version: 66.07
glider: 500
mission: 7
dive: 42
start: 9 19 110 8 42 52
data:
$ID,500
$MISSION,7
$DIVE,42
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,208
$T_MISSION,220
$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,120
$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,390
$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,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116131.4
$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,3290
$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,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,40
$ALTIM_PING_DELTA,10
$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,41
$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,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,190910,083522,2059.716,-15753.980,17,2.6,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.2
$GPS2,190910,084158,2059.683,-15754.030,13,2.6,32,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.068,-0.207
$KALMAN_X,-22079.4,-1946.1,-5.3,20706.7,-8169.6
$KALMAN_Y,4610.3,3257.7,-334.7,-34898.9,6877.4
$MHEAD_RNG_PITCHd_Wd,151.9,34118,-16.1,-8.013
$D_GRID,500
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.50,0.000,2,0.000,0.000,127,1904,2792,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.1,-4.6,12,118,11.52,2.33,-8.50,0.000,4,0.245,0.058,3063,297,3229,0,0,0,0,0,0
$GC,180,-0.68,-116.8,24.5,-16.6,28,186,0.00,2.30,0.00,0.000,6,0.000,0.035,3052,1918,3229,0,0,0,0,0,0
$GC,387,-0.68,-116.8,60.3,-18.1,50,391,0.00,2.35,0.00,0.000,4,0.000,0.042,3053,295,3232,0,0,0,0,0,0
$GC,419,-0.68,-116.8,66.6,-17.4,52,425,0.00,2.28,0.00,0.000,6,0.000,0.034,3041,1908,3230,0,0,0,0,0,0
$GC,679,-0.68,-116.8,107.7,-13.1,77,683,0.00,2.30,0.00,0.000,4,0.000,0.044,3029,3487,3230,0,0,0,0,0,0
$GC,723,-0.68,-116.8,113.3,-11.5,80,730,0.10,2.30,0.00,0.000,6,0.115,0.030,3068,1863,3231,0,0,0,0,0,0
$STATE,880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,880,begin apogee
$GC,885,-0.23,0.0,130.0,10.4,95,974,0.40,0.00,84.57,0.563,6,0.115,0.000,3212,2035,2753,0,0,0,0,0,0
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1023,0.68,116.8,133.0,0.0,104,1120,0.77,2.33,88.40,0.559,4,0.066,0.044,3516,3566,2272,0,0,0,0,0,0
$GC,1175,0.81,226.1,133.6,2.9,118,1267,0.00,2.28,83.62,0.552,6,0.000,0.031,3527,1987,1826,0,0,0,0,0,0
$GC,1527,0.81,226.1,102.1,12.4,152,1531,0.00,2.25,0.00,0.000,4,0.000,0.044,3538,425,1820,0,0,0,0,0,0
$GC,1747,0.81,226.1,77.4,10.0,171,1751,0.00,2.22,0.00,0.000,6,0.000,0.035,3538,1990,1818,0,0,0,0,0,0
$GC,2007,0.81,226.1,56.5,9.3,195,2012,0.00,2.33,0.00,0.000,4,0.000,0.044,3538,3593,1818,0,0,0,0,0,0
$GC,2074,0.81,226.1,49.5,10.3,200,2080,0.00,2.22,0.00,0.000,6,0.000,0.031,3549,2000,1817,0,0,0,0,0,0
$GC,2337,0.81,226.1,23.7,10.5,230,2343,0.00,2.25,0.00,0.000,4,0.000,0.042,3565,428,1817,0,0,0,0,0,0
$GC,2511,0.81,226.1,7.8,9.8,261,2517,0.00,2.20,0.00,0.000,6,0.000,0.035,3560,1997,1817,0,0,0,0,0,0
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,0.3,1.023253
$STATE,2589,end surface coast,CONTROL_FINISHED_OK
$STATE,2589,begin surface
$SM_CCo,2673,80.35,0.067,0,0,1160,390.02
$SM_GC,1.34,0.00,0.00,80.35,0.000,0.000,0.067,150,1885,1160,-9.81,-0.42,390.02
$IRIDIUM_FIX,2052.52,-15754.77,140312,010112
$TT8_MAMPS,0.058292
$HUMID,1078549023
$INTERNAL_PRESSURE,9.72572
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.0,9.8
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8440414208
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58495926272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,5.528
$10V_AH,10.5,4.840
$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,21.275,32.225,256.600,80.350,0.000,27.055,29.039,193.175,3.000,0.000,34.848,468.366,1307.268,374.172,918.584,99.781,33.319,686.542,0.000,493.308,0.000,21.881,0.000
$DEVICE_MAMPS,245.440,99.710,562.978,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,180.221,0.000,0.000,0.000,0.000,0.000,0.000,7415.450,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,31.809,0.000,0.000
$MEM,335024
$DATA_FILE_SIZE,10133,275
$CAP_FILE_SIZE,46618,0
$CFSIZE,260165632,234307584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,093006,2059.089,-15754.382,14,0.8,30,9.8