version: 66.07
glider: 500
mission: 4
dive: 21
start: 6 18 110 5 11 45
data:
$ID,500
$MISSION,4
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,420
$D_ABORT,500
$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,155
$T_MISSION,200
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,400
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109987.13
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2900
$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,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$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,-65.916748
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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,20
$AR_SAMPLENUM,8
$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
$GPS1,180610,050433,2109.260,-15758.976,11,1.7,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.0
$GPS2,180610,051050,2109.297,-15759.072,12,1.7,12,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,-0.183
$KALMAN_X,-552.7,81.9,-104.1,-4114.4,-464.9
$KALMAN_Y,1696.1,145.2,17.9,-5432.0,521.7
$MHEAD_RNG_PITCHd_Wd,183.5,90415,-22.4,-9.032
$D_GRID,420
$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,-0.84,-77.9,0.0,0.0,0,83,0.00,0.00,-56.38,0.000,2,0.000,0.000,146,2037,2756,0,0,0,0,0,0
$GC,85,-0.84,-77.9,3.2,-6.3,11,112,10.18,2.38,-9.02,0.000,4,0.249,0.061,2621,452,3142,0,0,0,0,0,0
$GC,342,-0.84,-77.9,51.9,-19.9,48,346,0.00,2.30,0.00,0.000,6,0.000,0.038,2610,2040,3144,0,0,0,0,0,0
$GC,607,-0.84,-77.9,98.0,-14.4,73,611,0.00,2.33,0.00,0.000,4,0.000,0.048,2608,454,3145,0,0,0,0,0,0
$GC,641,-0.84,-77.9,102.9,-15.4,76,645,0.00,2.28,0.00,0.000,6,0.000,0.037,2599,2041,3144,0,0,0,0,0,0
$GC,906,-0.84,-77.9,141.9,-13.3,101,910,0.00,2.33,0.00,0.000,4,0.000,0.048,2600,448,3146,0,0,0,0,0,0
$GC,996,-0.84,-77.9,154.6,-14.9,109,1000,0.15,2.28,0.00,0.000,6,0.163,0.037,2629,2038,3148,0,0,0,0,0,0
$GC,1261,-0.84,-77.9,186.0,-11.0,134,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2038,3148,0,0,0,0,0,0
$GC,1513,-0.84,-77.9,211.5,-10.3,153,1517,0.00,2.30,0.00,0.000,4,0.000,0.048,2629,454,3147,0,0,0,0,0,0
$GC,1556,-0.84,-77.9,217.2,-12.2,155,1561,0.00,2.28,0.00,0.000,6,0.000,0.037,2619,2028,3147,0,0,0,0,0,0
$GC,1882,-0.84,-77.9,253.5,-11.8,171,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2031,3148,0,0,0,0,0,0
$GC,2192,-0.84,-77.9,288.6,-10.8,186,2196,0.00,2.30,0.00,0.000,4,0.000,0.050,2619,451,3146,0,0,0,0,0,0
$GC,2298,-0.84,-77.9,301.8,-12.2,191,2302,0.00,2.25,0.00,0.000,6,0.000,0.038,2607,2045,3147,0,0,0,0,0,0
$GC,2645,-0.84,-77.9,335.4,-8.8,200,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2047,3147,0,0,0,0,0,0
$GC,2970,-0.84,-77.9,367.0,-10.2,208,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2045,3144,0,0,0,0,0,0
$GC,3295,-0.84,-77.9,398.0,-10.2,216,3299,0.00,2.33,0.00,0.000,4,0.000,0.051,2607,446,3144,0,0,0,0,0,0
$GC,3405,-0.84,-77.9,409.4,-9.6,218,3411,0.08,2.30,0.00,0.000,6,0.138,0.039,2622,2035,3143,0,0,0,0,0,0
$STATE,3711,end dive,NO_VERTICAL_VELOCITY
$STATE,3711,begin apogee
$GC,3715,-0.23,0.0,412.3,0.0,226,3778,0.57,0.00,60.40,0.842,6,0.100,0.000,2826,2035,2825,0,0,0,0,0,0
$STATE,3806,end apogee,CONTROL_FINISHED_OK
$STATE,3806,begin climb
$GC,3808,0.84,77.9,412.1,0.0,227,3879,0.93,2.45,64.22,0.821,4,0.074,0.048,3171,3608,2504,0,0,0,0,0,0
$GC,4131,0.85,85.1,383.2,8.5,234,4142,0.00,2.35,5.85,0.630,6,0.000,0.039,3183,2038,2476,0,0,0,0,0,0
$GC,4479,0.86,95.7,352.4,8.2,243,4494,0.00,2.35,10.10,0.729,4,0.000,0.048,3183,3611,2431,0,0,0,0,0,0
$GC,4745,0.88,112.0,330.5,7.8,249,4766,0.00,2.35,14.38,0.759,6,0.000,0.040,3195,2026,2365,0,0,0,0,0,0
$GC,5108,0.89,115.7,299.8,8.7,258,5117,0.00,2.42,3.75,0.495,4,0.000,0.050,3195,3613,2350,0,0,0,0,0,0
$GC,5166,0.89,115.7,293.8,10.3,260,5173,0.00,2.35,0.00,0.000,6,0.000,0.040,3207,2036,2349,0,0,0,0,0,0
$GC,5482,0.89,115.7,261.2,10.3,276,5486,0.00,2.38,0.00,0.000,4,0.000,0.053,3219,448,2348,0,0,0,0,0,0
$GC,5553,0.91,130.6,254.6,7.9,279,5574,0.00,2.33,13.62,0.727,6,0.000,0.040,3219,2034,2289,0,0,0,0,0,0
$GC,5895,0.91,130.6,221.1,10.3,296,5899,0.00,2.38,0.00,0.000,4,0.000,0.050,3216,3619,2284,0,0,0,0,0,0
$GC,5938,0.91,130.6,215.7,12.4,298,5944,0.10,2.35,0.00,0.000,6,0.164,0.041,3200,2032,2284,0,0,0,0,0,0
$GC,6260,0.95,167.1,188.4,6.2,321,6295,0.00,2.40,29.95,0.708,4,0.000,0.053,3211,439,2143,0,0,0,0,0,0
$GC,6388,0.95,167.1,176.9,10.5,332,6395,0.00,2.38,0.00,0.000,6,0.000,0.039,3210,2036,2140,0,0,0,0,0,0
$GC,6650,0.95,167.1,142.2,14.5,357,6654,0.00,2.35,0.00,0.000,4,0.000,0.052,3223,451,2136,0,0,0,0,0,0
$GC,6850,0.95,167.1,114.9,13.2,374,6857,0.00,2.33,0.00,0.000,6,0.000,0.038,3223,2035,2135,0,0,0,0,0,0
$GC,7112,0.95,168.2,90.4,8.9,399,7116,0.00,2.35,0.00,0.000,4,0.000,0.051,3235,450,2135,0,0,0,0,0,0
$GC,7296,0.95,168.2,73.2,9.8,415,7300,0.00,2.28,0.00,0.000,6,0.000,0.038,3234,2038,2135,0,0,0,0,0,0
$GC,7562,0.98,192.7,51.1,7.1,440,7586,0.00,0.00,21.30,0.569,6,0.000,0.000,3237,2039,2037,0,0,0,0,0,0
$GC,7840,0.98,192.7,22.4,12.9,471,7845,0.00,2.35,0.00,0.000,4,0.000,0.049,3247,449,2032,0,0,0,0,0,0
$GC,7879,0.98,192.7,17.5,12.4,478,7885,0.10,2.28,0.00,0.000,6,0.170,0.038,3221,2042,2032,0,0,0,0,0,0
$STATE,8007,end climb,SURFACE_DEPTH_REACHED
$STATE,8008,begin surface coast
$FINISH,0.6,1.023280
$STATE,8036,end surface coast,CONTROL_FINISHED_OK
$STATE,8037,begin surface
$SM_CCo,8052,112.43,0.486,1,0,1190,400.08
$SM_GC,1.36,0.00,0.00,112.43,0.000,0.000,0.486,145,2042,1190,-8.61,0.34,400.08
$IRIDIUM_FIX,2101.76,-15758.18,111211,212150
$TT8_MAMPS,0.059059
$HUMID,1078441926
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,9.4
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448278528
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58751320064
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.270
$10V_AH,10.2,2.989
$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,19.975,70.025,223.575,112.425,0.000,22.560,31.729,212.107,2.750,0.000,14.030,943.131,5671.527,421.938,1456.582,68.180,33.340,1021.016,0.000,1091.907,0.000,21.037,0.000
$DEVICE_MAMPS,249.275,61.360,842.166,486.278,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.628,0.000,0.000,0.000,0.000,0.000,0.000,8835.740,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,28.103,0.000,0.000
$MEM,334784
$DATA_FILE_SIZE,16800,506
$CAP_FILE_SIZE,84441,0
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,072924,2109.017,-15800.087,24,1.3,42,9.8