version: 66.07
glider: 500
mission: 5
dive: 194
start: 12 15 110 21 57 27
data:
$ID,500
$MISSION,5
$DIVE,194
$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,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,-124788.75
$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,34
$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,193
$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
$GPS1,151210,214737,2041.796,12650.274,35,0.8,35,-2.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.8
$GPS2,151210,215632,2041.726,12650.346,12,1.0,12,-2.7
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.148
$KALMAN_X,-260217.0,261.3,146.0,628722.9,-4849.7
$KALMAN_Y,117200.6,91.1,-16.0,-169022.7,-2453.1
$MHEAD_RNG_PITCHd_Wd,52.7,272608,-11.9,-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,-149.6,0.0,0.0,0,128,0.00,0.00,-98.43,0.000,6,0.000,0.000,110,2288,3526,0,0,0,0,0,0
$GC,133,-0.59,-155.7,3.8,-5.9,20,150,10.30,2.42,-0.45,0.000,4,0.222,0.067,2814,3844,3552,0,0,0,0,0,0
$GC,335,-0.59,-155.7,64.2,-24.6,45,339,0.00,2.38,0.00,0.000,6,0.000,0.044,2809,2272,3554,0,0,0,0,0,0
$GC,596,-0.59,-155.7,125.2,-20.9,69,600,0.00,2.35,0.00,0.000,4,0.000,0.051,2809,682,3554,0,0,0,0,0,0
$GC,623,-0.59,-155.7,130.3,-18.0,71,628,0.12,2.40,0.00,0.000,6,0.166,0.057,2831,2263,3554,0,0,0,0,0,0
$GC,885,-0.59,-155.7,172.3,-14.4,95,889,0.00,2.47,0.00,0.000,4,0.000,0.069,2821,3866,3556,0,0,0,0,0,0
$GC,916,-0.59,-155.7,178.0,-17.6,97,923,0.00,2.40,0.00,0.000,6,0.000,0.044,2820,2272,3555,0,0,0,0,0,0
$GC,1185,-0.59,-155.7,215.2,-14.0,118,1189,0.00,2.38,0.00,0.000,4,0.000,0.056,2817,680,3556,0,0,0,0,0,0
$GC,1208,-0.59,-155.7,218.3,-14.4,119,1212,0.00,2.40,0.00,0.000,6,0.000,0.059,2809,2268,3557,0,0,0,0,0,0
$GC,1533,-0.59,-155.7,260.6,-12.5,135,1537,0.00,2.35,0.00,0.000,4,0.000,0.056,2809,683,3555,0,0,0,0,0,0
$GC,1632,-0.59,-155.7,273.5,-11.8,139,1639,0.08,2.42,0.00,0.000,6,0.140,0.058,2823,2276,3557,0,0,0,0,0,0
$GC,1947,-0.59,-155.7,309.5,-10.6,153,1951,0.00,2.38,0.00,0.000,4,0.000,0.054,2809,3866,3557,0,0,0,0,0,0
$GC,1995,-0.59,-155.7,315.2,-11.2,154,2000,0.00,2.38,0.00,0.000,6,0.000,0.038,2811,2266,3557,0,0,0,0,0,0
$GC,2314,-0.59,-155.7,348.3,-10.2,162,2318,0.00,2.33,0.00,0.000,4,0.000,0.054,2812,682,3557,0,0,0,0,0,0
$GC,2465,-0.59,-155.7,364.6,-10.7,165,2470,0.00,2.40,0.00,0.000,6,0.000,0.057,2801,2282,3557,0,0,0,0,0,0
$GC,2807,-0.59,-155.7,399.5,-10.5,174,2811,0.00,2.40,0.00,0.000,4,0.000,0.056,2801,678,3555,0,0,0,0,0,0
$GC,3063,-0.59,-155.7,428.7,-11.3,179,3070,0.10,2.40,0.00,0.000,6,0.132,0.053,2823,2272,3554,0,0,0,0,0,0
$GC,3394,-0.59,-155.7,459.2,-8.7,188,3398,0.00,2.38,0.00,0.000,4,0.000,0.049,2824,675,3552,0,0,0,0,0,0
$GC,3617,-0.59,-155.7,476.3,-7.0,193,3621,0.00,2.38,0.00,0.000,6,0.000,0.051,2813,2287,3552,0,0,0,0,0,0
$GC,3942,-0.59,-155.7,500.8,-8.0,201,3946,0.00,2.35,0.00,0.000,4,0.000,0.047,2813,679,3547,0,0,0,0,0,0
$GC,4007,-0.59,-155.7,506.9,-9.6,202,4012,0.08,2.38,0.00,0.000,6,0.140,0.048,2828,2278,3549,0,0,0,0,0,0
$GC,4355,-0.59,-155.7,535.3,-8.3,211,4359,0.00,2.38,0.00,0.000,4,0.000,0.048,2829,680,3547,0,0,0,0,0,0
$GC,4477,-0.59,-155.7,546.1,-8.7,213,4483,0.00,2.35,0.00,0.000,6,0.000,0.047,2818,2278,3546,0,0,0,0,0,0
$GC,4808,-0.59,-155.7,572.9,-7.7,222,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2278,3545,0,0,0,0,0,0
$GC,5133,-0.59,-155.7,593.9,-6.3,230,5137,0.00,2.38,0.00,0.000,4,0.000,0.047,2818,675,3542,0,0,0,0,0,0
$GC,5166,-0.59,-155.7,596.1,-6.5,230,5171,0.00,2.35,0.00,0.000,6,0.000,0.047,2806,2281,3542,0,0,0,0,0,0
$GC,5496,-0.59,-155.7,618.3,-6.9,239,5501,0.00,2.40,0.00,0.000,4,0.000,0.046,2806,664,3540,0,0,0,0,0,0
$GC,5535,-0.59,-155.7,621.2,-7.3,240,5540,0.12,2.38,0.00,0.000,6,0.165,0.047,2829,2265,3540,0,0,0,0,0,0
$GC,5859,-0.59,-155.7,640.2,-5.7,248,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2265,3539,0,0,0,0,0,0
$GC,6183,-0.59,-155.7,660.1,-6.2,256,6188,0.00,2.35,0.00,0.000,4,0.000,0.046,2827,667,3536,0,0,0,0,0,0
$GC,6369,-0.59,-155.7,672.8,-6.7,260,6373,0.00,2.40,0.00,0.000,6,0.000,0.047,2822,2284,3535,0,0,0,0,0,0
$GC,6681,-0.59,-155.7,691.3,-5.5,268,6685,0.00,2.40,0.00,0.000,4,0.000,0.044,2819,663,3537,0,0,0,0,0,0
$GC,6938,-0.59,-155.7,706.4,-6.0,273,6944,0.00,2.38,0.00,0.000,6,0.000,0.046,2807,2278,3534,0,0,0,0,0,0
$GC,7269,-0.59,-155.7,728.3,-6.9,282,7273,0.00,2.35,0.00,0.000,4,0.000,0.046,2806,676,3530,0,0,0,0,0,0
$GC,7356,-0.59,-155.7,735.1,-8.1,284,7362,0.08,2.38,0.00,0.000,6,0.146,0.044,2823,2265,3530,0,0,0,0,0,0
$GC,7681,-0.59,-155.7,753.5,-5.4,292,7686,0.00,2.40,0.00,0.000,4,0.000,0.052,2812,3858,3528,0,0,0,0,0,0
$GC,7772,-0.59,-155.7,758.5,-5.2,294,7776,0.00,2.33,0.00,0.000,6,0.000,0.035,2813,2250,3527,0,0,0,0,0,0
$GC,8090,-0.59,-155.7,775.3,-5.3,302,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2249,3526,0,0,0,0,0,0
$GC,8414,-0.59,-155.7,791.8,-5.0,310,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2250,3525,0,0,0,0,0,0
$GC,8739,-0.59,-155.7,808.6,-5.2,318,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2250,3523,0,0,0,0,0,0
$GC,9065,-0.59,-155.7,826.0,-5.4,326,9069,0.00,2.30,0.00,0.000,4,0.000,0.047,2812,684,3521,0,0,0,0,0,0
$GC,9148,-0.59,-155.7,831.3,-6.8,328,9153,0.00,2.40,0.00,0.000,6,0.000,0.045,2800,2286,3521,0,0,0,0,0,0
$GC,9472,-0.59,-155.7,850.6,-5.9,336,9476,0.00,2.35,0.00,0.000,4,0.000,0.044,2801,688,3519,0,0,0,0,0,0
$GC,9556,-0.59,-155.7,855.8,-6.3,338,9561,0.15,2.38,0.00,0.000,6,0.157,0.047,2832,2271,3519,0,0,0,0,0,0
$GC,9880,-0.59,-155.7,872.4,-5.1,346,9884,0.00,2.33,0.00,0.000,4,0.000,0.047,2832,699,3518,0,0,0,0,0,0
$GC,10015,-0.59,-155.7,879.5,-4.9,349,10019,0.00,2.35,0.00,0.000,6,0.000,0.045,2822,2272,3518,0,0,0,0,0,0
$GC,10332,-0.59,-155.7,895.7,-5.1,357,10336,0.00,2.35,0.00,0.000,4,0.000,0.046,2822,697,3517,0,0,0,0,0,0
$GC,10416,-0.59,-155.7,900.4,-6.1,359,10420,0.00,2.35,0.00,0.000,6,0.000,0.046,2811,2265,3519,0,0,0,0,0,0
$GC,10739,-0.59,-155.7,917.1,-4.9,367,10743,0.00,2.40,0.00,0.000,4,0.000,0.054,2798,3855,3515,0,0,0,0,0,0
$GC,10777,-0.59,-155.7,919.1,-5.5,368,10782,0.10,2.35,0.00,0.000,6,0.152,0.038,2827,2269,3515,0,0,0,0,0,0
$GC,11102,-0.59,-155.7,932.5,-3.9,376,11106,0.00,2.35,0.00,0.000,4,0.000,0.048,2827,679,3512,0,0,0,0,0,0
$GC,11173,-0.59,-155.7,935.4,-4.3,377,11178,0.00,2.35,0.00,0.000,6,0.000,0.046,2816,2274,3514,0,0,0,0,0,0
$GC,11517,-0.59,-155.7,948.1,-3.7,386,11521,0.00,2.40,0.00,0.000,4,0.000,0.054,2805,3845,3513,0,0,0,0,0,0
$GC,11616,-0.59,-155.7,952.6,-4.2,388,11621,0.00,2.30,0.00,0.000,6,0.000,0.037,2805,2268,3513,0,0,0,0,0,0
$GC,11929,-0.59,-155.7,966.3,-4.4,396,11933,0.00,2.35,0.00,0.000,4,0.000,0.047,2805,689,3515,0,0,0,0,0,0
$GC,11974,-0.59,-155.7,968.5,-5.1,397,11979,0.12,2.38,0.00,0.000,6,0.164,0.048,2827,2272,3512,0,0,0,0,0,0
$GC,12292,-0.59,-155.7,980.5,-3.8,405,12295,0.00,2.38,0.00,0.000,4,0.000,0.048,2829,685,3512,0,0,0,0,0,0
$GC,12337,-0.59,-155.7,982.3,-3.6,406,12341,0.00,2.40,0.00,0.000,6,0.000,0.048,2818,2284,3511,0,0,0,0,0,0
$STATE,12583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12583,begin apogee
$GC,12588,-0.23,0.0,991.1,3.4,412,12719,0.38,0.00,127.75,1.456,6,0.116,0.000,2945,1852,2915,0,0,0,0,0,0
$STATE,12721,end apogee,CONTROL_FINISHED_OK
$STATE,12722,begin climb
$GC,12723,0.59,155.7,988.6,0.0,415,12875,0.73,2.72,143.48,1.420,4,0.069,0.054,3210,3430,2280,0,0,0,0,0,0
$GC,12954,0.59,155.7,963.2,13.9,420,12958,0.00,2.53,0.00,0.000,6,0.000,0.042,3222,1850,2270,0,0,0,0,0,0
$GC,13290,0.59,155.7,916.7,13.8,429,13294,0.00,2.50,0.00,0.000,4,0.000,0.054,3221,3443,2265,0,0,0,0,0,0
$GC,13332,0.59,155.7,910.1,15.0,430,13337,0.00,2.50,0.00,0.000,6,0.000,0.045,3233,1847,2262,0,0,0,0,0,0
$GC,13658,0.59,155.7,864.5,13.9,438,13662,0.00,2.50,0.00,0.000,4,0.000,0.056,3233,3440,2260,0,0,0,0,0,0
$GC,13696,0.59,155.7,858.8,14.2,439,13701,0.12,2.42,0.00,0.000,6,0.143,0.046,3206,1849,2260,0,0,0,0,0,0
$GC,14019,0.59,155.7,822.9,10.8,447,14023,0.00,2.47,0.00,0.000,4,0.000,0.056,3206,3432,2259,0,0,0,0,0,0
$GC,14051,0.59,155.7,819.4,11.2,447,14057,0.00,2.42,0.00,0.000,6,0.000,0.044,3217,1846,2259,0,0,0,0,0,0
$GC,14381,0.59,155.7,783.6,10.6,456,14386,0.00,2.45,0.00,0.000,4,0.000,0.057,3217,3436,2258,0,0,0,0,0,0
$GC,14408,0.59,155.7,780.4,11.5,456,14413,0.00,2.45,0.00,0.000,6,0.000,0.045,3229,1850,2257,0,0,0,0,0,0
$GC,14745,0.59,155.7,740.7,12.1,465,14749,0.00,2.45,0.00,0.000,4,0.000,0.057,3229,3441,2258,0,0,0,0,0,0
$GC,14822,0.59,155.7,730.5,14.3,466,14828,0.10,2.42,0.00,0.000,6,0.146,0.046,3208,1844,2261,0,0,0,0,0,0
$GC,15152,0.59,155.7,697.0,9.8,475,15157,0.00,2.45,0.00,0.000,4,0.000,0.056,3208,3434,2255,0,0,0,0,0,0
$GC,15192,0.59,155.7,693.0,9.8,476,15196,0.00,2.40,0.00,0.000,6,0.000,0.045,3219,1848,2256,0,0,0,0,0,0
$GC,15515,0.59,155.7,660.5,9.9,484,15516,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1847,2255,0,0,0,0,0,0
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$STATE,22778,end climb,SURFACE_DEPTH_REACHED
$STATE,22778,begin surface coast
$FINISH,0.4,1.000135
$STATE,22815,end surface coast,CONTROL_FINISHED_OK
$STATE,22815,begin surface
$SM_CCo,22833,113.90,0.707,0,0,874,500.16
$SM_GC,1.11,0.00,0.00,113.90,0.000,0.000,0.707,119,2295,874,-9.06,0.71,500.16
$IRIDIUM_FIX,2034.08,12648.05,090612,090907
$TT8_MAMPS,0.059059
$HUMID,1078636764
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$TCM_TEMP,24.60
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8272019456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55740071936
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,32.184
$10V_AH,10.1,24.756
$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
$DEVICE_SECS,20.600,221.950,354.250,113.900,0.000,27.530,34.058,305.236,0.000,0.000,14.348,1762.051,18106.680,645.896,2661.502,300.897,33.374,1905.947,0.000,2218.631,0.000,0.543,0.000
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$SENSOR_SECS,585.950,0.000,0.000,0.000,0.000,0.000,0.000,23663.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.429,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,30042,861
$CAP_FILE_SIZE,190927,0
$CFSIZE,260165632,208351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161210,042124,2043.694,12651.601,38,0.9,38,-2.7