version: 66.07
glider: 500
mission: 4
dive: 203
start: 8 3 110 21 23 15
data:
$ID,500
$MISSION,4
$DIVE,203
$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,-112924.38
$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,54
$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,202
$AR_SAMPLENUM,6
$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
$GPS1,030810,211419,2109.081,-15758.654,14,1.9,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.0
$GPS2,030810,212220,2109.023,-15758.711,13,1.1,13,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME2
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.168,0.146
$KALMAN_X,-209413.7,1567.4,773.2,418790.0,-15771.5
$KALMAN_Y,168650.8,489.8,191.8,-93340.9,-7783.1
$MHEAD_RNG_PITCHd_Wd,39.1,16281,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-45.40,0.000,2,0.000,0.000,128,2043,2520,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.5,9,113,10.10,2.33,-20.88,0.000,4,0.230,0.053,2644,3614,3300,0,0,0,0,0,0
$GC,147,-0.71,-116.8,11.3,-14.2,22,152,0.00,2.25,0.00,0.000,6,0.000,0.028,2643,2029,3302,0,0,0,0,0,0
$GC,350,-0.71,-116.8,48.7,-18.3,50,354,0.00,2.28,0.00,0.000,4,0.000,0.043,2643,451,3302,0,0,0,0,0,0
$GC,393,-0.71,-116.8,57.3,-19.6,53,399,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,2033,3298,0,0,0,0,0,0
$GC,654,-0.71,-116.8,99.8,-15.5,78,658,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,452,3303,0,0,0,0,0,0
$GC,737,-0.71,-116.8,113.3,-16.0,85,742,0.12,2.22,0.00,0.000,6,0.149,0.032,2657,2037,3303,0,0,0,0,0,0
$GC,998,-0.71,-116.8,148.2,-13.5,109,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2036,3304,0,0,0,0,0,0
$GC,1252,-0.71,-116.8,182.3,-12.4,133,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2036,3305,0,0,0,0,0,0
$GC,1515,-0.71,-116.8,207.8,-8.9,154,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2035,3308,0,0,0,0,0,0
$GC,1824,-0.71,-116.8,235.1,-9.1,169,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2036,3306,0,0,0,0,0,0
$GC,2134,-0.71,-116.8,262.0,-9.1,184,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2036,3306,0,0,0,0,0,0
$GC,2443,-0.71,-116.8,289.0,-9.5,199,2447,0.00,2.28,0.00,0.000,4,0.000,0.043,2658,447,3306,0,0,0,0,0,0
$GC,2526,-0.71,-116.8,297.4,-10.1,203,2530,0.00,2.22,0.00,0.000,6,0.000,0.032,2647,2036,3306,0,0,0,0,0,0
$GC,2847,-0.71,-116.8,327.3,-9.4,212,2851,0.00,2.33,0.00,0.000,4,0.000,0.043,2634,3612,3305,0,0,0,0,0,0
$GC,2896,-0.71,-116.8,331.7,-9.1,213,2901,0.00,2.28,0.00,0.000,6,0.000,0.028,2635,2025,3305,0,0,0,0,0,0
$GC,3215,-0.71,-116.8,359.5,-7.6,221,3220,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,446,3305,0,0,0,0,0,0
$GC,3247,-0.71,-116.8,362.8,-9.7,221,3255,0.08,2.28,0.00,0.000,6,0.111,0.032,2654,2027,3304,0,0,0,0,0,0
$GC,3579,-0.71,-116.8,387.5,-7.4,230,3583,0.00,2.35,0.00,0.000,4,0.000,0.043,2644,3617,3302,0,0,0,0,0,0
$GC,3607,-0.71,-116.8,389.8,-8.4,230,3611,0.00,2.28,0.00,0.000,6,0.000,0.029,2644,2018,3302,0,0,0,0,0,0
$GC,3937,-0.71,-116.8,417.4,-8.1,238,3941,0.00,2.28,0.00,0.000,4,0.000,0.044,2644,452,3299,0,0,0,0,0,0
$GC,4027,-0.71,-116.8,425.4,-9.3,240,4031,0.00,2.25,0.00,0.000,6,0.000,0.032,2632,2040,3298,0,0,0,0,0,0
$GC,4350,-0.71,-116.8,451.4,-8.4,248,4354,0.00,2.30,0.00,0.000,4,0.000,0.043,2622,3604,3297,0,0,0,0,0,0
$GC,4416,-0.71,-116.8,456.9,-7.7,249,4421,0.08,2.28,0.00,0.000,6,0.110,0.029,2669,2027,3299,0,0,0,0,0,0
$GC,4764,-0.71,-116.8,477.3,-6.2,258,4768,0.00,2.28,0.00,0.000,4,0.000,0.044,2669,454,3294,0,0,0,0,0,0
$GC,4886,-0.71,-116.8,485.6,-7.3,260,4892,0.00,2.25,0.00,0.000,6,0.000,0.032,2660,2015,3291,0,0,0,0,0,0
$GC,5216,-0.71,-116.8,513.5,-10.3,269,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2015,3290,0,0,0,0,0,0
$GC,5541,-0.71,-116.8,540.5,-10.3,277,5545,0.00,2.30,0.00,0.000,4,0.000,0.044,2666,451,3288,0,0,0,0,0,0
$GC,5597,-0.71,-116.8,543.0,-1.1,278,5601,0.00,2.28,0.00,0.000,6,0.000,0.035,2660,2041,3290,0,0,0,0,0,0
$STATE,5745,end dive,NO_VERTICAL_VELOCITY
$STATE,5745,begin apogee
$GC,5749,-0.23,0.0,542.9,0.0,282,5844,0.43,0.00,91.57,0.945,6,0.068,0.000,2825,2042,2823,0,0,0,0,0,0
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5848,0.71,116.8,543.0,0.0,284,5956,0.80,2.45,99.30,0.920,4,0.066,0.041,3123,3605,2345,0,0,0,0,0,0
$GC,6044,0.71,116.8,529.8,9.2,288,6049,0.00,2.38,0.00,0.000,6,0.000,0.032,3135,2028,2335,0,0,0,0,0,0
$GC,6382,0.71,116.8,485.4,10.7,297,6386,0.00,2.33,0.00,0.000,4,0.000,0.046,3147,447,2330,0,0,0,0,0,0
$GC,6520,0.71,116.8,467.7,13.6,300,6525,0.00,2.30,0.00,0.000,6,0.000,0.032,3147,2022,2329,0,0,0,0,0,0
$GC,6839,0.71,116.8,432.0,10.3,308,6843,0.00,2.33,0.00,0.000,4,0.000,0.046,3159,451,2329,0,0,0,0,0,0
$GC,6960,0.71,116.8,418.2,11.0,310,6967,0.10,2.30,0.00,0.000,6,0.127,0.033,3124,2032,2325,0,0,0,0,0,0
$GC,7292,0.71,118.7,388.9,8.4,319,7296,0.00,2.33,0.00,0.000,4,0.000,0.043,3123,3615,2324,0,0,0,0,0,0
$GC,7454,0.71,118.7,368.3,12.8,322,7458,0.00,2.30,0.00,0.000,6,0.000,0.032,3135,2014,2321,0,0,0,0,0,0
$GC,7796,0.74,136.2,336.5,7.6,331,7811,0.00,0.00,13.68,0.782,6,0.000,0.000,3134,2014,2266,0,0,0,0,0,0
$GC,8121,0.74,136.2,308.6,8.8,339,8125,0.00,2.38,0.00,0.000,4,0.000,0.042,3134,3616,2262,0,0,0,0,0,0
$GC,8310,0.74,136.2,286.7,12.4,345,8316,0.00,2.33,0.00,0.000,6,0.000,0.031,3146,2027,2261,0,0,0,0,0,0
$GC,8628,0.74,140.0,257.8,8.3,361,8637,0.00,2.35,4.18,0.532,4,0.000,0.044,3159,448,2251,0,0,0,0,0,0
$GC,8716,0.74,140.0,248.8,11.0,365,8721,0.10,2.28,0.00,0.000,6,0.160,0.031,3131,2034,2251,0,0,0,0,0,0
$GC,9042,0.77,162.5,220.4,7.4,381,9067,0.00,2.33,20.48,0.715,4,0.000,0.040,3131,3610,2158,0,0,0,0,0,0
$GC,9180,0.77,162.5,206.9,10.0,387,9184,0.00,2.30,0.00,0.000,6,0.000,0.031,3142,2029,2155,0,0,0,0,0,0
$GC,9503,0.77,162.5,174.4,10.5,413,9507,0.00,2.30,0.00,0.000,4,0.000,0.044,3154,452,2154,0,0,0,0,0,0
$GC,9643,0.77,162.5,159.3,10.1,425,9647,0.00,2.28,0.00,0.000,6,0.000,0.031,3154,2043,2154,0,0,0,0,0,0
$GC,9904,0.77,162.5,135.6,9.3,449,9908,0.00,2.30,0.00,0.000,4,0.000,0.041,3157,3611,2153,0,0,0,0,0,0
$GC,10014,0.77,162.5,122.8,10.5,458,10020,0.00,2.30,0.00,0.000,6,0.000,0.031,3165,2025,2154,0,0,0,0,0,0
$GC,10276,0.77,162.5,102.1,8.7,483,10280,0.00,2.33,0.00,0.000,4,0.000,0.041,3165,3609,2153,0,0,0,0,0,0
$GC,10338,0.77,162.5,96.3,9.2,488,10343,0.15,2.28,0.00,0.000,6,0.154,0.031,3133,2017,2154,0,0,0,0,0,0
$GC,10598,0.91,282.1,84.1,2.6,512,10701,0.15,2.35,95.72,0.591,4,0.083,0.041,3210,464,1669,0,0,0,0,0,0
$GC,10818,0.91,282.1,60.1,14.0,532,10825,0.00,2.30,0.00,0.000,6,0.000,0.031,3211,2029,1662,0,0,0,0,0,0
$GC,11082,0.91,282.1,22.2,15.1,561,11087,0.00,2.33,0.00,0.000,4,0.000,0.041,3211,3618,1660,0,0,0,0,0,0
$GC,11104,0.91,282.1,18.8,16.0,565,11110,0.12,2.28,0.00,0.000,6,0.159,0.031,3188,2032,1656,0,0,0,0,0,0
$STATE,11221,end climb,SURFACE_DEPTH_REACHED
$STATE,11222,begin surface coast
$FINISH,1.0,1.023043
$STATE,11245,end surface coast,CONTROL_FINISHED_OK
$STATE,11245,begin surface
$SM_CCo,11261,46.70,0.074,0,0,1293,375.06
$SM_GC,1.63,0.00,0.00,46.70,0.000,0.000,0.074,139,2028,1293,-8.60,-0.06,375.06
$IRIDIUM_FIX,2104.07,-15758.18,270112,151546
$TT8_MAMPS,0.059826
$HUMID,1078527087
$INTERNAL_PRESSURE,9.4718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,6
$AR_CDRIVE_FREE,8427700224
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48970596352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,25.688
$10V_AH,9.8,31.264
$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,19.900,105.825,324.925,46.700,0.000,71.500,107.924,132.035,0.000,0.000,15.916,1123.122,8384.960,454.731,1698.115,140.230,33.355,1211.118,0.000,1338.397,0.000,0.541,0.000
$DEVICE_MAMPS,230.100,52.923,944.944,74.399,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.053,0.000,0.000,0.000,0.000,0.000,0.000,22380.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.377,0.000,0.000
$MEM,334980
$DATA_FILE_SIZE,20066,590
$CAP_FILE_SIZE,106608,0
$CFSIZE,260165632,237957120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,003307,2110.027,-15757.584,32,0.9,33,9.8