version: 66.07
glider: 500
mission: 5
dive: 46
start: 11 14 110 16 37 20
data:
$ID,500
$MISSION,5
$DIVE,46
$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,-122204.41
$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,2750
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2700
$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,45
$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
$GPS1,141110,162502,2110.065,12431.833,12,1.0,12,-2.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,6
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.4
$GPS2,141110,163626,2110.000,12431.915,10,1.3,10,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.070
$KALMAN_X,12428.5,-184.6,810.7,116735.9,-16375.3
$KALMAN_Y,12389.4,-1319.5,-181.9,-10261.3,5351.3
$MHEAD_RNG_PITCHd_Wd,110.7,249816,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.74,-116.8,0.0,0.0,0,126,0.00,0.00,-91.78,0.000,6,0.000,0.000,134,2220,3179,0,0,0,0,0,0
$GC,129,-0.74,-116.8,2.5,-3.2,19,145,8.82,2.42,0.00,0.000,4,0.231,0.052,2502,606,3179,0,0,0,0,0,0
$GC,308,-0.74,-116.8,57.0,-32.1,44,312,0.00,2.33,0.00,0.000,6,0.000,0.049,2491,2191,3179,0,0,0,0,0,0
$GC,568,-0.74,-116.8,127.0,-16.9,68,572,0.00,2.47,0.00,0.000,4,0.000,0.071,2479,3801,3179,0,0,0,0,0,0
$GC,667,-0.74,-116.8,141.9,-14.5,76,674,0.12,2.38,0.00,0.000,6,0.201,0.054,2508,2200,3179,0,0,0,0,0,0
$GC,929,-0.74,-116.8,170.4,-9.1,101,933,0.00,2.35,0.00,0.000,4,0.000,0.054,2508,594,3180,0,0,0,0,0,0
$GC,938,-0.74,-116.8,171.4,-9.2,101,944,0.00,2.40,0.00,0.000,6,0.000,0.058,2498,2200,3180,0,0,0,0,0,0
$GC,1201,-0.74,-116.8,191.8,-7.4,126,1205,0.00,2.38,0.00,0.000,4,0.000,0.058,2483,3793,3180,0,0,0,0,0,0
$GC,1458,-0.74,-116.8,211.3,-5.2,141,1464,0.00,2.33,0.00,0.000,6,0.000,0.041,2483,2180,3180,0,0,0,0,0,0
$GC,1773,-0.74,-116.8,224.2,-2.9,157,1778,0.00,2.40,0.00,0.000,4,0.000,0.056,2473,3800,3181,0,0,0,0,0,0
$GC,2031,-0.74,-116.8,230.9,-4.1,168,2037,0.12,2.35,0.00,0.000,6,0.209,0.041,2503,2197,3179,0,0,0,0,0,0
$GC,2346,-0.74,-116.8,243.2,-2.9,184,2350,0.00,2.30,0.00,0.000,4,0.000,0.051,2503,604,3182,0,0,0,0,0,0
$GC,2604,-0.74,-116.8,248.2,-1.4,195,2610,0.00,2.35,0.00,0.000,6,0.000,0.054,2492,2211,3176,0,0,0,0,0,0
$STATE,2794,end dive,NO_VERTICAL_VELOCITY
$STATE,2794,begin apogee
$GC,2799,-0.23,0.0,249.8,0.0,205,2890,0.60,0.00,87.57,0.795,6,0.194,0.000,2666,2101,2700,0,0,0,0,0,0
$STATE,2893,end apogee,CONTROL_FINISHED_OK
$STATE,2893,begin climb
$GC,2894,0.74,116.8,246.4,0.0,209,2998,1.15,2.47,92.75,0.788,4,0.215,0.057,2974,516,2222,0,0,0,0,0,0
$GC,3250,0.76,131.1,218.8,8.3,225,3267,0.00,2.38,11.80,0.691,6,0.000,0.051,2975,2101,2165,0,0,0,0,0,0
$GC,3579,0.81,169.0,195.4,7.0,244,3615,0.00,2.40,30.88,0.739,4,0.000,0.055,2983,508,2009,0,0,0,0,0,0
$GC,3699,0.85,202.1,185.8,7.3,254,3732,0.08,2.40,26.75,0.723,6,0.058,0.051,3053,2102,1876,0,0,0,0,0,0
$GC,3985,0.86,213.9,163.2,8.4,281,4000,0.00,2.40,10.32,0.649,4,0.000,0.057,3043,3695,1824,0,0,0,0,0,0
$GC,4096,0.86,213.9,153.5,9.7,290,4102,0.00,2.38,0.00,0.000,6,0.000,0.042,3043,2084,1822,0,0,0,0,0,0
$GC,4357,0.87,220.3,130.8,8.7,315,4368,0.00,2.45,5.30,0.535,4,0.000,0.061,3046,3696,1803,0,0,0,0,0,0
$GC,4395,0.87,220.3,127.0,9.2,318,4402,0.00,2.38,0.00,0.000,6,0.000,0.045,3042,2108,1801,0,0,0,0,0,0
$GC,4658,0.89,237.9,106.5,8.1,343,4679,0.00,0.00,15.73,0.650,6,0.000,0.000,3039,2107,1730,0,0,0,0,0,0
$GC,4935,0.93,270.1,87.3,7.3,369,4967,0.00,2.45,26.55,0.656,4,0.000,0.055,3041,511,1597,0,0,0,0,0,0
$GC,5135,0.93,270.1,70.2,9.8,387,5139,0.00,2.35,0.00,0.000,6,0.000,0.049,3029,2106,1590,0,0,0,0,0,0
$GC,5397,0.96,290.0,48.7,8.0,411,5418,0.00,2.38,16.40,0.607,4,0.000,0.051,3028,509,1515,0,0,0,0,0,0
$GC,5525,0.99,314.4,38.7,7.7,422,5552,0.12,2.35,20.15,0.611,6,0.097,0.051,3092,2100,1416,0,0,0,0,0,0
$GC,5815,1.07,385.6,17.7,5.3,465,5877,0.00,2.45,55.12,0.623,4,0.000,0.059,3087,3689,1127,0,0,0,0,0,0
$GC,5921,1.07,385.6,8.2,10.1,485,5927,0.00,2.38,0.00,0.000,6,0.000,0.043,3082,2094,1123,0,0,0,0,0,0
$STATE,5981,end climb,SURFACE_DEPTH_REACHED
$STATE,5981,begin surface coast
$FINISH,0.6,0.997424
$STATE,6022,end surface coast,CONTROL_FINISHED_OK
$STATE,6023,begin surface
$SM_CCo,6046,32.38,0.612,0,0,869,450.12
$SM_GC,1.19,0.00,0.00,32.38,0.000,0.000,0.612,136,2223,869,-8.16,0.65,450.12
$IRIDIUM_FIX,2101.76,12430.75,090512,080827
$TT8_MAMPS,0.057525
$HUMID,1078778700
$INTERNAL_PRESSURE,9.38391
$TCM_TEMP,25.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8319008768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59040169984
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.8,7.519
$10V_AH,10.4,5.743
$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,18.250,62.375,399.325,32.375,0.000,22.225,34.984,480.614,0.000,0.000,12.020,858.871,3618.941,483.149,1635.245,178.040,33.342,1090.629,0.000,1065.164,0.000,0.544,0.000
$DEVICE_MAMPS,230.867,79.001,794.612,612.066,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,331.767,0.000,0.000,0.000,0.000,0.000,0.000,7175.960,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.954,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,16775,503
$CAP_FILE_SIZE,83234,0
$CFSIZE,260165632,220377088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,182006,2109.576,12432.984,37,1.0,37,-2.8