version: 66.07
glider: 500
mission: 5
dive: 56
start: 11 15 110 15 1 10
data:
$ID,500
$MISSION,5
$DIVE,56
$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,-122449.21
$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,2550
$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,24
$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,55
$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
$GPS1,151110,144928,2103.843,12438.398,12,2.8,31,-2.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,151110,150016,2103.721,12438.440,12,3.9,31,-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,-0.053
$KALMAN_X,-1292.2,3668.9,668.6,138008.3,-20203.3
$KALMAN_Y,6370.5,-436.1,447.3,-17409.7,-5197.4
$MHEAD_RNG_PITCHd_Wd,106.7,235560,-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,-116.8,0.0,0.0,0,114,0.00,0.00,-84.28,0.000,6,0.000,0.000,124,2209,3298,0,0,0,0,0,0
$GC,117,-0.69,-116.8,3.2,-5.8,17,134,8.27,2.45,0.00,0.000,4,0.233,0.059,2312,3784,3301,0,0,0,0,0,0
$GC,289,-0.69,-116.8,76.6,-43.9,39,296,0.00,2.40,0.00,0.000,6,0.000,0.049,2312,2191,3300,0,0,0,0,0,0
$GC,550,-0.69,-116.8,161.3,-22.3,64,554,0.00,2.30,0.00,0.000,4,0.000,0.052,2312,608,3302,0,0,0,0,0,0
$GC,807,-0.69,-116.8,202.3,-13.7,86,812,0.00,2.38,0.00,0.000,6,0.000,0.051,2300,2202,3303,0,0,0,0,0,0
$GC,1130,-0.69,-116.8,246.3,-13.2,102,1134,0.00,2.33,0.00,0.000,4,0.000,0.052,2300,607,3304,0,0,0,0,0,0
$GC,1218,-0.69,-116.8,258.1,-11.4,106,1223,0.15,2.35,0.00,0.000,6,0.214,0.052,2329,2202,3303,0,0,0,0,0,0
$GC,1544,-0.69,-116.8,283.9,-9.1,122,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2202,3302,0,0,0,0,0,0
$GC,1872,-0.69,-116.8,309.4,-6.9,135,1876,0.00,2.42,0.00,0.000,4,0.000,0.066,2313,3798,3303,0,0,0,0,0,0
$GC,1967,-0.69,-116.8,316.3,-7.4,137,1971,0.00,2.38,0.00,0.000,6,0.000,0.052,2313,2201,3301,0,0,0,0,0,0
$GC,2279,-0.69,-116.8,337.9,-6.7,145,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2198,3305,0,0,0,0,0,0
$GC,2604,-0.69,-116.8,356.8,-5.5,153,2608,0.00,2.42,0.00,0.000,4,0.000,0.064,2301,3793,3296,0,0,0,0,0,0
$GC,2861,-0.69,-116.8,370.5,-5.1,158,2868,0.00,2.38,0.00,0.000,6,0.000,0.051,2301,2195,3299,0,0,0,0,0,0
$GC,3193,-0.69,-116.8,382.8,-2.9,167,3198,0.00,2.42,0.00,0.000,4,0.000,0.064,2288,3799,3297,0,0,0,0,0,0
$GC,3328,-0.69,-116.8,386.4,-3.2,170,3333,0.12,2.38,0.00,0.000,6,0.206,0.051,2318,2191,3297,0,0,0,0,0,0
$GC,3647,-0.69,-116.8,396.0,-3.1,178,3651,0.00,2.42,0.00,0.000,4,0.000,0.065,2308,3793,3295,0,0,0,0,0,0
$GC,3903,-0.69,-116.8,403.2,-2.9,183,3909,0.00,2.38,0.00,0.000,6,0.000,0.052,2308,2187,3294,0,0,0,0,0,0
$GC,4235,-0.69,-116.8,414.0,-3.3,192,4239,0.00,2.42,0.00,0.000,4,0.000,0.057,2295,3798,3291,0,0,0,0,0,0
$GC,4493,-0.69,-116.8,420.6,-1.9,197,4500,0.12,2.33,0.00,0.000,6,0.205,0.040,2324,2186,3291,0,0,0,0,0,0
$GC,4824,-0.69,-116.8,424.0,-0.7,206,4828,0.00,2.25,0.00,0.000,4,0.000,0.045,2325,621,3289,0,0,0,0,0,0
$GC,5070,-0.69,-116.8,426.1,-1.4,211,5074,0.00,2.30,0.00,0.000,6,0.000,0.042,2314,2218,3287,0,0,0,0,0,0
$STATE,5241,end dive,NO_VERTICAL_VELOCITY
$STATE,5241,begin apogee
$GC,5246,-0.23,0.0,427.7,0.0,216,5337,0.55,0.00,87.70,0.893,6,0.206,0.000,2468,2091,2821,0,0,0,0,0,0
$STATE,5339,end apogee,CONTROL_FINISHED_OK
$STATE,5339,begin climb
$GC,5341,0.69,116.8,423.2,0.0,218,5445,1.12,2.42,94.57,0.870,4,0.225,0.048,2760,534,2346,0,0,0,0,0,0
$GC,5697,0.69,116.8,379.7,11.8,226,5702,0.00,2.30,0.00,0.000,6,0.000,0.043,2749,2094,2334,0,0,0,0,0,0
$GC,6015,0.69,116.8,341.6,12.0,234,6019,0.00,2.30,0.00,0.000,4,0.000,0.050,2748,526,2329,0,0,0,0,0,0
$GC,6272,0.69,116.8,309.1,12.2,239,6279,0.08,2.33,0.00,0.000,6,0.152,0.045,2761,2096,2327,0,0,0,0,0,0
$GC,6588,0.69,116.8,274.5,11.0,253,6592,0.00,2.30,0.00,0.000,4,0.000,0.051,2762,522,2327,0,0,0,0,0,0
$GC,6660,0.69,116.8,265.2,10.2,256,6664,0.00,2.30,0.00,0.000,6,0.000,0.044,2751,2109,2326,0,0,0,0,0,0
$GC,6980,0.69,116.8,226.5,12.1,272,6984,0.00,2.33,0.00,0.000,4,0.000,0.050,2751,522,2324,0,0,0,0,0,0
$GC,7203,0.69,116.8,195.3,14.1,283,7210,0.12,2.30,0.00,0.000,6,0.224,0.047,2767,2100,2323,0,0,0,0,0,0
$GC,7465,0.69,116.8,162.5,13.0,308,7469,0.00,2.33,0.00,0.000,4,0.000,0.051,2756,3687,2321,0,0,0,0,0,0
$GC,7622,0.69,116.8,140.5,12.5,321,7628,0.00,2.30,0.00,0.000,6,0.000,0.044,2760,2112,2323,0,0,0,0,0,0
$GC,7883,0.69,116.8,108.8,12.5,346,7887,0.00,2.33,0.00,0.000,4,0.000,0.054,2743,3685,2322,0,0,0,0,0,0
$GC,7922,0.69,116.8,104.0,13.6,349,7926,0.00,2.30,0.00,0.000,6,0.000,0.044,2742,2098,2321,0,0,0,0,0,0
$GC,8183,0.69,116.8,66.8,14.2,373,8187,0.00,2.38,0.00,0.000,4,0.000,0.058,2730,3693,2324,0,0,0,0,0,0
$GC,8413,0.69,116.8,32.5,15.5,393,8418,0.15,2.33,0.00,0.000,6,0.218,0.044,2764,2093,2317,0,0,0,0,0,0
$STATE,8635,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,0.5,0.997778
$STATE,8654,end surface coast,CONTROL_FINISHED_OK
$STATE,8654,begin surface
$SM_CCo,8670,149.48,0.579,0,0,984,450.12
$SM_GC,1.21,0.00,0.00,149.48,0.000,0.000,0.579,137,2205,984,-7.54,0.14,450.12
$IRIDIUM_FIX,2057.14,12446.09,100512,060600
$TT8_MAMPS,0.058292
$HUMID,1078927087
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,23.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8327528448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59003273216
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,8.644
$10V_AH,10.5,6.368
$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,17.100,75.525,182.275,149.475,0.000,25.523,33.080,417.275,0.000,0.000,34.596,902.916,6156.035,437.143,1812.688,168.640,33.348,1101.616,0.000,1258.391,0.000,0.542,0.000
$DEVICE_MAMPS,233.168,83.603,892.788,579.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,291.430,0.000,0.000,0.000,0.000,0.000,0.000,9858.810,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.929,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,16801,434
$CAP_FILE_SIZE,93144,0
$CFSIZE,260165632,219848704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,172937,2102.773,12439.521,36,1.1,36,-2.8