version: 66.07
glider: 500
mission: 4
dive: 35
start: 6 20 110 12 50 3
data:
$ID,500
$MISSION,4
$DIVE,35
$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,110
$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,-110250.46
$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,46
$R_STBD_OVSHOOT,49
$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,34
$AR_SAMPLENUM,12
$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
$GPS1,200610,123937,2057.674,-15811.341,27,1.2,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.6
$GPS2,200610,124908,2057.727,-15811.454,13,1.2,13,9.8
$SPEED_LIMITS,0.147,0.214
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,-0.214
$KALMAN_X,-18576.8,45.4,192.3,-7740.6,-2163.6
$KALMAN_Y,19240.6,-25.5,-74.6,-44140.2,1789.7
$MHEAD_RNG_PITCHd_Wd,168.2,60596,-17.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.73,-107.1,0.0,0.0,0,77,0.00,0.00,-51.25,0.000,2,0.000,0.000,146,2045,2720,0,0,0,0,0,0
$GC,79,-0.73,-107.1,3.4,-6.1,10,111,10.38,2.45,-12.02,0.000,4,0.245,0.059,2658,444,3259,0,0,0,0,0,0
$GC,239,-0.73,-107.1,34.3,-19.4,37,246,0.00,2.33,0.00,0.000,6,0.000,0.035,2647,2024,3262,0,0,0,0,0,0
$GC,500,-0.73,-107.1,78.5,-14.4,62,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2029,3261,0,0,0,0,0,0
$GC,756,-0.73,-107.1,110.6,-12.1,86,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3264,0,0,0,0,0,0
$GC,1010,-0.73,-107.1,140.3,-11.3,110,1014,0.00,2.38,0.00,0.000,4,0.000,0.047,2635,3623,3265,0,0,0,0,0,0
$GC,1037,-0.73,-107.1,143.5,-11.6,112,1041,0.00,2.33,0.00,0.000,6,0.000,0.033,2635,2023,3266,0,0,0,0,0,0
$GC,1302,-0.73,-107.1,175.1,-12.1,137,1306,0.00,2.28,0.00,0.000,4,0.000,0.047,2635,446,3267,0,0,0,0,0,0
$GC,1409,-0.73,-107.1,188.3,-11.8,146,1414,0.15,2.25,0.00,0.000,6,0.153,0.035,2667,2033,3266,0,0,0,0,0,0
$GC,1676,-0.73,-107.1,211.3,-8.4,165,1680,0.00,2.33,0.00,0.000,4,0.000,0.046,2656,3619,3266,0,0,0,0,0,0
$GC,1752,-0.73,-107.1,218.2,-8.8,168,1759,0.00,2.30,0.00,0.000,6,0.000,0.033,2657,2026,3266,0,0,0,0,0,0
$GC,2068,-0.73,-107.1,247.3,-9.3,184,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2025,3266,0,0,0,0,0,0
$GC,2377,-0.73,-107.1,277.7,-10.1,199,2381,0.00,2.30,0.00,0.000,4,0.000,0.047,2657,446,3265,0,0,0,0,0,0
$GC,2437,-0.73,-107.1,284.7,-11.7,201,2444,0.00,2.30,0.00,0.000,6,0.000,0.035,2645,2046,3265,0,0,0,0,0,0
$GC,2750,-0.73,-107.1,320.6,-11.3,213,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2045,3265,0,0,0,0,0,0
$GC,3075,-0.73,-107.1,347.4,-7.8,221,3080,0.00,2.30,0.00,0.000,4,0.000,0.048,2633,3614,3264,0,0,0,0,0,0
$GC,3152,-0.73,-107.1,354.2,-9.0,222,3160,0.08,2.30,0.00,0.000,6,0.120,0.034,2663,2027,3264,0,0,0,0,0,0
$GC,3484,-0.73,-107.1,380.5,-8.2,231,3488,0.00,2.30,0.00,0.000,4,0.000,0.048,2663,451,3261,0,0,0,0,0,0
$GC,3622,-0.73,-107.1,394.1,-9.8,234,3627,0.00,2.28,0.00,0.000,6,0.000,0.036,2653,2022,3260,0,0,0,0,0,0
$GC,3941,-0.73,-107.1,421.4,-8.2,242,3945,0.00,2.35,0.00,0.000,4,0.000,0.049,2641,3623,3257,0,0,0,0,0,0
$GC,4012,-0.73,-107.1,427.2,-7.8,243,4017,0.00,2.30,0.00,0.000,6,0.000,0.035,2641,2036,3256,0,0,0,0,0,0
$GC,4349,-0.73,-107.1,453.9,-7.8,252,4353,0.00,2.30,0.00,0.000,4,0.000,0.049,2641,449,3253,0,0,0,0,0,0
$GC,4389,-0.73,-107.1,457.3,-8.8,253,4394,0.12,2.28,0.00,0.000,6,0.151,0.038,2666,2052,3254,0,0,0,0,0,0
$GC,4712,-0.73,-107.1,481.3,-7.4,261,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2052,3251,0,0,0,0,0,0
$GC,5037,-0.73,-107.1,506.7,-7.9,269,5041,0.00,2.38,0.00,0.000,4,0.000,0.050,2666,443,3250,0,0,0,0,0,0
$GC,5113,-0.73,-107.1,513.6,-8.8,270,5118,0.00,2.30,0.00,0.000,6,0.000,0.038,2656,2022,3249,0,0,0,0,0,0
$GC,5450,-0.73,-107.1,539.5,-7.4,279,5454,0.00,2.30,0.00,0.000,4,0.000,0.051,2657,449,3249,0,0,0,0,0,0
$GC,5482,-0.73,-107.1,542.3,-8.4,279,5489,0.00,2.30,0.00,0.000,6,0.000,0.038,2645,2033,3246,0,0,0,0,0,0
$GC,5813,-0.73,-107.1,567.7,-7.7,288,5818,0.00,2.33,0.00,0.000,4,0.000,0.051,2645,448,3244,0,0,0,0,0,0
$GC,5845,-0.73,-107.1,570.7,-9.3,288,5853,0.08,2.30,0.00,0.000,6,0.128,0.038,2662,2025,3243,0,0,0,0,0,0
$GC,6177,-0.73,-107.1,593.0,-6.6,297,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2025,3245,0,0,0,0,0,0
$GC,6502,-0.73,-107.1,612.7,-5.9,305,6506,0.00,2.38,0.00,0.000,4,0.000,0.051,2652,3622,3237,0,0,0,0,0,0
$GC,6544,-0.73,-107.1,615.5,-6.7,306,6549,0.00,2.35,0.00,0.000,6,0.000,0.038,2653,2020,3240,0,0,0,0,0,0
$GC,6869,-0.73,-107.1,635.5,-5.9,314,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2020,3239,0,0,0,0,0,0
$GC,7193,-0.73,-107.1,653.1,-5.3,322,7198,0.00,2.30,0.00,0.000,4,0.000,0.052,2652,454,3237,0,0,0,0,0,0
$GC,7220,-0.73,-107.1,654.7,-6.6,322,7225,0.00,2.33,0.00,0.000,6,0.000,0.039,2640,2042,3235,0,0,0,0,0,0
$GC,7557,-0.73,-107.1,675.9,-6.5,331,7561,0.00,2.35,0.00,0.000,4,0.000,0.051,2640,450,3234,0,0,0,0,0,0
$GC,7600,-0.73,-107.1,679.2,-8.0,332,7605,0.10,2.33,0.00,0.000,6,0.124,0.039,2665,2037,3234,0,0,0,0,0,0
$GC,7924,-0.73,-107.1,697.5,-5.6,340,7928,0.00,2.38,0.00,0.000,4,0.000,0.053,2666,447,3233,0,0,0,0,0,0
$GC,7966,-0.73,-107.1,700.3,-6.4,341,7971,0.00,2.33,0.00,0.000,6,0.000,0.040,2655,2027,3233,0,0,0,0,0,0
$GC,8291,-0.73,-107.1,719.7,-5.9,349,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2027,3234,0,0,0,0,0,0
$GC,8616,-0.73,-107.1,739.0,-6.1,357,8620,0.00,2.35,0.00,0.000,4,0.000,0.054,2656,455,3230,0,0,0,0,0,0
$GC,8665,-0.73,-107.1,742.6,-7.5,358,8669,0.00,2.33,0.00,0.000,6,0.000,0.040,2645,2042,3230,0,0,0,0,0,0
$GC,8983,-0.73,-107.1,762.3,-6.0,366,8987,0.00,2.35,0.00,0.000,4,0.000,0.053,2632,3614,3232,0,0,0,0,0,0
$GC,9026,-0.73,-107.1,765.1,-6.6,367,9032,0.08,2.33,0.00,0.000,6,0.117,0.039,2662,2039,3229,0,0,0,0,0,0
$GC,9350,-0.73,-107.1,781.8,-5.0,375,9354,0.00,2.38,0.00,0.000,4,0.000,0.054,2662,446,3226,0,0,0,0,0,0
$GC,9422,-0.73,-107.1,786.1,-5.9,376,9426,0.00,2.33,0.00,0.000,6,0.000,0.041,2652,2023,3229,0,0,0,0,0,0
$GC,9764,-0.73,-107.1,804.9,-5.6,385,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2023,3227,0,0,0,0,0,0
$GC,10089,-0.73,-107.1,822.9,-5.5,393,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2023,3225,0,0,0,0,0,0
$GC,10414,-0.73,-107.1,840.9,-5.4,401,10418,0.00,2.38,0.00,0.000,4,0.000,0.054,2652,445,3226,0,0,0,0,0,0
$GC,10452,-0.73,-107.1,843.2,-6.3,402,10456,0.00,2.30,0.00,0.000,6,0.000,0.041,2641,2040,3228,0,0,0,0,0,0
$GC,10775,-0.73,-107.1,862.2,-5.8,410,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2039,3225,0,0,0,0,0,0
$GC,11100,-0.73,-107.1,880.5,-5.7,418,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2039,3226,0,0,0,0,0,0
$GC,11425,-0.73,-107.1,899.1,-5.6,426,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2039,3223,0,0,0,0,0,0
$GC,11750,-0.73,-107.1,918.3,-5.9,434,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2039,3223,0,0,0,0,0,0
$GC,12075,-0.73,-107.1,936.3,-5.3,442,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2039,3223,0,0,0,0,0,0
$GC,12400,-0.73,-107.1,951.9,-4.7,450,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2039,3221,0,0,0,0,0,0
$GC,12725,-0.73,-107.1,965.8,-4.2,458,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2040,3221,0,0,0,0,0,0
$GC,13050,-0.73,-107.1,979.9,-4.4,466,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2040,3220,0,0,0,0,0,0
$STATE,13252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13252,begin apogee
$GC,13255,-0.23,0.0,990.4,5.2,471,13342,0.55,0.00,84.28,1.310,6,0.121,0.000,2820,2039,2823,0,0,0,0,0,0
$STATE,13345,end apogee,CONTROL_FINISHED_OK
$STATE,13345,begin climb
$GC,13346,0.73,107.1,990.9,0.0,473,13454,0.90,0.00,102.00,1.267,6,0.069,0.000,3143,2039,2385,0,0,0,0,0,0
$GC,13778,0.73,107.1,938.8,14.2,484,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2039,2368,0,0,0,0,0,0
$GC,14103,0.73,107.1,892.1,14.4,492,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2036,2366,0,0,0,0,0,0
$GC,14428,0.73,107.1,847.6,13.2,500,14432,0.00,2.38,0.00,0.000,4,0.000,0.054,3143,3607,2365,0,0,0,0,0,0
$GC,14454,0.73,107.1,843.8,14.0,500,14459,0.00,2.40,0.00,0.000,6,0.000,0.044,3154,2031,2363,0,0,0,0,0,0
$GC,14797,0.73,107.1,797.7,13.4,509,14801,0.00,2.42,0.00,0.000,4,0.000,0.058,3167,447,2364,0,0,0,0,0,0
$GC,14890,0.73,107.1,784.2,15.2,511,14896,0.08,2.38,0.00,0.000,6,0.155,0.042,3142,2029,2363,0,0,0,0,0,0
$GC,15209,0.73,107.1,744.4,12.4,519,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2029,2362,0,0,0,0,0,0
$GC,15533,0.73,107.1,703.4,12.7,527,15538,0.00,2.42,0.00,0.000,4,0.000,0.053,3142,3625,2361,0,0,0,0,0,0
$GC,15554,0.73,107.1,700.6,14.2,527,15560,0.00,2.40,0.00,0.000,6,0.000,0.043,3153,2033,2361,0,0,0,0,0,0
$GC,15897,0.73,107.1,655.2,13.3,536,15901,0.00,2.42,0.00,0.000,4,0.000,0.057,3165,444,2361,0,0,0,0,0,0
$GC,15922,0.73,107.1,651.2,14.1,536,15928,0.08,2.38,0.00,0.000,6,0.156,0.041,3141,2035,2359,0,0,0,0,0,0
$GC,16264,0.73,107.1,608.2,12.6,545,16265,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2035,2360,0,0,0,0,0,0
$GC,16590,0.73,107.1,569.8,11.4,553,16594,0.00,2.40,0.00,0.000,4,0.000,0.053,3141,3620,2360,0,0,0,0,0,0
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$STATE,22537,begin surface coast
$FINISH,0.8,1.023038
$STATE,22561,end surface coast,CONTROL_FINISHED_OK
$STATE,22561,begin surface
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$10V_AH,9.9,4.358
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$FG_AHR_10Vo,0.000
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$MEM,334788
$DATA_FILE_SIZE,30002,894
$CAP_FILE_SIZE,174951,0
$CFSIZE,260165632,256102400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200610,190907,2056.600,-15812.728,23,1.6,23,9.8