version: 66.07
glider: 500
mission: 2
dive: 20
start: 3 12 110 10 15 55
data:
$ID,500
$MISSION,2
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,63
$T_MISSION,70
$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,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,200
$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,-100419.53
$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,2918
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$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,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,-65.908394
$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,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,19
$AR_SAMPLENUM,4
$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
$GPS1,120310,100914,4744.034,-12223.817,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.6
$GPS2,120310,101502,4744.029,-12223.798,9,2.0,9,18.2
$SPEED_LIMITS,0.137,0.243
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.090,-0.225
$KALMAN_X,91.1,106.6,100.6,-249.6,190.3
$KALMAN_Y,-135.4,-166.0,-153.8,-1326.4,-297.6
$MHEAD_RNG_PITCHd_Wd,183.7,1923,-13.7,-7.937
$D_GRID,150
$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,23,-0.64,-150.9,0.0,0.0,0,77,0.00,0.00,-51.72,0.000,2,0.000,0.000,150,2210,3767,0,0,0,0,0,0
$GC,79,-0.64,-150.9,3.1,-6.1,10,100,10.65,0.00,-4.40,0.000,6,0.262,0.000,2702,2206,3941,0,0,0,0,0,0
$GC,167,-0.64,-150.9,15.5,-12.1,26,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3941,0,0,0,0,0,0
$GC,239,-0.64,-150.9,24.1,-12.1,39,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2206,3941,0,0,0,0,0,0
$GC,312,-0.64,-150.9,32.5,-11.3,52,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3941,0,0,0,0,0,0
$GC,384,-0.64,-150.9,40.8,-11.0,65,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3941,0,0,0,0,0,0
$GC,523,-0.64,-150.9,55.9,-10.9,90,530,0.00,2.42,0.00,0.000,4,0.000,0.058,2691,3790,3941,0,0,0,0,0,0
$GC,641,-0.64,-150.9,69.9,-11.2,111,646,0.00,2.33,0.00,0.000,6,0.000,0.042,2691,2188,3941,0,0,0,0,0,0
$GC,781,-0.64,-150.9,85.0,-11.4,136,787,0.00,2.33,0.00,0.000,4,0.000,0.062,2691,612,3941,0,0,0,0,0,0
$GC,809,-0.64,-150.9,88.3,-11.8,141,814,0.12,2.35,0.00,0.000,6,0.184,0.048,2711,2205,3940,0,0,0,0,0,0
$GC,948,-0.64,-150.9,102.2,-9.5,166,954,0.00,2.40,0.00,0.000,4,0.000,0.054,2711,617,3940,0,0,0,0,0,0
$GC,981,-0.64,-150.9,105.7,-10.3,172,988,0.00,2.38,0.00,0.000,6,0.000,0.048,2700,2201,3939,0,0,0,0,0,0
$GC,1122,-0.64,-150.9,119.3,-9.4,197,1127,0.00,2.40,0.00,0.000,4,0.000,0.057,2688,3794,3940,0,0,0,0,0,0
$GC,1199,-0.64,-150.9,127.9,-11.4,211,1204,0.00,2.33,0.00,0.000,6,0.000,0.042,2688,2199,3941,0,0,0,0,0,0
$GC,1338,-0.64,-150.9,143.2,-10.7,236,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2199,3944,0,0,0,0,0,0
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1404,-0.23,0.0,150.1,10.8,247,1526,0.47,0.00,113.75,0.718,6,0.150,0.000,2839,2084,3326,0,0,0,0,0,0
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1530,0.64,150.9,154.4,0.0,271,1652,0.85,0.00,117.38,0.690,6,0.113,0.000,3117,2085,2709,0,0,0,0,0,0
$GC,1787,0.64,150.9,128.9,12.3,319,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2085,2702,0,0,0,0,0,0
$GC,1925,0.64,150.9,111.2,12.1,344,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2084,2704,0,0,0,0,0,0
$GC,2060,0.64,150.9,95.7,11.4,368,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2084,2704,0,0,0,0,0,0
$GC,2200,0.64,150.9,79.8,11.7,393,2204,0.00,2.35,0.00,0.000,4,0.000,0.058,3128,533,2706,0,0,0,0,0,0
$GC,2283,0.64,150.9,69.4,12.4,408,2289,0.00,2.38,0.00,0.000,6,0.000,0.047,3131,2110,2704,0,0,0,0,0,0
$GC,2424,0.64,150.9,51.5,13.0,433,2428,0.00,2.40,0.00,0.000,4,0.000,0.058,3131,3686,2704,0,0,0,0,0,0
$GC,2461,0.64,150.9,46.4,13.7,440,2468,0.00,2.38,0.00,0.000,6,0.000,0.051,3142,2121,2703,0,0,0,0,0,0
$GC,2603,0.64,150.9,30.2,11.7,465,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2119,2704,0,0,0,0,0,0
$GC,2674,0.64,150.9,21.1,12.4,478,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2120,2703,0,0,0,0,0,0
$GC,2746,0.64,150.9,12.1,12.2,491,2752,0.00,2.42,0.00,0.000,4,0.000,0.058,3155,508,2703,0,0,0,0,0,0
$GC,2786,0.64,150.9,7.4,12.2,498,2792,0.00,2.38,0.00,0.000,6,0.000,0.048,3155,2104,2703,0,0,0,0,0,0
$STATE,2818,end climb,SURFACE_DEPTH_REACHED
$STATE,2818,begin surface coast
$FINISH,0.2,1.021793
$STATE,2842,end surface coast,CONTROL_FINISHED_OK
$STATE,2842,begin surface
$SM_CCo,2858,32.53,0.433,1,0,2510,200.16
$SM_GC,1.99,0.00,0.00,32.53,0.000,0.000,0.433,140,2215,2510,-8.69,0.42,200.16
$IRIDIUM_FIX,4729.30,-12225.08,050911,030342
$TT8_MAMPS,0.254644
$HUMID,1077706434
$INTERNAL_PRESSURE,9.10069
$TCM_TEMP,18.50
$XPDR_PINGS,117
$AR_DIVENUM,20
$AR_SAMPLENUM,4
$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
$24V_AH,24.0,6.577
$10V_AH,9.9,5.651
$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,20.025,33.475,231.125,32.525,0.000,26.613,25.490,206.458,33.000,0.000,12.007,649.089,1191.343,321.060,1066.819,49.988,31.411,764.381,0.000,736.299,0.000,24.752,0.000
$DEVICE_MAMPS,261.547,96.642,717.912,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,213.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334928
$DATA_FILE_SIZE,16788,508
$CAP_FILE_SIZE,62331,0
$CFSIZE,260165632,257994752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,110536,4743.456,-12224.096,7,1.7,23,18.2