version: 66.07
glider: 500
mission: 5
dive: 205
start: 12 19 110 7 15 15
data:
$ID,500
$MISSION,5
$DIVE,205
$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,-124990.42
$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,3100
$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,2190
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,33
$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,204
$AR_SAMPLENUM,3
$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
$GPS1,191210,070501,2102.754,12658.184,39,1.5,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.4
$GPS2,191210,071420,2102.733,12658.164,13,1.2,13,-2.8
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.198
$KALMAN_X,-294203.7,-52.7,-557.2,677232.4,-2024.8
$KALMAN_Y,109093.5,-977.4,-226.8,-120709.0,736.5
$MHEAD_RNG_PITCHd_Wd,25.2,232916,-13.4,-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
$STATE,24,begin dive
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$GC,2995,-0.64,-155.7,331.3,-7.4,217,2999,0.00,2.33,0.00,0.000,4,0.000,0.046,2894,610,3560,0,0,0,0,0,0
$GC,3179,-0.64,-155.7,344.6,-6.1,221,3184,0.00,2.30,0.00,0.000,6,0.000,0.041,2883,2187,3557,0,0,0,0,0,0
$GC,3498,-0.64,-155.7,360.5,-4.9,229,3502,0.00,2.40,0.00,0.000,4,0.000,0.052,2872,3769,3558,0,0,0,0,0,0
$GC,3559,-0.64,-155.7,363.9,-5.5,230,3563,0.00,2.30,0.00,0.000,6,0.000,0.035,2871,2181,3558,0,0,0,0,0,0
$GC,3900,-0.64,-155.7,385.6,-7.0,239,3904,0.00,2.30,0.00,0.000,4,0.000,0.044,2871,604,3556,0,0,0,0,0,0
$GC,3971,-0.64,-155.7,391.5,-8.0,240,3976,0.08,2.33,0.00,0.000,6,0.123,0.042,2890,2184,3556,0,0,0,0,0,0
$GC,4308,-0.64,-155.7,412.2,-5.8,249,4312,0.00,2.33,0.00,0.000,4,0.000,0.045,2890,613,3555,0,0,0,0,0,0
$GC,4398,-0.64,-155.7,418.1,-7.0,251,4402,0.00,2.30,0.00,0.000,6,0.000,0.042,2880,2200,3554,0,0,0,0,0,0
$GC,4717,-0.64,-155.7,437.6,-6.2,259,4721,0.00,2.35,0.00,0.000,4,0.000,0.044,2879,612,3551,0,0,0,0,0,0
$GC,4749,-0.64,-155.7,440.0,-7.0,259,4756,0.00,2.35,0.00,0.000,6,0.000,0.042,2868,2199,3552,0,0,0,0,0,0
$GC,5081,-0.64,-155.7,460.9,-6.1,268,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2199,3551,0,0,0,0,0,0
$GC,5406,-0.64,-155.7,480.9,-6.2,276,5410,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,604,3549,0,0,0,0,0,0
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$GC,7582,-0.64,-155.7,602.8,-6.7,328,7587,0.00,2.33,0.00,0.000,6,0.000,0.035,2888,2180,3539,0,0,0,0,0,0
$GC,7901,-0.64,-155.7,620.2,-5.1,336,7906,0.00,2.30,0.00,0.000,4,0.000,0.044,2887,605,3536,0,0,0,0,0,0
$GC,7979,-0.64,-155.7,624.8,-6.4,337,7985,0.00,2.35,0.00,0.000,6,0.000,0.043,2876,2197,3535,0,0,0,0,0,0
$GC,8311,-0.64,-155.7,638.1,-3.7,346,8315,0.00,2.35,0.00,0.000,4,0.000,0.043,2876,605,3534,0,0,0,0,0,0
$GC,8445,-0.64,-155.7,644.9,-5.4,349,8450,0.10,2.33,0.00,0.000,6,0.158,0.042,2893,2197,3529,0,0,0,0,0,0
$GC,8769,-0.64,-155.7,661.9,-5.8,357,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2197,3532,0,0,0,0,0,0
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$GC,13751,-0.64,-155.7,873.0,-3.1,478,13755,0.00,2.45,0.00,0.000,4,0.000,0.054,2862,3780,3516,0,0,0,0,0,0
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$GC,14612,-0.64,-155.7,902.1,-3.8,499,14616,0.00,2.33,0.00,0.000,4,0.000,0.047,2883,609,3515,0,0,0,0,0,0
$GC,14701,-0.64,-155.7,906.0,-3.9,501,14705,0.00,2.35,0.00,0.000,6,0.000,0.044,2871,2196,3512,0,0,0,0,0,0
$GC,15018,-0.64,-155.7,918.2,-3.8,509,15023,0.00,2.38,0.00,0.000,4,0.000,0.044,2871,597,3513,0,0,0,0,0,0
$GC,15086,-0.64,-155.7,921.1,-5.2,510,15091,0.12,2.38,0.00,0.000,6,0.144,0.046,2897,2190,3513,0,0,0,0,0,0
$GC,15422,-0.64,-155.7,931.5,-3.0,519,15425,0.00,2.40,0.00,0.000,4,0.000,0.047,2898,609,3513,0,0,0,0,0,0
$GC,15511,-0.64,-155.7,935.0,-4.1,521,15516,0.00,2.35,0.00,0.000,6,0.000,0.044,2885,2198,3513,0,0,0,0,0,0
$GC,15836,-0.64,-155.7,948.4,-4.4,529,15840,0.00,2.40,0.00,0.000,4,0.000,0.045,2888,601,3512,0,0,0,0,0,0
$GC,15891,-0.64,-155.7,951.3,-5.1,530,15895,0.00,2.38,0.00,0.000,6,0.000,0.046,2872,2194,3512,0,0,0,0,0,0
$GC,16205,-0.64,-155.7,965.2,-4.1,538,16209,0.00,2.42,0.00,0.000,4,0.000,0.054,2863,3779,3512,0,0,0,0,0,0
$GC,16288,-0.64,-155.7,968.5,-3.7,540,16293,0.10,2.38,0.00,0.000,6,0.135,0.038,2895,2183,3511,0,0,0,0,0,0
$GC,16613,-0.64,-155.7,977.0,-2.3,548,16614,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2182,3512,0,0,0,0,0,0
$GC,16937,-0.64,-155.7,984.5,-2.4,556,16942,0.00,2.47,0.00,0.000,4,0.000,0.054,2881,3776,3511,0,0,0,0,0,0
$GC,17021,-0.64,-155.7,987.0,-3.5,558,17026,0.00,2.38,0.00,0.000,6,0.000,0.037,2883,2178,3511,0,0,0,0,0,0
$STATE,17145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17146,begin apogee
$GC,17151,-0.23,0.0,990.8,2.9,561,17283,0.40,0.00,128.18,1.400,6,0.100,0.000,3025,1860,2917,0,0,0,0,0,0
$STATE,17291,end apogee,CONTROL_FINISHED_OK
$STATE,17292,begin climb
$GC,17293,0.64,155.7,989.0,0.0,564,17449,0.80,2.80,145.12,1.361,4,0.068,0.052,3313,3438,2279,0,0,0,0,0,0
$GC,17499,0.64,155.7,954.5,20.3,569,17504,0.00,2.60,0.00,0.000,6,0.000,0.041,3324,1876,2271,0,0,0,0,0,0
$GC,17841,0.64,155.7,886.7,20.0,578,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1875,2262,0,0,0,0,0,0
$GC,18167,0.64,155.7,821.6,20.5,586,18171,0.00,2.47,0.00,0.000,4,0.000,0.052,3324,3456,2260,0,0,0,0,0,0
$GC,18182,0.64,155.7,818.0,21.0,586,18187,0.08,2.50,0.00,0.000,6,0.136,0.043,3306,1858,2259,0,0,0,0,0,0
$GC,18529,0.64,155.7,749.3,19.9,595,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1858,2254,0,0,0,0,0,0
$GC,18854,0.64,155.7,687.3,19.1,603,18858,0.00,2.47,0.00,0.000,4,0.000,0.053,3309,3458,2257,0,0,0,0,0,0
$GC,18898,0.64,155.7,678.2,21.5,604,18903,0.00,2.45,0.00,0.000,6,0.000,0.044,3320,1856,2256,0,0,0,0,0,0
$GC,19216,0.64,155.7,617.3,18.7,612,19220,0.00,2.47,0.00,0.000,4,0.000,0.054,3320,3458,2256,0,0,0,0,0,0
$GC,19267,0.64,155.7,607.5,21.6,613,19271,0.00,2.45,0.00,0.000,6,0.000,0.043,3331,1855,2255,0,0,0,0,0,0
$GC,19579,0.64,155.7,547.0,19.6,621,19583,0.00,2.45,0.00,0.000,4,0.000,0.054,3344,276,2255,0,0,0,0,0,0
$GC,19612,0.64,155.7,540.4,20.4,621,19618,0.12,2.38,0.00,0.000,6,0.148,0.045,3308,1860,2254,0,0,0,0,0,0
$GC,19942,0.64,155.7,487.6,15.4,630,19946,0.00,2.45,0.00,0.000,4,0.000,0.055,3307,3458,2254,0,0,0,0,0,0
$GC,20082,0.64,155.7,464.6,15.7,633,20086,0.00,2.42,0.00,0.000,6,0.000,0.043,3319,1860,2252,0,0,0,0,0,0
$GC,20393,0.64,155.7,409.6,18.1,641,20395,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1859,2253,0,0,0,0,0,0
$GC,20719,0.64,155.7,350.1,17.8,649,20724,0.00,2.42,0.00,0.000,4,0.000,0.051,3319,3452,2253,0,0,0,0,0,0
$GC,20735,0.64,155.7,347.0,17.9,649,20739,0.00,2.42,0.00,0.000,6,0.000,0.044,3331,1858,2253,0,0,0,0,0,0
$GC,21063,0.64,155.7,289.0,17.9,658,21064,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1859,2253,0,0,0,0,0,0
$GC,21373,0.64,155.7,241.9,14.1,673,21377,0.00,2.42,0.00,0.000,4,0.000,0.051,3331,3455,2253,0,0,0,0,0,0
$GC,21456,0.64,155.7,228.3,16.4,677,21461,0.12,2.40,0.00,0.000,6,0.153,0.041,3307,1846,2252,0,0,0,0,0,0
$GC,21775,0.64,155.7,190.4,11.9,696,21776,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1845,2253,0,0,0,0,0,0
$GC,22028,0.64,155.7,162.2,10.9,720,22030,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1843,2253,0,0,0,0,0,0
$GC,22283,0.64,155.7,136.7,9.6,744,22287,0.00,2.38,0.00,0.000,4,0.000,0.052,3317,267,2253,0,0,0,0,0,0
$GC,22323,0.64,155.7,133.2,9.2,747,22327,0.00,2.35,0.00,0.000,6,0.000,0.041,3319,1875,2253,0,0,0,0,0,0
$GC,22584,0.64,155.7,110.8,9.8,771,22588,0.00,2.35,0.00,0.000,4,0.000,0.049,3317,3450,2254,0,0,0,0,0,0
$GC,22684,0.64,155.7,100.5,10.0,779,22689,0.00,2.35,0.00,0.000,6,0.000,0.038,3329,1853,2254,0,0,0,0,0,0
$GC,22944,0.64,155.7,73.1,11.9,804,22948,0.00,2.40,0.00,0.000,4,0.000,0.048,3330,3455,2255,0,0,0,0,0,0
$GC,22960,0.64,155.7,71.4,11.2,805,22965,0.12,2.38,0.00,0.000,6,0.143,0.041,3302,1850,2255,0,0,0,0,0,0
$GC,23220,0.64,155.7,47.5,9.7,829,23224,0.00,2.40,0.00,0.000,4,0.000,0.048,3303,3455,2260,0,0,0,0,0,0
$GC,23240,0.64,155.7,45.3,9.7,830,23246,0.00,2.40,0.00,0.000,6,0.000,0.040,3313,1857,2257,0,0,0,0,0,0
$GC,23505,0.64,155.7,22.2,8.8,863,23510,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1860,2259,0,0,0,0,0,0
$GC,23712,0.64,155.7,5.2,8.0,900,23718,0.00,2.38,0.00,0.000,4,0.000,0.048,3313,3455,2261,0,0,0,0,0,0
$GC,23734,0.64,155.7,3.1,7.7,904,23740,0.00,2.38,0.00,0.000,6,0.000,0.040,3326,1853,2262,0,0,0,0,0,0
$STATE,23744,end climb,SURFACE_DEPTH_REACHED
$STATE,23744,begin surface coast
$FINISH,0.5,1.022683
$STATE,23779,end surface coast,CONTROL_FINISHED_OK
$STATE,23779,begin surface
$SM_CCo,23797,160.68,0.584,0,0,878,500.16
$SM_GC,1.14,0.00,0.00,160.68,0.000,0.000,0.584,107,2202,878,-9.35,0.31,500.16
$IRIDIUM_FIX,2054.83,12653.58,120612,171732
$TT8_MAMPS,0.059059
$HUMID,1078592893
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,25.40
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8295481344
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55480156160
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,34.047
$10V_AH,10.1,26.514
$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,21.325,233.925,273.300,160.675,0.000,31.028,35.607,307.787,3.000,0.000,15.334,1878.278,18929.908,656.680,2735.750,305.716,33.378,1927.781,0.000,2273.648,0.000,0.543,0.000
$DEVICE_MAMPS,220.896,59.826,1399.775,584.454,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,621.920,0.000,0.000,0.000,0.000,0.000,0.000,24662.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.675,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,33354,912
$CAP_FILE_SIZE,202076,0
$CFSIZE,260165632,207298560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,135624,2105.351,12657.697,58,0.9,58,-2.8