version: 66.07
glider: 500
mission: 7
dive: 41
start: 9 19 110 7 42 53
data:
$ID,500
$MISSION,7
$DIVE,41
$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,-116095.91
$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,40
$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
$GPS1,190910,073202,2100.414,-15753.651,7,1.5,7,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.1
$GPS2,190910,074158,2100.370,-15753.710,9,2.1,28,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,-0.210
$KALMAN_X,-21276.0,-2285.7,360.4,20427.3,-7133.0
$KALMAN_Y,4616.0,2589.7,-559.1,-32742.9,7370.2
$MHEAD_RNG_PITCHd_Wd,154.6,35298,-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,-60.78,0.000,2,0.000,0.000,128,1881,2819,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.3,-5.8,12,118,11.38,2.35,-7.70,0.000,4,0.241,0.056,3059,264,3230,0,0,0,0,0,0
$GC,210,-0.68,-116.8,30.4,-16.0,33,216,0.00,2.38,0.00,0.000,6,0.000,0.034,3049,1922,3229,0,0,0,0,0,0
$GC,470,-0.68,-116.8,74.9,-16.9,58,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1927,3230,0,0,0,0,0,0
$GC,726,-0.68,-116.8,110.4,-11.0,82,730,0.00,2.28,0.00,0.000,4,0.000,0.045,3036,3493,3230,0,0,0,0,0,0
$GC,754,-0.68,-116.8,113.7,-11.3,84,759,0.12,2.28,0.00,0.000,6,0.139,0.030,3076,1874,3231,0,0,0,0,0,0
$STATE,942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,942,begin apogee
$GC,947,-0.23,0.0,130.4,8.7,101,1035,0.38,0.00,84.65,0.564,6,0.114,0.000,3211,2031,2747,0,0,0,0,0,0
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1084,begin climb
$GC,1085,0.68,116.8,133.4,0.0,110,1181,0.77,2.30,88.45,0.558,4,0.069,0.044,3513,3560,2273,0,0,0,0,0,0
$GC,1238,0.76,184.9,134.6,4.9,124,1297,0.00,2.25,51.95,0.550,6,0.000,0.031,3524,1990,1996,0,0,0,0,0,0
$GC,1558,0.76,184.9,107.0,8.7,155,1562,0.00,2.30,0.00,0.000,4,0.000,0.044,3535,431,1987,0,0,0,0,0,0
$GC,1769,0.76,184.9,87.6,9.2,173,1776,0.00,2.22,0.00,0.000,6,0.000,0.034,3535,1978,1988,0,0,0,0,0,0
$GC,2032,0.78,198.6,67.2,7.4,198,2045,0.00,0.00,11.10,0.477,6,0.000,0.000,3533,1983,1939,0,0,0,0,0,0
$GC,2297,0.80,212.5,48.4,7.4,223,2310,0.00,0.00,11.95,0.472,6,0.000,0.000,3535,1978,1885,0,0,0,0,0,0
$GC,2562,0.81,225.6,30.4,7.4,248,2578,0.00,2.30,11.52,0.459,4,0.000,0.043,3546,432,1829,0,0,0,0,0,0
$GC,2691,0.84,245.5,20.1,7.1,270,2714,0.00,2.25,16.17,0.469,6,0.000,0.035,3546,2013,1747,0,0,0,0,0,0
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,0.4,1.023271
$STATE,2904,end surface coast,CONTROL_FINISHED_OK
$STATE,2904,begin surface
$SM_CCo,2988,68.60,0.067,0,0,1161,390.27
$SM_GC,1.38,0.00,0.00,68.60,0.000,0.000,0.067,143,1904,1161,-9.84,0.11,390.27
$IRIDIUM_FIX,2052.52,-15752.63,140312,010126
$TT8_MAMPS,0.242372
$HUMID,1078556764
$INTERNAL_PRESSURE,9.71595
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,9.8
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8433238016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58523451392
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,5.471
$10V_AH,10.5,4.749
$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,21.175,23.200,275.800,68.600,0.000,55.452,58.282,277.333,3.000,0.000,31.251,510.257,1603.979,372.095,1081.918,108.584,33.319,691.562,0.000,518.616,0.000,22.765,0.000
$DEVICE_MAMPS,240.838,84.370,563.745,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,202.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335012
$DATA_FILE_SIZE,10115,308
$CAP_FILE_SIZE,50417,0
$CFSIZE,260165632,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,083522,2059.716,-15753.980,17,2.6,36,9.8