version: 66.07
glider: 500
mission: 7
dive: 6
start: 9 16 110 0 22 14
data:
$ID,500
$MISSION,7
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$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,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,-115394.55
$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,3000
$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,41
$R_STBD_OVSHOOT,47
$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,5
$AR_SAMPLENUM,1
$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
$GPS1,160910,001601,2113.505,-15751.061,15,1.7,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.0
$GPS2,160910,002120,2113.483,-15751.066,13,1.4,13,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,START
$TGT_LATLONG,2111.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.208,0.057
$KALMAN_X,2009.3,752.8,379.0,-1345.2,624.3
$KALMAN_Y,-518.3,-243.9,-114.7,-938.4,-169.4
$MHEAD_RNG_PITCHd_Wd,275.6,5683,-21.7,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.84,-97.3,0.0,0.0,0,113,0.00,0.00,-86.10,0.000,2,0.000,0.000,137,2019,2829,0,0,0,0,0,0
$GC,116,-0.84,-97.3,3.3,-7.3,17,142,10.30,2.33,-7.15,0.000,4,0.253,0.055,2718,443,3200,0,0,0,0,0,0
$GC,396,-0.84,-97.3,127.5,-39.8,48,400,0.00,2.28,0.00,0.000,6,0.000,0.037,2708,2050,3201,0,0,0,0,0,0
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,467,-0.23,0.0,152.3,37.0,54,545,0.73,0.00,70.72,0.579,6,0.184,0.000,2920,2050,2802,0,0,0,0,0,0
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,549,0.84,97.3,170.9,0.0,62,632,1.08,2.38,75.00,0.574,4,0.148,0.047,3261,3603,2402,0,0,0,0,0,0
$GC,802,1.04,254.1,174.7,-0.8,85,928,0.20,2.25,118.75,0.581,6,0.074,0.031,3351,2004,1764,0,0,0,0,0,0
$GC,1190,1.12,321.6,157.2,5.3,122,1251,0.00,2.35,51.42,0.570,4,0.000,0.045,3352,458,1486,0,0,0,0,0,0
$GC,1498,1.14,335.1,130.6,9.1,150,1514,0.00,2.22,11.02,0.506,6,0.000,0.035,3344,2027,1433,0,0,0,0,0,0
$GC,1768,1.17,359.1,106.9,8.3,175,1793,0.00,2.33,18.75,0.528,4,0.000,0.045,3344,467,1338,0,0,0,0,0,0
$GC,1957,1.19,379.5,90.9,8.6,192,1982,0.12,2.20,17.15,0.515,6,0.107,0.034,3396,2042,1253,0,0,0,0,0,0
$GC,2243,1.23,414.5,66.4,7.6,219,2277,0.00,2.38,27.27,0.518,4,0.000,0.044,3396,459,1109,0,0,0,0,0,0
$GC,2479,1.25,428.7,44.7,9.0,240,2496,0.00,2.25,11.75,0.470,6,0.000,0.034,3394,2033,1051,0,0,0,0,0,0
$GC,2756,1.26,434.1,19.3,9.6,276,2767,0.00,2.28,5.43,0.387,4,0.000,0.043,3396,468,1029,0,0,0,0,0,0
$GC,2852,1.28,448.6,10.6,9.0,293,2873,0.00,2.20,12.32,0.454,6,0.000,0.033,3392,2032,970,0,0,0,0,0,0
$STATE,2921,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,0.2,0.997045
$STATE,2946,end surface coast,CONTROL_FINISHED_OK
$STATE,2946,begin surface
$SM_CCo,2963,57.05,0.067,0,0,475,570.56
$SM_CCo,3023,0.00,0.000,0,0,475,570.56
$SM_CCo,3026,0.00,0.000,0,0,475,570.56
$SM_GC,1.04,0.00,0.00,0.00,0.000,0.000,0.000,146,2033,475,-8.92,0.14,570.56
$IRIDIUM_FIX,2104.07,-15750.89,100312,171716
$TT8_MAMPS,0.058292
$HUMID,1078705152
$INTERNAL_PRESSURE,9.64759
$TCM_TEMP,24.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8441724928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59765063680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,2.508
$10V_AH,10.5,2.433
$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,20.500,27.425,419.600,57.050,0.000,29.840,33.626,147.172,0.000,0.000,15.682,497.785,1407.892,486.200,890.778,83.976,33.331,894.067,0.000,639.365,0.000,0.545,0.000
$DEVICE_MAMPS,253.110,55.224,580.619,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,201.771,0.000,0.000,0.000,0.000,0.000,0.000,3632.840,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.261,0.000,0.000
$MEM,335180
$DATA_FILE_SIZE,10151,310
$CAP_FILE_SIZE,49992,0
$CFSIZE,260165632,236339200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,011358,2113.344,-15750.910,9,2.5,28,9.8