version: 66.07
glider: 500
mission: 4
dive: 29
start: 6 19 110 1 33 32
data:
$ID,500
$MISSION,4
$DIVE,29
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,176
$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,100
$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,375
$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,-110146.58
$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,2905
$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,49
$R_STBD_OVSHOOT,51
$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,28
$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
$GPS1,190610,012255,2105.938,-15804.114,8,1.2,13,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.0
$GPS2,190610,013238,2105.929,-15804.235,9,2.0,9,9.8
$SPEED_LIMITS,0.148,0.205
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.109,-0.174
$KALMAN_X,-10918.6,385.9,386.0,-3474.6,-1783.7
$KALMAN_Y,9841.0,-32.3,-189.1,-19423.0,1367.7
$MHEAD_RNG_PITCHd_Wd,202.4,80158,-18.9,-8.523
$D_GRID,450
$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,24,-0.75,-97.3,0.0,0.0,0,78,0.00,0.00,-51.75,0.000,2,0.000,0.000,135,2045,2712,0,0,0,0,0,0
$GC,80,-0.75,-97.3,3.3,-6.6,10,111,10.20,2.42,-11.62,0.000,4,0.242,0.061,2655,454,3222,0,0,0,0,0,0
$GC,336,-0.75,-97.3,48.6,-18.8,48,340,0.00,2.28,0.00,0.000,6,0.000,0.036,2646,2038,3224,0,0,0,0,0,0
$GC,603,-0.75,-97.3,94.1,-17.6,73,607,0.00,2.33,0.00,0.000,4,0.000,0.047,2633,3617,3224,0,0,0,0,0,0
$GC,740,-0.75,-97.3,114.4,-14.7,85,750,0.00,2.30,0.00,0.000,6,0.000,0.034,2634,2035,3225,0,0,0,0,0,0
$GC,1001,-0.75,-97.3,150.7,-14.9,110,1005,0.10,2.30,0.00,0.000,4,0.163,0.046,2662,448,3226,0,0,0,0,0,0
$GC,1113,-0.75,-97.3,165.5,-13.2,120,1117,0.00,2.28,0.00,0.000,6,0.000,0.036,2651,2039,3226,0,0,0,0,0,0
$GC,1379,-0.75,-97.3,195.9,-11.1,145,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2039,3228,0,0,0,0,0,0
$GC,1627,-0.75,-97.3,221.1,-10.3,159,1631,0.00,2.33,0.00,0.000,4,0.000,0.048,2639,3637,3228,0,0,0,0,0,0
$GC,1677,-0.75,-97.3,226.3,-10.2,161,1682,0.00,2.28,0.00,0.000,6,0.000,0.034,2639,2027,3228,0,0,0,0,0,0
$GC,1997,-0.75,-97.3,258.7,-10.5,177,2001,0.00,2.28,0.00,0.000,4,0.000,0.047,2639,444,3228,0,0,0,0,0,0
$GC,2103,-0.75,-97.3,271.3,-12.1,182,2108,0.12,2.28,0.00,0.000,6,0.152,0.036,2664,2041,3229,0,0,0,0,0,0
$GC,2435,-0.75,-97.3,301.4,-7.3,198,2439,0.00,2.30,0.00,0.000,4,0.000,0.048,2654,3615,3229,0,0,0,0,0,0
$GC,2511,-0.75,-97.3,307.2,-7.0,199,2518,0.00,2.30,0.00,0.000,6,0.000,0.034,2654,2020,3228,0,0,0,0,0,0
$GC,2842,-0.75,-97.3,332.3,-7.7,208,2846,0.00,2.25,0.00,0.000,4,0.000,0.048,2654,452,3228,0,0,0,0,0,0
$GC,2891,-0.75,-97.3,336.4,-8.0,209,2896,0.00,2.28,0.00,0.000,6,0.000,0.037,2642,2026,3227,0,0,0,0,0,0
$GC,3210,-0.75,-97.3,361.2,-8.0,217,3214,0.00,2.30,0.00,0.000,4,0.000,0.050,2642,455,3225,0,0,0,0,0,0
$GC,3286,-0.75,-97.3,368.5,-9.5,218,3294,0.05,2.28,0.00,0.000,6,0.137,0.038,2651,2027,3224,0,0,0,0,0,0
$GC,3617,-0.75,-97.3,396.9,-8.5,227,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3222,0,0,0,0,0,0
$GC,3942,-0.75,-97.3,419.9,-6.6,235,3947,0.00,2.30,0.00,0.000,4,0.000,0.051,2649,449,3219,0,0,0,0,0,0
$GC,4014,-0.75,-97.3,425.5,-7.8,236,4018,0.00,2.30,0.00,0.000,6,0.000,0.038,2641,2036,3219,0,0,0,0,0,0
$GC,4351,-0.75,-97.3,449.1,-6.9,245,4355,0.00,2.35,0.00,0.000,4,0.000,0.051,2642,444,3217,0,0,0,0,0,0
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4371,-0.23,0.0,450.4,7.1,245,4449,0.57,0.00,75.47,0.886,6,0.120,0.000,2826,2037,2823,0,0,0,0,0,0
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4453,0.75,97.3,451.8,0.0,247,4544,0.85,2.53,81.47,0.859,4,0.069,0.051,3146,3608,2424,0,0,0,0,0,0
$GC,4638,0.75,97.3,436.1,12.5,251,4643,0.00,2.40,0.00,0.000,6,0.000,0.040,3157,2031,2416,0,0,0,0,0,0
$GC,4951,0.75,97.3,403.7,10.1,259,4954,0.00,2.40,0.00,0.000,4,0.000,0.054,3169,442,2413,0,0,0,0,0,0
$GC,5168,0.75,97.3,380.0,10.3,263,5175,0.00,2.35,0.00,0.000,6,0.000,0.040,3174,2026,2412,0,0,0,0,0,0
$GC,5500,0.75,97.3,346.1,9.7,272,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2026,2411,0,0,0,0,0,0
$GC,5824,0.75,97.3,314.2,9.5,280,5828,0.00,2.38,0.00,0.000,4,0.000,0.054,3181,443,2410,0,0,0,0,0,0
$GC,5986,0.75,97.3,297.4,9.7,283,5991,0.10,2.35,0.00,0.000,6,0.146,0.040,3149,2041,2411,0,0,0,0,0,0
$GC,6308,0.75,100.8,272.5,8.3,299,6312,0.00,2.35,0.00,0.000,4,0.000,0.051,3149,3621,2409,0,0,0,0,0,0
$GC,6469,0.77,112.6,258.4,7.8,306,6485,0.00,2.33,11.02,0.731,6,0.000,0.041,3159,2025,2366,0,0,0,0,0,0
$GC,6806,0.79,128.5,234.6,7.6,323,6827,0.00,2.38,14.50,0.729,4,0.000,0.054,3171,451,2299,0,0,0,0,0,0
$GC,6888,0.79,128.5,227.9,9.9,326,6894,0.00,2.33,0.00,0.000,6,0.000,0.039,3171,2021,2295,0,0,0,0,0,0
$GC,7203,0.79,128.5,197.6,9.1,343,7207,0.00,2.35,0.00,0.000,4,0.000,0.053,3183,451,2293,0,0,0,0,0,0
$GC,7315,0.80,141.3,187.4,7.8,353,7332,0.00,2.28,11.57,0.671,6,0.000,0.039,3183,2037,2246,0,0,0,0,0,0
$GC,7585,0.80,141.3,161.4,10.2,378,7589,0.00,2.35,0.00,0.000,4,0.000,0.051,3195,445,2242,0,0,0,0,0,0
$GC,7724,0.80,141.3,146.3,10.0,390,7731,0.08,2.33,0.00,0.000,6,0.144,0.038,3170,2035,2241,0,0,0,0,0,0
$GC,7986,0.83,164.5,126.6,7.2,415,8010,0.00,2.40,19.90,0.641,4,0.000,0.052,3184,447,2151,0,0,0,0,0,0
$GC,8044,0.84,170.6,122.4,8.2,420,8055,0.00,2.30,6.32,0.532,6,0.000,0.038,3180,2039,2127,0,0,0,0,0,0
$GC,8309,0.84,173.9,100.5,8.3,445,8320,0.00,2.38,4.00,0.423,4,0.000,0.049,3180,3605,2113,0,0,0,0,0,0
$GC,8398,0.84,173.9,92.2,8.8,453,8402,0.00,2.30,0.00,0.000,6,0.000,0.038,3192,2029,2112,0,0,0,0,0,0
$GC,8664,0.86,189.8,69.4,7.6,478,8685,0.00,2.38,14.38,0.565,4,0.000,0.051,3204,446,2049,0,0,0,0,0,0
$GC,8775,0.86,189.8,60.1,9.1,488,8779,0.00,2.30,0.00,0.000,6,0.000,0.037,3204,2037,2046,0,0,0,0,0,0
$GC,9040,0.86,189.8,36.7,8.8,513,9044,0.00,2.35,0.00,0.000,4,0.000,0.048,3201,3611,2045,0,0,0,0,0,0
$GC,9175,0.86,189.8,22.6,11.9,530,9181,0.12,2.28,0.00,0.000,6,0.168,0.036,3183,2030,2045,0,0,0,0,0,0
$GC,9383,0.86,189.8,4.4,9.1,567,9388,0.00,2.28,0.00,0.000,4,0.000,0.048,3194,449,2044,0,0,0,0,0,0
$STATE,9398,end climb,SURFACE_DEPTH_REACHED
$STATE,9398,begin surface coast
$FINISH,0.6,1.010781
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9451,107.43,0.434,1,0,1290,375.06
$SM_GC,1.40,0.00,0.00,107.43,0.000,0.000,0.434,132,2045,1290,-8.67,0.48,375.06
$IRIDIUM_FIX,2059.45,-15803.33,121211,171708
$TT8_MAMPS,0.059826
$HUMID,1078438055
$INTERNAL_PRESSURE,9.48157
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.4,9.3
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8447623168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58270547968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,2.926
$10V_AH,10.2,3.903
$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,19.975,102.375,238.650,107.425,0.000,65.981,61.468,276.167,2.500,0.000,11.254,1087.216,6782.352,453.854,1756.817,78.556,33.348,1159.541,0.000,1270.629,0.000,17.835,0.000
$DEVICE_MAMPS,242.372,60.593,885.885,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,388.405,0.000,0.000,0.000,0.000,0.000,0.000,10458.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,25.956,0.000,0.000
$MEM,334868
$DATA_FILE_SIZE,20112,576
$CAP_FILE_SIZE,102723,0
$CFSIZE,260165632,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190610,041407,2105.735,-15805.207,24,1.5,24,9.8