version: 66.07
glider: 500
mission: 4
dive: 201
start: 8 3 110 15 0 51
data:
$ID,500
$MISSION,4
$DIVE,201
$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,-112896.61
$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,53
$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,200
$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
$GPS1,030810,145500,2107.306,-15759.865,38,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.9
$GPS2,030810,145956,2107.282,-15759.897,11,1.3,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.156,0.159
$KALMAN_X,-204639.2,523.2,385.6,413397.6,-10128.0
$KALMAN_Y,171822.0,559.0,295.5,-99916.1,-4472.3
$MHEAD_RNG_PITCHd_Wd,34.7,20101,-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,-46.33,0.000,2,0.000,0.000,125,2048,2540,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.2,-4.8,9,113,10.02,2.35,-18.83,0.000,4,0.228,0.054,2642,3603,3301,0,0,0,0,0,0
$GC,136,-0.71,-116.8,12.6,-18.3,20,142,0.00,2.28,0.00,0.000,6,0.000,0.028,2642,2020,3306,0,0,0,0,0,0
$GC,337,-0.71,-116.8,56.2,-20.1,46,341,0.00,2.28,0.00,0.000,4,0.000,0.042,2642,449,3304,0,0,0,0,0,0
$GC,386,-0.71,-116.8,65.6,-19.7,50,390,0.00,2.25,0.00,0.000,6,0.000,0.032,2630,2042,3304,0,0,0,0,0,0
$GC,646,-0.71,-116.8,111.0,-14.9,74,651,0.10,2.30,0.00,0.000,4,0.161,0.041,2650,3610,3304,0,0,0,0,0,0
$GC,661,-0.71,-116.8,113.1,-14.1,75,667,0.00,2.28,0.00,0.000,6,0.000,0.028,2649,2025,3305,0,0,0,0,0,0
$GC,922,-0.71,-116.8,141.7,-10.7,100,926,0.00,2.25,0.00,0.000,4,0.000,0.043,2650,458,3307,0,0,0,0,0,0
$GC,965,-0.71,-116.8,146.6,-11.1,103,971,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2025,3307,0,0,0,0,0,0
$GC,1226,-0.71,-116.8,176.1,-11.7,128,1230,0.00,2.30,0.00,0.000,4,0.000,0.041,2626,3618,3307,0,0,0,0,0,0
$GC,1252,-0.71,-116.8,179.4,-12.1,130,1259,0.08,2.28,0.00,0.000,6,0.110,0.028,2657,2027,3308,0,0,0,0,0,0
$GC,1522,-0.71,-116.8,207.7,-10.8,153,1526,0.00,2.25,0.00,0.000,4,0.000,0.042,2657,456,3311,0,0,0,0,0,0
$GC,1622,-0.71,-116.8,219.2,-10.5,157,1628,0.00,2.25,0.00,0.000,6,0.000,0.031,2647,2028,3308,0,0,0,0,0,0
$GC,1937,-0.71,-116.8,248.2,-10.0,173,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2027,3308,0,0,0,0,0,0
$GC,2247,-0.71,-116.8,277.4,-10.3,188,2251,0.00,2.28,0.00,0.000,4,0.000,0.042,2647,452,3308,0,0,0,0,0,0
$GC,2318,-0.71,-116.8,285.3,-10.8,191,2323,0.00,2.25,0.00,0.000,6,0.000,0.031,2636,2026,3307,0,0,0,0,0,0
$GC,2638,-0.71,-116.8,315.3,-9.1,203,2642,0.00,2.28,0.00,0.000,4,0.000,0.042,2636,450,3307,0,0,0,0,0,0
$GC,2692,-0.71,-116.8,321.6,-11.4,204,2697,0.08,2.28,0.00,0.000,6,0.113,0.031,2655,2035,3307,0,0,0,0,0,0
$GC,3005,-0.71,-116.8,348.1,-7.8,212,3009,0.00,2.25,0.00,0.000,4,0.000,0.042,2655,456,3305,0,0,0,0,0,0
$GC,3026,-0.71,-116.8,349.5,-6.7,212,3031,0.00,2.25,0.00,0.000,6,0.000,0.031,2645,2034,3306,0,0,0,0,0,0
$GC,3369,-0.71,-116.8,374.8,-7.8,221,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2034,3304,0,0,0,0,0,0
$GC,3693,-0.71,-116.8,399.0,-7.2,229,3697,0.00,2.28,0.00,0.000,4,0.000,0.042,2646,447,3301,0,0,0,0,0,0
$GC,3822,-0.71,-116.8,410.4,-9.1,232,3826,0.00,2.22,0.00,0.000,6,0.000,0.031,2634,2039,3301,0,0,0,0,0,0
$GC,4151,-0.71,-116.8,436.4,-7.3,240,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2039,3298,0,0,0,0,0,0
$GC,4475,-0.71,-116.8,460.5,-7.8,248,4479,0.00,2.33,0.00,0.000,4,0.000,0.043,2622,3608,3296,0,0,0,0,0,0
$GC,4553,-0.71,-116.8,467.6,-9.1,249,4558,0.08,2.28,0.00,0.000,6,0.104,0.029,2664,2032,3296,0,0,0,0,0,0
$GC,4890,-0.71,-116.8,489.1,-5.9,258,4894,0.00,2.30,0.00,0.000,4,0.000,0.044,2664,448,3293,0,0,0,0,0,0
$GC,4950,-0.71,-116.8,493.3,-7.0,259,4954,0.00,2.28,0.00,0.000,6,0.000,0.031,2654,2060,3292,0,0,0,0,0,0
$GC,5298,-0.71,-116.8,515.0,-6.5,268,5302,0.00,2.35,0.00,0.000,4,0.000,0.043,2653,458,3289,0,0,0,0,0,0
$GC,5336,-0.71,-116.8,517.9,-7.5,268,5343,0.00,2.28,0.00,0.000,6,0.000,0.031,2642,2041,3287,0,0,0,0,0,0
$GC,5668,-0.71,-116.8,541.5,-7.4,277,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2041,3287,0,0,0,0,0,0
$GC,5993,-0.71,-116.8,559.5,-4.9,285,5997,0.00,2.35,0.00,0.000,4,0.000,0.045,2643,451,3285,0,0,0,0,0,0
$STATE,6131,end dive,NO_VERTICAL_VELOCITY
$STATE,6131,begin apogee
$GC,6138,-0.23,0.0,559.6,0.0,288,6233,0.45,0.00,91.93,0.964,6,0.078,0.000,2815,2031,2822,0,0,0,0,0,0
$STATE,6280,end apogee,CONTROL_FINISHED_OK
$STATE,6280,begin climb
$GC,6282,0.71,116.8,559.4,0.0,290,6392,0.80,2.47,100.22,0.942,4,0.067,0.044,3130,454,2343,0,0,0,0,0,0
$GC,6430,0.71,116.8,552.6,9.9,293,6435,0.00,2.38,0.00,0.000,6,0.000,0.032,3130,2020,2338,0,0,0,0,0,0
$GC,6773,0.71,116.8,514.7,10.9,302,6777,0.00,2.38,0.00,0.000,4,0.000,0.043,3130,3626,2329,0,0,0,0,0,0
$GC,6811,0.71,116.8,510.3,11.8,303,6816,0.00,2.33,0.00,0.000,6,0.000,0.033,3142,2022,2328,0,0,0,0,0,0
$GC,7135,0.71,116.8,472.5,12.0,311,7139,0.00,2.33,0.00,0.000,4,0.000,0.046,3154,455,2327,0,0,0,0,0,0
$GC,7256,0.71,116.8,457.2,12.2,313,7262,0.10,2.30,0.00,0.000,6,0.127,0.032,3119,2033,2326,0,0,0,0,0,0
$GC,7592,0.71,116.8,423.2,9.7,322,7597,0.00,2.30,0.00,0.000,4,0.000,0.043,3119,3609,2325,0,0,0,0,0,0
$GC,7664,0.71,116.8,415.9,10.6,323,7668,0.00,2.33,0.00,0.000,6,0.000,0.032,3129,2025,2322,0,0,0,0,0,0
$GC,8001,0.74,138.8,388.5,7.4,332,8022,0.00,2.33,15.82,0.825,4,0.000,0.044,3142,461,2257,0,0,0,0,0,0
$GC,8139,0.74,138.8,376.0,9.1,335,8143,0.00,2.30,0.00,0.000,6,0.000,0.032,3142,2027,2254,0,0,0,0,0,0
$GC,8457,0.74,138.8,344.1,10.5,343,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2029,2252,0,0,0,0,0,0
$GC,8782,0.74,138.8,311.0,10.3,351,8786,0.00,2.35,0.00,0.000,4,0.000,0.045,3151,459,2251,0,0,0,0,0,0
$GC,8832,0.74,138.8,305.0,12.4,352,8836,0.00,2.25,0.00,0.000,6,0.000,0.033,3154,2035,2251,0,0,0,0,0,0
$GC,9154,0.74,138.8,271.7,10.0,366,9158,0.00,2.33,0.00,0.000,4,0.000,0.044,3165,450,2252,0,0,0,0,0,0
$GC,9197,0.74,138.8,267.7,9.0,368,9202,0.10,2.30,0.00,0.000,6,0.126,0.031,3130,2039,2250,0,0,0,0,0,0
$GC,9525,0.77,160.4,242.5,7.4,384,9549,0.00,2.33,18.88,0.739,4,0.000,0.041,3130,3609,2164,0,0,0,0,0,0
$GC,9606,0.77,160.4,234.9,10.1,388,9611,0.00,2.30,0.00,0.000,6,0.000,0.031,3140,2018,2163,0,0,0,0,0,0
$GC,9932,0.77,160.4,205.5,10.2,404,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2018,2162,0,0,0,0,0,0
$GC,10249,0.77,160.4,173.8,10.3,431,10253,0.00,2.28,0.00,0.000,4,0.000,0.044,3153,459,2161,0,0,0,0,0,0
$GC,10298,0.77,160.4,169.0,10.1,435,10302,0.00,2.25,0.00,0.000,6,0.000,0.031,3153,2045,2160,0,0,0,0,0,0
$GC,10560,0.78,173.5,146.4,7.9,459,10573,0.00,0.00,11.52,0.617,6,0.000,0.000,3153,2044,2113,0,0,0,0,0,0
$GC,10825,0.82,201.3,125.7,7.1,484,10856,0.00,2.42,23.92,0.626,4,0.000,0.044,3165,440,2000,0,0,0,0,0,0
$GC,10889,0.82,201.3,119.6,9.8,490,10894,0.00,2.33,0.00,0.000,6,0.000,0.031,3165,2044,1998,0,0,0,0,0,0
$GC,11151,0.82,201.3,91.5,10.3,514,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2044,1996,0,0,0,0,0,0
$GC,11405,0.83,209.4,68.1,8.1,538,11418,0.00,2.40,7.25,0.500,4,0.000,0.043,3177,458,1970,0,0,0,0,0,0
$GC,11459,0.87,246.7,64.3,6.7,543,11500,0.00,2.25,32.25,0.570,6,0.000,0.031,3177,2033,1815,0,0,0,0,0,0
$GC,11754,0.87,246.7,40.9,9.1,571,11758,0.00,2.33,0.00,0.000,4,0.000,0.043,3188,449,1809,0,0,0,0,0,0
$GC,11841,0.87,246.7,31.8,9.9,578,11848,0.00,2.28,0.00,0.000,6,0.000,0.030,3188,2020,1808,0,0,0,0,0,0
$STATE,12109,end climb,SURFACE_DEPTH_REACHED
$STATE,12109,begin surface coast
$FINISH,0.9,1.023258
$STATE,12134,end surface coast,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$SM_CCo,12151,67.25,0.074,0,0,1293,375.06
$SM_GC,1.85,0.00,0.00,67.25,0.000,0.000,0.074,124,2022,1293,-8.65,-0.25,375.06
$IRIDIUM_FIX,2101.76,-15800.33,270112,050549
$TT8_MAMPS,0.059059
$HUMID,1078497410
$INTERNAL_PRESSURE,9.46204
$TCM_TEMP,24.60
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8427831296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48971448320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,25.522
$10V_AH,9.7,31.100
$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,19.475,119.625,301.800,67.250,0.000,29.395,31.006,127.870,0.000,0.000,13.009,1191.235,9103.709,465.357,1620.602,143.736,33.363,1238.344,0.000,1346.135,0.000,0.540,0.000
$DEVICE_MAMPS,227.799,53.690,964.119,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,424.923,0.000,0.000,0.000,0.000,0.000,0.000,12783.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.556,0.000,0.000
$MEM,334960
$DATA_FILE_SIZE,23394,628
$CAP_FILE_SIZE,112169,0
$CFSIZE,260165632,238051328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,182600,2108.358,-15759.181,34,1.1,40,9.8