version: 66.07
glider: 500
mission: 2
dive: 4
start: 3 11 110 22 32 30
data:
$ID,500
$MISSION,2
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,1050
$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,37
$T_MISSION,45
$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,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100144.81
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2943
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3125
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-65.908394
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,20
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,3
$AR_SAMPLENUM,3
$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,0
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,110310,222814,4745.413,-12224.332,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.2
$GPS2,110310,223137,4745.460,-12224.326,9,1.7,9,18.2
$SPEED_LIMITS,0.140,0.202
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.008,-0.202
$KALMAN_X,241.6,90.5,69.0,27.2,37.7
$KALMAN_Y,1924.3,941.9,734.1,-276.0,223.4
$MHEAD_RNG_PITCHd_Wd,164.0,4574,-18.0,-8.108
$D_GRID,90
$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,23,begin dive
$GC,24,-0.68,-97.3,0.0,0.0,0,92,0.00,0.00,-62.00,0.000,6,0.000,0.000,152,2046,3523,0,0,0,0,0,0
$GC,94,-0.68,-97.3,2.6,-4.7,13,110,10.77,2.10,0.00,0.000,4,0.266,0.048,2722,638,3524,0,0,0,0,0,0
$GC,121,-0.68,-97.3,4.3,-5.8,18,127,0.00,2.10,0.00,0.000,6,0.000,0.047,2713,2059,3524,0,0,0,0,0,0
$GC,194,-0.68,-97.3,7.3,-4.0,31,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2060,3524,0,0,0,0,0,0
$GC,266,-0.68,-97.3,11.2,-5.8,44,271,0.00,2.10,0.00,0.000,4,0.000,0.055,2703,3460,3524,0,0,0,0,0,0
$GC,327,-0.68,-97.3,14.4,-5.3,55,333,0.00,2.10,0.00,0.000,6,0.000,0.044,2702,2045,3524,0,0,0,0,0,0
$GC,400,-0.68,-97.3,18.1,-4.8,68,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2049,3521,0,0,0,0,0,0
$GC,472,-0.68,-97.3,22.4,-6.2,81,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2044,3524,0,0,0,0,0,0
$GC,543,-0.68,-97.3,27.8,-8.2,94,549,0.00,2.17,0.00,0.000,4,0.000,0.058,2691,3464,3524,0,0,0,0,0,0
$GC,566,-0.68,-97.3,29.6,-7.7,98,573,0.10,2.08,0.00,0.000,6,0.184,0.043,2716,2032,3525,0,0,0,0,0,0
$GC,640,-0.68,-97.3,34.2,-5.8,111,645,0.00,2.15,0.00,0.000,4,0.000,0.056,2706,3468,3525,0,0,0,0,0,0
$GC,684,-0.68,-97.3,36.5,-5.5,119,690,0.00,2.08,0.00,0.000,6,0.000,0.044,2706,2046,3526,0,0,0,0,0,0
$GC,756,-0.68,-97.3,41.1,-6.1,132,762,0.00,2.10,0.00,0.000,4,0.000,0.061,2706,647,3524,0,0,0,0,0,0
$GC,773,-0.68,-97.3,42.2,-6.0,135,778,0.00,2.05,0.00,0.000,6,0.000,0.048,2692,2051,3524,0,0,0,0,0,0
$GC,913,-0.68,-97.3,52.1,-6.8,160,919,0.00,2.12,0.00,0.000,4,0.000,0.061,2685,3466,3524,0,0,0,0,0,0
$GC,986,-0.68,-97.3,57.1,-7.1,173,991,0.12,2.10,0.00,0.000,6,0.180,0.043,2721,2036,3524,0,0,0,0,0,0
$GC,1125,-0.68,-97.3,64.9,-5.7,198,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2033,3524,0,0,0,0,0,0
$GC,1265,-0.68,-97.3,71.0,-3.6,223,1269,0.00,2.15,0.00,0.000,4,0.000,0.055,2707,3468,3524,0,0,0,0,0,0
$GC,1331,-0.68,-97.3,73.3,-3.2,235,1335,0.00,2.05,0.00,0.000,6,0.000,0.044,2707,2055,3526,0,0,0,0,0,0
$STATE,1356,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1356,begin apogee
$GC,1359,-0.16,0.0,74.2,3.4,240,1438,0.57,0.00,73.03,0.676,6,0.189,0.000,2885,2053,3125,0,0,0,0,0,0
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1448,0.68,97.3,73.4,0.0,256,1531,0.80,2.22,75.43,0.646,4,0.107,0.054,3157,3454,2728,0,0,0,0,0,0
$GC,1582,0.68,97.3,56.2,15.8,281,1586,0.00,2.15,0.00,0.000,6,0.000,0.046,3167,2049,2723,0,0,0,0,0,0
$GC,1721,0.68,97.3,36.3,14.5,306,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2048,2724,0,0,0,0,0,0
$GC,1793,0.68,97.3,25.7,14.4,319,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2047,2724,0,0,0,0,0,0
$GC,1865,0.68,97.3,14.8,15.4,332,1870,0.00,2.12,0.00,0.000,4,0.000,0.058,3178,636,2722,0,0,0,0,0,0
$GC,1898,0.68,97.3,9.3,17.0,338,1904,0.00,2.15,0.00,0.000,6,0.000,0.048,3178,2045,2722,0,0,0,0,0,0
$STATE,1930,end climb,SURFACE_DEPTH_REACHED
$STATE,1930,begin surface coast
$FINISH,0.3,1.017948
$STATE,1954,end surface coast,CONTROL_FINISHED_OK
$STATE,1954,begin surface
$SM_CCo,1981,75.93,0.539,1,0,2105,250.45
$SM_GC,0.93,0.00,0.00,75.93,0.000,0.000,0.539,151,2045,2105,-8.74,-0.23,250.45
$IRIDIUM_FIX,4722.92,-11959.75,040911,161655
$TT8_MAMPS,0.077467
$HUMID,1077685788
$INTERNAL_PRESSURE,9.06163
$TCM_TEMP,18.60
$XPDR_PINGS,140
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8251637760
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59722301440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,5.452
$10V_AH,10.2,5.028
$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,20.375,38.100,148.450,75.925,0.000,0.000,0.000,0.000,36.250,0.000,11.258,506.868,737.718,311.078,568.535,26.827,32.336,639.579,0.000,510.531,0.000,8.638,0.000
$DEVICE_MAMPS,266.149,61.360,675.727,539.201,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,176.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334992
$DATA_FILE_SIZE,10152,348
$CAP_FILE_SIZE,72158,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110310,230822,4745.598,-12224.350,14,2.8,33,18.2