version: 66.07
glider: 500
mission: 4
dive: 5
start: 6 16 110 23 32 53
data:
$ID,500
$MISSION,4
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,4
$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,40
$T_MISSION,60
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,570
$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,7
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109676.8
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2851
$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,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$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,-65.916748
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$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,4
$AR_SAMPLENUM,21
$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
$GPS1,160610,232633,2115.998,-15753.497,10,2.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.9
$GPS2,160610,233232,2115.995,-15753.491,13,1.0,13,9.8
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,TGT01
$TGT_LATLONG,2112.000,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,172.0,7403,-24.4,-10.000
$D_GRID,120
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.91,-77.9,0.0,0.0,0,108,0.00,0.00,-80.90,0.000,2,0.000,0.000,145,2037,2747,0,0,0,0,0,0
$GC,110,-0.91,-77.9,3.3,-9.7,16,136,10.10,2.38,-8.82,0.000,4,0.257,0.062,2549,451,3143,0,0,0,0,0,0
$GC,310,-0.91,-77.9,49.7,-23.8,45,314,0.00,2.28,0.00,0.000,6,0.000,0.040,2539,2039,3143,0,0,0,0,0,0
$GC,575,-0.91,-77.9,104.1,-18.4,70,580,0.00,2.33,0.00,0.000,4,0.000,0.047,2529,3610,3142,0,0,0,0,0,0
$STATE,657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,657,begin apogee
$GC,663,-0.23,0.0,120.6,17.9,77,729,0.75,0.00,58.00,0.572,6,0.149,0.000,2765,2023,2822,0,0,0,0,0,0
$STATE,739,end apogee,CONTROL_FINISHED_OK
$STATE,739,begin climb
$GC,741,0.91,77.9,125.5,0.0,84,807,1.05,0.00,59.67,0.563,6,0.094,0.000,3142,2023,2504,0,0,0,0,0,0
$GC,1060,0.96,117.7,115.4,6.6,115,1097,0.00,2.38,31.40,0.551,4,0.000,0.046,3141,3619,2341,0,0,0,0,0,0
$GC,1236,1.00,148.1,99.0,7.4,130,1267,0.00,2.30,24.48,0.537,6,0.000,0.035,3154,2041,2219,0,0,0,0,0,0
$GC,1528,1.07,204.9,81.0,5.1,158,1579,0.12,0.00,44.90,0.542,6,0.092,0.000,3219,2041,1983,0,0,0,0,0,0
$GC,1832,1.07,204.9,47.6,12.2,187,1836,0.00,2.33,0.00,0.000,4,0.000,0.053,3232,454,1979,0,0,0,0,0,0
$GC,1866,1.07,207.9,44.2,9.7,190,1871,0.12,2.25,0.00,0.000,6,0.173,0.038,3199,2029,1978,0,0,0,0,0,0
$GC,2133,1.07,207.9,13.5,11.4,227,2139,0.00,2.33,0.00,0.000,4,0.000,0.054,3214,451,1975,0,0,0,0,0,0
$GC,2212,1.07,207.9,4.4,11.4,241,2217,0.00,2.25,0.00,0.000,6,0.000,0.040,3209,2035,1977,0,0,0,0,0,0
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,0.3,1.023066
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2275,166.50,0.067,0,0,498,570.07
$SM_GC,1.00,0.00,0.00,166.50,0.000,0.000,0.067,140,2039,498,-8.47,0.20,570.07
$IRIDIUM_FIX,2106.38,-15752.16,101211,171701
$TT8_MAMPS,0.057525
$HUMID,1078355474
$INTERNAL_PRESSURE,9.57923
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.6,9.0
$AR_POSTDIVE_SAMPLENUM,23
$AR_CDRIVE_FREE,8449523712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59776204800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.9,1.017
$10V_AH,10.3,1.299
$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,19.825,23.075,218.450,166.500,0.000,28.351,27.329,203.534,0.750,0.000,15.323,413.796,1162.877,457.041,750.613,37.676,0.000,723.592,0.000,428.102,0.000,7.014,0.000
$DEVICE_MAMPS,256.945,62.127,572.182,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,162.996,0.000,0.000,0.000,0.000,0.000,0.000,3056.190,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,34.097,0.000,0.000
$MEM,335000
$DATA_FILE_SIZE,6837,249
$CAP_FILE_SIZE,40178,0
$CFSIZE,260165632,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,001432,2115.711,-15753.366,10,1.0,10,9.8