version: 66.07
glider: 500
mission: 5
dive: 12
start: 11 8 110 18 57 20
data:
$ID,500
$MISSION,5
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,166
$T_MISSION,330
$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,150
$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,-121451.19
$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,3150
$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,2000
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,26
$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,11
$AR_SAMPLENUM,1
$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
$GPS1,081110,184137,2112.379,12325.268,64,1.2,65,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.0
$GPS2,081110,185626,2112.304,12325.193,21,1.4,21,-2.7
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,0.004
$KALMAN_X,5495.5,-882.2,376.3,9598.5,-65.4
$KALMAN_Y,4045.3,512.5,403.9,-89.9,727.7
$MHEAD_RNG_PITCHd_Wd,91.8,61478,-17.6,-10.040
$D_GRID,500
$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,-0.77,-146.0,0.0,0.0,0,114,0.00,0.00,-84.15,0.000,6,0.000,0.000,124,2123,3347,0,0,0,0,0,0
$GC,117,-0.77,-146.0,3.1,-5.5,17,133,10.55,2.55,0.00,0.000,4,0.239,0.052,2897,395,3349,0,0,0,0,0,0
$GC,264,-0.77,-146.0,38.9,-24.2,40,268,0.00,2.35,0.00,0.000,6,0.000,0.049,2882,2012,3350,0,0,0,0,0,0
$GC,524,-0.77,-146.0,88.9,-15.0,64,528,0.00,2.38,0.00,0.000,4,0.000,0.061,2870,3588,3351,0,0,0,0,0,0
$GC,551,-0.77,-146.0,92.2,-12.6,66,556,0.12,2.38,0.00,0.000,6,0.155,0.057,2906,1998,3349,0,0,0,0,0,0
$GC,814,-0.77,-146.0,116.9,-8.9,90,818,0.00,2.35,0.00,0.000,4,0.000,0.062,2906,414,3352,0,0,0,0,0,0
$GC,868,-0.77,-146.0,122.2,-9.2,94,875,0.00,2.38,0.00,0.000,6,0.000,0.061,2896,1990,3351,0,0,0,0,0,0
$GC,1131,-0.77,-146.0,143.9,-8.8,119,1135,0.00,2.42,0.00,0.000,4,0.000,0.068,2885,3600,3353,0,0,0,0,0,0
$GC,1147,-0.77,-146.0,145.2,-8.5,120,1151,0.00,2.40,0.00,0.000,6,0.000,0.061,2883,1997,3352,0,0,0,0,0,0
$GC,1409,-0.77,-146.0,166.4,-9.7,144,1413,0.00,2.35,0.00,0.000,4,0.000,0.064,2883,414,3353,0,0,0,0,0,0
$GC,1666,-0.77,-146.0,189.3,-7.1,166,1672,0.10,2.35,0.00,0.000,6,0.187,0.063,2898,2002,3353,0,0,0,0,0,0
$GC,1936,-0.77,-146.0,206.6,-6.6,187,1940,0.00,2.38,0.00,0.000,4,0.000,0.064,2898,410,3353,0,0,0,0,0,0
$GC,2035,-0.77,-146.0,213.7,-6.4,191,2041,0.00,2.40,0.00,0.000,6,0.000,0.061,2888,2028,3353,0,0,0,0,0,0
$GC,2353,-0.77,-146.0,228.8,-5.2,207,2357,0.00,2.35,0.00,0.000,4,0.000,0.067,2875,3591,3353,0,0,0,0,0,0
$GC,2474,-0.77,-146.0,235.1,-4.9,212,2480,0.00,2.38,0.00,0.000,6,0.000,0.059,2875,1997,3353,0,0,0,0,0,0
$GC,2791,-0.77,-146.0,250.0,-5.3,228,2795,0.00,2.47,0.00,0.000,4,0.000,0.079,2863,3585,3351,0,0,0,0,0,0
$GC,3036,-0.77,-146.0,265.4,-7.4,239,3041,0.12,2.33,0.00,0.000,6,0.154,0.052,2903,1998,3352,0,0,0,0,0,0
$GC,3364,-0.77,-146.0,284.9,-5.7,255,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1998,3351,0,0,0,0,0,0
$GC,3672,-0.77,-146.0,299.9,-4.5,270,3676,0.00,2.35,0.00,0.000,4,0.000,0.060,2900,403,3348,0,0,0,0,0,0
$GC,3772,-0.77,-146.0,304.4,-4.4,273,3776,0.00,2.33,0.00,0.000,6,0.000,0.054,2889,1995,3355,0,0,0,0,0,0
$GC,4119,-0.77,-146.0,318.3,-4.1,282,4123,0.00,2.40,0.00,0.000,4,0.000,0.065,2877,3599,3348,0,0,0,0,0,0
$GC,4375,-0.77,-146.0,333.5,-6.3,287,4382,0.00,2.38,0.00,0.000,6,0.000,0.048,2877,2000,3347,0,0,0,0,0,0
$GC,4707,-0.77,-146.0,357.3,-7.1,296,4711,0.00,2.42,0.00,0.000,4,0.000,0.065,2864,3592,3345,0,0,0,0,0,0
$GC,4963,-0.77,-146.0,371.4,-4.3,301,4970,0.12,2.35,0.00,0.000,6,0.150,0.047,2902,1981,3344,0,0,0,0,0,0
$GC,5295,-0.77,-146.0,379.1,-2.1,310,5299,0.00,2.28,0.00,0.000,4,0.000,0.058,2902,417,3343,0,0,0,0,0,0
$GC,5552,-0.77,-146.0,387.9,-4.3,315,5558,0.00,2.38,0.00,0.000,6,0.000,0.054,2887,2007,3342,0,0,0,0,0,0
$GC,5884,-0.77,-146.0,400.9,-3.8,324,5888,0.00,2.38,0.00,0.000,4,0.000,0.064,2879,3593,3340,0,0,0,0,0,0
$GC,6141,-0.77,-146.0,411.1,-4.3,329,6147,0.00,2.35,0.00,0.000,6,0.000,0.046,2879,2005,3340,0,0,0,0,0,0
$GC,6473,-0.77,-146.0,423.1,-3.4,338,6476,0.00,2.33,0.00,0.000,4,0.000,0.058,2879,412,3341,0,0,0,0,0,0
$GC,6730,-0.77,-146.0,427.0,-1.2,343,6735,0.12,2.38,0.00,0.000,6,0.167,0.054,2904,2006,3338,0,0,0,0,0,0
$GC,7067,-0.77,-146.0,433.8,-2.5,352,7071,0.00,2.38,0.00,0.000,4,0.000,0.063,2893,3595,3336,0,0,0,0,0,0
$GC,7324,-0.77,-146.0,440.4,-2.3,357,7330,0.00,2.35,0.00,0.000,6,0.000,0.048,2892,1995,3336,0,0,0,0,0,0
$GC,7655,-0.77,-146.0,448.5,-2.8,366,7659,0.00,2.42,0.00,0.000,4,0.000,0.063,2880,3604,3333,0,0,0,0,0,0
$GC,7811,-0.77,-146.0,453.1,-3.0,369,7815,0.00,2.35,0.00,0.000,6,0.000,0.048,2879,1990,3337,0,0,0,0,0,0
$GC,8147,-0.77,-146.0,460.7,-2.0,378,8151,0.00,2.42,0.00,0.000,4,0.000,0.063,2868,3600,3331,0,0,0,0,0,0
$GC,8179,-0.77,-146.0,461.3,-2.1,378,8186,0.12,2.38,0.00,0.000,6,0.151,0.050,2905,1990,3335,0,0,0,0,0,0
$STATE,8386,end dive,NO_VERTICAL_VELOCITY
$STATE,8386,begin apogee
$GC,8392,-0.23,0.0,462.4,0.0,384,8509,0.47,0.00,112.03,1.027,6,0.116,0.000,3071,2121,2747,0,0,0,0,0,0
$STATE,8518,end apogee,CONTROL_FINISHED_OK
$STATE,8518,begin climb
$GC,8519,0.77,146.0,457.5,0.0,387,8649,0.90,2.55,120.53,0.987,4,0.076,0.063,3399,3671,2153,0,0,0,0,0,0
$GC,8688,0.77,146.0,420.2,25.0,391,8692,0.00,2.42,0.00,0.000,6,0.000,0.054,3411,2103,2145,0,0,0,0,0,0
$GC,9000,0.77,146.0,341.2,25.6,399,9004,0.00,2.38,0.00,0.000,4,0.000,0.060,3425,512,2142,0,0,0,0,0,0
$GC,9077,0.77,146.0,321.2,26.0,400,9083,0.00,2.40,0.00,0.000,6,0.000,0.056,3424,2086,2140,0,0,0,0,0,0
$GC,9391,0.77,146.0,242.7,23.7,414,9396,0.00,2.42,0.00,0.000,4,0.000,0.067,3423,3688,2139,0,0,0,0,0,0
$GC,9570,0.77,146.0,193.1,27.3,422,9577,0.10,2.40,0.00,0.000,6,0.170,0.050,3387,2096,2135,0,0,0,0,0,0
$GC,9832,0.77,146.0,145.1,17.6,447,9836,0.00,2.35,0.00,0.000,4,0.000,0.060,3398,514,2137,0,0,0,0,0,0
$GC,10018,0.77,146.0,116.1,13.8,463,10022,0.00,2.35,0.00,0.000,6,0.000,0.055,3398,2110,2137,0,0,0,0,0,0
$GC,10279,0.77,146.0,73.7,16.1,487,10283,0.00,2.40,0.00,0.000,4,0.000,0.068,3409,510,2136,0,0,0,0,0,0
$GC,10412,0.77,146.0,53.9,15.5,498,10418,0.00,2.35,0.00,0.000,6,0.000,0.062,3410,2099,2136,0,0,0,0,0,0
$GC,10676,0.77,146.0,21.6,15.7,527,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2100,2136,0,0,0,0,0,0
$STATE,10798,end climb,SURFACE_DEPTH_REACHED
$STATE,10798,begin surface coast
$FINISH,0.5,1.022177
$STATE,10812,end surface coast,CONTROL_FINISHED_OK
$STATE,10812,begin surface
$SM_CCo,10830,129.57,0.673,0,0,1036,420.44
$SM_GC,1.06,0.00,0.00,129.57,0.000,0.000,0.673,138,1991,1036,-9.41,-0.14,420.44
$IRIDIUM_FIX,2104.07,12324.10,030512,131332
$TT8_MAMPS,0.058292
$HUMID,1078916764
$INTERNAL_PRESSURE,9.29601
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8319565824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59959508992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,1.638
$10V_AH,10.5,1.499
$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,20.750,105.150,232.550,129.575,0.000,58.248,80.015,534.310,0.000,0.000,25.981,1116.438,7807.154,500.947,2246.896,187.678,33.318,1299.608,0.000,1505.372,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,88.205,1027.013,672.659,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.848,0.000,0.000,0.000,0.000,0.000,0.000,12407.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.031,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,20136,551
$CAP_FILE_SIZE,117805,0
$CFSIZE,260165632,222969856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$GPS,081110,220144,2113.354,12326.999,35,2.8,54,-2.7