version: 66.07
glider: 500
mission: 5
dive: 53
start: 11 15 110 6 31 3
data:
$ID,500
$MISSION,5
$DIVE,53
$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,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,-122358.36
$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,2900
$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,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2820
$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,52
$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
$GPS1,151110,061750,2105.298,12435.555,10,1.6,10,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.8
$GPS2,151110,063008,2105.252,12435.542,13,1.5,13,-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,-0.056
$KALMAN_X,1017.8,496.0,1345.0,133187.2,-37344.4
$KALMAN_Y,10267.0,236.7,56.4,-18738.2,1119.6
$MHEAD_RNG_PITCHd_Wd,107.5,241185,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.69,-116.8,0.0,0.0,0,124,0.00,0.00,-91.55,0.000,6,0.000,0.000,129,2088,3297,0,0,0,0,0,0
$GC,127,-0.69,-116.8,2.9,-3.5,19,143,9.57,2.17,0.00,0.000,4,0.234,0.053,2667,614,3299,0,0,0,0,0,0
$GC,149,-0.69,-116.8,9.0,-19.4,23,155,0.00,2.40,0.00,0.000,6,0.000,0.060,2656,2205,3301,0,0,0,0,0,0
$GC,355,-0.69,-116.8,68.7,-30.0,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2206,3303,0,0,0,0,0,0
$GC,611,-0.69,-116.8,132.1,-23.5,73,615,0.00,2.38,0.00,0.000,4,0.000,0.060,2656,608,3300,0,0,0,0,0,0
$GC,800,-0.69,-116.8,169.5,-16.3,89,806,0.08,2.38,0.00,0.000,6,0.193,0.058,2667,2193,3300,0,0,0,0,0,0
$GC,1062,-0.69,-116.8,199.8,-9.1,114,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2193,3300,0,0,0,0,0,0
$GC,1319,-0.69,-116.8,226.5,-9.6,127,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2191,3301,0,0,0,0,0,0
$GC,1629,-0.69,-116.8,250.7,-5.7,142,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2194,3301,0,0,0,0,0,0
$GC,1939,-0.69,-116.8,263.1,-4.3,157,1943,0.00,2.30,0.00,0.000,4,0.000,0.058,2666,615,3300,0,0,0,0,0,0
$GC,2197,-0.69,-116.8,277.8,-7.1,168,2202,0.00,2.35,0.00,0.000,6,0.000,0.058,2657,2209,3299,0,0,0,0,0,0
$GC,2514,-0.69,-116.8,300.5,-6.6,184,2518,0.00,2.33,0.00,0.000,4,0.000,0.052,2657,611,3298,0,0,0,0,0,0
$GC,2771,-0.69,-116.8,315.5,-5.7,189,2777,0.12,2.33,0.00,0.000,6,0.211,0.053,2674,2213,3296,0,0,0,0,0,0
$GC,3102,-0.69,-116.8,330.1,-4.1,198,3105,0.00,2.33,0.00,0.000,4,0.000,0.051,2675,609,3296,0,0,0,0,0,0
$GC,3358,-0.69,-116.8,343.8,-5.8,203,3363,0.00,2.35,0.00,0.000,6,0.000,0.049,2665,2207,3293,0,0,0,0,0,0
$GC,3695,-0.69,-116.8,358.3,-3.6,212,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2208,3292,0,0,0,0,0,0
$GC,4020,-0.69,-116.8,370.9,-4.2,220,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2207,3290,0,0,0,0,0,0
$GC,4346,-0.69,-116.8,380.4,-2.2,228,4350,0.00,2.38,0.00,0.000,4,0.000,0.056,2652,3796,3288,0,0,0,0,0,0
$GC,4604,-0.69,-116.8,385.1,-2.1,233,4608,0.00,2.33,0.00,0.000,6,0.000,0.037,2652,2176,3285,0,0,0,0,0,0
$STATE,4892,end dive,NO_VERTICAL_VELOCITY
$STATE,4892,begin apogee
$GC,4897,-0.23,0.0,387.2,0.0,240,4986,0.55,0.00,86.78,0.869,6,0.173,0.000,2814,2100,2819,0,0,0,0,0,0
$STATE,4989,end apogee,CONTROL_FINISHED_OK
$STATE,4989,begin climb
$GC,4991,0.69,116.8,383.9,0.0,242,5094,0.88,2.42,94.25,0.853,4,0.117,0.053,3115,525,2343,0,0,0,0,0,0
$GC,5346,0.69,116.8,349.0,8.9,250,5351,0.00,2.33,0.00,0.000,6,0.000,0.047,3113,2109,2335,0,0,0,0,0,0
$GC,5664,0.69,116.8,321.0,8.9,258,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2105,2332,0,0,0,0,0,0
$GC,5970,0.69,116.8,292.1,9.2,267,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2105,2329,0,0,0,0,0,0
$GC,6279,0.69,116.8,264.6,9.0,282,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2105,2329,0,0,0,0,0,0
$GC,6591,0.70,125.6,237.6,7.8,297,6602,0.00,2.35,6.07,0.625,4,0.000,0.054,3106,3682,2306,0,0,0,0,0,0
$GC,6793,0.71,134.6,221.4,7.8,306,6809,0.00,2.30,8.62,0.676,6,0.000,0.037,3106,2090,2270,0,0,0,0,0,0
$GC,7119,0.73,147.2,198.5,7.6,323,7133,0.00,0.00,11.65,0.694,6,0.000,0.000,3102,2090,2216,0,0,0,0,0,0
$GC,7384,0.77,183.3,180.7,6.5,348,7419,0.12,2.35,29.05,0.716,4,0.104,0.053,3167,519,2073,0,0,0,0,0,0
$GC,7521,0.77,183.3,168.5,9.7,360,7526,0.00,2.30,0.00,0.000,6,0.000,0.044,3167,2101,2067,0,0,0,0,0,0
$GC,7781,0.77,183.3,145.7,8.4,385,7785,0.00,2.38,0.00,0.000,4,0.000,0.057,3159,3684,2065,0,0,0,0,0,0
$GC,7965,0.77,183.3,131.0,8.6,401,7969,0.00,2.30,0.00,0.000,6,0.000,0.038,3159,2093,2064,0,0,0,0,0,0
$GC,8227,0.80,206.0,110.9,7.1,425,8252,0.00,2.45,18.05,0.648,4,0.000,0.055,3148,3682,1981,0,0,0,0,0,0
$GC,8258,0.84,234.5,108.7,6.8,428,8290,0.00,2.35,24.27,0.644,6,0.000,0.044,3148,2092,1863,0,0,0,0,0,0
$GC,8544,0.87,265.7,90.0,6.7,455,8575,0.10,2.35,24.60,0.633,4,0.147,0.054,3179,519,1735,0,0,0,0,0,0
$GC,8648,0.87,265.7,81.9,8.2,464,8654,0.00,2.33,0.00,0.000,6,0.000,0.048,3177,2098,1733,0,0,0,0,0,0
$GC,8910,0.87,265.7,59.6,9.1,489,8914,0.00,2.33,0.00,0.000,4,0.000,0.054,3173,513,1730,0,0,0,0,0,0
$GC,8971,0.87,265.7,53.4,9.6,494,8975,0.00,2.33,0.00,0.000,6,0.000,0.047,3166,2105,1729,0,0,0,0,0,0
$GC,9233,0.89,280.3,31.1,7.5,518,9253,0.00,2.42,12.07,0.558,4,0.000,0.056,3152,3687,1675,0,0,0,0,0,0
$GC,9339,0.91,292.7,21.4,7.6,535,9355,0.12,2.33,11.45,0.548,6,0.123,0.041,3198,2091,1626,0,0,0,0,0,0
$STATE,9517,end climb,SURFACE_DEPTH_REACHED
$STATE,9517,begin surface coast
$FINISH,0.7,1.022453
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9569,71.93,0.582,0,0,983,450.12
$SM_GC,1.26,0.00,0.00,71.93,0.000,0.000,0.582,124,2218,983,-8.68,0.51,450.12
$IRIDIUM_FIX,2057.14,12432.65,100512,000039
$TT8_MAMPS,0.063661
$HUMID,1078884506
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8322514944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59008516096
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,8.341
$10V_AH,10.6,6.188
$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,19.050,65.825,326.875,71.925,0.000,55.328,92.337,388.050,0.000,0.000,15.351,1042.334,6823.870,475.496,1870.031,181.279,33.344,1178.581,0.000,1285.763,0.000,0.544,0.000
$DEVICE_MAMPS,233.935,122.720,869.011,582.153,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.735,0.000,0.000,0.000,0.000,0.000,0.000,10889.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.237,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,20090,572
$CAP_FILE_SIZE,99101,0
$CFSIZE,260165632,220012544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,091307,2105.391,12436.512,31,1.2,32,-2.8