version: 66.07
glider: 500
mission: 4
dive: 199
start: 8 3 110 8 6 21
data:
$ID,500
$MISSION,4
$DIVE,199
$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,-112868.38
$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,51
$R_STBD_OVSHOOT,52
$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,198
$AR_SAMPLENUM,7
$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
$GPS1,030810,080024,2106.954,-15802.147,22,2.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.4
$GPS2,030810,080526,2106.934,-15802.232,13,2.0,13,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.202,0.094
$KALMAN_X,-198581.1,-121.0,-90.2,404441.2,-5702.6
$KALMAN_Y,173720.4,-118.9,93.2,-101555.2,-3383.4
$MHEAD_RNG_PITCHd_Wd,55.2,23015,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.71,-116.8,0.0,0.0,0,74,0.00,0.00,-45.55,0.000,2,0.000,0.000,121,2029,2533,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.4,-5.6,9,112,10.18,0.00,-18.88,0.000,6,0.232,0.000,2657,2028,3301,0,0,0,0,0,0
$GC,309,-0.71,-116.8,49.9,-17.6,43,313,0.00,2.33,0.00,0.000,4,0.000,0.038,2646,3611,3303,0,0,0,0,0,0
$GC,329,-0.71,-116.8,53.7,-18.0,44,335,0.00,2.30,0.00,0.000,6,0.000,0.028,2646,2024,3302,0,0,0,0,0,0
$GC,590,-0.71,-116.8,97.7,-16.5,69,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2023,3304,0,0,0,0,0,0
$GC,845,-0.71,-116.8,133.2,-13.9,93,849,0.00,2.30,0.00,0.000,4,0.000,0.042,2651,442,3305,0,0,0,0,0,0
$GC,906,-0.71,-116.8,141.0,-12.9,98,910,0.00,2.22,0.00,0.000,6,0.000,0.031,2634,2033,3306,0,0,0,0,0,0
$GC,1167,-0.71,-116.8,172.2,-10.7,122,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2033,3307,0,0,0,0,0,0
$GC,1420,-0.71,-116.8,203.1,-11.3,145,1424,0.00,2.30,0.00,0.000,4,0.000,0.041,2622,3614,3308,0,0,0,0,0,0
$GC,1459,-0.71,-116.8,207.3,-11.6,147,1463,0.12,2.22,0.00,0.000,6,0.131,0.028,2662,2025,3310,0,0,0,0,0,0
$GC,1784,-0.71,-116.8,241.1,-9.8,163,1788,0.00,2.25,0.00,0.000,4,0.000,0.041,2663,454,3307,0,0,0,0,0,0
$GC,1883,-0.71,-116.8,251.2,-9.3,167,1890,0.00,2.25,0.00,0.000,6,0.000,0.031,2653,2029,3308,0,0,0,0,0,0
$GC,2199,-0.71,-116.8,276.8,-7.7,183,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2029,3311,0,0,0,0,0,0
$GC,2507,-0.71,-116.8,303.5,-8.6,197,2511,0.00,2.28,0.00,0.000,4,0.000,0.041,2652,454,3311,0,0,0,0,0,0
$GC,2585,-0.71,-116.8,310.4,-8.4,198,2591,0.00,2.22,0.00,0.000,6,0.000,0.031,2641,2045,3309,0,0,0,0,0,0
$GC,2916,-0.71,-116.8,334.3,-6.8,207,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2045,3307,0,0,0,0,0,0
$GC,3241,-0.71,-116.8,356.4,-7.0,215,3245,0.00,2.35,0.00,0.000,4,0.000,0.043,2641,454,3306,0,0,0,0,0,0
$GC,3295,-0.71,-116.8,361.0,-8.9,216,3300,0.00,2.25,0.00,0.000,6,0.000,0.031,2629,2029,3306,0,0,0,0,0,0
$GC,3608,-0.71,-116.8,387.4,-8.3,224,3610,0.10,0.00,0.00,0.000,6,0.153,0.000,2660,2030,3303,0,0,0,0,0,0
$GC,3933,-0.71,-116.8,412.2,-7.9,232,3937,0.00,2.30,0.00,0.000,4,0.000,0.043,2664,449,3302,0,0,0,0,0,0
$GC,3972,-0.71,-116.8,415.7,-9.5,233,3977,0.00,2.25,0.00,0.000,6,0.000,0.031,2650,2036,3301,0,0,0,0,0,0
$GC,4295,-0.71,-116.8,443.5,-9.3,241,4300,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,3604,3299,0,0,0,0,0,0
$GC,4339,-0.71,-116.8,448.0,-9.5,242,4343,0.00,2.28,0.00,0.000,6,0.000,0.029,2638,2028,3301,0,0,0,0,0,0
$GC,4664,-0.71,-116.8,475.7,-8.2,250,4668,0.00,2.28,0.00,0.000,4,0.000,0.043,2638,454,3297,0,0,0,0,0,0
$GC,4730,-0.71,-116.8,481.3,-8.2,251,4734,0.12,2.22,0.00,0.000,6,0.139,0.031,2666,2043,3296,0,0,0,0,0,0
$GC,5072,-0.71,-116.8,501.0,-5.6,260,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3295,0,0,0,0,0,0
$GC,5396,-0.71,-116.8,522.5,-8.0,268,5400,0.00,2.33,0.00,0.000,4,0.000,0.044,2666,450,3293,0,0,0,0,0,0
$GC,5473,-0.71,-116.8,530.5,-11.1,269,5479,0.00,2.28,0.00,0.000,6,0.000,0.032,2657,2026,3293,0,0,0,0,0,0
$GC,5804,-0.71,-116.8,543.8,-2.3,278,5809,0.00,2.33,0.00,0.000,4,0.000,0.044,2657,3609,3291,0,0,0,0,0,0
$STATE,5937,end dive,NO_VERTICAL_VELOCITY
$STATE,5937,begin apogee
$GC,5944,-0.23,0.0,543.9,0.0,281,6040,0.40,0.00,92.50,0.941,6,0.059,0.000,2827,2032,2822,0,0,0,0,0,0
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6087,begin climb
$GC,6090,0.71,116.8,543.8,0.0,283,6198,0.75,2.45,99.68,0.920,4,0.060,0.044,3131,459,2345,0,0,0,0,0,0
$GC,6242,0.71,116.8,532.3,14.4,286,6246,0.00,2.38,0.00,0.000,6,0.000,0.031,3135,2030,2338,0,0,0,0,0,0
$GC,6578,0.71,116.8,496.0,10.5,295,6582,0.00,2.38,0.00,0.000,4,0.000,0.045,3143,449,2330,0,0,0,0,0,0
$GC,6638,0.71,116.8,489.5,10.5,296,6643,0.00,2.33,0.00,0.000,6,0.000,0.032,3143,2033,2331,0,0,0,0,0,0
$GC,6986,0.71,116.8,451.0,10.9,305,6990,0.00,2.35,0.00,0.000,4,0.000,0.042,3141,3623,2327,0,0,0,0,0,0
$GC,7119,0.71,116.8,436.0,10.6,308,7124,0.10,2.35,0.00,0.000,6,0.139,0.032,3122,2022,2325,0,0,0,0,0,0
$GC,7443,0.72,120.8,409.3,8.3,316,7447,0.00,2.38,0.00,0.000,4,0.000,0.042,3122,3618,2325,0,0,0,0,0,0
$GC,7474,0.72,120.8,406.1,10.1,316,7479,0.00,2.33,0.00,0.000,6,0.000,0.032,3132,2038,2324,0,0,0,0,0,0
$GC,7811,0.72,120.8,370.7,10.4,325,7815,0.00,2.35,0.00,0.000,4,0.000,0.044,3141,451,2324,0,0,0,0,0,0
$GC,7895,0.72,120.8,362.0,10.0,327,7899,0.00,2.28,0.00,0.000,6,0.000,0.031,3149,2039,2323,0,0,0,0,0,0
$GC,8217,0.72,120.8,330.8,9.1,335,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2039,2320,0,0,0,0,0,0
$GC,8542,0.72,120.8,303.5,8.9,343,8547,0.00,2.30,0.00,0.000,4,0.000,0.041,3144,3618,2321,0,0,0,0,0,0
$GC,8642,0.72,120.8,291.9,12.0,346,8649,0.12,2.33,0.00,0.000,6,0.165,0.031,3122,2001,2319,0,0,0,0,0,0
$GC,8958,0.72,120.8,266.0,9.0,362,8962,0.00,2.35,0.00,0.000,4,0.000,0.041,3122,3611,2321,0,0,0,0,0,0
$GC,8989,0.72,120.8,263.1,9.2,363,8996,0.00,2.30,0.00,0.000,6,0.000,0.031,3131,2038,2322,0,0,0,0,0,0
$GC,9305,0.74,140.2,239.3,7.6,379,9327,0.00,2.40,16.52,0.719,4,0.000,0.044,3144,459,2250,0,0,0,0,0,0
$GC,9449,0.75,151.9,227.8,7.9,385,9466,0.00,2.28,11.20,0.673,6,0.000,0.031,3144,2025,2204,0,0,0,0,0,0
$GC,9787,0.75,151.9,198.8,8.5,402,9791,0.00,2.33,0.00,0.000,4,0.000,0.041,3146,3612,2199,0,0,0,0,0,0
$GC,9894,0.75,151.9,187.3,10.6,411,9898,0.00,2.30,0.00,0.000,6,0.000,0.031,3157,2021,2196,0,0,0,0,0,0
$GC,10155,0.75,151.9,162.6,9.3,435,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2021,2197,0,0,0,0,0,0
$GC,10409,0.80,187.3,141.5,6.8,459,10444,0.00,2.33,29.55,0.639,4,0.000,0.044,3168,460,2059,0,0,0,0,0,0
$GC,10506,0.80,187.3,133.2,10.2,467,10511,0.00,2.28,0.00,0.000,6,0.000,0.031,3164,2033,2054,0,0,0,0,0,0
$GC,10768,0.81,200.8,109.8,7.8,492,10789,0.00,2.40,11.98,0.571,4,0.000,0.043,3180,459,2003,0,0,0,0,0,0
$GC,10850,0.81,200.8,101.5,10.2,499,10856,0.00,2.28,0.00,0.000,6,0.000,0.031,3179,2024,2000,0,0,0,0,0,0
$GC,11110,0.81,200.8,77.2,9.4,524,11114,0.00,2.35,0.00,0.000,4,0.000,0.041,3179,3611,2000,0,0,0,0,0,0
$GC,11212,0.81,200.8,65.0,11.4,533,11216,0.12,2.28,0.00,0.000,6,0.156,0.030,3156,2026,1999,0,0,0,0,0,0
$GC,11472,0.93,295.8,50.0,3.8,557,11553,0.10,0.00,76.22,0.552,6,0.104,0.000,3205,2026,1616,0,0,0,0,0,0
$GC,11816,0.93,295.8,5.5,14.6,603,11822,0.00,2.30,0.00,0.000,4,0.000,0.042,3217,462,1606,0,0,0,0,0,0
$STATE,11831,end climb,SURFACE_DEPTH_REACHED
$STATE,11831,begin surface coast
$FINISH,1.0,1.023118
$STATE,11849,end surface coast,CONTROL_FINISHED_OK
$STATE,11849,begin surface
$SM_CCo,11879,41.97,0.388,1,0,1293,375.06
$SM_GC,1.73,0.00,0.00,41.97,0.000,0.000,0.388,121,2045,1293,-8.65,0.42,375.06
$IRIDIUM_FIX,2059.45,-15803.33,260112,222217
$TT8_MAMPS,0.059826
$HUMID,1078471603
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.70
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8427962368
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48972365824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,25.350
$10V_AH,9.8,30.927
$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,19.925,110.725,337.650,41.975,0.000,30.952,27.123,134.307,0.000,0.000,14.988,1139.995,8869.837,464.588,1617.702,145.284,33.361,1227.286,0.000,1324.860,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,45.253,941.109,388.102,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,411.036,0.000,0.000,0.000,0.000,0.000,0.000,12511.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.586,0.000,0.000
$MEM,334968
$DATA_FILE_SIZE,20092,609
$CAP_FILE_SIZE,109297,0
$CFSIZE,260165632,238161920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030810,112630,2107.380,-15801.150,32,2.0,33,9.8