version: 66.07
glider: 500
mission: 4
dive: 111
start: 7 10 110 3 50 25
data:
$ID,500
$MISSION,4
$DIVE,111
$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,-111436.59
$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,62
$R_STBD_OVSHOOT,44
$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,110
$AR_SAMPLENUM,11
$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
$GPS1,100710,034336,2027.883,-15959.556,23,1.3,23,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.0
$GPS2,100710,034932,2027.991,-15959.608,11,1.3,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.019
$KALMAN_X,-767.7,-767.7,-767.7,4362.3,3378.9
$KALMAN_Y,178.5,178.5,178.5,-541.1,-785.7
$MHEAD_RNG_PITCHd_Wd,85.2,104568,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-50.67,0.000,2,0.000,0.000,125,2017,2646,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.3,-5.9,10,114,10.15,2.33,-15.57,0.000,4,0.233,0.054,2646,461,3300,0,0,0,0,0,0
$GC,176,-0.71,-116.8,18.3,-17.7,27,181,0.00,2.30,0.00,0.000,6,0.000,0.034,2639,2047,3302,0,0,0,0,0,0
$GC,381,-0.71,-116.8,52.2,-13.5,52,385,0.00,2.33,0.00,0.000,4,0.000,0.043,2628,3609,3304,0,0,0,0,0,0
$GC,515,-0.71,-116.8,66.3,-9.8,64,520,0.12,2.25,0.00,0.000,6,0.134,0.028,2666,2033,3307,0,0,0,0,0,0
$GC,775,-0.71,-116.8,87.8,-8.2,88,779,0.00,2.33,0.00,0.000,4,0.000,0.042,2656,3622,3308,0,0,0,0,0,0
$GC,806,-0.71,-116.8,90.9,-9.9,90,813,0.00,2.30,0.00,0.000,6,0.000,0.028,2655,2037,3309,0,0,0,0,0,0
$GC,1067,-0.71,-116.8,118.0,-10.4,115,1071,0.00,2.33,0.00,0.000,4,0.000,0.043,2656,450,3309,0,0,0,0,0,0
$GC,1140,-0.71,-116.8,126.1,-11.5,121,1145,0.00,2.25,0.00,0.000,6,0.000,0.031,2644,2042,3309,0,0,0,0,0,0
$GC,1401,-0.71,-116.8,152.9,-10.3,145,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2042,3310,0,0,0,0,0,0
$GC,1655,-0.71,-116.8,177.1,-9.5,169,1659,0.00,2.28,0.00,0.000,4,0.000,0.042,2632,3610,3310,0,0,0,0,0,0
$GC,1694,-0.71,-116.8,180.7,-9.5,172,1698,0.00,2.25,0.00,0.000,6,0.000,0.029,2632,2014,3310,0,0,0,0,0,0
$GC,1952,-0.71,-116.8,206.1,-9.8,193,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2011,3310,0,0,0,0,0,0
$GC,2261,-0.71,-116.8,235.5,-9.3,208,2265,0.00,2.25,0.00,0.000,4,0.000,0.042,2632,455,3309,0,0,0,0,0,0
$GC,2305,-0.71,-116.8,239.8,-9.9,210,2310,0.10,2.25,0.00,0.000,6,0.113,0.031,2658,2018,3309,0,0,0,0,0,0
$GC,2631,-0.71,-116.8,264.5,-7.7,226,2635,0.00,2.30,0.00,0.000,4,0.000,0.043,2648,3609,3307,0,0,0,0,0,0
$GC,2708,-0.71,-116.8,270.7,-8.0,229,2714,0.00,2.28,0.00,0.000,6,0.000,0.028,2648,2031,3307,0,0,0,0,0,0
$GC,3023,-0.71,-116.8,296.9,-8.3,245,3027,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,448,3308,0,0,0,0,0,0
$GC,3078,-0.71,-116.8,302.2,-9.2,247,3083,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2030,3305,0,0,0,0,0,0
$GC,3397,-0.71,-116.8,329.6,-8.4,255,3401,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,447,3304,0,0,0,0,0,0
$GC,3435,-0.71,-116.8,332.9,-8.9,256,3440,0.12,2.25,0.00,0.000,6,0.143,0.032,2663,2032,3304,0,0,0,0,0,0
$GC,3759,-0.71,-116.8,354.6,-6.7,264,3763,0.00,2.35,0.00,0.000,4,0.000,0.044,2649,3614,3302,0,0,0,0,0,0
$GC,3802,-0.71,-116.8,357.8,-7.4,265,3807,0.00,2.30,0.00,0.000,6,0.000,0.031,2657,2026,3302,0,0,0,0,0,0
$GC,4126,-0.71,-116.8,383.9,-8.3,273,4130,0.00,2.30,0.00,0.000,4,0.000,0.044,2652,454,3300,0,0,0,0,0,0
$GC,4158,-0.71,-116.8,386.8,-8.9,273,4165,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2037,3299,0,0,0,0,0,0
$GC,4490,-0.71,-116.8,413.2,-7.7,282,4494,0.00,2.30,0.00,0.000,4,0.000,0.044,2629,3606,3297,0,0,0,0,0,0
$GC,4522,-0.71,-116.8,415.9,-8.3,282,4528,0.05,2.30,0.00,0.000,6,0.117,0.031,2661,2025,3297,0,0,0,0,0,0
$GC,4853,-0.71,-116.8,439.4,-7.0,291,4856,0.00,2.30,0.00,0.000,4,0.000,0.044,2662,447,3296,0,0,0,0,0,0
$GC,4942,-0.71,-116.8,446.3,-8.1,293,4947,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2045,3296,0,0,0,0,0,0
$GC,5266,-0.71,-116.8,468.5,-6.7,301,5270,0.00,2.30,0.00,0.000,4,0.000,0.045,2640,3604,3295,0,0,0,0,0,0
$GC,5303,-0.71,-116.8,471.1,-7.0,301,5310,0.00,2.30,0.00,0.000,6,0.000,0.031,2640,2025,3295,0,0,0,0,0,0
$GC,5635,-0.71,-116.8,493.8,-6.9,310,5639,0.00,2.33,0.00,0.000,4,0.000,0.045,2640,450,3292,0,0,0,0,0,0
$GC,5712,-0.71,-116.8,499.8,-8.0,311,5718,0.08,2.28,0.00,0.000,6,0.122,0.033,2674,2022,3292,0,0,0,0,0,0
$GC,6043,-0.71,-116.8,517.5,-5.1,320,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2022,3294,0,0,0,0,0,0
$GC,6367,-0.71,-116.8,534.2,-5.1,328,6372,0.00,2.33,0.00,0.000,4,0.000,0.046,2677,451,3289,0,0,0,0,0,0
$GC,6394,-0.71,-116.8,535.9,-6.8,328,6399,0.00,2.30,0.00,0.000,6,0.000,0.033,2664,2036,3289,0,0,0,0,0,0
$GC,6731,-0.71,-116.8,555.1,-6.0,337,6735,0.00,2.35,0.00,0.000,4,0.000,0.046,2664,450,3286,0,0,0,0,0,0
$GC,6770,-0.71,-116.8,557.9,-7.7,338,6774,0.00,2.28,0.00,0.000,6,0.000,0.034,2653,2039,3288,0,0,0,0,0,0
$GC,7093,-0.71,-116.8,580.3,-6.9,346,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2039,3286,0,0,0,0,0,0
$GC,7418,-0.71,-116.8,602.1,-6.6,354,7422,0.00,2.30,0.00,0.000,4,0.000,0.046,2637,3609,3285,0,0,0,0,0,0
$GC,7495,-0.71,-116.8,607.5,-7.2,355,7499,0.00,2.30,0.00,0.000,6,0.000,0.031,2641,2034,3285,0,0,0,0,0,0
$GC,7831,-0.71,-116.8,631.9,-7.5,364,7835,0.00,2.35,0.00,0.000,4,0.000,0.046,2641,447,3284,0,0,0,0,0,0
$GC,7965,-0.71,-116.8,643.6,-8.8,367,7970,0.10,2.30,0.00,0.000,6,0.156,0.034,2659,2061,3283,0,0,0,0,0,0
$GC,8288,-0.71,-116.8,664.1,-6.0,375,8293,0.00,2.40,0.00,0.000,4,0.000,0.045,2659,447,3282,0,0,0,0,0,0
$GC,8338,-0.71,-116.8,667.2,-6.3,376,8342,0.00,2.33,0.00,0.000,6,0.000,0.034,2649,2048,3283,0,0,0,0,0,0
$GC,8656,-0.71,-116.8,685.5,-5.6,384,8660,0.00,2.38,0.00,0.000,4,0.000,0.046,2650,449,3282,0,0,0,0,0,0
$GC,8704,-0.71,-116.8,688.5,-6.4,385,8709,0.00,2.30,0.00,0.000,6,0.000,0.034,2644,2036,3281,0,0,0,0,0,0
$GC,9023,-0.71,-116.8,706.7,-5.7,393,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2035,3280,0,0,0,0,0,0
$GC,9348,-0.71,-116.8,725.8,-6.0,401,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3281,0,0,0,0,0,0
$GC,9673,-0.71,-116.8,746.5,-6.6,409,9677,0.00,2.33,0.00,0.000,4,0.000,0.047,2626,3606,3282,0,0,0,0,0,0
$GC,9710,-0.71,-116.8,749.2,-7.5,409,9717,0.08,2.30,0.00,0.000,6,0.110,0.031,2666,2035,3280,0,0,0,0,0,0
$GC,10041,-0.71,-116.8,768.0,-5.6,418,10046,0.00,2.35,0.00,0.000,4,0.000,0.047,2666,452,3278,0,0,0,0,0,0
$GC,10102,-0.71,-116.8,772.2,-7.3,419,10106,0.00,2.30,0.00,0.000,6,0.000,0.034,2657,2035,3279,0,0,0,0,0,0
$GC,10450,-0.71,-116.8,794.6,-6.6,428,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2035,3278,0,0,0,0,0,0
$GC,10775,-0.71,-116.8,816.4,-6.7,436,10779,0.00,2.33,0.00,0.000,4,0.000,0.047,2656,454,3277,0,0,0,0,0,0
$GC,10806,-0.71,-116.8,818.9,-8.2,436,10813,0.00,2.30,0.00,0.000,6,0.000,0.034,2647,2027,3277,0,0,0,0,0,0
$GC,11138,-0.71,-116.8,841.3,-6.7,445,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3277,0,0,0,0,0,0
$GC,11462,-0.71,-116.8,860.9,-5.8,453,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3276,0,0,0,0,0,0
$GC,11787,-0.71,-116.8,877.6,-5.0,461,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3276,0,0,0,0,0,0
$GC,12112,-0.71,-116.8,893.9,-5.0,469,12116,0.00,2.33,0.00,0.000,4,0.000,0.048,2646,456,3276,0,0,0,0,0,0
$GC,12153,-0.71,-116.8,896.1,-5.2,470,12157,0.00,2.30,0.00,0.000,6,0.000,0.035,2635,2046,3275,0,0,0,0,0,0
$GC,12476,-0.71,-116.8,913.9,-5.6,478,12480,0.00,2.38,0.00,0.000,4,0.000,0.047,2635,445,3275,0,0,0,0,0,0
$GC,12508,-0.71,-116.8,916.0,-7.1,478,12514,0.12,2.28,0.00,0.000,6,0.145,0.035,2662,2036,3275,0,0,0,0,0,0
$GC,12838,-0.71,-116.8,932.4,-5.1,487,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2036,3275,0,0,0,0,0,0
$GC,13163,-0.71,-116.8,949.2,-5.3,495,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2036,3275,0,0,0,0,0,0
$GC,13488,-0.71,-116.8,966.9,-5.5,503,13492,0.00,2.35,0.00,0.000,4,0.000,0.048,2661,454,3275,0,0,0,0,0,0
$STATE,13508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13508,begin apogee
$GC,13514,-0.23,0.0,968.3,6.9,503,13614,0.45,0.00,96.78,1.287,6,0.114,0.000,2805,2028,2823,0,0,0,0,0,0
$STATE,13661,end apogee,CONTROL_FINISHED_OK
$STATE,13661,begin climb
$GC,13663,0.71,116.8,970.6,0.0,506,13777,0.85,0.00,110.50,1.254,6,0.069,0.000,3119,2032,2345,0,0,0,0,0,0
$GC,14074,0.71,116.8,927.7,12.6,517,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2032,2330,0,0,0,0,0,0
$GC,14398,0.71,116.8,887.1,12.3,525,14402,0.00,2.40,0.00,0.000,4,0.000,0.049,3130,456,2327,0,0,0,0,0,0
$GC,14469,0.71,116.8,877.6,13.0,526,14473,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,2021,2326,0,0,0,0,0,0
$GC,14805,0.71,116.8,832.0,13.6,535,14806,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2021,2325,0,0,0,0,0,0
$GC,15130,0.71,116.8,787.5,13.8,543,15134,0.00,2.38,0.00,0.000,4,0.000,0.051,3142,450,2324,0,0,0,0,0,0
$GC,15173,0.71,116.8,781.3,13.0,544,15178,0.00,2.38,0.00,0.000,6,0.000,0.035,3142,2046,2322,0,0,0,0,0,0
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$STATE,22680,end climb,SURFACE_DEPTH_REACHED
$STATE,22680,begin surface coast
$FINISH,0.9,1.023385
$STATE,22714,end surface coast,CONTROL_FINISHED_OK
$STATE,22714,begin surface
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$TT8_MAMPS,0.059826
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$TCM_TEMP,22.60
$XPDR_PINGS,1
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$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8439267328
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54414213120
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,12.904
$10V_AH,9.8,16.438
$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
$DEVICE_SECS,20.525,204.200,286.425,93.650,0.000,25.497,28.916,191.818,3.000,0.000,12.916,1830.864,18192.637,572.840,2423.516,181.277,30.193,1728.492,0.000,2061.171,0.000,20.678,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.995,0.000,0.000
$MEM,334036
$DATA_FILE_SIZE,33417,938
$CAP_FILE_SIZE,183855,0
$CFSIZE,260165632,248983552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100710,101236,2028.796,-15958.088,33,1.4,39,9.6