version: 66.07
glider: 500
mission: 4
dive: 19
start: 6 18 110 0 20 20
data:
$ID,500
$MISSION,4
$DIVE,19
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109941.36
$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,2895
$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,49
$R_STBD_OVSHOOT,52
$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,18
$AR_SAMPLENUM,8
$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
$GPS1,180610,001125,2110.232,-15757.319,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.5
$GPS2,180610,001927,2110.203,-15757.388,11,1.5,11,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.112,-0.150
$KALMAN_X,115.7,76.3,29.3,-2017.5,57.7
$KALMAN_Y,385.0,278.3,101.3,-2659.7,92.4
$MHEAD_RNG_PITCHd_Wd,207.0,93510,-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,24,-0.84,-77.9,0.0,0.0,0,77,0.00,0.00,-51.15,0.000,2,0.000,0.000,145,2053,2580,0,0,0,0,0,0
$GC,79,-0.84,-77.9,3.1,-6.3,10,111,10.10,2.38,-13.93,0.000,4,0.245,0.061,2619,455,3140,0,0,0,0,0,0
$GC,362,-0.84,-77.9,53.0,-18.7,50,369,0.00,2.28,0.00,0.000,6,0.000,0.037,2613,2016,3142,0,0,0,0,0,0
$GC,625,-0.84,-77.9,95.3,-14.7,75,629,0.00,2.35,0.00,0.000,4,0.000,0.047,2597,3615,3141,0,0,0,0,0,0
$GC,708,-0.84,-77.9,109.0,-17.0,82,712,0.00,2.25,0.00,0.000,6,0.000,0.035,2597,2029,3143,0,0,0,0,0,0
$GC,973,-0.84,-77.9,150.4,-14.7,107,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2029,3145,0,0,0,0,0,0
$GC,1228,-0.84,-77.9,181.4,-13.5,131,1233,0.00,2.28,0.00,0.000,4,0.000,0.048,2597,449,3145,0,0,0,0,0,0
$GC,1435,-0.84,-77.9,211.6,-12.8,145,1440,0.10,2.30,0.00,0.000,6,0.140,0.037,2619,2042,3146,0,0,0,0,0,0
$GC,1756,-0.84,-77.9,244.6,-9.4,161,1760,0.00,2.30,0.00,0.000,4,0.000,0.048,2619,448,3147,0,0,0,0,0,0
$GC,1821,-0.84,-77.9,252.0,-11.1,164,1827,0.00,2.28,0.00,0.000,6,0.000,0.037,2609,2027,3146,0,0,0,0,0,0
$GC,2148,-0.84,-77.9,283.1,-9.1,180,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2027,3146,0,0,0,0,0,0
$GC,2455,-0.84,-77.9,312.3,-9.5,192,2459,0.00,2.35,0.00,0.000,4,0.000,0.048,2597,3618,3145,0,0,0,0,0,0
$GC,2555,-0.84,-77.9,321.8,-9.1,194,2560,0.00,2.30,0.00,0.000,6,0.000,0.035,2597,2022,3145,0,0,0,0,0,0
$GC,2868,-0.84,-77.9,353.2,-10.7,202,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2022,3144,0,0,0,0,0,0
$GC,3193,-0.84,-77.9,386.2,-10.4,210,3197,0.00,2.38,0.00,0.000,4,0.000,0.049,2585,3618,3142,0,0,0,0,0,0
$GC,3235,-0.84,-77.9,390.6,-10.1,211,3241,0.10,2.30,0.00,0.000,6,0.125,0.035,2622,2028,3141,0,0,0,0,0,0
$GC,3559,-0.84,-77.9,417.7,-8.5,219,3563,0.00,2.30,0.00,0.000,4,0.000,0.050,2622,452,3141,0,0,0,0,0,0
$STATE,3584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3584,begin apogee
$GC,3590,-0.23,0.0,420.0,8.8,219,3654,0.60,0.00,60.22,0.841,6,0.121,0.000,2814,2033,2822,0,0,0,0,0,0
$STATE,3680,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3682,0.84,77.9,421.3,0.0,221,3753,0.93,2.47,63.75,0.821,4,0.070,0.049,3165,3610,2504,0,0,0,0,0,0
$GC,3858,0.84,77.9,408.9,10.4,225,3863,0.00,2.38,0.00,0.000,6,0.000,0.038,3177,2036,2499,0,0,0,0,0,0
$GC,4177,0.85,83.0,380.8,8.6,233,4187,0.00,2.40,4.05,0.525,4,0.000,0.052,3189,453,2484,0,0,0,0,0,0
$GC,4248,0.85,83.0,373.9,10.3,234,4253,0.00,2.33,0.00,0.000,6,0.000,0.038,3189,2037,2483,0,0,0,0,0,0
$GC,4590,0.85,83.6,341.8,9.0,243,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2032,2480,0,0,0,0,0,0
$GC,4915,0.88,106.2,315.9,7.3,251,4940,0.00,2.40,19.85,0.779,4,0.000,0.052,3201,448,2388,0,0,0,0,0,0
$GC,5062,0.88,106.2,302.6,9.1,254,5067,0.00,2.33,0.00,0.000,6,0.000,0.038,3201,2026,2385,0,0,0,0,0,0
$GC,5395,0.88,106.2,273.2,9.1,269,5399,0.00,2.38,0.00,0.000,4,0.000,0.049,3201,3610,2382,0,0,0,0,0,0
$GC,5579,0.88,106.4,258.5,9.0,277,5584,0.10,2.33,0.00,0.000,6,0.163,0.038,3182,2027,2380,0,0,0,0,0,0
$GC,5900,0.88,106.4,226.2,11.1,293,5904,0.00,2.35,0.00,0.000,4,0.000,0.049,3181,3621,2377,0,0,0,0,0,0
$GC,5971,0.88,106.4,218.8,10.0,296,5976,0.00,2.33,0.00,0.000,6,0.000,0.039,3192,2033,2377,0,0,0,0,0,0
$GC,6293,0.92,142.0,197.5,6.3,313,6328,0.00,2.40,28.48,0.718,4,0.000,0.052,3205,457,2243,0,0,0,0,0,0
$GC,6490,0.92,142.0,175.9,11.8,331,6495,0.00,2.30,0.00,0.000,6,0.000,0.038,3204,2035,2239,0,0,0,0,0,0
$GC,6758,0.92,142.0,149.6,9.3,356,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2035,2235,0,0,0,0,0,0
$GC,7011,0.92,143.0,126.0,9.0,380,7015,0.00,2.35,0.00,0.000,4,0.000,0.048,3205,3622,2235,0,0,0,0,0,0
$GC,7099,0.92,143.0,116.5,11.5,387,7106,0.00,2.35,0.00,0.000,6,0.000,0.038,3217,2022,2236,0,0,0,0,0,0
$GC,7361,1.01,212.8,98.2,3.6,412,7423,0.00,2.38,56.15,0.626,4,0.000,0.049,3229,448,1955,0,0,0,0,0,0
$GC,7674,1.01,212.8,61.9,13.1,440,7681,0.00,2.33,0.00,0.000,6,0.000,0.035,3229,2033,1947,0,0,0,0,0,0
$GC,7935,1.01,212.8,30.6,12.7,465,7939,0.00,2.33,0.00,0.000,4,0.000,0.047,3234,3616,1945,0,0,0,0,0,0
$GC,8007,1.01,212.8,20.0,14.8,477,8013,0.00,2.30,0.00,0.000,6,0.000,0.037,3241,2027,1944,0,0,0,0,0,0
$STATE,8129,end climb,SURFACE_DEPTH_REACHED
$STATE,8129,begin surface coast
$FINISH,0.6,1.023250
$STATE,8155,end surface coast,CONTROL_FINISHED_OK
$STATE,8155,begin surface
$SM_CCo,8170,98.35,0.482,1,0,1191,400.32
$SM_GC,1.21,0.00,0.00,98.35,0.000,0.000,0.482,148,2026,1191,-8.58,-0.14,400.32
$IRIDIUM_FIX,2101.76,-15756.04,111211,161624
$TT8_MAMPS,0.059826
$HUMID,1078507732
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,9.3
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448409600
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58870759424
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.108
$10V_AH,10.2,2.770
$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,19.875,74.725,232.500,98.350,0.000,26.158,26.244,316.143,2.500,0.000,13.081,941.293,5776.289,413.969,1570.605,68.664,31.418,1026.067,0.000,1103.671,0.000,17.861,0.000
$DEVICE_MAMPS,245.440,60.593,841.399,481.676,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,339.447,0.000,0.000,0.000,0.000,0.000,0.000,9085.360,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,27.003,0.000,0.000
$MEM,334848
$DATA_FILE_SIZE,16793,503
$CAP_FILE_SIZE,88184,0
$CFSIZE,260165632,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,023934,2109.682,-15757.836,13,4.6,32,9.8