version: 66.07
glider: 500
mission: 4
dive: 7
start: 6 17 110 1 44 6
data:
$ID,500
$MISSION,4
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,100
$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,500
$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,-109707.13
$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,2880
$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,41
$R_STBD_OVSHOOT,43
$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,6
$AR_SAMPLENUM,9
$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
$GPS1,170610,013544,2115.242,-15753.089,12,1.3,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.1
$GPS2,170610,014344,2115.247,-15753.144,12,1.4,12,9.8
$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,178.1,6072,-24.4,-10.000
$D_GRID,240
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.91,-77.9,0.0,0.0,0,96,0.00,0.00,-70.95,0.000,2,0.000,0.000,140,2040,2739,0,0,0,0,0,0
$GC,99,-0.91,-77.9,3.3,-8.3,14,125,10.15,2.35,-9.12,0.000,4,0.253,0.065,2578,450,3142,0,0,0,0,0,0
$GC,366,-0.91,-77.9,58.3,-20.4,50,371,0.00,2.30,0.00,0.000,6,0.000,0.041,2568,2014,3140,0,0,0,0,0,0
$GC,632,-0.91,-77.9,106.3,-18.4,75,636,0.00,2.30,0.00,0.000,4,0.000,0.053,2568,450,3143,0,0,0,0,0,0
$GC,692,-0.91,-77.9,118.4,-19.6,80,699,0.00,2.33,0.00,0.000,6,0.000,0.041,2556,2040,3143,0,0,0,0,0,0
$GC,953,-0.91,-77.9,160.3,-14.6,105,958,0.10,2.35,0.00,0.000,4,0.186,0.054,2582,444,3143,0,0,0,0,0,0
$GC,1115,-0.91,-77.9,183.2,-14.3,119,1119,0.00,2.30,0.00,0.000,6,0.000,0.040,2572,2043,3144,0,0,0,0,0,0
$GC,1376,-0.91,-77.9,221.2,-13.9,137,1380,0.00,2.35,0.00,0.000,4,0.000,0.054,2559,3628,3144,0,0,0,0,0,0
$STATE,1508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1515,-0.23,0.0,240.2,13.7,143,1577,0.73,0.00,59.15,0.667,6,0.134,0.000,2798,2030,2822,0,0,0,0,0,0
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1592,0.91,77.9,243.9,0.0,146,1658,1.00,0.00,60.72,0.654,6,0.077,0.000,3169,2030,2508,0,0,0,0,0,0
$GC,1967,0.97,125.3,220.1,5.9,165,2011,0.00,2.47,37.80,0.646,4,0.000,0.054,3172,3608,2311,0,0,0,0,0,0
$GC,2224,0.97,125.3,194.2,11.2,178,2232,0.00,2.35,0.00,0.000,6,0.000,0.044,3184,2027,2305,0,0,0,0,0,0
$GC,2486,0.97,125.3,167.3,10.4,203,2490,0.00,2.40,0.00,0.000,4,0.000,0.054,3184,3612,2305,0,0,0,0,0,0
$GC,2602,0.97,125.3,154.8,11.3,213,2607,0.00,2.30,0.00,0.000,6,0.000,0.044,3197,2024,2304,0,0,0,0,0,0
$GC,2869,1.01,155.5,134.0,7.4,238,2900,0.00,2.38,24.25,0.609,4,0.000,0.054,3209,452,2188,0,0,0,0,0,0
$GC,2994,1.01,155.5,119.8,13.7,249,3001,0.00,2.33,0.00,0.000,6,0.000,0.039,3209,2037,2184,0,0,0,0,0,0
$GC,3256,1.01,160.8,89.5,9.5,274,3267,0.00,2.38,4.88,0.441,4,0.000,0.057,3209,3617,2166,0,0,0,0,0,0
$GC,3428,1.01,160.8,70.8,10.4,289,3435,0.00,2.33,0.00,0.000,6,0.000,0.044,3221,2032,2165,0,0,0,0,0,0
$GC,3690,1.04,186.5,52.0,7.8,314,3720,0.00,2.40,21.50,0.549,4,0.000,0.054,3231,451,2061,0,0,0,0,0,0
$GC,3961,1.04,186.5,26.4,10.7,341,3967,0.00,2.28,0.00,0.000,6,0.000,0.040,3233,2046,2057,0,0,0,0,0,0
$GC,4169,1.04,186.5,5.1,10.8,378,4174,0.00,2.35,0.00,0.000,4,0.000,0.053,3245,449,2055,0,0,0,0,0,0
$STATE,4189,end climb,SURFACE_DEPTH_REACHED
$STATE,4190,begin surface coast
$FINISH,0.4,1.021860
$STATE,4219,end surface coast,CONTROL_FINISHED_OK
$STATE,4219,begin surface
$SM_CCo,4239,157.98,0.454,1,0,782,500.16
$SM_GC,1.26,0.00,0.00,157.98,0.000,0.000,0.454,141,2036,782,-8.56,0.14,500.16
$IRIDIUM_FIX,2108.69,-15754.30,101211,181840
$TT8_MAMPS,0.058292
$HUMID,1078469023
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,96.7,9.1
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8449359872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59666956288
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,1.158
$10V_AH,10.1,1.471
$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,19.850,46.875,208.300,157.975,0.000,29.697,33.086,304.152,1.750,0.000,14.396,681.690,2473.689,462.273,1229.417,54.495,0.000,895.307,0.000,779.548,0.000,16.313,0.000
$DEVICE_MAMPS,253.110,65.195,666.523,454.064,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,258.029,0.000,0.000,0.000,0.000,0.000,0.000,5173.960,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.815,0.000,0.000
$MEM,334844
$DATA_FILE_SIZE,13442,387
$CAP_FILE_SIZE,62147,0
$CFSIZE,260165632,258379776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,025855,2114.830,-15753.219,39,1.7,39,9.8