version: 66.07
glider: 500
mission: 7
dive: 39
start: 9 19 110 5 23 34
data:
$ID,500
$MISSION,7
$DIVE,39
$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,-116048.91
$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,38
$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
$GPS1,190910,051636,2101.920,-15753.097,26,1.3,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.7
$GPS2,190910,052238,2101.913,-15753.153,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,LINE2s
$TGT_LATLONG,2041.480,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,-0.213
$KALMAN_X,-20311.1,-1677.1,336.3,19832.3,-5301.4
$KALMAN_Y,3279.7,1194.5,148.9,-27858.8,4393.9
$MHEAD_RNG_PITCHd_Wd,158.1,38026,-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,-60.65,0.000,2,0.000,0.000,127,1916,2799,0,0,0,0,0,0
$GC,91,-0.68,-116.8,3.0,-4.7,12,118,11.40,2.38,-8.35,0.000,4,0.242,0.057,3062,287,3230,0,0,0,0,0,0
$GC,275,-0.68,-116.8,41.4,-16.2,39,281,0.00,2.35,0.00,0.000,6,0.000,0.034,3052,1921,3230,0,0,0,0,0,0
$GC,535,-0.68,-116.8,81.4,-14.0,64,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1921,3231,0,0,0,0,0,0
$GC,791,-0.68,-116.8,112.2,-12.1,88,795,0.00,2.33,0.00,0.000,4,0.000,0.042,3050,297,3233,0,0,0,0,0,0
$GC,862,-0.68,-116.8,122.0,-13.8,94,867,0.10,2.28,0.00,0.000,6,0.156,0.034,3070,1910,3233,0,0,0,0,0,0
$GC,1122,-0.68,-116.8,151.7,-10.2,118,1126,0.00,2.33,0.00,0.000,4,0.000,0.043,3070,296,3233,0,0,0,0,0,0
$GC,1150,-0.68,-116.8,154.5,-10.3,120,1154,0.00,2.28,0.00,0.000,6,0.000,0.035,3062,1908,3234,0,0,0,0,0,0
$GC,1410,-0.68,-116.8,175.1,-8.4,144,1414,0.00,2.30,0.00,0.000,4,0.000,0.043,3062,294,3233,0,0,0,0,0,0
$GC,1540,-0.68,-116.8,188.6,-10.5,155,1544,0.00,2.25,0.00,0.000,6,0.000,0.034,3056,1909,3233,0,0,0,0,0,0
$STATE,1558,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1558,begin apogee
$GC,1563,-0.23,0.0,190.2,9.9,156,1653,0.43,0.00,85.75,0.615,6,0.109,0.000,3207,2017,2751,0,0,0,0,0,0
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1657,0.68,116.8,193.6,0.0,165,1751,0.77,0.00,90.38,0.607,6,0.059,0.000,3517,2018,2269,0,0,0,0,0,0
$GC,2003,0.76,181.4,184.3,5.0,198,2058,0.00,2.45,49.33,0.598,4,0.000,0.044,3530,392,2009,0,0,0,0,0,0
$GC,2175,0.76,181.4,168.2,10.4,213,2181,0.00,2.30,0.00,0.000,6,0.000,0.034,3530,1983,2004,0,0,0,0,0,0
$GC,2436,0.76,181.4,144.6,8.7,238,2441,0.00,2.33,0.00,0.000,4,0.000,0.044,3540,393,2002,0,0,0,0,0,0
$GC,2589,0.76,181.4,130.9,9.5,251,2593,0.00,2.30,0.00,0.000,6,0.000,0.035,3540,1997,2000,0,0,0,0,0,0
$GC,2850,0.77,189.5,110.0,7.6,275,2861,0.00,2.33,6.05,0.459,4,0.000,0.041,3551,391,1978,0,0,0,0,0,0
$GC,2889,0.77,189.5,106.8,8.4,278,2895,0.00,2.33,0.00,0.000,6,0.000,0.035,3552,2017,1978,0,0,0,0,0,0
$GC,3150,0.77,189.5,83.8,9.5,303,3154,0.00,2.35,0.00,0.000,4,0.000,0.043,3563,388,1977,0,0,0,0,0,0
$GC,3317,0.77,189.5,67.3,11.5,317,3324,0.00,2.30,0.00,0.000,6,0.000,0.034,3564,1988,1977,0,0,0,0,0,0
$GC,3579,0.80,218.6,46.6,6.7,342,3610,0.00,2.38,23.90,0.520,4,0.000,0.045,3563,3582,1860,0,0,0,0,0,0
$GC,3667,0.81,220.3,40.0,7.9,350,3671,0.00,2.30,0.00,0.000,6,0.000,0.032,3575,1972,1857,0,0,0,0,0,0
$GC,3935,0.81,220.3,19.3,8.9,385,3941,0.00,2.22,0.00,0.000,4,0.000,0.043,3587,426,1855,0,0,0,0,0,0
$STATE,4099,end climb,SURFACE_DEPTH_REACHED
$STATE,4099,begin surface coast
$FINISH,0.6,1.023154
$STATE,4121,end surface coast,CONTROL_FINISHED_OK
$STATE,4121,begin surface
$SM_CCo,4206,88.62,0.385,1,0,1158,390.02
$SM_GC,1.04,0.00,0.00,88.62,0.000,0.000,0.385,147,1901,1158,-9.82,0.03,390.02
$IRIDIUM_FIX,2052.52,-15754.77,130312,222218
$TT8_MAMPS,0.058292
$HUMID,1078590313
$INTERNAL_PRESSURE,9.67689
$TCM_TEMP,25.00
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,190.2,9.6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8440512512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58572046336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.9,5.344
$10V_AH,10.4,4.666
$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,21.375,46.275,255.400,88.625,0.000,29.292,27.325,179.701,9.000,0.000,16.111,709.986,2348.981,400.259,1103.125,117.128,33.330,833.852,0.000,750.386,0.000,30.963,0.000
$DEVICE_MAMPS,241.605,107.380,615.134,385.034,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,277.602,0.000,0.000,0.000,0.000,0.000,0.000,5001.030,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.765,0.000,0.000
$MEM,335036
$DATA_FILE_SIZE,13462,418
$CAP_FILE_SIZE,62435,0
$CFSIZE,260165632,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,063634,2101.033,-15753.420,9,2.3,28,9.8