version: 66.07
glider: 500
mission: 2
dive: 22
start: 3 12 110 12 9 51
data:
$ID,500
$MISSION,2
$DIVE,22
$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,-100455.5
$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,35
$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,21
$AR_SAMPLENUM,5
$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
$GPS1,120310,115844,4743.041,-12224.085,8,1.2,8,18.2
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,3
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.8
$GPS2,120310,120856,4743.103,-12223.971,16,1.5,16,18.2
$SPEED_LIMITS,0.137,0.243
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.011,-0.137
$KALMAN_X,27.2,161.2,154.2,-509.6,-22.7
$KALMAN_Y,-86.7,-311.4,-314.6,-2789.7,-21.3
$MHEAD_RNG_PITCHd_Wd,166.4,193,-26.9,-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,23,begin dive
$GC,24,-0.95,-44.6,0.0,0.0,0,72,0.00,0.00,-42.30,0.000,6,0.000,0.000,145,2204,3506,0,0,0,0,0,0
$GC,74,-0.97,-58.8,3.0,-6.2,9,95,10.20,2.47,-1.75,0.000,4,0.259,0.064,2599,602,3568,0,0,0,0,0,0
$GC,105,-0.97,-58.8,6.9,-11.4,15,111,0.00,2.40,0.00,0.000,6,0.000,0.046,2587,2201,3567,0,0,0,0,0,0
$GC,178,-0.97,-58.8,12.6,-8.9,28,184,0.00,2.40,0.00,0.000,4,0.000,0.056,2576,3785,3567,0,0,0,0,0,0
$GC,297,-0.98,-64.6,22.9,-7.2,49,303,0.00,2.35,-0.35,0.000,6,0.000,0.041,2576,2181,3591,0,0,0,0,0,0
$GC,372,-0.98,-69.2,28.2,-7.4,62,377,0.00,0.00,-0.25,0.000,6,0.000,0.000,2576,2183,3613,0,0,0,0,0,0
$GC,444,-0.98,-69.2,35.4,-11.0,75,450,0.00,2.42,0.00,0.000,4,0.000,0.060,2564,3789,3613,0,0,0,0,0,0
$GC,466,-0.98,-69.2,38.2,-12.2,79,472,0.12,2.35,0.00,0.000,6,0.196,0.041,2594,2205,3613,0,0,0,0,0,0
$GC,539,-0.98,-69.2,47.8,-12.9,92,545,0.00,2.40,0.00,0.000,4,0.000,0.054,2594,623,3613,0,0,0,0,0,0
$GC,628,-0.98,-69.2,59.6,-12.9,108,634,0.00,2.38,0.00,0.000,6,0.000,0.053,2580,2196,3613,0,0,0,0,0,0
$GC,769,-0.98,-69.2,75.5,-11.0,133,773,0.00,2.40,0.00,0.000,4,0.000,0.054,2571,3791,3614,0,0,0,0,0,0
$GC,986,-0.98,-69.2,101.7,-12.5,172,992,0.00,2.38,0.00,0.000,6,0.000,0.048,2571,2198,3613,0,0,0,0,0,0
$GC,1127,-0.98,-69.2,117.8,-11.3,197,1132,0.12,2.38,0.00,0.000,4,0.198,0.054,2590,3792,3614,0,0,0,0,0,0
$GC,1249,-0.98,-69.2,133.1,-13.0,219,1254,0.00,2.35,0.00,0.000,6,0.000,0.041,2590,2192,3614,0,0,0,0,0,0
$GC,1390,-0.98,-69.2,149.3,-11.7,244,1396,0.00,2.40,0.00,0.000,4,0.000,0.054,2578,3797,3614,0,0,0,0,0,0
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$GC,1405,-0.23,0.0,150.4,11.4,246,1465,0.85,0.00,54.25,0.725,6,0.183,0.000,2829,2088,3324,0,0,0,0,0,0
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1469,0.98,69.2,153.3,0.0,258,1530,1.20,2.47,53.83,0.700,4,0.116,0.054,3241,521,3043,0,0,0,0,0,0
$GC,1562,0.98,69.2,144.5,13.1,276,1569,0.00,2.45,0.00,0.000,6,0.000,0.047,3241,2088,3041,0,0,0,0,0,0
$GC,1704,0.98,69.2,123.7,15.5,301,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2089,3041,0,0,0,0,0,0
$GC,1843,0.98,69.2,100.0,17.4,326,1849,0.00,2.47,0.00,0.000,4,0.000,0.056,3240,3683,3041,0,0,0,0,0,0
$GC,1876,0.98,69.2,93.9,18.3,332,1883,0.00,2.40,0.00,0.000,6,0.000,0.046,3253,2106,3040,0,0,0,0,0,0
$GC,2017,0.98,69.2,67.7,19.6,357,2022,0.00,2.40,0.00,0.000,4,0.000,0.056,3252,3688,3041,0,0,0,0,0,0
$GC,2074,0.98,69.2,57.2,18.2,367,2079,0.00,2.38,0.00,0.000,6,0.000,0.046,3264,2089,3042,0,0,0,0,0,0
$GC,2214,0.98,69.2,33.9,17.2,392,2220,0.00,2.38,0.00,0.000,4,0.000,0.059,3277,512,3041,0,0,0,0,0,0
$GC,2237,0.98,69.2,30.1,17.4,396,2243,0.15,2.35,0.00,0.000,6,0.196,0.047,3239,2106,3041,0,0,0,0,0,0
$GC,2312,0.98,69.2,17.5,16.6,409,2317,0.00,2.40,0.00,0.000,4,0.000,0.057,3239,3683,3041,0,0,0,0,0,0
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,0.3,1.022299
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2418,begin surface
$SM_CCo,2443,74.85,0.537,1,0,2509,200.16
$SM_GC,1.39,0.00,0.00,74.85,0.000,0.000,0.537,150,2198,2509,-8.65,-0.03,200.16
$IRIDIUM_FIX,4719.74,-12337.86,050911,060604
$TT8_MAMPS,0.059826
$HUMID,1077701272
$INTERNAL_PRESSURE,9.10069
$TCM_TEMP,18.60
$XPDR_PINGS,82
$ALTIM_BOTTOM_PING,135.1,41.0
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8449916928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58804797440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,6.695
$10V_AH,9.9,5.789
$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,21.000,57.575,108.075,74.850,0.000,57.067,72.867,316.380,23.750,0.000,19.382,596.664,1084.510,281.134,1142.168,49.426,33.314,650.169,0.000,624.695,0.000,22.571,0.000
$DEVICE_MAMPS,259.246,63.661,724.815,536.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,187.764,0.000,0.000,0.000,0.000,0.000,0.000,8853.830,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,34.508,0.000,0.000
$MEM,334904
$DATA_FILE_SIZE,13488,428
$CAP_FILE_SIZE,62397,0
$CFSIZE,260165632,257916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,125324,4742.904,-12224.040,24,1.2,41,18.2