version: 66.07
glider: 500
mission: 4
dive: 42
start: 6 22 110 10 13 51
data:
$ID,500
$MISSION,4
$DIVE,42
$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,-110357.2
$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,50
$R_STBD_OVSHOOT,40
$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,41
$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
$GPS1,220610,095724,2049.600,-15819.265,23,1.3,40,9.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.5
$GPS2,220610,101255,2049.663,-15819.418,9,1.2,14,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,-0.215
$KALMAN_X,-33124.1,147.5,67.5,-6922.0,-2485.2
$KALMAN_Y,38969.4,-105.7,-0.1,-78793.2,2727.4
$MHEAD_RNG_PITCHd_Wd,155.3,40780,-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,24,-0.71,-116.8,0.0,0.0,0,77,0.00,0.00,-50.75,0.000,2,0.000,0.000,150,2014,2695,0,0,0,0,0,0
$GC,80,-0.71,-116.8,3.4,-5.8,10,111,10.25,2.35,-13.82,0.000,4,0.244,0.061,2654,452,3301,0,0,0,0,0,0
$GC,268,-0.71,-116.8,41.2,-20.3,40,272,0.00,2.30,0.00,0.000,6,0.000,0.037,2644,2039,3303,0,0,0,0,0,0
$GC,535,-0.71,-116.8,85.2,-14.2,65,539,0.00,2.33,0.00,0.000,4,0.000,0.046,2631,3612,3303,0,0,0,0,0,0
$GC,567,-0.71,-116.8,90.3,-15.3,67,573,0.08,2.30,0.00,0.000,6,0.123,0.034,2677,2037,3304,0,0,0,0,0,0
$GC,827,-0.71,-116.8,122.3,-12.0,92,831,0.00,2.30,0.00,0.000,4,0.000,0.046,2677,448,3301,0,0,0,0,0,0
$GC,983,-0.71,-116.8,140.3,-12.1,105,990,0.00,2.30,0.00,0.000,6,0.000,0.035,2667,2032,3304,0,0,0,0,0,0
$GC,1244,-0.71,-116.8,166.0,-9.4,130,1248,0.00,2.33,0.00,0.000,4,0.000,0.046,2654,3615,3304,0,0,0,0,0,0
$GC,1321,-0.71,-116.8,174.1,-10.4,136,1328,0.00,2.30,0.00,0.000,6,0.000,0.032,2654,2023,3304,0,0,0,0,0,0
$GC,1593,-0.71,-116.8,202.1,-9.4,161,1597,0.00,2.28,0.00,0.000,4,0.000,0.046,2654,444,3305,0,0,0,0,0,0
$GC,1714,-0.71,-116.8,215.1,-10.6,166,1721,0.00,2.30,0.00,0.000,6,0.000,0.034,2643,2042,3302,0,0,0,0,0,0
$GC,2030,-0.71,-116.8,244.9,-9.2,182,2034,0.00,2.33,0.00,0.000,4,0.000,0.046,2643,447,3304,0,0,0,0,0,0
$GC,2050,-0.71,-116.8,247.1,-9.9,183,2056,0.08,2.28,0.00,0.000,6,0.129,0.035,2657,2026,3304,0,0,0,0,0,0
$GC,2376,-0.71,-116.8,279.4,-10.4,199,2380,0.00,2.33,0.00,0.000,4,0.000,0.047,2649,3614,3303,0,0,0,0,0,0
$GC,2414,-0.71,-116.8,283.3,-10.6,200,2420,0.00,2.30,0.00,0.000,6,0.000,0.033,2649,2024,3303,0,0,0,0,0,0
$GC,2727,-0.71,-116.8,314.2,-10.0,213,2731,0.00,2.28,0.00,0.000,4,0.000,0.046,2650,454,3302,0,0,0,0,0,0
$GC,2799,-0.71,-116.8,322.0,-10.6,214,2804,0.00,2.28,0.00,0.000,6,0.000,0.035,2637,2029,3302,0,0,0,0,0,0
$GC,3141,-0.71,-116.8,352.6,-8.6,223,3145,0.00,2.33,0.00,0.000,4,0.000,0.048,2625,3628,3299,0,0,0,0,0,0
$GC,3190,-0.71,-116.8,357.0,-8.4,224,3196,0.10,2.30,0.00,0.000,6,0.111,0.034,2664,2037,3299,0,0,0,0,0,0
$GC,3509,-0.71,-116.8,378.7,-6.7,232,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2037,3297,0,0,0,0,0,0
$GC,3834,-0.71,-116.8,401.7,-7.1,240,3838,0.00,2.30,0.00,0.000,4,0.000,0.048,2664,449,3295,0,0,0,0,0,0
$GC,3978,-0.71,-116.8,413.7,-8.6,243,3982,0.00,2.30,0.00,0.000,6,0.000,0.037,2654,2037,3294,0,0,0,0,0,0
$GC,4291,-0.71,-116.8,437.7,-7.6,251,4295,0.00,2.35,0.00,0.000,4,0.000,0.048,2654,444,3291,0,0,0,0,0,0
$GC,4390,-0.71,-116.8,445.9,-8.2,253,4394,0.00,2.30,0.00,0.000,6,0.000,0.037,2643,2029,3288,0,0,0,0,0,0
$GC,4703,-0.71,-116.8,467.5,-7.0,261,4707,0.00,2.33,0.00,0.000,4,0.000,0.049,2631,3622,3288,0,0,0,0,0,0
$GC,4774,-0.71,-116.8,473.5,-8.2,262,4779,0.08,2.33,0.00,0.000,6,0.115,0.035,2662,2023,3286,0,0,0,0,0,0
$GC,5110,-0.71,-116.8,496.0,-6.4,271,5114,0.00,2.33,0.00,0.000,4,0.000,0.050,2662,446,3282,0,0,0,0,0,0
$GC,5175,-0.71,-116.8,500.7,-7.2,272,5180,0.00,2.30,0.00,0.000,6,0.000,0.038,2655,2027,3284,0,0,0,0,0,0
$GC,5517,-0.71,-116.8,521.9,-6.0,281,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3285,0,0,0,0,0,0
$GC,5842,-0.71,-116.8,542.4,-6.5,289,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3280,0,0,0,0,0,0
$GC,6167,-0.71,-116.8,565.6,-7.4,297,6172,0.00,2.35,0.00,0.000,4,0.000,0.051,2640,3621,3277,0,0,0,0,0,0
$GC,6216,-0.71,-116.8,569.7,-8.6,298,6221,0.00,2.33,0.00,0.000,6,0.000,0.038,2640,2039,3277,0,0,0,0,0,0
$GC,6535,-0.71,-116.8,597.5,-8.8,306,6539,0.00,2.38,0.00,0.000,4,0.000,0.051,2640,440,3275,0,0,0,0,0,0
$GC,6583,-0.71,-116.8,602.1,-9.2,307,6589,0.10,2.33,0.00,0.000,6,0.122,0.038,2665,2035,3275,0,0,0,0,0,0
$GC,6902,-0.71,-116.8,624.9,-6.9,315,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2035,3275,0,0,0,0,0,0
$GC,7227,-0.71,-116.8,645.4,-6.0,323,7231,0.00,2.38,0.00,0.000,4,0.000,0.052,2668,443,3272,0,0,0,0,0,0
$GC,7253,-0.71,-116.8,647.0,-6.8,323,7257,0.00,2.33,0.00,0.000,6,0.000,0.038,2655,2032,3271,0,0,0,0,0,0
$GC,7589,-0.71,-116.8,665.8,-5.5,332,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2032,3269,0,0,0,0,0,0
$GC,7914,-0.71,-116.8,684.8,-6.0,340,7918,0.00,2.38,0.00,0.000,4,0.000,0.053,2655,443,3271,0,0,0,0,0,0
$GC,7959,-0.71,-116.8,688.0,-7.7,341,7963,0.00,2.30,0.00,0.000,6,0.000,0.040,2644,2042,3268,0,0,0,0,0,0
$GC,8287,-0.71,-116.8,712.7,-7.7,349,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2042,3267,0,0,0,0,0,0
$GC,8612,-0.71,-116.8,738.0,-7.7,357,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2042,3267,0,0,0,0,0,0
$GC,8937,-0.71,-116.8,761.9,-7.3,365,8941,0.00,2.40,0.00,0.000,4,0.000,0.053,2644,442,3266,0,0,0,0,0,0
$GC,8975,-0.71,-116.8,764.9,-8.1,366,8980,0.12,2.30,0.00,0.000,6,0.154,0.040,2669,2042,3265,0,0,0,0,0,0
$GC,9298,-0.71,-116.8,785.6,-6.3,374,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2043,3266,0,0,0,0,0,0
$GC,9623,-0.71,-116.8,806.2,-6.2,382,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2043,3264,0,0,0,0,0,0
$GC,9948,-0.71,-116.8,823.6,-5.1,390,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2043,3262,0,0,0,0,0,0
$GC,10273,-0.71,-116.8,838.4,-4.3,398,10277,0.00,2.40,0.00,0.000,4,0.000,0.054,2669,449,3262,0,0,0,0,0,0
$GC,10366,-0.71,-116.8,843.4,-6.0,400,10371,0.00,2.33,0.00,0.000,6,0.000,0.041,2659,2027,3261,0,0,0,0,0,0
$GC,10685,-0.71,-116.8,858.5,-4.8,408,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2027,3259,0,0,0,0,0,0
$GC,11010,-0.71,-116.8,876.1,-5.8,416,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2027,3260,0,0,0,0,0,0
$GC,11335,-0.71,-116.8,897.1,-6.7,424,11339,0.00,2.38,0.00,0.000,4,0.000,0.054,2660,449,3260,0,0,0,0,0,0
$GC,11366,-0.71,-116.8,899.6,-7.8,424,11371,0.00,2.33,0.00,0.000,6,0.000,0.041,2654,2027,3259,0,0,0,0,0,0
$GC,11703,-0.71,-116.8,923.3,-7.0,433,11707,0.00,2.38,0.00,0.000,4,0.000,0.053,2636,3619,3259,0,0,0,0,0,0
$GC,11742,-0.71,-116.8,926.3,-8.2,434,11746,0.00,2.33,0.00,0.000,6,0.000,0.040,2640,2020,3259,0,0,0,0,0,0
$GC,12065,-0.71,-116.8,950.3,-7.4,442,12069,0.10,2.38,0.00,0.000,4,0.156,0.054,2667,451,3258,0,0,0,0,0,0
$GC,12131,-0.71,-116.8,955.3,-7.4,443,12135,0.00,2.30,0.00,0.000,6,0.000,0.041,2656,2047,3258,0,0,0,0,0,0
$GC,12472,-0.71,-116.8,975.9,-5.8,452,12477,0.00,2.38,0.00,0.000,4,0.000,0.054,2656,452,3257,0,0,0,0,0,0
$GC,12527,-0.71,-116.8,979.5,-6.4,453,12532,0.00,2.33,0.00,0.000,6,0.000,0.040,2646,2027,3257,0,0,0,0,0,0
$STATE,12717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12717,begin apogee
$GC,12720,-0.23,0.0,990.6,5.8,458,12816,0.52,0.00,93.10,1.300,6,0.119,0.000,2819,2032,2819,0,0,0,0,0,0
$STATE,12822,end apogee,CONTROL_FINISHED_OK
$STATE,12823,begin climb
$GC,12824,0.71,116.8,991.6,0.0,460,12938,0.88,0.00,110.45,1.260,6,0.068,0.000,3133,2028,2345,0,0,0,0,0,0
$GC,13243,0.71,116.8,939.8,14.6,471,13247,0.00,2.45,0.00,0.000,4,0.000,0.056,3145,451,2331,0,0,0,0,0,0
$GC,13297,0.71,116.8,931.3,14.6,472,13302,0.00,2.40,0.00,0.000,6,0.000,0.041,3145,2024,2328,0,0,0,0,0,0
$GC,13610,0.71,116.8,886.2,14.4,480,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2024,2326,0,0,0,0,0,0
$GC,13935,0.71,116.8,842.9,13.1,488,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2024,2324,0,0,0,0,0,0
$GC,14260,0.71,116.8,803.2,12.0,496,14265,0.00,2.40,0.00,0.000,4,0.000,0.057,3157,457,2321,0,0,0,0,0,0
$GC,14292,0.71,116.8,798.8,12.8,496,14298,0.08,2.38,0.00,0.000,6,0.152,0.042,3133,2039,2323,0,0,0,0,0,0
$GC,14628,0.71,116.8,761.4,11.2,505,14633,0.00,2.40,0.00,0.000,4,0.000,0.056,3144,453,2322,0,0,0,0,0,0
$GC,14677,0.71,116.8,755.3,12.3,506,14682,0.00,2.35,0.00,0.000,6,0.000,0.041,3143,2027,2322,0,0,0,0,0,0
$GC,14996,0.71,116.8,716.5,12.4,514,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2027,2323,0,0,0,0,0,0
$GC,15321,0.71,116.8,674.8,13.0,522,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2027,2319,0,0,0,0,0,0
$GC,15646,0.71,116.8,631.1,13.3,530,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2027,2319,0,0,0,0,0,0
$GC,15971,0.71,116.8,589.9,12.0,538,15972,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2027,2319,0,0,0,0,0,0
$GC,16296,0.71,116.8,550.8,12.3,546,16300,0.00,2.40,0.00,0.000,4,0.000,0.053,3143,3611,2319,0,0,0,0,0,0
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$STATE,21867,end climb,SURFACE_DEPTH_REACHED
$STATE,21868,begin surface coast
$FINISH,0.7,1.023312
$STATE,21902,end surface coast,CONTROL_FINISHED_OK
$STATE,21902,begin surface
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$HUMID,1078372248
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$TCM_TEMP,24.50
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$AR_POSTDIVE_SAMPLENUM,13
$AR_CDRIVE_FREE,8438382592
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57068552192
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,4.553
$10V_AH,9.9,4.887
$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,334788
$DATA_FILE_SIZE,30096,886
$CAP_FILE_SIZE,184537,0
$CFSIZE,260165632,255262720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220610,162306,2047.921,-15820.057,35,1.0,41,9.7