version: 66.07
glider: 500
mission: 7
dive: 38
start: 9 19 110 4 5 26
data:
$ID,500
$MISSION,7
$DIVE,38
$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,-116032.17
$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,37
$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
$GPS1,190910,035744,2102.608,-15752.827,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.6
$GPS2,190910,040431,2102.592,-15752.894,46,1.7,46,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,-0.212
$KALMAN_X,-20577.0,-715.2,161.4,19757.7,-7562.5
$KALMAN_Y,2802.6,313.3,411.8,-25510.4,4644.8
$MHEAD_RNG_PITCHd_Wd,156.3,39237,-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,-60.58,0.000,2,0.000,0.000,129,1888,2815,0,0,0,0,0,0
$GC,90,-0.68,-116.8,3.2,-5.6,12,117,11.35,2.35,-7.88,0.000,4,0.240,0.057,3060,286,3230,0,0,0,0,0,0
$GC,235,-0.68,-116.8,36.2,-16.7,35,239,0.00,2.33,0.00,0.000,6,0.000,0.035,3051,1913,3231,0,0,0,0,0,0
$GC,495,-0.68,-116.8,74.8,-11.0,59,499,0.00,2.33,0.00,0.000,4,0.000,0.043,3050,295,3229,0,0,0,0,0,0
$GC,510,-0.68,-116.8,76.7,-11.4,60,517,0.08,2.33,0.00,0.000,6,0.130,0.033,3068,1911,3232,0,0,0,0,0,0
$GC,771,-0.68,-116.8,106.3,-12.5,85,775,0.00,2.35,0.00,0.000,4,0.000,0.043,3068,287,3233,0,0,0,0,0,0
$GC,813,-0.68,-116.8,112.2,-13.9,88,820,0.00,2.30,0.00,0.000,6,0.000,0.034,3058,1894,3233,0,0,0,0,0,0
$GC,1076,-0.68,-116.8,141.5,-9.3,113,1080,0.00,2.30,0.00,0.000,4,0.000,0.045,3047,3486,3234,0,0,0,0,0,0
$GC,1092,-0.68,-116.8,143.1,-9.2,114,1096,0.00,2.28,0.00,0.000,6,0.000,0.030,3047,1869,3234,0,0,0,0,0,0
$GC,1351,-0.68,-116.8,168.9,-9.6,138,1355,0.00,2.20,0.00,0.000,4,0.000,0.043,3045,313,3235,0,0,0,0,0,0
$GC,1486,-0.68,-116.8,181.7,-8.9,149,1492,0.12,2.22,0.00,0.000,6,0.142,0.033,3077,1911,3232,0,0,0,0,0,0
$STATE,1621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1621,begin apogee
$GC,1627,-0.23,0.0,190.1,6.3,162,1716,0.38,0.00,85.90,0.615,6,0.107,0.000,3216,2028,2750,0,0,0,0,0,0
$STATE,1719,end apogee,CONTROL_FINISHED_OK
$STATE,1719,begin climb
$GC,1721,0.68,116.8,192.1,0.0,171,1820,0.75,2.30,89.82,0.606,4,0.054,0.042,3518,3549,2273,0,0,0,0,0,0
$GC,1914,0.73,159.5,189.9,6.0,188,1955,0.00,2.28,33.60,0.591,6,0.000,0.031,3532,1997,2097,0,0,0,0,0,0
$GC,2216,0.73,159.5,163.2,9.2,217,2220,0.00,2.30,0.00,0.000,4,0.000,0.044,3540,421,2089,0,0,0,0,0,0
$GC,2473,0.73,159.5,137.9,10.4,239,2479,0.00,2.20,0.00,0.000,6,0.000,0.035,3543,1980,2087,0,0,0,0,0,0
$GC,2734,0.79,207.9,120.8,5.8,264,2778,0.00,2.40,37.05,0.567,4,0.000,0.044,3543,3578,1900,0,0,0,0,0,0
$GC,2807,0.79,207.9,115.0,10.3,271,2811,0.00,2.25,0.00,0.000,6,0.000,0.032,3555,1999,1898,0,0,0,0,0,0
$GC,3068,0.79,207.9,82.6,11.9,295,3072,0.00,2.28,0.00,0.000,4,0.000,0.043,3567,426,1895,0,0,0,0,0,0
$GC,3174,0.79,207.9,70.8,11.1,304,3178,0.00,2.25,0.00,0.000,6,0.000,0.035,3567,1999,1893,0,0,0,0,0,0
$GC,3435,0.80,213.3,49.2,7.8,328,3446,0.00,2.35,4.05,0.361,4,0.000,0.044,3567,3586,1881,0,0,0,0,0,0
$GC,3682,0.80,213.3,26.9,8.8,353,3688,0.12,2.25,0.00,0.000,6,0.168,0.031,3544,1997,1880,0,0,0,0,0,0
$GC,3891,0.82,233.9,12.4,7.1,390,3917,0.00,2.35,17.38,0.482,4,0.000,0.044,3555,418,1795,0,0,0,0,0,0
$STATE,3995,end climb,SURFACE_DEPTH_REACHED
$STATE,3995,begin surface coast
$FINISH,0.3,1.023178
$STATE,4029,end surface coast,CONTROL_FINISHED_OK
$STATE,4029,begin surface
$SM_CCo,4114,79.43,0.069,0,0,1161,390.02
$SM_GC,1.23,0.00,0.00,79.43,0.000,0.000,0.069,136,1917,1161,-9.85,0.48,390.02
$IRIDIUM_FIX,2057.14,-15753.90,130312,212117
$TT8_MAMPS,0.058292
$HUMID,1078577410
$INTERNAL_PRESSURE,9.67689
$TCM_TEMP,25.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,190.1,9.5
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8440545280
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58592624640
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.9,5.277
$10V_AH,10.4,4.611
$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,21.300,50.425,267.800,79.425,0.000,29.891,26.758,193.962,6.500,0.000,48.554,704.834,2239.000,400.241,1158.225,115.068,33.339,844.429,0.000,761.297,0.000,31.742,0.000
$DEVICE_MAMPS,240.071,106.613,615.134,69.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,274.951,0.000,0.000,0.000,0.000,0.000,0.000,4919.280,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.744,0.000,0.000
$MEM,335004
$DATA_FILE_SIZE,13436,415
$CAP_FILE_SIZE,63902,0
$CFSIZE,260165632,234467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,051636,2101.920,-15753.097,26,1.3,26,9.8