version: 66.07
glider: 500
mission: 4
dive: 13
start: 6 17 110 11 10 42
data:
$ID,500
$MISSION,4
$DIVE,13
$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,-109833
$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,46
$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,12
$AR_SAMPLENUM,11
$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
$GPS1,170610,110407,2112.995,-15754.234,28,1.2,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.2
$GPS2,170610,111022,2112.986,-15754.234,10,2.2,29,9.8
$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,140.5,2103,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.91,-77.9,0.0,0.0,0,92,0.00,0.00,-66.22,0.000,2,0.000,0.000,146,2041,2607,0,0,0,0,0,0
$GC,94,-0.91,-77.9,3.1,-7.1,13,126,9.98,2.40,-13.18,0.000,4,0.249,0.062,2580,454,3142,0,0,0,0,0,0
$GC,266,-0.91,-77.9,39.9,-22.3,40,272,0.00,2.28,0.00,0.000,6,0.000,0.039,2571,2027,3142,0,0,0,0,0,0
$GC,527,-0.91,-77.9,96.7,-21.1,65,531,0.00,2.33,0.00,0.000,4,0.000,0.055,2571,450,3143,0,0,0,0,0,0
$GC,558,-0.91,-77.9,103.9,-20.7,67,565,0.00,2.30,0.00,0.000,6,0.000,0.039,2559,2023,3143,0,0,0,0,0,0
$GC,819,-0.91,-77.9,148.0,-14.0,92,823,0.00,2.30,0.00,0.000,4,0.000,0.049,2559,449,3145,0,0,0,0,0,0
$GC,863,-0.91,-77.9,154.2,-14.7,96,868,0.12,2.28,0.00,0.000,6,0.176,0.038,2580,2035,3146,0,0,0,0,0,0
$GC,1129,-0.91,-77.9,191.6,-13.8,121,1133,0.00,2.33,0.00,0.000,4,0.000,0.048,2570,3612,3147,0,0,0,0,0,0
$GC,1340,-0.91,-77.9,221.4,-13.2,132,1347,0.00,2.30,0.00,0.000,6,0.000,0.035,2570,2019,3147,0,0,0,0,0,0
$GC,1655,-0.91,-77.9,267.4,-14.1,148,1659,0.00,2.33,0.00,0.000,4,0.000,0.048,2558,3612,3148,0,0,0,0,0,0
$GC,1727,-0.91,-77.9,277.8,-13.4,151,1732,0.00,2.28,0.00,0.000,6,0.000,0.035,2558,2030,3147,0,0,0,0,0,0
$GC,2072,-0.91,-77.9,319.8,-11.5,164,2076,0.00,2.30,0.00,0.000,4,0.000,0.047,2546,3616,3149,0,0,0,0,0,0
$GC,2227,-0.91,-77.9,339.1,-11.8,167,2233,0.10,2.30,0.00,0.000,6,0.134,0.035,2581,2016,3149,0,0,0,0,0,0
$GC,2569,-0.91,-77.9,377.1,-10.9,176,2573,0.00,2.25,0.00,0.000,4,0.000,0.051,2581,458,3147,0,0,0,0,0,0
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2673,-0.23,0.0,390.1,13.1,178,2738,0.68,0.00,61.20,0.798,6,0.132,0.000,2795,2040,2822,0,0,0,0,0,0
$STATE,2740,end apogee,CONTROL_FINISHED_OK
$STATE,2740,begin climb
$GC,2742,0.91,77.9,392.6,0.0,179,2810,1.02,0.00,62.70,0.781,6,0.074,0.000,3176,2040,2504,0,0,0,0,0,0
$GC,3147,0.94,102.8,366.8,7.8,189,3173,0.00,2.40,20.60,0.752,4,0.000,0.055,3188,462,2403,0,0,0,0,0,0
$GC,3351,0.94,102.8,346.1,10.3,193,3356,0.00,2.30,0.00,0.000,6,0.000,0.041,3188,2021,2399,0,0,0,0,0,0
$GC,3688,0.96,115.8,312.1,8.9,202,3704,0.00,2.38,10.73,0.706,4,0.000,0.048,3188,3618,2348,0,0,0,0,0,0
$GC,3899,0.96,115.8,292.2,10.9,207,3906,0.00,2.33,0.00,0.000,6,0.000,0.039,3200,2038,2346,0,0,0,0,0,0
$GC,4215,0.97,128.6,259.6,8.9,223,4231,0.00,2.35,11.38,0.698,4,0.000,0.051,3212,449,2302,0,0,0,0,0,0
$GC,4336,0.97,128.6,246.8,11.0,227,4343,0.00,2.33,0.00,0.000,6,0.000,0.040,3212,2033,2297,0,0,0,0,0,0
$GC,4652,0.98,136.9,217.2,9.3,243,4666,0.00,2.40,7.60,0.633,4,0.000,0.050,3212,3608,2265,0,0,0,0,0,0
$GC,4766,0.98,136.9,204.3,11.6,248,4771,0.00,2.33,0.00,0.000,6,0.000,0.039,3223,2030,2263,0,0,0,0,0,0
$GC,5091,0.99,140.9,172.0,9.7,276,5102,0.00,2.38,4.85,0.521,4,0.000,0.049,3224,3619,2247,0,0,0,0,0,0
$GC,5151,0.99,140.9,165.4,11.0,281,5158,0.10,2.33,0.00,0.000,6,0.170,0.039,3204,2036,2245,0,0,0,0,0,0
$GC,5413,0.99,145.4,139.6,9.6,306,5424,0.00,2.33,5.10,0.513,4,0.000,0.051,3215,445,2230,0,0,0,0,0,0
$GC,5450,0.99,145.4,135.3,11.1,309,5457,0.00,2.33,0.00,0.000,6,0.000,0.038,3215,2038,2230,0,0,0,0,0,0
$GC,5712,1.04,184.1,111.6,6.7,334,5753,0.00,2.42,32.55,0.634,4,0.000,0.051,3228,452,2068,0,0,0,0,0,0
$GC,5898,1.04,184.1,93.9,12.6,351,5902,0.00,2.30,0.00,0.000,6,0.000,0.038,3227,2036,2066,0,0,0,0,0,0
$GC,6164,1.04,184.1,60.0,12.2,376,6168,0.00,2.33,0.00,0.000,4,0.000,0.049,3228,3610,2064,0,0,0,0,0,0
$GC,6203,1.04,184.1,54.9,13.6,379,6207,0.00,2.30,0.00,0.000,6,0.000,0.039,3240,2022,2062,0,0,0,0,0,0
$GC,6469,1.04,184.3,29.0,10.0,404,6474,0.00,2.28,0.00,0.000,4,0.000,0.051,3252,454,2063,0,0,0,0,0,0
$GC,6531,1.04,184.3,21.7,12.5,415,6538,0.15,2.25,0.00,0.000,6,0.166,0.038,3210,2037,2063,0,0,0,0,0,0
$STATE,6716,end climb,SURFACE_DEPTH_REACHED
$STATE,6716,begin surface coast
$FINISH,0.6,1.023270
$STATE,6756,end surface coast,CONTROL_FINISHED_OK
$STATE,6756,begin surface
$SM_CCo,6791,153.05,0.072,0,0,784,500.16
$SM_GC,1.19,0.00,0.00,153.05,0.000,0.000,0.072,145,2038,784,-8.55,0.20,500.16
$IRIDIUM_FIX,2106.38,-15757.32,111211,030354
$TT8_MAMPS,0.058292
$HUMID,1078474184
$INTERNAL_PRESSURE,9.45227
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.6,9.5
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8448868352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59277869056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,1.590
$10V_AH,10.1,2.082
$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,19.825,74.275,216.700,153.050,0.000,29.832,26.427,194.095,3.000,0.000,32.664,853.984,4574.354,466.868,1374.872,63.051,0.000,1039.692,0.000,1015.426,0.000,22.183,0.000
$DEVICE_MAMPS,248.508,62.127,798.447,72.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,305.493,0.000,0.000,0.000,0.000,0.000,0.000,7615.150,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,39.321,0.000,0.000
$MEM,334828
$DATA_FILE_SIZE,16773,455
$CAP_FILE_SIZE,80756,0
$CFSIZE,260165632,257998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,130725,2112.203,-15753.802,7,2.0,12,9.8