version: 66.07
glider: 500
mission: 4
dive: 17
start: 6 17 110 19 29 11
data:
$ID,500
$MISSION,4
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,420
$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,155
$T_MISSION,200
$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,1
$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,400
$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,-109910.31
$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,2885
$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,46
$R_STBD_OVSHOOT,48
$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,16
$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
$GPS1,170610,192208,2111.205,-15756.290,9,1.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.6
$GPS2,170610,192820,2111.223,-15756.350,14,1.3,14,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,-0.149
$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,207.5,96104,-22.4,-9.032
$D_GRID,420
$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,23,-0.84,-77.9,0.0,0.0,0,96,0.00,0.00,-70.90,0.000,2,0.000,0.000,147,2040,2758,0,0,0,0,0,0
$GC,99,-0.84,-77.9,3.3,-7.2,14,125,10.07,2.38,-8.75,0.000,4,0.248,0.062,2607,458,3140,0,0,0,0,0,0
$GC,377,-0.84,-77.9,60.5,-21.7,52,382,0.00,2.28,0.00,0.000,6,0.000,0.038,2597,2028,3141,0,0,0,0,0,0
$GC,643,-0.84,-77.9,112.3,-18.1,77,647,0.00,2.33,0.00,0.000,4,0.000,0.047,2585,3615,3140,0,0,0,0,0,0
$GC,658,-0.84,-77.9,115.4,-19.8,78,665,0.00,2.30,0.00,0.000,6,0.000,0.035,2585,2032,3141,0,0,0,0,0,0
$GC,919,-0.84,-77.9,161.4,-16.6,103,923,0.00,2.28,0.00,0.000,4,0.000,0.048,2585,447,3145,0,0,0,0,0,0
$GC,946,-0.84,-77.9,166.2,-18.2,105,953,0.10,2.30,0.00,0.000,6,0.144,0.037,2606,2038,3142,0,0,0,0,0,0
$GC,1206,-0.84,-77.9,203.8,-13.4,129,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2038,3144,0,0,0,0,0,0
$GC,1515,-0.84,-77.9,238.5,-10.4,144,1519,0.00,2.33,0.00,0.000,4,0.000,0.052,2606,439,3145,0,0,0,0,0,0
$GC,1683,-0.84,-77.9,260.4,-13.8,151,1687,0.00,2.30,0.00,0.000,6,0.000,0.039,2596,2032,3144,0,0,0,0,0,0
$GC,2003,-0.84,-77.9,299.6,-11.1,167,2007,0.00,2.33,0.00,0.000,4,0.000,0.048,2596,445,3145,0,0,0,0,0,0
$GC,2109,-0.84,-77.9,311.0,-10.7,170,2114,0.00,2.28,0.00,0.000,6,0.000,0.037,2585,2029,3144,0,0,0,0,0,0
$GC,2422,-0.84,-77.9,340.8,-10.4,178,2425,0.00,2.33,0.00,0.000,4,0.000,0.049,2573,3622,3144,0,0,0,0,0,0
$GC,2650,-0.84,-77.9,367.9,-11.6,183,2656,0.10,2.30,0.00,0.000,6,0.128,0.037,2605,2029,3143,0,0,0,0,0,0
$GC,2974,-0.84,-77.9,398.1,-9.1,191,2978,0.00,2.33,0.00,0.000,4,0.000,0.050,2606,421,3142,0,0,0,0,0,0
$GC,3029,-0.84,-77.9,403.4,-9.4,192,3033,0.00,2.33,0.00,0.000,6,0.000,0.038,2598,2027,3142,0,0,0,0,0,0
$STATE,3224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3224,begin apogee
$GC,3227,-0.23,0.0,423.1,10.3,197,3290,0.62,0.00,59.92,0.832,6,0.121,0.000,2811,2027,2824,0,0,0,0,0,0
$STATE,3315,end apogee,CONTROL_FINISHED_OK
$STATE,3315,begin climb
$GC,3317,0.84,77.9,425.1,0.0,198,3387,0.93,2.47,63.65,0.814,4,0.072,0.049,3154,3619,2504,0,0,0,0,0,0
$GC,3454,0.85,83.3,419.1,8.6,201,3465,0.00,2.40,5.50,0.598,6,0.000,0.039,3166,2038,2482,0,0,0,0,0,0
$GC,3807,0.86,93.1,388.2,8.3,210,3821,0.00,2.42,8.52,0.699,4,0.000,0.053,3178,447,2443,0,0,0,0,0,0
$GC,4040,0.86,93.1,364.4,10.8,215,4045,0.00,2.33,0.00,0.000,6,0.000,0.039,3178,2028,2440,0,0,0,0,0,0
$GC,4359,0.86,93.1,333.1,9.5,223,4363,0.00,2.35,0.00,0.000,4,0.000,0.049,3179,3615,2437,0,0,0,0,0,0
$GC,4397,0.86,93.1,329.6,9.4,224,4401,0.00,2.33,0.00,0.000,6,0.000,0.041,3191,2018,2437,0,0,0,0,0,0
$GC,4726,0.88,107.4,303.9,7.9,232,4744,0.00,2.45,11.80,0.732,4,0.000,0.049,3191,3620,2385,0,0,0,0,0,0
$GC,4997,0.88,107.4,281.4,9.3,242,5003,0.10,2.35,0.00,0.000,6,0.166,0.040,3172,2024,2381,0,0,0,0,0,0
$GC,5324,0.91,128.9,257.3,7.4,258,5349,0.00,2.42,18.42,0.737,4,0.000,0.050,3175,3610,2299,0,0,0,0,0,0
$GC,5600,0.91,128.9,230.2,9.8,270,5605,0.00,2.33,0.00,0.000,6,0.000,0.039,3181,2038,2291,0,0,0,0,0,0
$GC,5922,0.94,153.6,209.6,7.1,286,5947,0.00,2.38,20.62,0.703,4,0.000,0.048,3182,3620,2196,0,0,0,0,0,0
$GC,5974,0.94,155.1,205.2,8.9,288,5980,0.00,2.38,0.00,0.000,6,0.000,0.040,3194,2029,2194,0,0,0,0,0,0
$GC,6297,0.94,155.1,172.8,10.1,316,6301,0.00,2.35,0.00,0.000,4,0.000,0.051,3206,440,2190,0,0,0,0,0,0
$GC,6346,0.94,155.1,167.3,11.6,320,6350,0.00,2.30,0.00,0.000,6,0.000,0.038,3206,2040,2191,0,0,0,0,0,0
$GC,6612,0.94,155.1,139.7,9.9,345,6616,0.00,2.30,0.00,0.000,4,0.000,0.048,3206,3614,2190,0,0,0,0,0,0
$GC,6650,0.94,155.1,135.1,12.9,348,6655,0.12,2.33,0.00,0.000,6,0.178,0.040,3186,2018,2189,0,0,0,0,0,0
$GC,6916,0.96,176.8,113.2,7.3,373,6940,0.00,2.40,19.30,0.607,4,0.000,0.048,3186,3634,2101,0,0,0,0,0,0
$GC,7007,0.97,179.7,105.4,8.8,381,7017,0.00,2.35,3.67,0.387,6,0.000,0.038,3196,2034,2091,0,0,0,0,0,0
$GC,7278,0.98,191.9,84.1,8.1,407,7294,0.00,2.35,11.70,0.553,4,0.000,0.048,3209,443,2039,0,0,0,0,0,0
$GC,7327,0.99,194.5,79.9,8.8,411,7332,0.00,2.28,0.00,0.000,6,0.000,0.037,3208,2034,2037,0,0,0,0,0,0
$GC,7588,0.99,194.5,56.9,9.7,435,7592,0.00,2.30,0.00,0.000,4,0.000,0.048,3209,3612,2036,0,0,0,0,0,0
$GC,7637,0.99,194.5,51.7,10.4,439,7641,0.00,2.30,0.00,0.000,6,0.000,0.038,3220,2018,2035,0,0,0,0,0,0
$GC,7900,0.99,194.5,23.8,11.2,468,7911,0.00,2.35,2.80,0.271,4,0.000,0.049,3233,451,2030,0,0,0,0,0,0
$GC,8012,0.99,194.5,10.9,11.8,488,8018,0.00,2.28,0.00,0.000,6,0.000,0.036,3232,2043,2029,0,0,0,0,0,0
$STATE,8083,end climb,SURFACE_DEPTH_REACHED
$STATE,8083,begin surface coast
$FINISH,0.6,1.009628
$STATE,8113,end surface coast,CONTROL_FINISHED_OK
$STATE,8113,begin surface
$SM_CCo,8128,109.68,0.431,1,0,1191,400.32
$SM_GC,1.49,0.00,0.00,109.68,0.000,0.000,0.431,143,2045,1191,-8.57,0.37,400.32
$IRIDIUM_FIX,2106.38,-15755.17,111211,111110
$TT8_MAMPS,0.059059
$HUMID,1078421281
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,11.8
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448540672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58988167168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,1.929
$10V_AH,10.2,2.551
$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,19.925,88.825,225.925,109.675,0.000,31.158,30.481,198.417,2.000,0.000,16.357,972.575,5597.826,440.653,1546.745,73.146,29.240,1100.015,0.000,1187.936,0.000,15.093,0.000
$DEVICE_MAMPS,247.741,62.127,832.195,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,340.445,0.000,0.000,0.000,0.000,0.000,0.000,8938.480,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,25.464,0.000,0.000
$MEM,334856
$DATA_FILE_SIZE,16815,506
$CAP_FILE_SIZE,92337,0
$CFSIZE,260165632,257703936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,214800,2110.752,-15756.868,39,1.2,39,9.8