version: 66.07
glider: 500
mission: 5
dive: 60
start: 11 16 110 0 24 40
data:
$ID,500
$MISSION,5
$DIVE,60
$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,150
$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,-122530.02
$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,31
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2920
$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,59
$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
$GPS1,161110,000437,2100.003,12440.875,26,1.2,26,-2.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.9
$GPS2,161110,002344,2059.789,12440.844,12,1.7,12,-2.8
$SPEED_LIMITS,0.142,0.242
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.048
$KALMAN_X,-3115.7,-329.7,535.9,148125.9,-23099.9
$KALMAN_Y,4068.1,1416.1,532.1,-24327.6,-9664.7
$MHEAD_RNG_PITCHd_Wd,104.2,229589,-14.4,-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,-0.66,-146.0,0.0,0.0,0,120,0.00,0.00,-90.75,0.000,2,0.000,0.000,123,2214,3450,0,0,0,0,0,0
$GC,123,-0.66,-146.0,3.2,-5.2,18,140,8.32,2.40,-1.48,0.000,4,0.235,0.065,2331,596,3519,0,0,0,0,0,0
$GC,145,-0.66,-146.0,12.1,-27.3,22,151,0.00,2.35,0.00,0.000,6,0.000,0.048,2321,2184,3521,0,0,0,0,0,0
$GC,343,-0.66,-146.0,105.3,-43.0,44,348,0.00,2.50,0.00,0.000,4,0.000,0.070,2309,3797,3520,0,0,0,0,0,0
$GC,354,-0.66,-146.0,109.3,-39.9,44,359,0.00,2.40,0.00,0.000,6,0.000,0.054,2308,2198,3523,0,0,0,0,0,0
$GC,614,-0.66,-146.0,198.2,-31.8,69,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2197,3521,0,0,0,0,0,0
$GC,872,-0.66,-146.0,274.3,-28.2,82,876,0.00,2.33,0.00,0.000,4,0.000,0.053,2309,598,3521,0,0,0,0,0,0
$GC,1047,-0.66,-146.0,320.0,-24.1,89,1052,0.15,2.35,0.00,0.000,6,0.211,0.052,2333,2205,3520,0,0,0,0,0,0
$GC,1370,-0.66,-146.0,386.1,-18.3,97,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2204,3522,0,0,0,0,0,0
$GC,1696,-0.66,-146.0,439.4,-15.4,105,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2205,3522,0,0,0,0,0,0
$GC,2020,-0.66,-146.0,491.2,-16.2,113,2024,0.00,2.45,0.00,0.000,4,0.000,0.068,2322,3799,3520,0,0,0,0,0,0
$GC,2277,-0.66,-146.0,532.4,-15.6,118,2283,0.00,2.35,0.00,0.000,6,0.000,0.044,2322,2187,3517,0,0,0,0,0,0
$GC,2607,-0.66,-146.0,577.8,-12.9,127,2611,0.00,2.28,0.00,0.000,4,0.000,0.047,2322,605,3515,0,0,0,0,0,0
$GC,2764,-0.66,-146.0,600.2,-15.6,130,2768,0.00,2.33,0.00,0.000,6,0.000,0.044,2306,2213,3516,0,0,0,0,0,0
$GC,3100,-0.66,-146.0,646.0,-13.2,139,3104,0.00,2.35,0.00,0.000,4,0.000,0.054,2297,3792,3509,0,0,0,0,0,0
$GC,3357,-0.66,-146.0,679.4,-12.2,144,3363,0.15,2.33,0.00,0.000,6,0.200,0.039,2334,2181,3507,0,0,0,0,0,0
$GC,3687,-0.66,-146.0,718.6,-11.5,153,3692,0.00,2.38,0.00,0.000,4,0.000,0.051,2324,3792,3503,0,0,0,0,0,0
$GC,3945,-0.66,-146.0,749.5,-11.4,158,3951,0.00,2.30,0.00,0.000,6,0.000,0.038,2323,2194,3501,0,0,0,0,0,0
$GC,4275,-0.66,-146.0,785.7,-11.2,167,4279,0.00,2.38,0.00,0.000,4,0.000,0.051,2309,3799,3496,0,0,0,0,0,0
$GC,4532,-0.66,-146.0,813.9,-11.0,172,4537,0.00,2.33,0.00,0.000,6,0.000,0.037,2311,2205,3495,0,0,0,0,0,0
$GC,4869,-0.66,-146.0,849.5,-10.5,181,4873,0.00,2.35,0.00,0.000,4,0.000,0.051,2297,3793,3492,0,0,0,0,0,0
$GC,5125,-0.66,-146.0,878.7,-11.2,186,5133,0.10,2.33,0.00,0.000,6,0.183,0.036,2328,2197,3489,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5379,-0.23,0.0,903.2,9.4,193,5496,0.50,0.00,114.30,1.296,6,0.200,0.000,2471,2101,2917,0,0,0,0,0,0
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5499,begin climb
$GC,5502,0.66,146.0,899.0,0.0,196,5638,0.82,2.60,126.05,1.243,4,0.104,0.057,2743,3676,2323,0,0,0,0,0,0
$GC,5891,0.66,146.0,856.4,11.0,205,5895,0.00,2.33,0.00,0.000,6,0.000,0.040,2741,2108,2307,0,0,0,0,0,0
$GC,6214,0.66,146.0,826.7,8.7,213,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2103,2304,0,0,0,0,0,0
$GC,6539,0.66,146.0,795.7,9.9,221,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,2303,0,0,0,0,0,0
$GC,6864,0.66,146.0,764.9,9.2,229,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2102,2299,0,0,0,0,0,0
$GC,7189,0.66,146.0,731.9,10.2,237,7193,0.00,2.40,0.00,0.000,4,0.000,0.059,2740,3681,2298,0,0,0,0,0,0
$GC,7445,0.66,146.0,702.9,13.0,242,7451,0.00,2.35,0.00,0.000,6,0.000,0.038,2739,2082,2295,0,0,0,0,0,0
$GC,7776,0.66,146.0,670.2,10.0,251,7780,0.00,2.28,0.00,0.000,4,0.000,0.050,2738,521,2294,0,0,0,0,0,0
$GC,7785,0.66,146.0,669.5,9.6,251,7790,0.08,2.35,0.00,0.000,6,0.109,0.048,2763,2097,2294,0,0,0,0,0,0
$GC,8098,0.66,146.0,642.0,8.8,259,8102,0.00,2.38,0.00,0.000,4,0.000,0.055,2749,3687,2294,0,0,0,0,0,0
$GC,8107,0.66,146.0,641.5,8.6,259,8112,0.00,2.35,0.00,0.000,6,0.000,0.044,2749,2112,2292,0,0,0,0,0,0
$GC,8420,0.66,146.0,613.1,9.3,267,8424,0.00,2.33,0.00,0.000,4,0.000,0.049,2748,510,2293,0,0,0,0,0,0
$GC,8676,0.66,146.0,584.8,8.8,272,8683,0.00,2.38,0.00,0.000,6,0.000,0.047,2748,2103,2295,0,0,0,0,0,0
$GC,9008,0.66,146.0,550.8,10.3,281,9012,0.00,2.33,0.00,0.000,4,0.000,0.049,2747,516,2291,0,0,0,0,0,0
$GC,9264,0.66,146.0,518.8,13.9,286,9269,0.00,2.35,0.00,0.000,6,0.000,0.045,2741,2105,2296,0,0,0,0,0,0
$GC,9601,0.66,146.0,478.8,12.1,295,9605,0.00,2.33,0.00,0.000,4,0.000,0.048,2740,501,2291,0,0,0,0,0,0
$GC,9813,0.66,146.0,453.2,11.9,299,9820,0.08,2.38,0.00,0.000,6,0.215,0.042,2748,2109,2290,0,0,0,0,0,0
$GC,10144,0.66,146.0,418.6,9.9,308,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2110,2291,0,0,0,0,0,0
$GC,10470,0.66,146.0,380.9,11.6,316,10474,0.00,2.35,0.00,0.000,4,0.000,0.059,2740,3682,2294,0,0,0,0,0,0
$GC,10524,0.66,146.0,374.4,13.1,317,10529,0.00,2.35,0.00,0.000,6,0.000,0.041,2740,2093,2290,0,0,0,0,0,0
$GC,10837,0.66,146.0,339.4,10.9,325,10841,0.00,2.38,0.00,0.000,4,0.000,0.057,2729,3682,2294,0,0,0,0,0,0
$GC,10937,0.66,146.0,324.5,12.6,327,10942,0.12,2.30,0.00,0.000,6,0.155,0.041,2763,2103,2293,0,0,0,0,0,0
$GC,11265,0.66,146.0,284.9,12.5,338,11269,0.00,2.33,0.00,0.000,4,0.000,0.048,2764,501,2289,0,0,0,0,0,0
$GC,11521,0.66,146.0,247.4,10.5,349,11528,0.00,2.38,0.00,0.000,6,0.000,0.047,2759,2101,2296,0,0,0,0,0,0
$GC,11837,0.66,146.0,209.5,13.0,365,11841,0.00,2.30,0.00,0.000,4,0.000,0.045,2758,514,2294,0,0,0,0,0,0
$GC,11847,0.66,146.0,208.4,12.5,365,11852,0.00,2.35,0.00,0.000,6,0.000,0.046,2746,2105,2296,0,0,0,0,0,0
$GC,12175,0.66,146.0,166.8,13.2,393,12179,0.00,2.33,0.00,0.000,4,0.000,0.051,2745,519,2297,0,0,0,0,0,0
$GC,12186,0.66,146.0,164.9,15.3,393,12192,0.00,2.30,0.00,0.000,6,0.000,0.044,2733,2111,2298,0,0,0,0,0,0
$GC,12447,0.66,146.0,127.6,14.1,418,12451,0.00,2.30,0.00,0.000,4,0.000,0.054,2720,3679,2298,0,0,0,0,0,0
$GC,12609,0.66,146.0,101.2,15.3,432,12614,0.15,2.30,0.00,0.000,6,0.140,0.040,2765,2098,2298,0,0,0,0,0,0
$GC,12869,0.66,146.0,68.1,13.0,456,12873,0.00,2.38,0.00,0.000,4,0.000,0.054,2755,3683,2300,0,0,0,0,0,0
$GC,13125,0.66,146.0,30.2,15.1,478,13132,0.00,2.33,0.00,0.000,6,0.000,0.041,2754,2110,2300,0,0,0,0,0,0
$STATE,13315,end climb,SURFACE_DEPTH_REACHED
$STATE,13315,begin surface coast
$FINISH,0.5,1.000646
$STATE,13339,end surface coast,CONTROL_FINISHED_OK
$STATE,13339,begin surface
$SM_CCo,13353,134.07,0.587,0,0,1083,450.36
$SM_GC,1.08,0.00,0.00,134.07,0.000,0.000,0.587,127,2208,1083,-7.57,0.11,450.36
$IRIDIUM_FIX,2052.52,12403.17,100512,181837
$TT8_MAMPS,0.058292
$HUMID,1078996540
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,23.30
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8327397376
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58977189888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.120
$10V_AH,10.3,6.676
$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,16.850,108.425,240.350,134.075,0.000,110.849,194.798,523.584,0.000,0.000,14.662,1109.593,10332.651,507.629,2497.479,202.098,33.341,1374.197,0.000,1621.302,0.000,0.543,0.000
$DEVICE_MAMPS,234.702,98.176,1296.230,586.755,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.502,0.000,0.000,0.000,0.000,0.000,0.000,14926.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.745,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,20099,516
$CAP_FILE_SIZE,126688,0
$CFSIZE,260165632,219639808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,041055,2058.881,12440.597,37,1.4,38,-2.8