version: 66.07
glider: 500
mission: 5
dive: 39
start: 11 13 110 22 8 2
data:
$ID,500
$MISSION,5
$DIVE,39
$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,-122089.09
$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,33
$R_STBD_OVSHOOT,23
$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,38
$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
$GPS1,131110,215206,2111.052,12424.792,37,1.0,42,-2.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.4
$GPS2,131110,220708,2110.970,12424.741,12,2.0,12,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.060
$KALMAN_X,23986.0,-1322.6,-206.9,95001.4,-6216.9
$KALMAN_Y,3656.9,-302.8,283.0,-1229.6,-9114.3
$MHEAD_RNG_PITCHd_Wd,108.2,262214,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.74,-116.8,0.0,0.0,0,120,0.00,0.00,-86.50,0.000,6,0.000,0.000,132,2200,3299,0,0,0,0,0,0
$GC,123,-0.74,-116.8,3.1,-5.6,18,139,9.30,2.35,0.00,0.000,4,0.233,0.050,2599,605,3302,0,0,0,0,0,0
$GC,200,-0.74,-116.8,29.4,-36.4,32,206,0.00,2.38,0.00,0.000,6,0.000,0.054,2590,2193,3302,0,0,0,0,0,0
$GC,397,-0.74,-116.8,93.8,-33.4,51,402,0.00,2.50,0.00,0.000,4,0.000,0.075,2580,3797,3302,0,0,0,0,0,0
$GC,420,-0.74,-116.8,102.4,-38.8,52,426,0.12,2.40,0.00,0.000,6,0.201,0.055,2609,2191,3305,0,0,0,0,0,0
$GC,681,-0.74,-116.8,156.0,-16.3,77,686,0.00,2.47,0.00,0.000,4,0.000,0.074,2598,3793,3303,0,0,0,0,0,0
$GC,938,-0.74,-116.8,197.7,-12.5,99,945,0.00,2.40,0.00,0.000,6,0.000,0.054,2597,2202,3304,0,0,0,0,0,0
$GC,1193,-0.74,-116.8,223.7,-10.1,113,1198,0.00,2.47,0.00,0.000,4,0.000,0.074,2586,3792,3303,0,0,0,0,0,0
$GC,1451,-0.74,-116.8,255.9,-9.0,124,1457,0.00,2.38,0.00,0.000,6,0.000,0.054,2586,2192,3304,0,0,0,0,0,0
$GC,1766,-0.74,-116.8,280.0,-7.1,140,1770,0.00,2.50,0.00,0.000,4,0.000,0.075,2573,3795,3303,0,0,0,0,0,0
$GC,1775,-0.74,-116.8,280.8,-6.9,140,1782,0.15,2.40,0.00,0.000,6,0.198,0.060,2610,2192,3302,0,0,0,0,0,0
$GC,2112,-0.74,-116.8,302.8,-5.9,156,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2191,3303,0,0,0,0,0,0
$GC,2436,-0.74,-116.8,321.4,-5.9,164,2440,0.00,2.33,0.00,0.000,4,0.000,0.060,2611,609,3302,0,0,0,0,0,0
$GC,2692,-0.74,-116.8,337.6,-6.9,169,2697,0.00,2.40,0.00,0.000,6,0.000,0.059,2600,2227,3300,0,0,0,0,0,0
$GC,3029,-0.74,-116.8,353.9,-4.0,178,3034,0.00,2.38,0.00,0.000,4,0.000,0.057,2600,604,3299,0,0,0,0,0,0
$GC,3287,-0.74,-116.8,366.5,-3.9,183,3293,0.00,2.40,0.00,0.000,6,0.000,0.059,2588,2211,3297,0,0,0,0,0,0
$GC,3618,-0.74,-116.8,373.9,-1.3,192,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2215,3295,0,0,0,0,0,0
$GC,3943,-0.74,-116.8,377.1,-0.6,200,3947,0.00,2.33,0.00,0.000,4,0.000,0.053,2588,605,3293,0,0,0,0,0,0
$GC,4199,-0.74,-116.8,380.6,-2.0,205,4206,0.12,2.40,0.00,0.000,6,0.213,0.055,2610,2214,3292,0,0,0,0,0,0
$GC,4531,-0.74,-116.8,384.1,-0.5,214,4535,0.00,2.33,0.00,0.000,4,0.000,0.052,2595,3802,3290,0,0,0,0,0,0
$STATE,4613,end dive,NO_VERTICAL_VELOCITY
$STATE,4613,begin apogee
$GC,4620,-0.23,0.0,384.2,0.0,215,4711,0.55,0.00,88.00,0.940,6,0.179,0.000,2763,2137,2823,0,0,0,0,0,0
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4716,0.74,116.8,380.1,0.0,218,4816,1.00,0.00,95.45,0.928,6,0.139,0.000,3083,2136,2346,0,0,0,0,0,0
$GC,5122,0.74,116.9,343.8,9.0,228,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2136,2336,0,0,0,0,0,0
$GC,5446,0.74,116.9,315.2,9.1,236,5451,0.00,2.40,0.00,0.000,4,0.000,0.057,3083,3744,2332,0,0,0,0,0,0
$GC,5670,0.75,118.5,295.0,8.9,242,5674,0.00,2.35,0.00,0.000,6,0.000,0.041,3082,2155,2329,0,0,0,0,0,0
$GC,5997,0.78,149.4,270.9,7.4,258,6027,0.00,2.45,24.55,0.831,4,0.000,0.057,3075,3744,2213,0,0,0,0,0,0
$GC,6083,0.78,149.4,263.7,9.2,262,6087,0.00,2.38,0.00,0.000,6,0.000,0.041,3075,2150,2208,0,0,0,0,0,0
$GC,6404,0.84,194.3,240.6,6.7,278,6444,0.12,0.00,36.47,0.820,6,0.092,0.000,3154,2150,2030,0,0,0,0,0,0
$GC,6753,0.84,194.3,206.2,10.4,295,6755,0.10,0.00,0.00,0.000,6,0.101,0.000,3079,2150,2021,0,0,0,0,0,0
$GC,7071,0.89,238.9,182.1,6.7,321,7112,0.17,0.00,35.40,0.772,6,0.086,0.000,3158,2150,1848,0,0,0,0,0,0
$GC,7366,0.89,238.9,156.1,9.1,349,7370,0.00,2.42,0.00,0.000,4,0.000,0.058,3150,3745,1841,0,0,0,0,0,0
$GC,7393,0.91,248.9,153.7,8.5,351,7407,0.00,2.38,9.18,0.677,6,0.000,0.044,3150,2142,1806,0,0,0,0,0,0
$GC,7668,0.93,265.2,131.1,8.2,377,7689,0.00,2.40,13.75,0.690,4,0.000,0.058,3150,567,1740,0,0,0,0,0,0
$GC,7712,0.96,291.3,127.6,7.7,381,7743,0.00,2.35,22.02,0.708,6,0.000,0.051,3149,2162,1635,0,0,0,0,0,0
$GC,7997,0.96,293.2,103.2,8.9,408,8001,0.00,2.38,0.00,0.000,4,0.000,0.056,3150,560,1629,0,0,0,0,0,0
$GC,8035,0.96,293.2,99.6,9.2,411,8039,0.00,2.35,0.00,0.000,6,0.000,0.051,3139,2147,1627,0,0,0,0,0,0
$GC,8297,0.98,311.1,77.7,8.1,435,8319,0.00,2.42,16.55,0.661,4,0.000,0.054,3139,561,1553,0,0,0,0,0,0
$GC,8352,1.01,337.2,73.2,7.7,440,8384,0.12,2.38,21.65,0.664,6,0.092,0.049,3201,2167,1448,0,0,0,0,0,0
$GC,8637,1.01,337.2,47.1,10.9,467,8641,0.00,2.35,0.00,0.000,4,0.000,0.058,3194,3731,1444,0,0,0,0,0,0
$GC,8691,1.01,337.2,41.5,9.5,471,8697,0.00,2.35,0.00,0.000,6,0.000,0.041,3194,2153,1444,0,0,0,0,0,0
$GC,8959,1.01,337.2,18.4,10.1,507,8964,0.00,2.35,0.00,0.000,4,0.000,0.057,3180,3734,1442,0,0,0,0,0,0
$GC,8975,1.01,337.2,16.7,10.0,510,8981,0.00,2.33,0.00,0.000,6,0.000,0.045,3184,2148,1441,0,0,0,0,0,0
$STATE,9143,end climb,SURFACE_DEPTH_REACHED
$STATE,9144,begin surface coast
$FINISH,0.5,1.000157
$STATE,9176,end surface coast,CONTROL_FINISHED_OK
$STATE,9176,begin surface
$SM_CCo,9198,53.40,0.642,0,0,985,450.12
$SM_GC,1.26,0.00,0.00,53.40,0.000,0.000,0.642,129,2199,985,-8.51,0.00,450.12
$IRIDIUM_FIX,2101.76,12422.42,080512,161605
$TT8_MAMPS,0.057525
$HUMID,1078789023
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8308064256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59159707648
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,6.637
$10V_AH,10.4,5.167
$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,19.200,81.350,363.025,53.400,0.000,53.581,70.141,566.026,0.000,0.000,14.298,999.507,6517.651,507.826,1929.545,207.364,33.367,1189.323,0.000,1214.198,0.000,0.544,0.000
$DEVICE_MAMPS,233.168,122.720,940.342,641.979,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.760,0.000,0.000,0.000,0.000,0.000,0.000,10636.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.602,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,20079,546
$CAP_FILE_SIZE,102358,0
$CFSIZE,260165632,220774400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,004401,2110.410,12424.755,57,1.2,57,-2.8