version: 66.07
glider: 500
mission: 5
dive: 21
start: 11 9 110 22 18 8
data:
$ID,500
$MISSION,5
$DIVE,21
$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,-121730.5
$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,49
$R_STBD_OVSHOOT,31
$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,20
$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
$GPS1,091110,220256,2117.402,12343.584,58,1.0,58,-2.8
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.3
$GPS2,091110,221714,2117.435,12343.679,12,1.6,12,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.021
$KALMAN_X,16860.1,-1718.6,163.3,31210.5,1566.4
$KALMAN_Y,11395.8,8.8,-141.3,3121.1,1016.9
$MHEAD_RNG_PITCHd_Wd,87.8,28212,-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,-116.8,0.0,0.0,0,109,0.00,0.00,-80.57,0.000,6,0.000,0.000,123,1928,3480,0,0,0,0,0,0
$GC,112,-0.80,-116.8,3.4,-7.3,16,128,10.00,2.30,0.00,0.000,4,0.239,0.051,2735,377,3478,0,0,0,0,0,0
$GC,156,-0.80,-116.8,20.5,-37.0,24,162,0.00,2.30,0.00,0.000,6,0.000,0.048,2725,1948,3479,0,0,0,0,0,0
$GC,360,-0.80,-116.8,82.1,-31.1,46,364,0.00,2.38,0.00,0.000,4,0.000,0.060,2713,3536,3479,0,0,0,0,0,0
$GC,392,-0.80,-116.8,93.9,-36.1,48,399,0.00,2.38,0.00,0.000,6,0.000,0.054,2710,1960,3481,0,0,0,0,0,0
$GC,654,-0.80,-116.8,161.5,-21.0,73,658,0.00,2.38,0.00,0.000,4,0.000,0.061,2713,366,3483,0,0,0,0,0,0
$GC,810,-0.80,-116.8,192.7,-19.5,86,816,0.15,2.33,0.00,0.000,6,0.190,0.054,2740,1949,3482,0,0,0,0,0,0
$GC,1065,-0.80,-116.8,231.2,-13.7,101,1069,0.00,2.40,0.00,0.000,4,0.000,0.064,2729,3550,3484,0,0,0,0,0,0
$GC,1119,-0.80,-116.8,238.3,-13.2,103,1125,0.00,2.38,0.00,0.000,6,0.000,0.052,2729,1958,3484,0,0,0,0,0,0
$GC,1434,-0.80,-116.8,279.8,-13.3,119,1439,0.00,2.38,0.00,0.000,4,0.000,0.061,2717,3544,3488,0,0,0,0,0,0
$GC,1456,-0.80,-116.8,282.7,-13.1,120,1460,0.00,2.33,0.00,0.000,6,0.000,0.047,2716,1942,3485,0,0,0,0,0,0
$GC,1799,-0.80,-116.8,326.5,-12.2,132,1804,0.00,2.40,0.00,0.000,4,0.000,0.059,2703,3552,3485,0,0,0,0,0,0
$GC,2057,-0.80,-116.8,358.2,-10.4,137,2064,0.12,2.35,0.00,0.000,6,0.176,0.044,2738,1933,3484,0,0,0,0,0,0
$GC,2388,-0.80,-116.8,387.3,-8.6,146,2392,0.00,2.40,0.00,0.000,4,0.000,0.058,2727,3547,3483,0,0,0,0,0,0
$GC,2645,-0.80,-116.8,408.8,-8.4,151,2649,0.00,2.35,0.00,0.000,6,0.000,0.043,2727,1948,3481,0,0,0,0,0,0
$GC,2982,-0.80,-116.8,438.6,-8.6,160,2986,0.00,2.33,0.00,0.000,4,0.000,0.059,2727,365,3481,0,0,0,0,0,0
$GC,3155,-0.80,-116.8,453.8,-9.0,164,3160,0.00,2.38,0.00,0.000,6,0.000,0.057,2718,1967,3479,0,0,0,0,0,0
$GC,3479,-0.80,-116.8,480.3,-8.1,172,3483,0.00,2.38,0.00,0.000,4,0.000,0.058,2715,364,3476,0,0,0,0,0,0
$GC,3641,-0.80,-116.8,494.7,-9.5,175,3646,0.12,2.35,0.00,0.000,6,0.190,0.058,2736,1959,3476,0,0,0,0,0,0
$STATE,3727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3727,begin apogee
$GC,3732,-0.23,0.0,501.5,7.9,177,3826,0.57,0.00,90.82,1.058,6,0.154,0.000,2919,2109,3000,0,0,0,0,0,0
$STATE,3828,end apogee,CONTROL_FINISHED_OK
$STATE,3828,begin climb
$GC,3831,0.80,116.8,503.2,0.0,179,3937,0.95,2.58,95.62,1.030,4,0.094,0.062,3256,3671,2522,0,0,0,0,0,0
$GC,3964,0.80,116.8,490.6,12.4,182,3968,0.00,2.45,0.00,0.000,6,0.000,0.051,3268,2111,2518,0,0,0,0,0,0
$GC,4283,0.80,116.8,453.6,11.7,190,4287,0.00,2.42,0.00,0.000,4,0.000,0.060,3281,501,2512,0,0,0,0,0,0
$GC,4411,0.80,116.8,438.1,11.7,193,4415,0.00,2.35,0.00,0.000,6,0.000,0.054,3280,2093,2512,0,0,0,0,0,0
$GC,4734,0.80,116.8,396.9,13.0,201,4739,0.00,2.35,0.00,0.000,4,0.000,0.059,3292,508,2510,0,0,0,0,0,0
$GC,4790,0.80,116.8,389.4,13.0,202,4794,0.12,2.35,0.00,0.000,6,0.152,0.054,3253,2100,2510,0,0,0,0,0,0
$GC,5102,0.81,121.9,358.2,9.7,210,5106,0.00,2.40,0.00,0.000,4,0.000,0.062,3254,3686,2506,0,0,0,0,0,0
$GC,5196,0.81,121.9,347.6,11.2,212,5200,0.00,2.33,0.00,0.000,6,0.000,0.048,3266,2091,2505,0,0,0,0,0,0
$GC,5514,0.81,121.9,313.1,11.0,220,5518,0.00,2.33,0.00,0.000,4,0.000,0.058,3278,519,2504,0,0,0,0,0,0
$GC,5546,0.81,121.9,309.3,11.6,220,5552,0.00,2.35,0.00,0.000,6,0.000,0.054,3278,2093,2504,0,0,0,0,0,0
$GC,5862,0.81,121.9,274.3,10.8,234,5866,0.00,2.33,0.00,0.000,4,0.000,0.058,3289,514,2503,0,0,0,0,0,0
$GC,5888,0.81,121.9,271.2,11.0,235,5893,0.08,2.38,0.00,0.000,6,0.127,0.054,3259,2098,2503,0,0,0,0,0,0
$GC,6208,0.85,152.7,243.3,8.3,251,6237,0.00,0.00,26.73,0.883,6,0.000,0.000,3260,2098,2377,0,0,0,0,0,0
$GC,6538,0.87,172.4,214.4,8.9,267,6558,0.00,0.00,16.55,0.840,6,0.000,0.000,3260,2098,2296,0,0,0,0,0,0
$GC,6872,0.92,209.5,187.5,7.9,290,6906,0.10,0.00,31.42,0.831,6,0.100,0.000,3325,2098,2145,0,0,0,0,0,0
$GC,7156,0.92,209.5,152.0,11.4,317,7160,0.00,2.40,0.00,0.000,4,0.000,0.058,3337,519,2141,0,0,0,0,0,0
$GC,7229,0.92,209.5,144.2,10.8,323,7234,0.15,2.35,0.00,0.000,6,0.133,0.052,3290,2110,2138,0,0,0,0,0,0
$GC,7490,0.99,267.9,125.1,6.7,347,7542,0.00,2.45,46.35,0.788,4,0.000,0.057,3301,511,1909,0,0,0,0,0,0
$GC,7594,1.05,317.3,118.1,7.2,356,7640,0.00,2.38,40.17,0.769,6,0.000,0.051,3301,2104,1708,0,0,0,0,0,0
$GC,7894,1.09,346.2,95.0,8.4,385,7926,0.12,2.47,23.17,0.730,4,0.087,0.058,3400,516,1588,0,0,0,0,0,0
$GC,8016,1.09,346.2,78.0,14.5,396,8021,0.17,2.35,0.00,0.000,6,0.131,0.051,3345,2098,1585,0,0,0,0,0,0
$GC,8276,1.09,346.2,45.2,11.6,420,8280,0.00,2.38,0.00,0.000,4,0.000,0.061,3355,520,1584,0,0,0,0,0,0
$GC,8343,1.12,377.0,38.4,8.3,425,8373,0.00,2.33,25.27,0.680,6,0.000,0.052,3355,2094,1460,0,0,0,0,0,0
$STATE,8633,end climb,SURFACE_DEPTH_REACHED
$STATE,8633,begin surface coast
$FINISH,0.5,1.022218
$STATE,8664,end surface coast,CONTROL_FINISHED_OK
$STATE,8665,begin surface
$SM_CCo,8688,22.65,0.653,0,0,1286,420.19
$SM_GC,1.27,0.00,0.00,22.65,0.000,0.000,0.653,120,1949,1286,-9.00,-0.03,420.19
$IRIDIUM_FIX,2111.01,12343.33,040512,161648
$TT8_MAMPS,0.057525
$HUMID,1078781281
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,25.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8307933184
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59783184384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,3.015
$10V_AH,10.4,2.400
$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,20.525,90.575,396.125,22.650,0.000,59.335,67.214,525.625,0.000,0.000,14.669,910.778,6165.547,490.756,1844.020,166.947,33.346,1148.668,0.000,1140.308,0.000,0.544,0.000
$DEVICE_MAMPS,238.537,83.603,1057.693,652.717,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,317.319,0.000,0.000,0.000,0.000,0.000,0.000,10026.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.659,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,16786,476
$CAP_FILE_SIZE,101152,0
$CFSIZE,260165632,222425088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,004440,2118.346,12345.479,12,4.2,31,-2.8