version: 66.07
glider: 500
mission: 5
dive: 7
start: 11 8 110 7 22 56
data:
$ID,500
$MISSION,5
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,66
$T_MISSION,180
$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,120
$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,420
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-121351.34
$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,3290
$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,1990
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,2750
$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,6
$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
$GPS1,081110,070926,2109.529,12321.148,8,1.4,8,-2.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.6
$GPS2,081110,072202,2109.517,12321.216,11,1.0,11,-2.7
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.051
$KALMAN_X,3002.6,1568.9,644.3,2499.4,-61.9
$KALMAN_Y,577.8,312.5,83.0,-1255.9,94.5
$MHEAD_RNG_PITCHd_Wd,80.1,69609,-19.9,-10.101
$D_GRID,200
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.81,-116.8,0.0,0.0,0,113,0.00,0.00,-82.68,0.000,6,0.000,0.000,129,2037,3229,0,0,0,0,0,0
$GC,116,-0.81,-116.8,2.4,-3.1,17,132,11.05,2.42,0.00,0.000,4,0.240,0.051,3020,386,3227,0,0,0,0,0,0
$GC,224,-0.81,-116.8,15.2,-8.2,36,229,0.00,2.40,0.00,0.000,6,0.000,0.061,3009,1983,3229,0,0,0,0,0,0
$GC,434,-0.81,-116.8,36.9,-10.2,68,438,0.00,2.50,0.00,0.000,4,0.000,0.082,2997,3592,3230,0,0,0,0,0,0
$GC,466,-0.81,-116.8,40.0,-9.5,70,473,0.10,2.38,0.00,0.000,6,0.155,0.055,3028,1977,3229,0,0,0,0,0,0
$GC,728,-0.81,-116.8,59.0,-8.3,95,729,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1976,3229,0,0,0,0,0,0
$GC,982,-0.81,-116.8,78.6,-7.0,119,983,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1976,3228,0,0,0,0,0,0
$GC,1237,-0.81,-116.8,94.8,-5.8,143,1241,0.00,2.33,0.00,0.000,4,0.000,0.065,3028,398,3229,0,0,0,0,0,0
$GC,1400,-0.81,-116.8,105.5,-5.7,157,1404,0.00,2.38,0.00,0.000,6,0.000,0.064,3018,1997,3229,0,0,0,0,0,0
$GC,1661,-0.81,-116.8,114.7,-4.1,181,1666,0.00,2.40,0.00,0.000,4,0.000,0.075,3006,3587,3230,0,0,0,0,0,0
$GC,1728,-0.81,-116.8,118.6,-5.9,186,1734,0.00,2.33,0.00,0.000,6,0.000,0.054,3005,1989,3230,0,0,0,0,0,0
$GC,1989,-0.81,-116.8,132.9,-4.3,211,1994,0.00,2.47,0.00,0.000,4,0.000,0.079,2994,3580,3231,0,0,0,0,0,0
$GC,2085,-0.81,-116.8,137.1,-4.3,219,2090,0.12,2.33,0.00,0.000,6,0.135,0.055,3037,1987,3231,0,0,0,0,0,0
$GC,2346,-0.81,-116.8,145.7,-3.6,243,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1987,3230,0,0,0,0,0,0
$GC,2601,-0.81,-116.8,153.4,-2.4,267,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1987,3231,0,0,0,0,0,0
$GC,2856,-0.81,-116.8,158.6,-2.6,291,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1987,3231,0,0,0,0,0,0
$GC,3111,-0.81,-116.8,168.1,-3.6,315,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1987,3231,0,0,0,0,0,0
$GC,3365,-0.81,-116.8,173.1,-1.8,339,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1987,3231,0,0,0,0,0,0
$GC,3620,-0.81,-116.8,181.4,-4.7,363,3625,0.00,2.47,0.00,0.000,4,0.000,0.081,3033,3580,3230,0,0,0,0,0,0
$GC,3671,-0.81,-116.8,183.7,-4.5,367,3675,0.00,2.38,0.00,0.000,6,0.000,0.058,3033,1979,3230,0,0,0,0,0,0
$GC,3938,-0.81,-116.8,192.2,-1.8,392,3942,0.00,2.35,0.00,0.000,4,0.000,0.067,3033,403,3229,0,0,0,0,0,0
$GC,4115,-0.81,-116.8,194.5,-2.0,407,4122,0.00,2.40,0.00,0.000,6,0.000,0.062,3025,1993,3228,0,0,0,0,0,0
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4316,-0.23,0.0,200.1,3.1,426,4405,0.50,0.00,86.47,0.751,6,0.084,0.000,3216,1992,2750,0,0,0,0,0,0
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4410,0.81,116.8,199.1,0.0,431,4512,0.82,2.62,92.10,0.725,4,0.037,0.081,3585,3584,2270,0,0,0,0,0,0
$GC,4563,0.81,116.8,159.3,33.3,445,4569,0.17,2.45,0.00,0.000,6,0.197,0.060,3552,1993,2265,0,0,0,0,0,0
$GC,4824,0.81,116.8,81.9,26.0,470,4828,0.00,2.35,0.00,0.000,4,0.000,0.064,3563,411,2262,0,0,0,0,0,0
$GC,4855,0.81,116.8,73.9,23.3,472,4862,0.00,2.40,0.00,0.000,6,0.000,0.058,3563,1996,2262,0,0,0,0,0,0
$GC,5121,0.81,116.8,15.4,23.9,502,5126,0.00,2.47,0.00,0.000,4,0.000,0.079,3563,3595,2260,0,0,0,0,0,0
$GC,5149,0.81,116.8,7.8,26.4,507,5154,0.00,2.42,0.00,0.000,6,0.000,0.063,3575,1990,2259,0,0,0,0,0,0
$STATE,5169,end climb,SURFACE_DEPTH_REACHED
$STATE,5169,begin surface coast
$FINISH,0.3,1.011801
$STATE,5182,end surface coast,CONTROL_FINISHED_OK
$STATE,5182,begin surface
$SM_CCo,5200,139.50,0.602,0,0,1036,420.19
$SM_GC,1.12,0.00,0.00,139.50,0.000,0.000,0.602,144,1985,1036,-9.83,-0.14,420.19
$IRIDIUM_FIX,2101.76,12315.77,030512,010118
$TT8_MAMPS,0.058292
$HUMID,1078749023
$INTERNAL_PRESSURE,9.4425
$TCM_TEMP,25.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8329134080
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59994963968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,1.045
$10V_AH,10.7,1.119
$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,21.250,48.250,178.575,139.500,0.000,62.108,102.954,399.203,0.000,0.000,13.040,852.698,3261.479,418.858,1437.506,141.344,33.320,885.266,0.000,848.606,0.000,0.546,0.000
$DEVICE_MAMPS,240.071,82.069,750.893,602.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.557,0.000,0.000,0.000,0.000,0.000,0.000,6555.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,5.200,0.000,0.000
$MEM,355168
$DATA_FILE_SIZE,16786,513
$CAP_FILE_SIZE,72175,0
$CFSIZE,260165632,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,085306,2109.774,12322.100,11,1.3,21,-2.7