version: 66.07
glider: 500
mission: 5
dive: 210
start: 12 20 110 19 59 32
data:
$ID,500
$MISSION,5
$DIVE,210
$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,-125066.59
$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,33
$R_STBD_OVSHOOT,36
$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,209
$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
$GPS1,201210,194900,2112.245,12659.968,38,1.1,38,-2.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.1
$GPS2,201210,195837,2112.236,12659.952,9,1.2,14,-2.9
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.203
$KALMAN_X,-307883.8,181.8,-33.6,693243.1,-2294.7
$KALMAN_Y,100181.7,-276.2,-435.9,-94699.5,-440.4
$MHEAD_RNG_PITCHd_Wd,26.2,215214,-12.8,-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,2825,-0.62,-155.7,321.0,-9.1,208,2830,0.00,2.42,0.00,0.000,6,0.000,0.061,2880,2185,3558,0,0,0,0,0,0
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$GC,4095,-0.62,-155.7,399.0,-6.1,239,4099,0.00,2.42,0.00,0.000,4,0.000,0.056,2887,602,3552,0,0,0,0,0,0
$GC,4127,-0.62,-155.7,401.2,-7.0,239,4133,0.00,2.38,0.00,0.000,6,0.000,0.056,2875,2197,3552,0,0,0,0,0,0
$GC,4459,-0.62,-155.7,421.7,-5.9,248,4463,0.00,2.42,0.00,0.000,4,0.000,0.054,2863,3783,3551,0,0,0,0,0,0
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$GC,4867,-0.62,-155.7,439.9,-4.2,258,4870,0.00,2.35,0.00,0.000,4,0.000,0.050,2903,593,3551,0,0,0,0,0,0
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$GC,5373,-0.62,-155.7,467.1,-5.5,270,5377,0.00,2.38,0.00,0.000,4,0.000,0.047,2892,591,3546,0,0,0,0,0,0
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$GC,7500,-0.62,-155.7,578.2,-4.3,321,7504,0.00,2.40,0.00,0.000,4,0.000,0.052,2893,3775,3535,0,0,0,0,0,0
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$GC,8054,-0.62,-155.7,604.7,-5.7,334,8058,0.00,2.33,0.00,0.000,6,0.000,0.045,2882,2196,3532,0,0,0,0,0,0
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$GC,15675,-0.62,-155.7,905.0,-4.3,520,15680,0.10,2.38,0.00,0.000,6,0.152,0.047,2898,2193,3508,0,0,0,0,0,0
$GC,15989,-0.62,-155.7,914.8,-3.2,528,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2194,3506,0,0,0,0,0,0
$GC,16313,-0.62,-155.7,925.3,-3.2,536,16317,0.00,2.38,0.00,0.000,4,0.000,0.047,2898,607,3507,0,0,0,0,0,0
$GC,16356,-0.62,-155.7,926.7,-4.3,537,16361,0.00,2.35,0.00,0.000,6,0.000,0.046,2889,2194,3510,0,0,0,0,0,0
$GC,16681,-0.62,-155.7,936.7,-3.0,545,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2192,3506,0,0,0,0,0,0
$GC,17006,-0.62,-155.7,945.2,-2.6,553,17010,0.00,2.38,0.00,0.000,4,0.000,0.047,2888,609,3506,0,0,0,0,0,0
$GC,17112,-0.62,-155.7,948.8,-4.1,555,17116,0.00,2.35,0.00,0.000,6,0.000,0.046,2877,2190,3505,0,0,0,0,0,0
$GC,17453,-0.62,-155.7,960.2,-3.4,564,17457,0.00,2.38,0.00,0.000,4,0.000,0.047,2877,608,3505,0,0,0,0,0,0
$GC,17507,-0.62,-155.7,962.4,-3.7,565,17512,0.12,2.38,0.00,0.000,6,0.140,0.046,2903,2191,3505,0,0,0,0,0,0
$GC,17821,-0.62,-155.7,972.4,-3.3,573,17822,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2190,3508,0,0,0,0,0,0
$GC,18145,-0.62,-155.7,983.1,-3.3,581,18149,0.00,2.38,0.00,0.000,4,0.000,0.048,2904,608,3505,0,0,0,0,0,0
$GC,18199,-0.62,-155.7,985.1,-3.9,582,18203,0.00,2.35,0.00,0.000,6,0.000,0.046,2894,2192,3504,0,0,0,0,0,0
$STATE,18388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18388,begin apogee
$GC,18394,-0.23,0.0,991.0,3.1,587,18523,0.38,0.00,126.38,1.375,6,0.094,0.000,3028,1860,2917,0,0,0,0,0,0
$STATE,18526,end apogee,CONTROL_FINISHED_OK
$STATE,18526,begin climb
$GC,18528,0.62,155.7,989.3,0.0,590,18680,0.73,2.72,144.02,1.333,4,0.067,0.053,3296,3438,2280,0,0,0,0,0,0
$GC,18742,0.62,155.7,954.3,18.3,595,18747,0.00,2.55,0.00,0.000,6,0.000,0.042,3308,1868,2273,0,0,0,0,0,0
$GC,19054,0.62,155.7,891.6,20.0,603,19059,0.00,2.53,0.00,0.000,4,0.000,0.057,3320,276,2263,0,0,0,0,0,0
$GC,19069,0.62,155.7,888.1,19.9,603,19075,0.00,2.47,0.00,0.000,6,0.000,0.048,3320,1847,2263,0,0,0,0,0,0
$GC,19418,0.62,155.7,818.5,19.9,612,19422,0.00,2.50,0.00,0.000,4,0.000,0.054,3320,3453,2261,0,0,0,0,0,0
$GC,19534,0.62,155.7,793.6,23.6,614,19539,0.12,2.45,0.00,0.000,6,0.162,0.044,3297,1858,2266,0,0,0,0,0,0
$GC,19865,0.62,155.7,734.4,18.1,622,19869,0.00,2.47,0.00,0.000,4,0.000,0.055,3308,268,2261,0,0,0,0,0,0
$GC,19903,0.62,155.7,727.4,16.4,623,19907,0.00,2.42,0.00,0.000,6,0.000,0.048,3305,1869,2263,0,0,0,0,0,0
$GC,20226,0.62,155.7,667.0,19.0,631,20231,0.00,2.45,0.00,0.000,4,0.000,0.054,3305,3449,2260,0,0,0,0,0,0
$GC,20320,0.62,155.7,648.1,18.5,633,20324,0.00,2.45,0.00,0.000,6,0.000,0.044,3317,1863,2260,0,0,0,0,0,0
$GC,20639,0.62,155.7,591.1,17.4,641,20643,0.00,2.45,0.00,0.000,4,0.000,0.054,3316,3451,2261,0,0,0,0,0,0
$GC,20683,0.62,155.7,582.6,18.8,642,20687,0.00,2.45,0.00,0.000,6,0.000,0.044,3328,1863,2259,0,0,0,0,0,0
$GC,21007,0.62,155.7,522.4,18.7,650,21008,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1863,2260,0,0,0,0,0,0
$GC,21332,0.62,155.7,463.3,17.8,658,21336,0.00,2.45,0.00,0.000,4,0.000,0.054,3328,3458,2259,0,0,0,0,0,0
$GC,21376,0.62,155.7,455.3,18.3,659,21381,0.15,2.42,0.00,0.000,6,0.153,0.043,3299,1863,2260,0,0,0,0,0,0
$GC,21693,0.62,155.7,406.8,14.8,667,21697,0.00,2.42,0.00,0.000,4,0.000,0.054,3308,263,2260,0,0,0,0,0,0
$GC,21725,0.62,155.7,401.9,15.6,667,21731,0.00,2.42,0.00,0.000,6,0.000,0.048,3308,1861,2260,0,0,0,0,0,0
$GC,22056,0.62,155.7,350.6,16.1,676,22060,0.00,2.47,0.00,0.000,4,0.000,0.056,3308,3454,2260,0,0,0,0,0,0
$GC,22172,0.62,155.7,330.1,17.6,678,22176,0.00,2.45,0.00,0.000,6,0.000,0.042,3320,1860,2260,0,0,0,0,0,0
$GC,22490,0.62,155.7,279.4,15.0,689,22495,0.00,2.42,0.00,0.000,4,0.000,0.053,3320,3454,2258,0,0,0,0,0,0
$GC,22556,0.62,155.7,268.2,16.9,692,22562,0.08,2.45,0.00,0.000,6,0.132,0.042,3305,1849,2261,0,0,0,0,0,0
$GC,22884,0.62,155.7,225.3,13.0,708,22888,0.00,2.45,0.00,0.000,4,0.000,0.054,3304,3458,2260,0,0,0,0,0,0
$GC,22946,0.62,155.7,216.5,14.8,711,22950,0.00,2.38,0.00,0.000,6,0.000,0.042,3312,1858,2261,0,0,0,0,0,0
$GC,23269,0.62,155.7,174.1,11.9,735,23273,0.00,2.42,0.00,0.000,4,0.000,0.053,3328,262,2262,0,0,0,0,0,0
$GC,23296,0.62,155.7,170.5,13.0,737,23301,0.00,2.40,0.00,0.000,6,0.000,0.044,3328,1876,2262,0,0,0,0,0,0
$GC,23563,0.62,155.7,139.9,10.5,762,23567,0.00,2.38,0.00,0.000,4,0.000,0.052,3328,3455,2261,0,0,0,0,0,0
$GC,23625,0.62,155.7,132.1,11.2,767,23630,0.15,2.38,0.00,0.000,6,0.140,0.041,3294,1851,2263,0,0,0,0,0,0
$GC,23885,0.62,155.7,109.6,8.8,791,23886,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1850,2264,0,0,0,0,0,0
$GC,24141,0.64,177.7,90.9,6.2,815,24165,0.00,2.50,17.15,0.617,4,0.000,0.051,3294,3453,2191,0,0,0,0,0,0
$GC,24205,0.64,177.7,86.3,7.8,821,24209,0.00,2.40,0.00,0.000,6,0.000,0.042,3305,1857,2190,0,0,0,0,0,0
$GC,24467,0.64,177.7,66.7,8.1,845,24471,0.00,2.38,0.00,0.000,4,0.000,0.053,3317,275,2190,0,0,0,0,0,0
$GC,24483,0.64,177.7,65.2,7.2,846,24487,0.00,2.33,0.00,0.000,6,0.000,0.043,3317,1857,2190,0,0,0,0,0,0
$GC,24744,0.64,177.7,41.9,9.3,870,24748,0.00,2.40,0.00,0.000,4,0.000,0.052,3317,3452,2190,0,0,0,0,0,0
$GC,24794,0.64,177.7,36.8,9.4,874,24798,0.00,2.38,0.00,0.000,6,0.000,0.041,3329,1860,2190,0,0,0,0,0,0
$GC,25065,0.64,177.7,9.8,10.0,916,25070,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1860,2192,0,0,0,0,0,0
$STATE,25130,end climb,SURFACE_DEPTH_REACHED
$STATE,25130,begin surface coast
$FINISH,0.7,1.022735
$STATE,25160,end surface coast,CONTROL_FINISHED_OK
$STATE,25160,begin surface
$SM_CCo,25178,154.55,0.561,0,0,873,500.16
$SM_GC,1.10,0.00,0.00,154.55,0.000,0.000,0.561,108,2209,873,-9.35,0.51,500.16
$IRIDIUM_FIX,2104.07,12701.44,140612,050502
$TT8_MAMPS,0.059059
$HUMID,1078587732
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,25.40
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8271495168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55265525760
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,34.851
$10V_AH,10.1,27.423
$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,21.425,255.200,287.550,154.550,0.000,25.794,33.422,331.244,2.250,0.000,16.581,1943.204,20081.219,661.219,2896.110,317.391,33.363,2020.498,0.000,2416.787,0.000,0.541,0.000
$DEVICE_MAMPS,220.129,72.098,1375.231,561.444,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,636.289,0.000,0.000,0.000,0.000,0.000,0.000,26104.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.842,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,33367,933
$CAP_FILE_SIZE,213144,0
$CFSIZE,260165632,206733312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,030307,2113.913,12700.013,30,0.9,30,-2.9