version: 66.07
glider: 500
mission: 4
dive: 27
start: 6 18 110 20 4 33
data:
$ID,500
$MISSION,4
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$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,176
$T_MISSION,220
$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,100
$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,375
$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,-110116.7
$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,2905
$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,45
$R_STBD_OVSHOOT,39
$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,26
$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
$GPS1,180610,195637,2107.189,-15803.553,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.2
$GPS2,180610,200338,2107.265,-15803.588,10,1.0,10,9.8
$SPEED_LIMITS,0.148,0.205
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.041,-0.201
$KALMAN_X,-7666.4,23.7,-430.7,-4426.4,-1038.8
$KALMAN_Y,7781.4,3.2,104.6,-15218.8,1203.5
$MHEAD_RNG_PITCHd_Wd,158.7,82839,-18.9,-8.523
$D_GRID,450
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.75,-97.3,0.0,0.0,0,82,0.00,0.00,-56.00,0.000,2,0.000,0.000,149,2036,2732,0,0,0,0,0,0
$GC,84,-0.75,-97.3,3.3,-5.8,11,111,10.23,2.35,-11.02,0.000,4,0.246,0.060,2653,450,3221,0,0,0,0,0,0
$GC,262,-0.75,-97.3,37.4,-19.7,40,267,0.00,2.28,0.00,0.000,6,0.000,0.038,2646,2041,3222,0,0,0,0,0,0
$GC,529,-0.75,-97.3,86.7,-18.2,65,533,0.00,2.33,0.00,0.000,4,0.000,0.047,2630,3617,3224,0,0,0,0,0,0
$GC,551,-0.75,-97.3,90.8,-18.3,66,557,0.12,2.30,0.00,0.000,6,0.149,0.035,2667,2019,3224,0,0,0,0,0,0
$GC,811,-0.75,-97.3,126.2,-11.5,91,815,0.00,2.28,0.00,0.000,4,0.000,0.048,2667,446,3225,0,0,0,0,0,0
$GC,849,-0.75,-97.3,131.0,-12.1,94,855,0.00,2.30,0.00,0.000,6,0.000,0.037,2659,2030,3225,0,0,0,0,0,0
$GC,1109,-0.75,-97.3,161.3,-11.1,119,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2026,3226,0,0,0,0,0,0
$GC,1364,-0.75,-97.3,190.4,-10.9,143,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2024,3226,0,0,0,0,0,0
$GC,1625,-0.75,-97.3,218.1,-10.6,160,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2026,3227,0,0,0,0,0,0
$GC,1934,-0.75,-97.3,250.0,-9.9,175,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2026,3228,0,0,0,0,0,0
$GC,2244,-0.75,-97.3,276.8,-8.3,190,2248,0.00,2.28,0.00,0.000,4,0.000,0.048,2657,443,3227,0,0,0,0,0,0
$GC,2432,-0.75,-97.3,295.3,-8.6,198,2439,0.00,2.28,0.00,0.000,6,0.000,0.035,2645,2026,3228,0,0,0,0,0,0
$GC,2744,-0.75,-97.3,322.3,-9.2,208,2748,0.00,2.30,0.00,0.000,4,0.000,0.049,2633,3615,3231,0,0,0,0,0,0
$GC,2906,-0.75,-97.3,337.5,-8.6,211,2910,0.00,2.28,0.00,0.000,6,0.000,0.036,2633,2039,3226,0,0,0,0,0,0
$GC,3248,-0.75,-97.3,366.3,-8.3,220,3253,0.10,2.35,0.00,0.000,4,0.156,0.049,2663,438,3224,0,0,0,0,0,0
$GC,3319,-0.75,-97.3,371.8,-7.2,221,3324,0.00,2.30,0.00,0.000,6,0.000,0.037,2653,2033,3221,0,0,0,0,0,0
$GC,3656,-0.75,-97.3,395.1,-6.8,230,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2030,3222,0,0,0,0,0,0
$GC,3981,-0.75,-97.3,419.9,-8.5,238,3985,0.00,2.33,0.00,0.000,4,0.000,0.051,2653,447,3219,0,0,0,0,0,0
$GC,4029,-0.75,-97.3,424.3,-8.9,239,4034,0.00,2.30,0.00,0.000,6,0.000,0.038,2641,2037,3219,0,0,0,0,0,0
$STATE,4346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4350,-0.23,0.0,451.0,8.0,247,4429,0.55,0.00,74.97,0.877,6,0.117,0.000,2826,2037,2823,0,0,0,0,0,0
$STATE,4451,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4453,0.75,97.3,452.6,0.0,249,4544,0.85,2.53,81.10,0.853,4,0.069,0.050,3148,3608,2423,0,0,0,0,0,0
$GC,4577,0.75,97.3,445.3,11.5,252,4581,0.00,2.38,0.00,0.000,6,0.000,0.040,3157,2024,2418,0,0,0,0,0,0
$GC,4906,0.75,97.3,406.1,11.8,260,4910,0.00,2.35,0.00,0.000,4,0.000,0.052,3171,454,2412,0,0,0,0,0,0
$GC,4956,0.75,97.3,400.1,11.9,261,4960,0.00,2.28,0.00,0.000,6,0.000,0.039,3171,2027,2412,0,0,0,0,0,0
$GC,5272,0.75,97.3,363.5,11.1,269,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2027,2409,0,0,0,0,0,0
$GC,5597,0.75,97.3,329.7,10.2,277,5602,0.00,2.38,0.00,0.000,4,0.000,0.050,3171,3622,2407,0,0,0,0,0,0
$GC,5854,0.75,97.3,304.0,10.8,282,5860,0.10,2.35,0.00,0.000,6,0.167,0.039,3153,2028,2403,0,0,0,0,0,0
$GC,6175,0.81,147.0,282.0,5.6,297,6219,0.00,2.45,37.67,0.783,4,0.000,0.053,3160,449,2222,0,0,0,0,0,0
$GC,6471,0.81,147.0,249.8,10.8,310,6476,0.00,2.35,0.00,0.000,6,0.000,0.038,3163,2038,2216,0,0,0,0,0,0
$GC,6792,0.81,147.0,216.3,10.1,326,6796,0.00,2.38,0.00,0.000,4,0.000,0.052,3176,451,2213,0,0,0,0,0,0
$GC,6830,0.81,147.0,212.1,10.9,327,6836,0.00,2.33,0.00,0.000,6,0.000,0.038,3175,2035,2213,0,0,0,0,0,0
$GC,7151,0.81,147.0,181.2,9.8,352,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2035,2212,0,0,0,0,0,0
$GC,7405,0.81,147.0,156.5,9.9,376,7409,0.00,2.33,0.00,0.000,4,0.000,0.051,3187,453,2212,0,0,0,0,0,0
$GC,7488,0.81,147.0,147.3,11.0,383,7495,0.00,2.30,0.00,0.000,6,0.000,0.037,3187,2034,2212,0,0,0,0,0,0
$GC,7750,0.86,189.5,126.2,6.0,408,7791,0.00,2.42,33.50,0.644,4,0.000,0.051,3199,448,2049,0,0,0,0,0,0
$GC,7941,0.86,189.5,106.9,11.8,425,7948,0.00,2.33,0.00,0.000,6,0.000,0.037,3200,2024,2047,0,0,0,0,0,0
$GC,8203,0.86,189.5,80.4,9.6,450,8207,0.00,2.33,0.00,0.000,4,0.000,0.050,3211,443,2044,0,0,0,0,0,0
$GC,8313,0.86,190.3,70.2,8.5,459,8320,0.00,2.33,0.00,0.000,6,0.000,0.037,3211,2039,2044,0,0,0,0,0,0
$GC,8575,0.90,223.6,49.3,6.6,484,8609,0.00,2.40,28.23,0.561,4,0.000,0.048,3211,3617,1909,0,0,0,0,0,0
$GC,8671,0.90,223.6,39.4,12.0,493,8675,0.00,2.30,0.00,0.000,6,0.000,0.038,3223,2026,1906,0,0,0,0,0,0
$GC,8941,0.90,223.6,5.2,13.0,534,8947,0.00,2.30,0.00,0.000,4,0.000,0.050,3235,452,1903,0,0,0,0,0,0
$STATE,8957,end climb,SURFACE_DEPTH_REACHED
$STATE,8957,begin surface coast
$FINISH,0.6,1.023179
$STATE,8980,end surface coast,CONTROL_FINISHED_OK
$STATE,8980,begin surface
$SM_CCo,9011,79.78,0.399,1,0,1293,375.30
$SM_GC,1.49,0.00,0.00,79.78,0.000,0.000,0.399,140,2033,1293,-8.64,0.06,375.30
$IRIDIUM_FIX,2101.76,-15805.48,121211,111120
$TT8_MAMPS,0.059059
$HUMID,1078440635
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.9,9.2
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8447819776
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58394214400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,2.753
$10V_AH,10.2,3.662
$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,19.800,79.325,255.475,79.775,0.000,29.114,30.544,247.661,2.250,0.000,12.810,999.350,6450.194,428.633,1577.603,76.128,33.340,1073.910,0.000,1163.352,0.000,16.820,0.000
$DEVICE_MAMPS,246.207,59.826,876.681,398.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,364.289,0.000,0.000,0.000,0.000,0.000,0.000,9853.740,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.965,0.000,0.000
$MEM,334824
$DATA_FILE_SIZE,20071,541
$CAP_FILE_SIZE,91186,0
$CFSIZE,260165632,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,223737,2106.559,-15804.091,39,0.8,40,9.8