version: 66.07
glider: 500
mission: 4
dive: 144
start: 7 19 110 7 3 26
data:
$ID,500
$MISSION,4
$DIVE,144
$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,-111917.94
$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,56
$R_STBD_OVSHOOT,51
$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,143
$AR_SAMPLENUM,13
$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
$GPS1,190710,065055,2045.952,-15936.895,39,0.9,39,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.0
$GPS2,190710,070232,2046.103,-15936.906,8,1.7,8,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.131,-0.180
$KALMAN_X,-92407.1,265.4,65.2,133453.3,-3115.5
$KALMAN_Y,115402.0,-200.1,-666.7,-80984.1,4165.9
$MHEAD_RNG_PITCHd_Wd,134.2,186874,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.97,0.000,2,0.000,0.000,123,2040,2560,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-5.5,9,112,10.18,2.40,-17.77,0.000,4,0.231,0.058,2649,465,3301,0,0,0,0,0,0
$GC,254,-0.71,-116.8,38.1,-20.9,38,258,0.00,2.25,0.00,0.000,6,0.000,0.036,2638,2029,3302,0,0,0,0,0,0
$GC,514,-0.71,-116.8,85.0,-15.7,62,518,0.00,2.33,0.00,0.000,4,0.000,0.042,2626,3609,3302,0,0,0,0,0,0
$GC,575,-0.71,-116.8,94.4,-15.4,67,580,0.12,2.25,0.00,0.000,6,0.137,0.029,2664,2021,3303,0,0,0,0,0,0
$GC,835,-0.71,-116.8,123.7,-10.2,91,839,0.00,2.28,0.00,0.000,4,0.000,0.043,2665,457,3304,0,0,0,0,0,0
$GC,890,-0.71,-116.8,130.0,-10.9,95,896,0.00,2.25,0.00,0.000,6,0.000,0.032,2655,2024,3304,0,0,0,0,0,0
$GC,1151,-0.71,-116.8,157.0,-10.4,120,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3305,0,0,0,0,0,0
$GC,1406,-0.71,-116.8,182.5,-10.7,144,1410,0.00,2.33,0.00,0.000,4,0.000,0.048,2655,451,3306,0,0,0,0,0,0
$GC,1432,-0.71,-116.8,185.8,-12.7,146,1437,0.00,2.25,0.00,0.000,6,0.000,0.035,2643,2045,3305,0,0,0,0,0,0
$GC,1704,-0.71,-116.8,217.0,-11.3,165,1708,0.00,2.30,0.00,0.000,4,0.000,0.043,2628,3614,3304,0,0,0,0,0,0
$GC,1749,-0.71,-116.8,222.3,-11.8,167,1753,0.00,2.22,0.00,0.000,6,0.000,0.028,2631,2028,3306,0,0,0,0,0,0
$GC,2080,-0.71,-116.8,259.0,-10.2,183,2084,0.10,2.30,0.00,0.000,4,0.147,0.041,2652,3607,3306,0,0,0,0,0,0
$GC,2134,-0.71,-116.8,263.6,-8.1,185,2140,0.00,2.25,0.00,0.000,6,0.000,0.028,2652,2044,3306,0,0,0,0,0,0
$GC,2450,-0.71,-116.8,286.4,-7.7,201,2454,0.00,2.30,0.00,0.000,4,0.000,0.042,2652,436,3305,0,0,0,0,0,0
$GC,2601,-0.71,-116.8,300.5,-9.4,208,2605,0.00,2.25,0.00,0.000,6,0.000,0.032,2640,2033,3305,0,0,0,0,0,0
$GC,2942,-0.71,-116.8,332.0,-9.5,217,2946,0.00,2.30,0.00,0.000,4,0.000,0.043,2628,3603,3304,0,0,0,0,0,0
$GC,2996,-0.71,-116.8,337.7,-10.0,218,3001,0.00,2.28,0.00,0.000,6,0.000,0.028,2628,2021,3304,0,0,0,0,0,0
$GC,3309,-0.71,-116.8,367.9,-9.6,226,3311,0.10,0.00,0.00,0.000,6,0.143,0.000,2661,2021,3301,0,0,0,0,0,0
$GC,3635,-0.71,-116.8,391.6,-6.8,234,3639,0.00,2.28,0.00,0.000,4,0.000,0.043,2661,454,3299,0,0,0,0,0,0
$GC,3740,-0.71,-116.8,399.1,-6.7,236,3744,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2025,3298,0,0,0,0,0,0
$GC,4088,-0.71,-116.8,419.9,-6.0,245,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3296,0,0,0,0,0,0
$GC,4413,-0.71,-116.8,442.2,-7.2,253,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3294,0,0,0,0,0,0
$GC,4738,-0.71,-116.8,468.1,-8.2,261,4742,0.00,2.35,0.00,0.000,4,0.000,0.044,2639,3619,3291,0,0,0,0,0,0
$GC,4786,-0.71,-116.8,472.4,-8.8,262,4791,0.00,2.30,0.00,0.000,6,0.000,0.030,2639,2033,3288,0,0,0,0,0,0
$GC,5105,-0.71,-116.8,499.4,-8.4,270,5109,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,446,3287,0,0,0,0,0,0
$GC,5181,-0.71,-116.8,506.4,-9.0,271,5187,0.08,2.28,0.00,0.000,6,0.113,0.033,2657,2028,3286,0,0,0,0,0,0
$GC,5518,-0.71,-116.8,529.0,-6.4,280,5522,0.00,2.30,0.00,0.000,4,0.000,0.044,2647,3607,3284,0,0,0,0,0,0
$GC,5596,-0.71,-116.8,534.1,-6.6,281,5602,0.00,2.28,0.00,0.000,6,0.000,0.030,2647,2015,3284,0,0,0,0,0,0
$GC,5927,-0.71,-116.8,553.7,-5.9,290,5931,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,449,3281,0,0,0,0,0,0
$GC,6010,-0.71,-116.8,559.3,-6.6,291,6016,0.00,2.25,0.00,0.000,6,0.000,0.032,2636,2033,3281,0,0,0,0,0,0
$GC,6341,-0.71,-116.8,579.1,-5.8,300,6345,0.00,2.30,0.00,0.000,4,0.000,0.044,2624,3611,3276,0,0,0,0,0,0
$GC,6412,-0.71,-116.8,583.7,-6.6,301,6417,0.08,2.28,0.00,0.000,6,0.107,0.031,2656,2038,3278,0,0,0,0,0,0
$GC,6748,-0.71,-116.8,602.8,-6.0,310,6752,0.00,2.33,0.00,0.000,4,0.000,0.045,2656,450,3276,0,0,0,0,0,0
$GC,6825,-0.71,-116.8,608.5,-7.7,311,6829,0.00,2.28,0.00,0.000,6,0.000,0.032,2646,2027,3275,0,0,0,0,0,0
$GC,7162,-0.71,-116.8,633.1,-7.4,320,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2027,3274,0,0,0,0,0,0
$GC,7486,-0.71,-116.8,657.4,-7.5,328,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3273,0,0,0,0,0,0
$GC,7811,-0.71,-116.8,681.0,-7.3,336,7816,0.00,2.33,0.00,0.000,4,0.000,0.045,2646,456,3271,0,0,0,0,0,0
$GC,7889,-0.71,-116.8,687.4,-7.8,337,7895,0.00,2.25,0.00,0.000,6,0.000,0.033,2635,2033,3269,0,0,0,0,0,0
$GC,8220,-0.71,-116.8,710.8,-6.9,346,8224,0.00,2.35,0.00,0.000,4,0.000,0.045,2635,448,3269,0,0,0,0,0,0
$GC,8251,-0.71,-116.8,713.2,-7.9,346,8258,0.08,2.28,0.00,0.000,6,0.114,0.033,2655,2023,3269,0,0,0,0,0,0
$GC,8583,-0.71,-116.8,731.3,-5.3,355,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2023,3268,0,0,0,0,0,0
$GC,8908,-0.71,-116.8,747.6,-4.9,363,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2024,3267,0,0,0,0,0,0
$GC,9233,-0.71,-116.8,764.4,-5.2,371,9237,0.00,2.33,0.00,0.000,4,0.000,0.047,2655,448,3266,0,0,0,0,0,0
$GC,9265,-0.71,-116.8,766.5,-6.1,371,9271,0.00,2.28,0.00,0.000,6,0.000,0.034,2645,2035,3266,0,0,0,0,0,0
$GC,9596,-0.71,-116.8,787.4,-6.5,380,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2035,3265,0,0,0,0,0,0
$GC,9921,-0.71,-116.8,809.1,-6.7,388,9925,0.00,2.35,0.00,0.000,4,0.000,0.046,2645,456,3262,0,0,0,0,0,0
$GC,9981,-0.71,-116.8,813.7,-7.7,389,9985,0.00,2.25,0.00,0.000,6,0.000,0.034,2634,2046,3264,0,0,0,0,0,0
$GC,10329,-0.71,-116.8,836.7,-6.3,398,10333,0.00,2.35,0.00,0.000,4,0.000,0.046,2634,453,3264,0,0,0,0,0,0
$GC,10373,-0.71,-116.8,839.8,-6.8,399,10378,0.12,2.25,0.00,0.000,6,0.140,0.034,2661,2027,3266,0,0,0,0,0,0
$GC,10702,-0.71,-116.8,855.2,-4.6,407,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2028,3263,0,0,0,0,0,0
$GC,11026,-0.71,-116.8,869.5,-4.4,415,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2028,3259,0,0,0,0,0,0
$GC,11351,-0.71,-116.8,882.6,-3.9,423,11355,0.00,2.38,0.00,0.000,4,0.000,0.048,2661,451,3261,0,0,0,0,0,0
$GC,11391,-0.71,-116.8,884.4,-5.9,424,11395,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2043,3261,0,0,0,0,0,0
$GC,11714,-0.71,-116.8,896.9,-3.8,432,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2044,3263,0,0,0,0,0,0
$GC,12039,-0.71,-116.8,909.5,-4.0,440,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2047,3260,0,0,0,0,0,0
$GC,12364,-0.71,-116.8,923.2,-4.3,448,12368,0.00,2.38,0.00,0.000,4,0.000,0.048,2651,458,3259,0,0,0,0,0,0
$GC,12408,-0.71,-116.8,925.6,-4.7,449,12412,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2047,3259,0,0,0,0,0,0
$GC,12736,-0.71,-116.8,942.1,-5.2,457,12741,0.00,2.35,0.00,0.000,4,0.000,0.047,2640,463,3259,0,0,0,0,0,0
$GC,12780,-0.71,-116.8,945.1,-6.9,458,12785,0.10,2.28,0.00,0.000,6,0.155,0.035,2659,2030,3259,0,0,0,0,0,0
$GC,13104,-0.71,-116.8,962.9,-5.7,466,13108,0.00,2.38,0.00,0.000,4,0.000,0.048,2658,458,3259,0,0,0,0,0,0
$GC,13142,-0.71,-116.8,965.3,-6.3,467,13147,0.00,2.28,0.00,0.000,6,0.000,0.035,2649,2032,3258,0,0,0,0,0,0
$GC,13466,-0.71,-116.8,986.6,-6.6,475,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2032,3258,0,0,0,0,0,0
$STATE,13506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13506,begin apogee
$GC,13510,-0.23,0.0,989.3,6.7,476,13607,0.47,0.00,94.18,1.299,6,0.108,0.000,2810,2032,2820,0,0,0,0,0,0
$STATE,13643,end apogee,CONTROL_FINISHED_OK
$STATE,13643,begin climb
$GC,13645,0.71,116.8,992.0,0.0,478,13766,0.82,2.65,110.80,1.271,4,0.063,0.045,3121,3603,2344,0,0,0,0,0,0
$GC,13817,0.71,116.8,980.9,13.0,483,13821,0.00,2.45,0.00,0.000,6,0.000,0.035,3129,2030,2337,0,0,0,0,0,0
$GC,14145,0.71,116.8,939.5,12.8,491,14150,0.00,2.40,0.00,0.000,4,0.000,0.049,3145,448,2328,0,0,0,0,0,0
$GC,14222,0.71,116.8,929.1,12.3,492,14229,0.00,2.38,0.00,0.000,6,0.000,0.035,3146,2032,2327,0,0,0,0,0,0
$GC,14554,0.71,116.8,885.5,13.0,501,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2032,2326,0,0,0,0,0,0
$GC,14878,0.71,116.8,841.0,13.8,509,14882,0.00,2.38,0.00,0.000,4,0.000,0.048,3157,450,2325,0,0,0,0,0,0
$GC,14933,0.71,116.8,832.8,15.3,510,14938,0.10,2.35,0.00,0.000,6,0.139,0.035,3124,2034,2325,0,0,0,0,0,0
$GC,15246,0.71,116.8,793.5,12.4,518,15250,0.00,2.38,0.00,0.000,4,0.000,0.048,3134,451,2325,0,0,0,0,0,0
$GC,15299,0.71,116.8,786.0,13.8,519,15305,0.00,2.33,0.00,0.000,6,0.000,0.035,3134,2030,2325,0,0,0,0,0,0
$GC,15612,0.71,116.8,744.1,13.3,527,15616,0.00,2.35,0.00,0.000,4,0.000,0.048,3144,453,2325,0,0,0,0,0,0
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$STATE,23078,end climb,SURFACE_DEPTH_REACHED
$STATE,23078,begin surface coast
$FINISH,0.7,1.022895
$STATE,23110,end surface coast,CONTROL_FINISHED_OK
$STATE,23110,begin surface
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$SM_GC,1.67,0.00,0.00,61.15,0.000,0.000,0.441,132,2041,1292,-8.62,0.28,375.55
$IRIDIUM_FIX,2036.38,-15938.77,110112,181831
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$TCM_TEMP,24.40
$XPDR_PINGS,8
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$AR_CDRIVE_FREE,8412168192
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52527890432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,17.853
$10V_AH,9.6,19.615
$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
$DEVICE_SECS,20.675,208.750,332.600,61.150,0.000,25.606,27.863,474.265,2.000,0.000,9.952,1803.845,18545.641,560.466,2738.665,246.648,33.366,1759.665,0.000,2103.864,0.000,0.541,0.000
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$SENSOR_SECS,623.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335216
$DATA_FILE_SIZE,33382,914
$CAP_FILE_SIZE,192822,0
$CFSIZE,260165632,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190710,133136,2045.964,-15936.259,40,1.9,40,9.7