version: 66.07
glider: 500
mission: 4
dive: 113
start: 7 10 110 16 49 51
data:
$ID,500
$MISSION,4
$DIVE,113
$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,-111462.23
$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,56
$R_STBD_OVSHOOT,52
$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,112
$AR_SAMPLENUM,12
$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
$GPS1,100710,164254,2030.181,-15956.811,38,1.0,38,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.1
$GPS2,100710,164856,2030.238,-15956.892,11,1.0,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.054
$KALMAN_X,-6526.3,126.8,-547.9,13657.9,-1281.1
$KALMAN_Y,3065.2,312.3,89.8,695.1,538.0
$MHEAD_RNG_PITCHd_Wd,94.4,100601,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.97,0.000,2,0.000,0.000,140,2020,2676,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.3,-5.2,10,112,10.10,2.33,-14.73,0.000,4,0.232,0.053,2654,452,3302,0,0,0,0,0,0
$GC,186,-0.71,-116.8,19.4,-15.7,29,192,0.00,2.28,0.00,0.000,6,0.000,0.031,2646,2038,3303,0,0,0,0,0,0
$GC,391,-0.71,-116.8,46.7,-11.7,54,395,0.00,2.35,0.00,0.000,4,0.000,0.042,2632,3603,3306,0,0,0,0,0,0
$GC,429,-0.71,-116.8,50.8,-11.5,57,433,0.00,2.25,0.00,0.000,6,0.000,0.028,2633,2029,3305,0,0,0,0,0,0
$GC,695,-0.71,-116.8,83.0,-11.3,82,699,0.00,2.30,0.00,0.000,4,0.000,0.041,2632,452,3309,0,0,0,0,0,0
$GC,818,-0.71,-116.8,97.3,-11.4,93,823,0.12,2.25,0.00,0.000,6,0.144,0.031,2658,2030,3309,0,0,0,0,0,0
$GC,1078,-0.71,-116.8,121.4,-9.3,117,1082,0.00,2.30,0.00,0.000,4,0.000,0.042,2648,3608,3311,0,0,0,0,0,0
$GC,1133,-0.71,-116.8,126.7,-9.6,121,1139,0.00,2.28,0.00,0.000,6,0.000,0.027,2651,2029,3311,0,0,0,0,0,0
$GC,1394,-0.71,-116.8,149.3,-8.7,146,1398,0.00,2.33,0.00,0.000,4,0.000,0.041,2636,3613,3312,0,0,0,0,0,0
$GC,1459,-0.71,-116.8,155.8,-10.4,151,1465,0.00,2.28,0.00,0.000,6,0.000,0.028,2635,2031,3312,0,0,0,0,0,0
$GC,1720,-0.71,-116.8,180.8,-9.1,176,1724,0.00,2.30,0.00,0.000,4,0.000,0.041,2635,448,3312,0,0,0,0,0,0
$GC,1836,-0.71,-116.8,192.7,-10.1,186,1844,0.08,2.28,0.00,0.000,6,0.118,0.031,2655,2034,3311,0,0,0,0,0,0
$GC,2093,-0.71,-116.8,215.4,-8.8,203,2097,0.00,2.28,0.00,0.000,4,0.000,0.042,2644,3606,3312,0,0,0,0,0,0
$GC,2209,-0.71,-116.8,225.6,-8.4,208,2214,0.00,2.28,0.00,0.000,6,0.000,0.028,2644,2026,3311,0,0,0,0,0,0
$GC,2530,-0.71,-116.8,254.5,-9.2,224,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2026,3309,0,0,0,0,0,0
$GC,2840,-0.71,-116.8,283.0,-9.1,239,2844,0.00,2.28,0.00,0.000,4,0.000,0.044,2640,452,3308,0,0,0,0,0,0
$GC,2894,-0.71,-116.8,288.5,-9.9,241,2900,0.00,2.28,0.00,0.000,6,0.000,0.031,2632,2040,3308,0,0,0,0,0,0
$GC,3227,-0.71,-116.8,319.2,-9.0,253,3231,0.00,2.35,0.00,0.000,4,0.000,0.043,2632,450,3306,0,0,0,0,0,0
$GC,3303,-0.71,-116.8,326.6,-9.2,254,3310,0.10,2.28,0.00,0.000,6,0.114,0.031,2658,2033,3305,0,0,0,0,0,0
$GC,3635,-0.71,-116.8,349.0,-6.6,263,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3305,0,0,0,0,0,0
$GC,3960,-0.71,-116.8,373.0,-7.8,271,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3304,0,0,0,0,0,0
$GC,4285,-0.71,-116.8,397.3,-7.6,279,4289,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,451,3303,0,0,0,0,0,0
$GC,4345,-0.71,-116.8,402.6,-8.9,280,4350,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2029,3302,0,0,0,0,0,0
$GC,4694,-0.71,-116.8,431.3,-8.2,289,4698,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,3610,3301,0,0,0,0,0,0
$GC,4734,-0.71,-116.8,434.7,-8.9,290,4738,0.00,2.25,0.00,0.000,6,0.000,0.030,2635,2025,3301,0,0,0,0,0,0
$GC,5057,-0.71,-116.8,461.5,-8.1,298,5061,0.00,2.28,0.00,0.000,4,0.000,0.044,2633,459,3300,0,0,0,0,0,0
$GC,5185,-0.71,-116.8,472.8,-8.6,301,5190,0.12,2.22,0.00,0.000,6,0.142,0.032,2663,2033,3299,0,0,0,0,0,0
$GC,5508,-0.71,-116.8,493.0,-6.1,309,5512,0.00,2.33,0.00,0.000,4,0.000,0.044,2652,3611,3298,0,0,0,0,0,0
$GC,5568,-0.71,-116.8,497.0,-6.6,310,5572,0.00,2.30,0.00,0.000,6,0.000,0.031,2652,2039,3300,0,0,0,0,0,0
$GC,5881,-0.71,-116.8,517.9,-6.7,318,5885,0.00,2.33,0.00,0.000,4,0.000,0.045,2652,446,3297,0,0,0,0,0,0
$GC,5929,-0.71,-116.8,521.7,-8.1,319,5934,0.00,2.30,0.00,0.000,6,0.000,0.033,2641,2035,3297,0,0,0,0,0,0
$GC,6248,-0.71,-116.8,545.5,-7.4,327,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2035,3296,0,0,0,0,0,0
$GC,6573,-0.71,-116.8,569.4,-7.3,335,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2035,3296,0,0,0,0,0,0
$GC,6898,-0.71,-116.8,593.6,-7.3,343,6902,0.00,2.35,0.00,0.000,4,0.000,0.045,2641,448,3295,0,0,0,0,0,0
$GC,6930,-0.71,-116.8,596.2,-8.4,343,6936,0.08,2.30,0.00,0.000,6,0.120,0.033,2659,2037,3294,0,0,0,0,0,0
$GC,7261,-0.71,-116.8,616.9,-6.1,352,7265,0.00,2.35,0.00,0.000,4,0.000,0.046,2648,3608,3294,0,0,0,0,0,0
$GC,7315,-0.71,-116.8,620.4,-6.8,353,7320,0.00,2.33,0.00,0.000,6,0.000,0.031,2649,2019,3294,0,0,0,0,0,0
$GC,7628,-0.71,-116.8,639.3,-5.8,361,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2014,3292,0,0,0,0,0,0
$GC,7953,-0.71,-116.8,657.5,-5.7,369,7957,0.00,2.33,0.00,0.000,4,0.000,0.046,2648,450,3293,0,0,0,0,0,0
$GC,8008,-0.71,-116.8,661.3,-7.2,370,8013,0.00,2.30,0.00,0.000,6,0.000,0.033,2637,2041,3293,0,0,0,0,0,0
$GC,8321,-0.71,-116.8,681.4,-6.5,378,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2041,3292,0,0,0,0,0,0
$GC,8646,-0.71,-116.8,704.7,-7.4,386,8650,0.00,2.38,0.00,0.000,4,0.000,0.046,2637,458,3290,0,0,0,0,0,0
$GC,8730,-0.71,-116.8,711.9,-8.7,388,8735,0.12,2.25,0.00,0.000,6,0.145,0.034,2660,2044,3292,0,0,0,0,0,0
$GC,9053,-0.71,-116.8,733.2,-6.4,396,9057,0.00,2.33,0.00,0.000,4,0.000,0.047,2653,3600,3290,0,0,0,0,0,0
$GC,9090,-0.71,-116.8,735.7,-7.3,396,9097,0.00,2.30,0.00,0.000,6,0.000,0.032,2653,2033,3293,0,0,0,0,0,0
$GC,9421,-0.71,-116.8,756.1,-6.0,405,9426,0.00,2.33,0.00,0.000,4,0.000,0.046,2653,454,3292,0,0,0,0,0,0
$GC,9470,-0.71,-116.8,759.3,-6.6,406,9475,0.00,2.28,0.00,0.000,6,0.000,0.034,2642,2014,3292,0,0,0,0,0,0
$GC,9789,-0.71,-116.8,778.8,-6.2,414,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2014,3292,0,0,0,0,0,0
$GC,10114,-0.71,-116.8,798.9,-6.0,422,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2014,3292,0,0,0,0,0,0
$GC,10439,-0.71,-116.8,818.4,-6.1,430,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2014,3292,0,0,0,0,0,0
$GC,10764,-0.71,-116.8,838.9,-6.4,438,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2014,3292,0,0,0,0,0,0
$GC,11089,-0.71,-116.8,860.9,-7.0,446,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2014,3292,0,0,0,0,0,0
$GC,11414,-0.71,-116.8,883.1,-6.8,454,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2014,3295,0,0,0,0,0,0
$GC,11739,-0.71,-116.8,904.5,-6.5,462,11743,0.00,2.38,0.00,0.000,4,0.000,0.048,2631,3611,3292,0,0,0,0,0,0
$GC,11783,-0.71,-116.8,907.6,-7.3,463,11787,0.00,2.33,0.00,0.000,6,0.000,0.032,2630,2028,3292,0,0,0,0,0,0
$GC,12107,-0.71,-116.8,928.8,-6.5,471,12109,0.10,0.00,0.00,0.000,6,0.152,0.000,2662,2028,3293,0,0,0,0,0,0
$GC,12432,-0.71,-116.8,946.2,-5.2,479,12436,0.00,2.33,0.00,0.000,4,0.000,0.048,2658,458,3290,0,0,0,0,0,0
$GC,12486,-0.71,-116.8,949.4,-5.6,480,12491,0.00,2.30,0.00,0.000,6,0.000,0.035,2652,2032,3293,0,0,0,0,0,0
$GC,12799,-0.71,-116.8,967.3,-5.9,488,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2032,3293,0,0,0,0,0,0
$GC,13125,-0.71,-116.8,986.6,-6.0,496,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2032,3293,0,0,0,0,0,0
$STATE,13204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13204,begin apogee
$GC,13207,-0.23,0.0,991.7,6.2,498,13312,0.50,0.00,101.22,1.302,6,0.108,0.000,2820,2030,2822,0,0,0,0,0,0
$STATE,13314,end apogee,CONTROL_FINISHED_OK
$STATE,13314,begin climb
$GC,13316,0.71,116.8,993.8,0.0,500,13439,0.80,2.67,110.93,1.266,4,0.059,0.046,3122,3607,2344,0,0,0,0,0,0
$GC,13477,0.71,116.8,982.7,14.1,503,13484,0.00,2.53,0.00,0.000,6,0.000,0.035,3133,2035,2337,0,0,0,0,0,0
$GC,13808,0.71,116.8,939.1,13.3,512,13812,0.00,2.45,0.00,0.000,4,0.000,0.049,3146,451,2329,0,0,0,0,0,0
$GC,13852,0.71,116.8,933.0,14.3,513,13856,0.00,2.38,0.00,0.000,6,0.000,0.035,3147,2022,2328,0,0,0,0,0,0
$GC,14176,0.71,116.8,887.6,14.1,521,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2023,2326,0,0,0,0,0,0
$GC,14501,0.71,116.8,844.7,13.4,529,14505,0.00,2.40,0.00,0.000,4,0.000,0.050,3158,455,2325,0,0,0,0,0,0
$GC,14560,0.71,116.8,836.5,13.8,530,14566,0.10,2.35,0.00,0.000,6,0.140,0.035,3125,2038,2325,0,0,0,0,0,0
$GC,14908,0.71,116.8,797.3,11.1,539,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2038,2324,0,0,0,0,0,0
$GC,15233,0.71,116.8,762.5,10.5,547,15237,0.00,2.38,0.00,0.000,4,0.000,0.048,3136,454,2323,0,0,0,0,0,0
$GC,15265,0.71,116.8,758.7,11.6,547,15271,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,2031,2321,0,0,0,0,0,0
$GC,15596,0.71,116.8,720.1,12.0,556,15600,0.00,2.38,0.00,0.000,4,0.000,0.049,3148,455,2323,0,0,0,0,0,0
$GC,15655,0.71,116.8,712.2,13.4,557,15661,0.08,2.33,0.00,0.000,6,0.143,0.035,3122,2034,2322,0,0,0,0,0,0
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$STATE,22683,end climb,SURFACE_DEPTH_REACHED
$STATE,22684,begin surface coast
$FINISH,0.7,1.011826
$STATE,22719,end surface coast,CONTROL_FINISHED_OK
$STATE,22719,begin surface
$SM_CCo,22800,78.07,0.077,0,0,1293,375.06
$SM_GC,1.35,0.00,0.00,78.07,0.000,0.000,0.077,129,2028,1293,-8.63,-0.08,375.06
$IRIDIUM_FIX,2022.56,-15955.71,030112,040404
$TT8_MAMPS,0.057525
$HUMID,1078470313
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,23.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,120.4,9.6
$24V_AH,22.7,13.133
$10V_AH,9.7,16.658
$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,20.500,186.050,299.325,78.075,0.000,28.837,29.208,192.870,3.750,0.000,13.074,1815.070,18251.369,555.643,2454.141,176.876,32.356,1716.614,0.000,2067.866,0.000,17.857,0.000
$DEVICE_MAMPS,231.634,52.923,1302.366,76.700,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,646.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334036
$DATA_FILE_SIZE,33409,942
$CAP_FILE_SIZE,179569,0
$CFSIZE,260165632,248840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100710,231237,2030.901,-15955.172,27,1.3,27,9.6