version: 66.07
glider: 500
mission: 5
dive: 20
start: 11 9 110 19 37 48
data:
$ID,500
$MISSION,5
$DIVE,20
$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,-121715.2
$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,26
$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,19
$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
$GPS1,091110,191358,2116.970,12341.652,9,3.8,28,-2.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.4
$GPS2,091110,193655,2116.937,12341.752,41,1.9,41,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.002
$KALMAN_X,15236.6,-1314.4,395.0,28870.2,672.2
$KALMAN_Y,11257.6,-1015.9,123.4,3103.0,913.6
$MHEAD_RNG_PITCHd_Wd,92.4,31659,-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,-116.8,0.0,0.0,0,140,0.00,0.00,-110.05,0.000,6,0.000,0.000,131,1946,3478,0,0,0,0,0,0
$GC,144,-0.80,-116.8,2.8,-4.9,22,160,9.95,2.38,0.00,0.000,4,0.239,0.052,2724,3546,3480,0,0,0,0,0,0
$GC,413,-0.80,-116.8,89.7,-33.2,54,417,0.00,2.33,0.00,0.000,6,0.000,0.042,2724,1950,3481,0,0,0,0,0,0
$GC,674,-0.80,-116.8,153.3,-21.3,78,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1949,3481,0,0,0,0,0,0
$GC,938,-0.80,-116.8,204.3,-16.9,102,942,0.00,2.35,0.00,0.000,4,0.000,0.054,2713,3547,3482,0,0,0,0,0,0
$GC,1111,-0.80,-116.8,236.0,-18.5,110,1115,0.00,2.28,0.00,0.000,6,0.000,0.040,2713,1943,3483,0,0,0,0,0,0
$GC,1437,-0.80,-116.8,284.5,-14.5,126,1441,0.00,2.30,0.00,0.000,4,0.000,0.051,2712,362,3482,0,0,0,0,0,0
$GC,1508,-0.80,-116.8,296.4,-17.1,129,1513,0.08,2.33,0.00,0.000,6,0.163,0.046,2734,1946,3482,0,0,0,0,0,0
$GC,1825,-0.80,-116.8,337.0,-11.9,138,1829,0.00,2.33,0.00,0.000,4,0.000,0.054,2723,3552,3482,0,0,0,0,0,0
$GC,2082,-0.80,-116.8,365.8,-12.2,143,2088,0.00,2.30,0.00,0.000,6,0.000,0.041,2723,1945,3480,0,0,0,0,0,0
$GC,2413,-0.80,-116.8,395.5,-9.0,152,2417,0.00,2.35,0.00,0.000,4,0.000,0.054,2711,3545,3480,0,0,0,0,0,0
$GC,2670,-0.80,-116.8,417.7,-8.5,157,2675,0.00,2.30,0.00,0.000,6,0.000,0.040,2711,1948,3478,0,0,0,0,0,0
$GC,3001,-0.80,-116.8,445.1,-8.5,165,3003,0.10,0.00,0.00,0.000,6,0.193,0.000,2736,1947,3476,0,0,0,0,0,0
$GC,3326,-0.80,-116.8,471.1,-7.3,173,3330,0.00,2.30,0.00,0.000,4,0.000,0.052,2739,372,3473,0,0,0,0,0,0
$GC,3584,-0.80,-116.8,492.0,-7.0,178,3590,0.00,2.30,0.00,0.000,6,0.000,0.046,2726,1969,3471,0,0,0,0,0,0
$STATE,3710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3710,begin apogee
$GC,3714,-0.23,0.0,501.0,7.0,182,3807,0.62,0.00,89.25,1.038,6,0.156,0.000,2923,2115,3001,0,0,0,0,0,0
$STATE,3809,end apogee,CONTROL_FINISHED_OK
$STATE,3810,begin climb
$GC,3812,0.80,116.8,502.6,0.0,184,3918,0.93,2.53,95.47,1.016,4,0.097,0.058,3250,3664,2523,0,0,0,0,0,0
$GC,4058,0.80,116.8,475.3,12.7,189,4062,0.00,2.33,0.00,0.000,6,0.000,0.043,3261,2093,2515,0,0,0,0,0,0
$GC,4394,0.80,116.8,434.2,12.0,198,4398,0.00,2.33,0.00,0.000,4,0.000,0.055,3274,519,2511,0,0,0,0,0,0
$GC,4505,0.80,116.8,420.5,11.9,200,4509,0.00,2.30,0.00,0.000,6,0.000,0.050,3274,2094,2511,0,0,0,0,0,0
$GC,4846,0.80,116.8,378.9,11.9,209,4850,0.00,2.38,0.00,0.000,4,0.000,0.060,3273,3684,2509,0,0,0,0,0,0
$GC,4997,0.80,116.8,359.0,13.7,212,5001,0.00,2.33,0.00,0.000,6,0.000,0.045,3286,2087,2504,0,0,0,0,0,0
$GC,5339,0.80,116.8,316.0,12.5,221,5344,0.00,2.40,0.00,0.000,4,0.000,0.058,3286,3684,2502,0,0,0,0,0,0
$GC,5400,0.80,116.8,307.7,13.1,222,5405,0.10,2.35,0.00,0.000,6,0.130,0.045,3262,2097,2500,0,0,0,0,0,0
$GC,5731,0.83,139.5,276.3,8.7,236,5752,0.00,2.40,15.80,0.876,4,0.000,0.058,3261,3683,2431,0,0,0,0,0,0
$GC,5779,0.83,139.5,271.5,10.5,238,5784,0.00,2.38,0.00,0.000,6,0.000,0.047,3273,2104,2430,0,0,0,0,0,0
$GC,6106,0.83,139.5,236.2,10.5,254,6110,0.00,2.33,0.00,0.000,4,0.000,0.056,3285,516,2428,0,0,0,0,0,0
$GC,6284,0.83,139.5,217.4,10.4,262,6289,0.00,2.35,0.00,0.000,6,0.000,0.048,3285,2102,2427,0,0,0,0,0,0
$GC,6604,0.88,178.8,190.7,7.8,283,6645,0.00,2.47,31.83,0.835,4,0.000,0.058,3285,3685,2271,0,0,0,0,0,0
$GC,6683,0.88,178.8,182.5,11.0,290,6689,0.00,2.38,0.00,0.000,6,0.000,0.044,3298,2090,2268,0,0,0,0,0,0
$GC,6945,0.89,182.9,155.2,9.8,315,6956,0.00,2.38,4.12,0.552,4,0.000,0.053,3310,478,2253,0,0,0,0,0,0
$GC,7024,0.89,182.9,146.6,11.0,322,7028,0.00,2.38,0.00,0.000,6,0.000,0.048,3310,2105,2254,0,0,0,0,0,0
$GC,7285,0.94,226.8,124.1,7.5,346,7326,0.00,2.40,36.25,0.782,4,0.000,0.051,3323,517,2074,0,0,0,0,0,0
$GC,7384,0.97,250.3,116.4,8.7,355,7409,0.00,2.35,19.92,0.753,6,0.000,0.048,3322,2112,1980,0,0,0,0,0,0
$GC,7665,0.99,267.7,92.2,9.0,381,7686,0.00,2.42,14.52,0.720,4,0.000,0.054,3335,515,1908,0,0,0,0,0,0
$GC,7713,0.99,267.7,87.4,10.2,385,7720,0.00,2.38,0.00,0.000,6,0.000,0.048,3335,2094,1906,0,0,0,0,0,0
$GC,7974,0.99,267.7,57.5,12.4,410,7979,0.00,2.35,0.00,0.000,4,0.000,0.054,3346,508,1905,0,0,0,0,0,0
$GC,8025,0.99,267.7,50.9,12.8,414,8029,0.00,2.33,0.00,0.000,6,0.000,0.048,3346,2107,1905,0,0,0,0,0,0
$GC,8291,0.99,267.7,18.3,10.8,447,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2106,1905,0,0,0,0,0,0
$STATE,8481,end climb,SURFACE_DEPTH_REACHED
$STATE,8481,begin surface coast
$FINISH,0.6,0.998022
$STATE,8502,end surface coast,CONTROL_FINISHED_OK
$STATE,8503,begin surface
$SM_CCo,8530,68.75,0.686,0,0,1287,420.19
$SM_GC,1.36,0.00,0.00,68.75,0.000,0.000,0.686,122,1929,1287,-8.97,-0.59,420.19
$IRIDIUM_FIX,2108.69,12343.33,040512,131353
$TT8_MAMPS,0.058292
$HUMID,1078718055
$INTERNAL_PRESSURE,9.35461
$TCM_TEMP,25.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8303083520
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59808940032
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,2.872
$10V_AH,10.4,2.309
$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,19.650,80.425,307.175,68.750,0.000,115.792,137.395,744.464,0.250,0.000,43.670,919.584,6108.639,473.200,2290.134,194.394,33.342,1149.420,0.000,1202.609,0.000,0.546,0.000
$DEVICE_MAMPS,239.304,82.069,1037.751,685.698,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,323.274,0.000,0.000,0.000,0.000,0.000,0.000,10444.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.465,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,16806,485
$CAP_FILE_SIZE,107174,0
$CFSIZE,260165632,222470144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,220256,2117.402,12343.584,58,1.0,58,-2.8