version: 66.07
glider: 500
mission: 5
dive: 13
start: 11 8 110 22 27 31
data:
$ID,500
$MISSION,5
$DIVE,13
$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,-121484.89
$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,35
$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,12
$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
$GPS1,081110,220144,2113.354,12326.999,35,2.8,54,-2.7
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.5
$GPS2,081110,222637,2113.449,12326.740,31,1.5,31,-2.7
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,0.077
$KALMAN_X,5869.5,-1353.7,551.3,12194.9,-218.5
$KALMAN_Y,5268.3,1227.7,481.1,16.4,-130.6
$MHEAD_RNG_PITCHd_Wd,75.5,58321,-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,-146.0,0.0,0.0,0,113,0.00,0.00,-84.75,0.000,6,0.000,0.000,129,1995,3344,0,0,0,0,0,0
$GC,116,-0.77,-146.0,2.8,-4.5,17,132,10.55,2.35,0.00,0.000,4,0.239,0.051,2898,409,3349,0,0,0,0,0,0
$GC,206,-0.77,-146.0,22.8,-18.6,33,211,0.00,2.40,0.00,0.000,6,0.000,0.061,2883,2005,3350,0,0,0,0,0,0
$GC,410,-0.77,-146.0,63.5,-20.2,56,414,0.00,2.53,0.00,0.000,4,0.000,0.087,2870,3592,3350,0,0,0,0,0,0
$GC,437,-0.77,-146.0,69.3,-22.7,58,442,0.12,2.38,0.00,0.000,6,0.159,0.058,2905,1999,3351,0,0,0,0,0,0
$GC,698,-0.77,-146.0,101.7,-9.7,82,703,0.00,2.47,0.00,0.000,4,0.000,0.077,2895,3597,3350,0,0,0,0,0,0
$GC,715,-0.77,-146.0,103.5,-10.2,83,719,0.00,2.40,0.00,0.000,6,0.000,0.062,2894,1997,3350,0,0,0,0,0,0
$GC,976,-0.77,-146.0,133.6,-10.7,107,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1996,3351,0,0,0,0,0,0
$GC,1230,-0.77,-146.0,153.3,-7.6,131,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1996,3352,0,0,0,0,0,0
$GC,1486,-0.77,-146.0,170.3,-5.6,155,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1997,3352,0,0,0,0,0,0
$GC,1740,-0.77,-146.0,184.3,-6.6,179,1744,0.00,2.38,0.00,0.000,4,0.000,0.065,2897,400,3354,0,0,0,0,0,0
$GC,1997,-0.77,-146.0,206.0,-7.4,198,2003,0.00,2.40,0.00,0.000,6,0.000,0.062,2882,2005,3352,0,0,0,0,0,0
$GC,2313,-0.77,-146.0,221.8,-4.4,214,2317,0.00,2.42,0.00,0.000,4,0.000,0.068,2869,3597,3352,0,0,0,0,0,0
$GC,2570,-0.77,-146.0,235.0,-5.6,225,2576,0.12,2.40,0.00,0.000,6,0.157,0.059,2906,1995,3351,0,0,0,0,0,0
$GC,2887,-0.77,-146.0,251.2,-5.6,241,2892,0.00,2.45,0.00,0.000,4,0.000,0.077,2901,3603,3350,0,0,0,0,0,0
$GC,3146,-0.77,-146.0,269.1,-7.3,252,3151,0.00,2.40,0.00,0.000,6,0.000,0.060,2895,1988,3349,0,0,0,0,0,0
$GC,3461,-0.77,-146.0,284.0,-3.9,268,3465,0.00,2.50,0.00,0.000,4,0.000,0.079,2883,3593,3349,0,0,0,0,0,0
$GC,3702,-0.77,-146.0,295.2,-5.5,279,3706,0.00,2.33,0.00,0.000,6,0.000,0.049,2883,1993,3348,0,0,0,0,0,0
$GC,4025,-0.77,-146.0,310.8,-4.9,290,4028,0.00,2.33,0.00,0.000,4,0.000,0.061,2883,418,3345,0,0,0,0,0,0
$GC,4131,-0.77,-146.0,316.9,-6.3,292,4136,0.12,2.38,0.00,0.000,6,0.170,0.062,2907,2014,3345,0,0,0,0,0,0
$GC,4478,-0.77,-146.0,333.3,-4.2,301,4482,0.00,2.38,0.00,0.000,4,0.000,0.064,2907,411,3343,0,0,0,0,0,0
$GC,4697,-0.77,-146.0,340.8,-2.7,306,4701,0.00,2.38,0.00,0.000,6,0.000,0.058,2897,2010,3343,0,0,0,0,0,0
$GC,5020,-0.77,-146.0,351.7,-3.6,314,5024,0.00,2.38,0.00,0.000,4,0.000,0.067,2884,3590,3341,0,0,0,0,0,0
$GC,5109,-0.77,-146.0,355.7,-4.6,316,5113,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1991,3341,0,0,0,0,0,0
$GC,5426,-0.77,-146.0,367.5,-3.5,324,5431,0.00,2.33,0.00,0.000,4,0.000,0.058,2883,414,3340,0,0,0,0,0,0
$GC,5466,-0.77,-146.0,369.1,-4.1,325,5470,0.10,2.33,0.00,0.000,6,0.178,0.056,2899,1999,3340,0,0,0,0,0,0
$GC,5789,-0.77,-146.0,383.4,-4.7,333,5794,0.00,2.38,0.00,0.000,4,0.000,0.066,2888,3588,3339,0,0,0,0,0,0
$GC,5850,-0.77,-146.0,386.4,-4.8,334,5854,0.00,2.33,0.00,0.000,6,0.000,0.049,2888,1991,3339,0,0,0,0,0,0
$GC,6198,-0.77,-146.0,396.9,-2.1,343,6202,0.00,2.33,0.00,0.000,4,0.000,0.058,2888,413,3336,0,0,0,0,0,0
$GC,6455,-0.77,-146.0,405.2,-4.2,348,6461,0.00,2.35,0.00,0.000,6,0.000,0.054,2876,2007,3336,0,0,0,0,0,0
$GC,6786,-0.77,-146.0,421.0,-5.1,357,6791,0.00,2.35,0.00,0.000,4,0.000,0.057,2875,414,3333,0,0,0,0,0,0
$GC,7044,-0.77,-146.0,429.7,-2.3,362,7051,0.12,2.33,0.00,0.000,6,0.169,0.053,2900,2012,3333,0,0,0,0,0,0
$GC,7376,-0.77,-146.0,435.5,-2.4,371,7380,0.00,2.38,0.00,0.000,4,0.000,0.064,2889,3592,3334,0,0,0,0,0,0
$GC,7633,-0.77,-146.0,447.6,-4.2,376,7639,0.00,2.35,0.00,0.000,6,0.000,0.046,2889,2000,3333,0,0,0,0,0,0
$GC,7965,-0.77,-146.0,453.8,-0.8,385,7968,0.00,2.42,0.00,0.000,4,0.000,0.065,2876,3591,3331,0,0,0,0,0,0
$GC,8223,-0.77,-146.0,461.7,-3.5,390,8227,0.00,2.30,0.00,0.000,6,0.000,0.045,2876,1997,3330,0,0,0,0,0,0
$GC,8553,-0.77,-146.0,474.1,-3.8,398,8557,0.00,2.40,0.00,0.000,4,0.000,0.064,2864,3593,3329,0,0,0,0,0,0
$GC,8688,-0.77,-146.0,478.5,-2.8,401,8693,0.12,2.33,0.00,0.000,6,0.153,0.045,2902,1999,3329,0,0,0,0,0,0
$GC,9006,-0.77,-146.0,483.3,-1.3,409,9010,0.00,2.38,0.00,0.000,4,0.000,0.063,2890,3592,3327,0,0,0,0,0,0
$GC,9263,-0.77,-146.0,493.3,-5.1,414,9269,0.00,2.33,0.00,0.000,6,0.000,0.044,2890,1999,3330,0,0,0,0,0,0
$STATE,9429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9430,begin apogee
$GC,9434,-0.23,0.0,500.7,4.5,419,9552,0.52,0.00,111.97,1.049,6,0.121,0.000,3072,2114,2749,0,0,0,0,0,0
$STATE,9555,end apogee,CONTROL_FINISHED_OK
$STATE,9555,begin climb
$GC,9556,0.77,146.0,499.1,0.0,422,9688,0.88,2.58,121.72,1.016,4,0.072,0.064,3396,3672,2154,0,0,0,0,0,0
$GC,9715,0.77,146.0,465.6,26.8,425,9722,0.00,2.47,0.00,0.000,6,0.000,0.054,3407,2113,2148,0,0,0,0,0,0
$GC,10047,0.77,146.0,383.0,25.3,434,10051,0.00,2.40,0.00,0.000,4,0.000,0.059,3420,506,2143,0,0,0,0,0,0
$GC,10198,0.77,146.0,345.6,25.7,437,10203,0.00,2.38,0.00,0.000,6,0.000,0.054,3420,2086,2138,0,0,0,0,0,0
$GC,10521,0.77,146.0,264.7,23.5,449,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2086,2136,0,0,0,0,0,0
$GC,10832,0.77,146.0,194.8,22.0,465,10836,0.00,2.42,0.00,0.000,4,0.000,0.067,3416,3691,2135,0,0,0,0,0,0
$GC,10886,0.77,146.0,181.3,26.0,469,10893,0.10,2.42,0.00,0.000,6,0.166,0.054,3399,2093,2134,0,0,0,0,0,0
$GC,11147,0.77,146.0,128.9,18.1,494,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2093,2132,0,0,0,0,0,0
$GC,11402,0.77,146.0,85.6,17.9,518,11406,0.00,2.33,0.00,0.000,4,0.000,0.059,3410,504,2132,0,0,0,0,0,0
$GC,11447,0.77,146.0,76.9,20.1,522,11451,0.00,2.35,0.00,0.000,6,0.000,0.054,3410,2103,2132,0,0,0,0,0,0
$GC,11709,0.77,146.0,40.0,12.3,546,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2103,2132,0,0,0,0,0,0
$STATE,11932,end climb,SURFACE_DEPTH_REACHED
$STATE,11932,begin surface coast
$FINISH,0.3,1.021218
$STATE,11950,end surface coast,CONTROL_FINISHED_OK
$STATE,11950,begin surface
$SM_CCo,11969,124.62,0.670,0,0,1037,420.44
$SM_GC,1.18,0.00,0.00,124.62,0.000,0.000,0.670,136,1983,1037,-9.41,-0.48,420.44
$IRIDIUM_FIX,2104.07,12325.37,030512,161604
$TT8_MAMPS,0.058292
$HUMID,1078890958
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8303280128
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59949973504
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,1.794
$10V_AH,10.5,1.619
$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,20.825,105.200,233.700,124.625,0.000,109.830,143.313,867.298,0.000,0.000,33.074,1185.626,8906.221,492.529,2786.179,225.983,33.339,1332.502,0.000,1594.523,0.000,0.543,0.000
$DEVICE_MAMPS,238.537,98.943,1049.256,670.358,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,392.317,0.000,0.000,0.000,0.000,0.000,0.000,14159.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.962,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,20115,583
$CAP_FILE_SIZE,133712,0
$CFSIZE,260165632,222887936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,015031,2115.173,12329.017,35,1.8,36,-2.7