,0,0,0,0,0
$GC,8483,-1.09,-155.7,665.0,-4.1,303,8488,0.15,2.30,0.00,0.000,6,0.191,0.040,2667,2277,3354,0,0,0,0,0,0
$GC,8819,-1.09,-155.7,675.0,-3.1,312,8823,0.00,2.30,0.00,0.000,4,0.000,0.042,2667,703,3349,0,0,0,0,0,0
$GC,9076,-1.09,-155.7,684.0,-3.6,317,9082,0.00,2.33,0.00,0.000,6,0.000,0.041,2657,2267,3348,0,0,0,0,0,0
$GC,9407,-1.09,-155.7,694.5,-3.3,326,9411,0.00,2.30,0.00,0.000,4,0.000,0.041,2656,692,3347,0,0,0,0,0,0
$GC,9542,-1.09,-155.7,698.5,-2.5,329,9546,0.00,2.33,0.00,0.000,6,0.000,0.042,2645,2274,3346,0,0,0,0,0,0
$GC,9865,-1.09,-155.7,704.3,-1.4,337,9869,0.00,2.38,0.00,0.000,4,0.000,0.051,2632,3845,3345,0,0,0,0,0,0
$GC,10122,-1.09,-155.7,709.1,-2.6,342,10129,0.12,2.30,0.00,0.000,6,0.181,0.034,2664,2269,3344,0,0,0,0,0,0
$GC,10453,-1.09,-155.7,716.5,-2.5,351,10458,0.00,2.40,0.00,0.000,4,0.000,0.048,2654,3857,3343,0,0,0,0,0,0
$GC,10711,-1.09,-155.7,724.1,-2.3,356,10717,0.00,2.30,0.00,0.000,6,0.000,0.035,2653,2268,3343,0,0,0,0,0,0
$GC,11043,-1.09,-155.7,729.7,-1.3,365,11047,0.00,2.40,0.00,0.000,4,0.000,0.049,2641,3843,3342,0,0,0,0,0,0
$GC,11299,-1.09,-155.7,732.5,-1.4,370,11306,0.00,2.30,0.00,0.000,6,0.000,0.034,2641,2249,3341,0,0,0,0,0,0
$GC,11632,-1.09,-155.7,736.6,-1.2,379,11636,0.00,2.42,0.00,0.000,4,0.000,0.051,2629,3842,3340,0,0,0,0,0,0
$STATE,11821,end dive,NO_VERTICAL_VELOCITY
$STATE,11821,begin apogee
$GC,11829,-0.23,0.0,738.1,0.0,383,11919,1.00,0.00,86.20,1.187,6,0.162,0.000,2932,1849,2917,0,0,0,0,0,0
$STATE,11922,end apogee,CONTROL_FINISHED_OK
$STATE,11922,begin climb
$GC,11924,1.09,155.7,736.5,0.0,385,12070,1.20,2.60,136.35,1.149,4,0.078,0.054,3380,284,2279,0,0,0,0,0,0
$GC,12164,1.09,155.7,684.5,24.2,390,12169,0.00,2.45,0.00,0.000,6,0.000,0.044,3381,1849,2271,0,0,0,0,0,0
$GC,12501,1.09,155.7,597.8,25.3,399,12505,0.00,2.45,0.00,0.000,4,0.000,0.051,3372,3444,2262,0,0,0,0,0,0
$GC,12618,1.09,155.7,569.0,24.2,401,12622,0.00,2.40,0.00,0.000,6,0.000,0.044,3382,1863,2258,0,0,0,0,0,0
$GC,12953,1.09,155.7,492.7,22.0,410,12957,0.00,2.42,0.00,0.000,4,0.000,0.051,3374,3446,2256,0,0,0,0,0,0
$GC,12998,1.09,155.7,482.4,23.7,411,13002,0.00,2.42,0.00,0.000,6,0.000,0.045,3384,1843,2256,0,0,0,0,0,0
$GC,13321,1.09,155.7,409.1,23.4,419,13326,0.00,2.40,0.00,0.000,4,0.000,0.054,3397,263,2254,0,0,0,0,0,0
$GC,13337,1.09,155.7,405.2,23.0,419,13341,0.00,2.40,0.00,0.000,6,0.000,0.045,3393,1852,2254,0,0,0,0,0,0
$GC,13685,1.09,155.7,325.8,22.5,428,13689,0.00,2.40,0.00,0.000,4,0.000,0.051,3389,3435,2254,0,0,0,0,0,0
$GC,13769,1.09,155.7,305.8,23.8,430,13773,0.00,2.38,0.00,0.000,6,0.000,0.041,3404,1838,2254,0,0,0,0,0,0
$GC,14097,1.09,155.7,231.9,21.9,445,14101,0.00,2.38,0.00,0.000,4,0.000,0.053,3411,258,2252,0,0,0,0,0,0
$GC,14124,1.09,155.7,225.7,22.7,446,14129,0.12,2.38,0.00,0.000,6,0.164,0.044,3376,1854,2252,0,0,0,0,0,0
$GC,14443,1.09,155.7,168.6,16.5,469,14447,0.00,2.38,0.00,0.000,4,0.000,0.051,3376,3440,2252,0,0,0,0,0,0
$GC,14589,1.09,155.7,143.7,15.7,481,14594,0.00,2.35,0.00,0.000,6,0.000,0.041,3386,1849,2250,0,0,0,0,0,0
$GC,14850,1.09,155.7,110.9,11.3,506,14854,0.00,2.42,0.00,0.000,4,0.000,0.051,3386,3450,2250,0,0,0,0,0,0
$GC,14956,1.09,155.7,96.9,14.1,515,14961,0.00,2.38,0.00,0.000,6,0.000,0.041,3398,1848,2255,0,0,0,0,0,0
$GC,15219,1.09,155.7,61.9,14.3,539,15220,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1848,2254,0,0,0,0,0,0
$GC,15473,1.09,155.7,26.9,14.0,564,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1848,2252,0,0,0,0,0,0
$STATE,15651,end climb,SURFACE_DEPTH_REACHED
$STATE,15651,begin surface coast
$FINISH,0.5,1.009386
$STATE,15674,end surface coast,CONTROL_FINISHED_OK
$STATE,15674,begin surface
$SM_CCo,15698,158.32,0.614,0,0,877,500.16
$SM_GC,1.08,0.00,0.00,158.32,0.000,0.000,0.614,108,2292,877,-9.10,0.62,500.16
$IRIDIUM_FIX,2017.96,12647.13,060612,232341
$TT8_MAMPS,0.058292
$HUMID,1078714184
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,25.00
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8278835200
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56162418688
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,30.226
$10V_AH,10.1,23.041
$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,20.875,142.425,222.550,158.325,0.000,56.811,64.944,454.101,0.250,0.000,14.055,1334.512,11895.543,518.976,2618.611,287.500,33.358,1585.662,0.000,2010.907,0.000,0.541,0.000
$DEVICE_MAMPS,221.663,65.962,1186.549,613.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.188,0.000,0.000,0.000,0.000,0.000,0.000,16946.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.473,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,20139,600
$CAP_FILE_SIZE,149480,0
$CFSIZE,260165632,209481728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131210,094336,2025.833,12649.929,37,0.8,42,-2.6