version: 66.07
glider: 500
mission: 4
dive: 24
start: 6 18 110 12 37 58
data:
$ID,500
$MISSION,4
$DIVE,24
$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,-110054.98
$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,46
$R_STBD_OVSHOOT,41
$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,23
$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
$GPS1,180610,123022,2107.967,-15800.948,12,3.7,31,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.2
$GPS2,180610,123704,2107.972,-15801.018,11,4.2,30,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,-0.186
$KALMAN_X,-3366.1,-570.4,53.2,-4176.2,-461.4
$KALMAN_Y,4584.0,-45.1,-31.5,-10528.3,769.4
$MHEAD_RNG_PITCHd_Wd,177.6,86449,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.84,-77.9,0.0,0.0,0,82,0.00,0.00,-56.03,0.000,2,0.000,0.000,139,2037,2743,0,0,0,0,0,0
$GC,84,-0.84,-77.9,3.2,-6.2,11,111,10.30,2.38,-9.32,0.000,4,0.253,0.060,2616,444,3141,0,0,0,0,0,0
$GC,357,-0.84,-77.9,56.1,-21.1,48,364,0.00,2.33,0.00,0.000,6,0.000,0.036,2606,2038,3142,0,0,0,0,0,0
$GC,618,-0.84,-77.9,102.2,-16.7,73,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2038,3144,0,0,0,0,0,0
$GC,873,-0.84,-77.9,140.5,-14.3,97,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2038,3146,0,0,0,0,0,0
$GC,1128,-0.84,-77.9,175.5,-13.3,121,1132,0.00,2.35,0.00,0.000,4,0.000,0.048,2593,3626,3146,0,0,0,0,0,0
$GC,1226,-0.84,-77.9,188.3,-11.8,129,1234,0.08,2.30,0.00,0.000,6,0.131,0.034,2617,2028,3147,0,0,0,0,0,0
$GC,1483,-0.84,-77.9,214.9,-10.0,147,1488,0.00,2.33,0.00,0.000,4,0.000,0.048,2621,447,3147,0,0,0,0,0,0
$GC,1568,-0.84,-77.9,224.0,-11.2,151,1573,0.00,2.25,0.00,0.000,6,0.000,0.037,2611,2040,3150,0,0,0,0,0,0
$GC,1894,-0.84,-77.9,260.4,-11.4,167,1898,0.00,2.33,0.00,0.000,4,0.000,0.048,2598,3607,3148,0,0,0,0,0,0
$GC,1948,-0.84,-77.9,266.3,-10.0,169,1953,0.00,2.28,0.00,0.000,6,0.000,0.035,2598,2034,3148,0,0,0,0,0,0
$GC,2269,-0.84,-77.9,296.3,-10.4,185,2274,0.10,2.30,0.00,0.000,4,0.167,0.048,2626,448,3145,0,0,0,0,0,0
$GC,2373,-0.84,-77.9,307.6,-10.7,188,2378,0.00,2.28,0.00,0.000,6,0.000,0.038,2616,2023,3146,0,0,0,0,0,0
$GC,2722,-0.84,-77.9,337.3,-8.3,197,2725,0.00,2.28,0.00,0.000,4,0.000,0.049,2617,449,3145,0,0,0,0,0,0
$GC,2855,-0.84,-77.9,352.0,-11.3,200,2860,0.00,2.25,0.00,0.000,6,0.000,0.038,2605,2040,3142,0,0,0,0,0,0
$GC,3184,-0.84,-77.9,387.0,-10.8,208,3189,0.00,2.33,0.00,0.000,4,0.000,0.049,2606,451,3143,0,0,0,0,0,0
$GC,3211,-0.84,-77.9,390.1,-11.5,208,3216,0.08,2.28,0.00,0.000,6,0.135,0.038,2621,2026,3144,0,0,0,0,0,0
$STATE,3546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3547,begin apogee
$GC,3550,-0.23,0.0,422.6,9.2,217,3613,0.60,0.00,60.40,0.845,6,0.123,0.000,2822,2026,2823,0,0,0,0,0,0
$STATE,3645,end apogee,CONTROL_FINISHED_OK
$STATE,3645,begin climb
$GC,3647,0.84,77.9,423.5,0.0,218,3717,0.93,2.47,63.28,0.827,4,0.069,0.053,3184,455,2506,0,0,0,0,0,0
$GC,3806,0.84,77.9,409.5,13.0,221,3813,0.00,2.38,0.00,0.000,6,0.000,0.039,3184,2030,2500,0,0,0,0,0,0
$GC,4137,0.84,77.9,374.7,9.9,230,4141,0.00,2.38,0.00,0.000,4,0.000,0.050,3184,3615,2497,0,0,0,0,0,0
$GC,4202,0.84,77.9,367.5,10.3,231,4208,0.00,2.35,0.00,0.000,6,0.000,0.039,3196,2033,2494,0,0,0,0,0,0
$GC,4551,0.87,100.3,341.1,7.3,240,4575,0.00,2.42,17.62,0.773,4,0.000,0.049,3196,3611,2411,0,0,0,0,0,0
$GC,4630,0.87,100.3,334.2,9.8,241,4637,0.00,2.35,0.00,0.000,6,0.000,0.040,3208,2032,2410,0,0,0,0,0,0
$GC,4961,0.87,100.3,301.9,9.1,250,4966,0.00,2.38,0.00,0.000,4,0.000,0.053,3221,448,2406,0,0,0,0,0,0
$GC,5218,0.87,100.3,274.5,10.4,260,5224,0.10,2.33,0.00,0.000,6,0.149,0.040,3187,2031,2405,0,0,0,0,0,0
$GC,5539,0.91,129.0,249.2,6.8,276,5569,0.00,2.42,23.17,0.751,4,0.000,0.053,3198,454,2296,0,0,0,0,0,0
$GC,5703,0.91,129.0,234.8,10.6,283,5708,0.00,2.33,0.00,0.000,6,0.000,0.039,3198,2026,2292,0,0,0,0,0,0
$GC,6024,0.91,129.0,205.7,9.0,299,6029,0.00,2.40,0.00,0.000,4,0.000,0.050,3198,3622,2289,0,0,0,0,0,0
$GC,6175,0.91,129.0,189.3,11.8,310,6180,0.00,2.33,0.00,0.000,6,0.000,0.040,3210,2020,2288,0,0,0,0,0,0
$GC,6436,0.91,129.0,159.8,11.2,334,6440,0.00,2.33,0.00,0.000,4,0.000,0.051,3222,443,2287,0,0,0,0,0,0
$GC,6641,0.91,129.0,138.8,9.1,352,6649,0.08,2.33,0.00,0.000,6,0.152,0.038,3198,2036,2287,0,0,0,0,0,0
$GC,6903,0.95,166.7,120.8,6.1,377,6939,0.00,2.35,30.20,0.644,4,0.000,0.047,3197,3614,2142,0,0,0,0,0,0
$GC,7073,0.95,166.7,103.9,12.1,392,7077,0.00,2.33,0.00,0.000,6,0.000,0.038,3208,2024,2136,0,0,0,0,0,0
$GC,7339,0.95,168.3,78.4,8.9,417,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2024,2138,0,0,0,0,0,0
$GC,7594,0.99,198.0,57.7,6.7,441,7625,0.00,2.35,25.08,0.572,4,0.000,0.048,3221,448,2015,0,0,0,0,0,0
$GC,7832,0.99,198.0,35.3,10.7,462,7838,0.00,2.33,0.00,0.000,6,0.000,0.036,3221,2040,2010,0,0,0,0,0,0
$STATE,8103,end climb,SURFACE_DEPTH_REACHED
$STATE,8103,begin surface coast
$FINISH,0.6,1.023346
$STATE,8133,end surface coast,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$SM_CCo,8148,107.05,0.480,1,0,1191,400.08
$SM_GC,1.15,0.00,0.00,107.05,0.000,0.000,0.480,146,2041,1191,-8.61,0.23,400.08
$IRIDIUM_FIX,2059.45,-15801.19,121211,040404
$TT8_MAMPS,0.059059
$HUMID,1078450958
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.3,9.3
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448081920
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58575159296
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.502
$10V_AH,10.2,3.319
$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,20.075,74.750,219.750,107.050,0.000,27.177,27.216,219.483,2.500,0.000,33.355,961.354,5684.550,417.311,1543.441,68.894,33.343,1046.542,0.000,1148.651,0.000,17.862,0.000
$DEVICE_MAMPS,253.110,59.826,845.234,480.142,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.614,0.000,0.000,0.000,0.000,0.000,0.000,8985.510,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.979,0.000,0.000
$MEM,334780
$DATA_FILE_SIZE,16740,511
$CAP_FILE_SIZE,87474,0
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180610,145652,2107.606,-15801.643,7,2.8,26,9.8