version: 66.07
glider: 500
mission: 7
dive: 15
start: 9 16 110 13 40 50
data:
$ID,500
$MISSION,7
$DIVE,15
$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,-115549.78
$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,50
$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,14
$AR_SAMPLENUM,7
$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
$GPS1,160910,133150,2109.725,-15753.014,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.3
$GPS2,160910,133956,2109.703,-15753.086,10,1.8,10,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WYPT1
$TGT_LATLONG,2109.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.002,-0.173
$KALMAN_X,3868.4,-1700.3,29.3,-3884.9,168.2
$KALMAN_Y,-934.6,563.2,-22.7,-8424.3,53.5
$MHEAD_RNG_PITCHd_Wd,171.0,1310,-27.2,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.99,-63.0,0.0,0.0,0,115,0.00,0.00,-86.18,0.000,2,0.000,0.000,126,2043,2876,0,0,0,0,0,0
$GC,117,-0.99,-63.8,3.7,-9.9,17,139,11.07,2.35,-2.50,0.000,4,0.249,0.058,2881,3603,3013,0,0,0,0,0,0
$GC,330,-0.99,-63.8,71.2,-28.4,43,334,0.00,2.25,0.00,0.000,6,0.000,0.032,2881,2013,3015,0,0,0,0,0,0
$GC,591,-0.99,-63.8,141.5,-29.0,67,595,0.00,2.22,0.00,0.000,4,0.000,0.042,2881,452,3015,0,0,0,0,0,0
$GC,736,-0.99,-63.8,174.6,-20.6,79,743,0.08,2.28,0.00,0.000,6,0.164,0.036,2894,2037,3016,0,0,0,0,0,0
$GC,994,-0.99,-63.8,223.2,-17.8,98,998,0.00,2.25,0.00,0.000,4,0.000,0.042,2899,455,3018,0,0,0,0,0,0
$GC,1010,-0.99,-63.8,226.2,-17.9,99,1014,0.00,2.22,0.00,0.000,6,0.000,0.035,2884,2045,3018,0,0,0,0,0,0
$GC,1340,-0.99,-63.8,282.8,-17.7,115,1345,0.00,2.28,0.00,0.000,4,0.000,0.042,2884,456,3021,0,0,0,0,0,0
$GC,1447,-0.99,-63.8,301.0,-16.7,120,1452,0.10,2.20,0.00,0.000,6,0.190,0.035,2897,2028,3019,0,0,0,0,0,0
$GC,1788,-0.99,-63.8,350.2,-14.5,129,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2032,3021,0,0,0,0,0,0
$GC,2113,-0.99,-63.8,400.4,-15.9,137,2118,0.00,2.25,0.00,0.000,4,0.000,0.044,2898,461,3017,0,0,0,0,0,0
$GC,2185,-0.99,-63.8,411.9,-15.7,138,2189,0.00,2.25,0.00,0.000,6,0.000,0.037,2892,2033,3017,0,0,0,0,0,0
$STATE,2276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2276,begin apogee
$GC,2280,-0.23,0.0,426.1,15.5,141,2333,0.77,0.00,49.38,0.809,6,0.141,0.000,3141,2033,2749,0,0,0,0,0,0
$STATE,2336,end apogee,CONTROL_FINISHED_OK
$STATE,2336,begin climb
$GC,2338,0.99,63.8,428.6,0.0,142,2398,1.08,2.47,52.10,0.793,4,0.080,0.048,3537,3610,2488,0,0,0,0,0,0
$GC,2493,1.06,124.6,425.6,3.5,145,2550,0.00,2.33,50.10,0.792,6,0.000,0.035,3549,2046,2241,0,0,0,0,0,0
$GC,2875,1.06,124.6,388.4,10.8,155,2880,0.00,2.33,0.00,0.000,4,0.000,0.047,3560,455,2231,0,0,0,0,0,0
$GC,3014,1.06,124.6,373.4,10.9,158,3019,0.00,2.33,0.00,0.000,6,0.000,0.039,3561,2032,2229,0,0,0,0,0,0
$GC,3334,1.06,124.6,340.4,10.3,166,3338,0.00,2.30,0.00,0.000,4,0.000,0.048,3572,454,2224,0,0,0,0,0,0
$GC,3399,1.06,124.6,333.2,11.0,167,3404,0.00,2.30,0.00,0.000,6,0.000,0.039,3572,2024,2225,0,0,0,0,0,0
$GC,3742,1.06,125.6,298.0,9.9,176,3746,0.00,2.33,0.00,0.000,4,0.000,0.051,3572,3612,2222,0,0,0,0,0,0
$GC,3914,1.08,135.7,283.5,8.9,183,3926,0.00,2.30,6.70,0.632,6,0.000,0.037,3584,2032,2196,0,0,0,0,0,0
$GC,4248,1.11,160.4,260.8,7.4,200,4271,0.00,0.00,21.27,0.726,6,0.000,0.000,3584,2032,2096,0,0,0,0,0,0
$GC,4575,1.11,160.4,225.5,10.1,216,4580,0.00,2.30,0.00,0.000,4,0.000,0.048,3596,449,2089,0,0,0,0,0,0
$GC,4777,1.11,160.4,205.9,10.3,225,4781,0.00,2.28,0.00,0.000,6,0.000,0.038,3596,2042,2091,0,0,0,0,0,0
$GC,5101,1.11,167.4,173.6,9.3,252,5112,0.00,2.33,5.72,0.547,4,0.000,0.045,3608,449,2067,0,0,0,0,0,0
$GC,5364,1.15,197.2,152.0,6.8,275,5395,0.00,2.30,25.25,0.644,6,0.000,0.038,3608,2035,1947,0,0,0,0,0,0
$GC,5656,1.15,197.2,117.7,11.1,303,5660,0.00,2.30,0.00,0.000,4,0.000,0.046,3620,455,1940,0,0,0,0,0,0
$GC,5819,1.15,197.2,100.1,10.0,317,5823,0.00,2.25,0.00,0.000,6,0.000,0.038,3619,2035,1939,0,0,0,0,0,0
$GC,6081,1.19,229.7,77.0,6.5,341,6112,0.00,2.35,26.30,0.574,4,0.000,0.044,3631,457,1813,0,0,0,0,0,0
$GC,6364,1.19,229.7,46.5,14.5,366,6370,0.00,2.25,0.00,0.000,6,0.000,0.037,3631,2034,1806,0,0,0,0,0,0
$GC,6632,1.19,229.7,13.8,14.2,402,6637,0.00,2.30,0.00,0.000,4,0.000,0.046,3642,455,1805,0,0,0,0,0,0
$STATE,6703,end climb,SURFACE_DEPTH_REACHED
$STATE,6703,begin surface coast
$FINISH,0.2,1.023298
$STATE,6727,end surface coast,CONTROL_FINISHED_OK
$STATE,6727,begin surface
$SM_CCo,6759,164.35,0.475,1,0,475,558.05
$SM_CCo,6931,0.00,0.000,0,0,474,558.05
$SM_CCo,6933,0.00,0.000,0,0,473,558.29
$SM_GC,1.02,0.00,0.00,0.00,0.000,0.000,0.000,134,2038,473,-9.65,0.20,558.29
$IRIDIUM_FIX,2101.76,-15750.89,110312,050528
$TT8_MAMPS,0.058292
$HUMID,1078679345
$INTERNAL_PRESSURE,9.52063
$TCM_TEMP,24.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8441495552
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59575042048
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,3.281
$10V_AH,10.4,2.865
$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,21.900,64.175,236.825,164.350,0.000,30.931,27.753,297.517,0.000,0.000,12.990,793.049,4623.411,491.947,1388.786,136.104,33.335,1040.626,0.000,979.189,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,58.292,809.185,474.773,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,280.999,0.000,0.000,0.000,0.000,0.000,0.000,7704.140,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.788,0.000,0.000
$MEM,335156
$DATA_FILE_SIZE,13451,419
$CAP_FILE_SIZE,77926,0
$CFSIZE,260165632,235909120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,153755,2109.013,-15753.250,41,0.9,41,9.8