version: 66.07
glider: 500
mission: 4
dive: 15
start: 6 17 110 15 19 36
data:
$ID,500
$MISSION,4
$DIVE,15
$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,-109880.91
$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,42
$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,14
$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
$GPS1,170610,151127,2111.726,-15754.377,12,3.5,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.3
$GPS2,170610,151914,2111.756,-15754.446,12,1.6,12,9.8
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$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,208.8,98914,-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,21,begin dive
$GC,23,-0.91,-77.9,0.0,0.0,0,96,0.00,0.00,-71.07,0.000,2,0.000,0.000,145,2047,2765,0,0,0,0,0,0
$GC,98,-0.91,-77.9,3.5,-8.7,14,125,10.00,2.42,-8.30,0.000,4,0.248,0.063,2580,451,3143,0,0,0,0,0,0
$GC,377,-0.91,-77.9,66.5,-22.4,50,381,0.00,2.25,0.00,0.000,6,0.000,0.038,2571,2026,3143,0,0,0,0,0,0
$GC,643,-0.91,-77.9,114.4,-18.3,75,648,0.00,2.33,0.00,0.000,4,0.000,0.051,2571,436,3143,0,0,0,0,0,0
$GC,816,-0.91,-77.9,146.2,-16.3,90,823,0.00,2.33,0.00,0.000,6,0.000,0.038,2559,2041,3144,0,0,0,0,0,0
$GC,1077,-0.91,-77.9,186.5,-14.5,115,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2041,3147,0,0,0,0,0,0
$GC,1338,-0.91,-77.9,225.6,-15.3,132,1342,0.00,2.33,0.00,0.000,4,0.000,0.048,2547,3615,3147,0,0,0,0,0,0
$GC,1444,-0.91,-77.9,240.4,-14.2,137,1449,0.12,2.28,0.00,0.000,6,0.161,0.035,2581,2020,3147,0,0,0,0,0,0
$GC,1775,-0.91,-77.9,273.6,-10.7,153,1779,0.00,2.35,0.00,0.000,4,0.000,0.048,2572,3622,3150,0,0,0,0,0,0
$GC,1964,-0.91,-77.9,297.0,-10.8,161,1969,0.00,2.30,0.00,0.000,6,0.000,0.035,2572,2032,3146,0,0,0,0,0,0
$GC,2281,-0.91,-77.9,330.2,-10.7,170,2285,0.00,2.30,0.00,0.000,4,0.000,0.050,2572,447,3145,0,0,0,0,0,0
$GC,2392,-0.91,-77.9,344.4,-13.2,172,2397,0.00,2.28,0.00,0.000,6,0.000,0.037,2560,2025,3145,0,0,0,0,0,0
$GC,2739,-0.91,-77.9,385.2,-11.7,181,2744,0.00,2.28,0.00,0.000,4,0.000,0.050,2560,451,3143,0,0,0,0,0,0
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2782,-0.23,0.0,390.7,14.6,181,2846,0.77,0.00,60.67,0.815,6,0.138,0.000,2800,2035,2822,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2849,begin climb
$GC,2850,0.91,77.9,393.9,0.0,183,2920,1.00,2.50,62.50,0.794,4,0.075,0.049,3171,3608,2508,0,0,0,0,0,0
$GC,3021,0.92,88.9,385.3,9.0,187,3037,0.00,2.35,10.30,0.703,6,0.000,0.040,3183,2035,2460,0,0,0,0,0,0
$GC,3343,0.92,88.9,353.1,10.1,195,3347,0.00,2.35,0.00,0.000,4,0.000,0.052,3195,447,2455,0,0,0,0,0,0
$GC,3600,0.94,99.0,328.1,9.1,200,3616,0.00,2.33,8.73,0.690,6,0.000,0.040,3200,2023,2418,0,0,0,0,0,0
$GC,3940,0.95,114.4,298.6,8.7,209,3961,0.00,2.40,13.88,0.734,4,0.000,0.053,3207,452,2355,0,0,0,0,0,0
$GC,4067,0.95,114.4,285.0,11.0,214,4073,0.00,2.33,0.00,0.000,6,0.000,0.040,3207,2030,2354,0,0,0,0,0,0
$GC,4382,0.97,128.0,257.0,8.8,230,4402,0.00,2.42,11.77,0.709,4,0.000,0.050,3206,3612,2300,0,0,0,0,0,0
$GC,4654,0.97,128.0,230.7,11.0,242,4659,0.00,2.35,0.00,0.000,6,0.000,0.039,3219,2019,2297,0,0,0,0,0,0
$GC,4981,0.99,139.8,200.4,9.0,258,4996,0.00,2.38,10.93,0.674,4,0.000,0.048,3219,3619,2251,0,0,0,0,0,0
$GC,5248,0.99,139.8,170.7,10.1,280,5255,0.10,2.35,0.00,0.000,6,0.166,0.039,3200,2025,2251,0,0,0,0,0,0
$GC,5510,0.99,144.9,144.4,9.6,305,5521,0.00,2.33,5.10,0.520,4,0.000,0.051,3211,442,2233,0,0,0,0,0,0
$GC,5558,1.00,154.9,139.8,9.1,309,5576,0.00,2.33,10.15,0.612,6,0.000,0.038,3211,2030,2190,0,0,0,0,0,0
$GC,5830,1.04,186.9,118.5,7.2,335,5864,0.00,2.45,27.02,0.635,4,0.000,0.051,3226,446,2059,0,0,0,0,0,0
$GC,6077,1.04,186.9,89.4,13.3,357,6083,0.00,2.33,0.00,0.000,6,0.000,0.038,3224,2027,2054,0,0,0,0,0,0
$GC,6338,1.04,186.9,58.8,11.4,382,6342,0.00,2.33,0.00,0.000,4,0.000,0.051,3235,446,2052,0,0,0,0,0,0
$GC,6363,1.04,186.9,55.3,13.6,384,6370,0.00,2.33,0.00,0.000,6,0.000,0.038,3235,2034,2052,0,0,0,0,0,0
$GC,6627,1.04,186.9,25.8,12.0,412,6632,0.00,2.33,0.00,0.000,4,0.000,0.051,3252,453,2052,0,0,0,0,0,0
$GC,6688,1.04,186.9,18.6,13.1,423,6694,0.00,2.28,0.00,0.000,6,0.000,0.038,3244,2039,2052,0,0,0,0,0,0
$STATE,6827,end climb,SURFACE_DEPTH_REACHED
$STATE,6828,begin surface coast
$FINISH,0.5,1.023278
$STATE,6851,end surface coast,CONTROL_FINISHED_OK
$STATE,6851,begin surface
$SM_CCo,6886,163.85,0.468,1,0,783,500.16
$SM_GC,1.17,0.00,0.00,163.85,0.000,0.000,0.468,147,2041,783,-8.54,0.28,500.16
$IRIDIUM_FIX,2104.07,-15755.17,111211,070748
$TT8_MAMPS,0.057525
$HUMID,1078447087
$INTERNAL_PRESSURE,9.4425
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.0,9.3
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8448671744
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59120484352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,1.764
$10V_AH,10.2,2.325
$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,19.900,70.150,221.050,163.850,0.000,29.611,34.415,280.602,2.500,0.000,14.891,860.080,4591.664,489.051,1532.739,64.690,0.000,1085.259,0.000,1083.763,0.000,17.849,0.000
$DEVICE_MAMPS,247.741,62.894,815.321,467.870,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,303.613,0.000,0.000,0.000,0.000,0.000,0.000,7802.540,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.414,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,16797,452
$CAP_FILE_SIZE,82442,0
$CFSIZE,260165632,257851392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,171837,2111.459,-15755.265,39,1.0,39,9.8