version: 66.07
glider: 500
mission: 4
dive: 22
start: 6 18 110 7 39 56
data:
$ID,500
$MISSION,4
$DIVE,22
$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,-110004.8
$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,2900
$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,41
$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,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,21
$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
$GPS1,180610,072924,2109.017,-15800.087,24,1.3,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.6
$GPS2,180610,073901,2109.066,-15800.210,10,1.3,15,9.8
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,-0.179
$KALMAN_X,-1784.8,-83.8,-254.2,-4532.0,-1029.4
$KALMAN_Y,2951.7,64.0,103.0,-7121.0,954.6
$MHEAD_RNG_PITCHd_Wd,152.8,88910,-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,23,begin dive
$GC,24,-0.84,-77.9,0.0,0.0,0,82,0.00,0.00,-56.08,0.000,2,0.000,0.000,144,2046,2736,0,0,0,0,0,0
$GC,85,-0.84,-77.9,3.2,-6.2,11,111,10.18,2.40,-9.62,0.000,4,0.249,0.061,2620,439,3142,0,0,0,0,0,0
$GC,301,-0.84,-77.9,44.1,-19.9,44,308,0.00,2.33,0.00,0.000,6,0.000,0.038,2610,2027,3142,0,0,0,0,0,0
$GC,562,-0.84,-77.9,93.7,-16.1,69,566,0.00,2.30,0.00,0.000,4,0.000,0.048,2610,446,3143,0,0,0,0,0,0
$GC,612,-0.84,-77.9,101.7,-15.8,73,616,0.00,2.33,0.00,0.000,6,0.000,0.037,2598,2047,3144,0,0,0,0,0,0
$GC,877,-0.84,-77.9,140.3,-16.5,98,882,0.10,2.38,0.00,0.000,4,0.181,0.048,2624,439,3145,0,0,0,0,0,0
$GC,960,-0.84,-77.9,152.9,-14.5,105,966,0.00,2.30,0.00,0.000,6,0.000,0.036,2614,2025,3146,0,0,0,0,0,0
$GC,1221,-0.84,-77.9,187.4,-13.5,130,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2025,3146,0,0,0,0,0,0
$GC,1481,-0.84,-77.9,223.0,-13.1,147,1485,0.00,2.30,0.00,0.000,4,0.000,0.048,2614,440,3147,0,0,0,0,0,0
$GC,1548,-0.84,-77.9,232.3,-14.0,150,1552,0.00,2.28,0.00,0.000,6,0.000,0.038,2602,2037,3146,0,0,0,0,0,0
$GC,1881,-0.84,-77.9,270.9,-10.4,166,1885,0.00,2.28,0.00,0.000,4,0.000,0.048,2591,3611,3147,0,0,0,0,0,0
$GC,1952,-0.84,-77.9,278.6,-10.6,169,1957,0.10,2.28,0.00,0.000,6,0.124,0.035,2626,2029,3147,0,0,0,0,0,0
$GC,2271,-0.84,-77.9,308.9,-9.4,183,2275,0.00,2.30,0.00,0.000,4,0.000,0.048,2617,3613,3147,0,0,0,0,0,0
$GC,2320,-0.84,-77.9,313.4,-9.3,184,2325,0.00,2.30,0.00,0.000,6,0.000,0.035,2616,2022,3147,0,0,0,0,0,0
$GC,2644,-0.84,-77.9,345.4,-9.8,192,2648,0.00,2.25,0.00,0.000,4,0.000,0.049,2616,454,3146,0,0,0,0,0,0
$GC,2777,-0.84,-77.9,358.9,-9.4,195,2782,0.00,2.28,0.00,0.000,6,0.000,0.038,2604,2029,3145,0,0,0,0,0,0
$GC,3102,-0.84,-77.9,385.9,-7.6,203,3106,0.00,2.33,0.00,0.000,4,0.000,0.049,2592,3614,3144,0,0,0,0,0,0
$GC,3184,-0.84,-77.9,393.3,-9.2,205,3189,0.08,2.30,0.00,0.000,6,0.128,0.037,2621,2022,3143,0,0,0,0,0,0
$STATE,3512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3512,begin apogee
$GC,3515,-0.23,0.0,420.9,9.5,213,3579,0.60,0.00,60.83,0.835,6,0.121,0.000,2823,2021,2822,0,0,0,0,0,0
$STATE,3609,end apogee,CONTROL_FINISHED_OK
$STATE,3609,begin climb
$GC,3611,0.84,77.9,423.5,0.0,214,3678,0.93,0.00,64.10,0.820,6,0.068,0.000,3175,2022,2504,0,0,0,0,0,0
$GC,3980,0.84,77.9,398.2,9.9,224,3984,0.00,2.40,0.00,0.000,4,0.000,0.050,3175,3613,2496,0,0,0,0,0,0
$GC,4102,0.84,77.9,386.4,9.1,226,4107,0.00,2.35,0.00,0.000,6,0.000,0.039,3185,2030,2494,0,0,0,0,0,0
$GC,4439,0.84,77.9,357.8,10.3,235,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2029,2492,0,0,0,0,0,0
$GC,4764,0.86,91.1,329.6,8.0,243,4779,0.00,2.35,9.80,0.723,4,0.000,0.054,3199,445,2450,0,0,0,0,0,0
$GC,5031,0.89,112.2,308.8,7.4,249,5056,0.00,2.33,18.20,0.765,6,0.000,0.040,3199,2024,2366,0,0,0,0,0,0
$GC,5376,0.90,124.7,281.8,8.1,263,5389,0.00,0.00,11.35,0.719,6,0.000,0.000,3199,2028,2311,0,0,0,0,0,0
$GC,5685,0.90,124.7,253.0,9.4,278,5689,0.00,2.40,0.00,0.000,4,0.000,0.050,3199,3616,2307,0,0,0,0,0,0
$GC,5880,0.90,124.7,231.1,10.9,287,5884,0.00,2.30,0.00,0.000,6,0.000,0.039,3211,2023,2307,0,0,0,0,0,0
$GC,6212,0.90,124.7,198.1,10.1,303,6215,0.00,2.35,0.00,0.000,4,0.000,0.052,3224,452,2307,0,0,0,0,0,0
$GC,6440,0.91,130.9,175.4,8.5,323,6452,0.08,2.30,5.40,0.546,6,0.144,0.039,3198,2029,2289,0,0,0,0,0,0
$GC,6712,0.91,130.9,152.8,9.2,349,6716,0.00,2.35,0.00,0.000,4,0.000,0.048,3198,3620,2286,0,0,0,0,0,0
$GC,6750,0.91,135.0,149.2,8.7,352,6760,0.00,2.33,5.07,0.510,6,0.000,0.039,3209,2032,2272,0,0,0,0,0,0
$GC,7020,0.91,135.0,127.9,10.2,378,7024,0.00,2.33,0.00,0.000,4,0.000,0.048,3210,3619,2269,0,0,0,0,0,0
$GC,7235,0.93,145.6,104.6,8.2,397,7250,0.00,2.28,10.32,0.571,6,0.000,0.038,3227,2024,2230,0,0,0,0,0,0
$GC,7505,0.95,168.3,85.6,7.3,422,7530,0.00,2.33,19.83,0.584,4,0.000,0.051,3234,451,2137,0,0,0,0,0,0
$GC,7601,0.95,168.3,77.3,9.9,430,7608,0.00,2.33,0.00,0.000,6,0.000,0.037,3234,2038,2133,0,0,0,0,0,0
$GC,7863,0.99,198.6,57.1,6.7,455,7894,0.00,2.35,25.25,0.559,4,0.000,0.049,3246,458,2011,0,0,0,0,0,0
$GC,8022,0.99,198.6,40.9,12.5,469,8029,0.00,2.30,0.00,0.000,6,0.000,0.037,3246,2027,2007,0,0,0,0,0,0
$GC,8292,0.99,198.6,8.7,14.6,509,8298,0.00,2.35,0.00,0.000,4,0.000,0.050,3258,458,2006,0,0,0,0,0,0
$STATE,8336,end climb,SURFACE_DEPTH_REACHED
$STATE,8336,begin surface coast
$FINISH,0.5,1.023390
$STATE,8359,end surface coast,CONTROL_FINISHED_OK
$STATE,8359,begin surface
$SM_CCo,8388,96.20,0.071,0,0,1191,400.08
$SM_GC,1.42,0.00,0.00,96.20,0.000,0.000,0.071,147,2032,1191,-8.61,0.03,400.08
$IRIDIUM_FIX,2059.45,-15759.05,121211,010149
$TT8_MAMPS,0.059059
$HUMID,1078410958
$INTERNAL_PRESSURE,9.49133
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,9.3
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8448212992
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58692534272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,2.342
$10V_AH,10.2,3.101
$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,20.000,78.900,230.150,96.200,0.000,58.975,57.846,275.812,2.750,0.000,17.037,984.458,5930.306,428.429,1656.352,76.509,33.350,1046.206,0.000,1144.858,0.000,20.636,0.000
$DEVICE_MAMPS,248.508,61.360,835.263,70.564,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.917,0.000,0.000,0.000,0.000,0.000,0.000,9411.670,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,26.042,0.000,0.000
$MEM,334816
$DATA_FILE_SIZE,16801,521
$CAP_FILE_SIZE,92009,0
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,100237,2108.478,-15800.482,30,1.0,30,9.8