version: 66.07
glider: 500
mission: 7
dive: 2
start: 9 15 110 21 17 28
data:
$ID,500
$MISSION,7
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,150
$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,30
$T_MISSION,45
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,572
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115334.05
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$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,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2800
$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,-66.799538
$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,0
$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,1
$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,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,150910,211329,2114.208,-15751.908,11,1.5,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.8
$GPS2,150910,211638,2114.190,-15751.911,12,1.6,12,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,START
$TGT_LATLONG,2111.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.165,-0.139
$KALMAN_X,94.3,94.3,94.3,49.1,172.4
$KALMAN_Y,-77.7,-77.7,-77.7,-266.2,-142.2
$MHEAD_RNG_PITCHd_Wd,220.1,6200,-21.7,-10.000
$D_GRID,90
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.84,-97.3,0.0,0.0,0,118,0.00,0.00,-90.40,0.000,2,0.000,0.000,150,2056,2926,0,0,0,0,0,0
$GC,120,-0.84,-97.3,3.2,-6.9,18,142,9.90,2.35,-5.35,0.000,4,0.255,0.058,2609,442,3200,0,0,0,0,0,0
$STATE,291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,292,begin apogee
$GC,299,-0.23,0.0,92.2,55.9,39,375,0.73,0.00,70.80,0.545,6,0.208,0.000,2801,2041,2798,0,0,0,0,0,0
$STATE,397,end apogee,CONTROL_FINISHED_OK
$STATE,398,begin climb
$GC,399,0.84,97.3,125.5,0.0,47,481,1.15,2.42,73.65,0.552,4,0.167,0.058,3142,3622,2403,0,0,0,0,0,0
$GC,690,1.04,254.8,142.5,-0.9,73,819,0.25,2.28,118.40,0.558,6,0.116,0.033,3226,2014,1759,0,0,0,0,0,0
$GC,1073,1.14,336.3,122.9,4.4,110,1144,0.00,2.35,61.40,0.542,4,0.000,0.044,3226,463,1426,0,0,0,0,0,0
$GC,1181,1.19,380.7,116.8,6.9,120,1222,0.12,2.28,34.25,0.526,6,0.093,0.034,3272,2036,1247,0,0,0,0,0,0
$GC,1484,1.22,400.8,91.5,8.6,149,1505,0.00,2.28,16.00,0.495,4,0.000,0.042,3273,464,1164,0,0,0,0,0,0
$GC,1550,1.24,420.4,86.0,8.6,155,1571,0.00,2.22,15.93,0.491,6,0.000,0.033,3269,2037,1086,0,0,0,0,0,0
$GC,1825,1.28,455.0,63.5,7.6,181,1857,0.00,2.40,26.55,0.497,4,0.000,0.052,3262,3607,944,0,0,0,0,0,0
$GC,1890,1.30,467.1,58.1,9.2,187,1907,0.12,2.25,10.68,0.454,6,0.094,0.032,3317,2022,894,0,0,0,0,0,0
$GC,2161,1.34,503.2,35.4,7.5,212,2195,0.00,2.42,27.52,0.482,4,0.000,0.050,3306,3612,748,0,0,0,0,0,0
$GC,2275,1.34,503.2,23.6,10.8,227,2280,0.00,2.25,0.00,0.000,6,0.000,0.033,3306,2034,746,0,0,0,0,0,0
$GC,2482,1.34,503.2,3.9,10.0,264,2488,0.00,2.33,0.00,0.000,4,0.000,0.051,3297,3604,745,0,0,0,0,0,0
$STATE,2492,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,1.0,1.023180
$STATE,2510,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2542,33.40,0.067,0,0,475,570.31
$SM_CCo,2579,0.00,0.000,0,0,474,570.56
$SM_CCo,2581,0.00,0.000,0,0,474,570.80
$SM_GC,1.11,0.00,0.00,0.00,0.000,0.000,0.000,151,2023,474,-8.56,-0.23,570.80
$IRIDIUM_FIX,2106.38,-15750.02,100312,151535
$TT8_MAMPS,0.058292
$HUMID,1078645797
$INTERNAL_PRESSURE,9.70619
$TCM_TEMP,25.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8441856000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59790983168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,2.167
$10V_AH,10.7,2.308
$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,20.050,32.400,455.175,33.400,0.000,0.000,0.000,0.000,0.000,0.000,14.523,417.000,1123.299,492.727,584.946,45.364,30.182,852.791,0.000,518.902,0.000,0.546,0.000
$DEVICE_MAMPS,254.644,57.525,557.609,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,173.337,0.000,0.000,0.000,0.000,0.000,0.000,4896.120,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.415,0.000,0.000
$MEM,335220
$DATA_FILE_SIZE,10117,269
$CAP_FILE_SIZE,71354,0
$CFSIZE,260165632,236441600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,220204,2114.040,-15751.609,42,1.0,45,9.8