version: 66.07
glider: 500
mission: 4
dive: 12
start: 6 17 110 9 4 23
data:
$ID,500
$MISSION,4
$DIVE,12
$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,-109799.7
$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,45
$R_STBD_OVSHOOT,39
$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,11
$AR_SAMPLENUM,10
$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
$GPS1,170610,085732,2113.665,-15754.774,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.7
$GPS2,170610,090402,2113.712,-15754.795,13,1.4,13,9.8
$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,137.8,3755,-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,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,-70.75,0.000,2,0.000,0.000,148,2043,2735,0,0,0,0,0,0
$GC,99,-0.91,-77.9,3.3,-8.4,14,126,10.07,2.40,-9.23,0.000,4,0.252,0.064,2579,447,3144,0,0,0,0,0,0
$GC,338,-0.91,-77.9,57.6,-21.3,46,345,0.00,2.33,0.00,0.000,6,0.000,0.039,2570,2038,3141,0,0,0,0,0,0
$GC,600,-0.91,-77.9,107.1,-17.0,71,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2038,3144,0,0,0,0,0,0
$GC,854,-0.91,-77.9,151.5,-16.8,95,858,0.00,2.33,0.00,0.000,4,0.000,0.051,2569,452,3145,0,0,0,0,0,0
$GC,915,-0.91,-77.9,161.5,-16.1,100,919,0.00,2.28,0.00,0.000,6,0.000,0.040,2558,2037,3145,0,0,0,0,0,0
$GC,1181,-0.91,-77.9,201.2,-15.4,125,1185,0.00,2.28,0.00,0.000,4,0.000,0.048,2545,3611,3148,0,0,0,0,0,0
$GC,1297,-0.91,-77.9,220.2,-16.0,130,1303,0.10,2.28,0.00,0.000,6,0.140,0.035,2580,2033,3146,0,0,0,0,0,0
$GC,1618,-0.91,-77.9,258.8,-10.8,146,1621,0.00,2.30,0.00,0.000,4,0.000,0.049,2568,3615,3148,0,0,0,0,0,0
$GC,1672,-0.91,-77.9,265.0,-10.8,148,1678,0.00,2.30,0.00,0.000,6,0.000,0.036,2569,2028,3148,0,0,0,0,0,0
$GC,1993,-0.91,-77.9,305.9,-13.6,163,1997,0.00,2.28,0.00,0.000,4,0.000,0.049,2569,447,3149,0,0,0,0,0,0
$GC,2121,-0.91,-77.9,324.3,-13.9,166,2125,0.00,2.28,0.00,0.000,6,0.000,0.038,2559,2030,3147,0,0,0,0,0,0
$GC,2449,-0.91,-77.9,364.8,-12.1,174,2453,0.00,2.33,0.00,0.000,4,0.000,0.050,2557,452,3148,0,0,0,0,0,0
$GC,2526,-0.91,-77.9,373.4,-11.4,175,2531,0.10,2.28,0.00,0.000,6,0.146,0.040,2580,2025,3148,0,0,0,0,0,0
$STATE,2740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2740,begin apogee
$GC,2743,-0.23,0.0,394.1,9.8,181,2807,0.68,0.00,61.47,0.798,6,0.128,0.000,2802,2025,2822,0,0,0,0,0,0
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin climb
$GC,2831,0.91,77.9,395.8,0.0,182,2899,0.98,0.00,63.10,0.783,6,0.071,0.000,3171,2025,2503,0,0,0,0,0,0
$GC,3197,0.94,98.9,372.1,8.2,191,3221,0.00,2.45,17.08,0.743,4,0.000,0.050,3171,3608,2418,0,0,0,0,0,0
$GC,3349,0.94,98.9,357.0,10.3,194,3354,0.00,2.35,0.00,0.000,6,0.000,0.039,3183,2025,2417,0,0,0,0,0,0
$GC,3697,0.94,106.3,326.6,9.4,203,3709,0.00,2.33,6.60,0.636,4,0.000,0.052,3195,451,2388,0,0,0,0,0,0
$GC,3944,0.95,111.3,301.5,9.6,208,3954,0.00,2.30,5.50,0.591,6,0.000,0.040,3195,2024,2371,0,0,0,0,0,0
$GC,4268,0.98,134.3,277.3,8.0,223,4293,0.00,2.38,19.60,0.736,4,0.000,0.057,3207,452,2275,0,0,0,0,0,0
$GC,4400,0.98,134.3,263.5,13.2,229,4405,0.00,2.30,0.00,0.000,6,0.000,0.041,3207,2042,2272,0,0,0,0,0,0
$GC,4732,0.98,134.9,229.4,10.0,245,4736,0.00,2.33,0.00,0.000,4,0.000,0.050,3207,3612,2272,0,0,0,0,0,0
$GC,4794,0.99,140.4,223.5,9.5,248,4805,0.00,2.28,5.65,0.573,6,0.000,0.040,3220,2027,2249,0,0,0,0,0,0
$GC,5122,1.00,154.7,194.2,8.8,267,5143,0.00,2.40,13.27,0.662,4,0.000,0.049,3219,3607,2190,0,0,0,0,0,0
$GC,5187,1.00,154.7,187.6,10.9,273,5191,0.00,2.30,0.00,0.000,6,0.000,0.039,3231,2032,2189,0,0,0,0,0,0
$GC,5453,1.02,166.5,160.9,9.0,298,5469,0.00,2.35,11.02,0.621,4,0.000,0.048,3231,3615,2142,0,0,0,0,0,0
$GC,5575,1.02,166.5,144.9,14.0,308,5582,0.10,2.33,0.00,0.000,6,0.163,0.038,3211,2039,2139,0,0,0,0,0,0
$GC,5836,1.04,182.1,118.0,8.7,333,5857,0.00,2.40,13.98,0.601,4,0.000,0.052,3225,450,2078,0,0,0,0,0,0
$GC,5969,1.04,182.1,104.4,10.2,345,5973,0.00,2.30,0.00,0.000,6,0.000,0.039,3223,2043,2076,0,0,0,0,0,0
$GC,6229,1.04,182.1,73.8,10.6,369,6233,0.00,2.35,0.00,0.000,4,0.000,0.052,3235,447,2075,0,0,0,0,0,0
$GC,6279,1.04,182.1,68.3,10.9,373,6283,0.00,2.28,0.00,0.000,6,0.000,0.038,3235,2033,2075,0,0,0,0,0,0
$GC,6545,1.05,191.9,40.3,9.2,398,6560,0.00,2.38,8.93,0.506,4,0.000,0.055,3249,460,2039,0,0,0,0,0,0
$GC,6722,1.05,191.9,21.9,11.0,420,6728,0.00,2.28,0.00,0.000,6,0.000,0.040,3251,2040,2039,0,0,0,0,0,0
$STATE,6895,end climb,SURFACE_DEPTH_REACHED
$STATE,6895,begin surface coast
$FINISH,0.6,1.012440
$STATE,6924,end surface coast,CONTROL_FINISHED_OK
$STATE,6924,begin surface
$SM_CCo,6952,152.77,0.459,1,0,783,500.16
$SM_GC,1.12,0.00,0.00,152.77,0.000,0.000,0.459,147,2041,783,-8.55,0.28,500.16
$IRIDIUM_FIX,2108.69,-15901.73,111211,010107
$TT8_MAMPS,0.058292
$HUMID,1078458700
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,116.9,9.3
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8448966656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59354578944
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,1.526
$10V_AH,10.1,1.961
$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,19.900,69.675,226.200,152.775,0.000,29.577,27.313,223.174,2.250,0.000,15.213,859.162,4728.912,476.053,1388.227,63.701,0.000,1033.525,0.000,1002.236,0.000,16.318,0.000
$DEVICE_MAMPS,251.576,64.428,797.680,458.666,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,306.533,0.000,0.000,0.000,0.000,0.000,0.000,7805.430,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,39.116,0.000,0.000
$MEM,334808
$DATA_FILE_SIZE,16750,456
$CAP_FILE_SIZE,80522,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,110407,2112.995,-15754.234,28,1.2,28,9.8