version: 66.07
glider: 500
mission: 7
dive: 67
start: 9 20 110 8 49 52
data:
$ID,500
$MISSION,7
$DIVE,67
$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,-116644.88
$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,66
$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
$GPS1,200910,084202,2049.806,-15754.900,11,1.7,11,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,200910,084856,2049.806,-15754.979,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.015
$KALMAN_X,-29233.1,-2556.6,-697.5,27524.9,-12146.3
$KALMAN_Y,18773.9,1163.2,1043.4,-66632.9,21350.8
$MHEAD_RNG_PITCHd_Wd,84.0,16891,-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,-61.40,0.000,2,0.000,0.000,126,1906,2847,0,0,0,0,0,0
$GC,92,-0.68,-116.8,3.7,-7.6,12,119,11.52,2.38,-6.90,0.000,4,0.244,0.055,3063,294,3230,0,0,0,0,0,0
$GC,181,-0.68,-116.8,28.7,-18.2,28,187,0.00,2.30,0.00,0.000,6,0.000,0.035,3053,1922,3230,0,0,0,0,0,0
$GC,384,-0.68,-116.8,60.1,-15.2,48,388,0.00,2.35,0.00,0.000,4,0.000,0.042,3053,296,3230,0,0,0,0,0,0
$GC,456,-0.68,-116.8,71.2,-15.4,54,460,0.00,2.25,0.00,0.000,6,0.000,0.033,3042,1898,3230,0,0,0,0,0,0
$GC,716,-0.68,-116.8,106.9,-14.2,78,720,0.00,2.30,0.00,0.000,4,0.000,0.044,3029,3485,3231,0,0,0,0,0,0
$GC,767,-0.68,-116.8,113.6,-12.7,82,772,0.12,2.25,0.00,0.000,6,0.140,0.029,3069,1866,3231,0,0,0,0,0,0
$STATE,837,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,837,begin apogee
$GC,843,-0.23,0.0,120.7,9.5,88,931,0.40,0.00,84.97,0.564,6,0.110,0.000,3217,2022,2748,0,0,0,0,0,0
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,980,0.68,116.8,123.6,0.0,97,1073,0.75,0.00,88.32,0.556,6,0.064,0.000,3508,2023,2272,0,0,0,0,0,0
$GC,1326,0.77,186.4,119.8,4.8,130,1387,0.00,2.40,52.62,0.548,4,0.000,0.043,3522,430,1988,0,0,0,0,0,0
$GC,1612,0.77,186.4,95.8,10.0,156,1616,0.00,2.20,0.00,0.000,6,0.000,0.034,3522,1992,1983,0,0,0,0,0,0
$GC,1874,0.81,224.1,75.9,6.3,180,1908,0.00,2.33,29.15,0.518,4,0.000,0.044,3522,3585,1836,0,0,0,0,0,0
$GC,2071,0.81,224.1,58.6,9.5,198,2076,0.00,2.25,0.00,0.000,6,0.000,0.031,3533,1991,1832,0,0,0,0,0,0
$GC,2333,0.84,246.0,35.5,7.0,222,2358,0.00,2.33,17.50,0.483,4,0.000,0.043,3542,424,1745,0,0,0,0,0,0
$GC,2567,0.84,249.0,15.8,7.9,257,2572,0.00,2.25,0.00,0.000,6,0.000,0.035,3544,2005,1741,0,0,0,0,0,0
$STATE,2694,end climb,SURFACE_DEPTH_REACHED
$STATE,2694,begin surface coast
$FINISH,0.3,1.000809
$STATE,2724,end surface coast,CONTROL_FINISHED_OK
$STATE,2724,begin surface
$SM_CCo,2793,70.35,0.067,0,0,1160,390.02
$SM_GC,1.17,0.00,0.00,70.35,0.000,0.000,0.067,142,1881,1160,-9.84,-0.54,390.02
$IRIDIUM_FIX,2040.99,-15753.50,150312,020205
$TT8_MAMPS,0.057525
$HUMID,1078612248
$INTERNAL_PRESSURE,9.74525
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,10.0
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439595008
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57881952256
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.1,7.058
$10V_AH,10.5,6.227
$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,21.200,27.875,272.575,70.350,0.000,31.341,32.275,227.134,2.500,0.000,15.413,484.302,1388.841,369.830,955.815,98.853,33.320,698.539,0.000,528.919,0.000,17.557,0.000
$DEVICE_MAMPS,243.906,92.040,563.745,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,187.175,0.000,0.000,0.000,0.000,0.000,0.000,3567.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.220,0.000,0.000
$MEM,334992
$DATA_FILE_SIZE,10143,285
$CAP_FILE_SIZE,47640,0
$CFSIZE,260165632,233291776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,093838,2049.834,-15754.851,12,1.4,12,9.8