version: 66.07
glider: 500
mission: 5
dive: 9
start: 11 8 110 10 41 2
data:
$ID,500
$MISSION,5
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,550
$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,116
$T_MISSION,250
$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,140
$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,-121378.09
$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,3200
$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,22
$R_STBD_OVSHOOT,20
$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,8
$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
$GPS1,081110,103054,2110.090,12322.764,38,0.9,38,-2.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.9
$GPS2,081110,104007,2110.060,12322.770,12,1.0,12,-2.7
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,0.058
$KALMAN_X,4716.2,1468.1,-193.4,4409.2,-160.6
$KALMAN_Y,1175.7,311.5,29.3,-795.8,139.5
$MHEAD_RNG_PITCHd_Wd,79.4,66748,-18.3,-10.057
$D_GRID,350
$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,-0.78,-136.3,0.0,0.0,0,115,0.00,0.00,-85.30,0.000,6,0.000,0.000,127,2087,3307,0,0,0,0,0,0
$GC,118,-0.78,-136.3,2.4,-3.7,17,135,10.73,2.30,0.00,0.000,4,0.239,0.049,2945,500,3308,0,0,0,0,0,0
$GC,202,-0.78,-136.3,17.0,-14.9,32,208,0.00,2.42,0.00,0.000,6,0.000,0.067,2934,2107,3311,0,0,0,0,0,0
$GC,405,-0.78,-136.3,43.5,-13.1,60,410,0.00,2.47,0.00,0.000,4,0.000,0.085,2922,3690,3310,0,0,0,0,0,0
$GC,433,-0.78,-136.3,47.2,-13.2,62,437,0.00,2.40,0.00,0.000,6,0.000,0.058,2922,2085,3311,0,0,0,0,0,0
$GC,693,-0.78,-136.3,86.4,-16.1,86,697,0.00,2.30,0.00,0.000,4,0.000,0.062,2921,511,3311,0,0,0,0,0,0
$GC,743,-0.78,-136.3,94.5,-15.9,90,747,0.12,2.38,0.00,0.000,6,0.175,0.062,2945,2111,3311,0,0,0,0,0,0
$GC,1004,-0.78,-136.3,117.3,-7.8,114,1008,0.00,2.40,0.00,0.000,4,0.000,0.064,2950,500,3312,0,0,0,0,0,0
$GC,1149,-0.78,-136.3,129.6,-8.1,126,1155,0.00,2.38,0.00,0.000,6,0.000,0.063,2934,2097,3311,0,0,0,0,0,0
$GC,1410,-0.78,-136.3,147.2,-6.5,151,1414,0.00,2.47,0.00,0.000,4,0.000,0.084,2922,3695,3314,0,0,0,0,0,0
$GC,1477,-0.78,-136.3,152.6,-8.1,156,1483,0.00,2.38,0.00,0.000,6,0.000,0.059,2922,2097,3314,0,0,0,0,0,0
$GC,1738,-0.78,-136.3,174.9,-9.1,181,1742,0.00,2.33,0.00,0.000,4,0.000,0.066,2922,515,3315,0,0,0,0,0,0
$GC,1995,-0.78,-136.3,195.0,-6.6,203,2002,0.15,2.40,0.00,0.000,6,0.153,0.062,2957,2134,3314,0,0,0,0,0,0
$GC,2262,-0.78,-136.3,208.3,-5.1,221,2266,0.00,2.42,0.00,0.000,4,0.000,0.064,2957,507,3314,0,0,0,0,0,0
$GC,2519,-0.78,-136.3,221.3,-4.3,232,2525,0.00,2.40,0.00,0.000,6,0.000,0.064,2946,2127,3314,0,0,0,0,0,0
$GC,2836,-0.78,-136.3,232.1,-3.0,248,2840,0.00,2.40,0.00,0.000,4,0.000,0.065,2946,503,3314,0,0,0,0,0,0
$GC,2901,-0.78,-136.3,234.4,-3.2,251,2905,0.00,2.42,0.00,0.000,6,0.000,0.064,2934,2129,3312,0,0,0,0,0,0
$GC,3228,-0.78,-136.3,245.2,-3.1,267,3232,0.00,2.40,0.00,0.000,4,0.000,0.066,2934,511,3311,0,0,0,0,0,0
$GC,3380,-0.78,-136.3,252.5,-6.3,274,3384,0.00,2.38,0.00,0.000,6,0.000,0.064,2921,2109,3311,0,0,0,0,0,0
$GC,3706,-0.78,-136.3,273.8,-4.4,290,3711,0.00,2.45,0.00,0.000,4,0.000,0.080,2910,3704,3309,0,0,0,0,0,0
$GC,3963,-0.78,-136.3,277.2,-1.5,301,3970,0.12,2.40,0.00,0.000,6,0.147,0.060,2949,2085,3309,0,0,0,0,0,0
$GC,4280,-0.78,-136.3,288.1,-4.5,317,4284,0.00,2.45,0.00,0.000,4,0.000,0.064,2939,3699,3308,0,0,0,0,0,0
$GC,4341,-0.78,-136.3,290.7,-4.2,320,4345,0.00,2.33,0.00,0.000,6,0.000,0.048,2938,2097,3308,0,0,0,0,0,0
$GC,4667,-0.78,-136.3,299.7,-2.0,336,4671,0.00,2.38,0.00,0.000,4,0.000,0.064,2926,3696,3306,0,0,0,0,0,0
$GC,4923,-0.78,-136.3,305.5,-2.9,342,4930,0.00,2.35,0.00,0.000,6,0.000,0.046,2927,2103,3305,0,0,0,0,0,0
$GC,5255,-0.78,-136.3,314.4,-2.8,351,5260,0.00,2.42,0.00,0.000,4,0.000,0.063,2914,3698,3304,0,0,0,0,0,0
$GC,5513,-0.78,-136.3,323.1,-2.7,356,5519,0.12,2.33,0.00,0.000,6,0.148,0.046,2951,2093,3303,0,0,0,0,0,0
$GC,5844,-0.78,-136.3,327.6,-0.9,365,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2093,3302,0,0,0,0,0,0
$GC,6169,-0.78,-136.3,334.0,-2.5,373,6173,0.00,2.45,0.00,0.000,4,0.000,0.064,2943,3706,3301,0,0,0,0,0,0
$GC,6314,-0.78,-136.3,339.4,-3.9,376,6319,0.00,2.35,0.00,0.000,6,0.000,0.048,2943,2103,3300,0,0,0,0,0,0
$GC,6662,-0.78,-136.3,346.7,-1.2,385,6666,0.00,2.42,0.00,0.000,4,0.000,0.063,2931,3700,3299,0,0,0,0,0,0
$GC,6918,-0.78,-136.3,349.7,-2.4,390,6924,0.00,2.38,0.00,0.000,6,0.000,0.046,2931,2098,3299,0,0,0,0,0,0
$STATE,6963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6963,begin apogee
$GC,6967,-0.23,0.0,350.9,2.4,392,7073,0.55,0.00,102.30,0.884,6,0.105,0.000,3129,2094,2750,0,0,0,0,0,0
$STATE,7082,end apogee,CONTROL_FINISHED_OK
$STATE,7082,begin climb
$GC,7083,0.78,136.3,350.1,0.0,394,7197,0.82,0.00,109.97,0.848,6,0.049,0.000,3466,2094,2194,0,0,0,0,0,0
$GC,7476,0.78,136.3,245.3,30.3,409,7480,0.00,2.45,0.00,0.000,4,0.000,0.065,3468,3694,2181,0,0,0,0,0,0
$GC,7635,0.78,136.3,197.3,26.7,416,7640,0.00,2.38,0.00,0.000,6,0.000,0.053,3480,2099,2179,0,0,0,0,0,0
$GC,7896,0.78,136.3,135.0,23.1,441,7900,0.00,2.38,0.00,0.000,4,0.000,0.066,3493,508,2175,0,0,0,0,0,0
$GC,7911,0.78,136.3,130.9,24.7,442,7916,0.15,2.42,0.00,0.000,6,0.178,0.067,3452,2110,2175,0,0,0,0,0,0
$GC,8174,0.78,136.3,83.0,14.8,466,8178,0.00,2.42,0.00,0.000,4,0.000,0.067,3463,507,2174,0,0,0,0,0,0
$GC,8239,0.78,136.3,71.7,17.6,471,8245,0.00,2.45,0.00,0.000,6,0.000,0.066,3463,2102,2174,0,0,0,0,0,0
$GC,8501,0.78,136.3,31.0,16.9,496,8505,0.00,2.40,0.00,0.000,4,0.000,0.067,3463,3705,2173,0,0,0,0,0,0
$GC,8518,0.78,136.3,28.3,17.4,497,8523,0.00,2.40,0.00,0.000,6,0.000,0.058,3475,2099,2172,0,0,0,0,0,0
$STATE,8651,end climb,SURFACE_DEPTH_REACHED
$STATE,8651,begin surface coast
$FINISH,0.4,1.004893
$STATE,8664,end surface coast,CONTROL_FINISHED_OK
$STATE,8664,begin surface
$SM_CCo,8682,127.20,0.630,0,0,1036,420.19
$SM_GC,1.08,0.00,0.00,127.20,0.000,0.000,0.630,129,2101,1036,-9.59,-0.08,420.19
$IRIDIUM_FIX,2101.76,12320.90,030512,030349
$TT8_MAMPS,0.057525
$HUMID,1078939990
$INTERNAL_PRESSURE,9.35461
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8310095872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59994963968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.8,1.229
$10V_AH,10.6,1.248
$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,20.925,91.050,212.275,127.200,0.000,31.266,47.813,344.288,0.000,0.000,14.317,1013.493,5986.831,479.325,1734.458,163.287,33.340,1148.062,0.000,1260.762,0.000,0.545,0.000
$DEVICE_MAMPS,239.304,85.137,884.351,629.707,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.350,0.000,0.000,0.000,0.000,0.000,0.000,9906.560,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.579,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,16737,523
$CAP_FILE_SIZE,96533,0
$CFSIZE,260165632,223154176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,130906,2110.620,12323.164,9,1.3,25,-2.7