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