version: 66.07
glider: 500
mission: 4
dive: 16
start: 6 17 110 17 27 0
data:
$ID,500
$MISSION,4
$DIVE,16
$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,-109893.33
$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,44
$R_STBD_OVSHOOT,41
$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,15
$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
$GPS1,170610,171837,2111.459,-15755.265,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.6
$GPS2,170610,172638,2111.510,-15755.364,9,1.1,9,9.8
$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,208.2,97571,-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,-71.03,0.000,2,0.000,0.000,146,2042,2752,0,0,0,0,0,0
$GC,99,-0.91,-77.9,3.4,-8.7,14,125,10.02,2.42,-8.70,0.000,4,0.249,0.064,2579,450,3141,0,0,0,0,0,0
$GC,377,-0.91,-77.9,64.4,-20.7,50,382,0.00,2.28,0.00,0.000,6,0.000,0.039,2569,2039,3143,0,0,0,0,0,0
$GC,643,-0.91,-77.9,113.1,-18.9,75,647,0.00,2.30,0.00,0.000,4,0.000,0.048,2569,451,3144,0,0,0,0,0,0
$GC,812,-0.91,-77.9,144.7,-15.9,90,817,0.00,2.28,0.00,0.000,6,0.000,0.038,2556,2037,3143,0,0,0,0,0,0
$GC,1078,-0.91,-77.9,187.1,-16.4,115,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2038,3147,0,0,0,0,0,0
$GC,1328,-0.91,-77.9,227.4,-16.2,131,1332,0.00,2.33,0.00,0.000,4,0.000,0.049,2557,448,3148,0,0,0,0,0,0
$GC,1377,-0.91,-77.9,235.7,-16.6,133,1383,0.10,2.28,0.00,0.000,6,0.145,0.037,2579,2018,3147,0,0,0,0,0,0
$GC,1704,-0.91,-77.9,280.3,-12.9,149,1707,0.00,2.33,0.00,0.000,4,0.000,0.054,2579,443,3149,0,0,0,0,0,0
$GC,1838,-0.91,-77.9,296.3,-11.7,155,1842,0.00,2.28,0.00,0.000,6,0.000,0.039,2565,2039,3149,0,0,0,0,0,0
$GC,2165,-0.91,-77.9,337.4,-12.8,164,2169,0.00,2.30,0.00,0.000,4,0.000,0.048,2557,3608,3150,0,0,0,0,0,0
$GC,2377,-0.91,-77.9,364.3,-12.1,168,2382,0.00,2.28,0.00,0.000,6,0.000,0.036,2557,2035,3150,0,0,0,0,0,0
$STATE,2631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2631,begin apogee
$GC,2634,-0.23,0.0,392.2,11.0,175,2699,0.75,0.00,61.62,0.799,6,0.130,0.000,2801,2034,2823,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2724,0.91,77.9,393.9,0.0,176,2794,1.00,2.45,62.97,0.783,4,0.075,0.049,3173,3608,2504,0,0,0,0,0,0
$GC,2827,0.92,84.3,388.2,9.4,178,2838,0.00,2.40,6.53,0.611,6,0.000,0.038,3185,2034,2479,0,0,0,0,0,0
$GC,3169,0.92,89.7,352.8,9.5,187,3178,0.00,2.38,4.97,0.563,4,0.000,0.052,3197,443,2457,0,0,0,0,0,0
$GC,3430,0.93,97.7,327.2,9.3,192,3443,0.00,2.33,7.85,0.662,6,0.000,0.039,3198,2026,2425,0,0,0,0,0,0
$GC,3761,0.96,119.4,300.0,8.1,201,3785,0.00,2.42,18.35,0.742,4,0.000,0.050,3197,3606,2336,0,0,0,0,0,0
$GC,4037,0.96,119.4,268.5,10.3,213,4042,0.00,2.33,0.00,0.000,6,0.000,0.039,3209,2030,2330,0,0,0,0,0,0
$GC,4358,0.97,127.3,237.9,9.3,229,4371,0.00,2.42,6.70,0.617,4,0.000,0.049,3209,3617,2303,0,0,0,0,0,0
$GC,4625,0.99,146.2,211.4,8.4,241,4649,0.00,2.33,17.15,0.692,6,0.000,0.038,3221,2018,2226,0,0,0,0,0,0
$GC,4971,0.99,146.2,173.4,12.2,268,4975,0.00,2.30,0.00,0.000,4,0.000,0.051,3234,458,2220,0,0,0,0,0,0
$GC,5065,0.99,146.2,161.2,12.3,276,5073,0.10,2.30,0.00,0.000,6,0.146,0.038,3201,2034,2220,0,0,0,0,0,0
$GC,5327,1.01,162.5,137.6,8.6,301,5348,0.00,2.38,13.62,0.619,4,0.000,0.048,3201,3606,2159,0,0,0,0,0,0
$GC,5404,1.01,162.5,130.4,10.1,308,5408,0.00,2.30,0.00,0.000,6,0.000,0.038,3211,2022,2158,0,0,0,0,0,0
$GC,5670,1.03,177.9,105.0,8.7,333,5691,0.00,2.35,13.85,0.590,4,0.000,0.051,3224,459,2096,0,0,0,0,0,0
$GC,5803,1.03,177.9,92.3,10.7,345,5807,0.00,2.28,0.00,0.000,6,0.000,0.038,3223,2032,2093,0,0,0,0,0,0
$GC,6064,1.06,198.3,70.0,8.2,369,6088,0.00,2.40,17.35,0.565,4,0.000,0.047,3223,3611,2012,0,0,0,0,0,0
$GC,6194,1.06,198.3,56.0,12.2,381,6199,0.00,2.30,0.00,0.000,6,0.000,0.038,3236,2025,2008,0,0,0,0,0,0
$GC,6458,1.06,198.3,24.3,12.1,409,6463,0.00,2.30,0.00,0.000,4,0.000,0.051,3248,455,2008,0,0,0,0,0,0
$GC,6485,1.06,198.3,20.9,12.5,414,6491,0.00,2.25,0.00,0.000,6,0.000,0.037,3248,2037,2008,0,0,0,0,0,0
$STATE,6630,end climb,SURFACE_DEPTH_REACHED
$STATE,6630,begin surface coast
$FINISH,0.6,1.023286
$STATE,6653,end surface coast,CONTROL_FINISHED_OK
$STATE,6653,begin surface
$SM_CCo,6691,155.88,0.457,1,0,782,500.16
$SM_GC,1.31,0.00,0.00,155.88,0.000,0.000,0.457,148,2035,782,-8.54,0.11,500.16
$IRIDIUM_FIX,2104.07,-15755.17,111211,090904
$TT8_MAMPS,0.059059
$HUMID,1078401926
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.1,9.2
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8448606208
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59045380096
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,1.853
$10V_AH,10.1,2.446
$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,19.825,65.250,230.975,155.875,0.000,27.515,33.346,301.163,3.000,0.000,11.794,846.588,4421.200,472.599,1541.532,67.570,0.000,1052.483,0.000,1053.017,0.000,23.984,0.000
$DEVICE_MAMPS,248.508,63.661,799.214,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,298.134,0.000,0.000,0.000,0.000,0.000,0.000,7636.130,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.545,0.000,0.000
$MEM,334808
$DATA_FILE_SIZE,13480,444
$CAP_FILE_SIZE,80927,0
$CFSIZE,260165632,257781760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,192208,2111.205,-15756.290,9,1.3,9,9.8