version: 66.07
glider: 500
mission: 5
dive: 41
start: 11 14 110 4 15 27
data:
$ID,500
$MISSION,5
$DIVE,41
$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,-122118.2
$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,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,35
$R_STBD_OVSHOOT,25
$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,40
$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
$GPS1,141110,040007,2110.510,12425.159,51,1.0,51,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.6
$GPS2,141110,041432,2110.591,12425.197,10,2.0,10,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.057
$KALMAN_X,13691.6,504.4,701.8,103296.6,-15064.1
$KALMAN_Y,3347.7,3510.7,1237.1,-6428.7,-10904.5
$MHEAD_RNG_PITCHd_Wd,107.3,261247,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.74,-116.8,0.0,0.0,0,118,0.00,0.00,-86.40,0.000,6,0.000,0.000,135,2200,3301,0,0,0,0,0,0
$GC,121,-0.74,-116.8,3.0,-4.6,18,137,9.27,2.38,0.00,0.000,4,0.232,0.053,2603,608,3302,0,0,0,0,0,0
$GC,244,-0.74,-116.8,42.3,-32.3,37,248,0.00,2.40,0.00,0.000,6,0.000,0.056,2592,2207,3300,0,0,0,0,0,0
$GC,504,-0.74,-116.8,123.1,-24.9,61,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2208,3303,0,0,0,0,0,0
$GC,759,-0.74,-116.8,173.2,-16.4,85,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2208,3304,0,0,0,0,0,0
$GC,1023,-0.74,-116.8,204.9,-10.2,108,1028,0.00,2.38,0.00,0.000,4,0.000,0.057,2580,3798,3305,0,0,0,0,0,0
$GC,1112,-0.74,-116.8,215.8,-12.6,112,1117,0.08,2.35,0.00,0.000,6,0.180,0.041,2603,2201,3305,0,0,0,0,0,0
$GC,1438,-0.74,-116.8,249.7,-9.7,128,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2204,3305,0,0,0,0,0,0
$GC,1748,-0.74,-116.8,271.3,-6.5,143,1752,0.00,2.40,0.00,0.000,4,0.000,0.053,2592,3810,3304,0,0,0,0,0,0
$GC,1769,-0.74,-116.8,272.9,-6.7,144,1774,0.00,2.38,0.00,0.000,6,0.000,0.041,2591,2197,3304,0,0,0,0,0,0
$GC,2097,-0.74,-116.8,291.3,-5.7,160,2101,0.00,2.40,0.00,0.000,4,0.000,0.054,2579,3803,3306,0,0,0,0,0,0
$GC,2286,-0.74,-116.8,300.5,-5.3,168,2293,0.08,2.35,0.00,0.000,6,0.179,0.040,2602,2199,3302,0,0,0,0,0,0
$GC,2618,-0.74,-116.8,320.8,-6.4,177,2622,0.00,2.33,0.00,0.000,4,0.000,0.053,2602,612,3300,0,0,0,0,0,0
$GC,2802,-0.74,-116.8,332.2,-5.9,181,2806,0.00,2.38,0.00,0.000,6,0.000,0.054,2592,2204,3298,0,0,0,0,0,0
$GC,3127,-0.74,-116.8,347.9,-5.0,189,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,3298,0,0,0,0,0,0
$GC,3451,-0.74,-116.8,366.7,-5.5,197,3455,0.00,2.35,0.00,0.000,4,0.000,0.052,2592,601,3296,0,0,0,0,0,0
$GC,3561,-0.74,-116.8,370.7,-3.2,199,3566,0.12,2.38,0.00,0.000,6,0.212,0.055,2610,2196,3296,0,0,0,0,0,0
$GC,3904,-0.74,-116.8,383.2,-4.3,208,3908,0.00,2.38,0.00,0.000,4,0.000,0.053,2599,3795,3293,0,0,0,0,0,0
$GC,3914,-0.74,-116.8,383.6,-4.4,208,3918,0.00,2.33,0.00,0.000,6,0.000,0.041,2599,2196,3294,0,0,0,0,0,0
$GC,4226,-0.74,-116.8,394.1,-2.8,216,4230,0.00,2.30,0.00,0.000,4,0.000,0.051,2599,595,3292,0,0,0,0,0,0
$GC,4390,-0.74,-116.8,401.3,-4.7,219,4394,0.00,2.35,0.00,0.000,6,0.000,0.050,2592,2199,3291,0,0,0,0,0,0
$GC,4720,-0.74,-116.8,408.7,-1.7,227,4724,0.00,2.35,0.00,0.000,4,0.000,0.052,2574,3796,3290,0,0,0,0,0,0
$GC,4977,-0.74,-116.8,413.1,-1.7,232,4983,0.08,2.35,0.00,0.000,6,0.173,0.038,2607,2191,3289,0,0,0,0,0,0
$STATE,5184,end dive,NO_VERTICAL_VELOCITY
$STATE,5184,begin apogee
$GC,5189,-0.23,0.0,414.2,0.0,238,5280,0.55,0.00,87.47,0.943,6,0.180,0.000,2771,2191,2826,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5284,0.74,116.8,410.8,0.0,240,5390,0.95,2.60,95.32,0.925,4,0.126,0.055,3085,567,2346,0,0,0,0,0,0
$GC,5485,0.74,117.7,391.7,9.0,244,5489,0.00,2.40,0.00,0.000,6,0.000,0.049,3076,2157,2339,0,0,0,0,0,0
$GC,5816,0.77,136.2,365.4,8.1,252,5834,0.00,0.00,15.18,0.845,6,0.000,0.000,3076,2157,2266,0,0,0,0,0,0
$GC,6143,0.79,157.1,339.2,7.9,260,6167,0.00,2.42,17.77,0.848,4,0.000,0.054,3076,578,2181,0,0,0,0,0,0
$GC,6178,0.83,187.9,336.4,7.4,260,6211,0.15,2.38,26.27,0.852,6,0.091,0.052,3134,2158,2055,0,0,0,0,0,0
$GC,6548,0.83,187.9,299.0,10.3,270,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2157,2046,0,0,0,0,0,0
$GC,6857,0.83,187.9,269.4,9.4,285,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2157,2044,0,0,0,0,0,0
$GC,7165,0.83,187.9,240.5,9.4,300,7169,0.00,2.35,0.00,0.000,4,0.000,0.054,3134,570,2044,0,0,0,0,0,0
$GC,7227,0.83,187.9,234.8,9.4,303,7231,0.00,2.30,0.00,0.000,6,0.000,0.048,3128,2151,2043,0,0,0,0,0,0
$GC,7559,0.84,191.9,207.0,8.8,319,7563,0.00,2.38,0.00,0.000,4,0.000,0.056,3123,3739,2039,0,0,0,0,0,0
$GC,7619,0.84,191.9,201.0,10.1,321,7625,0.00,2.35,0.00,0.000,6,0.000,0.043,3119,2153,2039,0,0,0,0,0,0
$GC,7943,0.87,219.9,174.5,7.6,351,7974,0.00,2.40,24.58,0.747,4,0.000,0.054,3119,556,1925,0,0,0,0,0,0
$GC,8054,0.88,226.6,165.6,8.7,361,8068,0.00,2.35,6.65,0.624,6,0.000,0.048,3117,2155,1898,0,0,0,0,0,0
$GC,8328,0.94,274.3,143.1,6.5,387,8373,0.10,2.45,38.88,0.729,4,0.129,0.058,3143,3741,1703,0,0,0,0,0,0
$GC,8470,0.95,286.4,132.7,8.4,400,8485,0.00,2.38,10.23,0.651,6,0.000,0.042,3142,2148,1655,0,0,0,0,0,0
$GC,8740,0.95,286.4,109.9,9.3,425,8744,0.00,2.33,0.00,0.000,4,0.000,0.054,3143,565,1649,0,0,0,0,0,0
$GC,8768,0.96,289.8,107.4,8.8,427,8779,0.00,2.35,3.85,0.455,6,0.000,0.049,3133,2149,1640,0,0,0,0,0,0
$GC,9033,1.03,345.7,88.1,6.1,452,9085,0.12,2.42,45.88,0.687,4,0.101,0.053,3190,559,1410,0,0,0,0,0,0
$GC,9154,1.03,353.6,79.0,8.6,463,9169,0.00,2.40,7.47,0.574,6,0.000,0.048,3180,2161,1381,0,0,0,0,0,0
$GC,9430,1.04,361.9,56.4,8.6,489,9445,0.00,2.45,7.28,0.565,4,0.000,0.054,3180,565,1347,0,0,0,0,0,0
$GC,9485,1.04,361.9,51.3,10.1,494,9489,0.00,2.33,0.00,0.000,6,0.000,0.049,3169,2149,1346,0,0,0,0,0,0
$GC,9748,1.04,361.9,25.0,9.4,522,9753,0.00,2.33,0.00,0.000,4,0.000,0.054,3174,565,1344,0,0,0,0,0,0
$GC,9788,1.04,361.9,20.9,10.1,529,9793,0.00,2.33,0.00,0.000,6,0.000,0.048,3157,2151,1343,0,0,0,0,0,0
$STATE,9995,end climb,SURFACE_DEPTH_REACHED
$STATE,9995,begin surface coast
$FINISH,0.6,1.022509
$STATE,10039,end surface coast,CONTROL_FINISHED_OK
$STATE,10039,begin surface
$SM_CCo,10057,42.10,0.627,0,0,989,450.12
$SM_GC,1.24,0.00,0.00,42.10,0.000,0.000,0.627,133,2210,989,-8.50,0.28,450.12
$IRIDIUM_FIX,2101.76,12423.72,080512,222215
$TT8_MAMPS,0.058292
$HUMID,1078822571
$INTERNAL_PRESSURE,9.32531
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8302362624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59113799680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,6.901
$10V_AH,10.4,5.375
$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,18.925,90.250,386.825,42.100,0.000,58.618,70.278,514.477,0.000,0.000,12.798,1059.042,7274.824,499.214,1928.103,209.766,33.362,1221.558,0.000,1254.665,0.000,0.544,0.000
$DEVICE_MAMPS,231.634,126.555,942.643,627.406,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,383.651,0.000,0.000,0.000,0.000,0.000,0.000,11466.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.267,0.000,0.000
$MEM,354904
$DATA_FILE_SIZE,20100,574
$CAP_FILE_SIZE,107938,0
$CFSIZE,260165632,220647424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,070506,2110.951,12426.604,14,0.9,30,-2.8