version: 66.07
glider: 500
mission: 7
dive: 73
start: 9 20 110 14 47 16
data:
$ID,500
$MISSION,7
$DIVE,73
$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,-116751.15
$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,72
$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
$GPS1,200910,144025,2048.319,-15754.312,45,1.2,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.4
$GPS2,200910,144620,2048.305,-15754.377,8,1.3,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.177
$KALMAN_X,-33351.5,-661.2,-910.9,30995.0,-16582.1
$KALMAN_Y,19192.4,-1779.5,1484.2,-67330.5,18309.9
$MHEAD_RNG_PITCHd_Wd,134.3,13928,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-61.03,0.000,2,0.000,0.000,128,1898,2834,0,0,0,0,0,0
$GC,92,-0.68,-116.8,3.5,-6.4,12,119,11.50,2.35,-7.30,0.000,4,0.243,0.055,3062,302,3229,0,0,0,0,0,0
$GC,271,-0.68,-116.8,40.7,-16.2,39,275,0.00,2.30,0.00,0.000,6,0.000,0.033,3053,1927,3231,0,0,0,0,0,0
$GC,532,-0.68,-116.8,80.4,-15.3,63,536,0.00,2.33,0.00,0.000,4,0.000,0.042,3053,294,3230,0,0,0,0,0,0
$GC,604,-0.68,-116.8,91.3,-15.1,69,608,0.00,2.28,0.00,0.000,6,0.000,0.033,3041,1902,3231,0,0,0,0,0,0
$GC,864,-0.68,-116.8,129.2,-12.9,93,868,0.00,2.33,0.00,0.000,4,0.000,0.043,3042,289,3230,0,0,0,0,0,0
$GC,891,-0.68,-116.8,133.1,-14.8,95,896,0.12,2.28,0.00,0.000,6,0.150,0.034,3068,1902,3231,0,0,0,0,0,0
$STATE,1048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1048,begin apogee
$GC,1053,-0.23,0.0,150.4,10.5,109,1142,0.40,0.00,85.50,0.584,6,0.110,0.000,3215,2035,2749,0,0,0,0,0,0
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,0.68,116.8,153.9,0.0,118,1288,0.75,2.28,88.62,0.579,4,0.058,0.043,3519,3548,2272,0,0,0,0,0,0
$GC,1349,0.77,187.1,155.0,4.8,132,1410,0.00,2.33,53.67,0.571,6,0.000,0.031,3531,1963,1989,0,0,0,0,0,0
$GC,1671,0.77,187.1,125.3,10.1,163,1675,0.00,2.22,0.00,0.000,4,0.000,0.043,3543,417,1981,0,0,0,0,0,0
$GC,1770,0.77,187.1,114.9,10.4,171,1776,0.00,2.22,0.00,0.000,6,0.000,0.034,3543,1980,1980,0,0,0,0,0,0
$GC,2032,0.79,208.6,93.4,7.0,196,2052,0.00,0.00,17.17,0.519,6,0.000,0.000,3540,1980,1901,0,0,0,0,0,0
$GC,2307,0.79,208.6,68.1,8.9,222,2311,0.00,2.22,0.00,0.000,4,0.000,0.043,3554,425,1896,0,0,0,0,0,0
$GC,2476,0.79,208.6,51.8,9.3,236,2481,0.00,2.25,0.00,0.000,6,0.000,0.034,3554,2010,1896,0,0,0,0,0,0
$GC,2738,0.79,209.5,28.4,8.0,262,2743,0.00,2.28,0.00,0.000,4,0.000,0.043,3566,418,1894,0,0,0,0,0,0
$GC,2997,0.79,209.5,7.7,8.5,308,3003,0.00,2.25,0.00,0.000,6,0.000,0.033,3565,2013,1893,0,0,0,0,0,0
$STATE,3052,end climb,SURFACE_DEPTH_REACHED
$STATE,3052,begin surface coast
$FINISH,0.3,1.023090
$STATE,3087,end surface coast,CONTROL_FINISHED_OK
$STATE,3087,begin surface
$SM_CCo,3171,98.82,0.397,1,0,1159,390.02
$SM_GC,1.05,0.00,0.00,98.82,0.000,0.000,0.397,141,1885,1159,-9.83,-0.42,390.02
$IRIDIUM_FIX,2038.68,-15756.50,150312,080818
$TT8_MAMPS,0.058292
$HUMID,1078622571
$INTERNAL_PRESSURE,9.77455
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.4,9.4
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439398400
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57731547136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,7.413
$10V_AH,10.5,6.578
$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,21.250,32.150,244.975,98.825,0.000,31.417,31.646,168.600,3.750,0.000,10.603,546.837,1650.232,389.422,959.407,103.953,33.325,731.569,0.000,569.780,0.000,27.735,0.000
$DEVICE_MAMPS,243.139,92.807,584.454,396.539,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,213.814,0.000,0.000,0.000,0.000,0.000,0.000,3972.180,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.426,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,10126,324
$CAP_FILE_SIZE,50235,0
$CFSIZE,260165632,233054208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200910,154250,2047.974,-15754.189,9,1.4,9,9.8