version: 66.07
glider: 500
mission: 7
dive: 14
start: 9 16 110 11 35 20
data:
$ID,500
$MISSION,7
$DIVE,14
$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,-115536.16
$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,49
$R_STBD_OVSHOOT,46
$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,13
$AR_SAMPLENUM,8
$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
$GPS1,160910,112137,2110.473,-15753.245,33,1.1,33,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-73.5
$GPS2,160910,113426,2110.427,-15753.427,8,1.9,8,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WYPT1
$TGT_LATLONG,2109.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.106,-0.187
$KALMAN_X,3571.9,-1097.7,26.0,-4773.2,-491.3
$KALMAN_Y,-1028.3,383.9,16.6,-6849.0,122.3
$MHEAD_RNG_PITCHd_Wd,140.6,2744,-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,-90.90,0.000,2,0.000,0.000,126,2039,2993,0,0,0,0,0,0
$GC,121,-0.84,-97.3,3.7,-10.2,18,142,11.23,2.35,-2.78,0.000,4,0.248,0.054,2939,450,3152,0,0,0,0,0,0
$GC,293,-0.84,-97.3,59.5,-27.0,39,299,0.00,2.30,0.00,0.000,6,0.000,0.038,2928,2036,3150,0,0,0,0,0,0
$GC,554,-0.84,-97.3,123.7,-24.6,64,558,0.00,2.28,0.00,0.000,4,0.000,0.044,2928,454,3151,0,0,0,0,0,0
$GC,796,-0.84,-97.3,176.4,-19.2,85,801,0.10,2.25,0.00,0.000,6,0.194,0.037,2942,2039,3152,0,0,0,0,0,0
$GC,1063,-0.84,-97.3,222.0,-16.7,104,1067,0.00,2.28,0.00,0.000,4,0.000,0.043,2942,449,3154,0,0,0,0,0,0
$GC,1106,-0.84,-97.3,230.2,-18.8,106,1111,0.00,2.25,0.00,0.000,6,0.000,0.035,2931,2024,3153,0,0,0,0,0,0
$GC,1433,-0.84,-97.3,286.2,-16.8,122,1437,0.00,2.25,0.00,0.000,4,0.000,0.043,2931,441,3154,0,0,0,0,0,0
$GC,1500,-0.84,-97.3,297.2,-15.4,125,1504,0.00,2.22,0.00,0.000,6,0.000,0.036,2919,2033,3154,0,0,0,0,0,0
$GC,1816,-0.84,-97.3,345.8,-15.5,134,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2033,3155,0,0,0,0,0,0
$GC,2141,-0.84,-97.3,391.8,-14.0,142,2145,0.00,2.28,0.00,0.000,4,0.000,0.044,2918,453,3154,0,0,0,0,0,0
$GC,2258,-0.84,-97.3,410.3,-16.2,144,2263,0.10,2.28,0.00,0.000,6,0.148,0.037,2942,2036,3153,0,0,0,0,0,0
$STATE,2349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2349,begin apogee
$GC,2353,-0.23,0.0,422.6,13.5,147,2431,0.60,0.00,73.97,0.810,6,0.130,0.000,3144,2036,2751,0,0,0,0,0,0
$STATE,2439,end apogee,CONTROL_FINISHED_OK
$STATE,2439,begin climb
$GC,2440,0.84,97.3,426.7,0.0,149,2525,0.98,0.00,80.32,0.795,6,0.080,0.000,3497,2036,2353,0,0,0,0,0,0
$GC,2836,0.92,156.3,409.8,5.9,159,2890,0.00,2.47,46.75,0.793,4,0.000,0.049,3497,3611,2112,0,0,0,0,0,0
$GC,2924,0.92,156.3,402.6,10.6,161,2928,0.00,2.35,0.00,0.000,6,0.000,0.035,3509,2029,2107,0,0,0,0,0,0
$GC,3241,0.92,158.5,370.7,9.9,169,3245,0.00,2.30,0.00,0.000,4,0.000,0.046,3521,450,2101,0,0,0,0,0,0
$GC,3425,0.92,158.5,353.0,10.1,173,3430,0.00,2.33,0.00,0.000,6,0.000,0.038,3521,2034,2098,0,0,0,0,0,0
$GC,3744,0.93,167.6,322.7,9.4,181,3754,0.00,0.00,7.70,0.668,6,0.000,0.000,3522,2034,2066,0,0,0,0,0,0
$GC,4050,0.95,181.9,292.8,9.0,190,4065,0.00,0.00,13.07,0.718,6,0.000,0.000,3521,2034,2008,0,0,0,0,0,0
$GC,4359,0.95,181.9,259.8,12.4,205,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2034,2003,0,0,0,0,0,0
$GC,4668,0.99,214.9,232.4,7.7,220,4702,0.00,2.42,27.15,0.713,4,0.000,0.049,3534,451,1873,0,0,0,0,0,0
$GC,4799,0.99,214.9,219.5,11.3,226,4803,0.00,2.33,0.00,0.000,6,0.000,0.039,3534,2039,1869,0,0,0,0,0,0
$GC,5119,0.99,214.9,179.5,13.1,248,5123,0.00,2.35,0.00,0.000,4,0.000,0.048,3545,447,1864,0,0,0,0,0,0
$GC,5315,0.99,214.9,156.7,11.3,265,5319,0.00,2.28,0.00,0.000,6,0.000,0.038,3545,2038,1864,0,0,0,0,0,0
$GC,5576,1.02,237.1,131.2,8.5,289,5599,0.00,2.38,17.27,0.616,4,0.000,0.049,3545,3607,1783,0,0,0,0,0,0
$GC,5632,1.02,237.1,125.5,11.5,294,5638,0.00,2.30,0.00,0.000,6,0.000,0.035,3557,2034,1781,0,0,0,0,0,0
$GC,5894,1.02,237.1,94.6,11.6,319,5898,0.00,2.28,0.00,0.000,4,0.000,0.045,3569,454,1778,0,0,0,0,0,0
$GC,5944,1.02,237.1,88.5,12.4,323,5948,0.00,2.25,0.00,0.000,6,0.000,0.037,3569,2033,1777,0,0,0,0,0,0
$GC,6206,1.04,259.4,62.0,8.5,347,6230,0.00,2.38,18.08,0.553,4,0.000,0.047,3580,450,1696,0,0,0,0,0,0
$GC,6483,1.04,259.4,30.1,11.6,372,6488,0.00,2.28,0.00,0.000,6,0.000,0.037,3580,2040,1689,0,0,0,0,0,0
$STATE,6706,end climb,SURFACE_DEPTH_REACHED
$STATE,6706,begin surface coast
$FINISH,0.2,1.021572
$STATE,6746,end surface coast,CONTROL_FINISHED_OK
$STATE,6746,begin surface
$SM_CCo,6775,144.70,0.472,1,0,475,558.29
$SM_CCo,6927,0.00,0.000,0,0,474,558.29
$SM_CCo,6930,0.00,0.000,0,0,473,558.54
$SM_GC,1.00,0.00,0.00,0.00,0.000,0.000,0.000,132,2044,473,-9.65,0.34,558.54
$IRIDIUM_FIX,2104.07,-15753.03,110312,050524
$TT8_MAMPS,0.052923
$HUMID,1078720635
$INTERNAL_PRESSURE,9.52063
$TCM_TEMP,24.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8441528320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59606204416
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,3.189
$10V_AH,10.5,2.808
$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,21.650,55.400,284.325,144.700,0.000,57.549,57.599,447.927,0.000,0.000,10.286,773.476,4746.253,534.820,1517.364,140.424,33.333,1034.706,0.000,891.859,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,54.457,809.952,472.472,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,280.690,0.000,0.000,0.000,0.000,0.000,0.000,8026.110,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.424,0.000,0.000
$MEM,335132
$DATA_FILE_SIZE,13490,418
$CAP_FILE_SIZE,78682,0
$CFSIZE,260165632,235958272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,133150,2109.725,-15753.014,10,1.7,10,9.8