version: 66.07
glider: 500
mission: 4
dive: 168
start: 7 26 110 1 42 3
data:
$ID,500
$MISSION,4
$DIVE,168
$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,-112340.45
$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,57
$R_STBD_OVSHOOT,46
$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,167
$AR_SAMPLENUM,11
$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
$GPS1,260710,012631,2058.063,-15901.112,36,1.5,36,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.1
$GPS2,260710,014108,2058.088,-15901.163,14,1.3,14,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.219,-0.039
$KALMAN_X,-147965.7,-3.8,195.6,251160.1,-2360.5
$KALMAN_Y,160525.4,-523.6,221.9,-104466.2,1710.3
$MHEAD_RNG_PITCHd_Wd,90.5,121398,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-50.95,0.000,2,0.000,0.000,134,2038,2714,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.2,-4.3,10,112,10.15,2.42,-13.57,0.000,4,0.229,0.058,2658,457,3301,0,0,0,0,0,0
$GC,175,-0.71,-116.8,19.7,-19.2,27,180,0.00,2.30,0.00,0.000,6,0.000,0.034,2646,2045,3301,0,0,0,0,0,0
$GC,379,-0.71,-116.8,58.4,-16.0,51,383,0.00,2.33,0.00,0.000,4,0.000,0.042,2635,3607,3302,0,0,0,0,0,0
$GC,400,-0.71,-116.8,61.7,-15.7,52,407,0.00,2.28,0.00,0.000,6,0.000,0.029,2635,2041,3302,0,0,0,0,0,0
$GC,661,-0.71,-116.8,101.9,-15.1,77,665,0.00,2.30,0.00,0.000,4,0.000,0.042,2636,450,3303,0,0,0,0,0,0
$GC,710,-0.71,-116.8,109.2,-14.3,81,717,0.08,2.28,0.00,0.000,6,0.119,0.031,2654,2028,3303,0,0,0,0,0,0
$GC,972,-0.71,-116.8,139.7,-10.7,106,976,0.00,2.30,0.00,0.000,4,0.000,0.043,2652,441,3304,0,0,0,0,0,0
$GC,1037,-0.71,-116.8,148.3,-13.5,111,1043,0.00,2.28,0.00,0.000,6,0.000,0.032,2644,2026,3305,0,0,0,0,0,0
$GC,1298,-0.71,-116.8,177.5,-11.1,136,1302,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,3608,3305,0,0,0,0,0,0
$GC,1421,-0.71,-116.8,191.3,-10.8,147,1426,0.00,2.25,0.00,0.000,6,0.000,0.028,2631,2017,3304,0,0,0,0,0,0
$GC,1686,-0.71,-116.8,220.4,-10.9,163,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2017,3306,0,0,0,0,0,0
$GC,1996,-0.71,-116.8,252.9,-10.0,178,2001,0.10,2.25,0.00,0.000,4,0.145,0.042,2664,459,3307,0,0,0,0,0,0
$GC,2140,-0.71,-116.8,264.7,-7.0,184,2147,0.00,2.25,0.00,0.000,6,0.000,0.031,2653,2038,3306,0,0,0,0,0,0
$GC,2456,-0.71,-116.8,288.6,-7.9,200,2460,0.00,2.30,0.00,0.000,4,0.000,0.043,2642,3613,3308,0,0,0,0,0,0
$GC,2522,-0.71,-116.8,294.5,-9.0,203,2527,0.00,2.28,0.00,0.000,6,0.000,0.028,2641,2028,3306,0,0,0,0,0,0
$GC,2845,-0.71,-116.8,321.8,-8.3,213,2849,0.00,2.28,0.00,0.000,4,0.000,0.042,2641,444,3305,0,0,0,0,0,0
$GC,2911,-0.71,-116.8,328.5,-10.4,214,2916,0.00,2.28,0.00,0.000,6,0.000,0.031,2631,2041,3305,0,0,0,0,0,0
$GC,3259,-0.71,-116.8,363.8,-10.1,223,3261,0.10,0.00,0.00,0.000,6,0.153,0.000,2661,2041,3305,0,0,0,0,0,0
$GC,3584,-0.71,-116.8,390.4,-7.8,231,3588,0.00,2.33,0.00,0.000,4,0.000,0.042,2662,448,3301,0,0,0,0,0,0
$GC,3656,-0.71,-116.8,396.3,-8.2,232,3661,0.00,2.22,0.00,0.000,6,0.000,0.031,2652,2030,3300,0,0,0,0,0,0
$GC,3993,-0.71,-116.8,421.2,-7.5,241,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2030,3298,0,0,0,0,0,0
$GC,4318,-0.71,-116.8,447.0,-7.8,249,4322,0.00,2.30,0.00,0.000,4,0.000,0.043,2652,460,3294,0,0,0,0,0,0
$GC,4361,-0.71,-116.8,450.8,-8.6,250,4365,0.00,2.25,0.00,0.000,6,0.000,0.032,2640,2045,3296,0,0,0,0,0,0
$GC,4685,-0.71,-116.8,476.8,-8.0,258,4689,0.00,2.30,0.00,0.000,4,0.000,0.044,2628,3606,3293,0,0,0,0,0,0
$GC,4724,-0.71,-116.8,479.9,-8.0,259,4728,0.10,2.25,0.00,0.000,6,0.137,0.030,2661,2030,3293,0,0,0,0,0,0
$GC,5047,-0.71,-116.8,502.2,-6.5,267,5051,0.00,2.30,0.00,0.000,4,0.000,0.044,2661,456,3291,0,0,0,0,0,0
$GC,5101,-0.71,-116.8,506.0,-6.8,268,5106,0.00,2.28,0.00,0.000,6,0.000,0.032,2651,2030,3290,0,0,0,0,0,0
$GC,5414,-0.71,-116.8,524.1,-5.7,276,5418,0.00,2.33,0.00,0.000,4,0.000,0.044,2642,3610,3288,0,0,0,0,0,0
$GC,5464,-0.71,-116.8,527.3,-6.6,277,5468,0.00,2.25,0.00,0.000,6,0.000,0.029,2639,2016,3287,0,0,0,0,0,0
$GC,5782,-0.71,-116.8,550.2,-7.5,285,5786,0.00,2.25,0.00,0.000,4,0.000,0.044,2640,463,3285,0,0,0,0,0,0
$GC,5859,-0.71,-116.8,557.1,-8.5,286,5864,0.10,2.22,0.00,0.000,6,0.150,0.033,2658,2042,3284,0,0,0,0,0,0
$GC,6195,-0.71,-116.8,581.4,-7.2,295,6199,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,3602,3283,0,0,0,0,0,0
$GC,6227,-0.71,-116.8,583.8,-7.7,295,6233,0.00,2.28,0.00,0.000,6,0.000,0.031,2648,2038,3282,0,0,0,0,0,0
$GC,6558,-0.71,-116.8,609.3,-7.6,304,6563,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,454,3281,0,0,0,0,0,0
$GC,6613,-0.71,-116.8,613.7,-8.1,305,6618,0.00,2.28,0.00,0.000,6,0.000,0.033,2637,2029,3281,0,0,0,0,0,0
$GC,6926,-0.71,-116.8,635.4,-6.6,313,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2030,3279,0,0,0,0,0,0
$GC,7252,-0.71,-116.8,656.3,-6.1,321,7256,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,444,3277,0,0,0,0,0,0
$GC,7278,-0.71,-116.8,658.2,-7.1,321,7283,0.12,2.28,0.00,0.000,6,0.140,0.033,2664,2047,3278,0,0,0,0,0,0
$GC,7614,-0.71,-116.8,675.2,-4.9,330,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2048,3275,0,0,0,0,0,0
$GC,7939,-0.71,-116.8,691.5,-5.0,338,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2048,3274,0,0,0,0,0,0
$GC,8264,-0.71,-116.8,709.7,-5.9,346,8268,0.00,2.35,0.00,0.000,4,0.000,0.046,2664,452,3273,0,0,0,0,0,0
$GC,8296,-0.71,-116.8,711.9,-7.3,346,8302,0.00,2.25,0.00,0.000,6,0.000,0.034,2654,2031,3271,0,0,0,0,0,0
$GC,8627,-0.71,-116.8,734.3,-6.8,355,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2030,3271,0,0,0,0,0,0
$GC,8952,-0.71,-116.8,755.3,-6.4,363,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2030,3271,0,0,0,0,0,0
$GC,9277,-0.71,-116.8,777.1,-6.8,371,9281,0.00,2.33,0.00,0.000,4,0.000,0.046,2654,454,3269,0,0,0,0,0,0
$GC,9331,-0.71,-116.8,781.3,-8.0,372,9335,0.00,2.30,0.00,0.000,6,0.000,0.034,2644,2033,3269,0,0,0,0,0,0
$GC,9645,-0.71,-116.8,803.1,-6.9,380,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2034,3269,0,0,0,0,0,0
$GC,9969,-0.71,-116.8,823.4,-6.0,388,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2034,3268,0,0,0,0,0,0
$GC,10294,-0.71,-116.8,840.4,-5.1,396,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2034,3267,0,0,0,0,0,0
$GC,10620,-0.71,-116.8,856.2,-4.9,404,10624,0.00,2.35,0.00,0.000,4,0.000,0.047,2644,447,3266,0,0,0,0,0,0
$GC,10651,-0.71,-116.8,858.1,-6.1,404,10658,0.05,2.33,0.00,0.000,6,0.126,0.034,2663,2041,3267,0,0,0,0,0,0
$GC,10983,-0.71,-116.8,873.0,-4.6,413,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2044,3267,0,0,0,0,0,0
$GC,11308,-0.71,-116.8,888.8,-5.0,421,11312,0.00,2.35,0.00,0.000,4,0.000,0.047,2664,457,3266,0,0,0,0,0,0
$GC,11357,-0.71,-116.8,891.8,-6.2,422,11361,0.00,2.30,0.00,0.000,6,0.000,0.034,2654,2024,3265,0,0,0,0,0,0
$GC,11675,-0.71,-116.8,908.9,-5.4,430,11680,0.00,2.38,0.00,0.000,4,0.000,0.046,2642,3612,3265,0,0,0,0,0,0
$GC,11708,-0.71,-116.8,910.9,-6.3,430,11714,0.00,2.30,0.00,0.000,6,0.000,0.032,2642,2030,3265,0,0,0,0,0,0
$GC,12039,-0.71,-116.8,929.6,-5.6,439,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2030,3265,0,0,0,0,0,0
$GC,12364,-0.71,-116.8,947.0,-5.3,447,12368,0.00,2.33,0.00,0.000,4,0.000,0.047,2642,457,3264,0,0,0,0,0,0
$GC,12469,-0.71,-116.8,953.6,-6.3,449,12473,0.00,2.28,0.00,0.000,6,0.000,0.035,2631,2044,3264,0,0,0,0,0,0
$GC,12817,-0.71,-116.8,973.7,-5.8,458,12821,0.00,2.38,0.00,0.000,4,0.000,0.046,2631,448,3267,0,0,0,0,0,0
$GC,12856,-0.71,-116.8,976.3,-6.9,459,12861,0.12,2.28,0.00,0.000,6,0.143,0.035,2658,2037,3263,0,0,0,0,0,0
$STATE,13177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13177,begin apogee
$GC,13181,-0.23,0.0,991.7,4.6,467,13279,0.45,0.00,95.20,1.295,6,0.107,0.000,2812,2037,2822,0,0,0,0,0,0
$STATE,13282,end apogee,CONTROL_FINISHED_OK
$STATE,13282,begin climb
$GC,13284,0.71,116.8,992.9,0.0,469,13407,0.85,2.62,111.07,1.261,4,0.063,0.045,3126,3602,2345,0,0,0,0,0,0
$GC,13479,0.71,116.8,973.9,15.0,473,13484,0.00,2.47,0.00,0.000,6,0.000,0.035,3137,2032,2336,0,0,0,0,0,0
$GC,13822,0.71,116.8,926.6,13.8,482,13826,0.00,2.40,0.00,0.000,4,0.000,0.049,3150,444,2329,0,0,0,0,0,0
$GC,13893,0.71,116.8,915.8,15.0,483,13898,0.08,2.38,0.00,0.000,6,0.137,0.035,3125,2029,2327,0,0,0,0,0,0
$GC,14229,0.71,116.8,871.9,13.2,492,14233,0.00,2.40,0.00,0.000,4,0.000,0.045,3124,3620,2325,0,0,0,0,0,0
$GC,14250,0.71,116.8,868.7,14.1,492,14254,0.00,2.40,0.00,0.000,6,0.000,0.035,3136,2021,2325,0,0,0,0,0,0
$GC,14598,0.71,116.8,820.1,13.9,501,14602,0.00,2.33,0.00,0.000,4,0.000,0.048,3147,459,2324,0,0,0,0,0,0
$GC,14647,0.71,116.8,813.1,13.4,502,14651,0.00,2.33,0.00,0.000,6,0.000,0.035,3144,2030,2324,0,0,0,0,0,0
$GC,14965,0.71,116.8,769.8,13.6,510,14969,0.00,2.38,0.00,0.000,4,0.000,0.044,3148,3621,2322,0,0,0,0,0,0
$GC,15010,0.71,116.8,763.5,14.2,511,15015,0.15,2.35,0.00,0.000,6,0.172,0.035,3119,2025,2322,0,0,0,0,0,0
$GC,15333,0.71,116.8,725.8,11.5,519,15337,0.00,2.33,0.00,0.000,4,0.000,0.048,3129,455,2322,0,0,0,0,0,0
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$STATE,22677,end climb,SURFACE_DEPTH_REACHED
$STATE,22677,begin surface coast
$FINISH,0.7,1.010880
$STATE,22706,end surface coast,CONTROL_FINISHED_OK
$STATE,22706,begin surface
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$SM_GC,1.69,0.00,0.00,61.05,0.000,0.000,0.074,120,2042,1292,-8.66,0.34,375.06
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$TT8_MAMPS,0.062127
$HUMID,1078418700
$INTERNAL_PRESSURE,9.43274
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,22.6,21.499
$10V_AH,9.6,26.320
$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
$DEVICE_SECS,20.550,208.700,326.875,61.050,0.000,27.963,28.842,612.710,1.000,0.000,16.298,1783.071,18214.861,547.199,2976.120,276.960,33.361,1734.931,0.000,2087.296,0.000,0.542,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,610.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335204
$DATA_FILE_SIZE,30054,893
$CAP_FILE_SIZE,195184,0
$CFSIZE,260165632,241455104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260710,080530,2058.050,-15859.942,34,1.8,34,9.7