version: 66.07
glider: 500
mission: 7
dive: 12
start: 9 16 110 7 55 50
data:
$ID,500
$MISSION,7
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,140
$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,51806
$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,572
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115510.83
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3220
$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,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$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,-66.799538
$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,0
$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,11
$AR_SAMPLENUM,5
$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
$GPS1,160910,074706,2111.739,-15752.932,9,1.5,25,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.2
$GPS2,160910,075456,2111.718,-15752.979,12,1.5,12,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,START
$TGT_LATLONG,2111.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,-0.215
$KALMAN_X,4218.5,252.5,-353.9,-5614.2,4.6
$KALMAN_Y,-1103.4,-104.2,74.1,-3955.3,130.3
$MHEAD_RNG_PITCHd_Wd,172.0,1330,-21.8,-10.000
$D_GRID,300
$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,25,-0.84,-97.3,0.0,0.0,0,109,0.00,0.00,-81.07,0.000,2,0.000,0.000,126,2048,2737,0,0,0,0,0,0
$GC,111,-0.84,-97.3,3.4,-8.2,16,138,11.15,2.35,-8.23,0.000,4,0.245,0.058,2939,448,3150,0,0,0,0,0,0
$GC,283,-0.84,-97.3,52.5,-26.0,40,289,0.00,2.28,0.00,0.000,6,0.000,0.038,2928,2006,3150,0,0,0,0,0,0
$GC,544,-0.84,-97.3,124.8,-23.4,65,548,0.00,2.35,0.00,0.000,4,0.000,0.047,2917,3634,3152,0,0,0,0,0,0
$GC,598,-0.84,-97.3,137.3,-21.8,69,605,0.08,2.30,0.00,0.000,6,0.152,0.031,2941,2015,3152,0,0,0,0,0,0
$GC,860,-0.84,-97.3,189.0,-18.2,94,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2015,3153,0,0,0,0,0,0
$GC,1109,-0.84,-97.3,233.1,-16.7,109,1113,0.00,2.22,0.00,0.000,4,0.000,0.042,2941,458,3154,0,0,0,0,0,0
$GC,1254,-0.84,-97.3,258.0,-15.5,115,1260,0.00,2.22,0.00,0.000,6,0.000,0.035,2930,2050,3154,0,0,0,0,0,0
$STATE,1505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1505,begin apogee
$GC,1510,-0.23,0.0,302.2,17.3,128,1588,0.62,0.00,73.35,0.694,6,0.133,0.000,3139,2045,2749,0,0,0,0,0,0
$STATE,1590,end apogee,CONTROL_FINISHED_OK
$STATE,1590,begin climb
$GC,1592,0.84,97.3,306.6,0.0,130,1673,0.95,0.00,77.30,0.683,6,0.084,0.000,3488,2045,2352,0,0,0,0,0,0
$GC,1981,0.94,178.5,288.4,4.4,144,2051,0.10,2.42,63.33,0.684,4,0.102,0.045,3559,466,2022,0,0,0,0,0,0
$GC,2110,0.94,178.5,277.2,11.6,150,2115,0.12,2.30,0.00,0.000,6,0.176,0.038,3528,2035,2016,0,0,0,0,0,0
$GC,2437,0.94,178.5,241.5,10.1,166,2441,0.00,2.33,0.00,0.000,4,0.000,0.046,3538,456,2009,0,0,0,0,0,0
$GC,2569,0.94,178.5,227.6,10.2,172,2574,0.00,2.30,0.00,0.000,6,0.000,0.038,3538,2035,2009,0,0,0,0,0,0
$GC,2888,0.94,178.5,193.8,11.1,190,2892,0.00,2.30,0.00,0.000,4,0.000,0.047,3550,458,2007,0,0,0,0,0,0
$GC,2987,0.94,178.5,182.1,12.1,198,2993,0.00,2.30,0.00,0.000,6,0.000,0.038,3550,2037,2006,0,0,0,0,0,0
$GC,3250,1.00,225.0,155.9,6.8,223,3291,0.00,2.33,35.22,0.624,4,0.000,0.044,3561,454,1831,0,0,0,0,0,0
$GC,3340,1.00,225.0,147.7,10.6,231,3347,0.00,2.30,0.00,0.000,6,0.000,0.038,3561,2025,1826,0,0,0,0,0,0
$GC,3603,1.02,237.9,122.2,9.1,256,3618,0.00,2.38,9.82,0.543,4,0.000,0.048,3559,3618,1779,0,0,0,0,0,0
$GC,3741,1.02,237.9,105.7,11.3,268,3745,0.00,2.25,0.00,0.000,6,0.000,0.035,3572,2036,1779,0,0,0,0,0,0
$GC,4003,1.05,263.4,81.1,8.2,292,4029,0.00,2.33,21.15,0.552,4,0.000,0.044,3585,452,1675,0,0,0,0,0,0
$GC,4067,1.05,263.4,74.5,10.5,297,4073,0.00,2.30,0.00,0.000,6,0.000,0.036,3585,2033,1672,0,0,0,0,0,0
$GC,4328,1.05,263.4,38.8,12.7,322,4332,0.00,2.30,0.00,0.000,4,0.000,0.047,3596,458,1672,0,0,0,0,0,0
$GC,4532,1.05,263.4,11.9,15.2,351,4538,0.15,2.25,0.00,0.000,6,0.167,0.037,3555,2035,1667,0,0,0,0,0,0
$STATE,4610,end climb,SURFACE_DEPTH_REACHED
$STATE,4610,begin surface coast
$FINISH,0.2,1.023256
$STATE,4641,end surface coast,CONTROL_FINISHED_OK
$STATE,4641,begin surface
$SM_CCo,4658,140.52,0.071,0,0,477,558.05
$SM_CCo,4801,0.00,0.000,0,0,474,558.29
$SM_CCo,4804,0.00,0.000,0,0,473,558.54
$SM_GC,1.03,0.00,0.00,0.00,0.000,0.000,0.000,146,2037,473,-9.61,0.17,558.54
$IRIDIUM_FIX,2106.38,-15753.03,110312,000026
$TT8_MAMPS,0.058292
$HUMID,1078701281
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,8441593856
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59663155200
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.8,2.989
$10V_AH,10.6,2.692
$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,21.625,46.100,280.175,140.525,0.000,23.713,27.778,291.723,0.000,0.000,14.751,655.398,2917.182,499.777,1106.261,112.076,33.327,923.488,0.000,721.552,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,58.292,694.135,70.564,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,246.300,0.000,0.000,0.000,0.000,0.000,0.000,5595.780,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.959,0.000,0.000
$MEM,335152
$DATA_FILE_SIZE,13445,370
$CAP_FILE_SIZE,62231,0
$CFSIZE,260165632,236072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,091656,2111.175,-15753.418,10,1.8,10,9.8