version: 66.07
glider: 500
mission: 4
dive: 41
start: 6 22 110 3 47 34
data:
$ID,500
$MISSION,4
$DIVE,41
$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,-110340.6
$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,2895
$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,48
$R_STBD_OVSHOOT,54
$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,40
$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
$GPS1,220610,033000,2050.881,-15818.019,37,1.1,37,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.4
$GPS2,220610,034638,2051.115,-15818.153,13,1.5,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.013,-0.222
$KALMAN_X,-30658.0,-152.6,-209.8,-6626.5,-1102.9
$KALMAN_Y,36141.2,302.1,-64.1,-73621.5,2497.2
$MHEAD_RNG_PITCHd_Wd,173.6,44176,-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,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-51.08,0.000,2,0.000,0.000,138,2050,2706,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.3,-5.9,10,112,10.27,2.42,-13.65,0.000,4,0.242,0.059,2655,456,3299,0,0,0,0,0,0
$GC,285,-0.71,-116.8,40.0,-17.2,42,292,0.00,2.30,0.00,0.000,6,0.000,0.036,2646,2018,3300,0,0,0,0,0,0
$GC,546,-0.71,-116.8,82.0,-14.5,67,550,0.00,2.35,0.00,0.000,4,0.000,0.045,2634,3614,3301,0,0,0,0,0,0
$GC,589,-0.71,-116.8,88.4,-15.0,70,597,0.08,2.33,0.00,0.000,6,0.119,0.033,2662,2020,3300,0,0,0,0,0,0
$GC,850,-0.71,-116.8,117.1,-12.1,95,854,0.00,2.28,0.00,0.000,4,0.000,0.045,2659,450,3301,0,0,0,0,0,0
$GC,865,-0.71,-116.8,119.1,-12.0,96,872,0.00,2.30,0.00,0.000,6,0.000,0.034,2651,2033,3302,0,0,0,0,0,0
$GC,1127,-0.71,-116.8,148.6,-11.6,121,1131,0.00,2.30,0.00,0.000,4,0.000,0.047,2651,457,3303,0,0,0,0,0,0
$GC,1187,-0.71,-116.8,156.9,-13.2,126,1194,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2032,3303,0,0,0,0,0,0
$GC,1448,-0.71,-116.8,189.4,-12.2,151,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2031,3303,0,0,0,0,0,0
$GC,1698,-0.71,-116.8,220.4,-11.5,167,1702,0.00,2.30,0.00,0.000,4,0.000,0.047,2628,3602,3303,0,0,0,0,0,0
$GC,1747,-0.71,-116.8,225.9,-10.9,169,1752,0.10,2.28,0.00,0.000,6,0.112,0.032,2666,2032,3303,0,0,0,0,0,0
$GC,2073,-0.71,-116.8,253.2,-8.3,185,2077,0.00,2.33,0.00,0.000,4,0.000,0.047,2666,450,3303,0,0,0,0,0,0
$GC,2139,-0.71,-116.8,259.6,-10.4,188,2144,0.00,2.28,0.00,0.000,6,0.000,0.035,2656,2024,3303,0,0,0,0,0,0
$GC,2465,-0.71,-116.8,289.8,-8.9,204,2468,0.00,2.30,0.00,0.000,4,0.000,0.046,2644,3612,3302,0,0,0,0,0,0
$GC,2509,-0.71,-116.8,294.3,-10.4,206,2513,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2018,3301,0,0,0,0,0,0
$GC,2857,-0.71,-116.8,327.4,-8.7,216,2861,0.00,2.38,0.00,0.000,4,0.000,0.047,2632,3617,3302,0,0,0,0,0,0
$GC,2894,-0.71,-116.8,330.4,-8.2,216,2901,0.08,2.30,0.00,0.000,6,0.113,0.034,2663,2034,3302,0,0,0,0,0,0
$GC,3225,-0.71,-116.8,350.2,-5.9,225,3229,0.00,2.33,0.00,0.000,4,0.000,0.048,2663,440,3298,0,0,0,0,0,0
$GC,3347,-0.71,-116.8,359.4,-7.6,227,3354,0.00,2.30,0.00,0.000,6,0.000,0.036,2653,2030,3298,0,0,0,0,0,0
$GC,3679,-0.71,-116.8,386.4,-8.5,236,3683,0.00,2.33,0.00,0.000,4,0.000,0.048,2641,3609,3294,0,0,0,0,0,0
$GC,3755,-0.71,-116.8,392.8,-8.4,237,3762,0.00,2.30,0.00,0.000,6,0.000,0.035,2641,2024,3294,0,0,0,0,0,0
$GC,4087,-0.71,-116.8,419.1,-7.9,246,4091,0.00,2.30,0.00,0.000,4,0.000,0.049,2641,455,3290,0,0,0,0,0,0
$GC,4203,-0.71,-116.8,428.9,-8.3,248,4208,0.08,2.28,0.00,0.000,6,0.125,0.037,2656,2027,3290,0,0,0,0,0,0
$GC,4539,-0.71,-116.8,451.9,-7.1,257,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2025,3287,0,0,0,0,0,0
$GC,4864,-0.71,-116.8,475.7,-7.2,265,4868,0.00,2.33,0.00,0.000,4,0.000,0.049,2659,449,3285,0,0,0,0,0,0
$GC,4953,-0.71,-116.8,483.1,-8.6,267,4957,0.00,2.30,0.00,0.000,6,0.000,0.038,2650,2045,3284,0,0,0,0,0,0
$GC,5283,-0.71,-116.8,507.4,-7.2,275,5287,0.00,2.30,0.00,0.000,4,0.000,0.049,2637,3614,3282,0,0,0,0,0,0
$GC,5314,-0.71,-116.8,509.9,-7.8,275,5320,0.00,2.30,0.00,0.000,6,0.000,0.036,2637,2041,3281,0,0,0,0,0,0
$GC,5645,-0.71,-116.8,535.2,-7.7,284,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2041,3280,0,0,0,0,0,0
$GC,5970,-0.71,-116.8,561.6,-8.2,292,5974,0.00,2.33,0.00,0.000,4,0.000,0.051,2637,455,3277,0,0,0,0,0,0
$GC,6019,-0.71,-116.8,566.3,-9.0,293,6025,0.10,2.30,0.00,0.000,6,0.118,0.038,2663,2029,3277,0,0,0,0,0,0
$GC,6338,-0.71,-116.8,588.8,-6.7,301,6342,0.00,2.33,0.00,0.000,4,0.000,0.051,2663,450,3275,0,0,0,0,0,0
$GC,6376,-0.71,-116.8,591.4,-7.0,302,6380,0.00,2.30,0.00,0.000,6,0.000,0.038,2654,2041,3275,0,0,0,0,0,0
$GC,6699,-0.71,-116.8,611.0,-5.9,310,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2041,3273,0,0,0,0,0,0
$GC,7023,-0.71,-116.8,628.9,-5.5,318,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2041,3270,0,0,0,0,0,0
$GC,7348,-0.71,-116.8,645.5,-4.9,326,7353,0.00,2.35,0.00,0.000,4,0.000,0.052,2653,450,3269,0,0,0,0,0,0
$GC,7388,-0.71,-116.8,647.7,-6.1,327,7392,0.00,2.28,0.00,0.000,6,0.000,0.040,2642,2041,3269,0,0,0,0,0,0
$GC,7710,-0.71,-116.8,667.0,-6.0,335,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2040,3268,0,0,0,0,0,0
$GC,8035,-0.71,-116.8,689.6,-7.2,343,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3267,0,0,0,0,0,0
$GC,8360,-0.71,-116.8,715.2,-8.0,351,8364,0.00,2.35,0.00,0.000,4,0.000,0.052,2642,451,3266,0,0,0,0,0,0
$GC,8386,-0.71,-116.8,717.7,-9.0,351,8392,0.08,2.30,0.00,0.000,6,0.123,0.039,2660,2018,3266,0,0,0,0,0,0
$GC,8723,-0.71,-116.8,743.5,-7.6,360,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2018,3264,0,0,0,0,0,0
$GC,9048,-0.71,-116.8,768.5,-7.6,368,9052,0.00,2.40,0.00,0.000,4,0.000,0.052,2650,3622,3264,0,0,0,0,0,0
$GC,9119,-0.71,-116.8,773.9,-8.3,369,9124,0.00,2.35,0.00,0.000,6,0.000,0.039,2650,2037,3266,0,0,0,0,0,0
$GC,9461,-0.71,-116.8,797.2,-6.5,378,9465,0.00,2.35,0.00,0.000,4,0.000,0.053,2650,449,3262,0,0,0,0,0,0
$GC,9538,-0.71,-116.8,802.8,-7.2,379,9545,0.00,2.35,0.00,0.000,6,0.000,0.040,2638,2043,3262,0,0,0,0,0,0
$GC,9869,-0.71,-116.8,823.1,-5.9,388,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2044,3261,0,0,0,0,0,0
$GC,10194,-0.71,-116.8,841.5,-5.6,396,10198,0.00,2.33,0.00,0.000,4,0.000,0.053,2626,3608,3260,0,0,0,0,0,0
$GC,10227,-0.71,-116.8,843.5,-6.3,396,10234,0.10,2.35,0.00,0.000,6,0.111,0.039,2665,2019,3260,0,0,0,0,0,0
$GC,10558,-0.71,-116.8,858.2,-4.3,405,10562,0.00,2.33,0.00,0.000,4,0.000,0.053,2665,448,3259,0,0,0,0,0,0
$GC,10623,-0.71,-116.8,861.6,-4.9,406,10628,0.00,2.33,0.00,0.000,6,0.000,0.040,2656,2027,3259,0,0,0,0,0,0
$GC,10966,-0.71,-116.8,877.9,-4.7,415,10970,0.00,2.35,0.00,0.000,4,0.000,0.054,2661,447,3259,0,0,0,0,0,0
$GC,11004,-0.71,-116.8,880.0,-5.8,416,11008,0.00,2.30,0.00,0.000,6,0.000,0.041,2644,2042,3259,0,0,0,0,0,0
$GC,11327,-0.71,-116.8,896.7,-5.2,424,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2039,3258,0,0,0,0,0,0
$GC,11651,-0.71,-116.8,914.4,-5.6,432,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2042,3257,0,0,0,0,0,0
$GC,11976,-0.71,-116.8,933.0,-5.7,440,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2042,3257,0,0,0,0,0,0
$GC,12301,-0.71,-116.8,950.4,-5.5,448,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2042,3257,0,0,0,0,0,0
$GC,12627,-0.71,-116.8,966.4,-5.0,456,12631,0.00,2.35,0.00,0.000,4,0.000,0.054,2633,3616,3256,0,0,0,0,0,0
$GC,12653,-0.71,-116.8,967.9,-5.4,456,12658,0.08,2.35,0.00,0.000,6,0.111,0.040,2663,2035,3256,0,0,0,0,0,0
$GC,12989,-0.71,-116.8,983.6,-4.7,465,12993,0.00,2.38,0.00,0.000,4,0.000,0.055,2663,441,3256,0,0,0,0,0,0
$GC,13050,-0.71,-116.8,987.2,-5.5,466,13054,0.00,2.35,0.00,0.000,6,0.000,0.041,2653,2031,3257,0,0,0,0,0,0
$STATE,13111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13112,begin apogee
$GC,13115,-0.23,0.0,990.5,5.5,468,13210,0.50,0.00,92.65,1.302,6,0.116,0.000,2820,2032,2824,0,0,0,0,0,0
$STATE,13257,end apogee,CONTROL_FINISHED_OK
$STATE,13257,begin climb
$GC,13259,0.71,116.8,991.6,0.0,470,13373,0.82,0.00,110.75,1.264,6,0.067,0.000,3128,2032,2345,0,0,0,0,0,0
$GC,13668,0.71,116.8,943.5,13.8,481,13670,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2032,2334,0,0,0,0,0,0
$GC,13993,0.71,116.8,898.5,14.0,489,13998,0.00,2.42,0.00,0.000,4,0.000,0.052,3128,3611,2327,0,0,0,0,0,0
$GC,14020,0.71,116.8,894.3,15.1,489,14025,0.00,2.42,0.00,0.000,6,0.000,0.042,3140,2022,2328,0,0,0,0,0,0
$GC,14357,0.71,116.8,843.7,15.0,498,14361,0.00,2.40,0.00,0.000,4,0.000,0.057,3152,454,2325,0,0,0,0,0,0
$GC,14478,0.71,116.8,824.3,14.9,500,14485,0.00,2.38,0.00,0.000,6,0.000,0.041,3152,2034,2324,0,0,0,0,0,0
$GC,14809,0.71,116.8,771.8,15.8,509,14811,0.10,0.00,0.00,0.000,6,0.193,0.000,3128,2034,2322,0,0,0,0,0,0
$GC,15134,0.71,116.8,725.6,14.0,517,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2035,2322,0,0,0,0,0,0
$GC,15459,0.71,116.8,681.2,13.5,525,15463,0.00,2.40,0.00,0.000,4,0.000,0.056,3138,448,2321,0,0,0,0,0,0
$GC,15502,0.71,116.8,675.2,13.5,526,15507,0.00,2.38,0.00,0.000,6,0.000,0.041,3138,2036,2321,0,0,0,0,0,0
$GC,15827,0.71,116.8,632.8,13.1,534,15831,0.00,2.40,0.00,0.000,4,0.000,0.055,3150,447,2320,0,0,0,0,0,0
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$STATE,21910,end climb,SURFACE_DEPTH_REACHED
$STATE,21910,begin surface coast
$FINISH,1.0,1.023123
$STATE,21944,end surface coast,CONTROL_FINISHED_OK
$STATE,21945,begin surface
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$TCM_TEMP,24.50
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$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8433532928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57161809920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,4.409
$10V_AH,9.9,4.809
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334844
$DATA_FILE_SIZE,30096,884
$CAP_FILE_SIZE,189971,0
$CFSIZE,260165632,255369216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220610,095724,2049.600,-15819.265,23,1.3,40,9.7