version: 66.07
glider: 500
mission: 4
dive: 158
start: 7 23 110 5 32 31
data:
$ID,500
$MISSION,4
$DIVE,158
$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,-112168.6
$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,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,157
$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
$GPS1,230710,051607,2052.197,-15918.070,23,2.0,23,9.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.9
$GPS2,230710,053137,2052.312,-15918.174,36,0.9,36,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.006
$KALMAN_X,-126453.8,-57.4,-96.0,200485.1,-1867.7
$KALMAN_Y,144739.4,551.1,90.1,-100327.2,863.9
$MHEAD_RNG_PITCHd_Wd,78.7,152590,-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,-50.85,0.000,2,0.000,0.000,125,2026,2693,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.4,-6.2,10,107,10.20,0.00,-13.57,0.000,6,0.232,0.000,2650,2024,3301,0,0,0,0,0,0
$GC,304,-0.71,-116.8,48.1,-19.8,43,308,0.00,2.38,0.00,0.000,4,0.000,0.045,2639,3610,3305,0,0,0,0,0,0
$GC,347,-0.71,-116.8,55.6,-16.4,46,354,0.00,2.30,0.00,0.000,6,0.000,0.031,2639,2018,3305,0,0,0,0,0,0
$GC,609,-0.71,-116.8,95.3,-13.9,71,613,0.00,2.25,0.00,0.000,4,0.000,0.043,2640,465,3306,0,0,0,0,0,0
$GC,674,-0.71,-116.8,105.1,-14.9,76,681,0.08,2.28,0.00,0.000,6,0.122,0.036,2659,2031,3305,0,0,0,0,0,0
$GC,936,-0.71,-116.8,135.9,-11.0,101,940,0.00,2.28,0.00,0.000,4,0.000,0.044,2657,460,3307,0,0,0,0,0,0
$GC,986,-0.71,-116.8,142.0,-11.9,105,990,0.00,2.22,0.00,0.000,6,0.000,0.035,2647,2041,3307,0,0,0,0,0,0
$GC,1247,-0.71,-116.8,173.1,-11.4,129,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2037,3308,0,0,0,0,0,0
$GC,1511,-0.71,-116.8,202.7,-11.2,153,1515,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,3612,3309,0,0,0,0,0,0
$GC,1542,-0.71,-116.8,206.5,-11.7,154,1549,0.00,2.25,0.00,0.000,6,0.000,0.028,2634,2050,3308,0,0,0,0,0,0
$GC,1858,-0.71,-116.8,241.7,-11.2,170,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2050,3309,0,0,0,0,0,0
$GC,2168,-0.71,-116.8,273.3,-10.2,185,2172,0.00,2.30,0.00,0.000,4,0.000,0.043,2640,447,3309,0,0,0,0,0,0
$GC,2239,-0.71,-116.8,281.4,-11.5,188,2244,0.08,2.25,0.00,0.000,6,0.113,0.031,2659,2013,3309,0,0,0,0,0,0
$GC,2578,-0.71,-116.8,311.7,-8.9,202,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2013,3309,0,0,0,0,0,0
$GC,2903,-0.71,-116.8,337.9,-7.9,210,2907,0.00,2.25,0.00,0.000,4,0.000,0.042,2654,446,3306,0,0,0,0,0,0
$GC,2931,-0.71,-116.8,340.2,-8.3,210,2936,0.00,2.28,0.00,0.000,6,0.000,0.032,2644,2051,3306,0,0,0,0,0,0
$GC,3262,-0.71,-116.8,368.6,-8.7,218,3266,0.00,2.28,0.00,0.000,4,0.000,0.043,2632,3603,3305,0,0,0,0,0,0
$GC,3294,-0.71,-116.8,371.6,-9.6,218,3298,0.00,2.28,0.00,0.000,6,0.000,0.029,2632,2018,3305,0,0,0,0,0,0
$GC,3630,-0.71,-116.8,404.7,-9.8,227,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2018,3302,0,0,0,0,0,0
$GC,3956,-0.71,-116.8,430.1,-6.9,235,3960,0.00,2.28,0.00,0.000,4,0.000,0.044,2632,457,3300,0,0,0,0,0,0
$GC,4033,-0.71,-116.8,436.5,-8.1,236,4040,0.10,2.28,0.00,0.000,6,0.110,0.032,2659,2037,3299,0,0,0,0,0,0
$GC,4364,-0.71,-116.8,458.4,-6.9,245,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2037,3297,0,0,0,0,0,0
$GC,4689,-0.71,-116.8,480.9,-6.9,253,4693,0.00,2.33,0.00,0.000,4,0.000,0.044,2658,452,3296,0,0,0,0,0,0
$GC,4721,-0.71,-116.8,483.4,-7.9,253,4727,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2033,3296,0,0,0,0,0,0
$GC,5052,-0.71,-116.8,510.2,-8.3,262,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2030,3295,0,0,0,0,0,0
$GC,5376,-0.71,-116.8,538.1,-8.6,270,5381,0.00,2.33,0.00,0.000,4,0.000,0.044,2650,454,3291,0,0,0,0,0,0
$GC,5403,-0.71,-116.8,540.5,-9.4,270,5408,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2034,3291,0,0,0,0,0,0
$GC,5740,-0.71,-116.8,568.4,-7.9,279,5744,0.00,2.33,0.00,0.000,4,0.000,0.044,2632,3613,3290,0,0,0,0,0,0
$GC,5768,-0.71,-116.8,570.6,-8.0,279,5773,0.12,2.25,0.00,0.000,6,0.130,0.030,2667,2032,3290,0,0,0,0,0,0
$GC,6098,-0.71,-116.8,591.8,-6.3,287,6102,0.00,2.33,0.00,0.000,4,0.000,0.045,2667,450,3288,0,0,0,0,0,0
$GC,6143,-0.71,-116.8,594.8,-7.1,288,6147,0.00,2.28,0.00,0.000,6,0.000,0.033,2661,2045,3288,0,0,0,0,0,0
$GC,6472,-0.71,-116.8,614.6,-5.8,296,6476,0.00,2.28,0.00,0.000,4,0.000,0.044,2646,3602,3285,0,0,0,0,0,0
$GC,6532,-0.71,-116.8,618.3,-6.3,297,6537,0.00,2.25,0.00,0.000,6,0.000,0.031,2646,2017,3286,0,0,0,0,0,0
$GC,6880,-0.71,-116.8,639.1,-5.9,306,6884,0.00,2.28,0.00,0.000,4,0.000,0.045,2646,457,3286,0,0,0,0,0,0
$GC,6940,-0.71,-116.8,643.3,-7.3,307,6945,0.00,2.28,0.00,0.000,6,0.000,0.033,2635,2032,3284,0,0,0,0,0,0
$GC,7288,-0.71,-116.8,665.0,-6.2,316,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2032,3281,0,0,0,0,0,0
$GC,7613,-0.71,-116.8,685.6,-6.5,324,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2032,3282,0,0,0,0,0,0
$GC,7938,-0.71,-116.8,708.4,-7.2,332,7942,0.00,2.33,0.00,0.000,4,0.000,0.046,2635,454,3282,0,0,0,0,0,0
$GC,7981,-0.71,-116.8,712.0,-8.8,333,7986,0.10,2.30,0.00,0.000,6,0.114,0.034,2678,2033,3281,0,0,0,0,0,0
$GC,8305,-0.71,-116.8,729.5,-5.1,341,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2033,3280,0,0,0,0,0,0
$GC,8630,-0.71,-116.8,742.7,-3.7,349,8634,0.00,2.35,0.00,0.000,4,0.000,0.047,2678,455,3279,0,0,0,0,0,0
$GC,8690,-0.71,-116.8,745.4,-4.4,350,8694,0.00,2.30,0.00,0.000,6,0.000,0.034,2667,2030,3280,0,0,0,0,0,0
$GC,9038,-0.71,-116.8,759.1,-4.0,359,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3278,0,0,0,0,0,0
$GC,9363,-0.71,-116.8,772.7,-4.2,367,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3275,0,0,0,0,0,0
$GC,9688,-0.71,-116.8,785.8,-4.0,375,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3276,0,0,0,0,0,0
$GC,10013,-0.71,-116.8,800.8,-4.9,383,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2030,3276,0,0,0,0,0,0
$GC,10338,-0.71,-116.8,817.9,-5.3,391,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2030,3276,0,0,0,0,0,0
$GC,10663,-0.71,-116.8,834.7,-5.1,399,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2031,3275,0,0,0,0,0,0
$GC,10988,-0.71,-116.8,850.2,-4.6,407,10992,0.00,2.33,0.00,0.000,4,0.000,0.048,2669,461,3273,0,0,0,0,0,0
$GC,11036,-0.71,-116.8,852.8,-5.5,408,11041,0.00,2.30,0.00,0.000,6,0.000,0.034,2658,2034,3275,0,0,0,0,0,0
$GC,11355,-0.71,-116.8,866.6,-4.2,416,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2033,3274,0,0,0,0,0,0
$GC,11680,-0.71,-116.8,880.2,-4.3,424,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3274,0,0,0,0,0,0
$GC,12005,-0.71,-116.8,895.1,-4.6,432,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2034,3272,0,0,0,0,0,0
$GC,12330,-0.71,-116.8,910.9,-4.9,440,12334,0.00,2.33,0.00,0.000,4,0.000,0.046,2646,3604,3273,0,0,0,0,0,0
$GC,12357,-0.71,-116.8,912.4,-5.5,440,12361,0.00,2.30,0.00,0.000,6,0.000,0.031,2646,2042,3273,0,0,0,0,0,0
$GC,12694,-0.71,-116.8,931.5,-5.7,449,12698,0.00,2.35,0.00,0.000,4,0.000,0.047,2646,450,3273,0,0,0,0,0,0
$GC,12737,-0.71,-116.8,934.4,-7.3,450,12741,0.00,2.28,0.00,0.000,6,0.000,0.034,2635,2044,3273,0,0,0,0,0,0
$GC,13061,-0.71,-116.8,952.6,-5.6,458,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2044,3273,0,0,0,0,0,0
$GC,13386,-0.71,-116.8,970.5,-5.5,466,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2044,3272,0,0,0,0,0,0
$STATE,13507,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13508,begin apogee
$GC,13512,-0.23,0.0,977.3,5.5,469,13612,0.52,0.00,97.22,1.284,6,0.108,0.000,2810,2044,2822,0,0,0,0,0,0
$STATE,13615,end apogee,CONTROL_FINISHED_OK
$STATE,13615,begin climb
$GC,13616,0.71,116.8,978.3,0.0,471,13739,0.85,2.62,111.18,1.249,4,0.066,0.046,3122,3597,2342,0,0,0,0,0,0
$GC,13755,0.71,116.8,968.2,13.2,474,13760,0.00,2.47,0.00,0.000,6,0.000,0.035,3133,2038,2339,0,0,0,0,0,0
$GC,14068,0.71,116.8,925.6,13.6,482,14072,0.00,2.42,0.00,0.000,4,0.000,0.049,3146,451,2328,0,0,0,0,0,0
$GC,14111,0.71,116.8,919.3,14.7,483,14116,0.00,2.35,0.00,0.000,6,0.000,0.034,3146,2011,2326,0,0,0,0,0,0
$GC,14435,0.71,116.8,875.5,13.4,491,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2012,2325,0,0,0,0,0,0
$GC,14760,0.71,116.8,834.1,12.7,499,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2012,2323,0,0,0,0,0,0
$GC,15085,0.71,116.8,795.0,12.0,507,15089,0.00,2.40,0.00,0.000,4,0.000,0.045,3146,3621,2322,0,0,0,0,0,0
$GC,15105,0.71,116.8,792.1,13.4,507,15111,0.15,2.40,0.00,0.000,6,0.171,0.035,3117,2014,2321,0,0,0,0,0,0
$GC,15453,0.71,116.8,751.9,11.8,516,15457,0.00,2.33,0.00,0.000,4,0.000,0.048,3127,448,2321,0,0,0,0,0,0
$GC,15492,0.71,116.8,746.9,13.8,517,15496,0.00,2.30,0.00,0.000,6,0.000,0.034,3128,2041,2321,0,0,0,0,0,0
$GC,15815,0.71,116.8,704.7,13.1,525,15819,0.00,2.35,0.00,0.000,4,0.000,0.046,3127,3614,2319,0,0,0,0,0,0
$GC,15846,0.71,116.8,700.0,13.0,525,15851,0.00,2.35,0.00,0.000,6,0.000,0.035,3139,2036,2319,0,0,0,0,0,0
$GC,16183,0.71,116.8,658.6,12.2,534,16187,0.00,2.38,0.00,0.000,4,0.000,0.048,3152,451,2319,0,0,0,0,0,0
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$STATE,23264,end climb,SURFACE_DEPTH_REACHED
$STATE,23264,begin surface coast
$FINISH,0.8,1.023365
$STATE,23295,end surface coast,CONTROL_FINISHED_OK
$STATE,23295,begin surface
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$SM_GC,1.68,0.00,0.00,57.80,0.000,0.000,0.429,125,2036,1292,-8.64,0.14,375.30
$IRIDIUM_FIX,2045.60,-15919.62,150112,161632
$TT8_MAMPS,0.249275
$HUMID,1078398055
$INTERNAL_PRESSURE,9.43274
$TCM_TEMP,24.90
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8409939968
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51238699008
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,19.999
$10V_AH,9.6,20.749
$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
$DEVICE_SECS,20.325,176.075,333.600,57.800,0.000,24.428,32.429,639.548,0.500,0.000,37.789,1764.820,19048.736,528.452,2689.768,275.504,33.361,1618.902,0.000,1890.298,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,633.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335164
$DATA_FILE_SIZE,33382,927
$CAP_FILE_SIZE,183343,0
$CFSIZE,260165632,242933760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230710,120337,2053.212,-15915.825,35,1.0,35,9.7