version: 66.07
glider: 500
mission: 4
dive: 10
start: 6 17 110 5 50 4
data:
$ID,500
$MISSION,4
$DIVE,10
$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,-109771.68
$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,39
$R_STBD_OVSHOOT,40
$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,9
$AR_SAMPLENUM,7
$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
$GPS1,170610,054139,2114.375,-15754.225,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.4
$GPS2,170610,054943,2114.380,-15754.342,11,1.5,28,9.8
$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,154.6,4576,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.91,-77.9,0.0,0.0,0,97,0.00,0.00,-70.85,0.000,2,0.000,0.000,135,2025,2753,0,0,0,0,0,0
$GC,100,-0.91,-77.9,3.3,-8.8,14,126,10.18,2.40,-8.55,0.000,4,0.255,0.067,2573,446,3139,0,0,0,0,0,0
$GC,271,-0.91,-77.9,42.1,-22.1,40,277,0.00,2.33,0.00,0.000,6,0.000,0.041,2564,2016,3142,0,0,0,0,0,0
$GC,532,-0.91,-77.9,92.3,-16.2,65,536,0.00,2.33,0.00,0.000,4,0.000,0.056,2563,446,3140,0,0,0,0,0,0
$GC,615,-0.91,-77.9,109.3,-25.6,72,620,0.12,2.30,0.00,0.000,6,0.178,0.042,2584,2041,3142,0,0,0,0,0,0
$GC,880,-0.91,-77.9,154.5,-13.5,97,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2041,3143,0,0,0,0,0,0
$GC,1135,-0.91,-77.9,186.9,-12.8,121,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2041,3144,0,0,0,0,0,0
$GC,1386,-0.91,-77.9,219.3,-12.6,138,1390,0.00,2.38,0.00,0.000,4,0.000,0.054,2573,3637,3145,0,0,0,0,0,0
$GC,1430,-0.91,-77.9,225.2,-13.6,140,1434,0.00,2.30,0.00,0.000,6,0.000,0.038,2573,2023,3145,0,0,0,0,0,0
$STATE,1533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1533,begin apogee
$GC,1537,-0.23,0.0,240.0,13.8,145,1599,0.70,0.00,59.35,0.662,6,0.136,0.000,2799,2023,2822,0,0,0,0,0,0
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1623,0.91,77.9,243.2,0.0,148,1693,1.00,2.55,60.35,0.651,4,0.079,0.054,3171,3620,2505,0,0,0,0,0,0
$GC,1727,0.97,129.7,240.2,5.5,153,1776,0.00,2.38,42.10,0.640,6,0.000,0.041,3183,2012,2292,0,0,0,0,0,0
$GC,2098,0.98,131.1,203.7,9.9,171,2102,0.00,2.42,0.00,0.000,4,0.000,0.055,3183,3618,2287,0,0,0,0,0,0
$GC,2174,0.98,131.1,194.6,11.4,176,2181,0.00,2.35,0.00,0.000,6,0.000,0.043,3195,2035,2285,0,0,0,0,0,0
$GC,2435,0.98,131.1,163.7,11.2,201,2439,0.00,2.33,0.00,0.000,4,0.000,0.054,3208,443,2285,0,0,0,0,0,0
$GC,2587,0.98,131.2,147.4,10.0,214,2591,0.00,2.30,0.00,0.000,6,0.000,0.038,3208,2043,2285,0,0,0,0,0,0
$GC,2847,1.01,159.7,126.3,7.5,238,2878,0.00,2.42,23.88,0.588,4,0.000,0.054,3220,448,2170,0,0,0,0,0,0
$GC,2916,1.02,169.7,120.5,9.1,244,2933,0.00,2.33,9.25,0.525,6,0.000,0.038,3220,2034,2127,0,0,0,0,0,0
$GC,3186,1.02,169.7,94.4,10.1,270,3190,0.00,2.35,0.00,0.000,4,0.000,0.054,3232,440,2125,0,0,0,0,0,0
$GC,3269,1.02,169.7,84.9,11.7,277,3276,0.00,2.33,0.00,0.000,6,0.000,0.038,3232,2034,2128,0,0,0,0,0,0
$GC,3531,1.06,201.8,60.8,7.2,302,3562,0.00,2.35,25.67,0.547,4,0.000,0.052,3244,451,2000,0,0,0,0,0,0
$GC,3735,1.06,201.8,38.1,12.9,320,3742,0.00,2.30,0.00,0.000,6,0.000,0.038,3244,2028,1994,0,0,0,0,0,0
$STATE,4007,end climb,SURFACE_DEPTH_REACHED
$STATE,4007,begin surface coast
$FINISH,0.4,1.023245
$STATE,4029,end surface coast,CONTROL_FINISHED_OK
$STATE,4029,begin surface
$SM_CCo,4058,142.88,0.069,0,0,783,500.16
$SM_GC,1.14,0.00,0.00,142.88,0.000,0.000,0.069,146,2031,783,-8.55,0.00,500.16
$IRIDIUM_FIX,2108.69,-15754.30,101211,222242
$TT8_MAMPS,0.058292
$HUMID,1078417410
$INTERNAL_PRESSURE,9.54016
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.2,9.2
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8449163264
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59506130944
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,1.356
$10V_AH,10.1,1.724
$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,19.850,42.425,220.600,142.875,0.000,27.991,28.383,301.448,3.250,0.000,31.069,643.874,2412.025,434.073,1159.301,52.821,0.000,837.687,0.000,687.692,0.000,22.855,0.000
$DEVICE_MAMPS,254.644,67.496,661.921,69.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,244.192,0.000,0.000,0.000,0.000,0.000,0.000,4966.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.552,0.000,0.000
$MEM,334888
$DATA_FILE_SIZE,13438,367
$CAP_FILE_SIZE,60125,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,070139,2114.154,-15754.848,42,1.0,45,9.8