version: 66.07
glider: 500
mission: 7
dive: 13
start: 9 16 110 9 25 38
data:
$ID,500
$MISSION,7
$DIVE,13
$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,140
$T_MISSION,160
$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,-115525.23
$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,51
$R_STBD_OVSHOOT,44
$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,12
$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
$GPS1,160910,091656,2111.175,-15753.418,10,1.8,10,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.5
$GPS2,160910,092444,2111.137,-15753.492,11,1.9,11,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WYPT1
$TGT_LATLONG,2109.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101,-0.190
$KALMAN_X,3624.1,-251.6,-116.5,-5636.1,-551.5
$KALMAN_Y,-1071.8,98.9,58.8,-5248.1,185.2
$MHEAD_RNG_PITCHd_Wd,142.1,4048,-21.7,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.84,-97.3,0.0,0.0,0,119,0.00,0.00,-90.75,0.000,2,0.000,0.000,130,2036,2956,0,0,0,0,0,0
$GC,121,-0.84,-97.3,3.3,-8.1,18,143,11.20,2.33,-3.58,0.000,4,0.249,0.056,2935,445,3150,0,0,0,0,0,0
$GC,210,-0.84,-97.3,37.1,-30.3,32,215,0.00,2.28,0.00,0.000,6,0.000,0.038,2924,2039,3152,0,0,0,0,0,0
$GC,470,-0.84,-97.3,104.8,-23.3,56,474,0.00,2.28,0.00,0.000,4,0.000,0.041,2924,444,3151,0,0,0,0,0,0
$GC,615,-0.84,-97.3,142.1,-24.2,68,622,0.12,2.28,0.00,0.000,6,0.189,0.037,2946,2027,3152,0,0,0,0,0,0
$GC,878,-0.84,-97.3,194.1,-17.4,93,882,0.00,2.25,0.00,0.000,4,0.000,0.041,2946,441,3154,0,0,0,0,0,0
$GC,972,-0.84,-97.3,212.2,-19.6,98,976,0.00,2.28,0.00,0.000,6,0.000,0.035,2935,2033,3154,0,0,0,0,0,0
$GC,1292,-0.84,-97.3,267.1,-15.0,114,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2033,3157,0,0,0,0,0,0
$GC,1621,-0.84,-97.3,318.1,-14.1,127,1625,0.00,2.28,0.00,0.000,4,0.000,0.042,2934,439,3156,0,0,0,0,0,0
$GC,1714,-0.84,-97.3,332.2,-14.8,129,1719,0.00,2.28,0.00,0.000,6,0.000,0.036,2923,2024,3156,0,0,0,0,0,0
$GC,2039,-0.84,-97.3,377.6,-14.3,137,2042,0.00,2.25,0.00,0.000,4,0.000,0.043,2923,446,3156,0,0,0,0,0,0
$GC,2144,-0.84,-97.3,392.5,-13.9,139,2149,0.08,2.28,0.00,0.000,6,0.149,0.037,2938,2042,3154,0,0,0,0,0,0
$STATE,2373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2373,begin apogee
$GC,2377,-0.23,0.0,423.5,13.5,145,2456,0.60,0.00,74.28,0.813,6,0.130,0.000,3141,2037,2750,0,0,0,0,0,0
$STATE,2458,end apogee,CONTROL_FINISHED_OK
$STATE,2459,begin climb
$GC,2461,0.84,97.3,427.7,0.0,147,2549,0.95,2.42,79.10,0.797,4,0.081,0.047,3490,3613,2354,0,0,0,0,0,0
$GC,2638,0.90,140.8,421.6,7.0,151,2679,0.00,2.35,35.88,0.781,6,0.000,0.035,3502,2033,2174,0,0,0,0,0,0
$GC,2992,0.90,142.9,388.2,9.9,160,2996,0.00,2.33,0.00,0.000,4,0.000,0.046,3514,448,2164,0,0,0,0,0,0
$GC,3142,0.90,142.9,373.6,10.2,163,3147,0.00,2.33,0.00,0.000,6,0.000,0.038,3514,2029,2162,0,0,0,0,0,0
$GC,3456,0.93,163.0,345.5,8.6,171,3479,0.00,2.40,16.55,0.751,4,0.000,0.047,3526,449,2084,0,0,0,0,0,0
$GC,3693,0.93,165.5,320.5,9.8,176,3697,0.00,2.30,0.00,0.000,6,0.000,0.038,3527,2038,2079,0,0,0,0,0,0
$GC,4006,0.95,184.1,290.3,8.7,186,4031,0.00,2.42,17.42,0.738,4,0.000,0.049,3526,3621,1997,0,0,0,0,0,0
$GC,4104,0.95,184.1,278.7,12.0,190,4108,0.00,2.33,0.00,0.000,6,0.000,0.035,3538,2036,1994,0,0,0,0,0,0
$GC,4425,0.96,188.7,247.8,9.7,206,4434,0.00,2.35,3.75,0.472,4,0.000,0.047,3550,456,1981,0,0,0,0,0,0
$GC,4485,0.97,200.0,241.9,9.2,208,4501,0.00,2.30,11.45,0.680,6,0.000,0.038,3550,2030,1934,0,0,0,0,0,0
$GC,4817,0.97,200.0,203.3,11.6,225,4821,0.00,2.33,0.00,0.000,4,0.000,0.046,3561,445,1927,0,0,0,0,0,0
$GC,4917,0.97,200.0,191.2,11.6,232,4923,0.00,2.30,0.00,0.000,6,0.000,0.038,3561,2023,1928,0,0,0,0,0,0
$GC,5179,0.97,200.0,160.7,12.1,257,5183,0.00,2.28,0.00,0.000,4,0.000,0.045,3573,448,1928,0,0,0,0,0,0
$GC,5363,0.97,200.0,138.5,13.1,273,5368,0.15,2.25,0.00,0.000,6,0.169,0.038,3529,2038,1925,0,0,0,0,0,0
$GC,5623,1.02,243.2,116.1,7.0,297,5664,0.00,2.38,34.25,0.622,4,0.000,0.048,3532,3618,1760,0,0,0,0,0,0
$GC,5691,1.02,243.2,110.2,10.6,303,5698,0.00,2.33,0.00,0.000,6,0.000,0.035,3542,2031,1755,0,0,0,0,0,0
$GC,5954,1.07,280.0,85.9,7.5,328,5988,0.00,2.38,28.85,0.582,4,0.000,0.045,3554,451,1609,0,0,0,0,0,0
$GC,6142,1.07,280.0,67.9,10.8,345,6146,0.00,2.28,0.00,0.000,6,0.000,0.035,3554,2042,1605,0,0,0,0,0,0
$GC,6403,1.08,289.2,38.7,9.4,369,6417,0.00,2.38,8.02,0.479,4,0.000,0.044,3565,445,1571,0,0,0,0,0,0
$GC,6641,1.08,289.2,10.9,13.5,403,6647,0.00,2.28,0.00,0.000,6,0.000,0.036,3565,2037,1570,0,0,0,0,0,0
$STATE,6702,end climb,SURFACE_DEPTH_REACHED
$STATE,6702,begin surface coast
$FINISH,0.2,1.023313
$STATE,6727,end surface coast,CONTROL_FINISHED_OK
$STATE,6727,begin surface
$SM_CCo,6744,127.00,0.072,0,0,476,558.05
$SM_CCo,6874,0.00,0.000,0,0,475,558.05
$SM_CCo,6877,0.00,0.000,0,0,475,558.29
$SM_GC,1.00,0.00,0.00,0.00,0.000,0.000,0.000,139,2040,475,-9.64,0.25,558.29
$IRIDIUM_FIX,2104.07,-15750.89,110312,020241
$TT8_MAMPS,0.058292
$HUMID,1078754184
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8441561088
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59631992832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,3.076
$10V_AH,10.5,2.749
$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,21.625,69.425,309.550,127.000,0.000,31.070,31.698,281.229,0.000,0.000,13.774,794.175,4544.070,512.622,1382.816,126.735,33.324,1085.918,0.000,990.721,0.000,0.542,0.000
$DEVICE_MAMPS,249.275,55.991,813.020,72.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,279.948,0.000,0.000,0.000,0.000,0.000,0.000,7657.110,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.598,0.000,0.000
$MEM,335160
$DATA_FILE_SIZE,13443,418
$CAP_FILE_SIZE,80013,0
$CFSIZE,260165632,236011520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,112137,2110.473,-15753.245,33,1.1,33,9.8