version: 66.07
glider: 500
mission: 5
dive: 18
start: 11 9 110 14 2 0
data:
$ID,500
$MISSION,5
$DIVE,18
$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,-121628.62
$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,45
$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,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,17
$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
$GPS1,091110,133956,2116.956,12338.198,13,1.7,13,-2.8
$_CALLS,3
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.6
$GPS2,091110,140107,2116.949,12338.337,44,2.0,44,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.035
$KALMAN_X,12059.5,1191.7,-167.7,24198.3,-222.2
$KALMAN_Y,11402.1,-1371.5,-280.8,3740.6,887.7
$MHEAD_RNG_PITCHd_Wd,101.3,37320,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.80,-116.8,0.0,0.0,0,108,0.00,0.00,-79.93,0.000,6,0.000,0.000,108,1932,3478,0,0,0,0,0,0
$GC,111,-0.80,-116.8,3.5,-7.9,16,127,10.00,2.33,0.00,0.000,4,0.237,0.053,2741,368,3480,0,0,0,0,0,0
$GC,279,-0.80,-116.8,58.3,-31.6,39,283,0.00,2.35,0.00,0.000,6,0.000,0.055,2731,1952,3482,0,0,0,0,0,0
$GC,540,-0.80,-116.8,128.0,-19.2,63,543,0.00,2.42,0.00,0.000,4,0.000,0.065,2718,3542,3483,0,0,0,0,0,0
$GC,589,-0.80,-116.8,138.6,-21.8,67,595,0.00,2.38,0.00,0.000,6,0.000,0.054,2718,1958,3483,0,0,0,0,0,0
$GC,850,-0.80,-116.8,184.6,-13.6,92,854,0.00,2.45,0.00,0.000,4,0.000,0.077,2706,3538,3487,0,0,0,0,0,0
$GC,1106,-0.80,-116.8,227.2,-17.6,107,1113,0.08,2.38,0.00,0.000,6,0.150,0.054,2732,1952,3485,0,0,0,0,0,0
$GC,1422,-0.80,-116.8,271.2,-13.4,123,1426,0.00,2.35,0.00,0.000,4,0.000,0.061,2732,366,3485,0,0,0,0,0,0
$GC,1678,-0.80,-116.8,307.0,-13.5,133,1685,0.00,2.38,0.00,0.000,6,0.000,0.057,2721,1945,3485,0,0,0,0,0,0
$GC,2010,-0.80,-116.8,351.9,-13.3,142,2014,0.00,2.40,0.00,0.000,4,0.000,0.064,2714,3550,3484,0,0,0,0,0,0
$GC,2121,-0.80,-116.8,366.6,-12.1,144,2126,0.08,2.38,0.00,0.000,6,0.150,0.051,2732,1950,3484,0,0,0,0,0,0
$GC,2464,-0.80,-116.8,399.3,-9.1,153,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1949,3483,0,0,0,0,0,0
$GC,2788,-0.80,-116.8,428.1,-8.2,161,2792,0.00,2.35,0.00,0.000,4,0.000,0.062,2734,367,3482,0,0,0,0,0,0
$GC,2995,-0.80,-116.8,449.6,-10.2,165,2999,0.00,2.40,0.00,0.000,6,0.000,0.059,2724,1957,3480,0,0,0,0,0,0
$GC,3332,-0.80,-116.8,478.4,-8.5,174,3336,0.00,2.38,0.00,0.000,4,0.000,0.062,2711,3549,3479,0,0,0,0,0,0
$GC,3500,-0.80,-116.8,494.4,-8.0,177,3507,0.00,2.35,0.00,0.000,6,0.000,0.044,2711,1951,3476,0,0,0,0,0,0
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3626,begin apogee
$GC,3631,-0.23,0.0,502.2,6.0,181,3725,0.65,0.00,90.65,1.022,6,0.162,0.000,2917,2126,3000,0,0,0,0,0,0
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3735,0.80,116.8,504.2,0.0,183,3841,0.95,2.47,95.03,1.002,4,0.097,0.061,3252,3673,2522,0,0,0,0,0,0
$GC,3885,0.80,116.8,489.8,12.7,186,3890,0.00,2.50,0.00,0.000,6,0.000,0.061,3262,2103,2518,0,0,0,0,0,0
$GC,4228,0.80,116.8,452.0,11.1,195,4232,0.00,2.42,0.00,0.000,4,0.000,0.068,3276,512,2513,0,0,0,0,0,0
$GC,4271,0.80,116.8,446.8,11.7,196,4275,0.00,2.38,0.00,0.000,6,0.000,0.061,3276,2098,2513,0,0,0,0,0,0
$GC,4595,0.80,116.8,411.1,11.1,204,4599,0.00,2.42,0.00,0.000,4,0.000,0.067,3288,504,2511,0,0,0,0,0,0
$GC,4678,0.80,116.8,400.9,12.2,206,4682,0.00,2.42,0.00,0.000,6,0.000,0.063,3292,2100,2511,0,0,0,0,0,0
$GC,5001,0.80,116.8,355.2,14.2,214,5005,0.00,2.42,0.00,0.000,4,0.000,0.066,3288,3698,2510,0,0,0,0,0,0
$GC,5044,0.80,116.8,348.7,14.5,215,5049,0.10,2.42,0.00,0.000,6,0.135,0.055,3263,2097,2509,0,0,0,0,0,0
$GC,5368,0.83,136.4,317.5,8.9,223,5388,0.00,2.47,15.05,0.877,4,0.000,0.064,3263,3701,2443,0,0,0,0,0,0
$GC,5421,0.83,136.4,311.8,11.8,224,5425,0.00,2.40,0.00,0.000,6,0.000,0.054,3274,2100,2439,0,0,0,0,0,0
$GC,5751,0.83,136.4,271.4,13.2,238,5756,0.00,2.40,0.00,0.000,4,0.000,0.062,3287,511,2439,0,0,0,0,0,0
$GC,5914,0.83,136.4,251.4,11.4,245,5919,0.00,2.35,0.00,0.000,6,0.000,0.054,3288,2105,2442,0,0,0,0,0,0
$GC,6229,0.83,136.4,215.7,10.9,260,6233,0.00,2.38,0.00,0.000,4,0.000,0.065,3299,512,2437,0,0,0,0,0,0
$GC,6335,0.83,136.4,203.9,11.3,265,6340,0.12,2.38,0.00,0.000,6,0.147,0.058,3260,2105,2437,0,0,0,0,0,0
$GC,6658,0.89,183.2,176.6,7.3,293,6702,0.00,2.50,36.78,0.802,4,0.000,0.061,3260,3694,2254,0,0,0,0,0,0
$GC,6809,0.91,205.3,164.2,8.8,307,6834,0.00,2.40,18.67,0.765,6,0.000,0.049,3271,2093,2165,0,0,0,0,0,0
$GC,7095,0.93,218.6,140.6,9.3,334,7115,0.00,2.40,11.85,0.728,4,0.000,0.059,3283,511,2110,0,0,0,0,0,0
$GC,7176,0.94,231.2,133.1,9.3,341,7193,0.00,2.40,11.12,0.705,6,0.000,0.054,3284,2097,2058,0,0,0,0,0,0
$GC,7447,0.98,260.7,109.7,8.3,367,7478,0.00,0.00,24.80,0.729,6,0.000,0.000,3283,2097,1937,0,0,0,0,0,0
$GC,7733,1.05,319.0,90.7,6.7,394,7784,0.15,0.00,46.65,0.716,6,0.079,0.000,3378,2097,1699,0,0,0,0,0,0
$GC,8038,1.05,319.0,45.3,14.3,423,8043,0.12,2.40,0.00,0.000,4,0.134,0.065,3350,513,1691,0,0,0,0,0,0
$GC,8093,1.13,379.7,40.8,6.5,427,8145,0.00,2.38,46.92,0.680,6,0.000,0.052,3350,2092,1454,0,0,0,0,0,0
$GC,8408,1.13,379.7,5.0,15.0,471,8414,0.00,2.38,0.00,0.000,4,0.000,0.060,3362,516,1453,0,0,0,0,0,0
$STATE,8424,end climb,SURFACE_DEPTH_REACHED
$STATE,8424,begin surface coast
$FINISH,0.7,1.022207
$STATE,8448,end surface coast,CONTROL_FINISHED_OK
$STATE,8448,begin surface
$SM_CCo,8468,20.55,0.631,0,0,1286,420.19
$SM_GC,1.19,0.00,0.00,20.55,0.000,0.000,0.631,119,1964,1286,-9.01,0.40,420.19
$IRIDIUM_FIX,2108.69,12336.91,040512,080820
$TT8_MAMPS,0.058292
$HUMID,1078782571
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,25.60
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8326447104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59837120512
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,2.538
$10V_AH,10.5,2.095
$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,20.175,86.425,397.525,20.550,0.000,87.931,118.545,743.505,0.000,0.000,45.916,899.322,6010.253,483.860,2189.483,184.935,33.339,1147.562,0.000,1151.361,0.000,0.545,0.000
$DEVICE_MAMPS,237.003,76.700,1021.644,631.241,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,318.564,0.000,0.000,0.000,0.000,0.000,0.000,10184.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.520,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,16776,478
$CAP_FILE_SIZE,104638,0
$CFSIZE,260165632,222593024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,162446,2116.903,12339.860,9,2.1,28,-2.8