version: 66.07
glider: 500
mission: 5
dive: 15
start: 11 9 110 5 16 20
data:
$ID,500
$MISSION,5
$DIVE,15
$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,-121517.66
$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,31
$R_STBD_OVSHOOT,28
$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,14
$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
$GPS1,091110,050325,2116.554,12332.100,60,1.3,60,-2.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.8
$GPS2,091110,051525,2116.629,12332.256,12,1.3,12,-2.7
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.100
$KALMAN_X,8673.3,880.5,76.9,17151.4,1991.7
$KALMAN_Y,9550.3,1107.5,261.1,1965.5,-58.5
$MHEAD_RNG_PITCHd_Wd,70.2,47666,-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,-146.0,0.0,0.0,0,134,0.00,0.00,-103.85,0.000,6,0.000,0.000,128,2012,3349,0,0,0,0,0,0
$GC,138,-0.77,-146.0,3.4,-8.2,21,154,10.57,2.38,0.00,0.000,4,0.239,0.054,2890,414,3349,0,0,0,0,0,0
$GC,250,-0.77,-146.0,28.9,-16.8,41,256,0.00,2.33,0.00,0.000,6,0.000,0.053,2879,1991,3350,0,0,0,0,0,0
$GC,452,-0.77,-146.0,68.3,-23.1,61,456,0.00,2.40,0.00,0.000,4,0.000,0.061,2867,3597,3350,0,0,0,0,0,0
$GC,492,-0.77,-146.0,77.2,-23.4,64,497,0.12,2.35,0.00,0.000,6,0.157,0.045,2902,1994,3350,0,0,0,0,0,0
$GC,752,-0.77,-146.0,115.8,-10.5,88,757,0.00,2.42,0.00,0.000,4,0.000,0.058,2891,3607,3350,0,0,0,0,0,0
$GC,916,-0.77,-146.0,132.7,-10.7,102,921,0.00,2.35,0.00,0.000,6,0.000,0.042,2891,1983,3351,0,0,0,0,0,0
$GC,1177,-0.77,-146.0,162.5,-11.1,126,1181,0.00,2.33,0.00,0.000,4,0.000,0.061,2892,413,3354,0,0,0,0,0,0
$GC,1399,-0.77,-146.0,185.0,-10.1,145,1406,0.00,2.38,0.00,0.000,6,0.000,0.058,2879,2005,3353,0,0,0,0,0,0
$GC,1668,-0.77,-146.0,209.6,-9.2,166,1672,0.00,2.38,0.00,0.000,4,0.000,0.060,2867,3594,3355,0,0,0,0,0,0
$GC,1814,-0.77,-146.0,222.6,-9.0,172,1820,0.12,2.30,0.00,0.000,6,0.154,0.041,2904,1999,3352,0,0,0,0,0,0
$GC,2129,-0.77,-146.0,242.6,-6.7,188,2133,0.00,2.33,0.00,0.000,4,0.000,0.059,2901,418,3354,0,0,0,0,0,0
$GC,2363,-0.77,-146.0,260.1,-8.1,198,2369,0.00,2.35,0.00,0.000,6,0.000,0.058,2893,1992,3353,0,0,0,0,0,0
$GC,2680,-0.77,-146.0,280.9,-5.5,214,2684,0.00,2.38,0.00,0.000,4,0.000,0.058,2881,3598,3352,0,0,0,0,0,0
$GC,2876,-0.77,-146.0,292.3,-6.3,223,2880,0.00,2.33,0.00,0.000,6,0.000,0.042,2881,1989,3352,0,0,0,0,0,0
$GC,3220,-0.77,-146.0,311.1,-5.6,235,3224,0.00,2.33,0.00,0.000,4,0.000,0.060,2880,415,3351,0,0,0,0,0,0
$GC,3477,-0.77,-146.0,327.3,-5.0,240,3484,0.12,2.38,0.00,0.000,6,0.167,0.059,2906,2020,3350,0,0,0,0,0,0
$GC,3809,-0.77,-146.0,337.2,-2.5,249,3813,0.00,2.35,0.00,0.000,4,0.000,0.061,2906,422,3349,0,0,0,0,0,0
$GC,3937,-0.77,-146.0,341.3,-3.8,252,3941,0.00,2.35,0.00,0.000,6,0.000,0.061,2895,2004,3349,0,0,0,0,0,0
$GC,4261,-0.77,-146.0,355.8,-4.7,260,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2002,3347,0,0,0,0,0,0
$GC,4585,-0.77,-146.0,371.5,-4.9,268,4589,0.00,2.38,0.00,0.000,4,0.000,0.058,2882,3589,3344,0,0,0,0,0,0
$GC,4731,-0.77,-146.0,378.2,-4.5,271,4735,0.00,2.33,0.00,0.000,6,0.000,0.042,2882,1984,3345,0,0,0,0,0,0
$GC,5078,-0.77,-146.0,391.2,-3.5,280,5082,0.00,2.40,0.00,0.000,4,0.000,0.059,2870,3590,3345,0,0,0,0,0,0
$GC,5207,-0.77,-146.0,395.5,-3.3,283,5211,0.12,2.30,0.00,0.000,6,0.153,0.043,2908,2000,3343,0,0,0,0,0,0
$GC,5530,-0.77,-146.0,404.0,-2.4,291,5534,0.00,2.30,0.00,0.000,4,0.000,0.059,2908,425,3341,0,0,0,0,0,0
$GC,5710,-0.77,-146.0,409.1,-3.4,295,5715,0.00,2.35,0.00,0.000,6,0.000,0.061,2897,1998,3340,0,0,0,0,0,0
$GC,6029,-0.77,-146.0,419.3,-2.9,303,6033,0.00,2.38,0.00,0.000,4,0.000,0.066,2896,418,3339,0,0,0,0,0,0
$GC,6286,-0.77,-146.0,424.4,-1.7,308,6292,0.00,2.33,0.00,0.000,6,0.000,0.052,2885,2005,3339,0,0,0,0,0,0
$GC,6617,-0.77,-146.0,433.0,-3.0,317,6621,0.00,2.38,0.00,0.000,4,0.000,0.058,2872,3591,3338,0,0,0,0,0,0
$GC,6829,-0.77,-146.0,441.3,-4.4,321,6835,0.10,2.30,0.00,0.000,6,0.162,0.041,2906,1996,3337,0,0,0,0,0,0
$GC,7160,-0.77,-146.0,451.1,-2.2,330,7164,0.00,2.35,0.00,0.000,4,0.000,0.056,2890,3593,3336,0,0,0,0,0,0
$GC,7416,-0.77,-146.0,454.9,-2.1,335,7422,0.00,2.33,0.00,0.000,6,0.000,0.041,2890,2000,3335,0,0,0,0,0,0
$GC,7748,-0.77,-146.0,464.2,-3.3,344,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2000,3334,0,0,0,0,0,0
$GC,8072,-0.77,-146.0,472.0,-2.0,352,8077,0.00,2.40,0.00,0.000,4,0.000,0.059,2878,3592,3333,0,0,0,0,0,0
$STATE,8317,end dive,NO_VERTICAL_VELOCITY
$STATE,8317,begin apogee
$GC,8323,-0.23,0.0,473.9,0.0,357,8438,0.55,0.00,111.68,1.025,6,0.126,0.000,3075,2096,2750,0,0,0,0,0,0
$STATE,8441,end apogee,CONTROL_FINISHED_OK
$STATE,8441,begin climb
$GC,8443,0.77,146.0,470.0,0.0,360,8575,0.88,2.58,121.03,0.989,4,0.071,0.060,3407,518,2154,0,0,0,0,0,0
$GC,8585,0.77,146.0,437.2,28.6,363,8589,0.00,2.50,0.00,0.000,6,0.000,0.054,3408,2100,2150,0,0,0,0,0,0
$GC,8933,0.77,146.0,345.6,26.0,372,8938,0.00,2.38,0.00,0.000,4,0.000,0.059,3419,518,2141,0,0,0,0,0,0
$GC,9090,0.77,146.0,307.6,23.3,375,9094,0.00,2.38,0.00,0.000,6,0.000,0.052,3420,2111,2139,0,0,0,0,0,0
$GC,9410,0.77,146.0,234.6,21.6,390,9414,0.00,2.35,0.00,0.000,4,0.000,0.058,3431,519,2136,0,0,0,0,0,0
$GC,9453,0.77,146.0,224.9,21.5,392,9458,0.10,2.38,0.00,0.000,6,0.156,0.052,3399,2104,2136,0,0,0,0,0,0
$GC,9774,0.77,146.0,157.0,19.7,417,9778,0.00,2.38,0.00,0.000,4,0.000,0.058,3398,3693,2135,0,0,0,0,0,0
$GC,9806,0.77,146.0,150.1,21.1,419,9813,0.00,2.38,0.00,0.000,6,0.000,0.051,3409,2112,2133,0,0,0,0,0,0
$GC,10070,0.77,146.0,102.3,16.7,444,10074,0.00,2.35,0.00,0.000,4,0.000,0.058,3421,508,2134,0,0,0,0,0,0
$GC,10090,0.77,146.0,98.4,17.1,445,10096,0.00,2.38,0.00,0.000,6,0.000,0.053,3421,2101,2133,0,0,0,0,0,0
$GC,10351,0.77,146.0,55.9,19.2,470,10355,0.00,2.35,0.00,0.000,4,0.000,0.060,3421,3687,2133,0,0,0,0,0,0
$GC,10424,0.77,146.0,42.4,16.3,476,10429,0.12,2.33,0.00,0.000,6,0.179,0.047,3405,2085,2133,0,0,0,0,0,0
$STATE,10682,end climb,SURFACE_DEPTH_REACHED
$STATE,10682,begin surface coast
$FINISH,0.5,1.010674
$STATE,10700,end surface coast,CONTROL_FINISHED_OK
$STATE,10700,begin surface
$SM_CCo,10719,128.20,0.666,0,0,1036,420.19
$SM_GC,1.12,0.00,0.00,128.20,0.000,0.000,0.666,108,1984,1036,-9.51,-0.48,420.19
$IRIDIUM_FIX,2106.38,12328.58,030512,202043
$TT8_MAMPS,0.058292
$HUMID,1078863861
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8303214592
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59898462208
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,2.088
$10V_AH,10.4,1.843
$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,20.875,103.900,232.700,128.200,0.000,23.506,42.167,491.994,0.000,0.000,14.211,1062.958,7739.905,494.076,2087.841,191.069,33.348,1285.519,0.000,1468.958,0.000,0.544,0.000
$DEVICE_MAMPS,239.304,92.040,1025.479,665.756,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.128,0.000,0.000,0.000,0.000,0.000,0.000,12097.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.413,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,16783,518
$CAP_FILE_SIZE,113030,0
$CFSIZE,260165632,222769152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,081837,2117.268,12334.829,41,1.2,41,-2.8