version: 66.07
glider: 500
mission: 5
dive: 17
start: 11 9 110 11 17 17
data:
$ID,500
$MISSION,5
$DIVE,17
$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,-121582.08
$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,44
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3000
$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,16
$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
$GPS1,091110,105825,2117.064,12336.671,10,2.8,30,-2.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.5
$GPS2,091110,111624,2117.054,12336.731,35,1.1,45,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.012
$KALMAN_X,10529.8,2075.1,115.6,21793.8,-588.2
$KALMAN_Y,11115.6,-718.8,-374.4,3664.1,293.7
$MHEAD_RNG_PITCHd_Wd,89.9,39962,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-116.8,0.0,0.0,0,130,0.00,0.00,-101.03,0.000,2,0.000,0.000,128,1930,3443,0,0,0,0,0,0
$GC,134,-0.80,-116.8,3.5,-8.8,20,151,9.90,2.30,-0.70,0.000,4,0.237,0.064,2734,377,3484,0,0,0,0,0,0
$GC,273,-0.80,-116.8,56.6,-39.1,39,279,0.00,2.33,0.00,0.000,6,0.000,0.048,2724,1946,3479,0,0,0,0,0,0
$GC,535,-0.80,-116.8,134.2,-23.2,64,539,0.00,2.38,0.00,0.000,4,0.000,0.058,2711,3543,3480,0,0,0,0,0,0
$GC,792,-0.80,-116.8,190.5,-17.2,86,798,0.00,2.30,0.00,0.000,6,0.000,0.051,2711,1955,3481,0,0,0,0,0,0
$GC,1047,-0.80,-116.8,229.3,-15.2,102,1051,0.00,2.40,0.00,0.000,4,0.000,0.068,2700,3537,3482,0,0,0,0,0,0
$GC,1062,-0.80,-116.8,231.8,-15.6,103,1067,0.15,2.35,0.00,0.000,6,0.173,0.057,2740,1945,3482,0,0,0,0,0,0
$GC,1388,-0.80,-116.8,279.0,-13.9,119,1393,0.00,2.35,0.00,0.000,4,0.000,0.063,2740,364,3481,0,0,0,0,0,0
$GC,1645,-0.80,-116.8,314.5,-13.4,128,1652,0.00,2.38,0.00,0.000,6,0.000,0.059,2734,1936,3482,0,0,0,0,0,0
$GC,1977,-0.80,-116.8,352.6,-11.1,137,1981,0.00,2.42,0.00,0.000,4,0.000,0.064,2714,3546,3481,0,0,0,0,0,0
$GC,2122,-0.80,-116.8,369.0,-10.3,140,2126,0.00,2.33,0.00,0.000,6,0.000,0.050,2717,1944,3481,0,0,0,0,0,0
$GC,2469,-0.80,-116.8,402.3,-10.0,149,2474,0.00,2.33,0.00,0.000,4,0.000,0.061,2717,358,3479,0,0,0,0,0,0
$GC,2609,-0.80,-116.8,421.2,-14.7,152,2614,0.12,2.38,0.00,0.000,6,0.190,0.062,2738,1964,3478,0,0,0,0,0,0
$GC,2928,-0.80,-116.8,448.7,-7.7,160,2932,0.00,2.33,0.00,0.000,4,0.000,0.059,2727,3544,3476,0,0,0,0,0,0
$GC,3185,-0.80,-116.8,466.8,-7.3,165,3191,0.00,2.35,0.00,0.000,6,0.000,0.044,2727,1947,3474,0,0,0,0,0,0
$GC,3517,-0.80,-116.8,490.5,-7.2,174,3521,0.00,2.38,0.00,0.000,4,0.000,0.058,2715,3544,3471,0,0,0,0,0,0
$STATE,3625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3625,begin apogee
$GC,3632,-0.23,0.0,500.1,8.7,176,3728,0.62,0.00,89.25,1.018,6,0.161,0.000,2916,2084,3001,0,0,0,0,0,0
$STATE,3737,end apogee,CONTROL_FINISHED_OK
$STATE,3737,begin climb
$GC,3739,0.80,116.8,501.1,0.0,179,3842,0.98,2.47,94.70,0.999,4,0.113,0.059,3258,513,2527,0,0,0,0,0,0
$GC,3960,0.80,116.8,479.0,11.5,184,3965,0.00,2.40,0.00,0.000,6,0.000,0.053,3258,2105,2518,0,0,0,0,0,0
$GC,4272,0.80,116.8,440.2,12.5,192,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2105,2512,0,0,0,0,0,0
$GC,4597,0.80,116.8,402.2,11.3,200,4601,0.00,2.40,0.00,0.000,4,0.000,0.061,3258,3691,2509,0,0,0,0,0,0
$GC,4635,0.80,116.8,397.4,12.7,200,4641,0.00,2.33,0.00,0.000,6,0.000,0.051,3270,2110,2507,0,0,0,0,0,0
$GC,4965,0.80,116.8,355.9,12.8,209,4970,0.00,2.38,0.00,0.000,4,0.000,0.058,3282,509,2505,0,0,0,0,0,0
$GC,5139,0.80,116.8,334.2,12.7,213,5143,0.00,2.35,0.00,0.000,6,0.000,0.053,3282,2105,2504,0,0,0,0,0,0
$GC,5468,0.80,116.8,295.1,11.5,221,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2105,2501,0,0,0,0,0,0
$GC,5777,0.81,120.6,261.5,9.8,236,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2105,2499,0,0,0,0,0,0
$GC,6087,0.83,139.9,233.0,8.9,251,6108,0.00,2.38,15.57,0.843,4,0.000,0.056,3294,508,2430,0,0,0,0,0,0
$GC,6180,0.83,139.9,223.8,10.0,255,6184,0.00,2.38,0.00,0.000,6,0.000,0.052,3292,2098,2429,0,0,0,0,0,0
$GC,6499,0.83,139.9,187.9,10.9,275,6503,0.00,2.40,0.00,0.000,4,0.000,0.062,3294,3687,2426,0,0,0,0,0,0
$GC,6621,0.83,139.9,173.9,11.4,285,6628,0.12,2.33,0.00,0.000,6,0.149,0.046,3273,2090,2425,0,0,0,0,0,0
$GC,6883,0.90,190.7,155.0,7.1,310,6930,0.00,2.45,41.00,0.792,4,0.000,0.059,3268,3680,2222,0,0,0,0,0,0
$GC,6952,0.92,214.7,149.7,8.6,316,6978,0.00,2.35,20.42,0.755,6,0.000,0.048,3279,2106,2125,0,0,0,0,0,0
$GC,7232,0.96,244.8,127.7,8.3,342,7263,0.00,2.45,24.33,0.749,4,0.000,0.059,3291,504,2002,0,0,0,0,0,0
$GC,7403,0.99,264.6,111.9,8.9,357,7425,0.00,2.40,16.38,0.710,6,0.000,0.050,3291,2095,1923,0,0,0,0,0,0
$GC,7679,1.07,332.6,90.2,6.1,383,7740,0.12,0.00,53.65,0.717,6,0.087,0.000,3378,2096,1644,0,0,0,0,0,0
$GC,7994,1.07,332.6,55.0,10.5,413,7998,0.12,2.40,0.00,0.000,4,0.138,0.060,3350,513,1637,0,0,0,0,0,0
$GC,8043,1.07,332.6,49.9,10.1,417,8048,0.00,2.35,0.00,0.000,6,0.000,0.052,3350,2105,1636,0,0,0,0,0,0
$GC,8308,1.07,332.6,16.1,13.3,450,8314,0.00,2.35,0.00,0.000,4,0.000,0.059,3362,515,1639,0,0,0,0,0,0
$GC,8381,1.07,332.6,6.7,13.3,463,8386,0.00,2.33,0.00,0.000,6,0.000,0.051,3362,2103,1637,0,0,0,0,0,0
$STATE,8413,end climb,SURFACE_DEPTH_REACHED
$STATE,8413,begin surface coast
$FINISH,0.6,1.000658
$STATE,8436,end surface coast,CONTROL_FINISHED_OK
$STATE,8436,begin surface
$SM_CCo,8455,41.67,0.645,0,0,1287,420.19
$SM_GC,1.19,0.00,0.00,41.67,0.000,0.000,0.645,109,1933,1287,-9.04,-0.48,420.19
$IRIDIUM_FIX,2111.01,12338.20,040512,050512
$TT8_MAMPS,0.058292
$HUMID,1078794184
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,25.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8319074304
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59846950912
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,2.383
$10V_AH,10.4,2.026
$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,20.075,80.525,355.300,41.675,0.000,74.289,112.141,570.828,0.000,0.000,47.544,886.384,6031.484,477.962,2015.967,169.888,33.359,1139.731,0.000,1156.548,0.000,0.545,0.000
$DEVICE_MAMPS,237.003,68.263,1017.809,645.047,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,314.770,0.000,0.000,0.000,0.000,0.000,0.000,10020.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.662,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,16831,473
$CAP_FILE_SIZE,100302,0
$CFSIZE,260165632,222658560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,133956,2116.956,12338.198,13,1.7,13,-2.8