version: 66.07
glider: 500
mission: 2
dive: 21
start: 3 12 110 11 12 26
data:
$ID,500
$MISSION,2
$DIVE,21
$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,-100435.49
$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,33
$R_STBD_OVSHOOT,48
$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,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
$GPS1,120310,110536,4743.456,-12224.096,7,1.7,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.5
$GPS2,120310,111132,4743.444,-12224.094,13,1.7,13,18.2
$SPEED_LIMITS,0.137,0.243
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.020,-0.163
$KALMAN_X,15.7,106.8,148.5,-587.1,36.6
$KALMAN_Y,-202.3,-258.9,-227.1,-2179.6,-206.8
$MHEAD_RNG_PITCHd_Wd,154.7,831,-22.4,-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,-0.82,-63.3,0.0,0.0,0,72,0.00,0.00,-45.20,0.000,6,0.000,0.000,140,2215,3588,0,0,0,0,0,0
$GC,74,-0.86,-90.0,2.8,-5.7,9,90,10.32,0.00,-3.08,0.000,6,0.259,0.000,2633,2215,3692,0,0,0,0,0,0
$GC,157,-0.86,-90.0,11.8,-11.9,24,162,0.00,2.35,0.00,0.000,4,0.000,0.055,2626,3773,3694,0,0,0,0,0,0
$GC,201,-0.86,-90.0,17.3,-12.5,32,207,0.00,2.35,0.00,0.000,6,0.000,0.041,2623,2189,3694,0,0,0,0,0,0
$GC,274,-0.86,-90.0,25.9,-11.7,45,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2188,3694,0,0,0,0,0,0
$GC,345,-0.86,-90.0,34.3,-11.7,58,351,0.00,2.42,0.00,0.000,4,0.000,0.054,2611,3780,3694,0,0,0,0,0,0
$GC,373,-0.86,-90.0,37.8,-12.5,63,379,0.10,2.33,0.00,0.000,6,0.196,0.041,2635,2199,3697,0,0,0,0,0,0
$GC,445,-0.86,-90.0,46.8,-12.2,76,452,0.00,2.40,0.00,0.000,4,0.000,0.057,2636,618,3694,0,0,0,0,0,0
$GC,530,-0.86,-90.0,56.5,-11.0,91,534,0.00,2.35,0.00,0.000,6,0.000,0.047,2626,2199,3694,0,0,0,0,0,0
$GC,668,-0.86,-90.0,70.3,-8.9,116,675,0.00,2.42,0.00,0.000,4,0.000,0.054,2613,3788,3694,0,0,0,0,0,0
$GC,769,-0.86,-90.0,81.3,-11.5,134,775,0.00,2.38,0.00,0.000,6,0.000,0.041,2613,2196,3694,0,0,0,0,0,0
$GC,910,-0.86,-90.0,96.5,-11.6,159,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2195,3694,0,0,0,0,0,0
$GC,1049,-0.86,-90.0,113.8,-12.5,184,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2195,3694,0,0,0,0,0,0
$GC,1190,-0.86,-90.0,130.5,-11.9,209,1194,0.00,2.42,0.00,0.000,4,0.000,0.055,2602,3789,3694,0,0,0,0,0,0
$GC,1256,-0.86,-90.0,139.0,-13.0,221,1261,0.15,2.35,0.00,0.000,6,0.179,0.041,2640,2191,3694,0,0,0,0,0,0
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1360,begin apogee
$GC,1364,-0.23,0.0,150.3,10.9,240,1440,0.62,0.00,68.43,0.724,6,0.163,0.000,2834,2083,3327,0,0,0,0,0,0
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1450,0.86,90.0,153.1,0.0,255,1525,1.05,0.00,69.47,0.696,6,0.114,0.000,3184,2080,2959,0,0,0,0,0,0
$GC,1659,0.86,90.0,128.0,15.4,294,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2081,2958,0,0,0,0,0,0
$GC,1794,0.86,90.0,107.9,14.8,318,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2081,2955,0,0,0,0,0,0
$GC,1933,0.86,90.0,87.5,14.8,343,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2081,2958,0,0,0,0,0,0
$GC,2072,0.86,90.0,67.2,15.0,368,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2080,2958,0,0,0,0,0,0
$GC,2211,0.86,90.0,48.3,12.8,393,2215,0.00,2.45,0.00,0.000,4,0.000,0.057,3185,3686,2958,0,0,0,0,0,0
$GC,2271,0.86,90.0,39.5,14.7,404,2277,0.00,2.40,0.00,0.000,6,0.000,0.054,3197,2105,2958,0,0,0,0,0,0
$GC,2344,0.86,90.0,32.2,8.9,417,2350,0.00,2.38,0.00,0.000,4,0.000,0.057,3208,517,2958,0,0,0,0,0,0
$GC,2405,0.86,94.2,27.2,7.6,428,2417,0.00,2.35,5.18,0.512,6,0.000,0.048,3208,2095,2940,0,0,0,0,0,0
$GC,2484,0.86,94.2,19.7,10.6,442,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2095,2940,0,0,0,0,0,0
$GC,2555,0.86,94.2,11.0,12.7,455,2561,0.00,2.42,0.00,0.000,4,0.000,0.058,3208,3688,2940,0,0,0,0,0,0
$STATE,2610,end climb,SURFACE_DEPTH_REACHED
$STATE,2610,begin surface coast
$FINISH,0.3,1.022233
$STATE,2628,end surface coast,CONTROL_FINISHED_OK
$STATE,2628,begin surface
$SM_CCo,2651,64.20,0.525,1,0,2508,200.16
$SM_GC,1.02,0.00,0.00,64.20,0.000,0.000,0.525,147,2204,2508,-8.67,0.11,200.16
$IRIDIUM_FIX,4726.11,-12220.67,050911,040417
$TT8_MAMPS,0.151099
$HUMID,1077678047
$INTERNAL_PRESSURE,9.10069
$TCM_TEMP,18.60
$XPDR_PINGS,99
$ALTIM_BOTTOM_PING,135.4,12.3
$AR_POSTDIVE_SAMPLENUM,5
$AR_CDRIVE_FREE,8449949696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58917650432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,6.633
$10V_AH,10.0,5.678
$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,20.400,38.150,143.075,64.200,0.000,30.517,25.706,207.050,28.000,0.000,15.336,622.603,1129.411,288.413,1011.538,45.445,32.333,686.320,0.000,680.159,0.000,22.943,0.000
$DEVICE_MAMPS,259.246,94.341,724.048,524.628,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,203.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334948
$DATA_FILE_SIZE,16799,468
$CAP_FILE_SIZE,59565,0
$CFSIZE,260165632,257957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,115844,4743.041,-12224.085,8,1.2,8,18.2