version: 66.07
glider: 500
mission: 7
dive: 7
start: 9 16 110 1 21 27
data:
$ID,500
$MISSION,7
$DIVE,7
$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,-115429.62
$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,3150
$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,63
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$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,6
$AR_SAMPLENUM,3
$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
$GPS1,160910,011358,2113.344,-15750.910,9,2.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.5
$GPS2,160910,012034,2113.354,-15750.915,12,2.4,31,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,START
$TGT_LATLONG,2111.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.215,0.010
$KALMAN_X,2825.6,868.7,324.1,-1961.9,519.3
$KALMAN_Y,-896.3,-294.0,-88.8,-772.0,-184.0
$MHEAD_RNG_PITCHd_Wd,263.0,5655,-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,-97.3,0.0,0.0,0,114,0.00,0.00,-85.62,0.000,2,0.000,0.000,135,2035,2819,0,0,0,0,0,0
$GC,116,-0.84,-97.3,3.3,-7.7,17,142,10.88,2.38,-6.40,0.000,4,0.250,0.058,2859,3611,3149,0,0,0,0,0,0
$GC,395,-0.84,-97.3,91.6,-27.0,49,400,0.00,2.20,0.00,0.000,6,0.000,0.032,2857,2043,3148,0,0,0,0,0,0
$STATE,622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,622,begin apogee
$GC,626,-0.23,0.0,152.5,26.8,70,705,0.68,0.00,70.88,0.579,6,0.160,0.000,3067,2041,2750,0,0,0,0,0,0
$STATE,707,end apogee,CONTROL_FINISHED_OK
$STATE,707,begin climb
$GC,709,0.84,97.3,162.5,0.0,78,791,1.00,2.38,75.03,0.571,4,0.114,0.046,3411,3603,2351,0,0,0,0,0,0
$GC,826,0.96,193.5,159.8,3.4,89,908,0.10,2.30,73.78,0.569,6,0.100,0.032,3484,2021,1959,0,0,0,0,0,0
$GC,1161,0.99,217.4,133.3,8.3,121,1186,0.00,2.40,18.70,0.534,4,0.000,0.048,3484,3600,1862,0,0,0,0,0,0
$GC,1215,0.99,217.4,128.1,10.3,126,1219,0.00,2.22,0.00,0.000,6,0.000,0.034,3497,2038,1860,0,0,0,0,0,0
$GC,1476,1.04,252.7,103.9,7.6,150,1510,0.00,2.38,27.60,0.535,4,0.000,0.046,3509,456,1719,0,0,0,0,0,0
$GC,1612,1.04,252.7,91.2,10.0,162,1617,0.00,2.25,0.00,0.000,6,0.000,0.037,3509,2028,1713,0,0,0,0,0,0
$GC,1873,1.08,290.2,67.5,7.4,187,1907,0.00,2.33,28.95,0.518,4,0.000,0.045,3519,448,1567,0,0,0,0,0,0
$GC,1964,1.10,306.1,59.7,8.9,195,1985,0.00,2.28,13.20,0.486,6,0.000,0.036,3518,2035,1503,0,0,0,0,0,0
$GC,2239,1.10,306.1,33.9,10.5,221,2243,0.00,2.30,0.00,0.000,4,0.000,0.044,3529,447,1500,0,0,0,0,0,0
$GC,2352,1.10,306.1,21.6,10.4,237,2357,0.00,2.25,0.00,0.000,6,0.000,0.035,3529,2030,1497,0,0,0,0,0,0
$STATE,2546,end climb,SURFACE_DEPTH_REACHED
$STATE,2546,begin surface coast
$FINISH,0.3,1.022133
$STATE,2609,end surface coast,CONTROL_FINISHED_OK
$STATE,2609,begin surface
$SM_CCo,2627,114.25,0.067,0,0,474,558.05
$SM_CCo,2743,0.00,0.000,0,0,471,558.54
$SM_CCo,2746,0.00,0.000,0,0,473,558.29
$SM_GC,1.02,0.00,0.00,0.00,0.000,0.000,0.000,137,2034,473,-9.42,0.08,558.29
$IRIDIUM_FIX,2104.07,-15753.03,100312,181830
$TT8_MAMPS,0.057525
$HUMID,1078662571
$INTERNAL_PRESSURE,9.65736
$TCM_TEMP,25.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8441692160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59753234432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,2.574
$10V_AH,10.6,2.467
$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,21.100,27.650,308.125,114.250,0.000,22.899,29.207,207.064,0.000,0.000,34.453,460.213,1317.212,463.280,832.673,85.066,33.336,796.219,0.000,518.445,0.000,0.545,0.000
$DEVICE_MAMPS,250.042,58.292,579.085,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,184.966,0.000,0.000,0.000,0.000,0.000,0.000,3423.020,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.408,0.000,0.000
$MEM,335172
$DATA_FILE_SIZE,10166,283
$CAP_FILE_SIZE,45282,0
$CFSIZE,260165632,236306432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,020831,2113.378,-15751.089,12,1.3,29,9.8