version: 66.07
glider: 500
mission: 7
dive: 17
start: 9 16 110 17 58 46
data:
$ID,500
$MISSION,7
$DIVE,17
$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,-115580.3
$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,52
$R_STBD_OVSHOOT,51
$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,16
$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
$GPS1,160910,174514,2108.920,-15753.040,11,1.6,11,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.8
$GPS2,160910,175750,2108.866,-15753.120,13,1.6,13,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WYPT1
$TGT_LATLONG,2109.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.125,0.120
$KALMAN_X,1420.3,-843.6,-12.5,-2300.4,-553.1
$KALMAN_Y,-1144.5,504.6,48.3,-9773.7,-475.2
$MHEAD_RNG_PITCHd_Wd,36.4,323,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.99,-63.0,0.0,0.0,0,112,0.00,0.00,-85.82,0.000,2,0.000,0.000,126,2048,2849,0,0,0,0,0,0
$GC,115,-1.03,-96.4,3.1,-6.4,17,137,11.00,2.40,-5.70,0.000,4,0.249,0.054,2881,443,3144,0,0,0,0,0,0
$GC,171,-1.03,-96.4,24.8,-37.7,27,176,0.00,2.28,0.00,0.000,6,0.000,0.037,2864,2030,3145,0,0,0,0,0,0
$GC,368,-1.03,-96.4,89.1,-26.7,47,372,0.00,2.30,0.00,0.000,4,0.000,0.042,2866,444,3145,0,0,0,0,0,0
$GC,418,-1.03,-96.4,104.1,-31.1,51,423,0.12,2.25,0.00,0.000,6,0.191,0.036,2886,2033,3145,0,0,0,0,0,0
$GC,679,-1.03,-96.4,171.3,-23.9,75,683,0.00,2.28,0.00,0.000,4,0.000,0.043,2886,442,3148,0,0,0,0,0,0
$GC,831,-1.03,-96.4,204.7,-21.9,88,835,0.00,2.25,0.00,0.000,6,0.000,0.037,2876,2039,3148,0,0,0,0,0,0
$GC,1156,-1.03,-96.4,277.7,-21.4,104,1160,0.00,2.28,0.00,0.000,4,0.000,0.042,2876,442,3148,0,0,0,0,0,0
$GC,1194,-1.03,-96.4,286.0,-22.5,106,1199,0.00,2.25,0.00,0.000,6,0.000,0.037,2863,2039,3148,0,0,0,0,0,0
$GC,1516,-1.03,-96.4,345.2,-17.9,116,1520,0.00,2.28,0.00,0.000,4,0.000,0.043,2864,443,3148,0,0,0,0,0,0
$GC,1576,-1.03,-96.4,356.9,-18.6,117,1582,0.10,2.28,0.00,0.000,6,0.149,0.036,2885,2032,3148,0,0,0,0,0,0
$GC,1924,-1.03,-96.4,414.7,-16.6,126,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2032,3149,0,0,0,0,0,0
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1963,begin apogee
$GC,1967,-0.23,0.0,421.4,16.6,127,2045,0.77,0.00,73.40,0.798,6,0.139,0.000,3141,2032,2752,0,0,0,0,0,0
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2050,1.03,96.4,425.4,0.0,129,2132,1.12,0.00,78.35,0.782,6,0.081,0.000,3551,2029,2358,0,0,0,0,0,0
$GC,2455,1.06,121.1,401.4,7.4,139,2478,0.00,0.00,19.80,0.752,6,0.000,0.000,3551,2032,2256,0,0,0,0,0,0
$GC,2780,1.06,125.8,371.3,9.5,147,2786,0.00,0.00,4.00,0.497,6,0.000,0.000,3551,2032,2236,0,0,0,0,0,0
$GC,3106,1.07,134.3,342.0,9.1,155,3120,0.00,2.38,8.27,0.673,4,0.000,0.050,3551,3603,2202,0,0,0,0,0,0
$GC,3220,1.07,134.3,329.9,10.7,157,3225,0.00,2.33,0.00,0.000,6,0.000,0.037,3563,2027,2200,0,0,0,0,0,0
$GC,3564,1.09,147.1,299.8,8.6,166,3580,0.00,2.33,11.50,0.701,4,0.000,0.046,3571,443,2150,0,0,0,0,0,0
$GC,3832,1.10,154.5,273.5,9.2,177,3844,0.00,2.33,6.90,0.624,6,0.000,0.038,3575,2027,2120,0,0,0,0,0,0
$GC,4154,1.10,155.0,243.1,9.9,192,4158,0.00,2.33,0.00,0.000,4,0.000,0.047,3586,446,2116,0,0,0,0,0,0
$GC,4383,1.11,160.4,219.4,9.4,202,4394,0.00,2.28,5.62,0.564,6,0.000,0.039,3585,2039,2095,0,0,0,0,0,0
$GC,4708,1.12,172.9,189.8,8.7,223,4728,0.00,2.40,11.55,0.637,4,0.000,0.047,3603,451,2046,0,0,0,0,0,0
$GC,4885,1.12,172.9,172.2,10.3,239,4889,0.00,2.30,0.00,0.000,6,0.000,0.039,3598,2041,2042,0,0,0,0,0,0
$GC,5146,1.12,172.9,146.3,10.0,263,5150,0.00,2.30,0.00,0.000,4,0.000,0.049,3598,3618,2038,0,0,0,0,0,0
$GC,5200,1.12,172.9,140.5,10.8,267,5206,0.00,2.30,0.00,0.000,6,0.000,0.036,3610,2037,2041,0,0,0,0,0,0
$GC,5462,1.14,186.4,118.3,8.6,292,5482,0.00,2.38,11.73,0.575,4,0.000,0.045,3622,447,1988,0,0,0,0,0,0
$GC,5734,1.14,186.4,90.7,10.4,316,5741,0.10,2.30,0.00,0.000,6,0.163,0.037,3590,2038,1987,0,0,0,0,0,0
$GC,5997,1.17,211.2,67.1,7.4,341,6023,0.00,2.33,20.77,0.554,4,0.000,0.044,3601,449,1890,0,0,0,0,0,0
$GC,6275,1.18,219.9,43.4,9.1,365,6292,0.00,2.28,8.27,0.480,6,0.000,0.036,3601,2035,1852,0,0,0,0,0,0
$GC,6553,1.18,219.9,15.6,10.3,403,6558,0.00,2.33,0.00,0.000,4,0.000,0.046,3613,441,1850,0,0,0,0,0,0
$STATE,6664,end climb,SURFACE_DEPTH_REACHED
$STATE,6664,begin surface coast
$FINISH,0.5,1.023243
$STATE,6689,end surface coast,CONTROL_FINISHED_OK
$STATE,6689,begin surface
$SM_CCo,6709,161.32,0.072,0,0,474,558.05
$SM_CCo,6873,0.00,0.000,0,0,472,558.29
$SM_CCo,6876,0.00,0.000,0,0,473,558.54
$SM_GC,1.08,0.00,0.00,0.00,0.000,0.000,0.000,128,2037,473,-9.67,0.17,558.54
$IRIDIUM_FIX,2101.76,-15753.03,110312,121214
$TT8_MAMPS,0.058292
$HUMID,1078649668
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.90
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8441430016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59516583936
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,3.463
$10V_AH,10.5,2.983
$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,21.900,59.975,260.175,161.325,0.000,68.011,54.398,433.972,0.500,0.000,15.416,791.045,4658.337,518.352,1530.647,147.893,33.316,1045.663,0.000,936.611,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,54.457,797.680,72.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,286.049,0.000,0.000,0.000,0.000,0.000,0.000,7943.630,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.194,0.000,0.000
$MEM,335128
$DATA_FILE_SIZE,13527,427
$CAP_FILE_SIZE,81854,0
$CFSIZE,260165632,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,195457,2109.104,-15752.976,41,1.0,44,9.8