version: 66.07
glider: 500
mission: 5
dive: 192
start: 12 15 110 8 44 25
data:
$ID,500
$MISSION,5
$DIVE,192
$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,471
$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,598.52222
$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,-124758.84
$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,33
$R_STBD_OVSHOOT,31
$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,191
$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
$GPS1,151210,082316,2038.234,12649.847,36,2.5,55,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.1
$GPS2,151210,084331,2038.240,12649.646,14,1.8,31,-2.7
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,0.171
$KALMAN_X,-253681.8,103.0,114.3,621168.0,-4276.2
$KALMAN_Y,120914.3,-9.8,367.9,-179483.1,-2873.1
$MHEAD_RNG_PITCHd_Wd,45.3,279144,-11.7,-7.006
$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,-0.58,-152.7,0.0,0.0,0,129,0.00,0.00,-98.75,0.000,6,0.000,0.000,109,2276,3540,0,0,0,0,0,0
$GC,134,-0.58,-155.7,4.0,-6.3,20,150,10.23,2.38,-0.17,0.000,4,0.222,0.057,2822,679,3551,0,0,0,0,0,0
$GC,178,-0.58,-155.7,22.5,-38.8,28,184,0.00,2.40,0.00,0.000,6,0.000,0.056,2811,2261,3552,0,0,0,0,0,0
$GC,382,-0.58,-155.7,75.5,-25.8,50,387,0.00,2.45,0.00,0.000,4,0.000,0.062,2799,3857,3552,0,0,0,0,0,0
$GC,482,-0.58,-155.7,100.2,-23.0,58,489,0.08,2.40,0.00,0.000,6,0.125,0.048,2827,2274,3552,0,0,0,0,0,0
$GC,745,-0.58,-155.7,144.7,-17.0,83,749,0.00,2.47,0.00,0.000,4,0.000,0.069,2815,3854,3553,0,0,0,0,0,0
$GC,772,-0.58,-155.7,149.6,-17.7,85,776,0.00,2.38,0.00,0.000,6,0.000,0.051,2814,2265,3553,0,0,0,0,0,0
$GC,1032,-0.58,-155.7,193.1,-15.6,109,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2265,3557,0,0,0,0,0,0
$GC,1292,-0.58,-155.7,225.8,-11.9,124,1296,0.00,2.38,0.00,0.000,4,0.000,0.058,2814,676,3554,0,0,0,0,0,0
$GC,1515,-0.58,-155.7,251.5,-11.6,134,1519,0.00,2.42,0.00,0.000,6,0.000,0.057,2802,2274,3554,0,0,0,0,0,0
$GC,1842,-0.58,-155.7,290.0,-10.6,150,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2274,3552,0,0,0,0,0,0
$GC,2148,-0.58,-155.7,324.7,-11.6,160,2152,0.00,2.38,0.00,0.000,4,0.000,0.056,2803,675,3552,0,0,0,0,0,0
$GC,2202,-0.58,-155.7,331.1,-11.4,161,2207,0.10,2.42,0.00,0.000,6,0.140,0.058,2826,2269,3553,0,0,0,0,0,0
$GC,2515,-0.58,-155.7,365.9,-11.4,169,2519,0.00,2.38,0.00,0.000,4,0.000,0.057,2825,669,3551,0,0,0,0,0,0
$GC,2575,-0.58,-155.7,373.4,-11.5,170,2579,0.00,2.45,0.00,0.000,6,0.000,0.060,2815,2273,3551,0,0,0,0,0,0
$GC,2922,-0.58,-155.7,408.8,-9.2,179,2927,0.00,2.38,0.00,0.000,4,0.000,0.057,2815,679,3549,0,0,0,0,0,0
$GC,3028,-0.58,-155.7,419.4,-9.2,181,3033,0.00,2.42,0.00,0.000,6,0.000,0.060,2802,2284,3547,0,0,0,0,0,0
$GC,3369,-0.58,-155.7,448.1,-8.0,190,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2284,3546,0,0,0,0,0,0
$GC,3694,-0.58,-155.7,474.6,-8.1,198,3699,0.00,2.40,0.00,0.000,4,0.000,0.054,2802,666,3544,0,0,0,0,0,0
$GC,3901,-0.58,-155.7,491.9,-8.3,202,3906,0.15,2.42,0.00,0.000,6,0.158,0.056,2834,2291,3542,0,0,0,0,0,0
$GC,4237,-0.58,-155.7,517.9,-8.2,211,4241,0.00,2.42,0.00,0.000,4,0.000,0.058,2835,672,3540,0,0,0,0,0,0
$GC,4314,-0.58,-155.7,524.7,-8.9,212,4320,0.00,2.40,0.00,0.000,6,0.000,0.057,2824,2268,3539,0,0,0,0,0,0
$GC,4645,-0.58,-155.7,549.0,-6.7,221,4649,0.00,2.35,0.00,0.000,4,0.000,0.048,2829,661,3537,0,0,0,0,0,0
$GC,4665,-0.58,-155.7,550.5,-7.4,221,4670,0.00,2.42,0.00,0.000,6,0.000,0.048,2812,2277,3537,0,0,0,0,0,0
$GC,5009,-0.58,-155.7,569.2,-5.1,230,5013,0.00,2.35,0.00,0.000,4,0.000,0.048,2813,672,3534,0,0,0,0,0,0
$GC,5108,-0.58,-155.7,575.2,-6.0,232,5113,0.10,2.35,0.00,0.000,6,0.179,0.048,2827,2281,3534,0,0,0,0,0,0
$GC,5421,-0.58,-155.7,592.6,-6.2,240,5426,0.00,2.35,0.00,0.000,4,0.000,0.048,2827,661,3532,0,0,0,0,0,0
$GC,5482,-0.58,-155.7,597.3,-7.9,241,5487,0.00,2.38,0.00,0.000,6,0.000,0.048,2817,2257,3531,0,0,0,0,0,0
$GC,5830,-0.58,-155.7,620.7,-6.2,250,5834,0.00,2.33,0.00,0.000,4,0.000,0.046,2818,660,3528,0,0,0,0,0,0
$GC,5885,-0.58,-155.7,624.1,-6.1,251,5890,0.00,2.40,0.00,0.000,6,0.000,0.047,2803,2275,3528,0,0,0,0,0,0
$GC,6233,-0.58,-155.7,643.3,-5.5,260,6237,0.00,2.40,0.00,0.000,4,0.000,0.054,2793,3856,3526,0,0,0,0,0,0
$GC,6287,-0.58,-155.7,647.0,-6.9,261,6292,0.12,2.33,0.00,0.000,6,0.143,0.037,2829,2252,3524,0,0,0,0,0,0
$GC,6600,-0.58,-155.7,665.3,-6.0,269,6604,0.00,2.28,0.00,0.000,4,0.000,0.046,2830,687,3523,0,0,0,0,0,0
$GC,6671,-0.58,-155.7,670.6,-7.7,270,6676,0.00,2.38,0.00,0.000,6,0.000,0.046,2820,2266,3522,0,0,0,0,0,0
$GC,7009,-0.58,-155.7,692.8,-6.3,279,7013,0.00,2.40,0.00,0.000,4,0.000,0.054,2807,3856,3520,0,0,0,0,0,0
$GC,7092,-0.58,-155.7,698.6,-7.3,281,7096,0.00,2.33,0.00,0.000,6,0.000,0.037,2807,2266,3519,0,0,0,0,0,0
$GC,7421,-0.58,-155.7,721.9,-7.2,289,7425,0.00,2.30,0.00,0.000,4,0.000,0.047,2807,686,3517,0,0,0,0,0,0
$GC,7550,-0.58,-155.7,732.1,-8.3,292,7555,0.12,2.38,0.00,0.000,6,0.167,0.048,2830,2280,3516,0,0,0,0,0,0
$GC,7874,-0.58,-155.7,752.1,-5.7,300,7877,0.00,2.38,0.00,0.000,4,0.000,0.047,2833,676,3515,0,0,0,0,0,0
$GC,7964,-0.58,-155.7,756.8,-5.3,302,7968,0.00,2.38,0.00,0.000,6,0.000,0.046,2820,2271,3513,0,0,0,0,0,0
$GC,8288,-0.58,-155.7,770.5,-3.8,310,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2271,3511,0,0,0,0,0,0
$GC,8613,-0.58,-155.7,782.7,-3.8,318,8617,0.00,2.35,0.00,0.000,4,0.000,0.047,2820,685,3511,0,0,0,0,0,0
$GC,8870,-0.58,-155.7,795.2,-4.8,323,8876,0.00,2.38,0.00,0.000,6,0.000,0.047,2809,2272,3508,0,0,0,0,0,0
$GC,9201,-0.58,-155.7,812.2,-5.2,332,9205,0.00,2.35,0.00,0.000,4,0.000,0.046,2809,682,3509,0,0,0,0,0,0
$GC,9230,-0.58,-155.7,813.7,-6.1,332,9234,0.12,2.35,0.00,0.000,6,0.163,0.046,2832,2269,3509,0,0,0,0,0,0
$GC,9560,-0.58,-155.7,830.6,-5.1,340,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2267,3507,0,0,0,0,0,0
$GC,9885,-0.58,-155.7,847.6,-5.2,348,9889,0.00,2.35,0.00,0.000,4,0.000,0.047,2832,687,3504,0,0,0,0,0,0
$GC,10042,-0.58,-155.7,856.7,-5.5,351,10047,0.00,2.38,0.00,0.000,6,0.000,0.048,2822,2273,3505,0,0,0,0,0,0
$GC,10378,-0.58,-155.7,874.1,-5.0,360,10383,0.00,2.40,0.00,0.000,4,0.000,0.056,2810,3857,3505,0,0,0,0,0,0
$GC,10412,-0.58,-155.7,876.1,-6.2,360,10417,0.00,2.35,0.00,0.000,6,0.000,0.039,2810,2272,3504,0,0,0,0,0,0
$GC,10742,-0.58,-155.7,894.3,-5.5,369,10746,0.00,2.33,0.00,0.000,4,0.000,0.046,2810,682,3503,0,0,0,0,0,0
$GC,10831,-0.58,-155.7,899.6,-6.0,371,10836,0.12,2.38,0.00,0.000,6,0.165,0.047,2833,2281,3502,0,0,0,0,0,0
$GC,11155,-0.58,-155.7,915.1,-4.7,379,11160,0.00,2.35,0.00,0.000,4,0.000,0.047,2833,682,3502,0,0,0,0,0,0
$GC,11227,-0.58,-155.7,918.9,-5.7,380,11232,0.00,2.35,0.00,0.000,6,0.000,0.047,2823,2268,3501,0,0,0,0,0,0
$GC,11565,-0.58,-155.7,935.4,-4.7,389,11569,0.00,2.35,0.00,0.000,4,0.000,0.047,2823,672,3501,0,0,0,0,0,0
$GC,11738,-0.58,-155.7,943.8,-4.6,393,11743,0.00,2.40,0.00,0.000,6,0.000,0.048,2811,2277,3500,0,0,0,0,0,0
$GC,12063,-0.58,-155.7,958.5,-4.5,401,12067,0.00,2.38,0.00,0.000,4,0.000,0.047,2811,671,3499,0,0,0,0,0,0
$GC,12174,-0.58,-155.7,964.4,-5.4,403,12179,0.12,2.38,0.00,0.000,6,0.165,0.048,2834,2266,3499,0,0,0,0,0,0
$GC,12517,-0.58,-155.7,979.7,-4.6,412,12521,0.00,2.40,0.00,0.000,4,0.000,0.054,2823,3848,3496,0,0,0,0,0,0
$GC,12601,-0.58,-155.7,983.9,-5.1,414,12605,0.00,2.35,0.00,0.000,6,0.000,0.038,2823,2256,3498,0,0,0,0,0,0
$STATE,12759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12759,begin apogee
$GC,12765,-0.23,0.0,991.3,4.5,418,12892,0.35,0.00,124.32,1.397,6,0.113,0.000,2943,1859,2915,0,0,0,0,0,0
$STATE,12901,end apogee,CONTROL_FINISHED_OK
$STATE,12901,begin climb
$GC,12902,0.58,155.7,990.8,0.0,421,13053,0.73,2.75,140.75,1.351,4,0.068,0.054,3211,3440,2281,0,0,0,0,0,0
$GC,13138,0.58,155.7,969.3,12.6,426,13143,0.00,2.53,0.00,0.000,6,0.000,0.043,3222,1857,2272,0,0,0,0,0,0
$GC,13473,0.58,155.7,928.2,12.6,435,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1857,2266,0,0,0,0,0,0
$GC,13799,0.58,155.7,884.4,13.7,443,13803,0.00,2.47,0.00,0.000,4,0.000,0.054,3219,3436,2264,0,0,0,0,0,0
$GC,13825,0.58,155.7,880.4,15.2,443,13830,0.00,2.47,0.00,0.000,6,0.000,0.044,3234,1841,2266,0,0,0,0,0,0
$GC,14161,0.58,155.7,831.4,14.5,452,14165,0.00,2.47,0.00,0.000,4,0.000,0.055,3234,3439,2262,0,0,0,0,0,0
$GC,14181,0.58,155.7,828.2,14.6,452,14186,0.10,2.45,0.00,0.000,6,0.107,0.044,3207,1850,2262,0,0,0,0,0,0
$GC,14525,0.58,155.7,787.0,11.7,461,14529,0.00,2.47,0.00,0.000,4,0.000,0.056,3206,3440,2261,0,0,0,0,0,0
$GC,14545,0.58,155.7,784.5,11.1,461,14549,0.00,2.45,0.00,0.000,6,0.000,0.046,3217,1844,2261,0,0,0,0,0,0
$GC,14887,0.58,155.7,749.0,9.9,470,14891,0.00,2.45,0.00,0.000,4,0.000,0.058,3215,3437,2260,0,0,0,0,0,0
$GC,14909,0.58,155.7,746.8,9.8,470,14913,0.00,2.40,0.00,0.000,6,0.000,0.046,3229,1852,2259,0,0,0,0,0,0
$GC,15250,0.58,155.7,713.7,9.6,479,15254,0.00,2.45,0.00,0.000,4,0.000,0.058,3229,3446,2259,0,0,0,0,0,0
$GC,15281,0.58,155.7,710.3,10.8,479,15288,0.08,2.45,0.00,0.000,6,0.108,0.048,3209,1849,2259,0,0,0,0,0,0
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$STATE,22920,end climb,SURFACE_DEPTH_REACHED
$STATE,22920,begin surface coast
$FINISH,0.6,1.022396
$STATE,22944,end surface coast,CONTROL_FINISHED_OK
$STATE,22944,begin surface
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$TCM_TEMP,25.10
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8284700672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55823630336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,31.818
$10V_AH,10.2,24.414
$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
$DEVICE_SECS,20.900,245.325,436.025,114.025,0.000,140.086,224.801,356.984,0.500,0.000,33.570,1747.194,18421.486,712.134,3091.850,324.942,33.365,1997.303,0.000,2215.156,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.407,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,30007,842
$CAP_FILE_SIZE,201222,0
$CFSIZE,260165632,208515072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,151036,2039.947,12650.192,35,1.0,35,-2.7