version: 66.07
glider: 500
mission: 5
dive: 16
start: 11 9 110 8 38 33
data:
$ID,500
$MISSION,5
$DIVE,16
$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,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,-121533.91
$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,3000
$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,1950
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2770
$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,15
$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
$GPS1,091110,081837,2117.268,12334.829,41,1.2,41,-2.8
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.2
$GPS2,091110,083739,2117.270,12335.007,13,1.1,13,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.075
$KALMAN_X,9584.8,1966.0,439.7,19547.3,190.9
$KALMAN_Y,10762.9,360.4,-7.6,2961.4,-249.0
$MHEAD_RNG_PITCHd_Wd,74.1,42779,-19.8,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.80,-116.8,0.0,0.0,0,115,0.00,0.00,-81.70,0.000,6,0.000,0.000,108,1983,3245,0,0,0,0,0,0
$GC,118,-0.80,-116.8,2.8,-5.8,17,134,10.05,2.33,0.00,0.000,4,0.239,0.047,2721,3548,3247,0,0,0,0,0,0
$GC,386,-0.80,-116.8,79.0,-32.0,51,390,0.00,2.30,0.00,0.000,6,0.000,0.042,2721,1951,3250,0,0,0,0,0,0
$GC,647,-0.80,-116.8,133.0,-16.0,75,651,0.00,2.38,0.00,0.000,4,0.000,0.055,2709,3554,3251,0,0,0,0,0,0
$GC,903,-0.80,-116.8,172.1,-11.3,97,910,0.08,2.35,0.00,0.000,6,0.170,0.041,2733,1943,3252,0,0,0,0,0,0
$GC,1166,-0.80,-116.8,192.0,-6.9,122,1170,0.00,2.33,0.00,0.000,4,0.000,0.053,2721,3545,3253,0,0,0,0,0,0
$GC,1333,-0.80,-116.8,205.3,-8.0,133,1339,0.00,2.33,0.00,0.000,6,0.000,0.040,2721,1944,3252,0,0,0,0,0,0
$GC,1649,-0.80,-116.8,229.7,-6.7,149,1653,0.00,2.28,0.00,0.000,4,0.000,0.051,2725,372,3254,0,0,0,0,0,0
$GC,1907,-0.80,-116.8,245.9,-5.0,160,1912,0.00,2.30,0.00,0.000,6,0.000,0.046,2709,1960,3254,0,0,0,0,0,0
$GC,2221,-0.80,-116.8,257.5,-3.7,176,2226,0.12,2.35,0.00,0.000,4,0.202,0.052,2741,363,3253,0,0,0,0,0,0
$GC,2479,-0.80,-116.8,266.2,-4.8,187,2485,0.00,2.30,0.00,0.000,6,0.000,0.045,2730,1957,3251,0,0,0,0,0,0
$GC,2794,-0.80,-116.8,279.8,-2.8,203,2798,0.00,2.30,0.00,0.000,4,0.000,0.051,2730,372,3251,0,0,0,0,0,0
$GC,2951,-0.80,-116.8,282.4,-1.6,210,2955,0.00,2.30,0.00,0.000,6,0.000,0.047,2719,1962,3250,0,0,0,0,0,0
$GC,3271,-0.80,-116.8,292.7,-3.7,226,3275,0.00,2.33,0.00,0.000,4,0.000,0.055,2706,3535,3249,0,0,0,0,0,0
$GC,3527,-0.80,-116.8,304.7,-4.3,235,3534,0.12,2.30,0.00,0.000,6,0.186,0.042,2738,1949,3248,0,0,0,0,0,0
$GC,3859,-0.80,-116.8,312.3,-2.5,244,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1950,3247,0,0,0,0,0,0
$GC,4184,-0.80,-116.8,321.0,-2.1,252,4188,0.00,2.33,0.00,0.000,4,0.000,0.052,2738,365,3248,0,0,0,0,0,0
$GC,4324,-0.80,-116.8,323.5,-1.3,255,4328,0.00,2.28,0.00,0.000,6,0.000,0.048,2730,1948,3244,0,0,0,0,0,0
$GC,4648,-0.80,-116.8,327.1,-0.9,263,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1948,3243,0,0,0,0,0,0
$STATE,4768,end dive,NO_VERTICAL_VELOCITY
$STATE,4768,begin apogee
$GC,4773,-0.23,0.0,327.8,0.0,266,4864,0.62,0.00,87.97,0.887,6,0.166,0.000,2920,2124,2770,0,0,0,0,0,0
$STATE,4886,end apogee,CONTROL_FINISHED_OK
$STATE,4886,begin climb
$GC,4888,0.80,116.8,325.8,0.0,268,4992,0.93,2.42,94.90,0.867,4,0.094,0.056,3252,3665,2292,0,0,0,0,0,0
$GC,5025,0.83,134.0,314.1,9.0,272,5045,0.00,2.40,14.82,0.794,6,0.000,0.046,3264,2111,2223,0,0,0,0,0,0
$GC,5366,0.85,151.0,283.0,9.1,285,5387,0.00,2.45,13.80,0.785,4,0.000,0.055,3276,509,2153,0,0,0,0,0,0
$GC,5522,0.86,160.6,268.9,9.5,292,5536,0.00,2.35,8.73,0.725,6,0.000,0.049,3276,2092,2116,0,0,0,0,0,0
$GC,5852,0.86,160.6,233.5,10.7,308,5856,0.00,2.33,0.00,0.000,4,0.000,0.056,3288,511,2111,0,0,0,0,0,0
$GC,5900,0.86,160.6,228.1,10.8,310,5905,0.00,2.38,0.00,0.000,6,0.000,0.050,3289,2097,2110,0,0,0,0,0,0
$GC,6223,0.86,160.6,194.4,10.9,328,6227,0.00,2.33,0.00,0.000,4,0.000,0.056,3300,510,2109,0,0,0,0,0,0
$GC,6300,0.86,160.6,185.9,10.7,334,6306,0.00,2.35,0.00,0.000,6,0.000,0.051,3301,2109,2106,0,0,0,0,0,0
$GC,6561,0.86,166.1,158.3,9.7,359,6573,0.00,2.38,4.62,0.560,4,0.000,0.060,3301,3683,2092,0,0,0,0,0,0
$GC,6608,0.86,166.1,153.3,10.8,363,6613,0.12,2.33,0.00,0.000,6,0.140,0.046,3273,2088,2091,0,0,0,0,0,0
$GC,6869,0.92,210.9,132.2,7.4,387,6913,0.00,2.42,36.72,0.746,4,0.000,0.055,3284,506,1910,0,0,0,0,0,0
$GC,7031,0.99,263.9,120.6,7.0,402,7082,0.00,2.35,42.08,0.729,6,0.000,0.048,3281,2098,1691,0,0,0,0,0,0
$GC,7337,1.06,326.0,100.0,6.4,431,7393,0.15,2.45,49.20,0.710,4,0.081,0.057,3390,513,1439,0,0,0,0,0,0
$GC,7415,1.06,326.0,88.9,16.8,438,7420,0.17,2.40,0.00,0.000,6,0.124,0.049,3335,2099,1437,0,0,0,0,0,0
$GC,7675,1.11,363.1,64.4,7.9,462,7710,0.00,2.42,29.05,0.668,4,0.000,0.056,3344,511,1288,0,0,0,0,0,0
$GC,7755,1.13,385.4,56.6,8.7,469,7781,0.00,2.40,18.88,0.645,6,0.000,0.049,3347,2097,1197,0,0,0,0,0,0
$GC,8036,1.13,385.4,27.7,10.9,497,8042,0.00,2.38,0.00,0.000,4,0.000,0.056,3358,508,1193,0,0,0,0,0,0
$GC,8120,1.34,554.3,22.8,0.3,512,8230,0.20,2.35,100.88,0.652,2,0.064,0.046,3468,2114,657,0,0,0,0,0,0
$STATE,8231,end climb,SURFACE_DEPTH_REACHED
$STATE,8231,begin surface coast
$FINISH,0.5,1.022263
$STATE,8235,end surface coast,CONTROL_FINISHED_OK
$STATE,8235,begin surface
$SM_CCo,8313,0.00,0.000,0,0,652,519.29
$SM_GC,1.24,8.45,0.00,0.00,0.035,0.000,0.000,144,1933,652,-8.85,-0.48,519.29
$IRIDIUM_FIX,2108.69,12333.71,040512,020220
$TT8_MAMPS,0.057525
$HUMID,1078716764
$INTERNAL_PRESSURE,9.31555
$TCM_TEMP,25.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8303214592
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59872706560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,2.243
$10V_AH,10.4,1.947
$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,21.025,80.400,501.650,0.000,0.000,82.102,108.829,647.419,0.000,0.000,15.612,946.981,5635.050,530.116,2154.324,194.751,33.347,1249.309,0.000,1235.335,0.000,0.543,0.000
$DEVICE_MAMPS,239.304,70.564,887.419,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.073,0.000,0.000,0.000,0.000,0.000,0.000,9933.330,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.973,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,16759,534
$CAP_FILE_SIZE,106232,0
$CFSIZE,260165632,222707712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,105825,2117.064,12336.671,10,2.8,30,-2.8