version: 66.07
glider: 500
mission: 5
dive: 181
start: 12 13 110 1 2 51
data:
$ID,500
$MISSION,5
$DIVE,181
$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,366
$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,-124559.26
$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,3020
$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,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$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,180
$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
$GPS1,131210,005301,2025.925,12650.492,35,1.3,35,-2.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.8
$GPS2,131210,010156,2025.940,12650.437,12,1.2,12,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.141,-0.068
$KALMAN_X,-241756.8,1180.7,302.5,609328.6,-2151.4
$KALMAN_Y,132843.9,32.8,-762.7,-213078.1,4258.8
$MHEAD_RNG_PITCHd_Wd,246.7,4887,-27.1,-9.016
$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
$GC,27,-0.97,-54.0,0.0,0.0,0,115,0.00,0.00,-84.95,0.000,6,0.000,0.000,105,2295,3136,0,0,0,0,0,0
$GC,118,-1.04,-112.0,2.1,-2.5,17,140,9.75,2.45,-6.32,0.000,4,0.220,0.058,2679,679,3374,0,0,0,0,0,0
$GC,392,-1.04,-112.0,77.8,-28.9,52,398,0.00,2.40,0.00,0.000,6,0.000,0.051,2669,2250,3375,0,0,0,0,0,0
$GC,654,-1.04,-112.0,154.3,-27.2,77,658,0.00,2.33,0.00,0.000,4,0.000,0.048,2666,675,3377,0,0,0,0,0,0
$GC,910,-1.04,-112.0,202.4,-18.5,99,917,0.00,2.42,0.00,0.000,6,0.000,0.055,2662,2263,3378,0,0,0,0,0,0
$GC,1227,-1.04,-112.0,248.0,-15.2,115,1231,0.00,2.38,0.00,0.000,4,0.000,0.051,2644,3862,3379,0,0,0,0,0,0
$GC,1288,-1.04,-112.0,257.0,-13.5,118,1293,0.12,2.35,0.00,0.000,6,0.179,0.036,2681,2254,3380,0,0,0,0,0,0
$GC,1615,-1.04,-114.8,289.0,-8.7,134,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2255,3381,0,0,0,0,0,0
$GC,1940,-1.04,-114.8,322.0,-9.9,145,1944,0.00,2.33,0.00,0.000,4,0.000,0.051,2677,679,3379,0,0,0,0,0,0
$GC,2196,-1.04,-114.8,349.1,-9.7,150,2203,0.00,2.38,0.00,0.000,6,0.000,0.048,2667,2285,3381,0,0,0,0,0,0
$GC,2528,-1.05,-123.2,378.3,-8.1,159,2532,0.00,2.38,0.00,0.000,4,0.000,0.046,2667,678,3380,0,0,0,0,0,0
$GC,2784,-1.06,-129.6,401.8,-8.3,164,2790,0.00,2.35,0.00,0.000,6,0.000,0.045,2655,2271,3379,0,0,0,0,0,0
$GC,3116,-1.07,-137.0,428.7,-8.2,173,3120,0.00,2.33,0.00,0.000,4,0.000,0.049,2643,3843,3379,0,0,0,0,0,0
$GC,3373,-1.09,-148.4,448.7,-7.7,178,3379,0.00,2.33,0.00,0.000,6,0.000,0.034,2642,2252,3376,0,0,0,0,0,0
$GC,3704,-1.09,-155.7,471.4,-7.1,187,3708,0.00,2.28,0.00,0.000,4,0.000,0.046,2643,688,3375,0,0,0,0,0,0
$GC,3961,-1.09,-155.7,491.9,-7.7,192,3968,0.12,2.33,0.00,0.000,6,0.196,0.044,2662,2286,3374,0,0,0,0,0,0
$GC,4292,-1.09,-155.7,511.7,-6.1,201,4296,0.00,2.33,0.00,0.000,4,0.000,0.042,2667,691,3372,0,0,0,0,0,0
$GC,4504,-1.09,-155.7,522.3,-5.9,205,4509,0.00,2.33,0.00,0.000,6,0.000,0.043,2651,2267,3371,0,0,0,0,0,0
$GC,4841,-1.09,-155.7,542.3,-6.1,214,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2266,3369,0,0,0,0,0,0
$GC,5167,-1.09,-155.7,566.1,-7.8,222,5171,0.00,2.38,0.00,0.000,4,0.000,0.048,2639,3858,3367,0,0,0,0,0,0
$GC,5424,-1.09,-155.7,583.6,-6.5,227,5430,0.00,2.30,0.00,0.000,6,0.000,0.033,2639,2265,3366,0,0,0,0,0,0
$GC,5755,-1.09,-155.7,595.9,-2.9,236,5760,0.10,2.40,0.00,0.000,4,0.189,0.049,2652,3845,3364,0,0,0,0,0,0
$GC,5974,-1.09,-155.7,604.4,-3.5,241,5978,0.00,2.28,0.00,0.000,6,0.000,0.033,2653,2270,3362,0,0,0,0,0,0
$GC,6298,-1.09,-155.7,616.6,-3.7,249,6302,0.00,2.28,0.00,0.000,4,0.000,0.041,2652,693,3360,0,0,0,0,0,0
$GC,6439,-1.09,-155.7,622.0,-4.2,252,6443,0.00,2.30,0.00,0.000,6,0.000,0.042,2641,2282,3359,0,0,0,0,0,0
$GC,6751,-1.09,-155.7,634.3,-3.6,260,6755,0.00,2.33,0.00,0.000,4,0.000,0.049,2628,3839,3358,0,0,0,0,0,0
$GC,7009,-1.09,-155.7,642.3,-2.4,265,7015,0.12,2.28,0.00,0.000,6,0.176,0.032,2661,2253,3357,0,0,0,0,0,0
$GC,7339,-1.09,-155.7,648.7,-2.0,274,7343,0.00,2.38,0.00,0.000,4,0.000,0.050,2650,3841,3353,0,0,0,0,0,0
$GC,7596,-1.09,-155.7,657.1,-4.2,279,7602,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2279,3354,0,0,0,0,0,0
$GC,7927,-1.09,-155.7,669.6,-3.6,288,7931,0.00,2.35,0.00,0.000,4,0.000,0.050,2643,3835,3353,0,0,0,0,0,0
$GC,7959,-1.09,-155.7,670.7,-3.4,288,7963,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2257,3352,0,0,0,0,0,0
$GC,8297,-1.09,-155.7,679.9,-2.4,297,8301,0.00,2.40,0.00,0.000,4,0.000,0.051,2626,3838,3355,0,0,0,0,0,0
$GC,8351,-1.09,-155.7,681.6,-3.3,298,8356,0.15,2.30,0.00,0.000,6,0.175,0.035,2666,2273,3350,0,0,0,0,0,0
$GC,8665,-1.09,-155.7,691.9,-3.6,306,8669,0.00,2.35,0.00,0.000,4,0.000,0.049,2655,3842,3349,0,0,0,0,0,0
$GC,8921,-1.09,-155.7,702.0,-4.1,311,8927,0.00,2.30,0.00,0.000,6,0.000,0.032,2652,2269,3345,0,0,0,0,0,0
$GC,9254,-1.09,-155.7,713.8,-3.6,320,9258,0.00,2.35,0.00,0.000,4,0.000,0.048,2643,3840,3345,0,0,0,0,0,0
$GC,9511,-1.09,-155.7,723.6,-3.1,325,9517,0.00,2.30,0.00,0.000,6,0.000,0.033,2645,2228,3348,0,0,0,0,0,0
$GC,9843,-1.09,-155.7,732.8,-2.6,334,9847,0.00,2.42,0.00,0.000,4,0.000,0.051,2631,3839,3345,0,0,0,0,0,0
$GC,9937,-1.09,-155.7,734.9,-1.9,336,9942,0.12,2.28,0.00,0.000,6,0.174,0.034,2664,2269,3345,0,0,0,0,0,0
$GC,10251,-1.09,-155.7,738.3,-0.6,344,10255,0.00,2.33,0.00,0.000,4,0.000,0.043,2664,691,3343,0,0,0,0,0,0
$STATE,10333,end dive,NO_VERTICAL_VELOCITY
$STATE,10333,begin apogee
$GC,10339,-0.23,0.0,738.7,0.0,346,10429,0.95,0.00,87.07,1.178,6,0.161,0.000,2945,1846,2913,0,0,0,0,0,0
$STATE,10432,end apogee,CONTROL_FINISHED_OK
$STATE,10432,begin climb
$GC,10435,1.09,155.7,736.3,0.0,348,10581,1.17,2.58,135.65,1.144,4,0.071,0.052,3387,302,2278,0,0,0,0,0,0
$GC,10720,1.09,155.7,671.8,26.0,354,10725,0.00,2.40,0.00,0.000,6,0.000,0.042,3385,1850,2268,0,0,0,0,0,0
$GC,11057,1.09,155.7,586.5,25.1,363,11061,0.00,2.42,0.00,0.000,4,0.000,0.050,3380,3441,2261,0,0,0,0,0,0
$GC,11161,1.09,155.7,559.8,25.7,365,11166,0.00,2.38,0.00,0.000,6,0.000,0.041,3390,1883,2260,0,0,0,0,0,0
$GC,11510,1.09,155.7,472.3,25.4,374,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1882,2255,0,0,0,0,0,0
$GC,11834,1.09,155.7,390.9,24.6,382,11839,0.00,2.40,0.00,0.000,4,0.000,0.049,3385,3443,2253,0,0,0,0,0,0
$GC,11850,1.09,155.7,386.8,23.9,382,11854,0.00,2.40,0.00,0.000,6,0.000,0.044,3395,1842,2254,0,0,0,0,0,0
$GC,12199,1.09,155.7,304.3,23.4,391,12203,0.00,2.38,0.00,0.000,4,0.000,0.054,3408,265,2256,0,0,0,0,0,0
$GC,12225,1.09,155.7,297.8,22.4,391,12230,0.12,2.38,0.00,0.000,6,0.166,0.045,3379,1853,2253,0,0,0,0,0,0
$GC,12545,1.09,155.7,235.5,18.5,407,12549,0.00,2.40,0.00,0.000,4,0.000,0.051,3373,3449,2253,0,0,0,0,0,0
$GC,12698,1.09,155.7,206.6,17.6,414,12702,0.00,2.38,0.00,0.000,6,0.000,0.041,3384,1840,2251,0,0,0,0,0,0
$GC,13021,1.09,155.7,151.5,15.2,443,13025,0.00,2.40,0.00,0.000,4,0.000,0.049,3383,3442,2250,0,0,0,0,0,0
$GC,13126,1.09,155.7,134.6,15.6,452,13131,0.00,2.38,0.00,0.000,6,0.000,0.041,3395,1841,2251,0,0,0,0,0,0
$GC,13388,1.09,155.7,100.5,12.9,476,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1838,2250,0,0,0,0,0,0
$GC,13641,1.09,155.7,65.9,13.7,500,13646,0.00,2.42,0.00,0.000,4,0.000,0.048,3395,3447,2250,0,0,0,0,0,0
$GC,13685,1.09,155.7,59.5,13.8,503,13692,0.10,2.40,0.00,0.000,6,0.130,0.041,3373,1850,2251,0,0,0,0,0,0
$GC,13946,1.09,155.7,27.8,12.0,529,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1850,2250,0,0,0,0,0,0
$GC,14154,1.09,155.7,3.6,11.0,566,14159,0.00,2.40,0.00,0.000,4,0.000,0.056,3388,266,2252,0,0,0,0,0,0
$STATE,14163,end climb,SURFACE_DEPTH_REACHED
$STATE,14163,begin surface coast
$FINISH,0.6,1.022446
$STATE,14176,end surface coast,CONTROL_FINISHED_OK
$STATE,14176,begin surface
$SM_CCo,14196,158.27,0.607,0,0,877,500.16
$SM_GC,1.13,0.00,0.00,158.27,0.000,0.000,0.607,111,2278,877,-9.09,0.23,500.16
$IRIDIUM_FIX,2020.26,12650.35,060612,141403
$TT8_MAMPS,0.059826
$HUMID,1078689668
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,25.20
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8298004480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56188174336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,30.092
$10V_AH,10.2,22.890
$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,20.825,127.350,222.725,158.275,0.000,28.029,40.610,312.653,0.500,0.000,14.398,1231.661,10669.055,528.399,2226.907,235.911,33.366,1482.374,0.000,1799.060,0.000,0.542,0.000
$DEVICE_MAMPS,220.129,57.525,1178.112,607.464,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,385.573,0.000,0.000,0.000,0.000,0.000,0.000,15170.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.047,0.000,0.000
$MEM,354964
$DATA_FILE_SIZE,20100,570
$CAP_FILE_SIZE,131319,0
$CFSIZE,260165632,209580032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131210,050337,2025.687,12649.301,40,1.0,41,-2.6