version: 66.07
glider: 500
mission: 4
dive: 99
start: 7 6 110 22 47 10
data:
$ID,500
$MISSION,4
$DIVE,99
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111272.52
$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,50
$R_STBD_OVSHOOT,55
$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,98
$AR_SAMPLENUM,9
$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
$GPS1,060710,223937,2022.248,-16014.309,23,2.0,23,9.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.1
$GPS2,060710,224614,2022.184,-16014.322,14,1.6,14,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.004
$KALMAN_X,-166079.9,105.5,-11.9,-72271.2,-976.5
$KALMAN_Y,88321.5,720.0,524.9,-180406.7,-6482.5
$MHEAD_RNG_PITCHd_Wd,79.3,129132,-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,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.72,0.000,2,0.000,0.000,124,2043,2683,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-6.4,10,112,10.18,2.35,-14.07,0.000,4,0.235,0.058,2639,3600,3301,0,0,0,0,0,0
$GC,129,-0.71,-116.8,11.3,-13.8,19,134,0.00,2.30,0.00,0.000,6,0.000,0.030,2639,2017,3303,0,0,0,0,0,0
$GC,336,-0.71,-116.8,44.9,-12.5,47,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2016,3305,0,0,0,0,0,0
$GC,591,-0.71,-116.8,78.5,-12.9,71,595,0.00,2.30,0.00,0.000,4,0.000,0.044,2640,450,3306,0,0,0,0,0,0
$GC,740,-0.71,-116.8,97.6,-12.8,84,745,0.12,2.25,0.00,0.000,6,0.151,0.032,2663,2041,3307,0,0,0,0,0,0
$GC,1001,-0.71,-116.8,121.6,-8.4,108,1005,0.00,2.30,0.00,0.000,4,0.000,0.043,2663,458,3308,0,0,0,0,0,0
$GC,1048,-0.71,-116.8,125.5,-8.6,111,1053,0.00,2.25,0.00,0.000,6,0.000,0.033,2653,2035,3308,0,0,0,0,0,0
$GC,1308,-0.71,-116.8,150.5,-10.4,136,1312,0.00,2.28,0.00,0.000,4,0.000,0.042,2641,3605,3310,0,0,0,0,0,0
$GC,1335,-0.71,-116.8,153.3,-10.4,138,1339,0.00,2.22,0.00,0.000,6,0.000,0.028,2642,2025,3308,0,0,0,0,0,0
$GC,1595,-0.71,-116.8,181.3,-10.6,162,1599,0.00,2.25,0.00,0.000,4,0.000,0.043,2642,458,3309,0,0,0,0,0,0
$GC,1705,-0.71,-116.8,194.3,-11.2,171,1712,0.00,2.25,0.00,0.000,6,0.000,0.032,2630,2029,3309,0,0,0,0,0,0
$GC,1971,-0.71,-116.8,224.1,-11.7,187,1975,0.10,2.28,0.00,0.000,4,0.160,0.043,2661,458,3309,0,0,0,0,0,0
$GC,1996,-0.71,-116.8,227.1,-11.8,188,2002,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2025,3310,0,0,0,0,0,0
$GC,2318,-0.71,-116.8,255.3,-7.7,204,2322,0.00,2.30,0.00,0.000,4,0.000,0.043,2639,3614,3308,0,0,0,0,0,0
$GC,2389,-0.71,-116.8,260.8,-7.8,207,2393,0.00,2.28,0.00,0.000,6,0.000,0.028,2639,2026,3310,0,0,0,0,0,0
$GC,2710,-0.71,-116.8,286.2,-8.2,223,2714,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,447,3306,0,0,0,0,0,0
$GC,2777,-0.71,-116.8,292.9,-9.9,226,2782,0.12,2.25,0.00,0.000,6,0.144,0.032,2665,2035,3306,0,0,0,0,0,0
$GC,3119,-0.71,-116.8,323.2,-9.1,237,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2035,3304,0,0,0,0,0,0
$GC,3444,-0.71,-116.8,350.0,-7.7,245,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2035,3301,0,0,0,0,0,0
$GC,3769,-0.71,-116.8,374.0,-7.2,253,3773,0.00,2.30,0.00,0.000,4,0.000,0.044,2670,447,3297,0,0,0,0,0,0
$GC,3796,-0.71,-116.8,376.0,-7.3,253,3800,0.00,2.28,0.00,0.000,6,0.000,0.033,2655,2030,3297,0,0,0,0,0,0
$GC,4133,-0.71,-116.8,398.4,-6.7,262,4137,0.00,2.35,0.00,0.000,4,0.000,0.044,2643,3617,3297,0,0,0,0,0,0
$GC,4261,-0.71,-116.8,408.2,-8.0,265,4265,0.00,2.25,0.00,0.000,6,0.000,0.030,2643,2022,3297,0,0,0,0,0,0
$GC,4584,-0.71,-116.8,433.5,-7.6,273,4588,0.00,2.30,0.00,0.000,4,0.000,0.045,2644,455,3295,0,0,0,0,0,0
$GC,4683,-0.71,-116.8,441.6,-7.8,275,4688,0.00,2.28,0.00,0.000,6,0.000,0.034,2632,2038,3294,0,0,0,0,0,0
$GC,5002,-0.71,-116.8,465.7,-7.6,283,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2039,3292,0,0,0,0,0,0
$GC,5327,-0.71,-116.8,489.4,-7.2,291,5331,0.00,2.30,0.00,0.000,4,0.000,0.044,2632,460,3290,0,0,0,0,0,0
$GC,5381,-0.71,-116.8,493.6,-7.6,292,5386,0.10,2.28,0.00,0.000,6,0.117,0.034,2658,2033,3290,0,0,0,0,0,0
$GC,5693,-0.71,-116.8,512.8,-6.1,300,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3288,0,0,0,0,0,0
$GC,6019,-0.71,-116.8,534.6,-7.0,308,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3286,0,0,0,0,0,0
$GC,6343,-0.71,-116.8,557.7,-7.0,316,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3285,0,0,0,0,0,0
$GC,6668,-0.71,-116.8,578.9,-6.1,324,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3283,0,0,0,0,0,0
$GC,6994,-0.71,-116.8,597.9,-5.9,332,6998,0.00,2.30,0.00,0.000,4,0.000,0.046,2659,462,3281,0,0,0,0,0,0
$GC,7037,-0.71,-116.8,601.1,-7.1,333,7042,0.00,2.28,0.00,0.000,6,0.000,0.034,2648,2048,3281,0,0,0,0,0,0
$GC,7361,-0.71,-116.8,622.1,-6.6,341,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2048,3280,0,0,0,0,0,0
$GC,7686,-0.71,-116.8,641.6,-5.6,349,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2049,3280,0,0,0,0,0,0
$GC,8011,-0.71,-116.8,658.5,-5.2,357,8015,0.00,2.33,0.00,0.000,4,0.000,0.047,2649,465,3276,0,0,0,0,0,0
$GC,8037,-0.71,-116.8,660.1,-6.7,357,8042,0.00,2.28,0.00,0.000,6,0.000,0.035,2638,2024,3281,0,0,0,0,0,0
$GC,8374,-0.71,-116.8,681.8,-6.9,366,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2025,3276,0,0,0,0,0,0
$GC,8699,-0.71,-116.8,704.6,-7.1,374,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2024,3278,0,0,0,0,0,0
$GC,9024,-0.71,-116.8,726.2,-6.6,382,9028,0.00,2.33,0.00,0.000,4,0.000,0.048,2638,460,3275,0,0,0,0,0,0
$GC,9062,-0.71,-116.8,729.0,-7.6,383,9067,0.12,2.28,0.00,0.000,6,0.147,0.035,2664,2041,3275,0,0,0,0,0,0
$GC,9385,-0.71,-116.8,747.7,-5.7,391,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2041,3274,0,0,0,0,0,0
$GC,9710,-0.71,-116.8,764.2,-5.0,399,9714,0.00,2.35,0.00,0.000,4,0.000,0.048,2664,461,3274,0,0,0,0,0,0
$GC,9775,-0.71,-116.8,768.0,-5.5,400,9780,0.00,2.28,0.00,0.000,6,0.000,0.035,2654,2020,3273,0,0,0,0,0,0
$GC,10118,-0.71,-116.8,785.5,-5.1,409,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2020,3270,0,0,0,0,0,0
$GC,10443,-0.71,-116.8,802.7,-5.4,417,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2020,3272,0,0,0,0,0,0
$GC,10768,-0.71,-116.8,821.3,-5.9,425,10772,0.00,2.30,0.00,0.000,4,0.000,0.048,2654,468,3269,0,0,0,0,0,0
$GC,10823,-0.71,-116.8,825.1,-6.9,426,10827,0.00,2.28,0.00,0.000,6,0.000,0.035,2643,2057,3270,0,0,0,0,0,0
$GC,11135,-0.71,-116.8,845.1,-6.2,434,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2057,3270,0,0,0,0,0,0
$GC,11460,-0.71,-116.8,863.9,-5.5,442,11464,0.00,2.35,0.00,0.000,4,0.000,0.048,2643,460,3269,0,0,0,0,0,0
$GC,11493,-0.71,-116.8,866.0,-7.4,442,11499,0.00,2.25,0.00,0.000,6,0.000,0.035,2633,2044,3269,0,0,0,0,0,0
$GC,11824,-0.71,-116.8,882.5,-4.8,451,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2044,3269,0,0,0,0,0,0
$GC,12148,-0.71,-116.8,897.6,-4.7,459,12150,0.10,0.00,0.00,0.000,6,0.160,0.000,2668,2044,3271,0,0,0,0,0,0
$GC,12474,-0.71,-116.8,910.1,-3.7,467,12478,0.00,2.38,0.00,0.000,4,0.000,0.049,2663,457,3270,0,0,0,0,0,0
$GC,12518,-0.71,-116.8,912.1,-4.8,468,12522,0.00,2.30,0.00,0.000,6,0.000,0.035,2653,2023,3268,0,0,0,0,0,0
$GC,12842,-0.71,-116.8,927.5,-5.0,476,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2022,3267,0,0,0,0,0,0
$GC,13167,-0.71,-116.8,944.6,-5.3,484,13171,0.00,2.33,0.00,0.000,4,0.000,0.049,2656,454,3268,0,0,0,0,0,0
$GC,13221,-0.71,-116.8,948.2,-6.6,485,13226,0.00,2.33,0.00,0.000,6,0.000,0.036,2643,2041,3267,0,0,0,0,0,0
$STATE,13533,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13533,begin apogee
$GC,13537,-0.23,0.0,968.5,6.7,493,13635,0.52,0.00,95.05,1.285,6,0.113,0.000,2817,2039,2822,0,0,0,0,0,0
$STATE,13637,end apogee,CONTROL_FINISHED_OK
$STATE,13637,begin climb
$GC,13639,0.71,116.8,970.9,0.0,495,13753,0.85,0.00,110.25,1.248,6,0.067,0.000,3123,2039,2346,0,0,0,0,0,0
$GC,14060,0.71,116.8,930.9,11.6,506,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2039,2330,0,0,0,0,0,0
$GC,14384,0.71,116.8,892.6,11.9,514,14389,0.00,2.42,0.00,0.000,4,0.000,0.050,3135,457,2330,0,0,0,0,0,0
$GC,14439,0.71,116.8,885.2,12.6,515,14444,0.00,2.35,0.00,0.000,6,0.000,0.036,3135,2026,2327,0,0,0,0,0,0
$GC,14752,0.71,116.8,842.2,14.0,523,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2026,2325,0,0,0,0,0,0
$GC,15077,0.71,116.8,795.8,14.5,531,15081,0.00,2.35,0.00,0.000,4,0.000,0.050,3147,466,2324,0,0,0,0,0,0
$GC,15116,0.71,116.8,790.0,15.8,532,15121,0.00,2.30,0.00,0.000,6,0.000,0.037,3147,2034,2324,0,0,0,0,0,0
$GC,15440,0.71,116.8,741.7,14.7,540,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2036,2324,0,0,0,0,0,0
$GC,15764,0.71,116.8,696.4,13.7,548,15768,0.00,2.38,0.00,0.000,4,0.000,0.050,3159,461,2323,0,0,0,0,0,0
$GC,15824,0.71,116.8,687.3,14.9,549,15830,0.10,2.33,0.00,0.000,6,0.140,0.035,3126,2033,2322,0,0,0,0,0,0
$GC,16137,0.71,116.8,647.2,12.7,557,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2034,2323,0,0,0,0,0,0
$GC,16462,0.71,116.8,607.7,11.8,565,16466,0.00,2.35,0.00,0.000,4,0.000,0.047,3126,3615,2323,0,0,0,0,0,0
$GC,16512,0.71,116.8,601.6,12.6,566,16516,0.00,2.33,0.00,0.000,6,0.000,0.037,3136,2036,2321,0,0,0,0,0,0
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$STATE,22463,end climb,SURFACE_DEPTH_REACHED
$STATE,22464,begin surface coast
$FINISH,0.7,1.023266
$STATE,22493,end surface coast,CONTROL_FINISHED_OK
$STATE,22493,begin surface
$SM_CCo,22575,68.50,0.459,1,0,1291,375.30
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$TT8_MAMPS,0.059059
$HUMID,1078452248
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$TCM_TEMP,23.60
$XPDR_PINGS,3
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$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8440446976
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54421487616
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,11.467
$10V_AH,9.8,14.726
$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
$DEVICE_SECS,20.375,162.050,316.775,68.500,0.000,30.888,35.148,223.924,3.500,0.000,16.711,1744.961,18302.309,532.424,2303.130,169.921,33.358,1603.927,0.000,1892.611,0.000,19.966,0.000
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$SENSOR_SECS,629.925,0.000,0.000,0.000,0.000,0.000,0.000,22943.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.648,0.000,0.000
$MEM,334036
$DATA_FILE_SIZE,33370,919
$CAP_FILE_SIZE,170980,0
$CFSIZE,260165632,249884672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070710,050607,2020.847,-16011.858,39,0.8,39,9.6