version: 66.07
glider: 500
mission: 4
dive: 26
start: 6 18 110 17 37 14
data:
$ID,500
$MISSION,4
$DIVE,26
$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,-110103.25
$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,43
$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,25
$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
$GPS1,180610,172519,2107.257,-15802.103,8,1.9,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.5
$GPS2,180610,173620,2107.399,-15802.235,12,1.7,12,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.103,-0.157
$KALMAN_X,-6398.0,-258.7,-39.9,-3460.8,-1478.1
$KALMAN_Y,6749.3,-72.0,5.9,-13762.3,1262.4
$MHEAD_RNG_PITCHd_Wd,203.6,84363,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-56.15,0.000,2,0.000,0.000,137,2032,2731,0,0,0,0,0,0
$GC,84,-0.84,-77.9,3.4,-7.7,11,111,10.15,2.38,-9.52,0.000,4,0.246,0.061,2622,439,3142,0,0,0,0,0,0
$GC,363,-0.84,-77.9,58.1,-18.8,49,367,0.00,2.28,0.00,0.000,6,0.000,0.037,2614,2036,3143,0,0,0,0,0,0
$GC,630,-0.84,-77.9,101.2,-14.7,74,634,0.00,2.33,0.00,0.000,4,0.000,0.048,2612,451,3148,0,0,0,0,0,0
$GC,748,-0.84,-77.9,119.5,-15.6,84,757,0.00,2.28,0.00,0.000,6,0.000,0.037,2600,2044,3146,0,0,0,0,0,0
$GC,1016,-0.84,-77.9,155.7,-12.9,109,1020,0.00,2.33,0.00,0.000,4,0.000,0.048,2586,3617,3147,0,0,0,0,0,0
$GC,1061,-0.84,-77.9,161.6,-13.3,113,1065,0.12,2.25,0.00,0.000,6,0.157,0.035,2624,2028,3145,0,0,0,0,0,0
$GC,1327,-0.84,-77.9,189.0,-9.6,138,1331,0.00,2.30,0.00,0.000,4,0.000,0.048,2627,447,3148,0,0,0,0,0,0
$GC,1376,-0.84,-77.9,193.9,-9.9,142,1380,0.00,2.25,0.00,0.000,6,0.000,0.037,2614,2025,3147,0,0,0,0,0,0
$GC,1646,-0.84,-77.9,224.9,-11.9,158,1650,0.00,2.28,0.00,0.000,4,0.000,0.048,2614,448,3147,0,0,0,0,0,0
$GC,1684,-0.84,-77.9,229.5,-12.0,159,1690,0.00,2.28,0.00,0.000,6,0.000,0.037,2600,2026,3148,0,0,0,0,0,0
$GC,2000,-0.84,-77.9,264.0,-11.0,175,2005,0.00,2.28,0.00,0.000,4,0.000,0.048,2603,450,3147,0,0,0,0,0,0
$GC,2094,-0.84,-77.9,276.1,-12.8,179,2100,0.10,2.28,0.00,0.000,6,0.133,0.037,2626,2030,3147,0,0,0,0,0,0
$GC,2435,-0.84,-77.9,304.7,-8.6,195,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2031,3147,0,0,0,0,0,0
$GC,2760,-0.84,-77.9,334.0,-9.5,203,2764,0.00,2.30,0.00,0.000,4,0.000,0.050,2625,449,3145,0,0,0,0,0,0
$GC,2849,-0.84,-77.9,343.4,-10.5,205,2853,0.00,2.28,0.00,0.000,6,0.000,0.038,2616,2046,3145,0,0,0,0,0,0
$GC,3178,-0.84,-77.9,373.1,-8.4,213,3182,0.00,2.35,0.00,0.000,4,0.000,0.051,2616,454,3144,0,0,0,0,0,0
$GC,3289,-0.84,-77.9,384.1,-10.0,215,3294,0.00,2.28,0.00,0.000,6,0.000,0.038,2608,2025,3143,0,0,0,0,0,0
$GC,3631,-0.84,-77.9,416.3,-9.1,224,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2025,3144,0,0,0,0,0,0
$STATE,3711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3711,begin apogee
$GC,3714,-0.23,0.0,423.5,8.9,226,3778,0.65,0.00,60.72,0.848,6,0.123,0.000,2819,2025,2823,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3813,0.84,77.9,424.7,0.0,227,3882,0.93,0.00,64.25,0.831,6,0.070,0.000,3170,2025,2503,0,0,0,0,0,0
$GC,4183,0.84,77.9,394.7,9.3,237,4187,0.00,2.38,0.00,0.000,4,0.000,0.049,3170,3610,2497,0,0,0,0,0,0
$GC,4232,0.85,80.2,390.3,8.8,238,4237,0.00,2.35,0.00,0.000,6,0.000,0.040,3183,2035,2494,0,0,0,0,0,0
$GC,4551,0.86,94.5,365.0,7.9,246,4570,0.00,2.42,13.20,0.770,4,0.000,0.053,3194,446,2436,0,0,0,0,0,0
$GC,4818,0.86,94.5,336.8,10.0,252,4822,0.00,2.30,0.00,0.000,6,0.000,0.040,3194,2039,2433,0,0,0,0,0,0
$GC,5147,0.86,94.5,304.4,10.3,260,5151,0.00,2.35,0.00,0.000,4,0.000,0.051,3194,3618,2429,0,0,0,0,0,0
$GC,5298,0.86,94.5,288.0,10.4,265,5303,0.00,2.33,0.00,0.000,6,0.000,0.040,3206,2025,2428,0,0,0,0,0,0
$GC,5624,0.93,144.8,265.5,5.1,281,5667,0.00,0.00,41.03,0.777,6,0.000,0.000,3205,2024,2235,0,0,0,0,0,0
$GC,5973,0.93,144.8,226.3,12.1,298,5977,0.00,2.35,0.00,0.000,4,0.000,0.052,3218,457,2221,0,0,0,0,0,0
$GC,6067,0.93,144.8,214.3,12.8,302,6072,0.00,2.33,0.00,0.000,6,0.000,0.039,3218,2027,2221,0,0,0,0,0,0
$GC,6390,0.93,144.8,173.7,12.3,327,6394,0.00,2.33,0.00,0.000,4,0.000,0.052,3230,454,2218,0,0,0,0,0,0
$GC,6522,0.93,144.8,157.2,12.7,338,6530,0.08,2.30,0.00,0.000,6,0.145,0.039,3204,2030,2218,0,0,0,0,0,0
$GC,6783,0.93,144.8,129.8,9.7,363,6788,0.00,2.35,0.00,0.000,4,0.000,0.051,3215,447,2216,0,0,0,0,0,0
$GC,6891,0.93,144.8,118.3,10.7,372,6895,0.00,2.30,0.00,0.000,6,0.000,0.039,3215,2041,2216,0,0,0,0,0,0
$GC,7151,0.95,167.8,97.1,7.2,396,7175,0.00,2.42,17.45,0.617,4,0.000,0.051,3227,448,2137,0,0,0,0,0,0
$GC,7430,0.95,167.8,71.6,10.1,421,7434,0.00,2.30,0.00,0.000,6,0.000,0.038,3227,2037,2132,0,0,0,0,0,0
$GC,7691,0.97,182.6,47.1,7.9,445,7711,0.00,2.38,12.80,0.551,4,0.000,0.050,3239,459,2076,0,0,0,0,0,0
$GC,7824,0.97,182.6,33.4,11.6,457,7828,0.00,2.28,0.00,0.000,6,0.000,0.038,3239,2034,2075,0,0,0,0,0,0
$GC,8096,0.97,182.6,4.8,10.2,502,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2034,2073,0,0,0,0,0,0
$STATE,8116,end climb,SURFACE_DEPTH_REACHED
$STATE,8116,begin surface coast
$FINISH,0.5,1.023202
$STATE,8146,end surface coast,CONTROL_FINISHED_OK
$STATE,8146,begin surface
$SM_CCo,8161,117.85,0.446,1,0,1191,400.32
$SM_GC,1.39,0.00,0.00,117.85,0.000,0.000,0.446,150,2035,1191,-8.60,0.11,400.32
$IRIDIUM_FIX,2101.76,-15743.60,121211,111150
$TT8_MAMPS,0.059059
$HUMID,1078469023
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,9.4
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8447918080
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58456047616
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.669
$10V_AH,10.1,3.545
$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,19.850,74.125,209.450,117.850,0.000,58.902,69.041,344.226,2.750,0.000,14.123,963.044,5777.231,437.103,1701.998,78.655,33.336,1040.093,0.000,1114.349,0.000,20.674,0.000
$DEVICE_MAMPS,246.207,60.593,848.302,446.394,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.164,0.000,0.000,0.000,0.000,0.000,0.000,9251.770,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,27.507,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,16791,511
$CAP_FILE_SIZE,91353,0
$CFSIZE,260165632,257105920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,195637,2107.189,-15803.553,32,0.9,32,9.8