version: 66.07
glider: 500
mission: 5
dive: 51
start: 11 15 110 2 56 30
data:
$ID,500
$MISSION,5
$DIVE,51
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$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,545.78363
$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,-122327.77
$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,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,37
$R_STBD_OVSHOOT,26
$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,50
$AR_SAMPLENUM,0
$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
$GPS1,151110,024007,2105.920,12435.065,40,1.8,40,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.0
$GPS2,151110,025536,2105.807,12434.959,13,1.6,23,-2.8
$SPEED_LIMITS,0.142,0.220
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.054
$KALMAN_X,1816.3,1507.0,1125.8,130590.4,-36236.9
$KALMAN_Y,9179.1,-520.8,221.1,-16042.4,-2491.7
$MHEAD_RNG_PITCHd_Wd,106.9,242450,-16.4,-8.197
$D_GRID,900
$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,-0.69,-116.8,0.0,0.0,0,119,0.00,0.00,-86.95,0.000,6,0.000,0.000,128,2204,3177,0,0,0,0,0,0
$GC,122,-0.69,-116.8,2.6,-2.9,18,138,9.00,2.38,0.00,0.000,4,0.235,0.053,2523,612,3180,0,0,0,0,0,0
$GC,262,-0.69,-116.8,41.5,-29.0,40,267,0.00,2.35,0.00,0.000,6,0.000,0.054,2514,2207,3179,0,0,0,0,0,0
$GC,522,-0.69,-116.8,114.4,-20.5,65,526,0.00,2.35,0.00,0.000,4,0.000,0.054,2513,604,3179,0,0,0,0,0,0
$GC,778,-0.69,-116.8,149.7,-10.0,87,785,0.00,2.38,0.00,0.000,6,0.000,0.054,2501,2194,3179,0,0,0,0,0,0
$GC,1042,-0.69,-116.8,167.1,-5.7,112,1046,0.00,2.35,0.00,0.000,4,0.000,0.054,2489,3804,3179,0,0,0,0,0,0
$GC,1254,-0.69,-116.8,181.5,-5.0,130,1261,0.12,2.33,0.00,0.000,6,0.204,0.040,2519,2186,3180,0,0,0,0,0,0
$GC,1517,-0.69,-116.8,192.4,-2.5,155,1521,0.00,2.25,0.00,0.000,4,0.000,0.048,2519,612,3180,0,0,0,0,0,0
$GC,1774,-0.69,-116.8,202.6,-5.4,175,1780,0.00,2.33,0.00,0.000,6,0.000,0.047,2508,2218,3179,0,0,0,0,0,0
$GC,2089,-0.69,-116.8,216.7,-2.5,191,2093,0.00,2.35,0.00,0.000,4,0.000,0.054,2508,611,3184,0,0,0,0,0,0
$GC,2153,-0.69,-116.8,218.0,-1.9,194,2157,0.00,2.35,0.00,0.000,6,0.000,0.055,2496,2200,3178,0,0,0,0,0,0
$STATE,2373,end dive,NO_VERTICAL_VELOCITY
$STATE,2374,begin apogee
$GC,2378,-0.23,0.0,219.4,0.0,205,2468,0.60,0.00,86.50,0.725,6,0.194,0.000,2669,2107,2702,0,0,0,0,0,0
$STATE,2477,end apogee,CONTROL_FINISHED_OK
$STATE,2477,begin climb
$GC,2478,0.69,116.8,215.8,0.0,209,2582,1.00,2.47,91.68,0.719,4,0.187,0.052,2958,515,2221,0,0,0,0,0,0
$GC,2627,0.72,139.4,202.6,7.1,216,2652,0.00,2.40,18.70,0.670,6,0.000,0.051,2958,2104,2130,0,0,0,0,0,0
$GC,2977,0.77,182.8,182.4,6.1,246,3019,0.12,2.45,33.50,0.686,4,0.160,0.055,3005,508,1957,0,0,0,0,0,0
$GC,3080,0.78,184.8,175.2,8.1,255,3086,0.00,2.38,0.00,0.000,6,0.000,0.048,2998,2116,1948,0,0,0,0,0,0
$GC,3341,0.80,201.8,155.3,7.4,280,3362,0.00,2.45,15.35,0.640,4,0.000,0.052,2994,501,1877,0,0,0,0,0,0
$GC,3411,0.84,240.9,149.2,6.3,286,3449,0.12,2.40,31.73,0.660,6,0.163,0.051,3018,2100,1717,0,0,0,0,0,0
$GC,3703,0.85,248.6,126.7,7.8,314,3714,0.00,2.35,6.43,0.534,4,0.000,0.051,3018,501,1684,0,0,0,0,0,0
$GC,3730,0.87,259.2,124.4,7.7,316,3747,0.00,2.35,10.23,0.587,6,0.000,0.050,3007,2110,1643,0,0,0,0,0,0
$GC,4001,0.87,259.2,103.3,8.4,342,4005,0.00,2.35,0.00,0.000,4,0.000,0.059,3006,3691,1637,0,0,0,0,0,0
$GC,4039,0.87,259.2,99.7,10.3,345,4044,0.00,2.35,0.00,0.000,6,0.000,0.044,3006,2088,1632,0,0,0,0,0,0
$GC,4301,0.88,271.8,79.1,7.6,369,4317,0.00,2.30,10.77,0.566,4,0.000,0.053,3016,516,1591,0,0,0,0,0,0
$GC,4322,0.88,271.8,77.3,9.1,370,4328,0.00,2.35,0.00,0.000,6,0.000,0.048,3004,2098,1586,0,0,0,0,0,0
$GC,4584,0.91,293.1,57.9,7.2,395,4609,0.12,2.38,17.50,0.584,4,0.171,0.053,3039,520,1505,0,0,0,0,0,0
$GC,4642,0.91,293.1,52.9,9.8,400,4648,0.00,2.35,0.00,0.000,6,0.000,0.049,3031,2101,1503,0,0,0,0,0,0
$GC,4904,0.93,313.1,33.6,7.2,425,4926,0.00,2.42,16.60,0.561,4,0.000,0.054,3031,510,1423,0,0,0,0,0,0
$GC,5039,0.93,313.1,21.8,9.5,445,5045,0.00,2.33,0.00,0.000,6,0.000,0.048,3018,2101,1419,0,0,0,0,0,0
$GC,5247,0.97,339.3,5.6,7.0,482,5273,0.12,0.00,21.73,0.557,6,0.144,0.000,3058,2102,1315,0,0,0,0,0,0
$STATE,5282,end climb,SURFACE_DEPTH_REACHED
$STATE,5282,begin surface coast
$FINISH,0.6,1.009943
$STATE,5336,end surface coast,CONTROL_FINISHED_OK
$STATE,5336,begin surface
$SM_CCo,5353,94.62,0.588,0,0,474,545.78
$SM_GC,1.24,0.00,0.00,94.62,0.000,0.000,0.588,138,2229,474,-8.16,0.82,545.78
$IRIDIUM_FIX,2057.14,12435.87,090512,212123
$TT8_MAMPS,0.060593
$HUMID,1078774829
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8309178368
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59027128320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.9,8.102
$10V_AH,10.6,6.048
$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,18.375,61.750,360.700,94.625,0.000,140.503,400.453,0.000,0.250,0.000,24.906,836.919,3357.560,513.792,1540.605,140.409,33.336,1061.691,0.000,938.321,0.000,0.544,0.000
$DEVICE_MAMPS,235.469,91.273,724.815,587.522,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,329.388,0.000,0.000,0.000,0.000,0.000,0.000,6824.330,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,19.717,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,16772,498
$CAP_FILE_SIZE,72095,0
$CFSIZE,260165632,220086272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,042834,2105.559,12435.083,6,3.3,25,-2.8