version: 66.07
glider: 500
mission: 7
dive: 72
start: 9 20 110 13 44 21
data:
$ID,500
$MISSION,7
$DIVE,72
$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,-116739.92
$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,71
$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
$GPS1,200910,133752,2048.647,-15754.424,12,4.2,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.7
$GPS2,200910,134326,2048.616,-15754.479,14,1.2,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.169
$KALMAN_X,-33565.1,-714.4,-770.9,30946.9,-20873.5
$KALMAN_Y,18068.8,-598.4,1473.5,-66799.7,19848.8
$MHEAD_RNG_PITCHd_Wd,131.1,14525,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-65.62,0.000,2,0.000,0.000,129,1854,2973,0,0,0,0,0,0
$GC,97,-0.68,-116.8,4.0,-7.1,13,118,11.52,2.28,-4.43,0.000,4,0.245,0.052,3060,282,3229,0,0,0,0,0,0
$GC,287,-0.68,-116.8,47.4,-17.1,38,292,0.00,2.30,0.00,0.000,6,0.000,0.033,3050,1918,3230,0,0,0,0,0,0
$GC,549,-0.68,-116.8,85.8,-14.5,62,553,0.00,2.33,0.00,0.000,4,0.000,0.041,3050,287,3231,0,0,0,0,0,0
$GC,610,-0.68,-116.8,95.0,-15.2,67,615,0.10,2.30,0.00,0.000,6,0.160,0.033,3068,1909,3231,0,0,0,0,0,0
$GC,870,-0.68,-116.8,125.5,-10.1,91,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1910,3230,0,0,0,0,0,0
$STATE,1031,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1031,begin apogee
$GC,1036,-0.23,0.0,140.6,9.3,106,1124,0.38,0.00,85.18,0.576,6,0.110,0.000,3207,2044,2750,0,0,0,0,0,0
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1174,0.68,116.8,143.9,0.0,115,1270,0.77,2.28,88.25,0.573,4,0.062,0.044,3515,3558,2276,0,0,0,0,0,0
$GC,1411,0.74,163.9,143.4,5.8,137,1453,0.00,2.28,36.15,0.560,6,0.000,0.031,3527,1971,2081,0,0,0,0,0,0
$GC,1706,0.77,189.6,119.6,6.8,165,1732,0.00,2.25,20.60,0.535,4,0.000,0.042,3534,421,1977,0,0,0,0,0,0
$GC,1833,0.77,189.6,108.3,9.9,176,1837,0.00,2.20,0.00,0.000,6,0.000,0.034,3538,1978,1972,0,0,0,0,0,0
$GC,2099,0.77,189.6,84.8,8.7,201,2103,0.00,2.22,0.00,0.000,4,0.000,0.043,3550,420,1970,0,0,0,0,0,0
$GC,2165,0.77,189.6,79.5,8.2,206,2172,0.00,2.28,0.00,0.000,6,0.000,0.034,3546,2004,1970,0,0,0,0,0,0
$GC,2428,0.77,189.6,57.9,8.6,231,2432,0.00,2.28,0.00,0.000,4,0.000,0.043,3561,426,1969,0,0,0,0,0,0
$GC,2686,0.77,189.6,35.1,8.1,254,2690,0.00,2.20,0.00,0.000,6,0.000,0.034,3563,2006,1969,0,0,0,0,0,0
$GC,2957,0.83,237.6,17.8,5.8,295,2998,0.00,2.28,36.35,0.497,4,0.000,0.040,3572,426,1781,0,0,0,0,0,0
$STATE,3120,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,0.3,1.012181
$STATE,3155,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3196,72.78,0.067,0,0,1159,390.02
$SM_GC,1.36,0.00,0.00,72.78,0.000,0.000,0.067,140,1897,1159,-9.84,-0.08,390.02
$IRIDIUM_FIX,2043.29,-15753.50,150312,070736
$TT8_MAMPS,0.057525
$HUMID,1078617410
$INTERNAL_PRESSURE,9.73548
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.6,9.5
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,8439431168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57757171712
$AR_DDRIVE_SIZE,59996930048
$24V_AH,25.0,7.348
$10V_AH,10.5,6.518
$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,21.350,31.700,266.525,72.775,0.000,22.990,25.890,162.583,3.000,0.000,17.112,554.966,1666.848,367.070,931.018,100.893,33.320,729.156,0.000,609.233,0.000,20.584,0.000
$DEVICE_MAMPS,245.440,92.807,576.017,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,218.182,0.000,0.000,0.000,0.000,0.000,0.000,3929.490,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.361,0.000,0.000
$MEM,335008
$DATA_FILE_SIZE,10124,331
$CAP_FILE_SIZE,50030,0
$CFSIZE,260165632,233095168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,144025,2048.319,-15754.312,45,1.2,45,9.8