version: 66.07
glider: 511
mission: 5
dive: 17
start: 11 17 110 6 34 2
data:
$ID,511
$MISSION,5
$DIVE,17
$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,-40180.297
$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,27
$R_STBD_OVSHOOT,26
$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,16
$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
$GPS1,171110,060931,2051.765,12725.902,55,0.9,56,-2.8
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.7
$GPS2,171110,063308,2052.376,12725.705,14,1.0,14,-2.8
$SPEED_LIMITS,0.174,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,-0.166
$KALMAN_X,8544.3,-289.7,72.9,-26072.2,676.7
$KALMAN_Y,38872.0,389.4,-67.8,-9701.1,3984.3
$MHEAD_RNG_PITCHd_Wd,235.7,78344,-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,24,-0.86,-165.5,0.0,0.0,0,82,0.00,0.00,-56.22,0.000,2,0.000,0.000,37,2038,2780,0,0,0,0,0,0
$GC,84,-0.86,-165.5,3.2,-8.3,11,125,10.18,2.25,-21.77,0.000,4,0.277,0.073,2314,641,3959,0,0,0,0,0,0
$GC,207,-0.86,-165.5,53.6,-36.1,32,213,0.00,2.20,0.00,0.000,6,0.000,0.051,2306,2040,3962,0,0,0,0,0,0
$GC,467,-0.86,-165.5,136.4,-27.6,57,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2040,3963,0,0,0,0,0,0
$GC,732,-0.86,-165.5,208.3,-26.7,81,736,0.00,2.20,0.00,0.000,4,0.000,0.058,2306,635,3965,0,0,0,0,0,0
$GC,750,-0.86,-165.5,213.4,-27.7,82,754,0.00,2.17,0.00,0.000,6,0.000,0.051,2295,2044,3965,0,0,0,0,0,0
$GC,1083,-0.86,-165.5,296.0,-23.2,98,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2043,3963,0,0,0,0,0,0
$GC,1387,-0.86,-165.5,362.8,-22.2,106,1391,0.00,2.20,0.00,0.000,4,0.000,0.059,2296,636,3963,0,0,0,0,0,0
$GC,1399,-0.86,-165.5,365.7,-22.1,106,1404,0.10,2.22,0.00,0.000,6,0.170,0.050,2326,2053,3963,0,0,0,0,0,0
$GC,1712,-0.86,-165.5,422.3,-17.5,114,1716,0.00,2.25,0.00,0.000,4,0.000,0.063,2326,628,3962,0,0,0,0,0,0
$GC,1743,-0.86,-165.5,427.6,-15.8,114,1747,0.00,2.22,0.00,0.000,6,0.000,0.054,2320,2052,3962,0,0,0,0,0,0
$GC,2077,-0.86,-165.5,478.8,-15.6,123,2081,0.00,2.17,0.00,0.000,4,0.000,0.064,2309,3455,3959,0,0,0,0,0,0
$GC,2136,-0.86,-165.5,487.8,-14.4,124,2141,0.00,2.20,-0.03,0.000,6,0.000,0.048,2309,2041,3968,0,0,0,0,0,0
$STATE,2244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2244,begin apogee
$GC,2247,-0.28,0.0,504.9,16.3,127,2475,0.62,0.00,194.07,0.770,6,0.144,0.000,2507,2035,3301,0,0,0,0,6,0
$STATE,2478,end apogee,CONTROL_FINISHED_OK
$STATE,2478,begin climb
$GC,2479,0.86,165.5,520.8,0.0,132,2764,0.98,2.38,211.98,0.730,4,0.054,0.058,2892,630,2626,0,0,0,0,12,0
$GC,3027,0.97,254.9,535.7,6.4,144,3189,0.00,2.25,117.88,0.738,6,0.000,0.051,2894,2046,2261,0,0,0,0,7,0
$GC,3529,0.97,254.9,460.5,16.6,157,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2045,2253,0,0,0,0,0,0
$GC,3853,0.97,254.9,406.1,16.6,165,3857,0.00,2.22,0.00,0.000,4,0.000,0.063,2898,3468,2250,0,0,0,0,0,0
$GC,3964,0.97,254.9,386.6,18.2,167,3969,0.00,2.22,0.00,0.000,6,0.000,0.052,2905,2046,2248,0,0,0,0,0,0
$GC,4308,0.97,254.9,334.9,14.2,176,4312,0.00,2.25,0.00,0.000,4,0.000,0.064,2910,3463,2246,0,0,0,0,0,0
$GC,4349,0.97,254.9,329.0,14.1,177,4353,0.00,2.20,0.00,0.000,6,0.000,0.051,2915,2032,2246,0,0,1,0,0,0
$GC,4677,0.97,254.9,283.3,13.0,188,4681,0.00,2.25,0.00,0.000,4,0.000,0.062,2915,3462,2243,0,0,0,0,0,0
$GC,4915,0.97,254.9,248.7,15.4,198,4919,0.00,2.20,0.00,0.000,6,0.000,0.047,2928,2047,2243,0,0,0,0,0,0
$GC,5234,0.97,254.9,209.4,11.4,214,5238,0.00,2.20,0.00,0.000,4,0.000,0.057,2937,629,2241,0,0,0,0,0,0
$GC,5269,0.97,254.9,205.3,11.4,215,5275,0.00,2.22,0.00,0.000,6,0.000,0.054,2937,2037,2240,0,0,0,0,0,0
$GC,5592,0.97,254.9,162.8,12.1,244,5596,0.00,2.22,0.00,0.000,4,0.000,0.060,2937,3460,2240,0,0,0,0,0,0
$GC,5858,0.97,254.9,131.1,10.7,272,5864,0.12,2.20,0.00,0.000,6,0.236,0.051,2920,2039,2242,0,0,0,0,0,0
$GC,6119,1.08,349.0,111.6,6.2,297,6255,0.00,2.28,109.78,0.611,4,0.000,0.057,2926,628,1876,0,0,0,0,4,0
$GC,6518,1.10,358.9,65.4,9.6,341,6535,0.00,2.28,10.98,0.562,6,0.000,0.055,2930,2050,1837,0,0,0,0,0,0
$GC,6795,1.10,358.9,37.3,10.7,368,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2050,1834,0,0,0,0,0,0
$GC,7061,1.26,488.5,16.8,4.7,409,7189,0.20,0.00,123.47,0.558,2,0.085,0.000,3010,2050,1335,0,0,0,0,0,0
$STATE,7189,end climb,SURFACE_DEPTH_REACHED
$STATE,7190,begin surface coast
$FINISH,-0.2,1.007760
$STATE,7206,end surface coast,CONTROL_FINISHED_OK
$STATE,7206,begin surface
$SM_CCo,7221,12.68,0.496,0,0,1261,500.16
$SM_GC,1.84,0.00,0.00,12.68,0.000,0.000,0.496,54,2055,1261,-7.95,0.31,500.16
$IRIDIUM_FIX,2045.60,12728.63,120512,000027
$TT8_MAMPS,0.056758
$HUMID,1078890958
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,25.20
$XPDR_PINGS,50
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8443232256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59899838464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,4.530
$10V_AH,10.4,2.899
$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,20.300,53.475,768.150,12.675,0.000,128.253,152.804,801.844,12.500,0.000,16.291,755.433,4694.330,784.622,2334.016,78.883,33.345,1539.383,0.000,1163.861,0.000,0.544,0.000
$DEVICE_MAMPS,276.887,72.865,770.068,496.249,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,287.917,0.000,0.000,0.000,0.000,0.000,0.000,8218.570,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,5.705,0.000,0.000
$MEM,355284
$DATA_FILE_SIZE,16770,442
$CAP_FILE_SIZE,105372,0
$CFSIZE,260165632,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,29,0
$GPS,171110,083552,2052.812,12724.971,8,2.2,27,-2.8