version: 66.07
glider: 500
mission: 4
dive: 14
start: 6 17 110 13 14 27
data:
$ID,500
$MISSION,4
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,390
$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,130
$T_MISSION,180
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,500
$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,7
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109865.39
$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,2880
$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,46
$R_STBD_OVSHOOT,45
$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,13
$AR_SAMPLENUM,10
$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
$GPS1,170610,130725,2112.203,-15753.802,7,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.8
$GPS2,170610,131406,2112.185,-15753.846,13,1.6,29,9.8
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,209.0,100185,-24.4,-10.000
$D_GRID,390
$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,-0.91,-77.9,0.0,0.0,0,93,0.00,0.00,-66.68,0.000,2,0.000,0.000,144,2039,2619,0,0,0,0,0,0
$GC,95,-0.91,-77.9,3.1,-7.5,13,127,10.07,2.40,-12.65,0.000,4,0.251,0.061,2577,449,3141,0,0,0,0,0,0
$GC,378,-0.91,-77.9,64.0,-19.1,50,385,0.00,2.30,0.00,0.000,6,0.000,0.037,2565,2024,3141,0,0,0,0,0,0
$GC,639,-0.91,-77.9,113.3,-17.4,75,644,0.00,2.30,0.00,0.000,4,0.000,0.049,2568,438,3143,0,0,0,0,0,0
$GC,879,-0.91,-77.9,151.6,-16.0,96,887,0.08,2.30,0.00,0.000,6,0.153,0.036,2580,2028,3144,0,0,0,0,0,0
$GC,1141,-0.91,-77.9,186.1,-12.3,121,1145,0.00,2.33,0.00,0.000,4,0.000,0.047,2570,3622,3148,0,0,0,0,0,0
$GC,1201,-0.91,-77.9,193.7,-12.0,126,1205,0.00,2.28,0.00,0.000,6,0.000,0.035,2574,2026,3146,0,0,0,0,0,0
$GC,1461,-0.91,-77.9,227.3,-12.5,141,1465,0.00,2.35,0.00,0.000,4,0.000,0.047,2558,3633,3149,0,0,0,0,0,0
$GC,1605,-0.91,-77.9,245.6,-11.3,147,1611,0.00,2.30,0.00,0.000,6,0.000,0.035,2558,2038,3146,0,0,0,0,0,0
$GC,1920,-0.91,-77.9,277.3,-11.6,163,1924,0.00,2.33,0.00,0.000,4,0.000,0.048,2546,3625,3148,0,0,0,0,0,0
$GC,2100,-0.91,-77.9,301.8,-13.3,171,2105,0.15,2.30,0.00,0.000,6,0.153,0.037,2589,2020,3147,0,0,0,0,0,0
$GC,2423,-0.91,-77.9,334.6,-9.9,179,2427,0.00,2.28,0.00,0.000,4,0.000,0.049,2586,441,3146,0,0,0,0,0,0
$GC,2561,-0.91,-77.9,348.6,-10.6,182,2566,0.00,2.30,0.00,0.000,6,0.000,0.037,2579,2032,3146,0,0,0,0,0,0
$GC,2880,-0.91,-77.9,382.7,-11.1,190,2883,0.00,2.33,0.00,0.000,4,0.000,0.051,2579,446,3144,0,0,0,0,0,0
$GC,2911,-0.91,-77.9,386.4,-11.0,190,2917,0.00,2.30,0.00,0.000,6,0.000,0.038,2568,2031,3144,0,0,0,0,0,0
$STATE,2963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2963,begin apogee
$GC,2966,-0.23,0.0,391.3,9.4,192,3030,0.73,0.00,60.42,0.815,6,0.128,0.000,2804,2031,2824,0,0,0,0,0,0
$STATE,3051,end apogee,CONTROL_FINISHED_OK
$STATE,3051,begin climb
$GC,3052,0.91,77.9,392.5,0.0,193,3123,0.98,2.50,63.62,0.798,4,0.071,0.056,3184,456,2504,0,0,0,0,0,0
$GC,3174,0.92,87.0,385.9,9.2,196,3189,0.00,2.35,8.62,0.677,6,0.000,0.042,3184,2030,2467,0,0,0,0,0,0
$GC,3502,0.97,122.7,359.6,6.9,204,3536,0.00,0.00,29.50,0.782,6,0.000,0.000,3184,2030,2322,0,0,0,0,0,0
$GC,3867,0.97,122.7,313.5,13.8,213,3871,0.00,2.38,0.00,0.000,4,0.000,0.054,3196,452,2314,0,0,0,0,0,0
$GC,3899,0.97,122.7,308.9,13.8,213,3904,0.00,2.35,0.00,0.000,6,0.000,0.040,3196,2039,2314,0,0,0,0,0,0
$GC,4220,0.98,133.8,273.5,9.0,227,4234,0.00,2.38,9.07,0.685,4,0.000,0.051,3196,3638,2276,0,0,0,0,0,0
$GC,4487,0.98,133.8,237.2,14.3,239,4491,0.00,2.33,0.00,0.000,6,0.000,0.041,3208,2030,2275,0,0,0,0,0,0
$GC,4818,0.98,138.6,199.3,9.6,255,4829,0.00,2.35,4.57,0.534,4,0.000,0.053,3221,447,2257,0,0,0,0,0,0
$GC,4856,1.00,153.6,196.0,8.7,258,4877,0.00,2.33,14.18,0.690,6,0.000,0.039,3221,2035,2195,0,0,0,0,0,0
$GC,5138,1.00,153.6,163.3,11.3,285,5141,0.00,2.38,0.00,0.000,4,0.000,0.050,3223,3614,2190,0,0,0,0,0,0
$GC,5254,1.00,153.6,150.0,12.3,295,5261,0.08,2.35,0.00,0.000,6,0.171,0.040,3209,2023,2189,0,0,0,0,0,0
$GC,5515,1.00,153.6,120.4,11.4,320,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2023,2188,0,0,0,0,0,0
$GC,5770,1.02,169.0,100.1,8.7,344,5791,0.00,2.38,12.52,0.604,4,0.000,0.051,3221,451,2135,0,0,0,0,0,0
$GC,5986,1.02,170.9,79.5,9.8,363,5996,0.00,2.30,3.20,0.351,6,0.000,0.038,3220,2031,2123,0,0,0,0,0,0
$GC,6257,1.08,218.8,58.1,5.9,389,6302,0.00,2.38,39.85,0.588,4,0.000,0.051,3232,448,1930,0,0,0,0,0,0
$GC,6414,1.08,218.8,44.2,10.1,403,6418,0.00,2.30,0.00,0.000,6,0.000,0.036,3232,2033,1924,0,0,0,0,0,0
$GC,6682,1.08,218.8,9.3,12.8,441,6688,0.00,2.38,0.00,0.000,4,0.000,0.055,3244,452,1922,0,0,0,0,0,0
$GC,6710,1.08,218.8,6.2,10.9,446,6716,0.00,2.30,0.00,0.000,6,0.000,0.039,3244,2045,1921,0,0,0,0,0,0
$STATE,6736,end climb,SURFACE_DEPTH_REACHED
$STATE,6737,begin surface coast
$FINISH,0.6,1.023348
$STATE,6760,end surface coast,CONTROL_FINISHED_OK
$STATE,6760,begin surface
$SM_CCo,6796,140.10,0.456,1,0,782,500.16
$SM_GC,1.17,0.00,0.00,140.10,0.000,0.000,0.456,143,2046,782,-8.55,0.42,500.16
$IRIDIUM_FIX,2104.07,-15757.32,111211,050526
$TT8_MAMPS,0.058292
$HUMID,1078479345
$INTERNAL_PRESSURE,9.4425
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,9.2
$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8448770048
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59196407808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,1.675
$10V_AH,10.2,2.202
$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,20.025,70.075,245.575,140.100,0.000,28.993,28.561,215.186,2.500,0.000,31.767,851.447,4529.886,480.728,1431.551,63.028,0.000,1058.608,0.000,1029.630,0.000,17.866,0.000
$DEVICE_MAMPS,250.809,61.360,815.321,456.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,305.837,0.000,0.000,0.000,0.000,0.000,0.000,7604.290,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.638,0.000,0.000
$MEM,334800
$DATA_FILE_SIZE,16807,455
$CAP_FILE_SIZE,81273,0
$CFSIZE,260165632,257933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170610,151127,2111.726,-15754.377,12,3.5,31,9.8