version: 66.07
glider: 500
mission: 7
dive: 37
start: 9 19 110 2 48 28
data:
$ID,500
$MISSION,7
$DIVE,37
$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,-115982.99
$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,36
$AR_SAMPLENUM,3
$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
$GPS1,190910,024150,2103.249,-15752.387,29,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.2
$GPS2,190910,024732,2103.240,-15752.470,8,1.6,8,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,-0.211
$KALMAN_X,-20532.2,-5.7,115.4,19779.9,-9010.0
$KALMAN_Y,1776.9,83.6,384.6,-23042.7,3139.5
$MHEAD_RNG_PITCHd_Wd,155.3,40379,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-60.92,0.000,2,0.000,0.000,128,1911,2833,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.4,-6.6,12,118,11.43,2.40,-7.38,0.000,4,0.242,0.055,3061,292,3230,0,0,0,0,0,0
$GC,218,-0.68,-116.8,35.4,-20.1,33,224,0.00,2.35,0.00,0.000,6,0.000,0.033,3050,1909,3230,0,0,0,0,0,0
$GC,479,-0.68,-116.8,77.8,-12.6,58,483,0.00,2.35,0.00,0.000,4,0.000,0.042,3051,286,3230,0,0,0,0,0,0
$GC,511,-0.68,-116.8,81.5,-11.7,60,517,0.00,2.35,0.00,0.000,6,0.000,0.035,3040,1918,3231,0,0,0,0,0,0
$GC,772,-0.68,-116.8,114.9,-13.4,85,773,0.10,0.00,0.00,0.000,6,0.163,0.000,3068,1918,3232,0,0,0,0,0,0
$GC,1028,-0.68,-116.8,140.3,-10.4,109,1032,0.00,2.25,0.00,0.000,4,0.000,0.045,3055,3479,3233,0,0,0,0,0,0
$GC,1043,-0.68,-116.8,142.2,-10.7,110,1049,0.00,2.30,0.00,0.000,6,0.000,0.030,3058,1866,3233,0,0,0,0,0,0
$GC,1304,-0.68,-116.8,172.3,-10.3,135,1308,0.00,2.22,0.00,0.000,4,0.000,0.044,3058,319,3233,0,0,0,0,0,0
$GC,1451,-0.68,-116.8,186.6,-9.4,147,1456,0.00,2.22,0.00,0.000,6,0.000,0.034,3049,1912,3231,0,0,0,0,0,0
$STATE,1606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1607,begin apogee
$GC,1611,-0.23,0.0,200.2,8.7,162,1701,0.47,0.00,86.07,0.623,6,0.109,0.000,3213,2025,2749,0,0,0,0,0,0
$STATE,1703,end apogee,CONTROL_FINISHED_OK
$STATE,1703,begin climb
$GC,1705,0.68,116.8,202.3,0.0,166,1804,0.75,2.33,89.97,0.613,4,0.057,0.042,3515,3555,2273,0,0,0,0,0,0
$GC,1849,0.78,201.4,204.1,4.1,172,1921,0.00,2.28,65.85,0.606,6,0.000,0.031,3527,1989,1928,0,0,0,0,0,0
$GC,2245,0.78,201.4,161.7,10.8,206,2249,0.00,2.25,0.00,0.000,4,0.000,0.044,3538,428,1918,0,0,0,0,0,0
$GC,2502,0.78,201.4,134.4,10.7,228,2509,0.00,2.22,0.00,0.000,6,0.000,0.035,3542,1974,1916,0,0,0,0,0,0
$GC,2765,0.81,223.6,110.9,7.0,253,2788,0.00,2.42,16.83,0.542,4,0.000,0.044,3538,3588,1837,0,0,0,0,0,0
$GC,2822,0.81,223.6,105.9,9.4,258,2828,0.00,2.30,0.00,0.000,6,0.000,0.032,3550,2000,1836,0,0,0,0,0,0
$GC,3084,0.81,223.6,80.9,8.7,283,3088,0.00,2.30,0.00,0.000,4,0.000,0.044,3562,410,1833,0,0,0,0,0,0
$GC,3157,0.81,223.6,74.0,9.8,289,3161,0.00,2.25,0.00,0.000,6,0.000,0.035,3562,2004,1830,0,0,0,0,0,0
$GC,3418,0.81,223.6,47.5,10.6,313,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2004,1831,0,0,0,0,0,0
$GC,3678,0.81,223.6,23.6,8.2,343,3683,0.00,2.28,0.00,0.000,4,0.000,0.044,3574,425,1831,0,0,0,0,0,0
$GC,3868,0.81,223.6,6.2,8.7,377,3873,0.00,2.25,0.00,0.000,6,0.000,0.035,3574,2016,1829,0,0,0,0,0,0
$STATE,3894,end climb,SURFACE_DEPTH_REACHED
$STATE,3894,begin surface coast
$FINISH,0.4,1.023152
$STATE,3919,end surface coast,CONTROL_FINISHED_OK
$STATE,3919,begin surface
$SM_CCo,4003,85.55,0.383,1,0,1159,390.02
$SM_GC,1.10,0.00,0.00,85.55,0.000,0.000,0.383,141,1889,1159,-9.83,-0.28,390.02
$IRIDIUM_FIX,2054.83,-15753.90,130312,191913
$TT8_MAMPS,0.058292
$HUMID,1078570958
$INTERNAL_PRESSURE,9.65736
$TCM_TEMP,25.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,200.2,9.6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8440578048
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58611957760
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.9,5.215
$10V_AH,10.5,4.558
$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,21.175,41.575,258.725,85.550,0.000,24.741,27.226,170.556,6.000,0.000,10.532,671.976,2236.159,405.391,1027.387,113.532,33.348,812.177,0.000,694.450,0.000,33.359,0.000
$DEVICE_MAMPS,242.372,105.079,622.804,382.733,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,257.117,0.000,0.000,0.000,0.000,0.000,0.000,4764.440,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.162,0.000,0.000
$MEM,335004
$DATA_FILE_SIZE,13461,386
$CAP_FILE_SIZE,58803,0
$CFSIZE,260165632,234516480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,035744,2102.608,-15752.827,12,1.8,12,9.8