version: 66.07
glider: 500
mission: 7
dive: 76
start: 9 20 110 17 49 51
data:
$ID,500
$MISSION,7
$DIVE,76
$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,-116820.07
$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,75
$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
$GPS1,200910,174302,2047.289,-15754.405,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.2
$GPS2,200910,174856,2047.281,-15754.483,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,-0.156
$KALMAN_X,-35968.8,783.2,-861.2,31934.9,-22795.6
$KALMAN_Y,18321.7,421.3,434.7,-69507.0,18833.5
$MHEAD_RNG_PITCHd_Wd,126.0,12322,-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,24,begin dive
$GC,25,-0.68,-116.8,0.0,0.0,0,88,0.00,0.00,-60.53,0.000,2,0.000,0.000,128,1903,2792,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.0,-5.2,12,118,11.48,2.38,-8.45,0.000,4,0.244,0.057,3062,285,3230,0,0,0,0,0,0
$GC,218,-0.68,-116.8,31.5,-16.6,34,225,0.00,2.35,0.00,0.000,6,0.000,0.033,3052,1913,3230,0,0,0,0,0,0
$GC,479,-0.68,-116.8,72.0,-14.2,59,483,0.00,2.35,0.00,0.000,4,0.000,0.043,3050,284,3231,0,0,0,0,0,0
$GC,545,-0.68,-116.8,82.5,-15.0,64,551,0.00,2.30,0.00,0.000,6,0.000,0.033,3042,1894,3231,0,0,0,0,0,0
$GC,806,-0.68,-116.8,122.3,-13.9,89,810,0.00,2.30,0.00,0.000,4,0.000,0.042,3042,296,3232,0,0,0,0,0,0
$GC,834,-0.68,-116.8,125.9,-13.4,91,839,0.12,2.28,0.00,0.000,6,0.147,0.033,3071,1913,3232,0,0,0,0,0,0
$STATE,992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,992,begin apogee
$GC,996,-0.23,0.0,140.9,9.1,105,1085,0.38,0.00,84.95,0.574,6,0.108,0.000,3209,2028,2750,0,0,0,0,0,0
$STATE,1132,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1134,0.68,116.8,144.6,0.0,114,1232,0.77,2.30,88.88,0.568,4,0.064,0.044,3517,3558,2273,0,0,0,0,0,0
$GC,1417,0.73,154.1,136.6,6.3,139,1454,0.00,2.28,29.00,0.551,6,0.000,0.031,3528,1969,2120,0,0,0,0,0,0
$GC,1708,0.76,178.5,116.5,6.9,167,1732,0.00,2.30,18.98,0.529,4,0.000,0.044,3539,423,2021,0,0,0,0,0,0
$GC,1986,0.82,230.1,96.0,5.6,192,2031,0.00,2.20,40.42,0.539,6,0.000,0.034,3540,1980,1811,0,0,0,0,0,0
$GC,2286,0.82,230.1,69.7,10.1,220,2290,0.00,2.22,0.00,0.000,4,0.000,0.043,3551,428,1803,0,0,0,0,0,0
$GC,2493,0.82,230.1,48.4,10.2,238,2497,0.00,2.22,0.00,0.000,6,0.000,0.033,3555,1996,1802,0,0,0,0,0,0
$GC,2757,0.82,230.1,21.7,9.1,269,2763,0.00,2.25,0.00,0.000,4,0.000,0.042,3561,418,1801,0,0,0,0,0,0
$GC,2898,0.82,230.1,8.4,10.7,294,2903,0.00,2.25,0.00,0.000,6,0.000,0.033,3561,2010,1799,0,0,0,0,0,0
$STATE,2958,end climb,SURFACE_DEPTH_REACHED
$STATE,2958,begin surface coast
$FINISH,0.4,1.005605
$STATE,3000,end surface coast,CONTROL_FINISHED_OK
$STATE,3001,begin surface
$SM_CCo,3084,72.82,0.067,0,0,1159,390.76
$SM_GC,1.36,0.00,0.00,72.82,0.000,0.000,0.067,136,1896,1159,-9.85,-0.11,390.76
$IRIDIUM_FIX,2038.68,-15752.23,150312,111110
$TT8_MAMPS,0.056758
$HUMID,1078638055
$INTERNAL_PRESSURE,9.73548
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.9,9.6
$24V_AH,25.1,7.593
$10V_AH,10.5,6.691
$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,21.200,32.200,262.225,72.825,0.000,23.820,27.059,178.315,3.250,0.000,15.665,529.571,1551.204,369.971,999.367,103.066,33.317,723.671,0.000,588.668,0.000,23.386,0.000
$DEVICE_MAMPS,243.906,109.681,574.483,67.496,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,205.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335004
$DATA_FILE_SIZE,10149,312
$CAP_FILE_SIZE,50462,0
$CFSIZE,260165632,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,184415,2047.042,-15754.519,13,2.3,32,9.8