version: 66.07
glider: 500
mission: 2
dive: 6
start: 3 12 110 0 9 31
data:
$ID,500
$MISSION,2
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$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,54
$T_MISSION,60
$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,-100173.4
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3325
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$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,5
$AR_SAMPLENUM,6
$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
$GPS1,120310,000307,4745.836,-12224.419,36,0.9,36,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-69.1
$GPS2,120310,000837,4745.898,-12224.420,12,1.1,12,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.011,-0.201
$KALMAN_X,224.1,89.3,36.1,-35.3,-42.2
$KALMAN_Y,3692.4,1253.7,428.6,-1234.6,732.5
$MHEAD_RNG_PITCHd_Wd,158.8,5392,-17.9,-8.025
$D_GRID,130
$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,-0.68,-97.3,0.0,0.0,0,97,0.00,0.00,-69.65,0.000,6,0.000,0.000,137,2049,3720,0,0,0,0,0,0
$GC,99,-0.68,-97.3,3.0,-5.8,14,115,10.80,2.40,0.00,0.000,4,0.262,0.052,2704,3623,3723,0,0,0,0,0,0
$GC,210,-0.68,-97.3,15.0,-10.6,34,216,0.00,2.12,0.00,0.000,6,0.000,0.043,2704,2179,3723,0,0,0,0,0,0
$GC,284,-0.68,-97.3,23.2,-10.9,47,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2178,3721,0,0,0,0,0,0
$GC,356,-0.68,-97.3,28.1,-7.1,60,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2178,3723,0,0,0,0,0,0
$GC,428,-0.68,-97.3,35.1,-8.8,73,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2178,3723,0,0,0,0,0,0
$GC,498,-0.68,-97.3,41.0,-8.2,86,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2178,3723,0,0,0,0,0,0
$GC,633,-0.68,-97.3,53.4,-11.2,110,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2178,3723,0,0,0,0,0,0
$GC,774,-0.68,-97.3,66.4,-8.9,135,778,0.00,2.15,0.00,0.000,4,0.000,0.057,2696,3609,3723,0,0,0,0,0,0
$GC,841,-0.68,-97.3,73.1,-9.8,147,847,0.10,2.08,0.00,0.000,6,0.177,0.044,2715,2200,3723,0,0,0,0,0,0
$GC,981,-0.68,-97.3,84.0,-6.2,172,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2199,3722,0,0,0,0,0,0
$GC,1122,-0.68,-97.3,91.1,-4.7,197,1126,0.00,2.10,0.00,0.000,4,0.000,0.054,2719,782,3720,0,0,0,0,0,0
$GC,1204,-0.68,-97.3,96.5,-6.3,212,1211,0.00,2.12,0.00,0.000,6,0.000,0.049,2710,2200,3722,0,0,0,0,0,0
$GC,1347,-0.68,-97.3,106.6,-8.5,237,1351,0.00,2.15,0.00,0.000,4,0.000,0.057,2699,3612,3723,0,0,0,0,0,0
$GC,1395,-0.68,-97.3,110.9,-9.1,246,1401,0.00,2.10,0.00,0.000,6,0.000,0.043,2699,2203,3723,0,0,0,0,0,0
$GC,1536,-0.68,-97.3,123.1,-7.9,271,1540,0.00,2.10,0.00,0.000,4,0.000,0.053,2699,780,3723,0,0,0,0,0,0
$GC,1603,-0.68,-97.3,129.4,-9.9,283,1608,0.12,2.12,0.00,0.000,6,0.189,0.048,2720,2199,3723,0,0,0,0,0,0
$STATE,1612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1612,begin apogee
$GC,1616,-0.16,0.0,130.4,10.0,285,1692,0.50,0.00,72.15,0.711,6,0.146,0.000,2883,2151,3326,0,0,0,0,0,0
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1696,0.68,97.3,131.9,0.0,300,1776,0.77,0.00,75.38,0.683,6,0.098,0.000,3153,2146,2927,0,0,0,0,0,0
$GC,1910,0.68,97.3,108.9,13.1,340,1916,0.00,2.17,0.00,0.000,4,0.000,0.060,3164,752,2925,0,0,0,0,0,0
$GC,1983,0.68,97.3,98.8,14.3,353,1988,0.00,2.15,0.00,0.000,6,0.000,0.050,3164,2149,2925,0,0,0,0,0,0
$GC,2122,0.68,97.3,78.6,15.5,378,2128,0.00,2.17,0.00,0.000,4,0.000,0.058,3174,741,2925,0,0,0,0,0,0
$GC,2139,0.68,97.3,76.1,15.5,381,2144,0.00,2.15,0.00,0.000,6,0.000,0.050,3174,2149,2925,0,0,0,0,0,0
$GC,2279,0.68,97.3,55.8,15.7,406,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2152,2925,0,0,0,0,0,0
$GC,2418,0.68,97.3,37.0,13.7,431,2423,0.00,2.15,0.00,0.000,4,0.000,0.057,3175,3567,2925,0,0,0,0,0,0
$GC,2490,0.68,97.3,26.4,14.6,444,2496,0.00,2.12,0.00,0.000,6,0.000,0.047,3184,2157,2925,0,0,0,0,0,0
$GC,2563,0.68,97.3,15.1,14.8,457,2569,0.00,2.12,0.00,0.000,4,0.000,0.055,3185,3572,2925,0,0,0,0,0,0
$STATE,2629,end climb,SURFACE_DEPTH_REACHED
$STATE,2629,begin surface coast
$FINISH,0.3,1.022665
$STATE,2652,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2683,78.03,0.548,1,0,2306,250.20
$SM_GC,1.13,0.00,0.00,78.03,0.000,0.000,0.548,133,2200,2306,-8.78,0.00,250.20
$IRIDIUM_FIX,4726.11,-12222.38,040911,171727
$TT8_MAMPS,0.070564
$HUMID,1077732240
$INTERNAL_PRESSURE,9.08116
$TCM_TEMP,18.60
$XPDR_PINGS,147
$ALTIM_BOTTOM_PING,76.3,7.1
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8070332416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59722301440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,5.576
$10V_AH,10.2,5.082
$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,20.350,38.650,147.525,78.025,0.000,27.961,23.900,192.103,37.750,0.000,14.303,627.214,1135.451,316.385,1001.588,43.003,33.325,722.705,0.000,686.588,0.000,8.506,0.000
$DEVICE_MAMPS,262.314,158.002,711.009,547.638,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,205.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334904
$DATA_FILE_SIZE,16815,473
$CAP_FILE_SIZE,59225,0
$CFSIZE,260165632,258502656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,005644,4745.943,-12224.447,10,1.6,10,18.2