version: 66.07
glider: 500
mission: 4
dive: 11
start: 6 17 110 7 9 48
data:
$ID,500
$MISSION,4
$DIVE,11
$D_SURF,3
$D_FLARE,3
$D_TGT,390
$D_ABORT,500
$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,130
$T_MISSION,180
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109783.87
$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,38
$R_STBD_OVSHOOT,37
$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,10
$AR_SAMPLENUM,8
$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
$GPS1,170610,070139,2114.154,-15754.848,42,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.1
$GPS2,170610,070926,2114.184,-15754.940,9,1.6,9,9.8
$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,141.0,4636,-24.4,-10.000
$D_GRID,390
$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,-70.95,0.000,2,0.000,0.000,146,2031,2761,0,0,0,0,0,0
$GC,99,-0.91,-77.9,3.3,-7.7,14,125,10.05,2.40,-8.52,0.000,4,0.251,0.066,2577,457,3142,0,0,0,0,0,0
$GC,258,-0.91,-77.9,37.8,-22.2,40,265,0.00,2.33,0.00,0.000,6,0.000,0.041,2568,2026,3143,0,0,0,0,0,0
$GC,520,-0.91,-77.9,92.0,-18.9,65,524,0.00,2.35,0.00,0.000,4,0.000,0.055,2571,448,3143,0,0,0,0,0,0
$GC,562,-0.91,-77.9,99.7,-16.8,68,570,0.00,2.33,0.00,0.000,6,0.000,0.041,2552,2027,3143,0,0,0,0,0,0
$GC,824,-0.91,-77.9,149.6,-16.3,93,826,0.10,0.00,0.00,0.000,6,0.186,0.000,2582,2028,3143,0,0,0,0,0,0
$GC,1079,-0.91,-77.9,186.9,-14.5,117,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2028,3144,0,0,0,0,0,0
$GC,1329,-0.91,-77.9,220.6,-14.0,134,1333,0.00,2.35,0.00,0.000,4,0.000,0.050,2571,3642,3144,0,0,0,0,0,0
$GC,1406,-0.91,-77.9,233.3,-16.9,137,1411,0.00,2.33,0.00,0.000,6,0.000,0.037,2571,2031,3145,0,0,0,0,0,0
$GC,1727,-0.91,-77.9,282.0,-13.5,153,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2030,3145,0,0,0,0,0,0
$GC,2034,-0.91,-77.9,324.2,-13.7,164,2038,0.00,2.33,0.00,0.000,4,0.000,0.054,2575,440,3145,0,0,0,0,0,0
$GC,2251,-0.91,-77.9,352.4,-13.0,168,2258,0.00,2.33,0.00,0.000,6,0.000,0.040,2559,2045,3146,0,0,0,0,0,0
$STATE,2582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2582,begin apogee
$GC,2585,-0.23,0.0,393.0,12.0,177,2649,0.75,0.00,60.55,0.787,6,0.135,0.000,2800,2045,2821,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2668,begin climb
$GC,2669,0.91,77.9,395.0,0.0,178,2739,1.00,2.50,62.17,0.772,4,0.074,0.054,3176,3618,2506,0,0,0,0,0,0
$GC,2800,0.91,80.0,388.1,9.8,181,2805,0.00,2.40,0.00,0.000,6,0.000,0.041,3188,2029,2500,0,0,0,0,0,0
$GC,3124,0.94,100.4,359.6,8.2,189,3145,0.00,0.00,18.98,0.736,6,0.000,0.000,3188,2030,2416,0,0,0,0,0,0
$GC,3449,0.94,100.4,325.6,10.5,197,3452,0.00,2.35,0.00,0.000,4,0.000,0.055,3201,447,2407,0,0,0,0,0,0
$GC,3706,1.03,172.1,304.7,3.8,202,3771,0.00,2.33,57.90,0.757,6,0.000,0.040,3200,2031,2122,0,0,0,0,0,0
$GC,4089,1.03,172.1,256.1,13.5,219,4093,0.00,2.38,0.00,0.000,4,0.000,0.056,3213,442,2109,0,0,0,0,0,0
$GC,4345,1.03,172.1,222.4,13.8,230,4351,0.00,2.33,0.00,0.000,6,0.000,0.041,3213,2022,2106,0,0,0,0,0,0
$GC,4671,1.03,172.1,176.1,13.7,253,4675,0.00,2.38,0.00,0.000,4,0.000,0.053,3212,3617,2104,0,0,0,0,0,0
$GC,4823,1.03,172.1,154.1,14.9,266,4827,0.00,2.33,0.00,0.000,6,0.000,0.041,3225,2015,2102,0,0,0,0,0,0
$GC,5082,1.03,172.1,121.5,12.6,290,5086,0.00,2.35,0.00,0.000,4,0.000,0.050,3224,3616,2102,0,0,0,0,0,0
$GC,5115,1.03,172.1,117.6,12.1,293,5119,0.00,2.28,0.00,0.000,6,0.000,0.041,3237,2029,2101,0,0,0,0,0,0
$GC,5381,1.03,172.1,87.9,14.5,318,5385,0.00,2.35,0.00,0.000,4,0.000,0.049,3239,3620,2099,0,0,0,0,0,0
$GC,5476,1.03,172.1,73.5,15.6,326,5480,0.15,2.30,0.00,0.000,6,0.184,0.040,3209,2022,2101,0,0,0,0,0,0
$GC,5742,1.06,196.2,45.7,7.9,351,5766,0.00,2.38,17.20,0.551,4,0.000,0.052,3221,447,2025,0,0,0,0,0,0
$GC,6019,1.06,196.2,19.7,10.4,384,6025,0.00,2.28,0.00,0.000,6,0.000,0.040,3220,2040,2021,0,0,0,0,0,0
$STATE,6192,end climb,SURFACE_DEPTH_REACHED
$STATE,6192,begin surface coast
$FINISH,0.5,1.014596
$STATE,6215,end surface coast,CONTROL_FINISHED_OK
$STATE,6216,begin surface
$SM_CCo,6247,153.57,0.457,1,0,781,500.16
$SM_GC,1.28,0.00,0.00,153.57,0.000,0.000,0.457,146,2042,781,-8.55,0.31,500.16
$IRIDIUM_FIX,2106.38,-15752.16,111211,000058
$TT8_MAMPS,0.058292
$HUMID,1078472893
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,146.2,9.4
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8449064960
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59432468480
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,1.443
$10V_AH,10.3,1.839
$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,19.850,51.625,216.800,153.575,0.000,29.591,31.821,296.952,4.500,0.000,11.560,782.637,4201.951,458.550,1387.987,60.754,0.000,968.019,0.000,923.845,0.000,34.409,0.000
$DEVICE_MAMPS,250.809,65.962,786.942,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,281.421,0.000,0.000,0.000,0.000,0.000,0.000,7240.360,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,39.005,0.000,0.000
$MEM,334860
$DATA_FILE_SIZE,13496,419
$CAP_FILE_SIZE,73172,0
$CFSIZE,260165632,258138112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,085732,2113.665,-15754.774,12,1.4,12,9.8