version: 66.07
glider: 500
mission: 5
dive: 183
start: 12 13 110 9 53 19
data:
$ID,500
$MISSION,5
$DIVE,183
$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,-124591.09
$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,37
$R_STBD_OVSHOOT,37
$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,182
$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
$GPS1,131210,094336,2025.833,12649.929,37,0.8,42,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.9
$GPS2,131210,095225,2025.859,12649.898,9,1.3,14,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,-0.141
$KALMAN_X,-240857.1,-225.0,12.2,609207.7,-1315.2
$KALMAN_Y,134046.4,-1557.9,-832.9,-212761.8,5420.4
$MHEAD_RNG_PITCHd_Wd,208.0,4529,-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,-85.38,0.000,6,0.000,0.000,106,2293,3138,0,0,0,0,0,0
$GC,118,-1.04,-113.5,2.0,-2.4,17,140,9.80,2.47,-6.70,0.000,4,0.222,0.057,2681,681,3381,0,0,0,0,0,0
$GC,319,-1.04,-113.5,55.6,-30.7,46,324,0.00,2.33,0.00,0.000,6,0.000,0.046,2670,2268,3383,0,0,0,0,0,0
$GC,580,-1.04,-113.5,136.2,-27.3,70,584,0.00,2.33,0.00,0.000,4,0.000,0.046,2670,684,3384,0,0,0,0,0,0
$GC,636,-1.04,-113.5,151.5,-25.0,74,641,0.00,2.35,0.00,0.000,6,0.000,0.048,2659,2270,3384,0,0,0,0,0,0
$GC,906,-1.04,-113.5,203.5,-15.0,99,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2269,3386,0,0,0,0,0,0
$GC,1216,-1.04,-113.5,240.0,-10.4,114,1220,0.00,2.35,0.00,0.000,4,0.000,0.046,2659,679,3387,0,0,0,0,0,0
$GC,1472,-1.04,-113.5,272.2,-13.1,125,1478,0.10,2.35,0.00,0.000,6,0.166,0.044,2677,2274,3386,0,0,0,0,0,0
$GC,1814,-1.04,-113.5,308.6,-10.8,140,1818,0.00,2.33,0.00,0.000,4,0.000,0.045,2678,678,3388,0,0,0,0,0,0
$GC,2071,-1.04,-113.5,335.0,-10.2,145,2077,0.00,2.33,0.00,0.000,6,0.000,0.044,2663,2279,3387,0,0,0,0,0,0
$GC,2401,-1.04,-113.5,367.7,-9.6,154,2405,0.00,2.35,0.00,0.000,4,0.000,0.044,2667,676,3386,0,0,0,0,0,0
$GC,2560,-1.04,-113.5,383.7,-9.0,157,2564,0.00,2.33,0.00,0.000,6,0.000,0.042,2655,2269,3386,0,0,0,0,0,0
$GC,2896,-1.05,-116.2,413.4,-8.7,166,2900,0.00,2.35,0.00,0.000,4,0.000,0.044,2655,678,3384,0,0,0,0,0,0
$GC,3154,-1.05,-116.2,437.9,-9.5,171,3160,0.15,2.30,0.00,0.000,6,0.191,0.041,2687,2270,3384,0,0,0,0,0,0
$GC,3485,-1.07,-136.0,463.1,-6.8,180,3489,0.00,2.33,0.00,0.000,4,0.000,0.043,2682,679,3382,0,0,0,0,0,0
$GC,3743,-1.09,-155.7,479.2,-5.9,185,3747,0.00,2.33,0.00,0.000,6,0.000,0.041,2671,2284,3381,0,0,0,0,0,0
$GC,4073,-1.09,-155.7,497.6,-5.2,193,4077,0.00,2.33,0.00,0.000,4,0.000,0.041,2668,679,3380,0,0,0,0,0,0
$GC,4331,-1.09,-155.7,510.8,-5.1,198,4337,0.00,2.33,0.00,0.000,6,0.000,0.041,2660,2265,3376,0,0,0,0,0,0
$GC,4662,-1.09,-155.7,527.6,-5.6,207,4666,0.00,2.33,0.00,0.000,4,0.000,0.041,2662,679,3375,0,0,0,0,0,0
$GC,4919,-1.09,-155.7,541.7,-5.2,212,4925,0.00,2.33,0.00,0.000,6,0.000,0.041,2644,2280,3374,0,0,0,0,0,0
$GC,5250,-1.09,-155.7,556.9,-4.6,221,5254,0.00,2.35,0.00,0.000,4,0.000,0.049,2636,3853,3372,0,0,0,0,0,0
$GC,5462,-1.09,-155.7,567.8,-5.0,225,5467,0.10,2.35,0.00,0.000,6,0.156,0.035,2667,2254,3370,0,0,0,0,0,0
$GC,5798,-1.09,-155.7,581.9,-4.2,234,5802,0.00,2.40,0.00,0.000,4,0.000,0.051,2658,3840,3369,0,0,0,0,0,0
$GC,6022,-1.09,-155.7,594.1,-6.1,239,6026,0.00,2.28,0.00,0.000,6,0.000,0.032,2656,2254,3368,0,0,0,0,0,0
$GC,6346,-1.09,-155.7,615.5,-7.2,247,6350,0.00,2.40,0.00,0.000,4,0.000,0.049,2644,3842,3365,0,0,0,0,0,0
$GC,6379,-1.09,-155.7,617.6,-6.3,247,6384,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2269,3366,0,0,0,0,0,0
$GC,6709,-1.09,-155.7,634.4,-4.6,256,6713,0.00,2.28,0.00,0.000,4,0.000,0.041,2644,688,3363,0,0,0,0,0,0
$GC,6966,-1.09,-155.7,643.9,-4.4,261,6973,0.10,2.35,0.00,0.000,6,0.170,0.043,2663,2271,3361,0,0,0,0,0,0
$GC,7297,-1.09,-155.7,656.9,-4.0,270,7301,0.00,2.38,0.00,0.000,4,0.000,0.050,2653,3849,3361,0,0,0,0,0,0
$GC,7554,-1.09,-155.7,668.4,-3.9,275,7559,0.00,2.35,0.00,0.000,6,0.000,0.035,2652,2229,3359,0,0,0,0,0,0
$GC,7891,-1.09,-155.7,679.9,-3.3,284,7895,0.00,2.45,0.00,0.000,4,0.000,0.051,2640,3855,3358,0,0,0,0,0,0
$GC,8148,-1.09,-155.7,687.5,-2.2,289,8154,0.00,2.33,0.00,0.000,6,0.000,0.035,2640,2256,3357,0,0,0,0,0,0
$GC,8479,-1.09,-155.7,697.2,-3.2,298,8483,0.00,2.40,0.00,0.000,4,0.000,0.051,2625,3854,3355,0,0,0,0,0,0
$GC,8736,-1.09,-155.7,705.3,-2.9,303,8742,0.15,2.30,0.00,0.000,6,0.176,0.035,2668,2264,3354,0,0,0,0,0,0
$GC,9068,-1.09,-155.7,714.4,-2.8,312,9072,0.00,2.40,0.00,0.000,4,0.000,0.051,2657,3843,3353,0,0,0,0,0,0
$GC,9325,-1.09,-155.7,721.0,-2.7,317,9331,0.00,2.30,0.00,0.000,6,0.000,0.033,2657,2254,3352,0,0,0,0,0,0
$GC,9657,-1.09,-155.7,726.7,-1.6,326,9661,0.00,2.42,0.00,0.000,4,0.000,0.051,2648,3854,3351,0,0,0,0,0,0
$GC,9914,-1.09,-155.7,731.2,-1.4,331,9920,0.00,2.33,0.00,0.000,6,0.000,0.035,2645,2250,3349,0,0,0,0,0,0
$GC,10246,-1.09,-155.7,736.1,-1.6,340,10250,0.00,2.45,0.00,0.000,4,0.000,0.050,2631,3857,3347,0,0,0,0,0,0
$GC,10504,-1.09,-155.7,740.8,-1.9,345,10510,0.12,2.33,0.00,0.000,6,0.174,0.034,2665,2269,3347,0,0,0,0,0,0
$GC,10834,-1.09,-155.7,744.9,-0.9,354,10838,0.00,2.40,0.00,0.000,4,0.000,0.048,2653,3857,3347,0,0,0,0,0,0
$GC,11091,-1.09,-155.7,748.0,-1.4,359,11095,0.00,2.33,0.00,0.000,6,0.000,0.033,2654,2248,3344,0,0,0,0,0,0
$GC,11428,-1.09,-155.7,752.7,-1.5,368,11432,0.00,2.45,0.00,0.000,4,0.000,0.050,2641,3855,3345,0,0,0,0,0,0
$GC,11684,-1.09,-155.7,756.8,-1.2,373,11691,0.00,2.33,0.00,0.000,6,0.000,0.034,2642,2267,3345,0,0,0,0,0,0
$GC,12016,-1.09,-155.7,761.5,-1.4,382,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3344,0,0,0,0,0,0
$GC,12341,-1.09,-155.7,764.9,-1.0,390,12345,0.00,2.33,0.00,0.000,4,0.000,0.043,2642,692,3343,0,0,0,0,0,0
$STATE,12558,end dive,NO_VERTICAL_VELOCITY
$STATE,12558,begin apogee
$GC,12564,-0.23,0.0,766.2,0.0,394,12655,0.98,0.00,87.70,1.217,6,0.161,0.000,2932,1854,2916,0,0,0,0,0,0
$STATE,12658,end apogee,CONTROL_FINISHED_OK
$STATE,12658,begin climb
$GC,12661,1.09,155.7,763.4,0.0,397,12807,1.23,2.60,137.62,1.169,4,0.082,0.052,3379,281,2280,0,0,0,0,0,0
$GC,12829,1.09,155.7,730.4,24.8,401,12833,0.00,2.45,0.00,0.000,6,0.000,0.043,3375,1846,2274,0,0,0,0,0,0
$GC,13146,1.09,155.7,648.1,26.0,409,13150,0.00,2.50,0.00,0.000,4,0.000,0.051,3368,3442,2264,0,0,0,0,0,0
$GC,13235,1.09,155.7,625.4,24.9,411,13239,0.00,2.42,0.00,0.000,6,0.000,0.044,3378,1869,2263,0,0,0,0,0,0
$GC,13552,1.09,155.7,546.8,24.6,419,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1869,2260,0,0,0,0,0,0
$GC,13877,1.09,155.7,468.9,23.4,427,13881,0.00,2.42,0.00,0.000,4,0.000,0.052,3371,3435,2258,0,0,0,0,0,0
$GC,13920,1.09,155.7,458.2,23.5,428,13924,0.00,2.45,0.00,0.000,6,0.000,0.044,3381,1849,2258,0,0,0,0,0,0
$GC,14245,1.09,155.7,383.0,23.9,436,14249,0.00,2.45,0.00,0.000,4,0.000,0.053,3374,3439,2256,0,0,0,0,0,0
$GC,14271,1.09,155.7,376.0,23.9,436,14275,0.00,2.45,0.00,0.000,6,0.000,0.045,3384,1841,2257,0,0,0,0,0,0
$GC,14607,1.09,155.7,297.7,22.7,445,14612,0.00,2.42,0.00,0.000,4,0.000,0.052,3384,3436,2256,0,0,0,0,0,0
$GC,14702,1.09,155.7,276.0,22.9,449,14707,0.00,2.38,0.00,0.000,6,0.000,0.041,3396,1843,2256,0,0,0,0,0,0
$GC,15018,1.09,155.7,210.2,20.5,464,15023,0.00,2.40,0.00,0.000,4,0.000,0.053,3409,260,2251,0,0,0,0,0,0
$GC,15063,1.09,155.7,200.5,20.5,466,15068,0.12,2.38,0.00,0.000,6,0.161,0.044,3374,1856,2253,0,0,0,0,0,0
$GC,15392,1.09,155.7,146.6,13.5,497,15396,0.00,2.40,0.00,0.000,4,0.000,0.054,3374,3441,2253,0,0,0,0,0,0
$GC,15464,1.09,155.7,136.3,13.9,503,15469,0.00,2.40,0.00,0.000,6,0.000,0.044,3385,1842,2253,0,0,0,0,0,0
$GC,15725,1.09,155.7,102.4,12.3,527,15730,0.00,2.40,0.00,0.000,4,0.000,0.051,3384,3436,2253,0,0,0,0,0,0
$GC,15800,1.09,155.7,92.2,14.2,533,15804,0.00,2.38,0.00,0.000,6,0.000,0.041,3396,1837,2253,0,0,0,0,0,0
$GC,16061,1.09,155.7,57.3,12.8,557,16065,0.00,2.38,0.00,0.000,4,0.000,0.051,3409,258,2253,0,0,0,0,0,0
$GC,16081,1.09,155.7,54.2,13.6,558,16088,0.10,2.38,0.00,0.000,6,0.130,0.042,3374,1854,2253,0,0,0,0,0,0
$GC,16345,1.09,155.7,22.5,12.2,588,16350,0.00,2.38,0.00,0.000,4,0.000,0.050,3373,3442,2254,0,0,0,0,0,0
$STATE,16491,end climb,SURFACE_DEPTH_REACHED
$STATE,16491,begin surface coast
$FINISH,0.5,1.008727
$STATE,16513,end surface coast,CONTROL_FINISHED_OK
$STATE,16513,begin surface
$SM_CCo,16532,156.75,0.601,0,0,876,500.16
$SM_GC,1.19,0.00,0.00,156.75,0.000,0.000,0.601,102,2266,876,-9.12,-0.11,500.16
$IRIDIUM_FIX,2020.26,12647.13,060612,232333
$TT8_MAMPS,0.059059
$HUMID,1078737410
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8297938944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56117526528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,30.351
$10V_AH,10.2,23.166
$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,20.875,150.575,225.325,156.750,0.000,23.602,43.888,308.030,0.000,0.000,16.518,1391.608,12464.687,534.886,2572.808,255.676,33.363,1657.089,0.000,2139.301,0.000,0.541,0.000
$DEVICE_MAMPS,222.430,56.758,1217.229,600.561,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,419.467,0.000,0.000,0.000,0.000,0.000,0.000,17451.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.491,0.000,0.000
$MEM,354996
$DATA_FILE_SIZE,20093,618
$CAP_FILE_SIZE,150994,0
$CFSIZE,260165632,209403904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131210,143254,2024.676,12648.806,34,1.1,34,-2.6