version: 66.07
glider: 500
mission: 5
dive: 22
start: 11 10 110 1 4 14
data:
$ID,500
$MISSION,5
$DIVE,22
$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,-121764.81
$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,24
$R_STBD_OVSHOOT,21
$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,21
$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
$GPS1,101110,004440,2118.346,12345.479,12,4.2,31,-2.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.0
$GPS2,101110,010322,2118.357,12345.608,11,2.9,30,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.027
$KALMAN_X,17936.7,-1296.6,-330.1,33545.5,2424.9
$KALMAN_Y,11935.1,944.3,-114.1,3322.2,1092.1
$MHEAD_RNG_PITCHd_Wd,86.3,24534,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-76.20,0.000,2,0.000,0.000,120,1949,3370,0,0,0,0,0,0
$GC,109,-0.80,-116.8,3.5,-8.7,15,130,9.95,2.53,-2.22,0.000,4,0.238,0.080,2720,3541,3480,0,0,0,0,0,0
$GC,152,-0.80,-116.8,19.5,-35.1,23,158,0.00,2.38,0.00,0.000,6,0.000,0.054,2721,1943,3481,0,0,0,0,0,0
$GC,356,-0.80,-116.8,86.8,-30.6,45,361,0.00,2.50,0.00,0.000,4,0.000,0.076,2708,3544,3481,0,0,0,0,0,0
$GC,388,-0.80,-116.8,97.6,-33.6,47,395,0.08,2.40,0.00,0.000,6,0.170,0.056,2732,1954,3480,0,0,0,0,0,0
$GC,651,-0.80,-116.8,160.0,-17.8,72,655,0.00,2.38,0.00,0.000,4,0.000,0.062,2733,361,3482,0,0,0,0,0,0
$GC,907,-0.80,-116.8,204.4,-17.3,93,914,0.00,2.40,0.00,0.000,6,0.000,0.057,2719,1951,3483,0,0,0,0,0,0
$GC,1223,-0.80,-116.8,249.4,-14.3,109,1227,0.00,2.40,0.00,0.000,4,0.000,0.059,2709,3552,3484,0,0,0,0,0,0
$GC,1233,-0.80,-116.8,251.2,-14.6,109,1240,0.08,2.38,0.00,0.000,6,0.154,0.050,2738,1954,3484,0,0,0,0,0,0
$GC,1549,-0.80,-116.8,297.0,-13.7,125,1553,0.00,2.35,0.00,0.000,4,0.000,0.059,2723,3545,3484,0,0,0,0,0,0
$GC,1806,-0.80,-116.8,329.0,-12.4,131,1812,0.00,2.35,0.00,0.000,6,0.000,0.043,2723,1939,3484,0,0,0,0,0,0
$GC,2137,-0.80,-116.8,366.2,-10.7,140,2142,0.00,2.40,0.00,0.000,4,0.000,0.058,2711,3551,3483,0,0,0,0,0,0
$GC,2394,-0.80,-116.8,391.1,-10.2,145,2401,0.00,2.35,0.00,0.000,6,0.000,0.041,2711,1940,3483,0,0,0,0,0,0
$GC,2727,-0.80,-116.8,417.2,-7.7,154,2730,0.00,2.42,0.00,0.000,4,0.000,0.058,2699,3558,3481,0,0,0,0,0,0
$GC,2983,-0.80,-116.8,445.5,-11.7,159,2989,0.10,2.35,0.00,0.000,6,0.153,0.043,2732,1947,3479,0,0,0,0,0,0
$GC,3321,-0.80,-116.8,478.5,-9.9,168,3325,0.00,2.35,0.00,0.000,4,0.000,0.059,2732,364,3476,0,0,0,0,0,0
$GC,3369,-0.80,-116.8,483.9,-10.5,169,3374,0.00,2.40,0.00,0.000,6,0.000,0.057,2721,1964,3476,0,0,0,0,0,0
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3570,-0.23,0.0,500.6,8.3,174,3664,0.62,0.00,90.78,1.044,6,0.160,0.000,2916,2118,3003,0,0,0,0,0,0
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3668,0.80,116.8,501.8,0.0,176,3775,0.95,2.55,95.80,1.021,4,0.096,0.061,3251,3672,2522,0,0,0,0,0,0
$GC,3847,0.80,116.8,480.7,13.5,180,3851,0.00,2.40,0.00,0.000,6,0.000,0.048,3262,2102,2516,0,0,0,0,0,0
$GC,4165,0.80,116.8,443.2,11.5,188,4169,0.00,2.38,0.00,0.000,4,0.000,0.060,3274,509,2512,0,0,0,0,0,0
$GC,4282,0.80,116.8,429.5,11.7,190,4286,0.00,2.38,0.00,0.000,6,0.000,0.054,3274,2079,2511,0,0,0,0,0,0
$GC,4617,0.80,116.8,391.6,10.6,199,4621,0.00,2.45,0.00,0.000,4,0.000,0.061,3275,3699,2509,0,0,0,0,0,0
$GC,4643,0.80,116.8,388.7,10.3,199,4647,0.00,2.42,0.00,0.000,6,0.000,0.051,3286,2092,2507,0,0,0,0,0,0
$GC,4980,0.80,116.8,349.9,12.1,208,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2091,2505,0,0,0,0,0,0
$GC,5305,0.80,116.8,313.6,10.4,216,5310,0.00,2.38,0.00,0.000,4,0.000,0.061,3299,503,2504,0,0,0,0,0,0
$GC,5349,0.81,119.2,308.9,9.9,217,5354,0.08,2.40,0.00,0.000,6,0.126,0.056,3260,2101,2504,0,0,0,0,0,0
$GC,5676,0.83,134.4,280.7,9.2,230,5697,0.00,2.45,11.82,0.854,4,0.000,0.058,3270,504,2453,0,0,0,0,0,0
$GC,5730,0.84,144.4,275.5,9.5,232,5745,0.00,2.40,9.70,0.813,6,0.000,0.054,3269,2100,2410,0,0,0,0,0,0
$GC,6072,0.84,144.4,240.9,10.1,249,6076,0.00,2.38,0.00,0.000,4,0.000,0.062,3267,3683,2408,0,0,0,0,0,0
$GC,6127,0.84,144.4,234.8,11.5,251,6133,0.00,2.35,0.00,0.000,6,0.000,0.047,3283,2090,2408,0,0,0,0,0,0
$GC,6442,0.85,153.0,203.5,9.5,267,6456,0.00,2.38,7.78,0.749,4,0.000,0.056,3295,521,2377,0,0,0,0,0,0
$GC,6519,0.85,153.0,195.7,10.4,272,6523,0.00,2.33,0.00,0.000,6,0.000,0.051,3295,2112,2375,0,0,0,0,0,0
$GC,6781,0.85,153.0,167.6,10.6,296,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2112,2375,0,0,0,0,0,0
$GC,7035,0.90,192.0,143.9,7.8,320,7076,0.00,2.47,32.38,0.792,4,0.000,0.057,3309,519,2218,0,0,0,0,0,0
$GC,7200,0.95,236.0,131.8,7.5,335,7241,0.00,2.33,36.08,0.768,6,0.000,0.049,3307,2101,2037,0,0,0,0,0,0
$GC,7495,0.96,247.1,105.5,9.4,363,7509,0.00,2.45,9.23,0.680,4,0.000,0.061,3309,3689,1992,0,0,0,0,0,0
$GC,7531,0.96,247.1,101.7,10.6,366,7537,0.00,2.40,0.00,0.000,6,0.000,0.049,3320,2108,1990,0,0,0,0,0,0
$GC,7794,0.98,261.6,74.6,9.2,391,7815,0.00,2.45,12.90,0.680,4,0.000,0.058,3332,504,1932,0,0,0,0,0,0
$GC,8011,1.07,330.6,58.2,6.1,410,8071,0.00,2.35,54.95,0.705,6,0.000,0.051,3332,2106,1651,0,0,0,0,0,0
$GC,8327,1.07,330.6,33.9,10.4,440,8331,0.00,2.40,0.00,0.000,4,0.000,0.058,3343,507,1644,0,0,0,0,0,0
$GC,8383,1.07,330.6,27.3,12.3,446,8388,0.00,2.38,0.00,0.000,6,0.000,0.052,3348,2102,1643,0,0,0,0,0,0
$STATE,8583,end climb,SURFACE_DEPTH_REACHED
$STATE,8583,begin surface coast
$FINISH,0.6,1.022206
$STATE,8607,end surface coast,CONTROL_FINISHED_OK
$STATE,8607,begin surface
$SM_CCo,8632,41.97,0.667,0,0,1290,420.19
$SM_GC,1.04,0.00,0.00,41.97,0.000,0.000,0.667,130,1932,1290,-8.97,-0.54,420.19
$IRIDIUM_FIX,2108.69,12315.10,040512,191956
$TT8_MAMPS,0.057525
$HUMID,1078746442
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,25.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8315011072
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59762311168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,3.161
$10V_AH,10.4,2.485
$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,19.675,91.600,361.400,41.975,0.000,83.292,110.825,627.956,0.000,0.000,33.685,916.658,6162.941,479.746,2066.498,178.357,33.342,1153.381,0.000,1165.134,0.000,0.543,0.000
$DEVICE_MAMPS,237.770,79.768,1043.887,667.290,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,323.911,0.000,0.000,0.000,0.000,0.000,0.000,10233.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.169,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,16785,486
$CAP_FILE_SIZE,104235,0
$CFSIZE,260165632,222363648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,033007,2119.526,12347.438,29,1.2,30,-2.8