version: 66.07
glider: 500
mission: 4
dive: 126
start: 7 14 110 6 52 15
data:
$ID,500
$MISSION,4
$DIVE,126
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111648.29
$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,55
$R_STBD_OVSHOOT,47
$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,0
$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,125
$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
$GPS1,140710,063507,2030.229,-15952.044,37,0.9,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.1
$GPS2,140710,065120,2030.559,-15952.115,12,0.9,12,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.138,-0.174
$KALMAN_X,-45173.6,24.0,285.1,59845.0,-3366.4
$KALMAN_Y,50651.6,74.7,-460.1,-45499.5,4291.7
$MHEAD_RNG_PITCHd_Wd,132.0,23132,-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,-51.35,0.000,2,0.000,0.000,125,2028,2707,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.4,-6.0,10,113,10.12,2.40,-13.62,0.000,4,0.230,0.057,2652,456,3301,0,0,0,0,0,0
$GC,264,-0.71,-116.8,36.0,-17.0,40,270,0.00,2.33,0.00,0.000,6,0.000,0.035,2642,2039,3302,0,0,0,0,0,0
$GC,525,-0.71,-116.8,70.6,-11.9,65,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2040,3306,0,0,0,0,0,0
$GC,780,-0.71,-116.8,101.0,-12.0,89,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2040,3304,0,0,0,0,0,0
$GC,1035,-0.71,-116.8,133.7,-11.8,113,1039,0.00,2.35,0.00,0.000,4,0.000,0.043,2630,3619,3306,0,0,0,0,0,0
$GC,1073,-0.71,-116.8,138.0,-11.1,116,1078,0.10,2.28,0.00,0.000,6,0.143,0.029,2661,2026,3305,0,0,0,0,0,0
$GC,1333,-0.71,-116.8,157.6,-6.8,140,1337,0.00,2.28,0.00,0.000,4,0.000,0.042,2661,446,3306,0,0,0,0,0,0
$GC,1417,-0.71,-116.8,163.9,-7.9,147,1421,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2046,3306,0,0,0,0,0,0
$GC,1679,-0.71,-116.8,187.3,-10.4,171,1683,0.00,2.30,0.00,0.000,4,0.000,0.043,2639,3607,3306,0,0,0,0,0,0
$GC,1774,-0.71,-116.8,197.6,-10.4,179,1778,0.00,2.25,0.00,0.000,6,0.000,0.028,2639,2025,3306,0,0,0,0,0,0
$GC,2027,-0.71,-116.8,223.0,-9.7,192,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2025,3306,0,0,0,0,0,0
$GC,2336,-0.71,-116.8,252.9,-9.0,207,2340,0.00,2.25,0.00,0.000,4,0.000,0.042,2639,454,3304,0,0,0,0,0,0
$GC,2385,-0.71,-116.8,257.6,-9.4,209,2391,0.08,2.25,0.00,0.000,6,0.113,0.031,2658,2023,3304,0,0,0,0,0,0
$GC,2707,-0.71,-116.8,276.8,-5.0,225,2711,0.00,2.28,0.00,0.000,4,0.000,0.042,2658,448,3303,0,0,0,0,0,0
$GC,2733,-0.71,-116.8,278.4,-6.4,226,2738,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2040,3304,0,0,0,0,0,0
$GC,3054,-0.71,-116.8,301.1,-8.3,242,3058,0.00,2.30,0.00,0.000,4,0.000,0.044,2636,3604,3300,0,0,0,0,0,0
$GC,3120,-0.71,-116.8,307.3,-9.5,243,3125,0.00,2.28,0.00,0.000,6,0.000,0.029,2636,2027,3301,0,0,0,0,0,0
$GC,3468,-0.71,-116.8,339.4,-8.8,252,3472,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,450,3299,0,0,0,0,0,0
$GC,3551,-0.71,-116.8,346.9,-9.1,254,3556,0.12,2.25,0.00,0.000,6,0.140,0.032,2663,2037,3298,0,0,0,0,0,0
$GC,3874,-0.71,-116.8,368.4,-6.6,262,3879,0.00,2.33,0.00,0.000,4,0.000,0.043,2660,448,3296,0,0,0,0,0,0
$GC,3935,-0.71,-116.8,373.4,-8.1,263,3939,0.00,2.28,0.00,0.000,6,0.000,0.032,2654,2028,3296,0,0,0,0,0,0
$GC,4283,-0.71,-116.8,402.2,-8.3,272,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2029,3293,0,0,0,0,0,0
$GC,4608,-0.71,-116.8,426.5,-7.2,280,4612,0.00,2.33,0.00,0.000,4,0.000,0.044,2641,3612,3291,0,0,0,0,0,0
$GC,4646,-0.71,-116.8,429.4,-7.8,281,4650,0.00,2.28,0.00,0.000,6,0.000,0.030,2641,2023,3291,0,0,0,0,0,0
$GC,4969,-0.71,-116.8,452.8,-7.2,289,4973,0.00,2.35,0.00,0.000,4,0.000,0.044,2630,3614,3289,0,0,0,0,0,0
$GC,5001,-0.71,-116.8,455.3,-7.7,289,5008,0.00,2.30,0.00,0.000,6,0.000,0.031,2630,2031,3288,0,0,0,0,0,0
$GC,5333,-0.71,-116.8,479.0,-7.1,298,5337,0.10,2.33,0.00,0.000,4,0.146,0.044,2662,447,3287,0,0,0,0,0,0
$GC,5417,-0.71,-116.8,485.2,-7.8,300,5421,0.00,2.28,0.00,0.000,6,0.000,0.033,2652,2037,3289,0,0,0,0,0,0
$GC,5740,-0.71,-116.8,508.1,-7.4,308,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2041,3284,0,0,0,0,0,0
$GC,6065,-0.71,-116.8,533.4,-7.9,316,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2040,3283,0,0,0,0,0,0
$GC,6390,-0.71,-116.8,557.2,-7.1,324,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2041,3281,0,0,0,0,0,0
$GC,6715,-0.71,-116.8,577.8,-6.1,332,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2040,3280,0,0,0,0,0,0
$GC,7039,-0.71,-116.8,597.4,-6.2,340,7044,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,3610,3278,0,0,0,0,0,0
$GC,7066,-0.71,-116.8,599.2,-6.2,340,7071,0.00,2.28,0.00,0.000,6,0.000,0.031,2640,2030,3275,0,0,0,0,0,0
$GC,7403,-0.71,-116.8,623.1,-7.4,349,7407,0.00,2.33,0.00,0.000,4,0.000,0.046,2640,456,3277,0,0,0,0,0,0
$GC,7462,-0.71,-116.8,628.3,-8.9,350,7468,0.08,2.28,0.00,0.000,6,0.118,0.033,2659,2025,3276,0,0,0,0,0,0
$GC,7811,-0.71,-116.8,653.4,-7.1,359,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2025,3275,0,0,0,0,0,0
$GC,8136,-0.71,-116.8,676.1,-7.0,367,8140,0.00,2.35,0.00,0.000,4,0.000,0.046,2648,3607,3273,0,0,0,0,0,0
$GC,8175,-0.71,-116.8,679.0,-7.8,368,8179,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2019,3274,0,0,0,0,0,0
$GC,8498,-0.71,-116.8,702.9,-7.2,376,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2020,3273,0,0,0,0,0,0
$GC,8822,-0.71,-116.8,726.3,-7.4,384,8826,0.00,2.30,0.00,0.000,4,0.000,0.046,2648,450,3272,0,0,0,0,0,0
$GC,8911,-0.71,-116.8,733.7,-8.4,386,8915,0.00,2.25,0.00,0.000,6,0.000,0.033,2634,2033,3272,0,0,0,0,0,0
$GC,9235,-0.71,-116.8,758.2,-7.5,394,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2033,3270,0,0,0,0,0,0
$GC,9560,-0.71,-116.8,782.8,-7.4,402,9564,0.00,2.33,0.00,0.000,4,0.000,0.046,2637,455,3273,0,0,0,0,0,0
$GC,9591,-0.71,-116.8,785.5,-8.9,402,9598,0.08,2.28,0.00,0.000,6,0.114,0.034,2656,2018,3270,0,0,0,0,0,0
$GC,9923,-0.71,-116.8,807.5,-6.6,411,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2018,3269,0,0,0,0,0,0
$GC,10248,-0.71,-116.8,829.2,-6.7,419,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2018,3268,0,0,0,0,0,0
$GC,10573,-0.71,-116.8,851.2,-6.8,427,10577,0.00,2.33,0.00,0.000,4,0.000,0.047,2657,459,3267,0,0,0,0,0,0
$GC,10606,-0.71,-116.8,853.5,-7.4,427,10611,0.00,2.28,0.00,0.000,6,0.000,0.035,2647,2035,3268,0,0,0,0,0,0
$GC,10936,-0.71,-116.8,875.9,-6.6,436,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2035,3267,0,0,0,0,0,0
$GC,11261,-0.71,-116.8,896.4,-6.3,444,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2035,3267,0,0,0,0,0,0
$GC,11586,-0.71,-116.8,916.2,-6.1,452,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2036,3267,0,0,0,0,0,0
$GC,11911,-0.71,-116.8,936.6,-6.3,460,11915,0.00,2.35,0.00,0.000,4,0.000,0.048,2645,448,3266,0,0,0,0,0,0
$GC,11943,-0.71,-116.8,938.9,-6.8,460,11949,0.00,2.30,0.00,0.000,6,0.000,0.034,2637,2021,3266,0,0,0,0,0,0
$GC,12274,-0.71,-116.8,959.8,-6.1,469,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2022,3266,0,0,0,0,0,0
$GC,12599,-0.71,-116.8,978.8,-5.8,477,12603,0.00,2.38,0.00,0.000,4,0.000,0.047,2624,3618,3266,0,0,0,0,0,0
$GC,12636,-0.71,-116.8,981.1,-6.7,477,12643,0.08,2.33,0.00,0.000,6,0.110,0.033,2656,2041,3263,0,0,0,0,0,0
$STATE,12843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12844,begin apogee
$GC,12848,-0.23,0.0,991.6,4.8,483,12946,0.47,0.00,95.40,1.310,6,0.107,0.000,2817,2040,2822,0,0,0,0,0,0
$STATE,12958,end apogee,CONTROL_FINISHED_OK
$STATE,12958,begin climb
$GC,12959,0.71,116.8,992.7,0.0,485,13083,0.82,2.67,110.72,1.276,4,0.062,0.046,3126,3614,2347,0,0,0,0,0,0
$GC,13137,0.71,116.8,976.6,14.6,489,13143,0.00,2.50,0.00,0.000,6,0.000,0.035,3138,2040,2336,0,0,0,0,0,0
$GC,13456,0.71,116.8,932.4,13.7,497,13460,0.00,2.42,0.00,0.000,4,0.000,0.049,3151,454,2326,0,0,0,0,0,0
$GC,13495,0.71,116.8,926.7,15.7,498,13500,0.12,2.35,0.00,0.000,6,0.166,0.035,3118,2031,2327,0,0,0,0,0,0
$GC,13818,0.71,116.8,885.1,12.6,506,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2034,2325,0,0,0,0,0,0
$GC,14143,0.71,116.8,844.2,12.6,514,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2031,2323,0,0,0,0,0,0
$GC,14468,0.71,116.8,802.9,12.7,522,14472,0.00,2.38,0.00,0.000,4,0.000,0.048,3129,449,2323,0,0,0,0,0,0
$GC,14511,0.71,116.8,797.5,10.9,523,14516,0.00,2.35,0.00,0.000,6,0.000,0.035,3128,2038,2322,0,0,0,0,0,0
$GC,14836,0.71,116.8,757.1,12.3,531,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2037,2321,0,0,0,0,0,0
$GC,15161,0.71,116.8,718.1,12.1,539,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2040,2321,0,0,0,0,0,0
$GC,15486,0.71,116.8,679.4,12.2,547,15490,0.00,2.35,0.00,0.000,4,0.000,0.046,3128,3616,2320,0,0,0,0,0,0
$GC,15534,0.71,116.8,672.9,13.6,548,15539,0.00,2.38,0.00,0.000,6,0.000,0.035,3141,2013,2319,0,0,0,0,0,0
$GC,15853,0.71,116.8,631.3,13.0,556,15857,0.00,2.30,0.00,0.000,4,0.000,0.048,3152,461,2318,0,0,0,0,0,0
$GC,15913,0.71,116.8,622.8,13.7,557,15918,0.10,2.30,0.00,0.000,6,0.143,0.035,3120,2033,2316,0,0,0,0,0,0
$GC,16260,0.71,116.8,580.4,12.2,566,16264,0.00,2.38,0.00,0.000,4,0.000,0.045,3120,3613,2319,0,0,0,0,0,0
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$STATE,21908,end climb,SURFACE_DEPTH_REACHED
$STATE,21908,begin surface coast
$FINISH,0.8,1.013427
$STATE,21948,end surface coast,CONTROL_FINISHED_OK
$STATE,21949,begin surface
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$SM_GC,1.59,0.00,0.00,91.45,0.000,0.000,0.491,131,2043,1293,-8.62,0.34,375.06
$IRIDIUM_FIX,2022.56,-15954.92,060112,181821
$TT8_MAMPS,0.267683
$HUMID,1078434184
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$TCM_TEMP,23.80
$XPDR_PINGS,11
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$AR_CDRIVE_FREE,8422719488
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54215213056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,15.032
$10V_AH,9.6,18.121
$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
$DEVICE_SECS,20.325,172.225,284.600,91.450,0.000,24.162,25.955,726.502,2.750,0.000,14.612,1712.916,17835.486,542.977,2705.089,246.492,33.367,1598.879,0.000,1849.595,0.000,0.541,0.000
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$SENSOR_SECS,616.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,30002,900
$CAP_FILE_SIZE,181807,0
$CFSIZE,260165632,247730176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140710,130136,2030.994,-15952.080,36,0.9,41,9.6