version: 66.07
glider: 500
mission: 4
dive: 151
start: 7 21 110 6 25 33
data:
$ID,500
$MISSION,4
$DIVE,151
$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,-112015.58
$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,50
$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,150
$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
$GPS1,210710,061124,2048.195,-15928.544,40,1.0,40,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.1
$GPS2,210710,062438,2048.224,-15928.662,7,1.3,7,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,-0.079
$KALMAN_X,-109747.0,-19.3,298.7,165143.3,-2984.4
$KALMAN_Y,132167.3,252.1,-424.1,-94509.7,2420.2
$MHEAD_RNG_PITCHd_Wd,101.0,172125,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-45.58,0.000,2,0.000,0.000,134,2039,2550,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.9,9,113,10.15,2.40,-18.58,0.000,4,0.232,0.057,2653,460,3299,0,0,0,0,0,0
$GC,146,-0.71,-116.8,12.9,-15.5,22,152,0.00,2.28,0.00,0.000,6,0.000,0.033,2644,2044,3302,0,0,0,0,0,0
$GC,354,-0.71,-116.8,53.6,-18.5,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2044,3305,0,0,0,0,0,0
$GC,607,-0.71,-116.8,93.9,-13.1,73,612,0.00,2.30,0.00,0.000,4,0.000,0.041,2643,454,3302,0,0,0,0,0,0
$GC,741,-0.71,-116.8,111.9,-13.1,84,747,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,2029,3303,0,0,0,0,0,0
$GC,1002,-0.71,-116.8,144.5,-12.3,109,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2029,3305,0,0,0,0,0,0
$GC,1257,-0.71,-116.8,178.0,-13.2,133,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2029,3306,0,0,0,0,0,0
$GC,1520,-0.71,-116.8,209.9,-11.5,154,1524,0.00,2.33,0.00,0.000,4,0.000,0.043,2620,3612,3306,0,0,0,0,0,0
$GC,1558,-0.71,-116.8,214.1,-10.8,156,1563,0.12,2.22,0.00,0.000,6,0.132,0.029,2660,2029,3304,0,0,0,0,0,0
$GC,1883,-0.71,-116.8,243.8,-9.1,172,1887,0.00,2.25,0.00,0.000,4,0.000,0.042,2659,454,3308,0,0,0,0,0,0
$GC,1954,-0.71,-116.8,250.8,-9.3,175,1960,0.00,2.25,0.00,0.000,6,0.000,0.031,2649,2028,3306,0,0,0,0,0,0
$GC,2276,-0.71,-116.8,280.1,-8.9,191,2280,0.00,2.28,0.00,0.000,4,0.000,0.041,2650,454,3306,0,0,0,0,0,0
$GC,2370,-0.71,-116.8,289.3,-9.9,195,2374,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2032,3306,0,0,0,0,0,0
$GC,2708,-0.71,-116.8,319.5,-9.0,207,2712,0.00,2.30,0.00,0.000,4,0.000,0.043,2628,3607,3305,0,0,0,0,0,0
$GC,2808,-0.71,-116.8,329.1,-9.5,209,2813,0.08,2.25,0.00,0.000,6,0.104,0.028,2658,2032,3308,0,0,0,0,0,0
$GC,3126,-0.71,-116.8,352.2,-7.1,217,3130,0.00,2.33,0.00,0.000,4,0.000,0.042,2648,3608,3303,0,0,0,0,0,0
$GC,3166,-0.71,-116.8,355.1,-7.8,218,3170,0.00,2.25,0.00,0.000,6,0.000,0.029,2648,2010,3304,0,0,0,0,0,0
$GC,3489,-0.71,-116.8,380.5,-7.9,226,3493,0.00,2.22,0.00,0.000,4,0.000,0.041,2648,454,3301,0,0,0,0,0,0
$GC,3554,-0.71,-116.8,386.6,-9.2,227,3559,0.00,2.25,0.00,0.000,6,0.000,0.031,2636,2026,3298,0,0,0,0,0,0
$GC,3897,-0.71,-116.8,414.2,-7.6,236,3901,0.00,2.28,0.00,0.000,4,0.000,0.042,2637,448,3298,0,0,0,0,0,0
$GC,3946,-0.71,-116.8,418.0,-7.6,237,3950,0.12,2.22,0.00,0.000,6,0.140,0.031,2663,2036,3296,0,0,0,0,0,0
$GC,4263,-0.71,-116.8,435.5,-5.3,245,4267,0.00,2.30,0.00,0.000,4,0.000,0.044,2653,3611,3296,0,0,0,0,0,0
$GC,4296,-0.71,-116.8,437.4,-5.9,245,4300,0.00,2.25,0.00,0.000,6,0.000,0.030,2653,2027,3296,0,0,0,0,0,0
$GC,4632,-0.71,-116.8,459.9,-7.2,254,4636,0.00,2.28,0.00,0.000,4,0.000,0.044,2653,450,3294,0,0,0,0,0,0
$GC,4671,-0.71,-116.8,463.3,-8.6,255,4675,0.00,2.22,0.00,0.000,6,0.000,0.032,2642,2033,3293,0,0,0,0,0,0
$GC,4995,-0.71,-116.8,492.1,-9.0,263,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2033,3291,0,0,0,0,0,0
$GC,5320,-0.71,-116.8,517.3,-7.2,271,5324,0.00,2.30,0.00,0.000,4,0.000,0.044,2642,448,3289,0,0,0,0,0,0
$GC,5397,-0.71,-116.8,523.1,-7.4,272,5403,0.00,2.25,0.00,0.000,6,0.000,0.032,2631,2035,3288,0,0,0,0,0,0
$GC,5728,-0.71,-116.8,544.4,-6.2,281,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2040,3286,0,0,0,0,0,0
$GC,6053,-0.71,-116.8,566.7,-7.3,289,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2035,3285,0,0,0,0,0,0
$GC,6378,-0.71,-116.8,594.3,-8.8,297,6382,0.00,2.33,0.00,0.000,4,0.000,0.044,2619,3610,3283,0,0,0,0,0,0
$GC,6426,-0.71,-116.8,598.9,-9.6,298,6432,0.10,2.30,0.00,0.000,6,0.104,0.030,2658,2024,3282,0,0,0,0,0,0
$GC,6745,-0.71,-116.8,620.6,-6.4,306,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2024,3281,0,0,0,0,0,0
$GC,7070,-0.71,-116.8,639.4,-5.7,314,7074,0.00,2.30,0.00,0.000,4,0.000,0.045,2658,457,3280,0,0,0,0,0,0
$GC,7125,-0.71,-116.8,642.8,-6.4,315,7129,0.00,2.25,0.00,0.000,6,0.000,0.033,2649,2050,3280,0,0,0,0,0,0
$GC,7438,-0.71,-116.8,660.7,-5.7,323,7442,0.00,2.33,0.00,0.000,4,0.000,0.044,2648,452,3278,0,0,0,0,0,0
$GC,7498,-0.71,-116.8,664.8,-6.4,324,7502,0.00,2.28,0.00,0.000,6,0.000,0.032,2638,2030,3278,0,0,0,0,0,0
$GC,7846,-0.71,-116.8,686.6,-6.3,333,7850,0.00,2.33,0.00,0.000,4,0.000,0.044,2626,3618,3276,0,0,0,0,0,0
$GC,7918,-0.71,-116.8,691.6,-7.1,334,7923,0.12,2.30,0.00,0.000,6,0.133,0.031,2665,2019,3276,0,0,0,0,0,0
$GC,8249,-0.71,-116.8,710.0,-5.5,342,8253,0.00,2.30,0.00,0.000,4,0.000,0.045,2665,457,3276,0,0,0,0,0,0
$GC,8300,-0.71,-116.8,713.1,-6.7,343,8304,0.00,2.25,0.00,0.000,6,0.000,0.032,2655,2046,3273,0,0,0,0,0,0
$GC,8617,-0.71,-116.8,731.1,-5.5,351,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2046,3272,0,0,0,0,0,0
$GC,8942,-0.71,-116.8,747.7,-5.0,359,8946,0.00,2.33,0.00,0.000,4,0.000,0.046,2656,461,3274,0,0,0,0,0,0
$GC,8969,-0.71,-116.8,749.3,-6.3,359,8973,0.00,2.25,0.00,0.000,6,0.000,0.033,2645,2031,3273,0,0,0,0,0,0
$GC,9311,-0.71,-116.8,768.0,-5.4,368,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2026,3271,0,0,0,0,0,0
$GC,9636,-0.71,-116.8,786.8,-5.9,376,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2026,3272,0,0,0,0,0,0
$GC,9962,-0.71,-116.8,805.1,-5.5,384,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2026,3271,0,0,0,0,0,0
$GC,10286,-0.71,-116.8,822.4,-5.3,392,10291,0.00,2.30,0.00,0.000,4,0.000,0.046,2645,462,3270,0,0,0,0,0,0
$GC,10325,-0.71,-116.8,824.8,-6.0,393,10330,0.00,2.22,0.00,0.000,6,0.000,0.034,2634,2023,3270,0,0,0,0,0,0
$GC,10649,-0.71,-116.8,842.8,-5.6,401,10653,0.00,2.30,0.00,0.000,4,0.000,0.047,2634,462,3272,0,0,0,0,0,0
$GC,10682,-0.71,-116.8,845.1,-6.6,401,10688,0.10,2.28,0.00,0.000,6,0.111,0.034,2660,2030,3269,0,0,0,0,0,0
$GC,11013,-0.71,-116.8,861.5,-5.0,410,11017,0.00,2.33,0.00,0.000,4,0.000,0.047,2658,457,3268,0,0,0,0,0,0
$GC,11045,-0.71,-116.8,863.4,-7.0,410,11051,0.00,2.25,0.00,0.000,6,0.000,0.034,2651,2036,3269,0,0,0,0,0,0
$GC,11376,-0.71,-116.8,880.7,-5.3,419,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2032,3268,0,0,0,0,0,0
$GC,11701,-0.71,-116.8,896.9,-4.9,427,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2032,3268,0,0,0,0,0,0
$GC,12026,-0.71,-116.8,912.1,-4.6,435,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2032,3271,0,0,0,0,0,0
$GC,12351,-0.71,-116.8,926.6,-4.4,443,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2031,3266,0,0,0,0,0,0
$GC,12675,-0.71,-116.8,941.1,-4.5,451,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2032,3268,0,0,0,0,0,0
$GC,13000,-0.71,-116.8,956.1,-4.8,459,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2032,3267,0,0,0,0,0,0
$GC,13326,-0.71,-116.8,972.5,-5.1,467,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2032,3266,0,0,0,0,0,0
$STATE,13527,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13527,begin apogee
$GC,13531,-0.23,0.0,982.9,5.1,472,13629,0.50,0.00,95.70,1.295,6,0.110,0.000,2817,2032,2823,0,0,0,0,0,0
$STATE,13632,end apogee,CONTROL_FINISHED_OK
$STATE,13632,begin climb
$GC,13634,0.71,116.8,984.4,0.0,474,13755,0.85,2.65,111.62,1.258,4,0.064,0.046,3125,3597,2348,0,0,0,0,0,0
$GC,13788,0.71,116.8,972.8,13.7,478,13793,0.00,2.47,0.00,0.000,6,0.000,0.035,3137,2050,2338,0,0,0,0,0,0
$GC,14101,0.71,116.8,930.2,13.5,486,14102,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2050,2330,0,0,0,0,0,0
$GC,14426,0.71,116.8,885.9,13.5,494,14430,0.00,2.45,0.00,0.000,4,0.000,0.049,3149,441,2325,0,0,0,0,0,0
$GC,14474,0.71,116.8,878.9,14.3,495,14479,0.08,2.35,0.00,0.000,6,0.137,0.035,3124,2018,2328,0,0,0,0,0,0
$GC,14793,0.71,116.8,838.6,12.6,503,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2019,2321,0,0,0,0,0,0
$GC,15118,0.71,116.8,797.9,12.5,511,15122,0.00,2.38,0.00,0.000,4,0.000,0.049,3134,439,2320,0,0,0,0,0,0
$GC,15145,0.71,116.8,794.6,12.6,511,15149,0.00,2.33,0.00,0.000,6,0.000,0.035,3134,2039,2322,0,0,0,0,0,0
$GC,15475,0.71,116.8,753.8,12.4,519,15479,0.00,2.40,0.00,0.000,4,0.000,0.049,3146,443,2321,0,0,0,0,0,0
$GC,15530,0.71,116.8,746.4,13.4,520,15534,0.00,2.30,0.00,0.000,6,0.000,0.035,3146,2036,2319,0,0,0,0,0,0
$GC,15848,0.71,116.8,704.0,13.7,528,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2036,2320,0,0,0,0,0,0
$GC,16173,0.71,116.8,660.7,13.2,536,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2036,2319,0,0,0,0,0,0
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$STATE,23033,end climb,SURFACE_DEPTH_REACHED
$STATE,23033,begin surface coast
$FINISH,0.7,1.020732
$STATE,23067,end surface coast,CONTROL_FINISHED_OK
$STATE,23068,begin surface
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$IRIDIUM_FIX,2040.99,-15930.68,130112,171752
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$XPDR_PINGS,7
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$AR_CDRIVE_FREE,8411086848
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51873284096
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,18.922
$10V_AH,9.7,20.184
$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
$DEVICE_SECS,20.325,180.475,308.400,74.900,0.000,26.478,38.196,546.507,1.750,0.000,9.382,1772.444,18716.779,532.248,2683.824,258.853,33.364,1666.066,0.000,2001.826,0.000,0.541,0.000
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$SENSOR_SECS,625.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335208
$DATA_FILE_SIZE,33331,914
$CAP_FILE_SIZE,183659,0
$CFSIZE,260165632,243986432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210710,125307,2048.016,-15927.119,34,1.1,34,9.7