version: 66.07
glider: 500
mission: 5
dive: 291
start: 1 16 111 19 5 32
data:
$ID,500
$MISSION,5
$DIVE,291
$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,-126352.88
$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,36
$R_STBD_OVSHOOT,49
$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,290
$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
$GPS1,160111,185337,2243.379,12703.953,24,1.2,24,-3.3
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,160111,190438,2243.322,12703.873,10,1.6,10,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.037,0.218
$KALMAN_X,-664097.9,1006.4,433.0,1054913.1,-7603.7
$KALMAN_Y,-208109.0,451.8,227.2,380876.0,-939.0
$MHEAD_RNG_PITCHd_Wd,12.9,46409,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
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$GC,4128,-0.50,-155.7,366.4,-6.0,249,4132,0.00,2.40,0.00,0.000,4,0.000,0.049,2885,3682,3637,0,0,0,0,0,0
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$GC,4861,-0.50,-155.7,418.1,-6.6,267,4865,0.00,2.42,0.00,0.000,4,0.000,0.050,2873,3687,3634,0,0,0,0,0,0
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$GC,7241,-0.50,-155.7,556.4,-4.9,325,7245,0.00,2.33,0.00,0.000,4,0.000,0.045,2880,521,3627,0,0,0,0,0,0
$GC,7364,-0.50,-155.7,563.1,-5.6,327,7370,0.12,2.30,0.00,0.000,6,0.130,0.041,2912,2109,3626,0,0,0,0,0,0
$GC,7695,-0.50,-155.7,573.9,-3.2,336,7699,0.00,2.40,0.00,0.000,4,0.000,0.051,2902,3683,3626,0,0,0,0,0,0
$GC,7755,-0.50,-155.7,576.3,-4.4,337,7759,0.00,2.35,0.00,0.000,6,0.000,0.034,2902,2095,3626,0,0,0,0,0,0
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$GC,14002,-0.50,-155.7,853.9,-5.1,490,14006,0.00,2.33,0.00,0.000,6,0.000,0.037,2899,2100,3603,0,0,0,0,0,0
$GC,14319,-0.50,-155.7,870.7,-5.2,498,14323,0.00,2.47,0.00,0.000,4,0.000,0.054,2891,3684,3603,0,0,0,0,0,0
$GC,14420,-0.50,-155.7,875.7,-5.2,500,14425,0.00,2.33,0.00,0.000,6,0.000,0.035,2891,2093,3602,0,0,0,0,0,0
$GC,14768,-0.50,-155.7,890.3,-3.9,509,14772,0.00,2.45,0.00,0.000,4,0.000,0.054,2879,3693,3601,0,0,0,0,0,0
$GC,14868,-0.50,-155.7,893.9,-3.1,511,14872,0.00,2.35,0.00,0.000,6,0.000,0.038,2879,2099,3599,0,0,0,0,0,0
$GC,15182,-0.50,-155.7,906.0,-4.1,519,15186,0.00,2.35,0.00,0.000,4,0.000,0.048,2879,518,3601,0,0,0,0,0,0
$GC,15281,-0.50,-155.7,911.7,-6.0,521,15286,0.12,2.35,0.00,0.000,6,0.128,0.043,2908,2117,3601,0,0,0,0,0,0
$GC,15630,-0.50,-155.7,927.1,-4.3,530,15631,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2116,3601,0,0,0,0,0,0
$GC,15954,-0.50,-155.7,939.8,-3.9,538,15958,0.00,2.40,0.00,0.000,4,0.000,0.054,2898,3680,3599,0,0,0,0,0,0
$GC,16112,-0.50,-155.7,945.5,-4.0,541,16116,0.00,2.38,0.00,0.000,6,0.000,0.037,2896,2089,3599,0,0,0,0,0,0
$GC,16448,-0.50,-155.7,957.6,-3.6,550,16452,0.00,2.45,0.00,0.000,4,0.000,0.053,2887,3681,3598,0,0,0,0,0,0
$GC,16520,-0.50,-155.7,960.3,-3.5,551,16524,0.00,2.33,0.00,0.000,6,0.000,0.037,2887,2098,3598,0,0,0,0,0,0
$GC,16858,-0.50,-155.7,974.5,-4.3,560,16862,0.00,2.50,0.00,0.000,4,0.000,0.055,2875,3684,3597,0,0,0,0,0,0
$GC,17006,-0.50,-155.7,980.7,-3.8,563,17011,0.10,2.33,0.00,0.000,6,0.133,0.036,2909,2099,3597,0,0,0,0,0,0
$STATE,17270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17270,begin apogee
$GC,17276,-0.23,0.0,990.2,3.8,570,17413,0.25,0.00,133.65,1.472,6,0.086,0.000,3005,1889,2993,0,0,0,0,0,0
$STATE,17414,end apogee,CONTROL_FINISHED_OK
$STATE,17414,begin climb
$GC,17416,0.50,155.7,990.9,0.0,573,17579,0.62,2.75,150.85,1.430,4,0.065,0.053,3249,328,2359,0,0,0,0,0,0
$GC,17741,0.50,155.7,955.0,11.6,580,17745,0.00,2.47,0.00,0.000,6,0.000,0.043,3250,1897,2348,0,0,0,0,0,0
$GC,18084,0.50,155.7,910.2,13.5,589,18088,0.00,2.45,0.00,0.000,4,0.000,0.054,3249,3491,2341,0,0,0,0,0,0
$GC,18172,0.50,155.7,896.7,16.6,591,18176,0.00,2.45,0.00,0.000,6,0.000,0.044,3260,1908,2340,0,0,0,0,0,0
$GC,18497,0.50,155.7,847.2,15.3,599,18501,0.00,2.42,0.00,0.000,4,0.000,0.053,3277,317,2338,0,0,0,0,0,0
$GC,18529,0.50,155.7,842.0,15.8,599,18536,0.08,2.40,0.00,0.000,6,0.105,0.047,3231,1895,2336,0,0,0,0,0,0
$GC,18860,0.50,155.7,802.9,11.4,608,18864,0.00,2.42,0.00,0.000,4,0.000,0.054,3231,3493,2336,0,0,0,0,0,0
$GC,18938,0.50,155.7,793.7,11.2,609,18943,0.00,2.40,0.00,0.000,6,0.000,0.044,3242,1892,2336,0,0,0,0,0,0
$GC,19268,0.50,155.7,754.9,11.7,618,19270,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1892,2335,0,0,0,0,0,0
$GC,19593,0.50,155.7,712.1,13.7,626,19597,0.00,2.42,0.00,0.000,4,0.000,0.055,3254,308,2335,0,0,0,0,0,0
$GC,19620,0.50,155.7,708.2,13.5,626,19624,0.00,2.42,0.00,0.000,6,0.000,0.046,3254,1900,2335,0,0,0,0,0,0
$GC,19958,0.50,155.7,662.1,13.2,635,19962,0.00,2.42,0.00,0.000,4,0.000,0.053,3254,3501,2334,0,0,0,0,0,0
$GC,20074,0.50,155.7,646.9,12.0,637,20079,0.12,2.42,0.00,0.000,6,0.141,0.041,3228,1900,2334,0,0,0,0,0,0
$GC,20411,0.50,155.7,616.4,8.9,646,20416,0.00,2.40,0.00,0.000,4,0.000,0.054,3236,315,2335,0,0,0,0,0,0
$GC,20433,0.50,155.7,614.1,9.3,646,20437,0.00,2.42,0.00,0.000,6,0.000,0.045,3239,1916,2334,0,0,0,0,0,0
$GC,20775,0.50,155.7,577.4,10.8,655,20779,0.00,2.40,0.00,0.000,4,0.000,0.054,3239,3496,2333,0,0,0,0,0,0
$GC,20819,0.50,155.7,572.0,13.3,656,20823,0.00,2.40,0.00,0.000,6,0.000,0.044,3252,1897,2330,0,0,0,0,0,0
$GC,21136,0.50,155.7,532.8,12.6,664,21140,0.00,2.40,0.00,0.000,4,0.000,0.054,3263,315,2332,0,0,0,0,0,0
$GC,21175,0.50,155.7,527.8,14.1,665,21179,0.00,2.35,0.00,0.000,6,0.000,0.045,3263,1899,2333,0,0,0,0,0,0
$GC,21499,0.50,155.7,488.6,11.8,673,21503,0.00,2.42,0.00,0.000,4,0.000,0.054,3263,3481,2332,0,0,0,0,0,0
$GC,21604,0.50,155.7,475.7,11.9,675,21609,0.10,2.42,0.00,0.000,6,0.112,0.043,3236,1901,2332,0,0,0,0,0,0
$GC,21951,0.50,155.7,445.6,8.3,684,21956,0.00,2.42,0.00,0.000,4,0.000,0.055,3235,3484,2332,0,0,0,0,0,0
$GC,21973,0.50,155.7,443.6,8.9,684,21978,0.00,2.40,0.00,0.000,6,0.000,0.044,3246,1885,2331,0,0,0,0,0,0
$GC,22309,0.50,155.7,409.2,10.8,693,22314,0.00,2.38,0.00,0.000,4,0.000,0.054,3258,321,2332,0,0,0,0,0,0
$GC,22325,0.50,155.7,407.3,11.5,693,22329,0.00,2.38,0.00,0.000,6,0.000,0.044,3258,1897,2332,0,0,0,0,0,0
$GC,22674,0.50,155.7,364.2,12.0,702,22678,0.00,2.42,0.00,0.000,4,0.000,0.051,3255,3484,2332,0,0,0,0,0,0
$GC,22767,0.50,155.7,352.4,11.5,704,22773,0.12,2.40,0.00,0.000,6,0.133,0.041,3236,1869,2332,0,0,0,0,0,0
$GC,23086,0.50,155.7,326.7,7.9,712,23090,0.00,2.47,0.00,0.000,4,0.000,0.051,3230,3488,2332,0,0,0,0,0,0
$GC,23107,0.50,155.7,324.8,9.1,712,23112,0.00,2.42,0.00,0.000,6,0.000,0.044,3245,1902,2332,0,0,0,0,0,0
$GC,23430,0.50,155.7,294.5,9.6,721,23434,0.00,2.42,0.00,0.000,4,0.000,0.051,3253,308,2332,0,0,0,0,0,0
$GC,23473,0.50,155.7,290.2,10.5,723,23477,0.00,2.40,0.00,0.000,6,0.000,0.041,3253,1900,2333,0,0,0,0,0,0
$GC,23800,0.50,155.7,260.6,8.3,739,23805,0.00,2.42,0.00,0.000,4,0.000,0.054,3253,3491,2334,0,0,0,0,0,0
$GC,23872,0.50,155.7,254.0,9.3,742,23878,0.08,2.45,0.00,0.000,6,0.105,0.042,3234,1891,2334,0,0,0,0,0,0
$GC,24195,0.50,155.7,232.2,7.1,758,24199,0.00,2.45,0.00,0.000,4,0.000,0.051,3232,3488,2334,0,0,0,0,0,0
$GC,24221,0.50,155.7,230.0,8.4,759,24225,0.00,2.42,0.00,0.000,6,0.000,0.042,3241,1867,2335,0,0,0,0,0,0
$GC,24542,0.50,155.7,204.8,8.1,775,24546,0.00,2.47,0.00,0.000,4,0.000,0.051,3244,3493,2335,0,0,0,0,0,0
$GC,24563,0.50,155.7,202.9,8.6,776,24568,0.00,2.40,0.00,0.000,6,0.000,0.043,3256,1888,2335,0,0,0,0,0,0
$GC,24892,0.50,155.7,171.2,9.5,806,24897,0.00,2.42,0.00,0.000,4,0.000,0.049,3255,3494,2336,0,0,0,0,0,0
$GC,24937,0.50,155.7,166.4,12.5,809,24943,0.12,2.38,0.00,0.000,6,0.124,0.041,3225,1890,2336,0,0,0,0,0,0
$GC,25197,0.51,158.6,148.2,5.9,834,25202,0.00,2.40,0.00,0.000,4,0.000,0.050,3225,3481,2337,0,0,0,0,0,0
$GC,25226,0.51,158.6,146.5,7.5,836,25231,0.00,2.35,0.00,0.000,6,0.000,0.039,3235,1898,2337,0,0,0,0,0,0
$GC,25488,0.59,222.3,134.4,4.3,860,25547,0.00,0.00,53.08,0.767,6,0.000,0.000,3236,1898,2088,0,0,0,0,0,0
$GC,25802,0.63,257.2,119.5,5.1,890,25837,0.10,2.45,29.50,0.752,4,0.101,0.049,3324,312,1946,0,0,0,0,0,0
$GC,25849,0.63,257.2,115.3,9.9,894,25854,0.17,2.38,0.00,0.000,6,0.103,0.041,3262,1902,1943,0,0,0,0,0,0
$GC,26110,0.63,257.2,96.0,7.4,918,26115,0.00,2.42,0.00,0.000,4,0.000,0.050,3262,3494,1939,0,0,0,0,0,0
$GC,26149,0.63,257.2,92.7,7.4,921,26154,0.00,2.42,0.00,0.000,6,0.000,0.039,3271,1886,1938,0,0,0,0,0,0
$GC,26412,0.63,257.2,75.3,7.6,945,26416,0.00,2.38,0.00,0.000,4,0.000,0.048,3282,318,1939,0,0,0,0,0,0
$GC,26457,0.63,257.2,71.2,9.3,949,26461,0.00,2.33,0.00,0.000,6,0.000,0.038,3283,1900,1938,0,0,0,0,0,0
$GC,26719,0.63,257.2,46.2,9.5,973,26723,0.00,2.40,0.00,0.000,4,0.000,0.053,3283,3491,1938,0,0,0,0,0,0
$GC,26751,0.63,257.2,42.5,11.2,975,26757,0.00,2.38,0.00,0.000,6,0.000,0.041,3295,1891,1938,0,0,0,0,0,0
$GC,27012,0.63,257.2,15.3,11.7,1000,27016,0.00,2.35,0.00,0.000,4,0.000,0.050,3307,320,1937,0,0,0,0,0,0
$GC,27051,0.63,257.2,10.4,10.1,1003,27056,0.12,2.30,0.00,0.000,6,0.115,0.040,3261,1905,1938,0,0,0,0,0,0
$STATE,27150,end climb,SURFACE_DEPTH_REACHED
$STATE,27150,begin surface coast
$FINISH,0.5,1.002509
$STATE,27195,end surface coast,CONTROL_FINISHED_OK
$STATE,27195,begin surface
$SM_CCo,27225,72.38,0.676,0,0,1364,400.32
$SM_GC,1.34,0.00,0.00,72.38,0.000,0.000,0.676,107,2113,1364,-9.27,0.37,400.32
$IRIDIUM_FIX,2232.34,12709.48,110712,040440
$TT8_MAMPS,0.05369
$HUMID,1078663861
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8320188416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51831537664
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.1,49.714
$10V_AH,9.9,42.612
$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,21.450,300.375,367.075,72.375,0.000,30.910,42.992,441.677,0.000,0.000,12.038,2127.828,21571.012,671.723,3156.488,422.390,33.376,2153.362,0.000,2612.159,0.000,0.540,0.000
$DEVICE_MAMPS,218.595,66.729,1471.873,676.494,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,694.372,0.000,0.000,0.000,0.000,0.000,0.000,28088.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.522,0.000,0.000
$MEM,354872
$DATA_FILE_SIZE,36668,1016
$CAP_FILE_SIZE,234086,0
$CFSIZE,260165632,197595136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170111,024231,2245.766,12703.059,68,0.9,68,-3.3