version: 66.07
glider: 500
mission: 7
dive: 35
start: 9 19 110 0 24 28
data:
$ID,500
$MISSION,7
$DIVE,35
$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,-115955.88
$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,34
$AR_SAMPLENUM,13
$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
$GPS1,190910,001425,2104.341,-15751.361,39,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.7
$GPS2,190910,002332,2104.316,-15751.452,11,1.0,11,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.170
$KALMAN_X,-16801.3,239.0,-267.3,17964.4,-1657.5
$KALMAN_Y,-501.2,-42.2,-184.7,-18062.0,-290.7
$MHEAD_RNG_PITCHd_Wd,131.5,42299,-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,-60.47,0.000,2,0.000,0.000,128,1874,2812,0,0,0,0,0,0
$GC,90,-0.68,-116.8,3.0,-5.4,12,117,11.43,2.33,-7.90,0.000,4,0.239,0.057,3063,299,3232,0,0,0,0,0,0
$GC,191,-0.68,-116.8,26.8,-17.5,30,196,0.00,2.35,0.00,0.000,6,0.000,0.034,3054,1922,3231,0,0,0,0,0,0
$GC,395,-0.68,-116.8,61.5,-14.8,51,399,0.00,2.33,0.00,0.000,4,0.000,0.044,3042,3487,3233,0,0,0,0,0,0
$GC,415,-0.68,-116.8,65.0,-15.1,52,422,0.00,2.33,0.00,0.000,6,0.000,0.031,3041,1877,3234,0,0,0,0,0,0
$GC,676,-0.68,-116.8,109.6,-16.9,77,681,0.00,2.22,0.00,0.000,4,0.000,0.043,3039,325,3234,0,0,0,0,0,0
$GC,736,-0.68,-116.8,118.6,-15.4,82,743,0.10,2.28,0.00,0.000,6,0.119,0.033,3068,1905,3234,0,0,0,0,0,0
$GC,997,-0.68,-116.8,147.1,-10.8,107,1001,0.00,2.28,0.00,0.000,4,0.000,0.045,3058,3486,3235,0,0,0,0,0,0
$GC,1069,-0.68,-116.8,154.7,-10.4,113,1073,0.00,2.22,0.00,0.000,6,0.000,0.030,3058,1902,3236,0,0,0,0,0,0
$GC,1335,-0.68,-116.8,183.4,-11.9,138,1339,0.00,2.28,0.00,0.000,4,0.000,0.044,3058,314,3237,0,0,0,0,0,0
$STATE,1386,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1386,begin apogee
$GC,1392,-0.23,0.0,190.3,14.0,142,1482,0.45,0.00,86.53,0.620,6,0.109,0.000,3209,2014,2751,0,0,0,0,0,0
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1487,0.68,116.8,196.0,0.0,151,1590,0.80,2.45,90.82,0.611,4,0.067,0.044,3515,3582,2272,0,0,0,0,0,0
$GC,1842,0.71,141.2,183.0,6.9,183,1869,0.00,2.30,19.30,0.574,6,0.000,0.031,3526,1999,2172,0,0,0,0,0,0
$GC,2124,0.74,168.3,161.8,6.8,210,2150,0.00,2.30,21.30,0.573,4,0.000,0.042,3538,434,2064,0,0,0,0,0,0
$GC,2256,0.74,168.3,149.2,10.5,221,2262,0.00,2.28,0.00,0.000,6,0.000,0.034,3538,1988,2061,0,0,0,0,0,0
$GC,2518,0.74,168.3,124.1,8.5,246,2522,0.00,2.38,0.00,0.000,4,0.000,0.044,3538,3593,2059,0,0,0,0,0,0
$GC,2635,0.75,171.8,113.4,7.9,256,2646,0.00,2.28,3.42,0.337,6,0.000,0.031,3549,2000,2049,0,0,0,0,0,0
$GC,2900,0.75,171.8,94.1,8.9,281,2904,0.00,2.28,0.00,0.000,4,0.000,0.044,3561,426,2049,0,0,0,0,0,0
$GC,2921,0.75,171.8,92.3,8.6,282,2927,0.08,2.28,0.00,0.000,6,0.145,0.035,3540,2011,2049,0,0,0,0,0,0
$GC,3182,0.83,241.1,77.7,4.8,307,3244,0.00,2.38,54.22,0.545,4,0.000,0.044,3546,426,1766,0,0,0,0,0,0
$GC,3327,0.83,241.1,63.2,12.2,320,3333,0.00,2.30,0.00,0.000,6,0.000,0.033,3546,1996,1762,0,0,0,0,0,0
$GC,3589,0.83,241.1,37.2,11.0,345,3593,0.00,2.30,0.00,0.000,4,0.000,0.042,3557,423,1759,0,0,0,0,0,0
$GC,3679,0.83,241.1,28.1,9.6,354,3684,0.00,2.28,0.00,0.000,6,0.000,0.034,3557,2011,1758,0,0,0,0,0,0
$GC,3886,0.83,241.1,9.5,8.5,391,3892,0.00,2.33,0.00,0.000,4,0.000,0.044,3569,418,1757,0,0,0,0,0,0
$STATE,3946,end climb,SURFACE_DEPTH_REACHED
$STATE,3946,begin surface coast
$FINISH,0.5,1.023139
$STATE,3976,end surface coast,CONTROL_FINISHED_OK
$STATE,3976,begin surface
$SM_CCo,4062,77.93,0.070,0,0,1160,390.02
$SM_GC,1.34,0.00,0.00,77.93,0.000,0.000,0.070,144,1914,1160,-9.82,0.40,390.02
$IRIDIUM_FIX,2054.83,-15751.76,130312,151553
$TT8_MAMPS,0.058292
$HUMID,1078533539
$INTERNAL_PRESSURE,9.62806
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,190.3,9.7
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8440643584
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58648199168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,5.087
$10V_AH,10.5,4.462
$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,21.450,55.300,275.600,77.925,0.000,28.327,31.263,340.381,5.000,0.000,13.741,689.627,2199.657,413.505,1268.264,126.912,33.368,855.402,0.000,743.884,0.000,36.571,0.000
$DEVICE_MAMPS,238.537,56.758,619.736,69.797,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,269.103,0.000,0.000,0.000,0.000,0.000,0.000,30573.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,30.271,0.000,0.000
$MEM,335020
$DATA_FILE_SIZE,13467,407
$CAP_FILE_SIZE,67276,0
$CFSIZE,260165632,234602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,013431,2103.790,-15751.849,7,1.4,12,9.8