version: 66.07
glider: 500
mission: 4
dive: 44
start: 6 22 110 23 8 4
data:
$ID,500
$MISSION,4
$DIVE,44
$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,-110387.12
$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,46
$R_STBD_OVSHOOT,42
$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,43
$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
$GPS1,220610,225801,2046.590,-15820.442,38,1.0,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.6
$GPS2,220610,230708,2046.657,-15820.580,13,1.0,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,-0.209
$KALMAN_X,-37752.2,-157.3,205.5,-4137.8,-2585.1
$KALMAN_Y,43528.6,-37.0,-206.7,-88773.6,3287.4
$MHEAD_RNG_PITCHd_Wd,150.6,34910,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-51.62,0.000,2,0.000,0.000,145,2036,2718,0,0,0,0,0,0
$GC,80,-0.71,-116.8,3.3,-5.3,10,112,10.18,2.42,-13.50,0.000,4,0.241,0.059,2649,447,3301,0,0,0,0,0,0
$GC,235,-0.71,-116.8,32.1,-19.2,38,239,0.00,2.33,0.00,0.000,6,0.000,0.035,2639,2044,3301,0,0,0,0,0,0
$GC,501,-0.71,-116.8,76.5,-16.4,63,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2043,3305,0,0,0,0,0,0
$GC,756,-0.71,-116.8,113.4,-13.0,87,760,0.00,2.35,0.00,0.000,4,0.000,0.046,2639,443,3306,0,0,0,0,0,0
$GC,804,-0.71,-116.8,120.0,-12.7,91,812,0.08,2.30,0.00,0.000,6,0.138,0.035,2654,2030,3306,0,0,0,0,0,0
$GC,1065,-0.71,-116.8,149.5,-11.4,116,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2031,3306,0,0,0,0,0,0
$GC,1320,-0.71,-116.8,177.9,-11.0,140,1324,0.00,2.30,0.00,0.000,4,0.000,0.048,2654,444,3308,0,0,0,0,0,0
$GC,1364,-0.71,-116.8,183.1,-11.6,144,1369,0.00,2.28,0.00,0.000,6,0.000,0.035,2643,2038,3309,0,0,0,0,0,0
$GC,1637,-0.71,-116.8,214.5,-10.6,164,1641,0.00,2.28,0.00,0.000,4,0.000,0.046,2632,3607,3309,0,0,0,0,0,0
$GC,1675,-0.71,-116.8,218.7,-11.2,166,1680,0.00,2.25,0.00,0.000,6,0.000,0.032,2632,2032,3307,0,0,0,0,0,0
$GC,2007,-0.71,-116.8,256.2,-11.4,182,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2025,3309,0,0,0,0,0,0
$GC,2316,-0.71,-116.8,289.9,-11.1,197,2321,0.10,2.30,0.00,0.000,4,0.154,0.046,2662,448,3309,0,0,0,0,0,0
$GC,2455,-0.71,-116.8,303.3,-9.3,203,2460,0.00,2.28,0.00,0.000,6,0.000,0.035,2652,2025,3309,0,0,0,0,0,0
$GC,2774,-0.71,-116.8,330.8,-8.4,211,2778,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,3625,3308,0,0,0,0,0,0
$GC,2822,-0.71,-116.8,334.9,-8.1,212,2827,0.00,2.30,0.00,0.000,6,0.000,0.034,2640,2032,3306,0,0,0,0,0,0
$GC,3141,-0.71,-116.8,360.6,-7.9,220,3145,0.00,2.30,0.00,0.000,4,0.000,0.048,2639,443,3306,0,0,0,0,0,0
$GC,3195,-0.71,-116.8,365.8,-9.0,221,3200,0.08,2.30,0.00,0.000,6,0.125,0.036,2657,2037,3306,0,0,0,0,0,0
$GC,3507,-0.71,-116.8,389.8,-7.8,229,3511,0.00,2.33,0.00,0.000,4,0.000,0.048,2647,3615,3305,0,0,0,0,0,0
$GC,3534,-0.71,-116.8,391.9,-7.9,229,3538,0.00,2.30,0.00,0.000,6,0.000,0.035,2647,2028,3304,0,0,0,0,0,0
$GC,3870,-0.71,-116.8,418.0,-7.6,238,3875,0.00,2.30,0.00,0.000,4,0.000,0.049,2647,446,3302,0,0,0,0,0,0
$GC,3914,-0.71,-116.8,421.5,-7.7,239,3918,0.00,2.30,0.00,0.000,6,0.000,0.037,2641,2038,3304,0,0,0,0,0,0
$GC,4238,-0.71,-116.8,445.4,-7.3,247,4242,0.00,2.33,0.00,0.000,4,0.000,0.049,2623,3613,3299,0,0,0,0,0,0
$GC,4269,-0.71,-116.8,447.8,-7.9,247,4276,0.10,2.30,0.00,0.000,6,0.109,0.035,2662,2031,3298,0,0,0,0,0,0
$GC,4601,-0.71,-116.8,469.0,-6.6,256,4605,0.00,2.33,0.00,0.000,4,0.000,0.051,2662,451,3296,0,0,0,0,0,0
$GC,4722,-0.71,-116.8,478.9,-8.5,258,4729,0.00,2.30,0.00,0.000,6,0.000,0.038,2652,2030,3293,0,0,0,0,0,0
$GC,5054,-0.71,-116.8,502.6,-7.0,267,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2030,3294,0,0,0,0,0,0
$GC,5379,-0.71,-116.8,524.5,-6.7,275,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2030,3292,0,0,0,0,0,0
$GC,5704,-0.71,-116.8,545.5,-6.4,283,5708,0.00,2.35,0.00,0.000,4,0.000,0.051,2641,3610,3291,0,0,0,0,0,0
$GC,5763,-0.71,-116.8,549.5,-6.4,284,5769,0.00,2.33,0.00,0.000,6,0.000,0.037,2640,2022,3291,0,0,0,0,0,0
$GC,6112,-0.71,-116.8,574.0,-7.1,293,6116,0.00,2.33,0.00,0.000,4,0.000,0.051,2640,453,3287,0,0,0,0,0,0
$GC,6263,-0.71,-116.8,587.2,-9.0,296,6268,0.10,2.28,0.00,0.000,6,0.163,0.039,2654,2043,3285,0,0,0,0,0,0
$GC,6604,-0.71,-116.8,612.8,-7.6,305,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2044,3283,0,0,0,0,0,0
$GC,6929,-0.71,-116.8,635.8,-6.8,313,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2044,3282,0,0,0,0,0,0
$GC,7254,-0.71,-116.8,656.0,-6.0,321,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2044,3281,0,0,0,0,0,0
$GC,7579,-0.71,-116.8,676.4,-6.2,329,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2044,3280,0,0,0,0,0,0
$GC,7904,-0.71,-116.8,695.0,-5.5,337,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2044,3278,0,0,0,0,0,0
$GC,8229,-0.71,-116.8,711.8,-5.2,345,8233,0.00,2.38,0.00,0.000,4,0.000,0.053,2658,455,3277,0,0,0,0,0,0
$GC,8268,-0.71,-116.8,714.2,-6.2,346,8272,0.00,2.30,0.00,0.000,6,0.000,0.040,2647,2038,3276,0,0,0,0,0,0
$GC,8591,-0.71,-116.8,733.2,-6.0,354,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2038,3275,0,0,0,0,0,0
$GC,8916,-0.71,-116.8,751.8,-5.6,362,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2035,3275,0,0,0,0,0,0
$GC,9241,-0.71,-116.8,771.0,-5.9,370,9245,0.00,2.35,0.00,0.000,4,0.000,0.053,2635,3607,3277,0,0,0,0,0,0
$GC,9312,-0.71,-116.8,775.5,-6.3,371,9317,0.00,2.33,0.00,0.000,6,0.000,0.038,2635,2037,3272,0,0,0,0,0,0
$GC,9649,-0.71,-116.8,797.2,-6.7,380,9653,0.00,2.35,0.00,0.000,4,0.000,0.054,2635,451,3272,0,0,0,0,0,0
$GC,9732,-0.71,-116.8,803.7,-7.6,382,9737,0.12,2.28,0.00,0.000,6,0.153,0.040,2660,2033,3272,0,0,0,0,0,0
$GC,10055,-0.71,-116.8,822.0,-5.4,390,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2033,3272,0,0,0,0,0,0
$GC,10380,-0.71,-116.8,838.7,-5.0,398,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2033,3271,0,0,0,0,0,0
$GC,10705,-0.71,-116.8,854.4,-4.7,406,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2033,3271,0,0,0,0,0,0
$GC,11030,-0.71,-116.8,870.7,-5.2,414,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2033,3270,0,0,0,0,0,0
$GC,11355,-0.71,-116.8,888.7,-5.6,422,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2038,3267,0,0,0,0,0,0
$GC,11680,-0.71,-116.8,907.4,-5.9,430,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2033,3269,0,0,0,0,0,0
$GC,12005,-0.71,-116.8,926.9,-6.0,438,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2033,3268,0,0,0,0,0,0
$GC,12330,-0.71,-116.8,945.8,-5.7,446,12334,0.00,2.40,0.00,0.000,4,0.000,0.055,2661,443,3268,0,0,0,0,0,0
$GC,12368,-0.71,-116.8,948.2,-5.9,447,12372,0.00,2.33,0.00,0.000,6,0.000,0.041,2651,2033,3267,0,0,0,0,0,0
$GC,12691,-0.71,-116.8,966.3,-5.5,455,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2033,3268,0,0,0,0,0,0
$GC,13016,-0.71,-116.8,982.4,-4.8,463,13020,0.00,2.38,0.00,0.000,4,0.000,0.055,2651,452,3267,0,0,0,0,0,0
$GC,13042,-0.71,-116.8,983.9,-5.9,463,13047,0.00,2.33,0.00,0.000,6,0.000,0.041,2641,2029,3267,0,0,0,0,0,0
$STATE,13180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13180,begin apogee
$GC,13184,-0.23,0.0,991.1,5.2,467,13281,0.52,0.00,94.60,1.305,6,0.119,0.000,2812,2029,2823,0,0,0,0,0,0
$STATE,13284,end apogee,CONTROL_FINISHED_OK
$STATE,13284,begin climb
$GC,13285,0.71,116.8,991.7,0.0,469,13400,0.88,0.00,110.88,1.263,6,0.072,0.000,3122,2029,2347,0,0,0,0,0,0
$GC,13706,0.71,116.8,940.1,14.1,480,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2029,2330,0,0,0,0,0,0
$GC,14031,0.71,116.8,895.5,13.5,488,14035,0.00,2.45,0.00,0.000,4,0.000,0.057,3134,448,2326,0,0,0,0,0,0
$GC,14070,0.71,116.8,889.9,14.3,489,14075,0.00,2.35,0.00,0.000,6,0.000,0.041,3134,2033,2325,0,0,0,0,0,0
$GC,14393,0.71,116.8,844.6,13.9,497,14397,0.00,2.42,0.00,0.000,4,0.000,0.052,3133,3618,2324,0,0,0,0,0,0
$GC,14414,0.71,116.8,841.6,13.4,497,14419,0.00,2.40,0.00,0.000,6,0.000,0.042,3147,2032,2323,0,0,0,0,0,0
$GC,14756,0.71,116.8,793.9,13.7,506,14760,0.00,2.42,0.00,0.000,4,0.000,0.057,3158,447,2322,0,0,0,0,0,0
$GC,14878,0.71,116.8,775.8,14.4,508,14884,0.10,2.38,0.00,0.000,6,0.149,0.041,3126,2030,2322,0,0,0,0,0,0
$GC,15215,0.71,116.8,732.1,13.0,517,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2030,2320,0,0,0,0,0,0
$GC,15539,0.71,116.8,691.0,12.5,525,15540,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2030,2317,0,0,0,0,0,0
$GC,15864,0.71,116.8,653.0,11.3,533,15868,0.00,2.40,0.00,0.000,4,0.000,0.056,3137,441,2319,0,0,0,0,0,0
$GC,15930,0.71,116.8,645.0,12.6,534,15936,0.00,2.38,0.00,0.000,6,0.000,0.041,3136,2033,2319,0,0,0,0,0,0
$GC,16272,0.71,116.8,604.2,12.1,543,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2033,2319,0,0,0,0,0,0
$GC,16597,0.71,116.8,565.7,11.6,551,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2033,2319,0,0,0,0,0,0
$GC,16922,0.71,116.8,528.9,11.2,559,16927,0.00,2.40,0.00,0.000,4,0.000,0.052,3137,3618,2318,0,0,0,0,0,0
$GC,16983,0.71,116.8,521.5,13.4,560,16988,0.00,2.38,0.00,0.000,6,0.000,0.042,3149,2027,2317,0,0,0,0,0,0
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$STATE,22491,end climb,SURFACE_DEPTH_REACHED
$STATE,22491,begin surface coast
$FINISH,0.8,1.003460
$STATE,22532,end surface coast,CONTROL_FINISHED_OK
$STATE,22532,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,4.822
$10V_AH,9.9,5.036
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334968
$DATA_FILE_SIZE,30034,898
$CAP_FILE_SIZE,167133,0
$CFSIZE,260165632,255062016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230610,052657,2045.256,-15821.008,30,2.5,49,9.7