version: 66.07
glider: 500
mission: 4
dive: 200
start: 8 3 110 11 32 39
data:
$ID,500
$MISSION,4
$DIVE,200
$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,-112882.97
$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,57
$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,199
$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
$GPS1,030810,112630,2107.380,-15801.150,32,2.0,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.8
$GPS2,030810,113144,2107.346,-15801.215,12,1.8,12,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.006
$KALMAN_X,-201973.5,-33.2,508.1,408891.8,-8902.4
$KALMAN_Y,172013.4,179.5,228.8,-99532.8,-4894.4
$MHEAD_RNG_PITCHd_Wd,78.7,21316,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-46.38,0.000,2,0.000,0.000,119,2047,2536,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.3,-4.9,9,113,10.15,2.38,-18.55,0.000,4,0.232,0.054,2655,460,3301,0,0,0,0,0,0
$GC,153,-0.71,-116.8,16.0,-19.9,23,159,0.00,2.25,0.00,0.000,6,0.000,0.031,2646,2028,3302,0,0,0,0,0,0
$GC,353,-0.71,-116.8,55.1,-18.7,48,357,0.00,2.30,0.00,0.000,4,0.000,0.041,2646,452,3303,0,0,0,0,0,0
$GC,385,-0.71,-116.8,61.4,-18.9,50,392,0.00,2.28,0.00,0.000,6,0.000,0.031,2634,2027,3303,0,0,0,0,0,0
$GC,646,-0.71,-116.8,104.0,-14.3,75,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2027,3303,0,0,0,0,0,0
$GC,901,-0.71,-116.8,139.8,-12.8,99,905,0.00,2.28,0.00,0.000,4,0.000,0.042,2634,455,3305,0,0,0,0,0,0
$GC,951,-0.71,-116.8,145.8,-12.2,103,956,0.12,2.22,0.00,0.000,6,0.147,0.031,2660,2035,3306,0,0,0,0,0,0
$GC,1212,-0.71,-116.8,171.1,-9.2,127,1216,0.00,2.28,0.00,0.000,4,0.000,0.042,2660,447,3307,0,0,0,0,0,0
$GC,1274,-0.71,-116.8,177.9,-11.0,132,1278,0.00,2.22,0.00,0.000,6,0.000,0.031,2650,2034,3307,0,0,0,0,0,0
$GC,1533,-0.71,-116.8,207.6,-11.8,153,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2034,3307,0,0,0,0,0,0
$GC,1841,-0.71,-116.8,243.8,-12.0,168,1845,0.00,2.30,0.00,0.000,4,0.000,0.042,2638,3615,3306,0,0,0,0,0,0
$GC,1867,-0.71,-116.8,246.6,-10.0,169,1872,0.00,2.25,0.00,0.000,6,0.000,0.028,2638,2039,3307,0,0,0,0,0,0
$GC,2189,-0.71,-116.8,273.8,-7.7,185,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2040,3308,0,0,0,0,0,0
$GC,2498,-0.71,-116.8,299.8,-9.1,200,2502,0.00,2.30,0.00,0.000,4,0.000,0.042,2638,441,3308,0,0,0,0,0,0
$GC,2671,-0.71,-116.8,319.4,-12.9,205,2676,0.12,2.25,0.00,0.000,6,0.135,0.031,2666,2034,3306,0,0,0,0,0,0
$GC,3000,-0.71,-116.8,350.6,-8.9,213,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2033,3307,0,0,0,0,0,0
$GC,3325,-0.71,-116.8,373.2,-6.7,221,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2034,3305,0,0,0,0,0,0
$GC,3650,-0.71,-116.8,397.6,-7.8,229,3654,0.00,2.30,0.00,0.000,4,0.000,0.042,2666,446,3303,0,0,0,0,0,0
$GC,3704,-0.71,-116.8,402.4,-8.9,230,3708,0.00,2.28,0.00,0.000,6,0.000,0.032,2657,2028,3302,0,0,0,0,0,0
$GC,4018,-0.71,-116.8,424.6,-7.0,238,4022,0.00,2.28,0.00,0.000,4,0.000,0.042,2656,456,3300,0,0,0,0,0,0
$GC,4056,-0.71,-116.8,427.7,-8.5,239,4060,0.00,2.22,0.00,0.000,6,0.000,0.031,2645,2039,3299,0,0,0,0,0,0
$GC,4380,-0.71,-116.8,450.7,-6.6,247,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3295,0,0,0,0,0,0
$GC,4705,-0.71,-116.8,471.5,-6.3,255,4709,0.00,2.33,0.00,0.000,4,0.000,0.044,2645,457,3295,0,0,0,0,0,0
$GC,4737,-0.71,-116.8,473.8,-7.5,255,4743,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2034,3293,0,0,0,0,0,0
$GC,5068,-0.71,-116.8,497.2,-7.5,264,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2034,3293,0,0,0,0,0,0
$GC,5393,-0.71,-116.8,522.7,-7.9,272,5397,0.00,2.33,0.00,0.000,4,0.000,0.043,2634,447,3291,0,0,0,0,0,0
$GC,5430,-0.71,-116.8,525.9,-9.0,272,5437,0.08,2.28,0.00,0.000,6,0.109,0.031,2655,2026,3290,0,0,0,0,0,0
$GC,5762,-0.71,-116.8,546.6,-6.1,281,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3288,0,0,0,0,0,0
$GC,6087,-0.71,-116.8,551.8,0.0,289,6091,0.00,2.30,0.00,0.000,4,0.000,0.045,2654,453,3286,0,0,0,0,0,0
$STATE,6124,end dive,NO_VERTICAL_VELOCITY
$STATE,6124,begin apogee
$GC,6131,-0.23,0.0,551.8,0.0,290,6226,0.43,0.00,92.07,0.953,6,0.080,0.000,2815,2030,2822,0,0,0,0,0,0
$STATE,6273,end apogee,CONTROL_FINISHED_OK
$STATE,6273,begin climb
$GC,6275,0.71,116.8,551.7,0.0,292,6379,0.82,0.00,100.05,0.930,6,0.071,0.000,3123,2030,2346,0,0,0,0,0,0
$GC,6681,0.71,116.8,516.1,11.6,302,6685,0.00,2.35,0.00,0.000,4,0.000,0.046,3135,454,2335,0,0,0,0,0,0
$GC,6724,0.71,116.8,510.3,13.1,303,6728,0.00,2.33,0.00,0.000,6,0.000,0.032,3134,2034,2330,0,0,0,0,0,0
$GC,7048,0.71,116.8,468.0,12.8,311,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2034,2328,0,0,0,0,0,0
$GC,7373,0.71,116.8,427.1,12.4,319,7377,0.00,2.33,0.00,0.000,4,0.000,0.042,3135,3616,2326,0,0,0,0,0,0
$GC,7546,0.71,116.8,404.9,13.4,323,7550,0.00,2.28,0.00,0.000,6,0.000,0.031,3147,2022,2327,0,0,0,0,0,0
$GC,7869,0.71,116.8,369.8,9.9,331,7872,0.00,2.28,0.00,0.000,4,0.000,0.044,3159,464,2323,0,0,0,0,0,0
$GC,7934,0.71,116.8,363.3,9.9,332,7940,0.10,2.28,0.00,0.000,6,0.127,0.032,3124,2031,2323,0,0,0,0,0,0
$GC,8282,0.71,116.8,333.7,8.9,341,8286,0.00,2.30,0.00,0.000,4,0.000,0.045,3134,465,2321,0,0,0,0,0,0
$GC,8336,0.71,116.8,328.3,10.4,342,8341,0.00,2.28,0.00,0.000,6,0.000,0.032,3134,2028,2320,0,0,0,0,0,0
$GC,8649,0.71,116.8,299.4,9.0,350,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2028,2322,0,0,0,0,0,0
$GC,8959,0.74,143.4,275.7,7.2,365,8983,0.00,2.40,19.27,0.759,4,0.000,0.045,3146,458,2237,0,0,0,0,0,0
$GC,9055,0.74,143.4,266.9,9.6,369,9060,0.00,2.30,0.00,0.000,6,0.000,0.031,3146,2024,2234,0,0,0,0,0,0
$GC,9377,0.74,143.4,237.4,9.8,385,9381,0.00,2.35,0.00,0.000,4,0.000,0.042,3146,3618,2231,0,0,0,0,0,0
$GC,9560,0.74,143.4,217.9,9.5,393,9565,0.00,2.33,0.00,0.000,6,0.000,0.031,3158,2030,2230,0,0,0,0,0,0
$GC,9886,0.74,143.4,186.6,9.3,415,9890,0.00,2.30,0.00,0.000,4,0.000,0.044,3172,458,2230,0,0,0,0,0,0
$GC,10014,0.74,143.4,174.1,9.4,426,10019,0.15,2.25,0.00,0.000,6,0.143,0.031,3125,2045,2230,0,0,0,0,0,0
$GC,10275,0.79,178.1,154.8,6.8,450,10306,0.00,0.00,29.05,0.660,6,0.000,0.000,3125,2045,2094,0,0,0,0,0,0
$GC,10560,0.79,181.7,133.1,8.3,477,10564,0.00,2.38,0.00,0.000,4,0.000,0.044,3136,452,2087,0,0,0,0,0,0
$GC,10655,0.79,181.7,123.9,9.7,485,10659,0.00,2.25,0.00,0.000,6,0.000,0.031,3135,2033,2089,0,0,0,0,0,0
$GC,10916,0.83,210.6,100.9,7.1,509,10950,0.00,2.42,27.45,0.603,4,0.000,0.044,3147,454,1962,0,0,0,0,0,0
$GC,11039,0.83,212.0,90.5,8.4,520,11046,0.00,2.30,0.00,0.000,6,0.000,0.030,3148,2036,1958,0,0,0,0,0,0
$GC,11302,0.91,279.9,73.5,5.2,545,11364,0.10,2.38,56.00,0.578,4,0.106,0.038,3194,3615,1679,0,0,0,0,0,0
$GC,11504,0.91,279.9,54.3,11.7,563,11510,0.00,2.35,0.00,0.000,6,0.000,0.031,3208,2025,1672,0,0,0,0,0,0
$GC,11768,0.91,279.9,26.0,11.7,591,11773,0.00,2.30,0.00,0.000,4,0.000,0.044,3221,449,1670,0,0,0,0,0,0
$GC,11824,0.91,279.9,18.8,13.7,601,11830,0.12,2.28,0.00,0.000,6,0.144,0.031,3181,2043,1668,0,0,0,0,0,0
$STATE,11959,end climb,SURFACE_DEPTH_REACHED
$STATE,11959,begin surface coast
$FINISH,1.0,1.023108
$STATE,11987,end surface coast,CONTROL_FINISHED_OK
$STATE,11987,begin surface
$SM_CCo,12003,48.65,0.074,0,0,1293,375.06
$SM_GC,1.61,0.00,0.00,48.65,0.000,0.000,0.074,126,2047,1293,-8.64,0.40,375.06
$IRIDIUM_FIX,2057.14,-15801.19,270112,020245
$TT8_MAMPS,0.059826
$HUMID,1078501281
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8427896832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48971907072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,25.438
$10V_AH,9.6,31.013
$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,19.825,101.150,323.900,48.650,0.000,28.360,31.728,144.467,0.000,0.000,13.967,1161.439,9011.830,472.886,1590.238,138.352,33.361,1200.146,0.000,1297.225,0.000,0.541,0.000
$DEVICE_MAMPS,231.634,54.457,953.381,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,425.749,0.000,0.000,0.000,0.000,0.000,0.000,12640.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.641,0.000,0.000
$MEM,334984
$DATA_FILE_SIZE,20126,630
$CAP_FILE_SIZE,106011,0
$CFSIZE,260165632,238112768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,145500,2107.306,-15759.865,38,1.1,39,9.8