version: 66.07
glider: 500
mission: 4
dive: 202
start: 8 3 110 18 31 39
data:
$ID,500
$MISSION,4
$DIVE,202
$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,-112907.83
$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,45
$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,201
$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
$GPS1,030810,182600,2108.358,-15759.181,34,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.3
$GPS2,030810,183044,2108.354,-15759.201,8,1.6,8,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.154
$KALMAN_X,-207110.2,1319.9,529.4,416131.6,-11633.2
$KALMAN_Y,170397.8,742.5,154.4,-96539.6,-5572.3
$MHEAD_RNG_PITCHd_Wd,36.3,17779,-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,-46.00,0.000,2,0.000,0.000,124,2023,2530,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.2,-4.6,9,114,10.05,2.38,-19.70,0.000,4,0.227,0.054,2645,3621,3300,0,0,0,0,0,0
$GC,160,-0.71,-116.8,13.6,-14.7,24,166,0.00,2.30,0.00,0.000,6,0.000,0.029,2645,2025,3302,0,0,0,0,0,0
$GC,366,-0.71,-116.8,54.5,-20.7,51,370,0.00,2.28,0.00,0.000,4,0.000,0.042,2645,458,3302,0,0,0,0,0,0
$GC,404,-0.71,-116.8,62.5,-20.9,54,411,0.00,2.28,0.00,0.000,6,0.000,0.032,2634,2037,3303,0,0,0,0,0,0
$GC,665,-0.71,-116.8,112.8,-17.6,79,669,0.00,2.30,0.00,0.000,4,0.000,0.042,2634,445,3304,0,0,0,0,0,0
$GC,771,-0.71,-116.8,131.0,-16.5,88,776,0.12,2.25,0.00,0.000,6,0.146,0.032,2660,2033,3304,0,0,0,0,0,0
$GC,1037,-0.71,-116.8,161.6,-10.2,113,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2033,3306,0,0,0,0,0,0
$GC,1291,-0.71,-116.8,184.9,-10.2,137,1295,0.00,2.25,0.00,0.000,4,0.000,0.042,2659,457,3307,0,0,0,0,0,0
$GC,1319,-0.71,-116.8,187.8,-10.9,139,1323,0.00,2.22,0.00,0.000,6,0.000,0.031,2650,2034,3307,0,0,0,0,0,0
$GC,1580,-0.71,-116.8,218.6,-12.7,157,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2035,3307,0,0,0,0,0,0
$GC,1889,-0.71,-116.8,250.2,-8.7,172,1893,0.00,2.25,0.00,0.000,4,0.000,0.041,2650,455,3308,0,0,0,0,0,0
$GC,1932,-0.71,-116.8,253.9,-8.1,174,1936,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2026,3308,0,0,0,0,0,0
$GC,2260,-0.71,-116.8,281.5,-9.7,190,2264,0.00,2.33,0.00,0.000,4,0.000,0.042,2626,3625,3308,0,0,0,0,0,0
$GC,2315,-0.71,-116.8,286.2,-8.1,192,2321,0.12,2.25,0.00,0.000,6,0.130,0.028,2666,2025,3308,0,0,0,0,0,0
$GC,2649,-0.71,-116.8,307.2,-7.4,207,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2024,3308,0,0,0,0,0,0
$GC,2974,-0.71,-116.8,328.7,-5.7,215,2978,0.00,2.25,0.00,0.000,4,0.000,0.043,2666,461,3307,0,0,0,0,0,0
$GC,3017,-0.71,-116.8,331.4,-5.9,216,3022,0.00,2.25,0.00,0.000,6,0.000,0.031,2656,2051,3307,0,0,0,0,0,0
$GC,3341,-0.71,-116.8,353.1,-6.8,224,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2051,3307,0,0,0,0,0,0
$GC,3666,-0.71,-116.8,376.7,-7.7,232,3670,0.00,2.28,0.00,0.000,4,0.000,0.043,2645,3615,3303,0,0,0,0,0,0
$GC,3721,-0.71,-116.8,381.9,-9.2,233,3725,0.00,2.28,0.00,0.000,6,0.000,0.028,2644,2037,3303,0,0,0,0,0,0
$GC,4034,-0.71,-116.8,409.2,-8.1,241,4038,0.00,2.33,0.00,0.000,4,0.000,0.043,2644,445,3303,0,0,0,0,0,0
$GC,4107,-0.71,-116.8,415.9,-8.3,242,4111,0.00,2.25,0.00,0.000,6,0.000,0.032,2633,2051,3301,0,0,0,0,0,0
$GC,4437,-0.71,-116.8,440.2,-6.7,250,4441,0.00,2.35,0.00,0.000,4,0.000,0.044,2633,444,3298,0,0,0,0,0,0
$STATE,4581,end dive,NO_VERTICAL_VELOCITY
$STATE,4581,begin apogee
$GC,4588,-0.23,0.0,440.3,0.0,253,4683,0.47,0.00,92.00,0.851,6,0.071,0.000,2818,2027,2821,0,0,0,0,0,0
$STATE,4730,end apogee,CONTROL_FINISHED_OK
$STATE,4730,begin climb
$GC,4732,0.71,116.8,440.1,0.0,255,4838,0.80,2.50,96.45,0.834,4,0.061,0.043,3128,3608,2344,0,0,0,0,0,0
$GC,4900,0.71,116.8,426.3,14.4,259,4904,0.00,2.35,0.00,0.000,6,0.000,0.031,3139,2026,2336,0,0,0,0,0,0
$GC,5223,0.71,116.8,390.6,9.5,267,5227,0.00,2.30,0.00,0.000,4,0.000,0.044,3152,461,2333,0,0,0,0,0,0
$GC,5361,0.71,116.8,375.3,10.9,270,5367,0.10,2.30,0.00,0.000,6,0.130,0.032,3119,2037,2332,0,0,0,0,0,0
$GC,5679,0.71,117.6,347.0,8.5,278,5683,0.00,2.30,0.00,0.000,4,0.000,0.043,3117,3615,2330,0,0,0,0,0,0
$GC,5813,0.72,123.4,335.3,8.2,281,5823,0.00,2.30,3.85,0.504,6,0.000,0.031,3125,2019,2319,0,0,0,0,0,0
$GC,6136,0.73,132.9,311.5,8.0,289,6150,0.00,2.33,9.65,0.709,4,0.000,0.044,3140,459,2280,0,0,0,0,0,0
$GC,6183,0.74,143.4,307.6,8.0,290,6199,0.00,2.30,10.43,0.709,6,0.000,0.032,3145,2036,2237,0,0,0,0,0,0
$GC,6525,0.77,160.8,276.3,7.6,304,6545,0.00,0.00,15.50,0.726,6,0.000,0.000,3139,2036,2166,0,0,0,0,0,0
$GC,6854,0.77,160.8,239.7,12.1,320,6858,0.00,2.35,0.00,0.000,4,0.000,0.042,3139,3620,2160,0,0,0,0,0,0
$GC,6897,0.77,160.8,234.7,11.2,322,6901,0.00,2.33,0.00,0.000,6,0.000,0.031,3152,1995,2159,0,0,0,0,0,0
$GC,7223,0.77,160.8,207.7,9.2,338,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1995,2158,0,0,0,0,0,0
$GC,7540,0.77,160.8,171.8,10.7,364,7544,0.00,2.38,0.00,0.000,4,0.000,0.041,3151,3615,2156,0,0,0,0,0,0
$GC,7684,0.77,160.8,155.9,10.3,376,7690,0.00,2.28,0.00,0.000,6,0.000,0.031,3163,2018,2156,0,0,0,0,0,0
$GC,7946,0.77,160.8,132.2,9.4,401,7950,0.00,2.33,0.00,0.000,4,0.000,0.041,3163,3619,2157,0,0,0,0,0,0
$GC,7984,0.77,160.8,128.4,9.5,404,7989,0.12,2.25,0.00,0.000,6,0.161,0.031,3141,2029,2157,0,0,0,0,0,0
$GC,8245,0.80,188.0,110.0,7.2,428,8276,0.00,2.38,22.20,0.604,4,0.000,0.043,3150,456,2054,0,0,0,0,0,0
$GC,8292,0.80,190.6,106.1,8.4,432,8298,0.00,2.28,0.00,0.000,6,0.000,0.031,3150,2045,2053,0,0,0,0,0,0
$GC,8554,0.83,212.3,83.5,7.4,457,8580,0.00,2.35,20.75,0.572,4,0.000,0.041,3162,464,1956,0,0,0,0,0,0
$GC,8809,0.85,229.2,63.3,7.7,479,8829,0.00,2.25,14.93,0.538,6,0.000,0.031,3162,2024,1883,0,0,0,0,0,0
$GC,9090,0.87,243.3,42.7,7.8,506,9111,0.00,2.40,12.20,0.508,4,0.000,0.041,3162,3608,1830,0,0,0,0,0,0
$GC,9145,0.87,243.3,38.0,8.9,511,9149,0.00,2.28,0.00,0.000,6,0.000,0.030,3176,2035,1829,0,0,0,0,0,0
$GC,9415,0.87,243.3,10.7,11.5,551,9420,0.00,2.30,0.00,0.000,4,0.000,0.043,3185,446,1828,0,0,0,0,0,0
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9480,begin surface coast
$FINISH,1.2,1.023058
$STATE,9492,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9579,66.65,0.072,0,0,1292,375.06
$SM_GC,1.79,0.00,0.00,66.65,0.000,0.000,0.072,128,2037,1292,-8.63,0.17,375.06
$IRIDIUM_FIX,2057.14,-15759.05,270112,090921
$TT8_MAMPS,0.057525
$HUMID,1078452248
$INTERNAL_PRESSURE,9.5011
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,25.597
$10V_AH,9.8,31.145
$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,19.425,96.700,297.950,66.650,0.000,30.388,25.865,125.110,0.000,0.000,10.589,1049.467,6793.905,441.689,1561.917,126.660,33.359,1123.147,0.000,1193.752,0.000,0.543,0.000
$DEVICE_MAMPS,227.032,54.457,851.370,72.098,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,380.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335016
$DATA_FILE_SIZE,20084,565
$CAP_FILE_SIZE,97068,0
$CFSIZE,260165632,238018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,211419,2109.081,-15758.654,14,1.9,31,9.8