version: 66.07
glider: 500
mission: 7
dive: 66
start: 9 20 110 7 50 10
data:
$ID,500
$MISSION,7
$DIVE,66
$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,-116628.84
$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,65
$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
$GPS1,200910,074220,2050.080,-15754.938,9,1.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.8
$GPS2,200910,074914,2050.062,-15755.031,10,1.2,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.193
$KALMAN_X,-28633.7,-2757.7,-746.9,27085.4,-11850.4
$KALMAN_Y,17927.7,1417.0,1093.7,-65617.9,20172.6
$MHEAD_RNG_PITCHd_Wd,142.7,17361,-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,-61.10,0.000,2,0.000,0.000,127,1913,2806,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.1,-5.0,12,118,11.55,2.38,-8.07,0.000,4,0.245,0.055,3062,291,3229,0,0,0,0,0,0
$GC,236,-0.68,-116.8,34.5,-15.7,36,241,0.00,2.30,0.00,0.000,6,0.000,0.034,3053,1920,3229,0,0,0,0,0,0
$GC,496,-0.68,-116.8,75.0,-14.9,60,500,0.00,2.33,0.00,0.000,4,0.000,0.042,3053,292,3228,0,0,0,0,0,0
$GC,585,-0.68,-116.8,88.1,-14.7,67,591,0.00,2.28,0.00,0.000,6,0.000,0.033,3043,1904,3229,0,0,0,0,0,0
$GC,847,-0.68,-116.8,122.6,-13.6,92,851,0.00,2.33,0.00,0.000,4,0.000,0.043,3043,289,3230,0,0,0,0,0,0
$GC,897,-0.68,-116.8,129.3,-12.5,96,902,0.12,2.28,0.00,0.000,6,0.147,0.032,3071,1909,3231,0,0,0,0,0,0
$STATE,1010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1011,begin apogee
$GC,1016,-0.23,0.0,141.0,11.5,106,1105,0.38,0.00,84.97,0.574,6,0.108,0.000,3210,2019,2750,0,0,0,0,0,0
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1155,0.68,116.8,145.8,0.0,115,1252,0.77,2.33,88.78,0.571,4,0.065,0.044,3510,3551,2271,0,0,0,0,0,0
$GC,1325,0.75,178.1,144.5,5.2,130,1381,0.00,2.28,46.95,0.561,6,0.000,0.031,3522,1966,2023,0,0,0,0,0,0
$GC,1635,0.75,178.1,118.6,8.8,160,1639,0.00,2.22,0.00,0.000,4,0.000,0.043,3536,417,2019,0,0,0,0,0,0
$GC,1710,0.75,178.1,112.5,8.9,166,1714,0.00,2.22,0.00,0.000,6,0.000,0.035,3536,1977,2015,0,0,0,0,0,0
$GC,1971,0.82,230.7,94.5,5.6,190,2016,0.00,2.35,40.12,0.542,4,0.000,0.043,3534,3583,1810,0,0,0,0,0,0
$GC,2189,0.82,230.7,72.5,10.7,209,2195,0.00,2.28,0.00,0.000,6,0.000,0.031,3548,2001,1803,0,0,0,0,0,0
$GC,2450,0.82,230.7,46.0,10.1,234,2454,0.00,2.28,0.00,0.000,4,0.000,0.043,3560,422,1800,0,0,0,0,0,0
$GC,2614,0.82,230.7,31.9,10.2,248,2618,0.00,2.22,0.00,0.000,6,0.000,0.034,3560,2005,1800,0,0,0,0,0,0
$GC,2888,0.82,230.7,5.1,9.5,294,2893,0.00,2.28,0.00,0.000,4,0.000,0.042,3571,418,1799,0,0,0,0,0,0
$STATE,2908,end climb,SURFACE_DEPTH_REACHED
$STATE,2909,begin surface coast
$FINISH,0.7,1.023074
$STATE,2938,end surface coast,CONTROL_FINISHED_OK
$STATE,2938,begin surface
$SM_CCo,2967,83.43,0.068,0,0,1159,390.02
$SM_GC,1.37,0.00,0.00,83.43,0.000,0.000,0.068,133,1907,1159,-9.85,0.17,390.02
$IRIDIUM_FIX,2040.99,-15808.92,150312,010106
$TT8_MAMPS,0.057525
$HUMID,1078604506
$INTERNAL_PRESSURE,9.73548
$TCM_TEMP,25.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,141.0,9.3
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439627776
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57906003968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,6.997
$10V_AH,10.5,6.172
$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,21.300,36.550,260.825,83.425,0.000,31.174,31.199,222.209,3.500,0.000,12.552,519.934,1522.107,382.255,953.324,107.177,33.317,729.881,0.000,567.053,0.000,23.393,0.000
$DEVICE_MAMPS,245.440,107.380,573.716,68.263,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,199.455,0.000,0.000,0.000,0.000,0.000,0.000,3755.120,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.695,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,10116,303
$CAP_FILE_SIZE,50184,0
$CFSIZE,260165632,233328640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,084202,2049.806,-15754.900,11,1.7,11,9.8