version: 66.07
glider: 500
mission: 7
dive: 62
start: 9 20 110 4 3 1
data:
$ID,500
$MISSION,7
$DIVE,62
$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,-116528.41
$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,61
$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
$GPS1,200910,035532,2051.285,-15754.558,9,1.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.9
$GPS2,200910,040206,2051.261,-15754.629,29,1.2,29,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.193
$KALMAN_X,-27387.1,-1505.9,-658.4,25194.1,-12314.3
$KALMAN_Y,13833.1,3339.2,745.4,-60877.1,16988.2
$MHEAD_RNG_PITCHd_Wd,142.3,19174,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.68,-116.8,0.0,0.0,0,87,0.00,0.00,-60.55,0.000,2,0.000,0.000,127,1908,2814,0,0,0,0,0,0
$GC,90,-0.68,-116.8,3.3,-5.7,12,117,11.50,2.33,-7.82,0.000,4,0.245,0.056,3059,295,3230,0,0,0,0,0,0
$GC,228,-0.68,-116.8,33.7,-17.3,35,235,0.00,2.33,0.00,0.000,6,0.000,0.033,3050,1917,3230,0,0,0,0,0,0
$GC,489,-0.68,-116.8,77.5,-14.6,60,493,0.00,2.35,0.00,0.000,4,0.000,0.043,3050,284,3231,0,0,0,0,0,0
$GC,572,-0.68,-116.8,89.2,-12.6,67,579,0.08,2.33,0.00,0.000,6,0.130,0.033,3067,1909,3230,0,0,0,0,0,0
$GC,833,-0.68,-116.8,115.9,-10.0,92,837,0.00,2.33,0.00,0.000,4,0.000,0.042,3067,287,3231,0,0,0,0,0,0
$GC,927,-0.68,-116.8,125.7,-10.3,100,932,0.00,2.28,0.00,0.000,6,0.000,0.033,3057,1905,3233,0,0,0,0,0,0
$STATE,976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,976,begin apogee
$GC,982,-0.23,0.0,130.2,9.6,104,1070,0.43,0.00,84.97,0.564,6,0.113,0.000,3209,2018,2752,0,0,0,0,0,0
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1120,0.68,116.8,132.7,0.0,113,1216,0.77,2.35,88.18,0.558,4,0.066,0.044,3514,3567,2272,0,0,0,0,0,0
$GC,1268,0.81,224.2,133.1,3.0,127,1361,0.00,2.33,81.28,0.555,6,0.000,0.031,3525,1959,1836,0,0,0,0,0,0
$GC,1614,0.81,224.2,102.6,9.4,160,1618,0.00,2.22,0.00,0.000,4,0.000,0.044,3537,431,1829,0,0,0,0,0,0
$GC,1656,0.81,224.2,98.6,9.3,163,1663,0.00,2.22,0.00,0.000,6,0.000,0.034,3537,1975,1827,0,0,0,0,0,0
$GC,1919,0.81,224.2,70.3,9.3,188,1923,0.00,2.25,0.00,0.000,4,0.000,0.043,3544,415,1828,0,0,0,0,0,0
$GC,2176,0.81,224.4,49.1,8.0,210,2182,0.00,2.25,0.00,0.000,6,0.000,0.033,3548,2009,1827,0,0,0,0,0,0
$GC,2440,0.81,224.4,24.5,9.1,240,2445,0.00,2.28,0.00,0.000,4,0.000,0.043,3559,426,1826,0,0,0,0,0,0
$GC,2664,0.81,224.4,3.1,10.3,280,2670,0.00,2.22,0.00,0.000,6,0.000,0.034,3559,2004,1825,0,0,0,0,0,0
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,0.5,1.023044
$STATE,2703,end surface coast,CONTROL_FINISHED_OK
$STATE,2703,begin surface
$SM_CCo,2787,87.55,0.377,1,0,1160,390.02
$SM_GC,1.57,0.00,0.00,87.55,0.000,0.000,0.377,130,1880,1160,-9.85,-0.57,390.02
$IRIDIUM_FIX,2043.29,-15753.50,140312,212142
$TT8_MAMPS,0.058292
$HUMID,1078607087
$INTERNAL_PRESSURE,9.74525
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,9.2
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439758848
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58001326080
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,6.747
$10V_AH,10.5,5.980
$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,21.275,32.275,254.425,87.550,0.000,31.422,38.396,179.050,2.750,0.000,31.295,484.836,1373.914,387.861,944.284,101.873,33.313,714.911,0.000,526.271,0.000,19.068,0.000
$DEVICE_MAMPS,244.673,109.681,563.745,377.364,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,188.288,0.000,0.000,0.000,0.000,0.000,0.000,3560.490,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.450,0.000,0.000
$MEM,335000
$DATA_FILE_SIZE,10133,287
$CAP_FILE_SIZE,47759,0
$CFSIZE,260165632,233512960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,045202,2050.937,-15754.592,11,1.5,11,9.8