version: 66.07
glider: 500
mission: 2
dive: 9
start: 3 12 110 2 24 58
data:
$ID,500
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$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,31
$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,155
$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,210
$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,-100238.77
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,38
$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,80
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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,8
$AR_SAMPLENUM,2
$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
$GPS1,120310,021732,4746.185,-12224.448,9,1.8,9,18.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.2
$GPS2,120310,022403,4746.258,-12224.479,10,2.8,29,18.2
$SPEED_LIMITS,0.261,0.298
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.036,-0.296
$KALMAN_X,129.8,60.6,-51.2,100.3,-46.3
$KALMAN_Y,6343.7,1395.8,-40.8,-2891.0,342.6
$MHEAD_RNG_PITCHd_Wd,154.9,6063,-24.3,-15.054
$D_GRID,140
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.95,-150.9,0.0,0.0,0,81,0.00,0.00,-56.30,0.000,2,0.000,0.000,144,2214,3851,0,0,0,0,0,0
$GC,84,-0.95,-150.9,3.4,-7.6,11,100,10.45,0.00,-2.03,0.000,6,0.264,0.000,2631,2214,3938,0,0,0,0,0,0
$GC,166,-0.95,-150.9,19.0,-16.0,26,172,0.00,2.42,0.00,0.000,4,0.000,0.054,2631,608,3938,0,0,0,0,0,0
$GC,199,-0.95,-150.9,24.6,-16.7,32,205,0.00,2.38,0.00,0.000,6,0.000,0.047,2621,2208,3938,0,0,0,0,0,0
$GC,273,-0.95,-150.9,35.2,-14.6,45,278,0.00,2.40,0.00,0.000,4,0.000,0.058,2608,3793,3938,0,0,0,0,0,0
$GC,328,-0.95,-150.9,44.5,-17.6,55,333,0.10,2.38,0.00,0.000,6,0.186,0.041,2632,2194,3939,0,0,0,0,0,0
$GC,468,-0.95,-150.9,65.7,-14.5,80,473,0.00,2.35,0.00,0.000,4,0.000,0.053,2632,621,3938,0,0,0,0,0,0
$GC,523,-0.95,-150.9,73.8,-14.0,90,529,0.00,2.38,0.00,0.000,6,0.000,0.048,2622,2203,3938,0,0,0,0,0,0
$GC,666,-0.95,-150.9,92.6,-14.2,115,670,0.00,2.40,0.00,0.000,4,0.000,0.057,2610,3797,3938,0,0,0,0,0,0
$GC,713,-0.95,-150.9,100.3,-15.6,124,720,0.00,2.40,0.00,0.000,6,0.000,0.042,2610,2198,3939,0,0,0,0,0,0
$GC,855,-0.95,-150.9,121.4,-14.9,149,859,0.00,2.40,0.00,0.000,4,0.000,0.056,2598,3797,3939,0,0,0,0,0,0
$GC,892,-0.95,-150.9,127.3,-15.6,156,899,0.10,2.40,0.00,0.000,6,0.156,0.049,2629,2192,3939,0,0,0,0,0,0
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,984,-0.16,0.0,140.1,13.4,172,1104,0.82,0.00,112.55,0.709,6,0.161,0.000,2889,2191,3327,0,0,0,0,0,0
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1108,0.95,150.9,141.8,0.0,196,1235,1.02,2.65,116.68,0.678,4,0.094,0.057,3253,566,2709,0,0,0,0,0,0
$GC,1257,0.95,150.9,119.0,21.7,225,1262,0.00,2.47,0.00,0.000,6,0.000,0.048,3252,2154,2708,0,0,0,0,0,0
$GC,1396,0.95,150.9,86.7,22.5,250,1402,0.00,2.47,0.00,0.000,4,0.000,0.059,3253,3729,2709,0,0,0,0,0,0
$GC,1424,0.95,150.9,80.0,25.2,255,1429,0.00,2.40,0.00,0.000,6,0.000,0.047,3265,2144,2705,0,0,0,0,0,0
$GC,1563,0.95,150.9,46.5,22.2,280,1570,0.00,2.42,0.00,0.000,4,0.000,0.057,3277,569,2703,0,0,0,0,0,0
$GC,1620,0.95,150.9,33.7,21.3,290,1625,0.00,2.38,0.00,0.000,6,0.000,0.048,3275,2151,2707,0,0,0,0,0,0
$GC,1692,0.95,150.9,17.5,23.2,303,1698,0.00,2.40,0.00,0.000,4,0.000,0.057,3289,560,2704,0,0,0,0,0,0
$GC,1736,0.95,150.9,7.4,22.0,311,1743,0.15,2.40,0.00,0.000,6,0.196,0.049,3251,2155,2704,0,0,0,0,0,0
$STATE,1752,end climb,SURFACE_DEPTH_REACHED
$STATE,1753,begin surface coast
$FINISH,0.2,1.022620
$STATE,1771,end surface coast,CONTROL_FINISHED_OK
$STATE,1771,begin surface
$SM_CCo,1787,34.83,0.466,1,0,2471,210.22
$SM_GC,1.55,0.00,0.00,34.83,0.000,0.000,0.466,147,2198,2471,-8.74,-0.06,210.22
$IRIDIUM_FIX,4729.30,-12222.38,040911,191903
$TT8_MAMPS,0.060593
$HUMID,1077709014
$INTERNAL_PRESSURE,9.10069
$TCM_TEMP,18.60
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,98.6,7.4
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8450244608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59257946112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.786
$10V_AH,10.1,5.291
$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,20.900,43.525,229.225,34.825,0.000,24.998,30.285,224.708,14.250,0.000,32.178,416.417,649.709,316.180,817.720,39.008,33.328,630.585,0.000,466.852,0.000,17.480,0.000
$DEVICE_MAMPS,263.848,232.401,708.708,466.336,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,133.647,0.000,0.000,0.000,0.000,0.000,0.000,2100.410,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.833,0.000,0.000
$MEM,334904
$DATA_FILE_SIZE,10131,317
$CAP_FILE_SIZE,49282,0
$CFSIZE,260165632,258408448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,025625,4746.240,-12224.483,8,1.5,13,18.2