version: 66.07
glider: 511
mission: 5
dive: 16
start: 11 17 110 4 3 8
data:
$ID,511
$MISSION,5
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$D_NO_BLEED,500
$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,166
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$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,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40163.379
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2044
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,15
$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
$GPS1,171110,033107,2050.730,12726.860,26,1.4,27,-2.8
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.4
$GPS2,171110,040214,2051.275,12726.505,11,1.8,11,-2.8
$SPEED_LIMITS,0.174,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,-0.159
$KALMAN_X,8072.9,-717.3,132.7,-23836.7,565.8
$KALMAN_Y,35381.8,322.9,-124.9,-8118.7,3743.3
$MHEAD_RNG_PITCHd_Wd,237.5,78347,-16.4,-10.040
$D_GRID,500
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.86,-165.5,0.0,0.0,0,106,0.00,0.00,-80.82,0.000,2,0.000,0.000,32,2047,2728,0,0,0,0,0,0
$GC,109,-0.86,-165.5,3.1,-6.9,16,149,10.27,2.20,-23.95,0.000,4,0.278,0.065,2314,628,3960,0,0,0,0,0,0
$GC,305,-0.86,-165.5,72.9,-31.6,46,312,0.00,2.25,0.00,0.000,6,0.000,0.054,2305,2045,3960,0,0,0,0,0,0
$GC,566,-0.86,-165.5,152.1,-27.6,71,570,0.00,2.22,0.00,0.000,4,0.000,0.064,2294,3455,3964,0,0,0,0,0,0
$GC,592,-0.86,-165.5,159.8,-28.5,73,598,0.00,2.20,0.00,0.000,6,0.000,0.044,2294,2037,3962,0,0,0,0,0,0
$GC,849,-0.86,-165.5,226.9,-26.1,93,854,0.10,2.17,0.00,0.000,4,0.222,0.059,2316,636,3963,0,0,0,0,0,0
$GC,918,-0.86,-165.5,242.6,-19.4,96,922,0.00,2.17,0.00,0.000,6,0.000,0.050,2308,2043,3964,0,0,0,0,0,0
$GC,1265,-0.86,-165.5,318.6,-21.4,111,1269,0.00,2.20,0.00,0.000,4,0.000,0.063,2298,3461,3964,0,0,0,0,0,0
$GC,1291,-0.86,-165.5,324.2,-20.4,111,1295,0.00,2.17,0.00,0.000,6,0.000,0.046,2298,2041,3963,0,0,0,0,0,0
$GC,1634,-0.86,-165.5,395.7,-20.0,120,1638,0.00,2.17,0.00,0.000,4,0.000,0.059,2298,626,3961,0,0,0,0,0,0
$GC,1693,-0.86,-165.5,406.6,-16.2,121,1697,0.00,2.22,0.00,0.000,6,0.000,0.054,2295,2059,3961,0,0,0,0,0,0
$GC,2005,-0.86,-165.5,462.1,-17.5,129,2007,0.00,0.00,-0.08,0.000,6,0.000,0.000,2296,2060,3969,0,0,0,0,0,0
$STATE,2248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2248,begin apogee
$GC,2251,-0.28,0.0,505.5,17.8,135,2457,0.68,0.00,187.38,0.783,6,0.147,0.000,2510,2060,3304,0,0,0,0,3,0
$STATE,2459,end apogee,CONTROL_FINISHED_OK
$STATE,2460,begin climb
$GC,2461,0.86,165.5,521.5,0.0,140,2724,0.98,2.40,206.60,0.739,4,0.048,0.059,2902,636,2624,0,0,1,0,9,0
$GC,2986,0.93,224.7,530.6,7.6,152,3104,0.00,2.22,80.93,0.712,6,0.000,0.048,2902,2056,2381,0,0,0,0,6,0
$GC,3431,0.93,224.7,472.2,13.8,163,3435,0.00,2.30,0.00,0.000,4,0.000,0.064,2913,630,2372,0,0,0,0,0,0
$GC,3518,0.93,224.7,461.0,12.4,165,3523,0.00,2.25,0.00,0.000,6,0.000,0.053,2913,2049,2373,0,0,0,0,0,0
$GC,3845,0.93,224.7,419.9,12.9,173,3849,0.00,2.28,0.00,0.000,4,0.000,0.069,2923,636,2372,0,0,0,0,0,0
$GC,3945,0.93,224.7,406.9,13.8,175,3949,0.00,2.22,0.00,0.000,6,0.000,0.054,2923,2036,2368,0,0,0,0,0,0
$GC,4262,0.93,224.7,365.1,13.2,183,4266,0.00,2.22,0.00,0.000,4,0.000,0.067,2933,631,2367,0,0,0,0,0,0
$GC,4422,0.94,233.1,346.4,9.7,186,4435,0.00,2.22,6.53,0.662,6,0.000,0.053,2933,2057,2349,0,0,0,0,0,0
$GC,4769,0.94,233.1,310.1,10.9,195,4773,0.00,2.17,0.00,0.000,4,0.000,0.061,2933,3458,2347,0,0,0,0,0,0
$GC,5035,0.94,233.1,281.1,10.6,203,5042,0.17,2.22,0.00,0.000,6,0.240,0.053,2905,2014,2345,0,0,0,0,0,0
$GC,5350,0.94,233.1,251.2,10.1,219,5354,0.00,2.28,0.00,0.000,4,0.000,0.065,2905,3459,2345,0,0,0,0,0,0
$GC,5400,0.94,233.1,245.5,11.9,221,5404,0.00,2.22,0.00,0.000,6,0.000,0.052,2914,2010,2345,0,0,0,0,0,0
$GC,5724,0.99,273.3,216.9,8.4,237,5797,0.00,2.22,51.85,0.655,4,0.000,0.059,2925,638,2187,0,0,0,0,3,0
$GC,5807,0.99,273.3,208.8,11.7,241,5811,0.00,2.22,0.00,0.000,6,0.000,0.054,2923,2040,2188,0,0,1,0,0,0
$GC,6131,0.99,273.3,160.7,14.6,268,6135,0.00,2.22,0.00,0.000,4,0.000,0.064,2935,632,2181,0,0,0,0,0,0
$GC,6222,0.99,273.3,146.8,13.8,277,6228,0.00,2.25,0.00,0.000,6,0.000,0.054,2934,2063,2177,0,0,0,0,0,0
$GC,6483,0.99,273.3,115.8,11.4,302,6487,0.00,2.15,0.00,0.000,4,0.000,0.059,2935,3452,2179,0,0,0,0,0,0
$GC,6750,1.03,307.9,83.7,8.6,330,6816,0.00,2.17,45.47,0.568,6,0.000,0.051,2945,2040,2045,0,0,0,0,3,0
$GC,7071,1.24,475.5,62.6,3.2,362,7294,0.15,2.38,193.40,0.568,4,0.099,0.064,3004,3457,1360,0,0,0,0,4,0
$GC,7327,1.24,475.5,23.6,23.7,395,7332,0.00,2.30,0.00,0.000,6,0.000,0.053,3014,2044,1358,0,0,0,0,0,0
$STATE,7422,end climb,SURFACE_DEPTH_REACHED
$STATE,7422,begin surface coast
$FINISH,0.0,1.021628
$STATE,7438,end surface coast,CONTROL_FINISHED_OK
$STATE,7439,begin surface
$SM_CCo,7462,18.58,0.525,0,0,1264,500.40
$SM_GC,1.11,0.00,0.00,18.58,0.000,0.000,0.525,56,2038,1264,-7.95,-0.17,500.40
$IRIDIUM_FIX,2045.60,13158.89,110512,222250
$TT8_MAMPS,0.05369
$HUMID,1078964506
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.80
$XPDR_PINGS,44
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8439562240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59903672320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,4.317
$10V_AH,10.5,2.832
$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,20.450,66.950,772.150,18.575,0.000,132.606,275.033,1066.420,11.000,0.000,13.036,753.641,4897.516,807.230,2798.263,84.875,33.339,1611.664,0.000,1237.187,0.000,0.545,0.000
$DEVICE_MAMPS,278.421,69.030,783.107,524.628,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,270.595,0.000,0.000,0.000,0.000,0.000,0.000,8869.020,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.666,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,13490,415
$CAP_FILE_SIZE,116051,0
$CFSIZE,260165632,257097728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,28,0
$GPS,171110,060931,2051.765,12725.902,55,0.9,56,-2.8