version: 66.07
glider: 500
mission: 4
dive: 25
start: 6 18 110 15 4 30
data:
$ID,500
$MISSION,4
$DIVE,25
$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,-110088.5
$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,2900
$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,42
$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,24
$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
$GPS1,180610,145652,2107.606,-15801.643,7,2.8,26,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.2
$GPS2,180610,150336,2107.636,-15801.720,15,0.9,31,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,-0.161
$KALMAN_X,-4648.7,-505.0,272.3,-4386.0,-1040.5
$KALMAN_Y,5829.7,-62.7,-141.7,-12270.4,1291.5
$MHEAD_RNG_PITCHd_Wd,139.4,85236,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-0.84,-77.9,0.0,0.0,0,79,0.00,0.00,-51.62,0.000,2,0.000,0.000,145,2041,2599,0,0,0,0,0,0
$GC,81,-0.84,-77.9,3.0,-6.5,10,113,10.18,2.40,-13.15,0.000,4,0.249,0.061,2619,455,3143,0,0,0,0,0,0
$GC,270,-0.84,-77.9,41.3,-20.9,40,274,0.00,2.30,0.00,0.000,6,0.000,0.038,2609,2042,3145,0,0,0,0,0,0
$GC,536,-0.84,-77.9,89.7,-17.9,65,540,0.00,2.35,0.00,0.000,4,0.000,0.048,2609,443,3145,0,0,0,0,0,0
$GC,602,-0.84,-77.9,102.0,-17.5,71,607,0.12,2.30,0.00,0.000,6,0.170,0.038,2634,2046,3145,0,0,0,0,0,0
$GC,862,-0.84,-77.9,135.8,-11.9,95,866,0.00,2.28,0.00,0.000,4,0.000,0.048,2620,3613,3147,0,0,0,0,0,0
$GC,956,-0.84,-77.9,149.0,-13.3,103,962,0.00,2.28,0.00,0.000,6,0.000,0.035,2619,2035,3150,0,0,0,0,0,0
$GC,1217,-0.84,-77.9,179.8,-11.2,128,1221,0.00,2.30,0.00,0.000,4,0.000,0.046,2620,450,3148,0,0,0,0,0,0
$GC,1254,-0.84,-77.9,184.5,-12.0,131,1261,0.00,2.28,0.00,0.000,6,0.000,0.035,2608,2027,3148,0,0,0,0,0,0
$GC,1512,-0.84,-77.9,215.6,-12.5,150,1516,0.00,2.30,0.00,0.000,4,0.000,0.047,2608,447,3149,0,0,0,0,0,0
$GC,1566,-0.84,-77.9,223.2,-14.1,152,1572,0.08,2.28,0.00,0.000,6,0.140,0.035,2623,2030,3149,0,0,0,0,0,0
$GC,1887,-0.84,-77.9,257.3,-8.8,168,1891,0.00,2.30,0.00,0.000,4,0.000,0.049,2623,451,3150,0,0,0,0,0,0
$GC,2075,-0.84,-77.9,278.5,-11.3,176,2082,0.00,2.28,0.00,0.000,6,0.000,0.037,2613,2033,3149,0,0,0,0,0,0
$GC,2390,-0.84,-77.9,309.4,-10.2,190,2394,0.00,2.30,0.00,0.000,4,0.000,0.048,2600,3623,3148,0,0,0,0,0,0
$GC,2495,-0.84,-77.9,318.7,-7.9,192,2500,0.00,2.30,0.00,0.000,6,0.000,0.035,2601,2034,3150,0,0,0,0,0,0
$GC,2843,-0.84,-77.9,347.4,-8.7,201,2848,0.00,2.33,0.00,0.000,4,0.000,0.049,2600,437,3149,0,0,0,0,0,0
$GC,2932,-0.84,-77.9,356.9,-10.2,203,2937,0.10,2.30,0.00,0.000,6,0.132,0.038,2626,2024,3148,0,0,0,0,0,0
$GC,3255,-0.84,-77.9,383.3,-8.6,211,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2024,3144,0,0,0,0,0,0
$GC,3580,-0.84,-77.9,413.3,-9.4,219,3584,0.00,2.33,0.00,0.000,4,0.000,0.051,2623,437,3145,0,0,0,0,0,0
$STATE,3645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3645,begin apogee
$GC,3651,-0.23,0.0,420.3,10.7,220,3715,0.60,0.00,61.00,0.848,6,0.123,0.000,2816,2050,2821,0,0,0,0,0,0
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3750,0.84,77.9,422.5,0.0,222,3821,0.95,2.45,64.20,0.829,4,0.070,0.048,3175,3614,2503,0,0,0,0,0,0
$GC,3881,0.84,78.5,416.7,9.0,226,3886,0.00,2.40,0.00,0.000,6,0.000,0.039,3187,2036,2500,0,0,0,0,0,0
$GC,4205,0.84,78.5,387.8,9.5,234,4209,0.00,2.35,0.00,0.000,4,0.000,0.051,3199,447,2495,0,0,0,0,0,0
$GC,4456,0.84,78.5,358.7,10.6,239,4462,0.00,2.33,0.00,0.000,6,0.000,0.039,3199,2020,2493,0,0,0,0,0,0
$GC,4793,0.85,83.0,326.7,8.7,248,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2022,2491,0,0,0,0,0,0
$GC,5118,0.88,105.7,303.3,7.3,256,5145,0.00,2.38,21.42,0.781,4,0.000,0.051,3215,440,2391,0,0,0,0,0,0
$GC,5351,0.88,105.7,279.8,9.3,264,5358,0.00,2.35,0.00,0.000,6,0.000,0.039,3211,2032,2386,0,0,0,0,0,0
$GC,5667,0.90,126.3,257.3,7.4,280,5691,0.00,2.45,17.23,0.742,4,0.000,0.052,3223,448,2307,0,0,0,0,0,0
$GC,5943,0.90,126.3,230.0,9.1,292,5948,0.08,2.33,0.00,0.000,6,0.146,0.039,3198,2028,2303,0,0,0,0,0,0
$GC,6264,0.90,126.3,200.3,9.1,308,6268,0.00,2.35,0.00,0.000,4,0.000,0.053,3209,450,2301,0,0,0,0,0,0
$GC,6308,0.90,126.3,196.3,9.8,311,6312,0.00,2.30,0.00,0.000,6,0.000,0.040,3209,2037,2299,0,0,0,0,0,0
$GC,6574,0.90,126.3,169.2,11.9,336,6578,0.00,2.35,0.00,0.000,4,0.000,0.051,3221,446,2299,0,0,0,0,0,0
$GC,6601,0.90,126.3,166.0,12.6,338,6606,0.08,2.30,0.00,0.000,6,0.145,0.039,3195,2026,2299,0,0,0,0,0,0
$GC,6867,0.92,142.8,141.9,7.8,363,6888,0.00,2.40,13.57,0.642,4,0.000,0.052,3206,447,2240,0,0,0,0,0,0
$GC,6910,0.94,154.5,138.6,8.1,367,6926,0.00,2.30,11.15,0.617,6,0.000,0.039,3206,2035,2192,0,0,0,0,0,0
$GC,7180,0.94,154.5,112.5,10.8,392,7184,0.00,2.38,0.00,0.000,4,0.000,0.051,3218,442,2186,0,0,0,0,0,0
$GC,7236,0.94,154.5,105.2,12.8,397,7240,0.00,2.30,0.00,0.000,6,0.000,0.038,3219,2037,2188,0,0,0,0,0,0
$GC,7502,0.94,154.5,74.2,10.0,422,7506,0.00,2.30,0.00,0.000,4,0.000,0.048,3218,3608,2190,0,0,0,0,0,0
$GC,7657,0.94,154.5,57.8,10.1,435,7664,0.00,2.33,0.00,0.000,6,0.000,0.038,3230,2022,2186,0,0,0,0,0,0
$GC,7918,0.99,193.4,37.4,6.0,460,7959,0.00,2.33,31.58,0.566,4,0.000,0.048,3243,455,2032,0,0,0,0,0,0
$GC,8127,0.99,193.4,14.7,10.7,490,8133,0.00,2.28,0.00,0.000,6,0.000,0.037,3243,2030,2027,0,0,0,0,0,0
$STATE,8232,end climb,SURFACE_DEPTH_REACHED
$STATE,8232,begin surface coast
$FINISH,0.7,1.009752
$STATE,8262,end surface coast,CONTROL_FINISHED_OK
$STATE,8262,begin surface
$SM_CCo,8277,106.70,0.483,1,0,1190,400.32
$SM_GC,1.27,0.00,0.00,106.70,0.000,0.000,0.483,138,2032,1190,-8.63,0.03,400.32
$IRIDIUM_FIX,2059.45,-15759.05,121211,060641
$TT8_MAMPS,0.059059
$HUMID,1078447087
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.1,9.3
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8447983616
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58515783680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.580
$10V_AH,10.2,3.430
$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,20.150,88.450,220.150,106.700,0.000,29.251,25.062,221.395,2.250,0.000,32.882,975.461,5769.092,433.314,1554.807,74.216,33.342,1074.021,0.000,1160.317,0.000,16.299,0.000
$DEVICE_MAMPS,249.275,60.593,847.535,483.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.519,0.000,0.000,0.000,0.000,0.000,0.000,9110.680,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,27.121,0.000,0.000
$MEM,334792
$DATA_FILE_SIZE,16739,514
$CAP_FILE_SIZE,91424,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,172519,2107.257,-15802.103,8,1.9,13,9.8