version: 66.07
glider: 500
mission: 5
dive: 347
start: 2 4 111 14 28 1
data:
$ID,500
$MISSION,5
$DIVE,347
$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,-127411.54
$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,3081
$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,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,56
$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,346
$AR_SAMPLENUM,0
$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
$GPS1,040211,141707,2214.375,12814.375,40,1.5,40,-3.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.3
$GPS2,040211,142707,2214.420,12814.351,8,1.5,13,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.122,-0.184
$KALMAN_X,-776718.2,-94.4,685.3,1290121.0,-4451.5
$KALMAN_Y,-104929.5,-635.1,-371.5,225874.9,6504.4
$MHEAD_RNG_PITCHd_Wd,149.7,224394,-9.4,-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,15471,-0.50,-155.7,876.9,-4.5,558,15476,0.12,2.35,0.00,0.000,6,0.125,0.043,2921,2129,3595,0,0,0,0,0,0
$GC,15804,-0.50,-155.7,889.4,-3.7,566,15808,0.00,2.45,0.00,0.000,4,0.000,0.053,2910,3721,3596,0,0,0,0,0,0
$GC,15999,-0.50,-155.7,896.1,-3.3,570,16004,0.00,2.40,0.00,0.000,6,0.000,0.038,2911,2113,3596,0,0,0,0,0,0
$GC,16343,-0.50,-155.7,907.3,-3.3,579,16347,0.00,2.47,0.00,0.000,4,0.000,0.054,2900,3726,3592,0,0,0,0,0,0
$GC,16403,-0.50,-155.7,909.5,-3.9,580,16407,0.00,2.35,0.00,0.000,6,0.000,0.036,2900,2132,3595,0,0,0,0,0,0
$GC,16746,-0.50,-155.7,921.1,-3.4,589,16751,0.00,2.45,0.00,0.000,4,0.000,0.054,2888,3726,3594,0,0,0,0,0,0
$GC,16791,-0.50,-155.7,922.7,-3.4,590,16795,0.00,2.38,0.00,0.000,6,0.000,0.038,2888,2127,3593,0,0,0,0,0,0
$GC,17109,-0.50,-155.7,933.2,-3.3,598,17114,0.10,2.47,0.00,0.000,4,0.137,0.055,2913,3716,3595,0,0,0,0,0,0
$GC,17199,-0.50,-155.7,935.8,-3.0,600,17203,0.00,2.40,0.00,0.000,6,0.000,0.039,2913,2122,3592,0,0,0,0,0,0
$GC,17516,-0.50,-155.7,946.1,-3.4,608,17521,0.00,2.47,0.00,0.000,4,0.000,0.055,2902,3724,3594,0,0,0,0,0,0
$GC,17590,-0.50,-155.7,948.8,-3.1,609,17594,0.00,2.40,0.00,0.000,6,0.000,0.038,2902,2124,3593,0,0,0,0,0,0
$GC,17921,-0.50,-155.7,961.6,-4.1,617,17925,0.00,2.50,0.00,0.000,4,0.000,0.055,2890,3725,3593,0,0,0,0,0,0
$GC,17987,-0.50,-155.7,964.4,-4.8,618,17991,0.00,2.42,0.00,0.000,6,0.000,0.038,2890,2114,3593,0,0,0,0,0,0
$GC,18324,-0.50,-155.7,979.8,-4.8,627,18328,0.00,2.47,0.00,0.000,4,0.000,0.056,2878,3714,3592,0,0,0,0,0,0
$GC,18390,-0.50,-155.7,983.1,-4.8,628,18395,0.12,2.38,0.00,0.000,6,0.115,0.039,2929,2130,3592,0,0,0,0,0,0
$STATE,18562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18562,begin apogee
$GC,18568,-0.23,0.0,990.8,4.5,633,18707,0.22,0.00,136.30,1.554,6,0.083,0.000,3010,1908,2997,0,0,0,0,0,0
$STATE,18711,end apogee,CONTROL_FINISHED_OK
$STATE,18711,begin climb
$GC,18713,0.50,155.7,992.6,0.0,636,18878,0.62,2.78,155.12,1.507,4,0.056,0.051,3261,344,2361,0,0,0,0,0,0
$GC,19068,0.50,155.7,948.3,14.3,644,19073,0.00,2.45,0.00,0.000,6,0.000,0.043,3261,1923,2349,0,0,0,0,0,0
$GC,19382,0.50,155.7,900.8,15.1,652,19387,0.00,2.47,0.00,0.000,4,0.000,0.056,3261,3519,2344,0,0,0,0,0,0
$GC,19471,0.50,155.7,886.2,15.6,654,19475,0.00,2.45,0.00,0.000,6,0.000,0.044,3274,1922,2345,0,0,0,0,0,0
$GC,19796,0.50,155.7,837.7,14.7,662,19801,0.00,2.45,0.00,0.000,4,0.000,0.054,3286,333,2341,0,0,0,0,0,0
$GC,19874,0.50,155.7,826.5,15.3,663,19880,0.15,2.40,0.00,0.000,6,0.133,0.046,3236,1926,2342,0,0,0,0,0,0
$GC,20205,0.50,155.7,790.1,10.7,672,20209,0.00,2.40,0.00,0.000,4,0.000,0.054,3239,3510,2341,0,0,0,0,0,0
$GC,20277,0.50,155.7,781.4,12.3,673,20282,0.00,2.42,0.00,0.000,6,0.000,0.044,3250,1911,2340,0,0,0,0,0,0
$GC,20608,0.50,155.7,742.1,11.9,681,20612,0.00,2.40,0.00,0.000,4,0.000,0.054,3262,334,2340,0,0,0,0,0,0
$GC,20634,0.50,155.7,738.8,11.5,681,20638,0.00,2.38,0.00,0.000,6,0.000,0.045,3262,1921,2340,0,0,0,0,0,0
$GC,20972,0.50,155.7,698.5,11.8,690,20976,0.00,2.45,0.00,0.000,4,0.000,0.056,3262,3522,2340,0,0,0,0,0,0
$GC,21037,0.50,155.7,690.0,12.3,691,21042,0.00,2.40,0.00,0.000,6,0.000,0.042,3274,1925,2339,0,0,0,0,0,0
$GC,21380,0.50,155.7,645.8,13.3,700,21384,0.00,2.42,0.00,0.000,4,0.000,0.053,3289,334,2339,0,0,0,0,0,0
$GC,21435,0.50,155.7,638.2,12.7,701,21440,0.15,2.40,0.00,0.000,6,0.133,0.045,3239,1939,2339,0,0,0,0,0,0
$GC,21782,0.50,155.7,599.1,11.4,710,21787,0.00,2.40,0.00,0.000,4,0.000,0.054,3239,3501,2339,0,0,0,0,0,0
$GC,21843,0.50,155.7,591.3,11.9,711,21847,0.00,2.40,0.00,0.000,6,0.000,0.041,3249,1905,2338,0,0,0,0,0,0
$GC,22192,0.50,155.7,547.2,11.9,720,22196,0.00,2.42,0.00,0.000,4,0.000,0.051,3262,332,2338,0,0,0,0,0,0
$GC,22258,0.50,155.7,540.4,10.2,721,22262,0.00,2.40,0.00,0.000,6,0.000,0.044,3262,1922,2338,0,0,0,0,0,0
$GC,22601,0.50,155.7,507.4,9.6,730,22605,0.00,2.42,0.00,0.000,4,0.000,0.052,3262,3517,2338,0,0,0,0,0,0
$GC,22742,0.50,155.7,492.1,11.1,733,22746,0.00,2.42,0.00,0.000,6,0.000,0.042,3274,1909,2336,0,0,0,0,0,0
$GC,23053,0.50,155.7,454.2,12.6,741,23057,0.00,2.40,0.00,0.000,4,0.000,0.051,3286,336,2338,0,0,0,0,0,0
$GC,23093,0.50,155.7,449.0,12.3,741,23099,0.15,2.38,0.00,0.000,6,0.128,0.043,3238,1923,2338,0,0,0,0,0,0
$GC,23423,0.50,155.7,417.2,9.3,750,23427,0.00,2.42,0.00,0.000,4,0.000,0.051,3238,3515,2338,0,0,0,0,0,0
$GC,23472,0.50,155.7,412.1,10.1,751,23476,0.00,2.40,0.00,0.000,6,0.000,0.041,3249,1923,2338,0,0,0,0,0,0
$GC,23792,0.50,155.7,377.8,11.3,759,23795,0.00,2.42,0.00,0.000,4,0.000,0.051,3262,336,2338,0,0,0,0,0,0
$GC,23847,0.50,155.7,371.3,13.0,760,23851,0.00,2.38,0.00,0.000,6,0.000,0.042,3261,1932,2339,0,0,0,0,0,0
$GC,24165,0.50,155.7,336.8,10.9,768,24169,0.00,2.40,0.00,0.000,4,0.000,0.051,3261,3509,2339,0,0,0,0,0,0
$GC,24237,0.50,155.7,328.4,13.1,769,24242,0.00,2.40,0.00,0.000,6,0.000,0.041,3274,1915,2340,0,0,0,0,0,0
$GC,24548,0.50,155.7,296.3,9.7,777,24552,0.00,2.40,0.00,0.000,4,0.000,0.051,3285,344,2340,0,0,0,0,0,0
$GC,24574,0.50,155.7,293.7,7.7,778,24579,0.15,2.35,0.00,0.000,6,0.120,0.041,3235,1928,2340,0,0,0,0,0,0
$GC,24896,0.50,155.7,269.5,7.3,794,24900,0.00,2.40,0.00,0.000,4,0.000,0.051,3239,3511,2338,0,0,0,0,0,0
$GC,24945,0.50,155.7,265.3,7.3,796,24949,0.00,2.40,0.00,0.000,6,0.000,0.041,3245,1918,2342,0,0,0,0,0,0
$GC,25267,0.50,155.7,241.4,7.2,812,25271,0.00,2.42,0.00,0.000,4,0.000,0.051,3259,323,2343,0,0,0,0,0,0
$GC,25310,0.50,155.7,237.9,7.7,814,25314,0.00,2.38,0.00,0.000,6,0.000,0.039,3258,1940,2340,0,0,0,0,0,0
$GC,25637,0.50,155.7,207.6,9.0,830,25641,0.00,2.35,0.00,0.000,4,0.000,0.050,3258,3499,2344,0,0,0,0,0,0
$GC,25709,0.50,155.7,200.6,10.3,833,25714,0.00,2.38,0.00,0.000,6,0.000,0.038,3270,1910,2345,0,0,0,0,0,0
$GC,26039,0.50,155.7,176.6,6.6,864,26043,0.00,2.42,0.00,0.000,4,0.000,0.049,3283,333,2346,0,0,0,0,0,0
$GC,26117,0.50,155.7,170.1,7.6,870,26123,0.12,2.33,0.00,0.000,6,0.120,0.040,3239,1919,2346,0,0,0,0,0,0
$GC,26379,0.50,155.7,151.0,6.7,895,26383,0.00,2.40,0.00,0.000,4,0.000,0.048,3238,3496,2347,0,0,0,0,0,0
$GC,26475,0.50,155.7,144.0,7.1,903,26479,0.00,2.35,0.00,0.000,6,0.000,0.036,3248,1918,2346,0,0,0,0,0,0
$GC,26737,0.61,241.0,132.1,3.8,927,26818,0.00,2.55,71.55,0.845,4,0.000,0.049,3258,334,2011,0,0,0,0,0,0
$GC,26847,0.61,241.0,126.4,6.0,937,26854,0.00,2.40,0.00,0.000,6,0.000,0.038,3258,1926,2008,0,0,0,0,0,0
$GC,27111,0.61,241.0,105.3,7.9,962,27115,0.00,2.42,0.00,0.000,4,0.000,0.049,3255,3517,2004,0,0,0,0,0,0
$GC,27233,0.61,241.0,95.4,9.8,972,27239,0.00,2.42,0.00,0.000,6,0.000,0.036,3258,1905,2003,0,0,0,0,0,0
$GC,27496,0.61,241.0,72.9,9.0,997,27500,0.00,2.38,0.00,0.000,4,0.000,0.046,3258,338,2003,0,0,0,0,0,0
$GC,27710,0.61,241.0,52.4,8.3,1016,27714,0.00,2.30,0.00,0.000,6,0.000,0.037,3251,1927,2002,0,0,0,0,0,0
$GC,27972,0.61,241.0,31.3,8.3,1040,27977,0.00,2.42,0.00,0.000,4,0.000,0.045,3255,330,2002,0,0,0,0,0,0
$GC,28114,0.61,241.0,19.8,8.8,1052,28118,0.00,2.30,0.00,0.000,6,0.000,0.038,3251,1928,2002,0,0,0,0,0,0
$STATE,28298,end climb,SURFACE_DEPTH_REACHED
$STATE,28298,begin surface coast
$FINISH,0.4,1.002239
$STATE,28334,end surface coast,CONTROL_FINISHED_OK
$STATE,28334,begin surface
$SM_CCo,28353,77.50,0.746,0,0,1364,400.08
$SM_GC,1.09,0.00,0.00,77.50,0.000,0.000,0.746,106,2152,1364,-9.30,0.62,400.08
$IRIDIUM_FIX,2206.70,12817.41,300712,000040
$TT8_MAMPS,0.059826
$HUMID,1078683216
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,24.10
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8318648320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51340148736
$AR_DDRIVE_SIZE,59996930048
$24V_AH,21.7,59.939
$10V_AH,9.8,50.858
$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,21.100,292.625,362.975,77.500,0.000,29.069,33.989,343.890,0.250,0.000,15.169,2231.540,22416.438,652.687,3260.770,457.588,33.381,2207.133,0.000,2779.317,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,59.059,1553.942,745.524,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,733.460,0.000,0.000,0.000,0.000,0.000,0.000,29164.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.601,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,36679,1072
$CAP_FILE_SIZE,241186,0
$CFSIZE,260165632,192049152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040211,222324,2213.476,12814.729,22,0.9,40,-3.1