version: 66.07 glider: 500 mission: 4 dive: 18 start: 6 17 110 22 1 23 data: $ID,500 $MISSION,4 $DIVE,18 $D_SURF,3 $D_FLARE,3 $D_TGT,420 $D_ABORT,500 $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,155 $T_MISSION,200 $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,80 $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,400 $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,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-109927.66 $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,2885 $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,49 $R_STBD_OVSHOOT,43 $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,80 $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,17 $AR_SAMPLENUM,8 $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 $GPS1,170610,214800,2110.752,-15756.868,39,1.2,39,9.8 $_CALLS,3 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.42 $_SM_ANGLEo,-67.7 $GPS2,170610,220032,2110.736,-15756.926,14,1.2,14,9.8 $SPEED_LIMITS,0.156,0.188 $TGT_NAME,TGT02 $TGT_LATLONG,2030.000,-15830.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,-0.108,-0.154 $KALMAN_X,15.5,15.5,15.5,-1042.6,17.6 $KALMAN_Y,119.0,119.0,119.0,-1271.3,134.6 $MHEAD_RNG_PITCHd_Wd,205.1,94781,-22.4,-9.032 $D_GRID,420 $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,22,end surface,CONTROL_FINISHED_OK $STATE,22,begin dive $GC,24,-0.84,-77.9,0.0,0.0,0,82,0.00,0.00,-56.12,0.000,2,0.000,0.000,143,2045,2747,0,0,0,0,0,0 $GC,85,-0.84,-77.9,3.3,-6.9,11,111,10.12,2.40,-9.15,0.000,4,0.248,0.067,2606,459,3141,0,0,0,0,0,0 $GC,363,-0.84,-77.9,58.7,-18.9,49,368,0.00,2.28,0.00,0.000,6,0.000,0.040,2596,2031,3142,0,0,0,0,0,0 $GC,631,-0.84,-77.9,110.5,-18.7,74,635,0.00,2.33,0.00,0.000,4,0.000,0.048,2587,3612,3143,0,0,0,0,0,0 $GC,695,-0.84,-77.9,123.3,-18.3,79,702,0.00,2.30,0.00,0.000,6,0.000,0.035,2584,2028,3143,0,0,0,0,0,0 $GC,956,-0.84,-77.9,164.6,-16.5,104,960,0.00,2.28,0.00,0.000,4,0.000,0.048,2584,451,3145,0,0,0,0,0,0 $GC,1035,-0.84,-77.9,178.2,-17.2,111,1040,0.15,2.28,0.00,0.000,6,0.168,0.039,2613,2041,3145,0,0,0,0,0,0 $GC,1304,-0.84,-77.9,211.1,-12.2,132,1308,0.00,2.33,0.00,0.000,4,0.000,0.052,2613,441,3146,0,0,0,0,0,0 $GC,1426,-0.84,-77.9,227.2,-13.1,137,1433,0.00,2.30,0.00,0.000,6,0.000,0.038,2600,2030,3146,0,0,0,0,0,0 $GC,1741,-0.84,-77.9,268.6,-14.1,153,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2031,3146,0,0,0,0,0,0 $GC,2051,-0.84,-77.9,300.0,-9.1,168,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2030,3147,0,0,0,0,0,0 $GC,2376,-0.84,-77.9,333.3,-9.3,176,2380,0.00,2.33,0.00,0.000,4,0.000,0.048,2591,3621,3147,0,0,0,0,0,0 $GC,2632,-0.84,-77.9,355.4,-10.8,181,2639,0.00,2.30,0.00,0.000,6,0.000,0.035,2587,2037,3146,0,0,0,0,0,0 $GC,2963,-0.84,-77.9,394.2,-11.4,190,2967,0.00,2.35,0.00,0.000,4,0.000,0.049,2576,3611,3148,0,0,0,0,0,0 $GC,3007,-0.84,-77.9,399.0,-11.2,191,3012,0.12,2.28,0.00,0.000,6,0.153,0.037,2614,2020,3143,0,0,0,0,0,0 $STATE,3294,end dive,TARGET_DEPTH_EXCEEDED $STATE,3294,begin apogee $GC,3297,-0.23,0.0,423.0,8.0,198,3361,0.57,0.00,60.78,0.834,6,0.123,0.000,2806,2020,2823,0,0,0,0,0,0 $STATE,3386,end apogee,CONTROL_FINISHED_OK $STATE,3386,begin climb $GC,3388,0.84,77.9,424.3,0.0,199,3458,0.93,2.53,63.78,0.815,4,0.074,0.049,3153,3620,2504,0,0,0,0,0,0 $GC,3525,0.84,77.9,416.9,9.4,202,3530,0.00,2.40,0.00,0.000,6,0.000,0.038,3165,2035,2500,0,0,0,0,0,0 $GC,3838,0.84,77.9,387.1,10.2,210,3842,0.00,2.35,0.00,0.000,4,0.000,0.052,3177,450,2495,0,0,0,0,0,0 $GC,3915,0.84,77.9,378.3,10.3,211,3922,0.00,2.33,0.00,0.000,6,0.000,0.039,3177,2027,2494,0,0,0,0,0,0 $GC,4246,0.86,91.0,350.5,8.0,220,4261,0.00,2.38,10.07,0.729,4,0.000,0.048,3177,3614,2450,0,0,0,0,0,0 $GC,4361,0.86,91.0,339.9,9.4,222,4366,0.00,2.35,0.00,0.000,6,0.000,0.039,3189,2026,2447,0,0,0,0,0,0 $GC,4698,0.90,127.6,316.8,6.2,231,4734,0.00,2.38,30.58,0.785,4,0.000,0.051,3198,448,2302,0,0,0,0,0,0 $GC,4749,0.95,162.4,313.6,6.3,231,4785,0.00,2.38,30.10,0.768,6,0.000,0.040,3198,2030,2159,0,0,0,0,0,0 $GC,5106,0.95,162.4,273.6,11.7,245,5110,0.00,2.40,0.00,0.000,4,0.000,0.051,3201,3623,2147,0,0,0,0,0,0 $GC,5257,0.95,162.4,252.6,12.7,251,5263,0.00,2.38,0.00,0.000,6,0.000,0.040,3213,2021,2145,0,0,0,0,0,0 $GC,5572,0.95,162.4,204.2,16.9,267,5576,0.00,2.33,0.00,0.000,4,0.000,0.051,3226,448,2142,0,0,0,0,0,0 $GC,5627,0.95,162.4,194.3,17.7,270,5634,0.10,2.33,0.00,0.000,6,0.139,0.039,3192,2032,2142,0,0,0,0,0,0 $GC,5888,0.95,162.4,164.2,12.0,295,5892,0.00,2.33,0.00,0.000,4,0.000,0.051,3203,448,2139,0,0,0,0,0,0 $GC,6027,0.95,162.4,146.2,12.2,307,6031,0.00,2.28,0.00,0.000,6,0.000,0.039,3206,2038,2142,0,0,0,0,0,0 $GC,6287,0.95,162.4,119.3,13.5,331,6292,0.00,2.33,0.00,0.000,4,0.000,0.049,3203,3613,2140,0,0,0,0,0,0 $GC,6330,0.95,162.4,112.9,14.0,334,6337,0.00,2.33,0.00,0.000,6,0.000,0.038,3215,2025,2139,0,0,0,0,0,0 $GC,6592,0.97,178.7,87.7,7.8,359,6605,0.00,0.00,11.18,0.575,6,0.000,0.000,3216,2027,2092,0,0,0,0,0,0 $GC,6857,0.97,178.7,64.6,9.9,384,6861,0.00,2.33,0.00,0.000,4,0.000,0.047,3215,3620,2090,0,0,0,0,0,0 $GC,6962,0.97,178.7,54.6,10.3,393,6967,0.12,2.30,0.00,0.000,6,0.179,0.037,3194,2017,2090,0,0,0,0,0,0 $GC,7227,0.99,194.7,33.1,7.8,418,7247,0.00,0.00,14.18,0.531,6,0.000,0.000,3194,2017,2030,0,0,0,0,0,0 $GC,7515,0.99,194.7,6.1,9.3,466,7520,0.00,2.28,0.00,0.000,4,0.000,0.049,3205,458,2027,0,0,0,0,0,0 $STATE,7552,end climb,SURFACE_DEPTH_REACHED $STATE,7553,begin surface coast $FINISH,0.6,1.023106 $STATE,7587,end surface coast,CONTROL_FINISHED_OK $STATE,7587,begin surface $SM_CCo,7606,106.60,0.430,1,0,1190,400.08 $SM_GC,1.42,0.00,0.00,106.60,0.000,0.000,0.430,146,2051,1190,-8.57,0.59,400.08 $IRIDIUM_FIX,2101.76,-15758.18,111211,161613 $TT8_MAMPS,0.058292 $HUMID,1078458700 $INTERNAL_PRESSURE,9.49133 $TCM_TEMP,24.60 $XPDR_PINGS,161 $ALTIM_BOTTOM_PING,120.4,9.1 $AR_POSTDIVE_SAMPLENUM,8 $AR_CDRIVE_FREE,8448475136 $AR_CDRIVE_SIZE,8453062656 $AR_DDRIVE_FREE,58930561024 $AR_DDRIVE_SIZE,59996930048 $24V_AH,24.3,2.022 $10V_AH,10.2,2.660 $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,19.875,74.675,220.650,106.600,0.000,79.110,139.572,282.533,42.750,0.000,16.716,900.073,5441.315,424.709,1641.354,75.407,30.186,999.194,0.000,1033.952,0.000,17.863,0.000 $DEVICE_MAMPS,247.741,67.496,833.729,430.287,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000 $SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil $SENSOR_SECS,322.595,0.000,0.000,0.000,0.000,0.000,0.000,8822.720,0.000,0.000 $SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,27.009,0.000,0.000 $MEM,334812 $DATA_FILE_SIZE,16776,479 $CAP_FILE_SIZE,85729,0 $CFSIZE,260165632,257642496 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 $GPS,180610,001125,2110.232,-15757.319,37,1.0,37,9.8