version: 66.07
glider: 500
mission: 5
dive: 47
start: 11 14 110 18 35 26
data:
$ID,500
$MISSION,5
$DIVE,47
$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,-122221.55
$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,35
$R_STBD_OVSHOOT,35
$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,46
$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
$GPS1,141110,182006,2109.576,12432.984,37,1.0,37,-2.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.7
$GPS2,141110,183431,2109.495,12433.025,9,1.2,14,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.032
$KALMAN_X,11761.2,-600.4,625.4,119932.1,-16152.8
$KALMAN_Y,11328.1,-211.5,-181.1,-11246.6,2969.2
$MHEAD_RNG_PITCHd_Wd,84.7,247694,-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,-87.12,0.000,6,0.000,0.000,133,2224,3177,0,0,0,0,0,0
$GC,121,-0.74,-116.8,2.3,-2.5,18,137,8.85,2.42,0.00,0.000,4,0.232,0.050,2500,608,3179,0,0,0,0,0,0
$GC,188,-0.74,-116.8,19.0,-27.2,30,193,0.00,2.35,0.00,0.000,6,0.000,0.050,2491,2199,3179,0,0,0,0,0,0
$GC,387,-0.74,-116.8,82.1,-31.7,52,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2199,3179,0,0,0,0,0,0
$GC,641,-0.74,-116.8,134.8,-11.6,76,645,0.00,2.33,0.00,0.000,4,0.000,0.054,2492,610,3179,0,0,0,0,0,0
$GC,804,-0.74,-116.8,151.3,-10.1,90,809,0.12,2.33,0.00,0.000,6,0.224,0.050,2509,2200,3180,0,0,0,0,0,0
$GC,1067,-0.74,-116.8,168.7,-6.1,114,1071,0.00,2.35,0.00,0.000,4,0.000,0.055,2508,611,3179,0,0,0,0,0,0
$GC,1323,-0.74,-116.8,188.9,-6.3,136,1329,0.00,2.35,0.00,0.000,6,0.000,0.050,2497,2219,3179,0,0,0,0,0,0
$GC,1595,-0.74,-116.8,201.3,-4.3,161,1599,0.00,2.38,0.00,0.000,4,0.000,0.061,2485,3805,3179,0,0,0,0,0,0
$GC,1852,-0.74,-116.8,207.6,-1.7,172,1858,0.00,2.35,0.00,0.000,6,0.000,0.042,2485,2202,3178,0,0,0,0,0,0
$GC,2168,-0.74,-116.8,218.2,-4.5,188,2173,0.00,2.35,0.00,0.000,4,0.000,0.054,2470,3798,3178,0,0,0,0,0,0
$GC,2331,-0.74,-116.8,226.0,-3.8,195,2336,0.12,2.33,0.00,0.000,6,0.207,0.041,2502,2189,3177,0,0,0,0,0,0
$GC,2648,-0.74,-116.8,235.6,-3.2,210,2652,0.00,2.28,0.00,0.000,4,0.000,0.051,2502,612,3176,0,0,0,0,0,0
$GC,2758,-0.74,-116.8,240.2,-4.1,215,2763,0.00,2.38,0.00,0.000,6,0.000,0.054,2492,2239,3177,0,0,0,0,0,0
$GC,3086,-0.74,-116.8,248.0,-2.0,231,3090,0.00,2.30,0.00,0.000,4,0.000,0.054,2479,3796,3173,0,0,0,0,0,0
$GC,3342,-0.74,-116.8,254.9,-1.8,242,3349,0.12,2.35,0.00,0.000,6,0.208,0.041,2509,2192,3174,0,0,0,0,0,0
$GC,3659,-0.74,-116.8,259.6,-0.9,258,3663,0.00,2.28,0.00,0.000,4,0.000,0.051,2509,613,3171,0,0,0,0,0,0
$GC,3917,-0.74,-116.8,262.5,-1.5,269,3921,0.00,2.33,0.00,0.000,6,0.000,0.051,2498,2211,3172,0,0,0,0,0,0
$GC,4232,-0.74,-116.8,266.3,-1.0,284,4236,0.00,2.33,0.00,0.000,4,0.000,0.048,2499,596,3171,0,0,0,0,0,0
$STATE,4408,end dive,NO_VERTICAL_VELOCITY
$STATE,4408,begin apogee
$GC,4415,-0.23,0.0,267.7,0.0,292,4504,0.60,0.00,86.70,0.806,6,0.196,0.000,2663,2104,2701,0,0,0,0,0,0
$STATE,4507,end apogee,CONTROL_FINISHED_OK
$STATE,4507,begin climb
$GC,4509,0.74,116.8,264.2,0.0,296,4610,1.10,0.00,93.45,0.791,6,0.196,0.000,2973,2104,2224,0,0,0,0,0,0
$GC,4919,0.81,174.2,235.9,6.0,316,4970,0.12,2.40,44.97,0.760,4,0.154,0.052,3012,519,1989,0,0,0,0,0,0
$GC,5044,0.83,184.4,227.3,8.5,322,5058,0.00,2.35,8.98,0.658,6,0.000,0.050,3012,2098,1947,0,0,0,0,0,0
$GC,5374,0.87,223.2,203.8,7.0,338,5410,0.00,2.38,30.98,0.731,4,0.000,0.051,3012,514,1789,0,0,0,0,0,0
$GC,5500,0.89,236.2,193.8,8.3,346,5517,0.10,2.35,11.05,0.661,6,0.140,0.048,3038,2104,1739,0,0,0,0,0,0
$GC,5770,0.89,236.2,169.1,9.7,371,5774,0.00,2.33,0.00,0.000,4,0.000,0.052,3040,518,1733,0,0,0,0,0,0
$GC,5780,0.89,236.2,168.3,9.3,371,5786,0.00,2.35,0.00,0.000,6,0.000,0.048,3030,2098,1732,0,0,0,0,0,0
$GC,6041,0.91,249.0,147.2,8.3,396,6061,0.00,2.42,11.52,0.647,4,0.000,0.055,3029,511,1681,0,0,0,0,0,0
$GC,6096,0.92,256.6,142.6,8.6,401,6110,0.00,2.33,7.32,0.591,6,0.000,0.049,3017,2102,1654,0,0,0,0,0,0
$GC,6371,0.95,288.4,121.8,7.4,427,6405,0.12,2.47,26.45,0.671,4,0.158,0.059,3043,3686,1523,0,0,0,0,0,0
$GC,6427,0.96,292.9,117.3,8.8,432,6437,0.00,2.38,5.07,0.502,6,0.000,0.044,3045,2091,1504,0,0,0,0,0,0
$GC,6692,0.96,292.9,93.7,9.2,457,6697,0.00,2.42,0.00,0.000,4,0.000,0.063,3036,3694,1501,0,0,0,0,0,0
$GC,6702,0.97,303.7,93.0,8.5,457,6719,0.00,2.40,9.57,0.592,6,0.000,0.049,3036,2098,1460,0,0,0,0,0,0
$GC,6973,1.02,339.7,71.1,7.1,483,7008,0.12,2.38,29.20,0.634,4,0.125,0.057,3079,518,1315,0,0,0,0,0,0
$GC,7065,1.02,339.7,63.4,9.4,491,7070,0.00,2.33,0.00,0.000,6,0.000,0.049,3068,2099,1312,0,0,0,0,0,0
$GC,7325,1.02,339.7,40.0,9.4,516,7329,0.00,2.33,0.00,0.000,4,0.000,0.053,3068,514,1310,0,0,0,0,0,0
$GC,7345,1.02,339.7,38.1,9.3,517,7352,0.00,2.35,0.00,0.000,6,0.000,0.051,3059,2095,1310,0,0,0,0,0,0
$GC,7616,1.02,339.7,12.6,10.3,558,7622,0.00,2.30,0.00,0.000,4,0.000,0.054,3059,510,1309,0,0,0,0,0,0
$GC,7696,1.03,345.7,5.9,8.7,572,7707,0.00,2.33,5.55,0.466,6,0.000,0.048,3047,2105,1290,0,0,0,0,0,0
$STATE,7728,end climb,SURFACE_DEPTH_REACHED
$STATE,7728,begin surface coast
$FINISH,0.6,1.003471
$STATE,7763,end surface coast,CONTROL_FINISHED_OK
$STATE,7763,begin surface
$SM_CCo,7781,49.10,0.590,0,0,863,450.12
$SM_GC,1.27,0.00,0.00,49.10,0.000,0.000,0.590,142,2232,863,-8.15,0.88,450.12
$IRIDIUM_FIX,2104.07,12430.75,090512,121208
$TT8_MAMPS,0.058292
$HUMID,1078865152
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,25.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8327823360
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59031191552
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.8,7.642
$10V_AH,10.5,5.805
$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,18.450,84.700,370.825,49.100,0.000,56.288,101.498,498.490,0.000,0.000,16.514,1043.939,5034.204,494.515,1941.496,193.808,33.346,1199.818,0.000,1256.216,0.000,0.544,0.000
$DEVICE_MAMPS,231.634,86.671,806.117,589.823,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.516,0.000,0.000,0.000,0.000,0.000,0.000,9207.630,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.806,0.000,0.000
$MEM,354900
$DATA_FILE_SIZE,20082,584
$CAP_FILE_SIZE,102065,0
$CFSIZE,260165632,220311552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,204656,2108.860,12434.076,10,1.2,10,-2.8