version: 66.07
glider: 500
mission: 5
dive: 67
start: 11 17 110 9 6 46
data:
$ID,500
$MISSION,5
$DIVE,67
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$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,366
$T_MISSION,630
$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,170
$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,450
$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,-122647.67
$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,3000
$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,2800
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2920
$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,66
$AR_SAMPLENUM,1
$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
$GPS1,171110,090007,2057.323,12448.702,28,1.3,28,-2.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.9
$GPS2,171110,090549,2057.302,12448.697,8,1.8,13,-2.8
$SPEED_LIMITS,0.142,0.256
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.058
$KALMAN_X,-16995.7,344.6,200.8,175255.7,-3991.6
$KALMAN_Y,-5810.3,710.0,303.9,-18107.3,-5360.6
$MHEAD_RNG_PITCHd_Wd,105.8,215240,-13.4,-8.197
$D_GRID,900
$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
$GC,27,-0.65,-165.5,0.0,0.0,0,139,0.00,0.00,-110.05,0.000,6,0.000,0.000,108,2783,3596,0,0,0,0,0,0
$GC,143,-0.65,-165.5,4.0,-7.8,22,159,10.12,0.00,0.00,0.000,6,0.232,0.000,2781,2783,3598,0,0,0,0,0,0
$GC,354,-0.65,-165.5,72.1,-30.1,48,358,0.00,2.38,0.00,0.000,4,0.000,0.058,2781,1215,3601,0,0,0,0,0,0
$GC,438,-0.65,-165.5,97.1,-29.4,55,442,0.00,2.45,0.00,0.000,6,0.000,0.069,2771,2787,3600,0,0,0,0,0,0
$GC,699,-0.65,-165.5,156.6,-20.8,79,703,0.00,2.38,0.00,0.000,4,0.000,0.059,2771,1210,3602,0,0,0,0,0,0
$GC,828,-0.65,-165.5,181.0,-18.9,90,833,0.12,2.45,0.00,0.000,6,0.193,0.071,2790,2807,3602,0,0,0,0,0,0
$GC,1083,-0.65,-165.5,223.7,-15.4,107,1088,0.00,2.35,0.00,0.000,4,0.000,0.051,2791,1211,3603,0,0,0,0,0,0
$GC,1340,-0.65,-165.5,262.4,-14.5,118,1347,0.00,2.42,0.00,0.000,6,0.000,0.057,2780,2815,3604,0,0,0,0,0,0
$GC,1655,-0.65,-165.5,305.8,-12.9,133,1659,0.00,1.55,0.00,0.000,4,0.000,0.060,2772,3842,3603,0,0,0,0,0,0
$GC,1912,-0.65,-165.5,339.0,-11.6,138,1917,0.00,1.52,0.00,0.000,6,0.000,0.037,2772,2796,3604,0,0,0,0,0,0
$GC,2249,-0.65,-165.5,380.1,-12.4,147,2252,0.00,1.60,0.00,0.000,4,0.000,0.058,2765,3849,3603,0,0,0,0,0,0
$GC,2506,-0.65,-165.5,415.4,-13.6,152,2510,0.00,1.55,0.00,0.000,6,0.000,0.038,2764,2790,3603,0,0,0,0,0,0
$GC,2843,-0.65,-165.5,448.2,-8.5,161,2846,0.00,1.60,0.00,0.000,4,0.000,0.058,2756,3850,3601,0,0,0,0,0,0
$GC,2903,-0.65,-165.5,454.3,-10.6,162,2908,0.08,1.52,0.00,0.000,6,0.147,0.038,2782,2803,3601,0,0,0,0,0,0
$GC,3215,-0.65,-165.5,485.3,-10.3,170,3219,0.00,2.33,0.00,0.000,4,0.000,0.048,2782,1207,3599,0,0,0,0,0,0
$GC,3471,-0.65,-165.5,509.6,-9.3,175,3478,0.00,2.40,0.00,0.000,6,0.000,0.053,2772,2801,3597,0,0,0,0,0,0
$GC,3803,-0.65,-165.5,539.8,-9.2,184,3807,0.00,2.30,0.00,0.000,4,0.000,0.045,2772,1207,3594,0,0,0,0,0,0
$GC,4060,-0.65,-165.5,567.4,-11.1,189,4067,0.10,2.40,0.00,0.000,6,0.196,0.052,2785,2803,3592,0,0,0,0,0,0
$GC,4391,-0.65,-165.5,596.9,-8.5,198,4395,0.00,2.33,0.00,0.000,4,0.000,0.044,2786,1199,3589,0,0,0,0,0,0
$GC,4636,-0.65,-165.5,616.6,-7.4,203,4641,0.00,2.40,0.00,0.000,6,0.000,0.052,2774,2821,3587,0,0,0,0,0,0
$GC,4979,-0.65,-165.5,645.2,-8.6,212,4983,0.00,2.35,0.00,0.000,4,0.000,0.044,2774,1201,3585,0,0,0,0,0,0
$GC,5235,-0.65,-165.5,667.7,-8.2,217,5242,0.00,2.40,0.00,0.000,6,0.000,0.051,2763,2797,3582,0,0,0,0,0,0
$GC,5567,-0.65,-165.5,695.2,-7.8,226,5570,0.00,1.58,0.00,0.000,4,0.000,0.058,2755,3842,3581,0,0,0,0,0,0
$GC,5824,-0.65,-165.5,716.5,-8.6,231,5829,0.10,1.52,0.00,0.000,6,0.147,0.035,2789,2785,3577,0,0,0,0,0,0
$GC,6161,-0.65,-165.5,740.0,-6.9,240,6165,0.00,2.28,0.00,0.000,4,0.000,0.046,2788,1226,3577,0,0,0,0,0,0
$GC,6340,-0.65,-165.5,753.3,-7.4,244,6344,0.00,2.38,0.00,0.000,6,0.000,0.051,2777,2803,3575,0,0,0,0,0,0
$GC,6665,-0.65,-165.5,777.7,-7.6,252,6669,0.00,2.30,0.00,0.000,4,0.000,0.044,2777,1229,3572,0,0,0,0,0,0
$GC,6742,-0.65,-165.5,784.0,-7.9,253,6746,0.00,2.38,0.00,0.000,6,0.000,0.051,2766,2829,3569,0,0,0,0,0,0
$GC,7079,-0.65,-165.5,810.8,-7.7,262,7083,0.00,2.33,0.00,0.000,4,0.000,0.044,2766,1219,3573,0,0,0,0,0,0
$GC,7285,-0.65,-165.5,826.1,-6.8,266,7290,0.12,2.38,0.00,0.000,6,0.191,0.051,2786,2794,3569,0,0,0,0,0,0
$GC,7621,-0.65,-165.5,846.2,-5.8,275,7625,0.00,2.28,0.00,0.000,4,0.000,0.046,2787,1225,3567,0,0,0,0,0,0
$GC,7878,-0.65,-165.5,861.8,-6.2,280,7884,0.00,2.38,0.00,0.000,6,0.000,0.052,2777,2797,3565,0,0,0,0,0,0
$GC,8209,-0.65,-165.5,882.7,-6.4,289,8213,0.00,2.30,0.00,0.000,4,0.000,0.046,2773,1211,3564,0,0,0,0,0,0
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8463,-0.23,0.0,900.5,7.5,294,8598,0.43,0.00,131.75,1.316,6,0.140,0.000,2915,2008,2921,0,0,0,0,0,0
$STATE,8601,end apogee,CONTROL_FINISHED_OK
$STATE,8601,begin climb
$GC,8603,0.65,165.5,900.3,0.0,298,8757,0.85,2.58,144.93,1.279,4,0.081,0.057,3212,3585,2244,0,0,0,0,0,0
$GC,8778,0.66,175.2,886.7,7.9,302,8794,0.00,2.50,9.57,1.071,6,0.000,0.045,3226,2024,2205,0,0,0,0,0,0
$GC,9126,0.66,175.2,846.7,11.8,311,9130,0.00,2.45,0.00,0.000,4,0.000,0.056,3235,411,2193,0,0,0,0,0,0
$GC,9236,0.66,175.2,833.3,12.1,313,9241,0.00,2.42,0.00,0.000,6,0.000,0.047,3235,1996,2192,0,0,0,0,0,0
$GC,9579,0.66,175.2,789.2,13.0,322,9583,0.00,2.45,0.00,0.000,4,0.000,0.060,3236,3595,2190,0,0,0,0,0,0
$GC,9611,0.66,175.2,784.6,14.7,322,9618,0.08,2.42,0.00,0.000,6,0.126,0.047,3216,1999,2189,0,0,0,0,0,0
$GC,9942,0.66,175.2,745.5,11.6,331,9946,0.00,2.38,0.00,0.000,4,0.000,0.058,3227,408,2188,0,0,0,0,0,0
$GC,10026,0.66,175.2,736.1,11.3,333,10030,0.00,2.38,0.00,0.000,6,0.000,0.049,3227,2012,2187,0,0,0,0,0,0
$GC,10348,0.66,175.2,698.2,11.8,341,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2012,2186,0,0,0,0,0,0
$GC,10673,0.66,175.2,662.1,11.0,349,10677,0.00,2.42,0.00,0.000,4,0.000,0.055,3240,406,2185,0,0,0,0,0,0
$GC,10705,0.66,175.2,658.6,11.2,349,10711,0.00,2.38,0.00,0.000,6,0.000,0.048,3240,2001,2185,0,0,0,0,0,0
$GC,11036,0.66,175.2,619.3,12.0,358,11040,0.00,2.38,0.00,0.000,4,0.000,0.058,3252,411,2184,0,0,0,0,0,0
$GC,11074,0.66,175.2,614.8,11.5,359,11079,0.12,2.38,0.00,0.000,6,0.141,0.050,3211,2007,2184,0,0,0,0,0,0
$GC,11397,0.66,175.2,583.4,9.4,367,11402,0.00,2.40,0.00,0.000,4,0.000,0.059,3211,3590,2184,0,0,0,0,0,0
$GC,11436,0.66,175.2,579.2,10.2,368,11440,0.00,2.40,0.00,0.000,6,0.000,0.047,3222,1989,2183,0,0,0,0,0,0
$GC,11759,0.66,175.2,545.0,10.8,376,11763,0.00,2.35,0.00,0.000,4,0.000,0.058,3234,408,2180,0,0,0,0,0,0
$GC,11854,0.66,175.2,534.7,10.7,378,11858,0.00,2.35,0.00,0.000,6,0.000,0.048,3235,2002,2183,0,0,0,0,0,0
$GC,12166,0.66,175.2,499.6,11.1,386,12170,0.00,2.40,0.00,0.000,4,0.000,0.060,3235,3589,2183,0,0,0,0,0,0
$GC,12215,0.66,175.2,493.7,11.0,387,12220,0.08,2.40,0.00,0.000,6,0.114,0.047,3214,2000,2182,0,0,0,0,0,0
$GC,12534,0.66,175.2,466.5,8.5,395,12538,0.00,2.38,0.00,0.000,4,0.000,0.056,3225,407,2182,0,0,0,0,0,0
$GC,12606,0.66,175.2,459.8,9.0,396,12611,0.00,2.38,0.00,0.000,6,0.000,0.047,3225,1991,2181,0,0,0,0,0,0
$GC,12949,0.66,175.2,425.5,10.0,405,12953,0.00,2.40,0.00,0.000,4,0.000,0.058,3225,3596,2181,0,0,0,0,0,0
$GC,13014,0.66,175.2,418.0,10.9,406,13019,0.00,2.40,0.00,0.000,6,0.000,0.045,3237,1996,2180,0,0,0,0,0,0
$GC,13357,0.66,175.2,381.4,10.5,415,13361,0.00,2.38,0.00,0.000,4,0.000,0.054,3250,404,2180,0,0,0,0,0,0
$GC,13462,0.66,175.2,370.6,9.9,417,13467,0.12,2.35,0.00,0.000,6,0.137,0.046,3209,2009,2180,0,0,0,0,0,0
$GC,13774,0.70,206.3,347.5,7.2,425,13799,0.00,0.00,22.73,0.892,6,0.000,0.000,3209,2007,2081,0,0,0,0,0,0
$GC,14099,0.78,269.2,327.3,6.1,433,14156,0.12,0.00,53.00,0.872,6,0.086,0.000,3287,2009,1823,0,0,0,0,0,0
$GC,14464,0.78,269.2,277.4,13.7,445,14469,0.12,2.42,0.00,0.000,4,0.131,0.054,3259,406,1813,0,0,0,0,0,0
$GC,14491,0.78,269.2,274.3,10.9,446,14496,0.00,2.40,0.00,0.000,6,0.000,0.045,3259,1993,1812,0,0,0,0,0,0
$GC,14813,0.78,269.2,242.3,10.1,462,14817,0.00,2.35,0.00,0.000,4,0.000,0.053,3270,407,1812,0,0,0,0,0,0
$GC,14884,0.78,269.2,235.2,9.6,465,14889,0.00,2.40,0.00,0.000,6,0.000,0.044,3271,2008,1810,0,0,0,0,0,0
$GC,15207,0.78,269.2,198.3,11.6,481,15211,0.00,2.38,0.00,0.000,4,0.000,0.053,3283,410,1810,0,0,0,0,0,0
$GC,15262,0.78,269.2,192.1,10.8,485,15269,0.08,2.38,0.00,0.000,6,0.107,0.044,3250,2005,1811,0,0,0,0,0,0
$GC,15525,0.82,304.6,173.1,7.0,510,15558,0.00,2.42,27.98,0.732,4,0.000,0.054,3260,408,1678,0,0,0,0,0,0
$GC,15574,0.88,354.1,169.6,6.5,514,15621,0.00,2.40,40.83,0.723,6,0.000,0.044,3259,1997,1476,0,0,0,0,0,0
$GC,15876,0.97,428.5,151.8,5.7,543,15938,0.15,0.00,59.53,0.709,6,0.077,0.000,3356,1997,1176,0,0,0,0,0,0
$GC,16191,0.97,428.5,101.8,16.3,573,16196,0.15,2.42,0.00,0.000,4,0.125,0.054,3319,414,1166,0,0,0,0,0,0
$GC,16280,1.04,483.6,93.8,6.3,580,16330,0.00,2.38,43.15,0.660,6,0.000,0.042,3319,2013,946,0,0,0,0,0,0
$GC,16592,1.04,483.6,58.2,9.4,610,16596,0.00,2.40,0.00,0.000,4,0.000,0.051,3324,410,942,0,0,0,0,0,0
$GC,16755,1.04,483.6,41.1,9.7,624,16759,0.00,2.33,0.00,0.000,6,0.000,0.042,3318,1998,941,0,0,0,0,0,0
$GC,17022,1.04,483.6,13.7,13.8,660,17027,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1998,940,0,0,0,0,0,0
$STATE,17098,end climb,SURFACE_DEPTH_REACHED
$STATE,17098,begin surface coast
$FINISH,0.5,1.011088
$STATE,17122,end surface coast,CONTROL_FINISHED_OK
$STATE,17122,begin surface
$SM_CCo,17200,0.00,0.000,0,0,943,485.44
$SM_GC,1.13,7.82,0.00,0.00,0.031,0.000,0.000,104,2806,943,-8.85,0.17,485.44
$IRIDIUM_FIX,2047.91,12444.77,110512,222209
$TT8_MAMPS,0.058292
$HUMID,1078687087
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8327168000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58975977472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,10.264
$10V_AH,10.3,7.452
$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,20.775,155.525,533.450,0.000,0.000,30.136,34.890,155.409,0.000,0.000,15.440,1423.774,12891.975,657.228,2365.398,204.699,33.357,1800.647,0.000,2075.359,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,70.564,1316.172,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,457.579,0.000,0.000,0.000,0.000,0.000,0.000,17761.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.439,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,23391,678
$CAP_FILE_SIZE,152669,0
$CFSIZE,260165632,219144192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,135504,2055.900,12450.480,44,1.2,47,-2.8