version: 66.07
glider: 500
mission: 4
dive: 23
start: 6 18 110 10 10 33
data:
$ID,500
$MISSION,4
$DIVE,23
$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,-110021
$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,35
$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,22
$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
$GPS1,180610,100237,2108.478,-15800.482,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.9
$GPS2,180610,100938,2108.497,-15800.561,13,1.0,13,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,-0.187
$KALMAN_X,-2583.5,-375.6,-301.3,-4009.4,-608.3
$KALMAN_Y,3638.6,-36.5,140.4,-8788.2,651.8
$MHEAD_RNG_PITCHd_Wd,175.7,87700,-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,-56.12,0.000,2,0.000,0.000,146,2032,2731,0,0,0,0,0,0
$GC,85,-0.84,-77.9,3.4,-7.2,11,112,10.18,2.35,-9.48,0.000,4,0.249,0.064,2621,452,3144,0,0,0,0,0,0
$GC,324,-0.84,-77.9,49.4,-20.0,45,331,0.00,2.33,0.00,0.000,6,0.000,0.037,2611,2047,3143,0,0,0,0,0,0
$GC,586,-0.84,-77.9,96.4,-16.1,70,590,0.00,2.30,0.00,0.000,4,0.000,0.047,2611,454,3144,0,0,0,0,0,0
$GC,696,-0.84,-77.9,117.0,-17.5,79,703,0.00,2.28,0.00,0.000,6,0.000,0.036,2599,2026,3145,0,0,0,0,0,0
$GC,957,-0.84,-77.9,157.6,-15.4,104,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2026,3145,0,0,0,0,0,0
$GC,1212,-0.84,-77.9,190.9,-12.5,128,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2026,3148,0,0,0,0,0,0
$GC,1472,-0.84,-77.9,224.1,-12.2,144,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2026,3149,0,0,0,0,0,0
$GC,1781,-0.84,-77.9,258.8,-10.9,159,1785,0.00,2.30,0.00,0.000,4,0.000,0.047,2587,3622,3146,0,0,0,0,0,0
$GC,1836,-0.84,-77.9,265.3,-11.6,161,1842,0.10,2.30,0.00,0.000,6,0.123,0.035,2623,2027,3148,0,0,0,0,0,0
$GC,2157,-0.84,-77.9,297.0,-9.6,177,2161,0.00,2.25,0.00,0.000,4,0.000,0.048,2624,452,3146,0,0,0,0,0,0
$GC,2341,-0.84,-77.9,318.4,-10.7,182,2346,0.00,2.28,0.00,0.000,6,0.000,0.038,2614,2025,3148,0,0,0,0,0,0
$GC,2660,-0.84,-77.9,347.3,-8.3,190,2664,0.00,2.30,0.00,0.000,4,0.000,0.049,2614,443,3147,0,0,0,0,0,0
$GC,2787,-0.84,-77.9,357.8,-7.9,192,2794,0.00,2.30,0.00,0.000,6,0.000,0.037,2602,2035,3146,0,0,0,0,0,0
$GC,3118,-0.84,-77.9,385.6,-9.5,201,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2035,3145,0,0,0,0,0,0
$GC,3444,-0.84,-77.9,413.2,-8.2,209,3448,0.00,2.33,0.00,0.000,4,0.000,0.050,2590,3614,3143,0,0,0,0,0,0
$GC,3493,-0.84,-77.9,417.8,-10.2,210,3498,0.12,2.25,0.00,0.000,6,0.150,0.038,2628,2033,3143,0,0,0,0,0,0
$STATE,3518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3518,begin apogee
$GC,3521,-0.23,0.0,420.2,8.9,210,3585,0.55,0.00,60.97,0.840,6,0.120,0.000,2817,2033,2822,0,0,0,0,0,0
$STATE,3616,end apogee,CONTROL_FINISHED_OK
$STATE,3616,begin climb
$GC,3618,0.84,77.9,421.8,0.0,212,3686,0.95,0.00,64.25,0.824,6,0.071,0.000,3176,2032,2504,0,0,0,0,0,0
$GC,3987,0.84,77.9,393.9,9.6,222,3991,0.00,2.40,0.00,0.000,4,0.000,0.050,3176,3611,2497,0,0,0,0,0,0
$GC,4144,0.84,77.9,377.6,10.1,225,4148,0.00,2.35,0.00,0.000,6,0.000,0.040,3190,2032,2494,0,0,0,0,0,0
$GC,4491,0.86,93.0,349.6,7.8,234,4505,0.00,0.00,11.85,0.750,6,0.000,0.000,3188,2033,2443,0,0,0,0,0,0
$GC,4816,0.86,93.0,317.6,10.4,242,4820,0.00,2.35,0.00,0.000,4,0.000,0.053,3200,452,2438,0,0,0,0,0,0
$GC,5073,0.87,103.0,293.6,8.3,248,5089,0.00,2.30,9.40,0.708,6,0.000,0.040,3200,2024,2402,0,0,0,0,0,0
$GC,5416,0.89,115.6,265.5,8.1,265,5436,0.00,2.42,11.52,0.716,4,0.000,0.053,3212,445,2350,0,0,0,0,0,0
$GC,5519,0.89,115.6,255.6,9.8,269,5526,0.00,2.33,0.00,0.000,6,0.000,0.039,3216,2026,2348,0,0,0,0,0,0
$GC,5834,0.89,115.6,225.1,10.0,285,5839,0.00,2.35,0.00,0.000,4,0.000,0.052,3225,452,2345,0,0,0,0,0,0
$GC,5850,0.89,115.6,223.6,9.7,286,5855,0.12,2.28,0.00,0.000,6,0.166,0.040,3189,2036,2345,0,0,0,0,0,0
$GC,6172,0.93,149.0,198.7,6.4,302,6202,0.00,0.00,27.85,0.714,6,0.000,0.000,3191,2036,2214,0,0,0,0,0,0
$GC,6457,0.93,149.0,171.8,11.4,329,6461,0.00,2.38,0.00,0.000,4,0.000,0.052,3202,451,2207,0,0,0,0,0,0
$GC,6578,0.93,149.0,155.7,12.5,339,6585,0.00,2.33,0.00,0.000,6,0.000,0.038,3202,2032,2206,0,0,0,0,0,0
$GC,6840,0.93,149.0,125.7,10.0,364,6844,0.00,2.35,0.00,0.000,4,0.000,0.049,3198,3616,2205,0,0,0,0,0,0
$GC,6916,0.93,149.0,117.5,10.7,370,6923,0.00,2.33,0.00,0.000,6,0.000,0.037,3214,2024,2207,0,0,0,0,0,0
$GC,7178,0.93,149.0,92.5,10.9,395,7182,0.00,2.33,0.00,0.000,4,0.000,0.051,3227,447,2205,0,0,0,0,0,0
$GC,7295,0.94,155.7,80.7,8.5,405,7306,0.00,2.28,5.43,0.482,6,0.000,0.038,3226,2045,2188,0,0,0,0,0,0
$GC,7560,0.95,160.9,57.4,8.6,430,7571,0.00,2.35,6.30,0.486,4,0.000,0.048,3239,455,2165,0,0,0,0,0,0
$GC,7823,0.97,183.9,38.8,7.2,453,7850,0.00,2.28,20.00,0.547,6,0.000,0.036,3239,2027,2074,0,0,0,0,0,0
$GC,8115,0.97,183.9,5.4,11.4,498,8121,0.00,2.33,0.00,0.000,4,0.000,0.051,3251,454,2064,0,0,0,0,0,0
$STATE,8141,end climb,SURFACE_DEPTH_REACHED
$STATE,8142,begin surface coast
$FINISH,0.6,1.023245
$STATE,8171,end surface coast,CONTROL_FINISHED_OK
$STATE,8171,begin surface
$SM_CCo,8189,116.30,0.484,1,0,1191,400.81
$SM_GC,1.32,0.00,0.00,116.30,0.000,0.000,0.484,140,2036,1191,-8.63,0.14,400.81
$IRIDIUM_FIX,2101.76,-15758.18,121211,010114
$TT8_MAMPS,0.059059
$HUMID,1078427732
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.8,9.5
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448147456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58633879552
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.423
$10V_AH,10.2,3.209
$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,20.050,69.575,217.575,116.300,0.000,30.822,28.566,244.542,3.000,0.000,15.569,943.786,5782.272,453.792,1494.768,70.328,33.349,1035.704,0.000,1084.285,0.000,22.182,0.000
$DEVICE_MAMPS,248.508,64.428,839.865,483.977,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.833,0.000,0.000,0.000,0.000,0.000,0.000,9065.820,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.695,0.000,0.000
$MEM,334788
$DATA_FILE_SIZE,16766,508
$CAP_FILE_SIZE,85666,0
$CFSIZE,260165632,257314816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,123022,2107.967,-15800.948,12,3.7,31,9.8