version: 66.07
glider: 500
mission: 5
dive: 36
start: 11 13 110 13 46 32
data:
$ID,500
$MISSION,5
$DIVE,36
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$T_MISSION,630
$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,450
$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,-122044.77
$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,2851
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$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,35
$AR_SAMPLENUM,2
$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
$GPS1,131110,132608,2113.471,12422.431,35,1.4,35,-2.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.4
$GPS2,131110,134538,2113.347,12422.480,13,2.0,13,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.211
$KALMAN_X,29766.6,1019.7,465.4,82281.7,-1177.1
$KALMAN_Y,12546.5,604.5,343.8,-6688.0,-4850.7
$MHEAD_RNG_PITCHd_Wd,24.4,267303,-18.0,-9.016
$D_GRID,990
$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,-0.74,-116.8,0.0,0.0,0,134,0.00,0.00,-104.18,0.000,6,0.000,0.000,127,2087,3300,0,0,0,0,0,0
$GC,138,-0.74,-116.8,2.4,-2.6,21,154,9.40,2.65,0.00,0.000,4,0.233,0.063,2598,3794,3302,0,0,0,0,0,0
$GC,328,-0.74,-116.8,65.5,-35.5,46,332,0.00,2.38,0.00,0.000,6,0.000,0.047,2593,2194,3301,0,0,0,0,0,0
$GC,589,-0.74,-116.8,142.4,-24.1,70,593,0.00,2.33,0.00,0.000,4,0.000,0.053,2593,612,3303,0,0,0,0,0,0
$GC,672,-0.74,-116.8,159.7,-19.3,77,677,0.12,2.38,0.00,0.000,6,0.209,0.054,2610,2204,3302,0,0,0,0,0,0
$GC,934,-0.74,-116.8,199.5,-13.4,101,938,0.00,2.35,0.00,0.000,4,0.000,0.053,2610,605,3303,0,0,0,0,0,0
$GC,966,-0.74,-116.8,204.4,-14.6,102,972,0.00,2.40,0.00,0.000,6,0.000,0.057,2600,2197,3302,0,0,0,0,0,0
$GC,1281,-0.74,-116.8,242.7,-10.1,118,1285,0.00,2.45,0.00,0.000,4,0.000,0.071,2585,3799,3303,0,0,0,0,0,0
$GC,1538,-0.74,-116.8,267.1,-8.3,129,1544,0.00,2.38,0.00,0.000,6,0.000,0.047,2585,2182,3303,0,0,0,0,0,0
$GC,1854,-0.74,-116.8,289.9,-7.1,145,1858,0.00,2.50,0.00,0.000,4,0.000,0.071,2575,3795,3302,0,0,0,0,0,0
$GC,2020,-0.74,-116.8,305.1,-11.4,151,2027,0.10,2.38,0.00,0.000,6,0.179,0.048,2605,2196,3301,0,0,0,0,0,0
$GC,2352,-0.74,-116.8,329.0,-6.9,160,2356,0.00,2.30,0.00,0.000,4,0.000,0.056,2605,613,3304,0,0,0,0,0,0
$GC,2609,-0.74,-116.8,343.8,-5.6,165,2615,0.00,2.38,0.00,0.000,6,0.000,0.056,2595,2213,3299,0,0,0,0,0,0
$GC,2940,-0.74,-116.8,359.4,-4.5,174,2945,0.00,2.33,0.00,0.000,4,0.000,0.052,2582,3797,3297,0,0,0,0,0,0
$GC,3198,-0.74,-116.8,372.8,-4.8,179,3204,0.00,2.35,0.00,0.000,6,0.000,0.040,2582,2168,3296,0,0,0,0,0,0
$GC,3530,-0.74,-116.8,385.0,-3.0,188,3534,0.00,2.28,0.00,0.000,4,0.000,0.054,2582,609,3294,0,0,0,0,0,0
$GC,3787,-0.74,-116.8,392.7,-2.4,193,3794,0.15,2.35,0.00,0.000,6,0.208,0.053,2608,2216,3292,0,0,0,0,0,0
$STATE,4116,end dive,NO_VERTICAL_VELOCITY
$STATE,4116,begin apogee
$GC,4122,-0.23,0.0,396.0,0.0,202,4213,0.55,0.00,88.32,0.960,6,0.176,0.000,2773,2150,2822,0,0,0,0,0,0
$STATE,4216,end apogee,CONTROL_FINISHED_OK
$STATE,4216,begin climb
$GC,4218,0.74,116.8,393.6,0.0,204,4325,0.93,2.58,95.62,0.953,4,0.120,0.064,3082,575,2344,0,0,0,0,0,0
$GC,4352,0.75,125.6,382.2,8.6,207,4366,0.00,2.45,7.85,0.782,6,0.000,0.056,3082,2136,2311,0,0,0,0,0,0
$GC,4709,0.75,125.6,348.4,9.8,216,4713,0.00,2.38,0.00,0.000,4,0.000,0.054,3082,568,2301,0,0,0,0,0,0
$GC,4826,0.75,125.6,337.6,9.5,218,4830,0.00,2.38,0.00,0.000,6,0.000,0.051,3075,2167,2302,0,0,0,0,0,0
$GC,5161,0.78,149.5,310.8,7.8,227,5186,0.00,2.42,19.17,0.853,4,0.000,0.057,3064,3740,2212,0,0,0,0,0,0
$GC,5231,0.82,178.3,305.3,7.5,228,5261,0.15,2.33,24.12,0.856,6,0.104,0.042,3122,2154,2095,0,0,0,0,0,0
$GC,5577,0.82,178.3,269.2,11.1,243,5581,0.00,2.35,0.00,0.000,4,0.000,0.054,3122,565,2086,0,0,0,0,0,0
$GC,5750,0.82,178.3,252.6,9.4,251,5755,0.00,2.35,0.00,0.000,6,0.000,0.048,3113,2161,2084,0,0,0,0,0,0
$GC,6077,0.84,193.1,227.0,8.2,267,6093,0.00,2.38,11.30,0.760,4,0.000,0.053,3113,566,2035,0,0,0,0,0,0
$GC,6176,0.84,193.1,218.4,9.0,270,6182,0.00,2.30,0.00,0.000,6,0.000,0.048,3112,2149,2034,0,0,0,0,0,0
$GC,6494,0.88,229.4,194.2,7.1,289,6529,0.00,2.40,30.80,0.783,4,0.000,0.054,3100,3735,1886,0,0,0,0,0,0
$GC,6542,0.92,260.3,190.5,7.4,293,6574,0.12,2.38,25.42,0.765,6,0.097,0.044,3154,2151,1762,0,0,0,0,0,0
$GC,6827,0.94,274.8,165.8,8.3,320,6848,0.00,2.47,12.40,0.711,4,0.000,0.056,3144,3734,1700,0,0,0,0,0,0
$GC,6887,0.94,274.8,160.0,10.2,325,6893,0.00,2.38,0.00,0.000,6,0.000,0.042,3144,2137,1695,0,0,0,0,0,0
$GC,7148,0.94,275.1,137.4,9.0,350,7152,0.00,2.42,0.00,0.000,4,0.000,0.057,3141,3741,1695,0,0,0,0,0,0
$GC,7192,0.94,275.1,133.2,9.6,353,7198,0.00,2.33,0.00,0.000,6,0.000,0.042,3140,2142,1694,0,0,0,0,0,0
$GC,7454,0.96,296.7,111.0,7.9,378,7478,0.00,2.40,17.77,0.696,4,0.000,0.056,3140,567,1612,0,0,0,0,0,0
$GC,7597,1.00,322.4,99.2,7.7,391,7628,0.12,2.35,21.65,0.694,6,0.141,0.051,3167,2157,1507,0,0,0,0,0,0
$GC,7881,1.00,322.4,74.5,9.4,418,7885,0.00,2.35,0.00,0.000,4,0.000,0.054,3168,560,1501,0,0,0,0,0,0
$GC,7903,1.01,329.8,72.8,8.6,419,7918,0.00,2.35,6.93,0.586,6,0.000,0.052,3160,2152,1477,0,0,0,0,0,0
$GC,8172,1.01,329.8,48.2,9.7,445,8176,0.00,2.38,0.00,0.000,4,0.000,0.058,3148,3740,1471,0,0,0,0,0,0
$GC,8211,1.01,329.8,44.6,9.3,448,8215,0.00,2.35,0.00,0.000,6,0.000,0.044,3148,2142,1474,0,0,0,0,0,0
$GC,8476,1.05,369.1,22.3,7.0,480,8517,0.12,2.45,31.67,0.650,4,0.132,0.060,3189,561,1315,0,0,0,0,0,0
$GC,8584,1.05,369.1,11.5,12.1,500,8590,0.00,2.40,0.00,0.000,6,0.000,0.055,3179,2165,1312,0,0,0,0,0,0
$STATE,8666,end climb,SURFACE_DEPTH_REACHED
$STATE,8667,begin surface coast
$FINISH,0.5,0.998566
$STATE,8697,end surface coast,CONTROL_FINISHED_OK
$STATE,8697,begin surface
$SM_CCo,8714,39.28,0.653,0,0,987,450.12
$SM_GC,1.32,0.00,0.00,39.28,0.000,0.000,0.653,144,2169,987,-8.46,-0.90,450.12
$IRIDIUM_FIX,2106.38,12415.39,080512,020227
$TT8_MAMPS,0.058292
$HUMID,1078689668
$INTERNAL_PRESSURE,9.31555
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8302526464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59235434496
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,6.234
$10V_AH,10.3,4.870
$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,19.275,95.525,393.050,39.275,0.000,24.412,34.321,923.283,0.000,0.000,15.720,969.580,5927.252,522.772,2277.366,225.593,33.359,1248.446,0.000,1262.690,0.000,0.544,0.000
$DEVICE_MAMPS,233.168,112.749,959.517,652.717,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.863,0.000,0.000,0.000,0.000,0.000,0.000,10363.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,19.247,0.000,0.000
$MEM,355060
$DATA_FILE_SIZE,20081,520
$CAP_FILE_SIZE,112079,0
$CFSIZE,260165632,220950528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,161354,2112.619,12423.771,21,1.0,39,-2.8