version: 66.07
glider: 500
mission: 5
dive: 217
start: 12 22 110 23 46 20
data:
$ID,500
$MISSION,5
$DIVE,217
$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,550
$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,-125170.45
$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,3150
$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,32
$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,2945
$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,216
$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
$GPS1,221210,232638,2121.743,12654.568,36,1.2,37,-2.9
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.6
$GPS2,221210,234526,2121.425,12654.579,10,1.3,10,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,0.066
$KALMAN_X,-335714.7,1131.0,107.4,710696.8,-7254.5
$KALMAN_Y,74386.2,-117.8,879.2,-53382.2,-7249.6
$MHEAD_RNG_PITCHd_Wd,75.3,198741,-9.7,-6.000
$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,2612,-0.51,-155.7,212.3,-4.9,246,2616,0.00,2.35,0.00,0.000,4,0.000,0.044,2975,598,3586,0,0,0,0,0,0
$GC,2690,-0.51,-155.7,216.5,-5.7,249,2694,0.00,2.30,0.00,0.000,6,0.000,0.044,2960,2192,3586,0,0,0,0,0,0
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$GC,3353,-0.51,-155.7,240.8,-2.5,281,3357,0.00,2.45,0.00,0.000,4,0.000,0.053,2977,3778,3587,0,0,0,0,0,0
$GC,3374,-0.51,-155.7,241.4,-2.6,282,3378,0.00,2.33,0.00,0.000,6,0.000,0.037,2976,2182,3588,0,0,0,0,0,0
$GC,3701,-0.51,-155.7,253.6,-3.1,298,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2181,3586,0,0,0,0,0,0
$GC,4010,-0.51,-155.7,264.6,-4.3,313,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2181,3585,0,0,0,0,0,0
$GC,4319,-0.51,-155.7,277.6,-3.6,328,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2181,3584,0,0,0,0,0,0
$GC,4629,-0.51,-155.7,287.4,-3.1,343,4634,0.00,2.35,0.00,0.000,4,0.000,0.045,2976,597,3582,0,0,0,0,0,0
$GC,4701,-0.51,-155.7,290.4,-4.1,346,4705,0.00,2.35,0.00,0.000,6,0.000,0.043,2966,2200,3582,0,0,0,0,0,0
$GC,5042,-0.51,-155.7,303.8,-4.3,361,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2200,3581,0,0,0,0,0,0
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$GC,7031,-0.51,-155.7,379.4,-4.4,409,7037,0.00,2.33,0.00,0.000,6,0.000,0.042,2961,2195,3573,0,0,0,0,0,0
$GC,7363,-0.51,-155.7,390.8,-3.1,418,7367,0.00,2.42,0.00,0.000,4,0.000,0.052,2950,3785,3572,0,0,0,0,0,0
$GC,7485,-0.51,-155.7,395.0,-4.0,420,7491,0.10,2.35,0.00,0.000,6,0.120,0.037,2988,2187,3572,0,0,0,0,0,0
$GC,7817,-0.51,-155.7,406.9,-3.7,429,7821,0.00,2.45,0.00,0.000,4,0.000,0.054,2978,3785,3570,0,0,0,0,0,0
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$GC,16367,-0.51,-155.7,737.9,-4.9,632,16371,0.00,2.33,0.00,0.000,4,0.000,0.047,2986,615,3543,0,0,0,0,0,0
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$GC,16956,-0.51,-155.7,761.0,-3.4,646,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2196,3542,0,0,0,0,0,0
$GC,17281,-0.51,-155.7,772.7,-3.8,654,17285,0.00,2.38,0.00,0.000,4,0.000,0.044,2986,606,3542,0,0,0,0,0,0
$GC,17504,-0.51,-155.7,782.5,-5.4,659,17508,0.00,2.33,0.00,0.000,6,0.000,0.043,2986,2195,3540,0,0,0,0,0,0
$GC,17829,-0.51,-155.7,800.2,-5.7,667,17833,0.00,2.35,0.00,0.000,4,0.000,0.044,2986,617,3540,0,0,0,0,0,0
$GC,17894,-0.51,-155.7,804.1,-6.4,668,17899,0.00,2.35,0.00,0.000,6,0.000,0.043,2985,2192,3540,0,0,0,0,0,0
$GC,18243,-0.51,-155.7,823.0,-5.2,677,18247,0.00,2.33,0.00,0.000,4,0.000,0.045,2986,613,3539,0,0,0,0,0,0
$GC,18500,-0.51,-155.7,835.6,-3.5,682,18506,0.00,2.35,0.00,0.000,6,0.000,0.044,2986,2197,3536,0,0,0,0,0,0
$GC,18832,-0.51,-155.7,849.3,-4.0,691,18836,0.00,2.35,0.00,0.000,4,0.000,0.044,2986,611,3538,0,0,0,0,0,0
$GC,19089,-0.51,-155.7,859.8,-4.1,696,19095,0.00,2.33,0.00,0.000,6,0.000,0.043,2986,2195,3535,0,0,0,0,0,0
$GC,19421,-0.51,-155.7,871.3,-3.4,705,19425,0.00,2.35,0.00,0.000,4,0.000,0.044,2986,612,3535,0,0,0,0,0,0
$GC,19492,-0.51,-155.7,873.7,-3.0,706,19496,0.00,2.33,0.00,0.000,6,0.000,0.043,2986,2198,3537,0,0,0,0,0,0
$GC,19829,-0.51,-155.7,881.8,-2.2,715,19830,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2198,3534,0,0,0,0,0,0
$GC,20155,-0.51,-155.7,886.6,-1.3,723,20156,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3535,0,0,0,0,0,0
$GC,20479,-0.51,-155.7,890.2,-1.1,731,20483,0.00,2.45,0.00,0.000,4,0.000,0.057,2986,3779,3535,0,0,0,0,0,0
$GC,20631,-0.51,-155.7,893.2,-2.2,734,20635,0.00,2.35,0.00,0.000,6,0.000,0.037,2986,2187,3534,0,0,0,0,0,0
$GC,20972,-0.51,-155.7,901.8,-2.7,743,20973,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2187,3534,0,0,0,0,0,0
$GC,21297,-0.51,-155.7,911.5,-3.1,751,21301,0.00,2.38,0.00,0.000,4,0.000,0.048,2984,613,3533,0,0,0,0,0,0
$GC,21492,-0.51,-155.7,917.3,-3.0,755,21496,0.00,2.35,0.00,0.000,6,0.000,0.043,2987,2196,3533,0,0,0,0,0,0
$STATE,21640,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,21641,begin apogee
$GC,21645,-0.23,0.0,921.2,2.7,759,21773,0.22,0.00,125.05,1.322,6,0.065,0.000,3102,1861,2946,0,0,0,0,0,0
$STATE,21776,end apogee,CONTROL_FINISHED_OK
$STATE,21776,begin climb
$GC,21779,0.51,155.7,919.9,0.0,762,21929,0.55,2.75,141.45,1.275,4,0.040,0.053,3349,3441,2308,0,0,0,0,0,0
$GC,22052,0.51,155.7,858.1,25.5,768,22057,0.12,2.55,0.00,0.000,6,0.133,0.043,3322,1870,2297,0,0,0,0,0,0
$GC,22399,0.51,155.7,783.1,21.2,777,22404,0.00,2.50,0.00,0.000,4,0.000,0.054,3319,3456,2291,0,0,0,0,0,0
$GC,22432,0.51,155.7,775.5,22.7,777,22438,0.00,2.50,0.00,0.000,6,0.000,0.043,3328,1844,2291,0,0,0,0,0,0
$GC,22763,0.51,155.7,706.5,20.6,786,22767,0.00,2.50,0.00,0.000,4,0.000,0.054,3328,3444,2291,0,0,0,0,0,0
$GC,22817,0.51,155.7,694.6,21.3,787,22821,0.00,2.45,0.00,0.000,6,0.000,0.045,3340,1868,2290,0,0,0,0,0,0
$GC,23131,0.51,155.7,627.7,21.5,795,23135,0.00,2.45,0.00,0.000,4,0.000,0.054,3352,277,2290,0,0,0,0,0,0
$GC,23146,0.51,155.7,623.8,22.3,795,23151,0.12,2.40,0.00,0.000,6,0.146,0.046,3317,1874,2290,0,0,0,0,0,0
$GC,23493,0.51,155.7,557.9,18.8,804,23498,0.00,2.42,0.00,0.000,4,0.000,0.053,3319,3455,2289,0,0,0,0,0,0
$GC,23623,0.51,155.7,533.5,15.3,807,23627,0.00,2.42,0.00,0.000,6,0.000,0.041,3328,1853,2288,0,0,0,0,0,0
$GC,23946,0.51,155.7,472.4,18.9,815,23950,0.00,2.45,0.00,0.000,4,0.000,0.052,3328,3452,2288,0,0,0,0,0,0
$GC,23977,0.51,155.7,466.1,17.1,815,23983,0.00,2.45,0.00,0.000,6,0.000,0.044,3339,1864,2288,0,0,0,0,0,0
$GC,24309,0.51,155.7,399.9,20.1,824,24314,0.00,2.45,0.00,0.000,4,0.000,0.054,3339,3456,2288,0,0,0,0,0,0
$GC,24364,0.51,155.7,388.4,22.6,825,24369,0.12,2.40,0.00,0.000,6,0.158,0.042,3316,1862,2288,0,0,0,0,0,0
$GC,24676,0.51,155.7,336.3,16.3,833,24681,0.00,2.45,0.00,0.000,4,0.000,0.053,3328,265,2289,0,0,0,0,0,0
$GC,24698,0.51,155.7,332.7,15.9,833,24702,0.00,2.40,0.00,0.000,6,0.000,0.047,3328,1857,2291,0,0,0,0,0,0
$GC,25015,0.51,155.7,280.7,16.1,844,25019,0.00,2.47,0.00,0.000,4,0.000,0.053,3328,3456,2288,0,0,0,0,0,0
$GC,25145,0.51,155.7,258.0,19.0,850,25149,0.00,2.40,0.00,0.000,6,0.000,0.039,3339,1861,2289,0,0,0,0,0,0
$GC,25470,0.51,155.7,206.8,14.9,866,25471,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1856,2290,0,0,0,0,0,0
$GC,25788,0.51,155.7,160.8,13.7,893,25792,0.00,2.45,0.00,0.000,4,0.000,0.051,3339,3456,2291,0,0,0,0,0,0
$GC,25939,0.51,155.7,139.1,13.6,906,25944,0.15,2.42,0.00,0.000,6,0.141,0.038,3306,1842,2291,0,0,0,0,0,0
$GC,26199,0.51,155.7,113.3,9.4,930,26203,0.00,2.45,0.00,0.000,4,0.000,0.049,3306,3456,2292,0,0,0,0,0,0
$GC,26275,0.51,155.7,106.3,6.8,936,26282,0.00,2.40,0.00,0.000,6,0.000,0.038,3317,1869,2293,0,0,0,0,0,0
$GC,26540,0.51,155.7,83.9,8.9,961,26541,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1869,2295,0,0,0,0,0,0
$GC,26791,0.51,155.7,60.9,9.8,985,26795,0.00,2.40,0.00,0.000,4,0.000,0.050,3317,3459,2296,0,0,0,0,0,0
$GC,26841,0.51,155.7,55.2,12.7,989,26845,0.00,2.38,0.00,0.000,6,0.000,0.040,3329,1856,2297,0,0,0,0,0,0
$GC,27104,0.51,155.7,25.5,11.2,1016,27110,0.00,2.38,0.00,0.000,4,0.000,0.051,3341,276,2299,0,0,0,0,0,0
$GC,27121,0.51,155.7,23.6,10.4,1019,27127,0.00,2.35,0.00,0.000,6,0.000,0.041,3341,1877,2297,0,0,0,0,0,0
$STATE,27310,end climb,SURFACE_DEPTH_REACHED
$STATE,27310,begin surface coast
$FINISH,0.5,1.011454
$STATE,27339,end surface coast,CONTROL_FINISHED_OK
$STATE,27339,begin surface
$SM_CCo,27357,163.30,0.557,0,0,903,500.65
$SM_GC,1.09,0.00,0.00,163.30,0.000,0.000,0.557,106,2198,903,-9.51,0.25,500.65
$IRIDIUM_FIX,2113.32,12654.04,160612,171750
$TT8_MAMPS,0.059059
$HUMID,1078652248
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,25.10
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8245641216
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54956032000
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,35.961
$10V_AH,10.1,28.744
$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,20.675,253.300,266.500,163.300,0.000,105.091,228.390,424.590,2.000,0.000,12.573,2248.061,21386.900,661.120,3967.585,374.445,33.380,2316.256,0.000,3125.362,0.000,0.542,0.000
$DEVICE_MAMPS,219.362,59.826,1321.541,556.842,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,719.954,0.000,0.000,0.000,0.000,0.000,0.000,29043.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.156,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,36792,1058
$CAP_FILE_SIZE,242247,0
$CFSIZE,260165632,205918208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,072631,2120.454,12654.993,37,1.0,38,-2.9