version: 66.07
glider: 500
mission: 5
dive: 185
start: 12 13 110 20 12 39
data:
$ID,500
$MISSION,5
$DIVE,185
$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,-124638.52
$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,36
$R_STBD_OVSHOOT,28
$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,184
$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
$GPS1,131210,200337,2026.283,12647.761,33,1.0,33,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-79.4
$GPS2,131210,201144,2026.347,12647.773,11,1.2,11,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.024,0.154
$KALMAN_X,-241879.6,-387.5,-285.8,607033.9,1219.9
$KALMAN_Y,131498.5,338.4,-307.0,-211742.3,139.3
$MHEAD_RNG_PITCHd_Wd,11.5,3601,-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,-85.35,0.000,6,0.000,0.000,103,2283,3137,0,0,0,0,0,0
$GC,118,-1.04,-114.1,2.0,-2.3,17,140,9.75,2.40,-6.55,0.000,4,0.219,0.059,2670,3863,3381,0,0,0,0,0,0
$GC,392,-1.04,-114.1,85.7,-30.7,51,398,0.00,2.40,0.00,0.000,6,0.000,0.035,2670,2257,3384,0,0,0,0,0,0
$GC,654,-1.04,-114.1,153.0,-19.4,76,658,0.00,2.40,0.00,0.000,4,0.000,0.050,2657,3854,3385,0,0,0,0,0,0
$GC,910,-1.04,-114.1,196.9,-16.7,98,917,0.00,2.35,0.00,0.000,6,0.000,0.035,2656,2267,3386,0,0,0,0,0,0
$GC,1165,-1.04,-114.1,229.5,-13.4,112,1169,0.00,2.35,0.00,0.000,4,0.000,0.049,2645,3855,3388,0,0,0,0,0,0
$GC,1388,-1.04,-114.1,257.7,-11.8,122,1394,0.10,2.33,0.00,0.000,6,0.156,0.035,2677,2271,3389,0,0,0,0,0,0
$GC,1715,-1.04,-114.1,293.1,-9.9,138,1720,0.00,2.38,0.00,0.000,4,0.000,0.048,2666,3866,3390,0,0,0,0,0,0
$GC,1778,-1.04,-114.1,299.2,-10.1,141,1782,0.00,2.30,0.00,0.000,6,0.000,0.035,2666,2270,3390,0,0,0,0,0,0
$GC,2120,-1.04,-114.1,333.7,-11.0,150,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2270,3392,0,0,0,0,0,0
$GC,2444,-1.04,-114.1,366.5,-10.5,158,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2270,3390,0,0,0,0,0,0
$GC,2769,-1.04,-114.1,395.5,-9.1,166,2773,0.00,2.33,0.00,0.000,4,0.000,0.041,2666,686,3389,0,0,0,0,0,0
$GC,3026,-1.05,-121.5,418.0,-8.2,171,3032,0.00,2.35,0.00,0.000,6,0.000,0.041,2654,2289,3387,0,0,0,0,0,0
$GC,3357,-1.07,-136.6,443.0,-7.3,180,3361,0.00,2.35,0.00,0.000,4,0.000,0.041,2654,678,3386,0,0,0,0,0,0
$GC,3614,-1.09,-153.4,462.7,-7.1,185,3619,0.00,2.33,0.00,0.000,6,0.000,0.041,2642,2262,3384,0,0,0,0,0,0
$GC,3951,-1.09,-155.7,487.9,-8.0,194,3955,0.00,2.28,0.00,0.000,4,0.000,0.039,2642,679,3386,0,0,0,0,0,0
$GC,4209,-1.09,-155.7,507.2,-8.0,199,4215,0.12,2.33,0.00,0.000,6,0.197,0.039,2661,2290,3383,0,0,0,0,0,0
$GC,4540,-1.09,-155.7,526.5,-5.2,208,4544,0.00,2.33,0.00,0.000,4,0.000,0.039,2661,684,3381,0,0,0,0,0,0
$GC,4796,-1.09,-155.7,541.6,-6.2,213,4803,0.00,2.33,0.00,0.000,6,0.000,0.041,2650,2261,3378,0,0,0,0,0,0
$GC,5128,-1.09,-155.7,559.7,-5.1,222,5133,0.00,2.28,0.00,0.000,4,0.000,0.039,2650,681,3377,0,0,0,0,0,0
$GC,5369,-1.09,-155.7,572.7,-5.7,227,5373,0.00,2.35,0.00,0.000,6,0.000,0.039,2638,2312,3375,0,0,0,0,0,0
$GC,5718,-1.09,-155.7,589.4,-4.5,236,5722,0.00,2.28,0.00,0.000,4,0.000,0.048,2626,3838,3374,0,0,0,0,0,0
$GC,5975,-1.09,-155.7,601.0,-4.4,241,5979,0.10,2.30,0.00,0.000,6,0.153,0.031,2667,2257,3373,0,0,0,0,0,0
$GC,6312,-1.09,-155.7,617.5,-5.4,250,6316,0.00,2.25,0.00,0.000,4,0.000,0.043,2667,701,3371,0,0,0,0,0,0
$GC,6570,-1.09,-155.7,632.1,-5.7,255,6576,0.00,2.30,0.00,0.000,6,0.000,0.040,2653,2276,3373,0,0,0,0,0,0
$GC,6901,-1.09,-155.7,650.6,-5.1,264,6905,0.00,2.33,0.00,0.000,4,0.000,0.041,2657,686,3367,0,0,0,0,0,0
$GC,7159,-1.09,-155.7,662.6,-4.4,269,7164,0.00,2.33,0.00,0.000,6,0.000,0.041,2645,2266,3367,0,0,0,0,0,0
$GC,7489,-1.09,-155.7,674.0,-3.2,278,7493,0.00,2.28,0.00,0.000,4,0.000,0.040,2644,699,3365,0,0,0,0,0,0
$GC,7746,-1.09,-155.7,685.5,-5.7,283,7753,0.10,2.35,0.00,0.000,6,0.170,0.041,2664,2267,3364,0,0,0,0,0,0
$GC,8077,-1.09,-155.7,702.2,-4.7,292,8081,0.00,2.30,0.00,0.000,4,0.000,0.041,2669,699,3362,0,0,0,0,0,0
$GC,8334,-1.09,-155.7,711.4,-3.1,297,8338,0.00,2.30,0.00,0.000,6,0.000,0.041,2653,2283,3361,0,0,0,0,0,0
$GC,8671,-1.09,-155.7,718.2,-1.8,306,8675,0.00,2.33,0.00,0.000,4,0.000,0.040,2653,684,3360,0,0,0,0,0,0
$GC,8783,-1.09,-155.7,720.9,-2.5,308,8787,0.00,2.33,0.00,0.000,6,0.000,0.042,2643,2266,3359,0,0,0,0,0,0
$GC,9124,-1.09,-155.7,730.9,-3.4,317,9128,0.00,2.38,0.00,0.000,4,0.000,0.048,2629,3846,3359,0,0,0,0,0,0
$GC,9185,-1.09,-155.7,732.9,-3.0,318,9190,0.12,2.30,0.00,0.000,6,0.176,0.034,2661,2248,3357,0,0,0,0,0,0
$GC,9499,-1.09,-155.7,742.1,-2.9,326,9503,0.00,2.28,0.00,0.000,4,0.000,0.042,2667,700,3356,0,0,0,0,0,0
$GC,9628,-1.09,-155.7,745.9,-2.7,329,9632,0.00,2.33,0.00,0.000,6,0.000,0.041,2651,2272,3356,0,0,0,0,0,0
$GC,9952,-1.09,-155.7,755.2,-2.9,337,9955,0.00,2.40,0.00,0.000,4,0.000,0.051,2639,3860,3355,0,0,0,0,0,0
$GC,10210,-1.09,-155.7,762.7,-3.1,342,10214,0.00,2.30,0.00,0.000,6,0.000,0.033,2639,2273,3354,0,0,0,0,0,0
$GC,10540,-1.09,-155.7,772.8,-3.0,350,10544,0.00,2.30,0.00,0.000,4,0.000,0.041,2639,690,3353,0,0,0,0,0,0
$GC,10798,-1.09,-155.7,780.4,-2.3,355,10804,0.15,2.35,0.00,0.000,6,0.191,0.042,2671,2277,3352,0,0,0,0,0,0
$GC,11129,-1.09,-155.7,784.8,-1.0,364,11133,0.00,2.33,0.00,0.000,4,0.000,0.042,2666,695,3353,0,0,0,0,0,0
$GC,11385,-1.09,-155.7,787.7,-1.8,369,11391,0.00,2.35,0.00,0.000,6,0.000,0.042,2655,2276,3351,0,0,0,0,0,0
$GC,11717,-1.09,-155.7,794.2,-2.3,378,11721,0.00,2.33,0.00,0.000,4,0.000,0.043,2655,697,3350,0,0,0,0,0,0
$GC,11767,-1.09,-155.7,795.7,-2.5,379,11771,0.00,2.33,0.00,0.000,6,0.000,0.042,2644,2272,3350,0,0,0,0,0,0
$GC,12079,-1.09,-155.7,805.4,-3.4,387,12083,0.00,2.40,0.00,0.000,4,0.000,0.051,2632,3862,3349,0,0,0,0,0,0
$GC,12337,-1.09,-155.7,815.5,-3.9,392,12343,0.12,2.33,0.00,0.000,6,0.176,0.036,2663,2270,3348,0,0,0,0,0,0
$GC,12667,-1.09,-155.7,824.4,-2.0,401,12671,0.00,2.40,0.00,0.000,4,0.000,0.049,2652,3843,3349,0,0,0,0,0,0
$GC,12925,-1.09,-155.7,825.9,-0.1,406,12931,0.00,2.35,0.00,0.000,6,0.000,0.034,2652,2262,3348,0,0,0,0,0,0
$STATE,12969,end dive,NO_VERTICAL_VELOCITY
$STATE,12970,begin apogee
$GC,12975,-0.23,0.0,825.7,0.0,408,13068,0.95,0.00,89.85,1.260,6,0.155,0.000,2943,1856,2915,0,0,0,0,0,0
$STATE,13070,end apogee,CONTROL_FINISHED_OK
$STATE,13071,begin climb
$GC,13073,1.09,155.7,822.9,0.0,410,13221,1.20,2.62,139.20,1.216,4,0.080,0.052,3382,277,2278,0,0,0,0,0,0
$GC,13254,1.09,155.7,784.2,25.6,414,13259,0.00,2.47,0.00,0.000,6,0.000,0.043,3388,1851,2271,0,0,0,0,0,0
$GC,13595,1.09,155.7,693.4,25.9,423,13600,0.00,2.50,0.00,0.000,4,0.000,0.052,3380,3444,2260,0,0,0,0,0,0
$GC,13718,1.09,155.7,661.4,25.6,425,13724,0.00,2.42,0.00,0.000,6,0.000,0.045,3390,1862,2261,0,0,0,0,0,0
$GC,14049,1.09,155.7,577.2,25.8,434,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1862,2256,0,0,0,0,0,0
$GC,14374,1.09,155.7,494.1,24.9,442,14378,0.00,2.47,0.00,0.000,4,0.000,0.053,3385,3450,2253,0,0,0,0,0,0
$GC,14433,1.09,155.7,479.3,24.8,443,14438,0.00,2.47,0.00,0.000,6,0.000,0.045,3396,1842,2253,0,0,0,0,0,0
$GC,14782,1.09,155.7,397.1,23.4,452,14786,0.00,2.45,0.00,0.000,4,0.000,0.052,3396,3445,2252,0,0,0,0,0,0
$GC,14820,1.09,155.7,387.9,24.8,453,14825,0.12,2.40,0.00,0.000,6,0.173,0.045,3373,1853,2251,0,0,0,0,0,0
$GC,15144,1.09,155.7,316.2,22.4,461,15148,0.00,2.45,0.00,0.000,4,0.000,0.051,3373,3446,2251,0,0,0,0,0,0
$GC,15199,1.09,155.7,303.4,21.5,462,15203,0.00,2.45,0.00,0.000,6,0.000,0.044,3384,1843,2250,0,0,0,0,0,0
$GC,15516,1.09,155.7,239.1,19.7,477,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1843,2250,0,0,0,0,0,0
$GC,15829,1.09,155.7,185.4,15.2,496,15833,0.00,2.40,0.00,0.000,4,0.000,0.053,3396,260,2250,0,0,0,0,0,0
$GC,15867,1.09,155.7,179.1,15.7,499,15871,0.00,2.35,0.00,0.000,6,0.000,0.043,3396,1855,2251,0,0,0,0,0,0
$GC,16129,1.09,155.7,139.9,15.9,523,16133,0.00,2.40,0.00,0.000,4,0.000,0.054,3397,3443,2250,0,0,0,0,0,0
$GC,16303,1.09,155.7,113.4,14.1,538,16308,0.12,2.38,0.00,0.000,6,0.163,0.041,3373,1849,2251,0,0,0,0,0,0
$GC,16563,1.09,155.7,81.6,12.5,562,16564,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1849,2250,0,0,0,0,0,0
$GC,16818,1.09,155.7,51.2,12.5,586,16822,0.00,2.42,0.00,0.000,4,0.000,0.051,3373,3448,2250,0,0,0,0,0,0
$GC,16903,1.09,155.7,40.1,12.6,593,16907,0.00,2.38,0.00,0.000,6,0.000,0.041,3384,1838,2249,0,0,0,0,0,0
$GC,17173,1.09,155.7,6.0,11.8,634,17178,0.00,2.35,0.00,0.000,4,0.000,0.050,3395,264,2252,0,0,0,0,0,0
$GC,17190,1.09,155.7,3.8,12.2,637,17196,0.00,2.33,0.00,0.000,6,0.000,0.041,3396,1857,2250,0,0,0,0,0,0
$STATE,17200,end climb,SURFACE_DEPTH_REACHED
$STATE,17200,begin surface coast
$FINISH,0.5,1.008973
$STATE,17223,end surface coast,CONTROL_FINISHED_OK
$STATE,17224,begin surface
$SM_CCo,17241,159.38,0.606,0,0,876,500.40
$SM_GC,1.06,0.00,0.00,159.38,0.000,0.000,0.606,103,2296,876,-9.12,0.74,500.40
$IRIDIUM_FIX,2017.96,12650.35,070612,080800
$TT8_MAMPS,0.059059
$HUMID,1078662571
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,25.20
$XPDR_PINGS,7
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8272248832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56044093440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,30.613
$10V_AH,10.1,23.492
$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,20.975,152.125,229.050,159.375,0.000,27.973,34.949,263.913,1.750,0.000,13.581,1439.196,13062.296,543.147,2601.470,242.424,33.364,1695.515,0.000,2192.120,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,59.059,1260.181,605.930,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,436.834,0.000,0.000,0.000,0.000,0.000,0.000,18092.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.400,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,23448,643
$CAP_FILE_SIZE,155951,0
$CFSIZE,260165632,209211392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141210,010407,2026.932,12648.238,34,1.0,34,-2.6