version: 66.07
glider: 500
mission: 5
dive: 286
start: 1 15 111 1 35 44
data:
$ID,500
$MISSION,5
$DIVE,286
$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,-126258.29
$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,38
$R_STBD_OVSHOOT,24
$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,285
$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
$GPS1,150111,012430,2232.065,12701.886,36,0.8,41,-3.2
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,7
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.3
$GPS2,150111,013450,2232.065,12701.877,13,0.9,13,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.206,0.066
$KALMAN_X,-635205.2,784.5,47.7,1023182.4,-6773.0
$KALMAN_Y,-205063.2,424.4,176.8,357052.7,-1497.0
$MHEAD_RNG_PITCHd_Wd,75.4,67361,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
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$GC,15868,-0.52,-155.7,911.9,-4.4,544,15869,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2101,3602,0,0,0,0,0,0
$GC,16193,-0.52,-155.7,925.6,-4.1,552,16197,0.00,2.47,0.00,0.000,4,0.000,0.058,2871,3679,3601,0,0,0,0,0,0
$GC,16249,-0.52,-155.7,928.1,-4.5,553,16253,0.10,2.35,0.00,0.000,6,0.128,0.037,2906,2090,3601,0,0,0,0,0,0
$GC,16596,-0.52,-155.7,940.6,-3.7,562,16600,0.00,2.47,0.00,0.000,4,0.000,0.057,2895,3683,3600,0,0,0,0,0,0
$GC,16702,-0.52,-155.7,944.2,-3.0,564,16707,0.00,2.35,0.00,0.000,6,0.000,0.038,2895,2100,3600,0,0,0,0,0,0
$GC,17044,-0.52,-155.7,956.4,-3.6,573,17049,0.00,2.50,0.00,0.000,4,0.000,0.058,2880,3679,3603,0,0,0,0,0,0
$GC,17129,-0.52,-155.7,959.7,-4.6,575,17133,0.00,2.38,0.00,0.000,6,0.000,0.038,2884,2092,3599,0,0,0,0,0,0
$GC,17453,-0.52,-155.7,972.5,-4.1,583,17458,0.00,2.47,0.00,0.000,4,0.000,0.058,2872,3680,3597,0,0,0,0,0,0
$GC,17611,-0.52,-155.7,978.9,-3.2,586,17616,0.10,2.35,0.00,0.000,6,0.130,0.038,2906,2098,3599,0,0,0,0,0,0
$GC,17948,-0.52,-155.7,989.2,-3.2,595,17952,0.00,2.42,0.00,0.000,4,0.000,0.050,2903,520,3596,0,0,0,0,0,0
$STATE,17967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17967,begin apogee
$GC,17974,-0.23,0.0,990.1,3.4,595,18111,0.25,0.00,134.80,1.507,6,0.094,0.000,2994,1907,2995,0,0,0,0,0,0
$STATE,18115,end apogee,CONTROL_FINISHED_OK
$STATE,18115,begin climb
$GC,18118,0.52,155.7,988.7,0.0,599,18280,0.65,2.78,152.07,1.454,4,0.065,0.056,3236,3471,2361,0,0,0,0,0,0
$GC,18415,0.52,155.7,950.9,16.4,606,18419,0.00,2.50,0.00,0.000,6,0.000,0.043,3247,1908,2350,0,0,0,0,0,0
$GC,18738,0.52,155.7,904.3,14.4,614,18739,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1908,2344,0,0,0,0,0,0
$GC,19064,0.52,155.7,856.0,15.0,622,19065,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1908,2343,0,0,0,0,0,0
$GC,19388,0.52,155.7,808.6,14.3,630,19392,0.00,2.45,0.00,0.000,4,0.000,0.054,3260,313,2341,0,0,0,0,0,0
$GC,19408,0.52,155.7,805.4,12.7,630,19413,0.00,2.42,0.00,0.000,6,0.000,0.048,3260,1895,2341,0,0,0,0,0,0
$GC,19751,0.52,155.7,755.5,14.4,639,19755,0.00,2.45,0.00,0.000,4,0.000,0.057,3260,3485,2340,0,0,0,0,0,0
$GC,19851,0.52,155.7,740.5,14.3,641,19856,0.12,2.42,0.00,0.000,6,0.145,0.044,3233,1897,2340,0,0,0,0,0,0
$GC,20198,0.52,155.7,700.9,11.4,650,20202,0.00,2.45,0.00,0.000,4,0.000,0.056,3244,307,2339,0,0,0,0,0,0
$GC,20237,0.52,155.7,696.5,11.8,651,20241,0.00,2.40,0.00,0.000,6,0.000,0.049,3245,1901,2339,0,0,0,0,0,0
$GC,20560,0.52,155.7,660.2,11.2,659,20564,0.00,2.47,0.00,0.000,4,0.000,0.057,3245,3485,2338,0,0,0,0,0,0
$GC,20643,0.52,155.7,649.9,11.4,661,20648,0.00,2.40,0.00,0.000,6,0.000,0.044,3256,1902,2335,0,0,0,0,0,0
$GC,20968,0.52,155.7,611.4,12.0,669,20972,0.00,2.45,0.00,0.000,4,0.000,0.058,3256,3485,2338,0,0,0,0,0,0
$GC,20994,0.52,155.7,607.8,12.8,669,20999,0.08,2.45,0.00,0.000,6,0.117,0.046,3239,1901,2339,0,0,0,0,0,0
$GC,21330,0.52,155.7,572.0,10.9,678,21331,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1905,2337,0,0,0,0,0,0
$GC,21656,0.52,155.7,534.5,11.3,686,21660,0.00,2.45,0.00,0.000,4,0.000,0.057,3249,317,2337,0,0,0,0,0,0
$GC,21728,0.52,155.7,526.3,10.1,687,21733,0.00,2.40,0.00,0.000,6,0.000,0.048,3249,1903,2337,0,0,0,0,0,0
$GC,22059,0.52,155.7,492.5,9.8,695,22063,0.00,2.42,0.00,0.000,4,0.000,0.056,3249,3481,2337,0,0,0,0,0,0
$GC,22153,0.52,155.7,482.0,12.1,697,22158,0.00,2.42,0.00,0.000,6,0.000,0.043,3261,1886,2337,0,0,0,0,0,0
$GC,22465,0.52,155.7,447.0,11.3,705,22469,0.00,2.42,0.00,0.000,4,0.000,0.054,3279,314,2335,0,0,0,0,0,0
$GC,22520,0.52,155.7,440.7,13.2,706,22525,0.12,2.40,0.00,0.000,6,0.127,0.048,3232,1903,2336,0,0,0,0,0,0
$GC,22867,0.52,155.7,407.7,9.9,715,22871,0.00,2.42,0.00,0.000,4,0.000,0.055,3231,3488,2336,0,0,0,0,0,0
$GC,22887,0.52,155.7,405.4,11.5,715,22892,0.00,2.45,0.00,0.000,6,0.000,0.044,3243,1905,2336,0,0,0,0,0,0
$GC,23231,0.52,155.7,370.7,9.6,724,23235,0.00,2.42,0.00,0.000,4,0.000,0.053,3255,314,2336,0,0,0,0,0,0
$GC,23274,0.52,155.7,366.2,10.3,725,23278,0.00,2.40,0.00,0.000,6,0.000,0.045,3255,1899,2336,0,0,0,0,0,0
$GC,23598,0.52,155.7,333.7,10.0,733,23602,0.00,2.45,0.00,0.000,4,0.000,0.054,3255,3493,2340,0,0,0,0,0,0
$GC,23687,0.52,155.7,324.2,12.4,735,23691,0.00,2.42,0.00,0.000,6,0.000,0.042,3268,1887,2337,0,0,0,0,0,0
$GC,24005,0.52,155.7,291.6,10.3,744,24006,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1882,2337,0,0,0,0,0,0
$GC,24314,0.52,155.7,260.8,9.8,759,24318,0.00,2.38,0.00,0.000,4,0.000,0.051,3280,321,2337,0,0,0,0,0,0
$GC,24380,0.52,155.7,254.1,9.3,762,24386,0.15,2.35,0.00,0.000,6,0.116,0.044,3228,1917,2339,0,0,0,0,0,0
$GC,24701,0.52,155.7,232.9,6.8,778,24705,0.00,2.38,0.00,0.000,4,0.000,0.051,3228,3479,2342,0,0,0,0,0,0
$GC,24763,0.52,155.7,227.8,7.2,781,24767,0.00,2.38,0.00,0.000,6,0.000,0.039,3239,1904,2340,0,0,0,0,0,0
$GC,25088,0.52,155.7,200.3,8.3,797,25092,0.00,2.42,0.00,0.000,4,0.000,0.052,3251,304,2340,0,0,0,0,0,0
$GC,25120,0.52,155.7,197.4,7.9,799,25126,0.00,2.40,0.00,0.000,6,0.000,0.045,3251,1898,2340,0,0,0,0,0,0
$GC,25383,0.52,155.7,173.5,8.2,824,25388,0.00,2.40,0.00,0.000,4,0.000,0.053,3251,3480,2342,0,0,0,0,0,0
$GC,25427,0.52,155.7,169.1,8.8,827,25433,0.00,2.40,0.00,0.000,6,0.000,0.040,3268,1895,2342,0,0,0,0,0,0
$GC,25690,0.52,155.7,147.5,6.9,852,25691,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1895,2342,0,0,0,0,0,0
$GC,25943,0.52,155.7,129.3,7.7,876,25947,0.00,2.42,0.00,0.000,4,0.000,0.053,3263,3483,2344,0,0,0,0,0,0
$GC,25987,0.52,155.7,125.9,6.8,879,25993,0.12,2.40,0.00,0.000,6,0.131,0.041,3232,1892,2345,0,0,0,0,0,0
$GC,26249,0.57,195.7,113.0,4.9,904,26290,0.00,2.50,32.80,0.756,4,0.000,0.054,3231,3470,2196,0,0,0,0,0,0
$GC,26318,0.59,215.0,109.5,5.5,910,26344,0.00,2.40,17.25,0.736,6,0.000,0.041,3241,1903,2117,0,0,0,0,0,0
$GC,26598,0.59,215.0,90.1,6.2,937,26603,0.00,2.45,0.00,0.000,4,0.000,0.051,3244,307,2112,0,0,0,0,0,0
$GC,26722,0.59,215.0,83.1,7.7,947,26727,0.00,2.35,0.00,0.000,6,0.000,0.042,3241,1901,2113,0,0,0,0,0,0
$GC,26983,0.59,215.0,63.5,8.5,972,26984,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1899,2110,0,0,0,0,0,0
$GC,27238,0.59,215.0,39.6,8.2,996,27242,0.00,2.42,0.00,0.000,4,0.000,0.051,3234,3494,2109,0,0,0,0,0,0
$GC,27434,0.62,236.0,25.8,5.4,1013,27459,0.10,2.40,18.52,0.660,6,0.098,0.040,3286,1883,2032,0,0,0,0,0,0
$GC,27656,0.62,242.8,8.8,5.8,1034,27668,0.00,2.40,6.65,0.537,4,0.000,0.050,3297,313,2006,0,0,0,0,0,0
$STATE,27711,end climb,SURFACE_DEPTH_REACHED
$STATE,27711,begin surface coast
$FINISH,1.2,1.023729
$STATE,27724,end surface coast,CONTROL_FINISHED_OK
$STATE,27724,begin surface
$SM_CCo,27748,77.45,0.694,0,0,1364,400.32
$SM_GC,1.06,0.00,0.00,77.45,0.000,0.000,0.694,128,2115,1364,-9.19,0.28,400.32
$IRIDIUM_FIX,2220.67,12701.99,090712,111143
$TT8_MAMPS,0.059059
$HUMID,1078672893
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,23.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8320385024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51832094720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.0,48.670
$10V_AH,9.9,41.730
$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,21.375,259.675,362.100,77.450,0.000,29.510,45.200,399.393,0.250,0.000,15.489,2102.685,22265.492,648.117,3013.005,405.953,33.376,2068.527,0.000,2517.095,0.000,0.541,0.000
$DEVICE_MAMPS,222.430,68.263,1507.155,694.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,711.202,0.000,0.000,0.000,0.000,0.000,0.000,28557.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.468,0.000,0.000
$MEM,354928
$DATA_FILE_SIZE,36714,1040
$CAP_FILE_SIZE,223502,0
$CFSIZE,260165632,198053888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150111,092102,2233.473,12702.519,40,1.8,40,-3.2