version: 66.07
glider: 500
mission: 5
dive: 8
start: 11 8 110 9 2 49
data:
$ID,500
$MISSION,5
$DIVE,8
$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,-121363.14
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$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,7
$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
$GPS1,081110,085306,2109.774,12322.100,11,1.3,21,-2.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.6
$GPS2,081110,090156,2109.765,12322.126,9,1.9,9,-2.7
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,0.054
$KALMAN_X,4023.9,1660.3,135.7,3463.0,-110.3
$KALMAN_Y,844.5,344.9,27.7,-1040.3,68.9
$MHEAD_RNG_PITCHd_Wd,79.5,67976,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.81,-116.8,0.0,0.0,0,113,0.00,0.00,-82.50,0.000,6,0.000,0.000,140,1986,3227,0,0,0,0,0,0
$GC,116,-0.81,-116.8,2.5,-4.2,17,132,10.88,2.17,0.00,0.000,4,0.236,0.052,3021,512,3229,0,0,0,0,0,0
$GC,166,-0.81,-116.8,10.3,-8.2,26,171,0.00,2.42,0.00,0.000,6,0.000,0.063,3011,2112,3228,0,0,0,0,0,0
$GC,374,-0.81,-116.8,25.0,-7.9,63,378,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2112,3229,0,0,0,0,0,0
$GC,579,-0.81,-116.8,40.4,-8.4,88,583,0.00,2.38,0.00,0.000,4,0.000,0.062,3010,506,3229,0,0,0,0,0,0
$GC,611,-0.81,-116.8,43.5,-8.9,90,618,0.10,2.40,0.00,0.000,6,0.166,0.062,3028,2124,3228,0,0,0,0,0,0
$GC,873,-0.81,-116.8,63.4,-8.6,115,877,0.00,2.40,0.00,0.000,4,0.000,0.063,3029,506,3230,0,0,0,0,0,0
$GC,900,-0.81,-116.8,66.1,-9.7,117,905,0.00,2.38,0.00,0.000,6,0.000,0.066,3018,2102,3229,0,0,0,0,0,0
$GC,1162,-0.81,-116.8,87.7,-6.8,141,1166,0.00,2.42,0.00,0.000,4,0.000,0.074,3006,3702,3229,0,0,0,0,0,0
$GC,1182,-0.81,-116.8,89.1,-6.1,142,1189,0.00,2.40,0.00,0.000,6,0.000,0.056,3005,2098,3230,0,0,0,0,0,0
$GC,1444,-0.81,-116.8,102.4,-4.8,167,1448,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,508,3229,0,0,0,0,0,0
$GC,1690,-0.81,-116.8,115.9,-5.2,188,1697,0.12,2.38,0.00,0.000,6,0.147,0.059,3035,2095,3231,0,0,0,0,0,0
$GC,1953,-0.81,-116.8,125.5,-3.4,213,1957,0.00,2.45,0.00,0.000,4,0.000,0.079,3025,3692,3231,0,0,0,0,0,0
$GC,2019,-0.81,-116.8,127.4,-2.5,218,2025,0.00,2.35,0.00,0.000,6,0.000,0.056,3025,2092,3232,0,0,0,0,0,0
$GC,2281,-0.81,-116.8,133.7,-2.5,243,2285,0.00,2.33,0.00,0.000,4,0.000,0.064,3025,515,3231,0,0,0,0,0,0
$GC,2313,-0.81,-116.8,134.8,-3.4,245,2319,0.00,2.38,0.00,0.000,6,0.000,0.062,3014,2095,3232,0,0,0,0,0,0
$GC,2576,-0.81,-116.8,142.4,-3.2,270,2580,0.00,2.45,0.00,0.000,4,0.000,0.077,3007,3693,3232,0,0,0,0,0,0
$GC,2681,-0.81,-116.8,146.7,-4.3,279,2686,0.00,2.35,0.00,0.000,6,0.000,0.056,3002,2093,3232,0,0,0,0,0,0
$GC,2943,-0.81,-116.8,157.3,-3.6,303,2947,0.00,2.33,0.00,0.000,4,0.000,0.064,3002,502,3231,0,0,0,0,0,0
$GC,3201,-0.81,-116.8,167.7,-4.4,325,3207,0.12,2.40,0.00,0.000,6,0.139,0.061,3038,2097,3232,0,0,0,0,0,0
$GC,3463,-0.81,-116.8,176.3,-3.1,350,3467,0.00,2.35,0.00,0.000,4,0.000,0.064,3034,510,3232,0,0,0,0,0,0
$GC,3496,-0.81,-116.8,177.5,-3.7,352,3502,0.00,2.38,0.00,0.000,6,0.000,0.061,3026,2118,3232,0,0,0,0,0,0
$GC,3758,-0.81,-116.8,185.3,-2.9,377,3762,0.00,2.47,0.00,0.000,4,0.000,0.087,3016,3690,3231,0,0,0,0,0,0
$GC,3813,-0.81,-116.8,187.1,-3.4,381,3819,0.00,2.40,0.00,0.000,6,0.000,0.059,3016,2066,3231,0,0,0,0,0,0
$GC,4076,-0.81,-116.8,196.7,-3.9,406,4080,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,509,3228,0,0,0,0,0,0
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4158,-0.23,0.0,200.0,4.2,412,4248,0.55,0.00,86.38,0.737,6,0.093,0.000,3214,2100,2751,0,0,0,0,0,0
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4273,0.81,116.8,198.5,0.0,419,4369,0.82,0.00,91.85,0.719,6,0.036,0.000,3585,2099,2275,0,0,0,0,0,0
$GC,4618,0.81,116.8,99.3,28.3,452,4623,0.12,2.47,0.00,0.000,4,0.195,0.078,3553,3690,2266,0,0,0,0,0,0
$GC,4640,0.81,116.8,93.3,27.6,453,4645,0.00,2.42,0.00,0.000,6,0.000,0.064,3563,2091,2266,0,0,0,0,0,0
$GC,4900,0.81,116.8,33.1,24.2,478,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2092,2263,0,0,0,0,0,0
$STATE,5026,end climb,SURFACE_DEPTH_REACHED
$STATE,5027,begin surface coast
$FINISH,0.4,1.009193
$STATE,5039,end surface coast,CONTROL_FINISHED_OK
$STATE,5041,begin surface
$SM_CCo,5059,139.02,0.600,0,0,1037,420.19
$SM_GC,1.22,0.00,0.00,139.02,0.000,0.000,0.600,128,2089,1037,-9.88,-0.31,420.19
$IRIDIUM_FIX,2104.07,12320.90,030512,010158
$TT8_MAMPS,0.058292
$HUMID,1078782571
$INTERNAL_PRESSURE,9.41321
$TCM_TEMP,25.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8329101312
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59994963968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,1.129
$10V_AH,10.7,1.163
$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,21.375,61.950,178.225,139.025,0.000,30.958,35.315,336.880,0.000,0.000,11.175,845.533,3002.564,429.656,1325.520,137.110,33.336,912.511,0.000,873.023,0.000,0.544,0.000
$DEVICE_MAMPS,236.236,86.671,737.087,599.794,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,332.964,0.000,0.000,0.000,0.000,0.000,0.000,6156.510,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.774,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,16769,501
$CAP_FILE_SIZE,72581,0
$CFSIZE,260165632,223223808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,103054,2110.090,12322.764,38,0.9,38,-2.7