version: 66.07
glider: 500
mission: 4
dive: 145
start: 7 19 110 13 54 27
data:
$ID,500
$MISSION,4
$DIVE,145
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111933.9
$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,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,144
$AR_SAMPLENUM,13
$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
$GPS1,190710,133136,2045.964,-15936.259,40,1.9,40,9.7
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.0
$GPS2,190710,135332,2046.256,-15936.388,13,1.5,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.216,-0.054
$KALMAN_X,-94484.3,28.3,211.2,136511.3,-3006.6
$KALMAN_Y,118485.4,-240.6,760.4,-85168.0,1893.1
$MHEAD_RNG_PITCHd_Wd,94.4,185936,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-56.15,0.000,2,0.000,0.000,132,2041,2879,0,0,0,0,0,0
$GC,87,-0.71,-116.8,3.2,-2.1,11,114,10.07,2.35,-9.20,0.000,4,0.227,0.058,2656,460,3300,0,0,0,0,0,0
$GC,175,-0.71,-116.8,21.3,-17.5,27,181,0.00,2.30,0.00,0.000,6,0.000,0.037,2643,2044,3302,0,0,0,0,0,0
$GC,374,-0.71,-116.8,56.4,-15.6,50,378,0.00,2.33,0.00,0.000,4,0.000,0.043,2633,3615,3304,0,0,0,0,0,0
$GC,413,-0.71,-116.8,61.6,-13.3,53,417,0.00,2.25,0.00,0.000,6,0.000,0.029,2633,2030,3303,0,0,0,0,0,0
$GC,673,-0.71,-116.8,99.1,-13.4,77,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2028,3303,0,0,0,0,0,0
$GC,928,-0.71,-116.8,131.3,-12.7,101,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2029,3304,0,0,0,0,0,0
$GC,1183,-0.71,-116.8,161.9,-12.1,125,1187,0.00,2.33,0.00,0.000,4,0.000,0.042,2622,3615,3305,0,0,0,0,0,0
$GC,1214,-0.71,-116.8,165.5,-10.7,127,1221,0.10,2.28,0.00,0.000,6,0.104,0.029,2661,2033,3304,0,0,0,0,0,0
$GC,1476,-0.71,-116.8,188.7,-8.4,152,1480,0.00,2.28,0.00,0.000,4,0.000,0.043,2662,446,3304,0,0,0,0,0,0
$GC,1572,-0.71,-116.8,197.8,-10.5,160,1576,0.00,2.22,0.00,0.000,6,0.000,0.031,2651,2036,3304,0,0,0,0,0,0
$GC,1825,-0.71,-116.8,223.6,-10.0,173,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2036,3304,0,0,0,0,0,0
$GC,2134,-0.71,-116.8,254.7,-10.0,188,2138,0.00,2.33,0.00,0.000,4,0.000,0.043,2639,3612,3305,0,0,0,0,0,0
$GC,2183,-0.71,-116.8,259.5,-9.7,190,2187,0.00,2.28,0.00,0.000,6,0.000,0.029,2639,2029,3304,0,0,0,0,0,0
$GC,2503,-0.71,-116.8,290.5,-8.5,206,2507,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,454,3303,0,0,0,0,0,0
$GC,2581,-0.71,-116.8,297.5,-8.5,209,2588,0.08,2.25,0.00,0.000,6,0.113,0.031,2658,2031,3303,0,0,0,0,0,0
$GC,2912,-0.71,-116.8,322.5,-8.1,219,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3301,0,0,0,0,0,0
$GC,3237,-0.71,-116.8,343.1,-5.7,227,3241,0.00,2.28,0.00,0.000,4,0.000,0.042,2656,451,3298,0,0,0,0,0,0
$GC,3287,-0.71,-116.8,346.7,-7.6,228,3291,0.00,2.22,0.00,0.000,6,0.000,0.032,2648,2043,3298,0,0,0,0,0,0
$GC,3605,-0.71,-116.8,371.1,-7.8,236,3609,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,3603,3296,0,0,0,0,0,0
$GC,3705,-0.71,-116.8,379.8,-8.8,238,3709,0.00,2.28,0.00,0.000,6,0.000,0.029,2636,2021,3296,0,0,0,0,0,0
$GC,4018,-0.71,-116.8,407.9,-9.2,246,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2020,3294,0,0,0,0,0,0
$GC,4343,-0.71,-116.8,434.0,-7.7,254,4347,0.00,2.25,0.00,0.000,4,0.000,0.043,2636,456,3290,0,0,0,0,0,0
$GC,4397,-0.71,-116.8,438.5,-8.3,255,4402,0.08,2.25,0.00,0.000,6,0.112,0.032,2657,2022,3288,0,0,0,0,0,0
$GC,4710,-0.71,-116.8,458.9,-6.6,263,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2026,3288,0,0,0,0,0,0
$GC,5035,-0.71,-116.8,480.3,-6.6,271,5038,0.00,2.33,0.00,0.000,4,0.000,0.044,2646,3616,3285,0,0,0,0,0,0
$GC,5061,-0.71,-116.8,482.1,-6.3,271,5066,0.00,2.30,0.00,0.000,6,0.000,0.031,2646,2029,3282,0,0,0,0,0,0
$GC,5404,-0.71,-116.8,503.6,-6.2,280,5408,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,455,3283,0,0,0,0,0,0
$GC,5487,-0.71,-116.8,510.1,-8.2,282,5492,0.00,2.22,0.00,0.000,6,0.000,0.033,2631,2035,3282,0,0,0,0,0,0
$GC,5811,-0.71,-116.8,535.8,-8.1,290,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2035,3280,0,0,0,0,0,0
$GC,6136,-0.71,-116.8,562.7,-8.1,298,6140,0.00,2.33,0.00,0.000,4,0.000,0.044,2635,450,3277,0,0,0,0,0,0
$GC,6219,-0.71,-116.8,569.8,-8.9,300,6224,0.12,2.25,0.00,0.000,6,0.140,0.033,2662,2034,3277,0,0,0,0,0,0
$GC,6548,-0.71,-116.8,587.2,-4.9,308,6552,0.00,2.30,0.00,0.000,4,0.000,0.044,2651,3610,3275,0,0,0,0,0,0
$GC,6653,-0.71,-116.8,592.7,-4.9,310,6657,0.00,2.30,0.00,0.000,6,0.000,0.030,2648,2024,3274,0,0,0,0,0,0
$GC,7001,-0.71,-116.8,609.6,-4.8,319,7005,0.00,2.28,0.00,0.000,4,0.000,0.044,2651,456,3273,0,0,0,0,0,0
$GC,7072,-0.71,-116.8,613.8,-6.1,320,7076,0.00,2.22,0.00,0.000,6,0.000,0.033,2641,2030,3273,0,0,0,0,0,0
$GC,7409,-0.71,-116.8,631.9,-5.5,329,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2031,3272,0,0,0,0,0,0
$GC,7734,-0.71,-116.8,651.0,-5.9,337,7738,0.00,2.35,0.00,0.000,4,0.000,0.044,2641,454,3269,0,0,0,0,0,0
$GC,7783,-0.71,-116.8,654.5,-7.7,338,7787,0.10,2.22,0.00,0.000,6,0.154,0.033,2660,2032,3269,0,0,0,0,0,0
$GC,8100,-0.71,-116.8,673.0,-5.9,346,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2033,3268,0,0,0,0,0,0
$GC,8426,-0.71,-116.8,692.7,-6.0,354,8430,0.00,2.30,0.00,0.000,4,0.000,0.045,2649,3604,3267,0,0,0,0,0,0
$GC,8464,-0.71,-116.8,695.0,-6.3,355,8468,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2026,3267,0,0,0,0,0,0
$GC,8787,-0.71,-116.8,712.6,-5.2,363,8791,0.00,2.30,0.00,0.000,4,0.000,0.045,2649,453,3266,0,0,0,0,0,0
$GC,8853,-0.71,-116.8,716.5,-5.5,364,8857,0.00,2.25,0.00,0.000,6,0.000,0.033,2638,2042,3265,0,0,0,0,0,0
$GC,9189,-0.71,-116.8,733.5,-4.9,373,9193,0.00,2.30,0.00,0.000,4,0.000,0.045,2626,3610,3265,0,0,0,0,0,0
$GC,9215,-0.71,-116.8,735.0,-5.8,373,9220,0.08,2.30,0.00,0.000,6,0.107,0.031,2666,2033,3265,0,0,0,0,0,0
$GC,9552,-0.71,-116.8,748.7,-4.2,382,9556,0.00,2.33,0.00,0.000,4,0.000,0.046,2667,458,3264,0,0,0,0,0,0
$GC,9584,-0.71,-116.8,750.3,-4.9,382,9590,0.00,2.28,0.00,0.000,6,0.000,0.034,2657,2023,3264,0,0,0,0,0,0
$GC,9915,-0.71,-116.8,767.2,-5.3,391,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2024,3262,0,0,0,0,0,0
$GC,10240,-0.71,-116.8,786.2,-5.9,399,10244,0.00,2.35,0.00,0.000,4,0.000,0.045,2645,3614,3261,0,0,0,0,0,0
$GC,10272,-0.71,-116.8,788.3,-6.5,399,10276,0.00,2.33,0.00,0.000,6,0.000,0.031,2645,2024,3259,0,0,0,0,0,0
$GC,10609,-0.71,-116.8,809.5,-6.2,408,10613,0.00,2.33,0.00,0.000,4,0.000,0.046,2645,453,3261,0,0,0,0,0,0
$GC,10641,-0.71,-116.8,811.7,-6.5,408,10647,0.00,2.28,0.00,0.000,6,0.000,0.033,2634,2039,3258,0,0,0,0,0,0
$GC,10972,-0.71,-116.8,833.3,-6.5,417,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2039,3257,0,0,0,0,0,0
$GC,11297,-0.71,-116.8,854.4,-6.4,425,11301,0.00,2.33,0.00,0.000,4,0.000,0.046,2622,3614,3259,0,0,0,0,0,0
$GC,11352,-0.71,-116.8,858.3,-7.5,426,11357,0.12,2.28,0.00,0.000,6,0.133,0.032,2662,2027,3259,0,0,0,0,0,0
$GC,11664,-0.71,-116.8,875.4,-5.5,434,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2027,3259,0,0,0,0,0,0
$GC,11989,-0.71,-116.8,893.7,-5.8,442,11993,0.00,2.33,0.00,0.000,4,0.000,0.047,2662,451,3258,0,0,0,0,0,0
$GC,12021,-0.71,-116.8,895.9,-6.9,442,12027,0.00,2.25,0.00,0.000,6,0.000,0.034,2652,2031,3257,0,0,0,0,0,0
$GC,12352,-0.71,-116.8,916.4,-6.2,451,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2031,3257,0,0,0,0,0,0
$GC,12677,-0.71,-116.8,936.4,-6.1,459,12681,0.00,2.35,0.00,0.000,4,0.000,0.047,2641,3613,3256,0,0,0,0,0,0
$GC,12709,-0.71,-116.8,938.4,-6.0,459,12713,0.00,2.30,0.00,0.000,6,0.000,0.032,2645,2033,3256,0,0,0,0,0,0
$GC,13046,-0.71,-116.8,958.5,-5.7,468,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2032,3256,0,0,0,0,0,0
$GC,13371,-0.71,-116.8,975.3,-5.0,476,13375,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,456,3256,0,0,0,0,0,0
$GC,13425,-0.71,-116.8,978.5,-6.0,477,13430,0.10,2.28,0.00,0.000,6,0.155,0.034,2658,2046,3256,0,0,0,0,0,0
$STATE,13532,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13532,begin apogee
$GC,13536,-0.23,0.0,983.4,4.4,480,13633,0.45,0.00,93.60,1.294,6,0.109,0.000,2811,2046,2823,0,0,0,0,0,0
$STATE,13636,end apogee,CONTROL_FINISHED_OK
$STATE,13636,begin climb
$GC,13637,0.71,116.8,984.4,0.0,482,13753,0.88,0.00,111.35,1.259,6,0.064,0.000,3127,2046,2346,0,0,0,0,0,0
$GC,14059,0.71,116.8,935.4,13.5,493,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2046,2330,0,0,0,0,0,0
$GC,14384,0.71,116.8,894.3,12.5,501,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2046,2330,0,0,0,0,0,0
$GC,14710,0.71,116.8,854.8,12.0,509,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2046,2323,0,0,0,0,0,0
$GC,15034,0.71,116.8,816.5,11.6,517,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2046,2325,0,0,0,0,0,0
$GC,15359,0.71,116.8,777.6,12.1,525,15363,0.00,2.40,0.00,0.000,4,0.000,0.049,3139,459,2324,0,0,0,0,0,0
$GC,15410,0.71,116.8,771.1,12.1,526,15414,0.00,2.30,0.00,0.000,6,0.000,0.035,3139,2029,2324,0,0,0,0,0,0
$GC,15727,0.71,116.8,730.1,12.8,534,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2029,2323,0,0,0,0,0,0
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$STATE,23195,end climb,SURFACE_DEPTH_REACHED
$STATE,23196,begin surface coast
$FINISH,0.8,1.009913
$STATE,23236,end surface coast,CONTROL_FINISHED_OK
$STATE,23236,begin surface
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$TCM_TEMP,25.00
$XPDR_PINGS,5
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$AR_CDRIVE_FREE,8412004352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52435255296
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,18.013
$10V_AH,9.6,19.699
$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
$DEVICE_SECS,20.300,179.400,329.000,61.875,0.000,51.789,64.889,925.786,1.250,0.000,15.329,1805.532,18864.348,538.017,3148.466,290.688,33.369,1681.065,0.000,2030.681,0.000,0.541,0.000
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$SENSOR_SECS,638.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335236
$DATA_FILE_SIZE,33363,935
$CAP_FILE_SIZE,195602,0
$CFSIZE,260165632,244867072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190710,202436,2046.380,-15934.762,26,1.0,26,9.7