version: 66.07
glider: 500
mission: 5
dive: 285
start: 1 14 111 17 44 8
data:
$ID,500
$MISSION,5
$DIVE,285
$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,1020
$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,400
$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,-126242.16
$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,3070
$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,2100
$C_ROLL_CLIMB,1900
$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,2995
$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,284
$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
$GPS1,140111,172306,2230.162,12700.035,35,1.1,46,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.0
$GPS2,140111,174313,2230.153,12700.074,12,1.3,12,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.198,0.101
$KALMAN_X,-631906.1,494.8,379.5,1016733.9,-6282.5
$KALMAN_Y,-204921.5,135.4,56.9,353755.2,-876.2
$MHEAD_RNG_PITCHd_Wd,66.2,71126,-9.3,-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,3440,-0.50,-155.7,325.4,-7.7,238,3444,0.00,2.45,0.00,0.000,4,0.000,0.059,2875,3691,3634,0,0,0,0,0,0
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$GC,7237,-0.50,-155.7,554.6,-5.5,331,7242,0.00,2.42,0.00,0.000,4,0.000,0.054,2886,3689,3620,0,0,0,0,0,0
$GC,7309,-0.50,-155.7,559.3,-5.9,332,7314,0.00,2.38,0.00,0.000,6,0.000,0.038,2886,2100,3619,0,0,0,0,0,0
$GC,7646,-0.50,-155.7,578.5,-5.6,341,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2100,3617,0,0,0,0,0,0
$GC,7972,-0.50,-155.7,594.4,-4.8,349,7976,0.00,2.40,0.00,0.000,4,0.000,0.049,2885,517,3616,0,0,0,0,0,0
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$GC,15390,-0.50,-155.7,924.1,-4.4,530,15394,0.00,2.38,0.00,0.000,6,0.000,0.044,2907,2115,3591,0,0,0,0,0,0
$GC,15702,-0.50,-155.7,935.3,-3.6,538,15706,0.00,2.38,0.00,0.000,4,0.000,0.048,2907,519,3590,0,0,0,0,0,0
$GC,15785,-0.50,-155.7,938.3,-4.0,540,15790,0.00,2.35,0.00,0.000,6,0.000,0.044,2896,2103,3590,0,0,0,0,0,0
$GC,16110,-0.50,-155.7,948.9,-3.2,548,16114,0.00,2.40,0.00,0.000,4,0.000,0.045,2896,519,3590,0,0,0,0,0,0
$GC,16251,-0.50,-155.7,953.9,-3.3,551,16255,0.00,2.35,0.00,0.000,6,0.000,0.044,2885,2107,3589,0,0,0,0,0,0
$GC,16564,-0.50,-155.7,963.2,-3.0,559,16568,0.00,2.47,0.00,0.000,4,0.000,0.054,2873,3695,3589,0,0,0,0,0,0
$GC,16591,-0.50,-155.7,964.0,-3.5,559,16596,0.12,2.38,0.00,0.000,6,0.120,0.039,2916,2104,3589,0,0,0,0,0,0
$GC,16922,-0.50,-155.7,973.8,-3.2,567,16927,0.00,2.40,0.00,0.000,4,0.000,0.048,2916,515,3588,0,0,0,0,0,0
$GC,17001,-0.50,-155.7,976.6,-3.7,568,17007,0.00,2.38,0.00,0.000,6,0.000,0.046,2906,2106,3588,0,0,0,0,0,0
$GC,17332,-0.50,-155.7,988.3,-3.6,577,17336,0.00,2.42,0.00,0.000,4,0.000,0.046,2905,502,3591,0,0,0,0,0,0
$STATE,17380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17380,begin apogee
$GC,17388,-0.23,0.0,990.2,3.6,578,17523,0.25,0.00,131.40,1.488,6,0.100,0.000,2991,1913,2997,0,0,0,0,0,0
$STATE,17539,end apogee,CONTROL_FINISHED_OK
$STATE,17539,begin climb
$GC,17541,0.50,155.7,990.4,0.0,581,17703,0.62,2.75,151.05,1.437,4,0.062,0.054,3229,3477,2360,0,0,0,0,0,0
$GC,17754,0.50,155.7,964.6,14.4,586,17759,0.00,2.58,0.00,0.000,6,0.000,0.041,3241,1901,2353,0,0,0,0,0,0
$GC,18072,0.50,155.7,919.9,14.0,594,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1902,2345,0,0,0,0,0,0
$GC,18396,0.50,155.7,875.3,13.7,602,18401,0.00,2.45,0.00,0.000,4,0.000,0.054,3253,304,2342,0,0,0,0,0,0
$GC,18423,0.50,155.7,871.4,15.8,602,18428,0.00,2.42,0.00,0.000,6,0.000,0.045,3253,1917,2341,0,0,0,0,0,0
$GC,18760,0.50,155.7,823.1,14.4,611,18764,0.00,2.40,0.00,0.000,4,0.000,0.056,3250,3483,2343,0,0,0,0,0,0
$GC,18854,0.50,155.7,808.9,13.0,613,18859,0.10,2.42,0.00,0.000,6,0.155,0.043,3233,1893,2340,0,0,0,0,0,0
$GC,19166,0.50,155.7,770.7,12.0,621,19170,0.00,2.40,0.00,0.000,4,0.000,0.054,3244,313,2340,0,0,0,0,0,0
$GC,19183,0.50,155.7,768.6,12.3,621,19187,0.00,2.38,0.00,0.000,6,0.000,0.047,3245,1901,2340,0,0,0,0,0,0
$GC,19524,0.50,155.7,725.2,12.7,630,19528,0.00,2.45,0.00,0.000,4,0.000,0.058,3245,3494,2341,0,0,0,0,0,0
$GC,19583,0.50,155.7,716.7,12.7,631,19588,0.00,2.42,0.00,0.000,6,0.000,0.046,3257,1888,2339,0,0,0,0,0,0
$GC,19933,0.50,155.7,667.6,14.3,640,19934,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1889,2340,0,0,0,0,0,0
$GC,20257,0.50,155.7,622.6,13.9,648,20258,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1889,2339,0,0,0,0,0,0
$GC,20581,0.50,155.7,580.4,12.8,656,20586,0.00,2.47,0.00,0.000,4,0.000,0.058,3256,3487,2343,0,0,0,0,0,0
$GC,20665,0.50,155.7,568.5,14.1,658,20670,0.12,2.42,0.00,0.000,6,0.143,0.046,3229,1889,2338,0,0,0,0,0,0
$GC,20989,0.50,155.7,536.9,9.2,666,20993,0.00,2.40,0.00,0.000,4,0.000,0.054,3241,321,2338,0,0,0,0,0,0
$GC,21016,0.50,155.7,534.0,9.7,666,21020,0.00,2.38,0.00,0.000,6,0.000,0.046,3241,1910,2338,0,0,0,0,0,0
$GC,21354,0.50,155.7,497.4,11.4,675,21358,0.00,2.40,0.00,0.000,4,0.000,0.057,3241,3481,2338,0,0,0,0,0,0
$GC,21397,0.50,155.7,491.8,12.4,676,21401,0.00,2.40,0.00,0.000,6,0.000,0.044,3252,1888,2338,0,0,0,0,0,0
$GC,21721,0.50,155.7,451.5,12.6,684,21722,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1887,2338,0,0,0,0,0,0
$GC,22047,0.50,155.7,413.3,11.0,692,22051,0.00,2.47,0.00,0.000,4,0.000,0.055,3252,3490,2338,0,0,0,0,0,0
$GC,22095,0.50,155.7,407.6,11.6,693,22100,0.12,2.42,0.00,0.000,6,0.139,0.044,3225,1895,2338,0,0,0,0,0,0
$GC,22414,0.50,155.7,381.4,8.4,701,22415,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1895,2338,0,0,0,0,0,0
$GC,22739,0.50,155.7,351.6,9.4,709,22743,0.00,2.47,0.00,0.000,4,0.000,0.054,3225,3493,2339,0,0,0,0,0,0
$GC,22772,0.50,155.7,348.3,9.9,709,22777,0.00,2.45,0.00,0.000,6,0.000,0.044,3236,1894,2339,0,0,0,0,0,0
$GC,23102,0.50,155.7,318.7,8.5,718,23106,0.00,2.42,0.00,0.000,4,0.000,0.053,3248,321,2339,0,0,0,0,0,0
$GC,23140,0.50,155.7,315.4,8.6,719,23144,0.00,2.38,0.00,0.000,6,0.000,0.044,3248,1912,2340,0,0,0,0,0,0
$GC,23467,0.50,155.7,288.7,8.6,730,23471,0.00,2.42,0.00,0.000,4,0.000,0.054,3248,3486,2340,0,0,0,0,0,0
$GC,23560,0.50,155.7,279.0,11.4,734,23565,0.00,2.42,0.00,0.000,6,0.000,0.043,3260,1879,2340,0,0,0,0,0,0
$GC,23882,0.50,155.7,247.2,10.0,750,23887,0.00,2.40,0.00,0.000,4,0.000,0.053,3273,307,2340,0,0,0,0,0,0
$GC,23903,0.50,155.7,245.0,9.0,751,23908,0.08,2.40,0.00,0.000,6,0.099,0.044,3229,1897,2342,0,0,0,0,0,0
$GC,24230,0.53,175.2,224.4,5.5,767,24252,0.00,2.45,15.80,0.805,4,0.000,0.052,3228,3499,2280,0,0,0,0,0,0
$GC,24285,0.53,175.2,221.0,6.2,769,24290,0.00,2.42,0.00,0.000,6,0.000,0.041,3240,1901,2278,0,0,0,0,0,0
$GC,24600,0.53,175.2,201.0,6.5,784,24604,0.00,2.45,0.00,0.000,4,0.000,0.053,3239,3486,2278,0,0,0,0,0,0
$GC,24640,0.53,175.2,197.9,7.9,787,24644,0.00,2.40,0.00,0.000,6,0.000,0.043,3251,1891,2277,0,0,0,0,0,0
$GC,24901,0.53,175.2,175.8,8.7,811,24905,0.00,2.50,0.00,0.000,4,0.000,0.054,3251,3499,2280,0,0,0,0,0,0
$GC,24928,0.53,175.2,173.0,9.8,813,24932,0.00,2.42,0.00,0.000,6,0.000,0.043,3263,1891,2278,0,0,0,0,0,0
$GC,25191,0.53,175.2,147.9,9.1,837,25195,0.00,2.40,0.00,0.000,4,0.000,0.052,3276,318,2277,0,0,0,0,0,0
$GC,25234,0.53,175.2,143.5,10.6,840,25240,0.08,2.38,0.00,0.000,6,0.093,0.042,3230,1904,2277,0,0,0,0,0,0
$GC,25497,0.59,224.0,128.6,4.7,865,25548,0.00,2.55,41.75,0.774,4,0.000,0.054,3229,3493,2081,0,0,0,0,0,0
$GC,25583,0.60,238.0,124.3,5.6,873,25605,0.00,2.45,13.38,0.719,6,0.000,0.042,3240,1898,2023,0,0,0,0,0,0
$GC,25859,0.60,238.0,107.7,6.5,899,25863,0.00,2.47,0.00,0.000,4,0.000,0.052,3251,302,2017,0,0,0,0,0,0
$GC,25909,0.61,240.9,104.5,5.9,903,25913,0.00,2.40,0.00,0.000,6,0.000,0.041,3251,1914,2016,0,0,0,0,0,0
$GC,26172,0.63,259.3,87.8,5.5,927,26196,0.00,2.47,17.92,0.712,4,0.000,0.054,3251,3483,1939,0,0,0,0,0,0
$GC,26236,0.63,259.3,83.6,6.3,933,26240,0.00,2.42,0.00,0.000,6,0.000,0.040,3259,1890,1940,0,0,0,0,0,0
$GC,26498,0.66,288.0,69.7,5.2,957,26530,0.00,2.42,25.58,0.714,4,0.000,0.051,3270,321,1820,0,0,0,0,0,0
$GC,26564,0.66,288.0,65.5,7.0,963,26568,0.00,2.35,0.00,0.000,6,0.000,0.042,3270,1899,1816,0,0,0,0,0,0
$GC,26826,0.66,288.0,48.4,6.7,987,26830,0.00,2.45,0.00,0.000,4,0.000,0.054,3270,3491,1815,0,0,0,0,0,0
$GC,26869,0.66,288.0,45.0,7.3,990,26875,0.00,2.40,0.00,0.000,6,0.000,0.042,3282,1897,1815,0,0,0,0,0,0
$GC,27132,0.66,288.0,26.9,7.1,1015,27137,0.00,2.40,0.00,0.000,4,0.000,0.052,3293,313,1814,0,0,0,0,0,0
$GC,27183,0.66,288.0,23.0,7.4,1019,27187,0.00,2.35,0.00,0.000,6,0.000,0.043,3293,1911,1813,0,0,0,0,0,0
$GC,27379,0.66,288.0,6.6,8.5,1037,27383,0.00,2.42,0.00,0.000,4,0.000,0.054,3291,3499,1813,0,0,0,0,0,0
$STATE,27416,end climb,SURFACE_DEPTH_REACHED
$STATE,27417,begin surface coast
$FINISH,0.4,1.009257
$STATE,27451,end surface coast,CONTROL_FINISHED_OK
$STATE,27451,begin surface
$SM_CCo,27473,55.53,0.675,0,0,1364,400.32
$SM_GC,1.18,0.00,0.00,55.53,0.000,0.000,0.675,120,2081,1364,-9.22,-0.45,400.32
$IRIDIUM_FIX,2218.34,12658.72,090712,111100
$TT8_MAMPS,0.059059
$HUMID,1078678055
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,24.30
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8269168640
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51883474944
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.1,48.490
$10V_AH,9.9,41.610
$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,20.900,284.050,396.875,55.525,0.000,58.305,82.233,795.122,0.250,0.000,14.251,2110.313,22037.539,651.778,3403.821,519.182,33.382,2083.031,0.000,2482.461,0.000,0.541,0.000
$DEVICE_MAMPS,220.129,59.059,1487.980,674.960,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,713.092,0.000,0.000,0.000,0.000,0.000,0.000,28923.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.977,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,36689,1043
$CAP_FILE_SIZE,237368,0
$CFSIZE,260165632,198127616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150111,012430,2232.065,12701.886,36,0.8,41,-3.2