version: 66.07
glider: 500
mission: 4
dive: 130
start: 7 15 110 9 29 58
data:
$ID,500
$MISSION,4
$DIVE,130
$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,-111708.17
$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,57
$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,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,129
$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
$GPS1,150710,091206,2030.691,-15951.134,30,2.0,30,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,150710,092902,2030.983,-15951.195,12,1.7,12,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.084,-0.206
$KALMAN_X,-55372.5,-162.6,-279.5,72398.9,-1905.4
$KALMAN_Y,67887.8,-103.2,-292.8,-61940.7,4726.5
$MHEAD_RNG_PITCHd_Wd,148.3,23010,-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,-51.22,0.000,2,0.000,0.000,134,2042,2699,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.4,-6.3,10,113,10.20,2.40,-13.57,0.000,4,0.233,0.055,2654,463,3301,0,0,0,0,0,0
$GC,316,-0.71,-116.8,43.1,-14.7,45,320,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2046,3306,0,0,0,0,0,0
$GC,575,-0.71,-116.8,74.0,-11.0,69,579,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,3610,3303,0,0,0,0,0,0
$GC,658,-0.71,-116.8,83.6,-12.0,76,665,0.00,2.28,0.00,0.000,6,0.000,0.028,2632,2038,3304,0,0,0,0,0,0
$GC,919,-0.71,-116.8,113.8,-11.7,101,923,0.00,2.30,0.00,0.000,4,0.000,0.041,2632,442,3305,0,0,0,0,0,0
$GC,1003,-0.71,-116.8,124.4,-12.1,108,1008,0.12,2.25,0.00,0.000,6,0.146,0.031,2657,2034,3305,0,0,0,0,0,0
$GC,1263,-0.71,-116.8,151.8,-11.1,132,1267,0.00,2.30,0.00,0.000,4,0.000,0.041,2651,3606,3305,0,0,0,0,0,0
$GC,1294,-0.71,-116.8,155.4,-10.6,134,1301,0.00,2.28,0.00,0.000,6,0.000,0.028,2647,2026,3305,0,0,0,0,0,0
$GC,1556,-0.71,-116.8,189.0,-13.7,159,1560,0.00,2.28,0.00,0.000,4,0.000,0.042,2652,456,3305,0,0,0,0,0,0
$GC,1651,-0.71,-116.8,201.1,-11.2,167,1655,0.00,2.22,0.00,0.000,6,0.000,0.031,2635,2029,3305,0,0,0,0,0,0
$GC,1967,-0.71,-116.8,233.5,-9.7,182,1971,0.00,2.33,0.00,0.000,4,0.000,0.042,2623,3618,3305,0,0,0,0,0,0
$GC,2033,-0.71,-116.8,239.7,-9.0,185,2038,0.08,2.28,0.00,0.000,6,0.107,0.028,2653,2035,3305,0,0,0,0,0,0
$GC,2360,-0.71,-116.8,263.9,-7.9,201,2364,0.00,2.28,0.00,0.000,4,0.000,0.042,2656,451,3304,0,0,0,0,0,0
$GC,2391,-0.71,-116.8,266.9,-9.0,202,2398,0.00,2.25,0.00,0.000,6,0.000,0.031,2645,2029,3306,0,0,0,0,0,0
$GC,2707,-0.71,-116.8,296.0,-9.2,218,2711,0.00,2.30,0.00,0.000,4,0.000,0.042,2634,3614,3305,0,0,0,0,0,0
$GC,2728,-0.71,-116.8,298.0,-9.4,219,2732,0.00,2.28,0.00,0.000,6,0.000,0.029,2633,2035,3303,0,0,0,0,0,0
$GC,3050,-0.71,-116.8,329.7,-10.0,228,3054,0.00,2.33,0.00,0.000,4,0.000,0.043,2633,440,3301,0,0,0,0,0,0
$GC,3098,-0.71,-116.8,334.8,-10.4,229,3104,0.10,2.28,0.00,0.000,6,0.113,0.031,2659,2026,3300,0,0,0,0,0,0
$GC,3417,-0.71,-116.8,357.4,-6.7,237,3421,0.00,2.30,0.00,0.000,4,0.000,0.043,2649,3615,3298,0,0,0,0,0,0
$GC,3438,-0.71,-116.8,358.9,-6.5,237,3443,0.00,2.30,0.00,0.000,6,0.000,0.029,2650,2022,3298,0,0,0,0,0,0
$GC,3781,-0.71,-116.8,381.4,-6.6,246,3785,0.00,2.30,0.00,0.000,4,0.000,0.043,2650,448,3295,0,0,0,0,0,0
$GC,3897,-0.71,-116.8,390.9,-8.4,248,3901,0.00,2.25,0.00,0.000,6,0.000,0.032,2638,2052,3294,0,0,0,0,0,0
$GC,4233,-0.71,-116.8,419.2,-8.6,257,4237,0.00,2.30,0.00,0.000,4,0.000,0.044,2626,3606,3292,0,0,0,0,0,0
$GC,4276,-0.71,-116.8,423.1,-9.1,258,4282,0.08,2.28,0.00,0.000,6,0.108,0.029,2658,2028,3291,0,0,0,0,0,0
$GC,4601,-0.71,-116.8,446.0,-6.7,266,4606,0.00,2.30,0.00,0.000,4,0.000,0.044,2658,456,3289,0,0,0,0,0,0
$GC,4668,-0.71,-116.8,451.2,-7.7,267,4672,0.00,2.25,0.00,0.000,6,0.000,0.032,2648,2042,3289,0,0,0,0,0,0
$GC,5010,-0.71,-116.8,476.2,-7.4,276,5014,0.00,2.33,0.00,0.000,4,0.000,0.044,2648,458,3287,0,0,0,0,0,0
$GC,5081,-0.71,-116.8,482.5,-9.0,277,5086,0.00,2.25,0.00,0.000,6,0.000,0.032,2637,2012,3286,0,0,0,0,0,0
$GC,5419,-0.71,-116.8,510.0,-8.2,286,5423,0.00,2.38,0.00,0.000,4,0.000,0.044,2625,3625,3285,0,0,0,0,0,0
$GC,5457,-0.71,-116.8,513.6,-9.1,287,5462,0.12,2.28,0.00,0.000,6,0.133,0.031,2665,2032,3284,0,0,0,0,0,0
$GC,5781,-0.71,-116.8,537.2,-7.2,295,5785,0.00,2.30,0.00,0.000,4,0.000,0.045,2661,455,3281,0,0,0,0,0,0
$GC,5818,-0.71,-116.8,540.3,-8.3,295,5825,0.00,2.28,0.00,0.000,6,0.000,0.032,2655,2034,3282,0,0,0,0,0,0
$GC,6150,-0.71,-116.8,564.8,-7.5,304,6154,0.00,2.30,0.00,0.000,4,0.000,0.044,2642,3614,3280,0,0,0,0,0,0
$GC,6176,-0.71,-116.8,567.0,-8.6,304,6180,0.00,2.30,0.00,0.000,6,0.000,0.030,2643,2028,3279,0,0,0,0,0,0
$GC,6513,-0.71,-116.8,594.2,-8.2,313,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2027,3278,0,0,0,0,0,0
$GC,6838,-0.71,-116.8,619.5,-7.4,321,6842,0.00,2.30,0.00,0.000,4,0.000,0.045,2643,463,3276,0,0,0,0,0,0
$GC,6888,-0.71,-116.8,623.3,-8.1,322,6892,0.00,2.25,0.00,0.000,6,0.000,0.033,2632,2046,3275,0,0,0,0,0,0
$GC,7205,-0.71,-116.8,646.9,-7.3,330,7209,0.00,2.35,0.00,0.000,4,0.000,0.044,2632,455,3276,0,0,0,0,0,0
$GC,7244,-0.71,-116.8,650.0,-8.7,331,7249,0.12,2.22,0.00,0.000,6,0.146,0.033,2657,2029,3274,0,0,0,0,0,0
$GC,7568,-0.71,-116.8,669.9,-6.2,339,7572,0.00,2.33,0.00,0.000,4,0.000,0.045,2659,455,3273,0,0,0,0,0,0
$GC,7607,-0.71,-116.8,672.7,-7.6,340,7611,0.00,2.25,0.00,0.000,6,0.000,0.033,2649,2040,3273,0,0,0,0,0,0
$GC,7930,-0.71,-116.8,695.5,-7.0,348,7934,0.00,2.33,0.00,0.000,4,0.000,0.044,2649,450,3272,0,0,0,0,0,0
$GC,7985,-0.71,-116.8,699.8,-8.2,349,7989,0.00,2.28,0.00,0.000,6,0.000,0.033,2638,2024,3271,0,0,0,0,0,0
$GC,8298,-0.71,-116.8,721.4,-6.6,357,8302,0.00,2.33,0.00,0.000,4,0.000,0.044,2625,3613,3268,0,0,0,0,0,0
$GC,8347,-0.71,-116.8,724.8,-6.9,358,8353,0.08,2.30,0.00,0.000,6,0.112,0.031,2657,2033,3270,0,0,0,0,0,0
$GC,8667,-0.71,-116.8,741.9,-5.2,366,8671,0.00,2.33,0.00,0.000,4,0.000,0.046,2657,451,3267,0,0,0,0,0,0
$GC,8718,-0.71,-116.8,744.9,-6.7,367,8722,0.00,2.28,0.00,0.000,6,0.000,0.033,2647,2050,3269,0,0,0,0,0,0
$GC,9035,-0.71,-116.8,762.2,-5.5,375,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2050,3266,0,0,0,0,0,0
$GC,9360,-0.71,-116.8,779.8,-5.3,383,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2050,3267,0,0,0,0,0,0
$GC,9685,-0.71,-116.8,796.9,-5.2,391,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2049,3267,0,0,0,0,0,0
$GC,10010,-0.71,-116.8,813.7,-5.1,399,10014,0.00,2.38,0.00,0.000,4,0.000,0.046,2647,454,3267,0,0,0,0,0,0
$GC,10050,-0.71,-116.8,816.0,-5.9,400,10054,0.00,2.25,0.00,0.000,6,0.000,0.034,2636,2027,3266,0,0,0,0,0,0
$GC,10373,-0.71,-116.8,834.1,-5.7,408,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2031,3268,0,0,0,0,0,0
$GC,10697,-0.71,-116.8,854.2,-6.4,416,10701,0.00,2.38,0.00,0.000,4,0.000,0.048,2636,450,3265,0,0,0,0,0,0
$GC,10769,-0.71,-116.8,859.7,-7.7,417,10774,0.08,2.30,0.00,0.000,6,0.119,0.034,2651,2032,3264,0,0,0,0,0,0
$GC,11111,-0.71,-116.8,883.1,-7.0,426,11115,0.00,2.35,0.00,0.000,4,0.000,0.046,2643,3625,3264,0,0,0,0,0,0
$GC,11150,-0.71,-116.8,886.1,-8.1,427,11154,0.00,2.30,0.00,0.000,6,0.000,0.033,2643,2026,3264,0,0,0,0,0,0
$GC,11473,-0.71,-116.8,911.8,-8.1,435,11477,0.00,2.33,0.00,0.000,4,0.000,0.047,2643,448,3264,0,0,0,0,0,0
$GC,11550,-0.71,-116.8,918.9,-9.4,436,11557,0.00,2.33,0.00,0.000,6,0.000,0.033,2635,2046,3263,0,0,0,0,0,0
$GC,11882,-0.71,-116.8,946.0,-8.1,445,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2046,3263,0,0,0,0,0,0
$GC,12207,-0.71,-116.8,969.7,-7.0,453,12211,0.00,2.38,0.00,0.000,4,0.000,0.047,2628,454,3262,0,0,0,0,0,0
$GC,12245,-0.71,-116.8,972.7,-7.5,454,12250,0.12,2.28,0.00,0.000,6,0.145,0.035,2655,2030,3262,0,0,0,0,0,0
$STATE,12567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12567,begin apogee
$GC,12571,-0.23,0.0,991.2,5.6,462,12668,0.45,0.00,94.50,1.309,6,0.110,0.000,2810,2031,2823,0,0,0,0,0,0
$STATE,12686,end apogee,CONTROL_FINISHED_OK
$STATE,12686,begin climb
$GC,12688,0.71,116.8,993.2,0.0,464,12809,0.85,2.62,111.10,1.275,4,0.068,0.045,3123,3599,2344,0,0,0,0,0,0
$GC,12853,0.71,116.8,980.9,13.9,468,12860,0.00,2.50,0.00,0.000,6,0.000,0.035,3134,2034,2334,0,0,0,0,0,0
$GC,13184,0.71,116.8,937.6,13.1,477,13188,0.00,2.42,0.00,0.000,4,0.000,0.049,3146,443,2329,0,0,0,0,0,0
$GC,13223,0.71,116.8,932.0,14.2,478,13227,0.00,2.35,0.00,0.000,6,0.000,0.035,3147,2033,2328,0,0,0,0,0,0
$GC,13546,0.71,116.8,886.6,13.8,486,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2033,2326,0,0,0,0,0,0
$GC,13870,0.71,116.8,842.0,13.8,494,13875,0.00,2.40,0.00,0.000,4,0.000,0.050,3158,442,2325,0,0,0,0,0,0
$GC,13914,0.71,116.8,835.5,14.0,495,13919,0.10,2.38,0.00,0.000,6,0.143,0.035,3125,2039,2327,0,0,0,0,0,0
$GC,14238,0.71,116.8,795.6,12.3,503,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2039,2325,0,0,0,0,0,0
$GC,14562,0.71,116.8,757.0,12.1,511,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2039,2324,0,0,0,0,0,0
$GC,14887,0.71,116.8,717.9,11.9,519,14892,0.00,2.38,0.00,0.000,4,0.000,0.046,3125,3617,2324,0,0,0,0,0,0
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$STATE,21977,end climb,SURFACE_DEPTH_REACHED
$STATE,21977,begin surface coast
$FINISH,0.7,1.022005
$STATE,22010,end surface coast,CONTROL_FINISHED_OK
$STATE,22010,begin surface
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$IRIDIUM_FIX,2022.56,-15950.60,070112,212158
$TT8_MAMPS,0.263848
$HUMID,1078426442
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$TCM_TEMP,24.40
$XPDR_PINGS,6
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$AR_CDRIVE_FREE,8413052928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53871181824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,15.686
$10V_AH,9.5,18.453
$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
$DEVICE_SECS,20.675,208.850,331.950,56.350,0.000,28.817,26.313,758.951,1.500,0.000,14.609,1786.807,17515.641,552.053,3011.312,265.462,33.361,1736.654,0.000,2080.159,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,33347,906
$CAP_FILE_SIZE,196484,0
$CFSIZE,260165632,247144448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150710,154001,2030.793,-15950.698,39,1.5,39,9.6