version: 66.07
glider: 500
mission: 7
dive: 68
start: 9 20 110 9 46 4
data:
$ID,500
$MISSION,7
$DIVE,68
$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,-116658.5
$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,67
$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
$GPS1,200910,093838,2049.834,-15754.851,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.7
$GPS2,200910,094508,2049.826,-15754.921,10,1.4,10,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.162
$KALMAN_X,-32932.0,-887.0,-546.9,29505.9,-22158.3
$KALMAN_Y,16299.4,2139.4,1134.9,-65188.0,16867.3
$MHEAD_RNG_PITCHd_Wd,128.4,16884,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-60.40,0.000,2,0.000,0.000,129,1880,2796,0,0,0,0,0,0
$GC,90,-0.68,-116.8,3.4,-5.8,12,117,11.48,2.33,-8.12,0.000,4,0.242,0.057,3061,292,3228,0,0,0,0,0,0
$GC,284,-0.68,-116.8,43.6,-16.4,40,291,0.00,2.35,0.00,0.000,6,0.000,0.033,3052,1920,3228,0,0,0,0,0,0
$GC,547,-0.68,-116.8,83.2,-14.0,65,551,0.00,2.33,0.00,0.000,4,0.000,0.042,3051,291,3229,0,0,0,0,0,0
$GC,586,-0.68,-116.8,88.9,-14.2,68,590,0.00,2.30,0.00,0.000,6,0.000,0.033,3040,1913,3228,0,0,0,0,0,0
$GC,846,-0.68,-116.8,125.0,-13.1,92,848,0.10,0.00,0.00,0.000,6,0.164,0.000,3075,1912,3230,0,0,0,0,0,0
$STATE,997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,997,begin apogee
$GC,1003,-0.23,0.0,141.1,9.9,106,1091,0.38,0.00,84.85,0.572,6,0.111,0.000,3208,2030,2749,0,0,0,0,0,0
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1140,0.68,116.8,144.9,0.0,115,1237,0.77,2.33,88.55,0.569,4,0.065,0.044,3514,3563,2274,0,0,0,0,0,0
$GC,1382,0.75,177.8,143.0,5.2,137,1435,0.00,2.30,46.75,0.560,6,0.000,0.031,3526,1975,2024,0,0,0,0,0,0
$GC,1689,0.76,184.7,120.6,7.7,166,1700,0.00,2.25,5.72,0.427,4,0.000,0.042,3537,419,1996,0,0,0,0,0,0
$GC,1790,0.76,184.7,109.0,11.6,175,1795,0.00,2.22,0.00,0.000,6,0.000,0.035,3537,1979,1995,0,0,0,0,0,0
$GC,2052,0.78,198.1,86.2,7.4,199,2066,0.00,0.00,12.15,0.497,6,0.000,0.000,3537,1982,1941,0,0,0,0,0,0
$GC,2317,0.78,198.1,64.4,8.5,224,2321,0.00,2.33,0.00,0.000,4,0.000,0.044,3537,3589,1937,0,0,0,0,0,0
$GC,2573,0.78,201.8,42.3,7.8,246,2584,0.00,2.28,4.00,0.345,6,0.000,0.031,3549,1987,1926,0,0,0,0,0,0
$GC,2842,0.82,228.2,26.8,6.8,276,2872,0.00,2.33,22.00,0.491,4,0.000,0.043,3560,417,1817,0,0,0,0,0,0
$GC,3125,0.82,228.2,3.3,9.4,327,3130,0.00,2.25,0.00,0.000,6,0.000,0.034,3559,2009,1811,0,0,0,0,0,0
$STATE,3134,end climb,SURFACE_DEPTH_REACHED
$STATE,3134,begin surface coast
$FINISH,0.3,1.021966
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3248,80.35,0.067,0,0,1162,390.02
$SM_GC,1.33,0.00,0.00,80.35,0.000,0.000,0.067,146,1885,1162,-9.83,-0.42,390.02
$IRIDIUM_FIX,2043.29,-15746.22,150312,030339
$TT8_MAMPS,0.062127
$HUMID,1078600635
$INTERNAL_PRESSURE,9.74525
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,141.1,9.2
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439562240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57856655360
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,7.116
$10V_AH,10.4,6.288
$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,21.200,27.800,264.025,80.350,0.000,29.073,27.214,210.931,3.000,0.000,12.992,557.627,1683.199,377.924,1015.925,103.302,33.321,732.478,0.000,596.547,0.000,21.430,0.000
$DEVICE_MAMPS,242.372,105.846,572.182,66.729,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,219.972,0.000,0.000,0.000,0.000,0.000,0.000,4030.780,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,29.918,0.000,0.000
$MEM,334984
$DATA_FILE_SIZE,10127,334
$CAP_FILE_SIZE,51444,0
$CFSIZE,260165632,233250816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,104307,2049.631,-15754.786,45,1.1,45,9.8