version: 66.07
glider: 500
mission: 7
dive: 56
start: 9 19 110 22 24 16
data:
$ID,500
$MISSION,7
$DIVE,56
$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,-116380.2
$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,55
$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
$GPS1,190910,221736,2053.416,-15754.749,25,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.5
$GPS2,190910,222320,2053.427,-15754.777,9,2.0,9,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.099,-0.194
$KALMAN_X,-29901.3,1475.4,-604.7,24412.1,-15908.0
$KALMAN_Y,17308.8,-1487.8,986.8,-55752.4,21816.8
$MHEAD_RNG_PITCHd_Wd,143.2,23074,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.97,0.000,2,0.000,0.000,127,1899,2809,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.1,-4.9,12,118,11.48,2.35,-7.97,0.000,4,0.244,0.055,3064,286,3230,0,0,0,0,0,0
$GC,236,-0.68,-116.8,33.5,-16.0,37,240,0.00,2.35,0.00,0.000,6,0.000,0.035,3055,1930,3230,0,0,0,0,0,0
$GC,496,-0.68,-116.8,80.0,-18.5,61,497,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1930,3230,0,0,0,0,0,0
$GC,752,-0.68,-116.8,117.7,-14.4,85,756,0.00,2.38,0.00,0.000,4,0.000,0.042,3056,284,3231,0,0,0,0,0,0
$STATE,830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,830,begin apogee
$GC,838,-0.23,0.0,130.2,17.0,91,926,0.47,0.00,84.80,0.563,6,0.117,0.000,3211,2008,2749,0,0,0,0,0,0
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,976,0.68,116.8,135.6,0.0,100,1072,0.77,0.00,88.70,0.556,6,0.070,0.000,3512,2008,2272,0,0,0,0,0,0
$GC,1326,0.87,270.0,127.9,0.9,134,1450,0.15,2.42,115.72,0.553,4,0.074,0.043,3604,394,1647,0,0,0,0,0,0
$GC,1574,0.87,270.0,97.1,14.5,157,1579,0.12,2.30,0.00,0.000,6,0.167,0.035,3571,2002,1641,0,0,0,0,0,0
$GC,1835,0.87,270.0,62.3,13.2,181,1839,0.00,2.33,0.00,0.000,4,0.000,0.044,3581,386,1639,0,0,0,0,0,0
$GC,1877,0.87,270.0,56.1,14.2,184,1884,0.00,2.33,0.00,0.000,6,0.000,0.035,3581,2004,1639,0,0,0,0,0,0
$GC,2142,0.87,270.0,20.9,13.1,215,2148,0.00,2.30,0.00,0.000,4,0.000,0.044,3581,3593,1638,0,0,0,0,0,0
$GC,2198,0.87,270.0,12.6,15.4,225,2204,0.00,2.30,0.00,0.000,6,0.000,0.033,3593,1975,1637,0,0,0,0,0,0
$STATE,2271,end climb,SURFACE_DEPTH_REACHED
$STATE,2271,begin surface coast
$FINISH,0.3,1.023043
$STATE,2293,end surface coast,CONTROL_FINISHED_OK
$STATE,2293,begin surface
$SM_CCo,2378,55.17,0.067,0,0,1159,390.02
$SM_GC,1.20,0.00,0.00,55.17,0.000,0.000,0.067,129,1888,1159,-9.88,-0.34,390.02
$IRIDIUM_FIX,2047.91,-15757.78,140312,151546
$TT8_MAMPS,0.065195
$HUMID,1078594184
$INTERNAL_PRESSURE,9.75502
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,9.5
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439955456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58147897344
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,6.381
$10V_AH,10.4,5.642
$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,21.575,23.600,289.225,55.175,0.000,29.459,34.350,160.867,2.750,0.000,11.978,406.973,1131.427,384.043,787.245,86.871,33.317,649.291,0.000,412.626,0.000,19.067,0.000
$DEVICE_MAMPS,243.906,127.322,562.978,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,157.849,0.000,0.000,0.000,0.000,0.000,0.000,3064.150,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,29.206,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,6832,242
$CAP_FILE_SIZE,40440,0
$CFSIZE,260165632,233766912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,230606,2053.108,-15754.632,11,1.0,27,9.8