version: 66.07
glider: 500
mission: 4
dive: 160
start: 7 23 110 19 8 57
data:
$ID,500
$MISSION,4
$DIVE,160
$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,-112196.52
$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,59
$R_STBD_OVSHOOT,51
$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,159
$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
$GPS1,230710,184907,2053.522,-15914.393,29,1.0,29,9.7
$_CALLS,1
$_XMS_NAKs,54
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.0
$GPS2,230710,190802,2053.635,-15914.413,11,1.1,11,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,-0.078
$KALMAN_X,-130319.0,28.3,-158.1,210846.9,-1956.1
$KALMAN_Y,148577.6,-517.1,-187.3,-100368.0,2695.2
$MHEAD_RNG_PITCHd_Wd,100.9,145668,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-46.20,0.000,2,0.000,0.000,132,2036,2553,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-5.2,9,112,10.18,2.38,-18.23,0.000,4,0.231,0.056,2654,459,3300,0,0,0,0,0,0
$GC,146,-0.71,-116.8,13.4,-16.1,22,151,0.00,2.28,0.00,0.000,6,0.000,0.034,2645,2030,3301,0,0,0,0,0,0
$GC,347,-0.71,-116.8,52.9,-17.4,48,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2031,3302,0,0,0,0,0,0
$GC,602,-0.71,-116.8,93.4,-14.4,72,606,0.00,2.35,0.00,0.000,4,0.000,0.043,2632,3610,3303,0,0,0,0,0,0
$GC,667,-0.71,-116.8,102.7,-13.5,77,674,0.00,2.28,0.00,0.000,6,0.000,0.028,2632,2025,3302,0,0,0,0,0,0
$GC,929,-0.71,-116.8,138.7,-14.4,102,932,0.00,2.28,0.00,0.000,4,0.000,0.044,2632,454,3303,0,0,0,0,0,0
$GC,962,-0.71,-116.8,143.2,-13.8,105,966,0.12,2.25,0.00,0.000,6,0.146,0.033,2658,2039,3303,0,0,0,0,0,0
$GC,1221,-0.71,-116.8,172.7,-10.6,129,1226,0.00,2.30,0.00,0.000,4,0.000,0.042,2658,454,3304,0,0,0,0,0,0
$GC,1299,-0.71,-116.8,181.2,-11.1,135,1305,0.00,2.25,0.00,0.000,6,0.000,0.032,2648,2027,3303,0,0,0,0,0,0
$GC,1557,-0.71,-116.8,209.2,-10.9,156,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3304,0,0,0,0,0,0
$GC,1867,-0.71,-116.8,242.6,-11.3,171,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2025,3304,0,0,0,0,0,0
$GC,2176,-0.71,-116.8,275.5,-9.9,186,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3302,0,0,0,0,0,0
$GC,2505,-0.71,-116.8,305.0,-9.3,201,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3303,0,0,0,0,0,0
$GC,2830,-0.71,-116.8,336.8,-9.6,209,2835,0.00,2.33,0.00,0.000,4,0.000,0.043,2636,3618,3302,0,0,0,0,0,0
$GC,2930,-0.71,-116.8,346.2,-9.0,211,2935,0.00,2.28,0.00,0.000,6,0.000,0.028,2641,2028,3302,0,0,0,0,0,0
$GC,3243,-0.71,-116.8,373.3,-8.6,219,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2030,3300,0,0,0,0,0,0
$GC,3568,-0.71,-116.8,401.2,-8.8,227,3572,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,444,3298,0,0,0,0,0,0
$GC,3680,-0.71,-116.8,411.6,-9.4,229,3685,0.12,2.22,0.00,0.000,6,0.138,0.032,2664,2041,3297,0,0,0,0,0,0
$GC,4021,-0.71,-116.8,435.6,-6.9,238,4025,0.00,2.30,0.00,0.000,4,0.000,0.044,2654,3607,3296,0,0,0,0,0,0
$GC,4075,-0.71,-116.8,439.4,-6.9,239,4079,0.00,2.25,0.00,0.000,6,0.000,0.029,2653,2025,3295,0,0,0,0,0,0
$GC,4388,-0.71,-116.8,458.8,-5.9,247,4392,0.00,2.25,0.00,0.000,4,0.000,0.043,2654,458,3293,0,0,0,0,0,0
$GC,4466,-0.71,-116.8,463.8,-6.9,248,4472,0.00,2.25,0.00,0.000,6,0.000,0.032,2642,2022,3292,0,0,0,0,0,0
$GC,4797,-0.71,-116.8,484.4,-6.5,257,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2022,3290,0,0,0,0,0,0
$GC,5122,-0.71,-116.8,507.0,-7.0,265,5126,0.00,2.35,0.00,0.000,4,0.000,0.044,2632,3615,3288,0,0,0,0,0,0
$GC,5161,-0.71,-116.8,509.9,-7.8,266,5166,0.10,2.25,0.00,0.000,6,0.140,0.031,2662,2030,3287,0,0,0,0,0,0
$GC,5484,-0.71,-116.8,530.5,-6.3,274,5488,0.00,2.30,0.00,0.000,4,0.000,0.044,2662,448,3285,0,0,0,0,0,0
$GC,5583,-0.71,-116.8,537.9,-7.5,276,5588,0.00,2.28,0.00,0.000,6,0.000,0.032,2653,2025,3284,0,0,0,0,0,0
$GC,5897,-0.71,-116.8,559.6,-7.1,284,5901,0.00,2.35,0.00,0.000,4,0.000,0.044,2641,3619,3281,0,0,0,0,0,0
$GC,5936,-0.71,-116.8,562.4,-7.0,285,5940,0.00,2.28,0.00,0.000,6,0.000,0.031,2641,2017,3282,0,0,0,0,0,0
$GC,6259,-0.71,-116.8,584.3,-6.6,293,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2017,3281,0,0,0,0,0,0
$GC,6584,-0.71,-116.8,603.4,-5.7,301,6588,0.00,2.28,0.00,0.000,4,0.000,0.044,2641,450,3279,0,0,0,0,0,0
$GC,6616,-0.71,-116.8,605.6,-6.8,301,6623,0.10,2.28,0.00,0.000,6,0.154,0.031,2659,2052,3276,0,0,0,0,0,0
$GC,6947,-0.71,-116.8,623.6,-5.7,310,6951,0.00,2.35,0.00,0.000,4,0.000,0.043,2660,453,3274,0,0,0,0,0,0
$GC,7002,-0.71,-116.8,627.5,-7.4,311,7007,0.00,2.22,0.00,0.000,6,0.000,0.031,2650,2028,3277,0,0,0,0,0,0
$GC,7321,-0.71,-116.8,650.6,-7.5,319,7325,0.00,2.35,0.00,0.000,4,0.000,0.044,2638,3616,3275,0,0,0,0,0,0
$GC,7370,-0.71,-116.8,654.6,-8.3,320,7374,0.00,2.28,0.00,0.000,6,0.000,0.031,2638,2018,3275,0,0,0,0,0,0
$GC,7688,-0.71,-116.8,679.6,-7.7,328,7692,0.00,2.28,0.00,0.000,4,0.000,0.045,2638,461,3273,0,0,0,0,0,0
$GC,7726,-0.71,-116.8,682.8,-8.9,329,7731,0.12,2.22,0.00,0.000,6,0.142,0.033,2665,2032,3275,0,0,0,0,0,0
$GC,8050,-0.71,-116.8,700.9,-5.4,337,8054,0.00,2.30,0.00,0.000,4,0.000,0.045,2665,461,3271,0,0,0,0,0,0
$GC,8109,-0.71,-116.8,704.5,-6.1,338,8114,0.00,2.28,0.00,0.000,6,0.000,0.034,2655,2033,3271,0,0,0,0,0,0
$GC,8457,-0.71,-116.8,723.9,-5.6,347,8462,0.00,2.35,0.00,0.000,4,0.000,0.044,2644,3618,3271,0,0,0,0,0,0
$GC,8490,-0.71,-116.8,725.9,-6.3,347,8496,0.00,2.28,0.00,0.000,6,0.000,0.031,2640,2028,3270,0,0,0,0,0,0
$GC,8821,-0.71,-116.8,746.7,-6.3,356,8825,0.00,2.33,0.00,0.000,4,0.000,0.045,2643,452,3269,0,0,0,0,0,0
$GC,8881,-0.71,-116.8,751.2,-7.1,357,8885,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,2025,3266,0,0,0,0,0,0
$GC,9194,-0.71,-116.8,772.8,-6.8,365,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2026,3267,0,0,0,0,0,0
$GC,9519,-0.71,-116.8,794.7,-6.5,373,9523,0.00,2.33,0.00,0.000,4,0.000,0.045,2633,456,3267,0,0,0,0,0,0
$GC,9569,-0.71,-116.8,798.3,-8.1,374,9574,0.12,2.25,0.00,0.000,6,0.144,0.033,2661,2039,3267,0,0,0,0,0,0
$GC,9887,-0.71,-116.8,815.6,-5.4,382,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2039,3266,0,0,0,0,0,0
$GC,10212,-0.71,-116.8,833.1,-5.3,390,10216,0.00,2.35,0.00,0.000,4,0.000,0.046,2660,458,3265,0,0,0,0,0,0
$GC,10249,-0.71,-116.8,835.4,-6.1,390,10256,0.00,2.30,0.00,0.000,6,0.000,0.034,2650,2031,3265,0,0,0,0,0,0
$GC,10581,-0.71,-116.8,854.0,-5.6,399,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2030,3265,0,0,0,0,0,0
$GC,10906,-0.71,-116.8,872.9,-5.9,407,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2031,3265,0,0,0,0,0,0
$GC,11231,-0.71,-116.8,892.5,-6.2,415,11235,0.00,2.35,0.00,0.000,4,0.000,0.047,2650,457,3263,0,0,0,0,0,0
$GC,11315,-0.71,-116.8,898.4,-7.2,417,11319,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2037,3263,0,0,0,0,0,0
$GC,11638,-0.71,-116.8,917.2,-5.5,425,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3263,0,0,0,0,0,0
$GC,11963,-0.71,-116.8,931.9,-4.3,433,11967,0.00,2.35,0.00,0.000,4,0.000,0.047,2639,452,3262,0,0,0,0,0,0
$GC,11996,-0.71,-116.8,933.6,-5.1,433,12002,0.08,2.30,0.00,0.000,6,0.117,0.034,2673,2029,3262,0,0,0,0,0,0
$GC,12327,-0.71,-116.8,943.5,-2.9,442,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2029,3261,0,0,0,0,0,0
$GC,12652,-0.71,-116.8,953.6,-3.2,450,12656,0.00,2.33,0.00,0.000,4,0.000,0.047,2674,459,3261,0,0,0,0,0,0
$GC,12679,-0.71,-116.8,954.7,-4.0,450,12683,0.00,2.30,0.00,0.000,6,0.000,0.034,2664,2026,3261,0,0,0,0,0,0
$GC,13016,-0.71,-116.8,968.5,-4.3,459,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2026,3260,0,0,0,0,0,0
$GC,13341,-0.71,-116.8,983.5,-4.7,467,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2026,3258,0,0,0,0,0,0
$STATE,13501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13501,begin apogee
$GC,13505,-0.23,0.0,991.9,5.2,471,13603,0.45,0.00,94.50,1.296,6,0.107,0.000,2815,2024,2823,0,0,0,0,0,0
$STATE,13605,end apogee,CONTROL_FINISHED_OK
$STATE,13605,begin climb
$GC,13607,0.71,116.8,993.9,0.0,473,13730,0.82,2.65,111.18,1.262,4,0.062,0.045,3122,3603,2344,0,0,0,0,0,0
$GC,13808,0.71,116.8,977.7,13.1,477,13813,0.00,2.45,0.00,0.000,6,0.000,0.035,3134,2046,2335,0,0,0,0,0,0
$GC,14145,0.71,116.8,936.9,11.9,486,14149,0.00,2.42,0.00,0.000,4,0.000,0.048,3146,446,2328,0,0,0,0,0,0
$GC,14183,0.71,116.8,932.3,12.9,487,14188,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,2046,2327,0,0,0,0,0,0
$GC,14506,0.71,116.8,894.0,11.9,495,14510,0.00,2.42,0.00,0.000,4,0.000,0.048,3159,450,2325,0,0,0,0,0,0
$GC,14559,0.71,116.8,886.8,12.5,496,14565,0.10,2.35,0.00,0.000,6,0.135,0.035,3125,2032,2324,0,0,0,0,0,0
$GC,14873,0.71,116.8,850.3,11.8,504,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2032,2324,0,0,0,0,0,0
$GC,15198,0.71,116.8,809.6,12.7,512,15199,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2032,2323,0,0,0,0,0,0
$GC,15522,0.71,116.8,766.3,13.5,520,15526,0.00,2.38,0.00,0.000,4,0.000,0.048,3136,449,2323,0,0,0,0,0,0
$GC,15560,0.71,116.8,760.8,14.4,520,15567,0.00,2.33,0.00,0.000,6,0.000,0.035,3135,2023,2322,0,0,0,0,0,0
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$STATE,23035,end climb,SURFACE_DEPTH_REACHED
$STATE,23036,begin surface coast
$FINISH,0.8,1.009932
$STATE,23066,end surface coast,CONTROL_FINISHED_OK
$STATE,23066,begin surface
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$AR_CDRIVE_FREE,8409612288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51046154240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,20.285
$10V_AH,9.6,20.908
$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
$DEVICE_SECS,20.325,171.700,303.225,78.150,0.000,29.779,26.812,859.749,1.000,0.000,13.728,1737.192,18824.902,537.641,2935.292,264.834,33.374,1637.005,0.000,1933.268,0.000,0.541,0.000
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$SENSOR_SECS,614.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335224
$DATA_FILE_SIZE,30056,899
$CAP_FILE_SIZE,187601,0
$CFSIZE,260165632,242626560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240710,013631,2053.862,-15912.634,37,1.0,37,9.7