version: 66.07
glider: 500
mission: 4
dive: 63
start: 6 28 110 0 22 57
data:
$ID,500
$MISSION,4
$DIVE,63
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$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,388
$T_MISSION,450
$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,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,-110706.53
$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,2890
$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,51
$R_STBD_OVSHOOT,43
$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,62
$AR_SAMPLENUM,10
$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
$GPS1,280610,001131,2033.895,-15845.583,41,1.2,41,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.2
$GPS2,280610,002201,2034.024,-15845.718,10,1.0,10,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.094,-0.202
$KALMAN_X,-78654.6,-78.4,324.5,-6842.6,-2950.0
$KALMAN_Y,109529.8,-373.5,-386.1,-177655.7,4943.9
$MHEAD_RNG_PITCHd_Wd,195.2,76854,-17.0,-8.505
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.12,0.000,2,0.000,0.000,147,2018,2705,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.4,-6.4,10,113,10.12,2.38,-13.68,0.000,4,0.237,0.058,2656,458,3299,0,0,0,0,0,0
$GC,247,-0.71,-116.8,33.3,-19.1,39,252,0.00,2.30,0.00,0.000,6,0.000,0.034,2646,2030,3300,0,0,0,0,0,0
$GC,513,-0.71,-116.8,79.7,-16.5,64,520,0.00,2.38,0.00,0.000,4,0.000,0.044,2634,3622,3301,0,0,0,0,0,0
$GC,575,-0.71,-116.8,89.1,-14.5,69,582,0.00,2.33,0.00,0.000,6,0.000,0.031,2634,2022,3302,0,0,0,0,0,0
$GC,836,-0.71,-116.8,125.9,-13.0,94,840,0.00,2.25,0.00,0.000,4,0.000,0.043,2639,458,3303,0,0,0,0,0,0
$GC,913,-0.71,-116.8,136.6,-14.4,100,920,0.10,2.28,0.00,0.000,6,0.126,0.032,2658,2038,3301,0,0,0,0,0,0
$GC,1174,-0.71,-116.8,162.8,-10.8,125,1178,0.00,2.30,0.00,0.000,4,0.000,0.043,2655,447,3304,0,0,0,0,0,0
$GC,1206,-0.71,-116.8,166.4,-10.9,127,1213,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2034,3304,0,0,0,0,0,0
$GC,1467,-0.71,-116.8,193.9,-10.7,152,1471,0.00,2.28,0.00,0.000,4,0.000,0.043,2647,458,3305,0,0,0,0,0,0
$GC,1522,-0.71,-116.8,200.6,-12.3,156,1528,0.00,2.25,0.00,0.000,6,0.000,0.032,2637,2026,3305,0,0,0,0,0,0
$GC,1775,-0.71,-116.8,230.6,-12.0,169,1780,0.00,2.35,0.00,0.000,4,0.000,0.044,2624,3616,3306,0,0,0,0,0,0
$GC,1796,-0.71,-116.8,233.2,-11.3,170,1802,0.08,2.28,0.00,0.000,6,0.116,0.030,2655,2034,3306,0,0,0,0,0,0
$GC,2123,-0.71,-116.8,263.2,-9.4,186,2127,0.00,2.28,0.00,0.000,4,0.000,0.044,2655,445,3306,0,0,0,0,0,0
$GC,2161,-0.71,-116.8,267.5,-12.0,188,2165,0.00,2.25,0.00,0.000,6,0.000,0.034,2644,2046,3305,0,0,0,0,0,0
$GC,2512,-0.71,-116.8,305.6,-10.7,204,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2046,3306,0,0,0,0,0,0
$GC,2837,-0.71,-116.8,338.6,-9.9,212,2841,0.00,2.33,0.00,0.000,4,0.000,0.044,2645,451,3305,0,0,0,0,0,0
$GC,2886,-0.71,-116.8,343.8,-9.9,213,2891,0.00,2.28,0.00,0.000,6,0.000,0.033,2633,2029,3305,0,0,0,0,0,0
$GC,3205,-0.71,-116.8,374.6,-9.8,221,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2029,3303,0,0,0,0,0,0
$GC,3530,-0.71,-116.8,405.5,-9.4,229,3534,0.00,2.33,0.00,0.000,4,0.000,0.046,2633,455,3301,0,0,0,0,0,0
$GC,3619,-0.71,-116.8,414.8,-10.7,231,3624,0.12,2.22,0.00,0.000,6,0.149,0.035,2659,2033,3301,0,0,0,0,0,0
$GC,3942,-0.71,-116.8,438.3,-7.0,239,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2033,3298,0,0,0,0,0,0
$GC,4267,-0.71,-116.8,461.3,-7.1,247,4271,0.00,2.35,0.00,0.000,4,0.000,0.047,2648,3611,3297,0,0,0,0,0,0
$GC,4299,-0.71,-116.8,463.8,-7.8,247,4306,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2039,3296,0,0,0,0,0,0
$GC,4630,-0.71,-116.8,487.6,-6.8,256,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2039,3295,0,0,0,0,0,0
$GC,4955,-0.71,-116.8,507.6,-5.8,264,4959,0.00,2.38,0.00,0.000,4,0.000,0.049,2648,440,3293,0,0,0,0,0,0
$GC,4982,-0.71,-116.8,509.5,-7.0,264,4986,0.00,2.30,0.00,0.000,6,0.000,0.036,2637,2027,3293,0,0,0,0,0,0
$GC,5324,-0.71,-116.8,534.8,-7.7,273,5328,0.00,2.33,0.00,0.000,4,0.000,0.048,2639,454,3290,0,0,0,0,0,0
$GC,5401,-0.71,-116.8,542.1,-9.6,274,5409,0.08,2.30,0.00,0.000,6,0.123,0.035,2654,2035,3290,0,0,0,0,0,0
$GC,5733,-0.71,-116.8,569.2,-8.4,283,5737,0.00,2.33,0.00,0.000,4,0.000,0.048,2644,3606,3288,0,0,0,0,0,0
$GC,5760,-0.71,-116.8,571.6,-9.1,283,5764,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2024,3288,0,0,0,0,0,0
$GC,6090,-0.71,-116.8,600.3,-8.5,291,6094,0.00,2.30,0.00,0.000,4,0.000,0.049,2644,455,3286,0,0,0,0,0,0
$GC,6122,-0.71,-116.8,603.4,-10.0,291,6126,0.00,2.30,0.00,0.000,6,0.000,0.036,2632,2037,3286,0,0,0,0,0,0
$GC,6459,-0.71,-116.8,631.7,-8.1,300,6463,0.00,2.33,0.00,0.000,4,0.000,0.048,2621,3605,3285,0,0,0,0,0,0
$GC,6525,-0.71,-116.8,637.1,-8.1,301,6530,0.08,2.30,0.00,0.000,6,0.116,0.035,2664,2030,3284,0,0,0,0,0,0
$GC,6867,-0.71,-116.8,655.9,-5.3,310,6871,0.00,2.33,0.00,0.000,4,0.000,0.049,2665,446,3283,0,0,0,0,0,0
$GC,6943,-0.71,-116.8,660.8,-6.3,311,6950,0.00,2.30,0.00,0.000,6,0.000,0.036,2658,2024,3282,0,0,0,0,0,0
$GC,7275,-0.71,-116.8,680.9,-6.0,320,7279,0.00,2.35,0.00,0.000,4,0.000,0.049,2643,3618,3282,0,0,0,0,0,0
$GC,7306,-0.71,-116.8,683.1,-6.9,320,7313,0.00,2.33,0.00,0.000,6,0.000,0.035,2646,2029,3281,0,0,0,0,0,0
$GC,7638,-0.71,-116.8,704.0,-6.2,329,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2029,3280,0,0,0,0,0,0
$GC,7963,-0.71,-116.8,724.1,-6.3,337,7967,0.00,2.33,0.00,0.000,4,0.000,0.050,2646,453,3279,0,0,0,0,0,0
$GC,8040,-0.71,-116.8,729.9,-7.7,338,8045,0.00,2.33,0.00,0.000,6,0.000,0.037,2636,2046,3278,0,0,0,0,0,0
$GC,8377,-0.71,-116.8,754.0,-7.2,347,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2046,3277,0,0,0,0,0,0
$GC,8702,-0.71,-116.8,776.9,-7.0,355,8706,0.00,2.33,0.00,0.000,4,0.000,0.050,2622,3607,3276,0,0,0,0,0,0
$GC,8728,-0.71,-116.8,778.9,-8.3,355,8733,0.10,2.33,0.00,0.000,6,0.110,0.035,2661,2018,3276,0,0,0,0,0,0
$GC,9064,-0.71,-116.8,798.3,-5.6,364,9068,0.00,2.33,0.00,0.000,4,0.000,0.051,2661,454,3275,0,0,0,0,0,0
$GC,9113,-0.71,-116.8,801.4,-6.5,365,9117,0.00,2.30,0.00,0.000,6,0.000,0.037,2649,2019,3275,0,0,0,0,0,0
$GC,9431,-0.71,-116.8,819.0,-5.4,373,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2020,3273,0,0,0,0,0,0
$GC,9756,-0.71,-116.8,835.4,-4.9,381,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2020,3274,0,0,0,0,0,0
$GC,10081,-0.71,-116.8,851.4,-4.9,389,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2020,3277,0,0,0,0,0,0
$GC,10406,-0.71,-116.8,867.8,-5.1,397,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2020,3273,0,0,0,0,0,0
$GC,10731,-0.71,-116.8,884.9,-5.3,405,10735,0.00,2.33,0.00,0.000,4,0.000,0.051,2651,454,3275,0,0,0,0,0,0
$GC,10791,-0.71,-116.8,888.6,-6.7,406,10795,0.00,2.33,0.00,0.000,6,0.000,0.038,2640,2039,3272,0,0,0,0,0,0
$GC,11139,-0.71,-116.8,908.9,-5.8,415,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2040,3271,0,0,0,0,0,0
$GC,11463,-0.71,-116.8,928.3,-6.0,423,11468,0.00,2.35,0.00,0.000,4,0.000,0.051,2640,454,3274,0,0,0,0,0,0
$GC,11513,-0.71,-116.8,931.6,-7.3,424,11518,0.08,2.33,0.00,0.000,6,0.126,0.038,2657,2035,3270,0,0,0,0,0,0
$GC,11831,-0.71,-116.8,948.5,-5.2,432,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2035,3270,0,0,0,0,0,0
$GC,12156,-0.71,-116.8,965.0,-5.0,440,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2040,3271,0,0,0,0,0,0
$GC,12481,-0.71,-116.8,979.5,-4.4,448,12485,0.00,2.38,0.00,0.000,4,0.000,0.051,2646,3616,3270,0,0,0,0,0,0
$GC,12508,-0.71,-116.8,980.8,-4.9,448,12512,0.00,2.33,0.00,0.000,6,0.000,0.037,2646,2039,3268,0,0,0,0,0,0
$STATE,12721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12721,begin apogee
$GC,12725,-0.23,0.0,990.8,4.6,454,12823,0.50,0.00,95.95,1.304,6,0.115,0.000,2812,2037,2822,0,0,0,0,0,0
$STATE,12826,end apogee,CONTROL_FINISHED_OK
$STATE,12826,begin climb
$GC,12828,0.71,116.8,991.5,0.0,456,12950,0.85,2.65,110.12,1.263,4,0.071,0.050,3120,3602,2344,0,0,0,0,0,0
$GC,12982,0.71,116.8,977.7,14.1,459,12987,0.00,2.50,0.00,0.000,6,0.000,0.038,3131,2037,2340,0,0,0,0,0,0
$GC,13319,0.71,116.8,929.2,14.3,468,13323,0.00,2.45,0.00,0.000,4,0.000,0.051,3143,435,2329,0,0,0,0,0,0
$GC,13345,0.71,116.8,925.2,13.9,468,13350,0.00,2.40,0.00,0.000,6,0.000,0.038,3143,2017,2328,0,0,0,0,0,0
$GC,13682,0.71,116.8,879.1,13.5,477,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2021,2326,0,0,0,0,0,0
$GC,14007,0.71,116.8,836.0,13.1,485,14011,0.00,2.40,0.00,0.000,4,0.000,0.052,3156,440,2328,0,0,0,0,0,0
$GC,14078,0.71,116.8,825.6,14.6,486,14084,0.10,2.40,0.00,0.000,6,0.147,0.038,3124,2043,2324,0,0,0,0,0,0
$GC,14420,0.71,116.8,781.9,13.0,495,14424,0.00,2.38,0.00,0.000,4,0.000,0.050,3123,3611,2325,0,0,0,0,0,0
$GC,14464,0.71,116.8,775.7,14.7,496,14469,0.00,2.38,0.00,0.000,6,0.000,0.038,3134,2026,2324,0,0,0,0,0,0
$GC,14788,0.71,116.8,732.1,13.4,504,14792,0.00,2.35,0.00,0.000,4,0.000,0.051,3146,459,2324,0,0,0,0,0,0
$GC,14813,0.71,116.8,728.5,13.3,504,14818,0.00,2.35,0.00,0.000,6,0.000,0.038,3148,2038,2324,0,0,0,0,0,0
$GC,15150,0.71,116.8,684.0,13.2,513,15155,0.00,2.40,0.00,0.000,4,0.000,0.052,3158,460,2324,0,0,0,0,0,0
$GC,15199,0.71,116.8,676.9,13.3,514,15205,0.10,2.33,0.00,0.000,6,0.150,0.038,3126,2026,2323,0,0,0,0,0,0
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$STATE,22015,end climb,SURFACE_DEPTH_REACHED
$STATE,22015,begin surface coast
$FINISH,0.7,1.023016
$STATE,22044,end surface coast,CONTROL_FINISHED_OK
$STATE,22044,begin surface
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$IRIDIUM_FIX,2027.17,-15840.56,211211,121207
$TT8_MAMPS,0.059059
$HUMID,1078355474
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$TCM_TEMP,24.20
$XPDR_PINGS,20
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$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8443920384
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55285317632
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,7.215
$10V_AH,9.8,9.696
$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
$DEVICE_SECS,20.550,205.775,279.250,100.625,0.000,28.457,35.409,402.229,7.500,0.000,12.094,1750.386,17769.154,573.442,2530.764,174.400,33.360,1699.206,0.000,1964.694,0.000,18.326,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.655,0.000,0.000
$MEM,334988
$DATA_FILE_SIZE,30055,891
$CAP_FILE_SIZE,184164,0
$CFSIZE,260165632,253050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280610,063336,2033.391,-15848.989,23,1.5,23,9.7