version: 66.07
glider: 500
mission: 4
dive: 48
start: 6 24 110 0 43 34
data:
$ID,500
$MISSION,4
$DIVE,48
$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,-110443.77
$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,42
$R_STBD_OVSHOOT,57
$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,47
$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
$GPS1,240610,003500,2041.663,-15824.439,34,1.4,34,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.3
$GPS2,240610,004238,2041.773,-15824.526,13,1.4,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.196
$KALMAN_X,-48749.5,149.2,69.3,-127.1,-2921.2
$KALMAN_Y,54497.1,45.3,-254.1,-108830.2,3445.1
$MHEAD_RNG_PITCHd_Wd,142.3,23782,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,77,0.00,0.00,-51.17,0.000,2,0.000,0.000,135,2055,2714,0,0,0,0,0,0
$GC,79,-0.71,-116.8,3.2,-4.4,10,111,10.12,2.42,-13.88,0.000,4,0.238,0.059,2652,448,3300,0,0,0,0,0,0
$GC,245,-0.71,-116.8,33.1,-19.4,39,250,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2010,3307,0,0,0,0,0,0
$GC,511,-0.71,-116.8,77.2,-13.9,64,515,0.00,2.38,0.00,0.000,4,0.000,0.044,2629,3615,3303,0,0,0,0,0,0
$GC,573,-0.71,-116.8,85.8,-13.9,69,578,0.10,2.30,0.00,0.000,6,0.153,0.033,2658,2025,3303,0,0,0,0,0,0
$GC,835,-0.71,-116.8,121.4,-13.9,93,839,0.00,2.30,0.00,0.000,4,0.000,0.046,2657,444,3308,0,0,0,0,0,0
$GC,878,-0.71,-116.8,128.0,-13.6,96,885,0.00,2.30,0.00,0.000,6,0.000,0.034,2648,2030,3305,0,0,0,0,0,0
$GC,1140,-0.71,-116.8,162.0,-12.8,121,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2030,3307,0,0,0,0,0,0
$GC,1394,-0.71,-116.8,191.8,-10.8,145,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2030,3307,0,0,0,0,0,0
$GC,1655,-0.71,-116.8,216.6,-9.8,162,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2031,3308,0,0,0,0,0,0
$GC,1964,-0.71,-116.8,251.5,-12.1,177,1968,0.00,2.30,0.00,0.000,4,0.000,0.045,2634,3616,3308,0,0,0,0,0,0
$GC,2048,-0.71,-116.8,261.3,-11.4,181,2052,0.00,2.25,0.00,0.000,6,0.000,0.033,2636,2032,3307,0,0,0,0,0,0
$GC,2379,-0.71,-116.8,298.3,-11.3,197,2383,0.00,2.33,0.00,0.000,4,0.000,0.047,2636,449,3307,0,0,0,0,0,0
$GC,2406,-0.71,-116.8,301.4,-11.6,198,2411,0.08,2.28,0.00,0.000,6,0.129,0.035,2653,2023,3308,0,0,0,0,0,0
$GC,2748,-0.71,-116.8,331.1,-8.3,207,2752,0.00,2.28,0.00,0.000,4,0.000,0.047,2654,452,3306,0,0,0,0,0,0
$GC,2791,-0.71,-116.8,335.1,-8.7,208,2796,0.00,2.30,0.00,0.000,6,0.000,0.035,2643,2047,3304,0,0,0,0,0,0
$GC,3115,-0.71,-116.8,363.5,-8.6,216,3119,0.00,2.30,0.00,0.000,4,0.000,0.047,2630,3612,3304,0,0,0,0,0,0
$GC,3163,-0.71,-116.8,368.0,-9.7,217,3168,0.00,2.30,0.00,0.000,6,0.000,0.034,2631,2029,3304,0,0,0,0,0,0
$GC,3482,-0.71,-116.8,396.7,-8.8,225,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2029,3302,0,0,0,0,0,0
$GC,3807,-0.71,-116.8,423.3,-7.8,233,3811,0.00,2.30,0.00,0.000,4,0.000,0.048,2631,446,3299,0,0,0,0,0,0
$GC,3935,-0.71,-116.8,434.8,-8.7,236,3940,0.12,2.28,0.00,0.000,6,0.150,0.037,2657,2026,3298,0,0,0,0,0,0
$GC,4264,-0.71,-116.8,455.8,-6.3,244,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2029,3298,0,0,0,0,0,0
$GC,4589,-0.71,-116.8,479.7,-7.7,252,4593,0.00,2.33,0.00,0.000,4,0.000,0.049,2657,454,3294,0,0,0,0,0,0
$GC,4637,-0.71,-116.8,484.0,-9.2,253,4642,0.00,2.30,0.00,0.000,6,0.000,0.037,2647,2033,3294,0,0,0,0,0,0
$GC,4956,-0.71,-116.8,510.8,-8.6,261,4960,0.00,2.35,0.00,0.000,4,0.000,0.049,2635,3622,3291,0,0,0,0,0,0
$GC,4998,-0.71,-116.8,514.5,-9.1,262,5003,0.00,2.33,0.00,0.000,6,0.000,0.035,2635,2024,3291,0,0,0,0,0,0
$GC,5323,-0.71,-116.8,540.9,-7.9,270,5327,0.00,2.33,0.00,0.000,4,0.000,0.050,2635,447,3288,0,0,0,0,0,0
$GC,5388,-0.71,-116.8,546.6,-8.4,271,5393,0.08,2.30,0.00,0.000,6,0.123,0.038,2652,2027,3288,0,0,0,0,0,0
$GC,5736,-0.71,-116.8,568.5,-6.2,280,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2027,3286,0,0,0,0,0,0
$GC,6061,-0.71,-116.8,587.6,-5.9,288,6065,0.00,2.35,0.00,0.000,4,0.000,0.051,2648,3611,3284,0,0,0,0,0,0
$GC,6100,-0.71,-116.8,589.9,-6.2,289,6104,0.00,2.28,0.00,0.000,6,0.000,0.037,2642,2027,3283,0,0,0,0,0,0
$GC,6423,-0.71,-116.8,609.7,-6.1,297,6428,0.00,2.33,0.00,0.000,4,0.000,0.051,2642,457,3282,0,0,0,0,0,0
$GC,6490,-0.71,-116.8,614.8,-8.1,298,6494,0.00,2.30,0.00,0.000,6,0.000,0.038,2634,2026,3281,0,0,0,0,0,0
$GC,6832,-0.71,-116.8,638.3,-6.8,307,6836,0.00,2.35,0.00,0.000,4,0.000,0.051,2632,449,3280,0,0,0,0,0,0
$GC,6886,-0.71,-116.8,642.5,-8.2,308,6891,0.10,2.33,0.00,0.000,6,0.123,0.038,2656,2039,3279,0,0,0,0,0,0
$GC,7198,-0.71,-116.8,658.7,-4.9,316,7203,0.00,2.38,0.00,0.000,4,0.000,0.051,2655,447,3277,0,0,0,0,0,0
$GC,7230,-0.71,-116.8,660.7,-6.6,316,7237,0.00,2.30,0.00,0.000,6,0.000,0.038,2646,2024,3277,0,0,0,0,0,0
$GC,7562,-0.71,-116.8,677.7,-5.2,325,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2024,3276,0,0,0,0,0,0
$GC,7887,-0.71,-116.8,697.5,-6.4,333,7891,0.00,2.33,0.00,0.000,4,0.000,0.053,2646,454,3274,0,0,0,0,0,0
$GC,7931,-0.71,-116.8,700.9,-7.6,334,7935,0.00,2.30,0.00,0.000,6,0.000,0.040,2635,2041,3275,0,0,0,0,0,0
$GC,8259,-0.71,-116.8,725.6,-7.6,342,8263,0.00,2.35,0.00,0.000,4,0.000,0.052,2635,452,3274,0,0,0,0,0,0
$GC,8298,-0.71,-116.8,728.6,-8.2,343,8303,0.12,2.28,0.00,0.000,6,0.150,0.040,2660,2037,3274,0,0,0,0,0,0
$GC,8621,-0.71,-116.8,748.4,-5.9,351,8625,0.00,2.35,0.00,0.000,4,0.000,0.051,2650,3608,3273,0,0,0,0,0,0
$GC,8663,-0.71,-116.8,751.1,-6.5,352,8668,0.00,2.33,0.00,0.000,6,0.000,0.038,2650,2032,3272,0,0,0,0,0,0
$GC,8988,-0.71,-116.8,771.2,-6.2,360,8992,0.00,2.38,0.00,0.000,4,0.000,0.054,2650,440,3272,0,0,0,0,0,0
$GC,9019,-0.71,-116.8,773.7,-7.6,360,9024,0.00,2.33,0.00,0.000,6,0.000,0.039,2638,2020,3271,0,0,0,0,0,0
$GC,9356,-0.71,-116.8,797.2,-7.0,369,9360,0.00,2.35,0.00,0.000,4,0.000,0.053,2639,439,3270,0,0,0,0,0,0
$GC,9377,-0.71,-116.8,798.9,-7.9,369,9382,0.08,2.35,0.00,0.000,6,0.124,0.040,2655,2034,3270,0,0,0,0,0,0
$GC,9719,-0.71,-116.8,820.4,-6.2,378,9723,0.00,2.38,0.00,0.000,4,0.000,0.053,2658,451,3269,0,0,0,0,0,0
$GC,9767,-0.71,-116.8,823.9,-7.6,379,9772,0.00,2.33,0.00,0.000,6,0.000,0.039,2646,2033,3269,0,0,0,0,0,0
$GC,10086,-0.71,-116.8,845.7,-6.9,387,10090,0.00,2.35,0.00,0.000,4,0.000,0.051,2634,3614,3268,0,0,0,0,0,0
$GC,10117,-0.71,-116.8,848.0,-7.0,387,10124,0.00,2.35,0.00,0.000,6,0.000,0.038,2632,2024,3268,0,0,0,0,0,0
$GC,10448,-0.71,-116.8,872.4,-7.2,396,10453,0.00,2.35,0.00,0.000,4,0.000,0.054,2634,451,3268,0,0,0,0,0,0
$GC,10514,-0.71,-116.8,878.0,-7.3,397,10520,0.10,2.33,0.00,0.000,6,0.124,0.039,2656,2025,3267,0,0,0,0,0,0
$GC,10857,-0.71,-116.8,899.1,-6.0,406,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2026,3268,0,0,0,0,0,0
$GC,11182,-0.71,-116.8,916.4,-5.2,414,11186,0.00,2.38,0.00,0.000,4,0.000,0.054,2663,449,3267,0,0,0,0,0,0
$GC,11230,-0.71,-116.8,919.3,-5.7,415,11235,0.00,2.35,0.00,0.000,6,0.000,0.040,2648,2039,3267,0,0,0,0,0,0
$GC,11549,-0.71,-116.8,934.7,-4.8,423,11553,0.00,2.35,0.00,0.000,4,0.000,0.053,2637,3616,3264,0,0,0,0,0,0
$GC,11592,-0.71,-116.8,936.9,-5.2,424,11596,0.00,2.35,0.00,0.000,6,0.000,0.040,2637,2033,3266,0,0,0,0,0,0
$GC,11916,-0.71,-116.8,953.6,-5.2,432,11919,0.00,2.38,0.00,0.000,4,0.000,0.054,2637,447,3266,0,0,0,0,0,0
$GC,11953,-0.71,-116.8,956.0,-6.0,432,11960,0.08,2.35,0.00,0.000,6,0.127,0.041,2654,2040,3265,0,0,0,0,0,0
$GC,12285,-0.71,-116.8,972.6,-5.1,441,12289,0.00,2.40,0.00,0.000,4,0.000,0.053,2654,446,3265,0,0,0,0,0,0
$GC,12323,-0.71,-116.8,974.9,-6.9,442,12327,0.00,2.33,0.00,0.000,6,0.000,0.041,2644,2038,3265,0,0,0,0,0,0
$STATE,12603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12603,begin apogee
$GC,12607,-0.23,0.0,991.0,5.7,449,12704,0.52,0.00,94.20,1.302,6,0.120,0.000,2816,2038,2822,0,0,0,0,0,0
$STATE,12706,end apogee,CONTROL_FINISHED_OK
$STATE,12707,begin climb
$GC,12708,0.71,116.8,992.6,0.0,451,12826,0.82,2.58,109.80,1.260,4,0.071,0.051,3117,3605,2345,0,0,0,0,0,0
$GC,12841,0.71,116.8,983.7,12.6,453,12846,0.00,2.53,0.00,0.000,6,0.000,0.041,3128,2039,2341,0,0,0,0,0,0
$GC,13154,0.71,116.8,941.6,13.4,461,13159,0.00,2.45,0.00,0.000,4,0.000,0.054,3140,449,2328,0,0,0,0,0,0
$GC,13243,0.71,116.8,928.9,14.3,463,13248,0.00,2.40,0.00,0.000,6,0.000,0.041,3141,2023,2326,0,0,0,0,0,0
$GC,13567,0.71,116.8,883.9,13.7,471,13571,0.00,2.42,0.00,0.000,4,0.000,0.055,3153,437,2326,0,0,0,0,0,0
$GC,13615,0.71,116.8,876.5,14.8,472,13621,0.10,2.40,0.00,0.000,6,0.152,0.041,3122,2035,2327,0,0,0,0,0,0
$GC,13933,0.71,116.8,836.2,12.6,480,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2035,2324,0,0,0,0,0,0
$GC,14258,0.71,116.8,794.8,12.9,488,14262,0.00,2.40,0.00,0.000,4,0.000,0.055,3131,448,2323,0,0,0,0,0,0
$GC,14330,0.71,116.8,785.0,13.1,489,14334,0.00,2.38,0.00,0.000,6,0.000,0.041,3132,2033,2323,0,0,0,0,0,0
$GC,14666,0.71,116.8,741.0,12.9,498,14671,0.00,2.40,0.00,0.000,4,0.000,0.051,3132,3613,2320,0,0,0,0,0,0
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$STATE,21935,end climb,SURFACE_DEPTH_REACHED
$STATE,21935,begin surface coast
$FINISH,1.0,1.023109
$STATE,21957,end surface coast,CONTROL_FINISHED_OK
$STATE,21957,begin surface
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56530796544
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,5.317
$10V_AH,9.9,6.672
$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,334816
$DATA_FILE_SIZE,30039,879
$CAP_FILE_SIZE,190656,0
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,065307,2041.020,-15824.461,35,1.2,35,9.7