version: 66.07
glider: 500
mission: 4
dive: 51
start: 6 24 110 19 56 10
data:
$ID,500
$MISSION,4
$DIVE,51
$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,-110486.13
$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,55
$R_STBD_OVSHOOT,45
$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,50
$AR_SAMPLENUM,11
$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
$GPS1,240610,194124,2039.803,-15823.745,22,0.9,40,9.7
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.9
$GPS2,240610,195514,2040.074,-15823.771,10,1.7,10,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,-0.219
$KALMAN_X,-54801.6,82.3,139.2,7222.2,-2475.1
$KALMAN_Y,64252.0,255.5,319.5,-122518.2,2367.6
$MHEAD_RNG_PITCHd_Wd,160.3,21561,-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,-50.83,0.000,2,0.000,0.000,139,2039,2702,0,0,0,0,0,0
$GC,80,-0.71,-116.8,3.3,-5.7,10,111,10.18,2.38,-13.95,0.000,4,0.239,0.058,2648,454,3302,0,0,0,0,0,0
$GC,284,-0.71,-116.8,43.4,-19.0,41,290,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2027,3303,0,0,0,0,0,0
$GC,545,-0.71,-116.8,83.0,-13.7,66,549,0.00,2.35,0.00,0.000,4,0.000,0.046,2626,3619,3302,0,0,0,0,0,0
$GC,617,-0.71,-116.8,93.0,-13.6,72,622,0.12,2.28,0.00,0.000,6,0.143,0.032,2663,2034,3303,0,0,0,0,0,0
$GC,882,-0.71,-116.8,119.8,-9.8,97,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2034,3305,0,0,0,0,0,0
$GC,1138,-0.71,-116.8,144.7,-9.5,121,1142,0.00,2.28,0.00,0.000,4,0.000,0.046,2663,457,3309,0,0,0,0,0,0
$GC,1180,-0.71,-116.8,149.5,-11.0,124,1187,0.00,2.28,0.00,0.000,6,0.000,0.035,2653,2033,3305,0,0,0,0,0,0
$GC,1444,-0.71,-116.8,179.5,-12.0,149,1448,0.00,2.30,0.00,0.000,4,0.000,0.045,2641,3619,3306,0,0,0,0,0,0
$GC,1486,-0.71,-116.8,185.0,-12.0,152,1493,0.00,2.28,0.00,0.000,6,0.000,0.031,2641,2038,3306,0,0,0,0,0,0
$GC,1744,-0.71,-116.8,214.2,-10.3,171,1748,0.00,2.30,0.00,0.000,4,0.000,0.046,2641,462,3305,0,0,0,0,0,0
$GC,1820,-0.71,-116.8,222.6,-10.7,174,1827,0.08,2.28,0.00,0.000,6,0.130,0.035,2657,2039,3306,0,0,0,0,0,0
$GC,2136,-0.71,-116.8,247.4,-7.7,190,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2039,3306,0,0,0,0,0,0
$GC,2445,-0.71,-116.8,268.2,-6.0,205,2449,0.00,2.33,0.00,0.000,4,0.000,0.047,2657,450,3305,0,0,0,0,0,0
$GC,2511,-0.71,-116.8,272.9,-6.9,208,2516,0.00,2.28,0.00,0.000,6,0.000,0.036,2647,2027,3305,0,0,0,0,0,0
$GC,2838,-0.71,-116.8,296.8,-8.4,224,2842,0.00,2.35,0.00,0.000,4,0.000,0.046,2634,3616,3303,0,0,0,0,0,0
$GC,2869,-0.71,-116.8,299.6,-9.1,225,2874,0.00,2.28,0.00,0.000,6,0.000,0.032,2634,2037,3303,0,0,0,0,0,0
$GC,3206,-0.71,-116.8,332.7,-10.1,234,3210,0.00,2.33,0.00,0.000,4,0.000,0.046,2623,3615,3301,0,0,0,0,0,0
$GC,3237,-0.71,-116.8,336.1,-10.6,234,3244,0.10,2.30,0.00,0.000,6,0.108,0.033,2660,2021,3301,0,0,0,0,0,0
$GC,3569,-0.71,-116.8,359.9,-6.9,243,3573,0.00,2.28,0.00,0.000,4,0.000,0.048,2662,448,3298,0,0,0,0,0,0
$GC,3679,-0.71,-116.8,368.0,-6.9,245,3684,0.00,2.30,0.00,0.000,6,0.000,0.036,2652,2039,3298,0,0,0,0,0,0
$GC,4021,-0.71,-116.8,392.3,-7.3,254,4025,0.00,2.30,0.00,0.000,4,0.000,0.048,2641,3604,3296,0,0,0,0,0,0
$GC,4053,-0.71,-116.8,394.8,-7.8,254,4060,0.00,2.28,0.00,0.000,6,0.000,0.034,2640,2035,3295,0,0,0,0,0,0
$GC,4384,-0.71,-116.8,420.8,-8.1,263,4389,0.00,2.33,0.00,0.000,4,0.000,0.049,2641,445,3293,0,0,0,0,0,0
$GC,4424,-0.71,-116.8,424.5,-9.3,264,4429,0.10,2.25,0.00,0.000,6,0.161,0.037,2659,2035,3290,0,0,0,0,0,0
$GC,4747,-0.71,-116.8,448.4,-7.2,272,4751,0.00,2.33,0.00,0.000,4,0.000,0.048,2647,3612,3290,0,0,0,0,0,0
$GC,4802,-0.71,-116.8,452.5,-7.0,273,4806,0.00,2.30,0.00,0.000,6,0.000,0.035,2647,2027,3290,0,0,0,0,0,0
$GC,5115,-0.71,-116.8,477.1,-7.9,281,5119,0.00,2.33,0.00,0.000,4,0.000,0.049,2647,444,3288,0,0,0,0,0,0
$GC,5174,-0.71,-116.8,482.4,-9.1,282,5179,0.00,2.30,0.00,0.000,6,0.000,0.037,2636,2034,3287,0,0,0,0,0,0
$GC,5522,-0.71,-116.8,512.4,-8.6,291,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2035,3284,0,0,0,0,0,0
$GC,5847,-0.71,-116.8,540.4,-8.6,299,5851,0.00,2.33,0.00,0.000,4,0.000,0.050,2636,443,3282,0,0,0,0,0,0
$GC,5868,-0.71,-116.8,542.4,-9.4,299,5874,0.08,2.30,0.00,0.000,6,0.126,0.038,2653,2027,3281,0,0,0,0,0,0
$GC,6211,-0.71,-116.8,566.0,-6.4,308,6215,0.00,2.33,0.00,0.000,4,0.000,0.050,2652,443,3280,0,0,0,0,0,0
$GC,6249,-0.71,-116.8,568.4,-6.3,309,6253,0.00,2.28,0.00,0.000,6,0.000,0.038,2642,2040,3280,0,0,0,0,0,0
$GC,6572,-0.71,-116.8,584.8,-4.8,317,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3278,0,0,0,0,0,0
$GC,6897,-0.71,-116.8,599.9,-4.7,325,6901,0.00,2.33,0.00,0.000,4,0.000,0.051,2643,457,3276,0,0,0,0,0,0
$GC,6945,-0.71,-116.8,602.7,-5.7,326,6950,0.00,2.30,0.00,0.000,6,0.000,0.038,2628,2035,3276,0,0,0,0,0,0
$GC,7264,-0.71,-116.8,621.5,-6.2,334,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2035,3274,0,0,0,0,0,0
$GC,7589,-0.71,-116.8,643.0,-6.6,342,7593,0.00,2.35,0.00,0.000,4,0.000,0.051,2631,445,3273,0,0,0,0,0,0
$GC,7621,-0.71,-116.8,645.4,-8.0,342,7626,0.10,2.30,0.00,0.000,6,0.123,0.038,2656,2022,3275,0,0,0,0,0,0
$GC,7957,-0.71,-116.8,664.2,-5.5,351,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2023,3272,0,0,0,0,0,0
$GC,8282,-0.71,-116.8,683.1,-6.0,359,8286,0.00,2.35,0.00,0.000,4,0.000,0.051,2646,3612,3270,0,0,0,0,0,0
$GC,8330,-0.71,-116.8,686.2,-6.0,360,8335,0.00,2.33,0.00,0.000,6,0.000,0.037,2646,2030,3269,0,0,0,0,0,0
$GC,8649,-0.71,-116.8,706.7,-6.4,368,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2029,3267,0,0,0,0,0,0
$GC,8974,-0.71,-116.8,725.6,-5.5,376,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2029,3268,0,0,0,0,0,0
$GC,9299,-0.71,-116.8,742.8,-5.2,384,9303,0.00,2.33,0.00,0.000,4,0.000,0.053,2645,454,3265,0,0,0,0,0,0
$GC,9342,-0.71,-116.8,745.6,-7.0,385,9346,0.00,2.33,0.00,0.000,6,0.000,0.040,2634,2041,3267,0,0,0,0,0,0
$GC,9666,-0.71,-116.8,764.2,-5.9,393,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2041,3266,0,0,0,0,0,0
$GC,9991,-0.71,-116.8,784.7,-6.5,401,9995,0.00,2.35,0.00,0.000,4,0.000,0.052,2634,451,3265,0,0,0,0,0,0
$GC,10034,-0.71,-116.8,788.0,-7.6,402,10039,0.10,2.33,0.00,0.000,6,0.121,0.040,2659,2033,3264,0,0,0,0,0,0
$GC,10357,-0.71,-116.8,806.7,-5.8,410,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2036,3265,0,0,0,0,0,0
$GC,10683,-0.71,-116.8,825.0,-5.6,418,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2035,3263,0,0,0,0,0,0
$GC,11007,-0.71,-116.8,843.0,-5.6,426,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2036,3263,0,0,0,0,0,0
$GC,11332,-0.71,-116.8,861.0,-5.5,434,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2037,3264,0,0,0,0,0,0
$GC,11658,-0.71,-116.8,880.5,-6.3,442,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2037,3262,0,0,0,0,0,0
$GC,11982,-0.71,-116.8,901.1,-6.3,450,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2037,3261,0,0,0,0,0,0
$GC,12307,-0.71,-116.8,921.0,-6.1,458,12311,0.00,2.38,0.00,0.000,4,0.000,0.054,2659,446,3261,0,0,0,0,0,0
$GC,12373,-0.71,-116.8,925.5,-6.7,459,12378,0.00,2.35,0.00,0.000,6,0.000,0.041,2650,2036,3260,0,0,0,0,0,0
$GC,12716,-0.71,-116.8,946.6,-6.2,468,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2039,3260,0,0,0,0,0,0
$GC,13040,-0.71,-116.8,965.6,-5.8,476,13045,0.00,2.38,0.00,0.000,4,0.000,0.054,2650,443,3259,0,0,0,0,0,0
$GC,13084,-0.71,-116.8,968.4,-6.5,477,13088,0.00,2.35,0.00,0.000,6,0.000,0.041,2637,2037,3259,0,0,0,0,0,0
$GC,13408,-0.71,-116.8,987.3,-5.8,485,13412,0.00,2.38,0.00,0.000,4,0.000,0.054,2638,452,3259,0,0,0,0,0,0
$STATE,13451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13451,begin apogee
$GC,13457,-0.23,0.0,990.2,6.7,486,13554,0.57,0.00,93.10,1.298,6,0.120,0.000,2816,2041,2820,0,0,0,0,0,0
$STATE,13556,end apogee,CONTROL_FINISHED_OK
$STATE,13556,begin climb
$GC,13558,0.71,116.8,991.5,0.0,488,13672,0.88,0.00,110.65,1.256,6,0.070,0.000,3129,2042,2346,0,0,0,0,0,0
$GC,13977,0.71,116.8,940.7,14.2,499,13982,0.00,2.45,0.00,0.000,4,0.000,0.055,3141,455,2329,0,0,0,0,0,0
$GC,14037,0.71,116.8,931.7,14.4,500,14042,0.00,2.40,0.00,0.000,6,0.000,0.041,3141,2027,2326,0,0,0,0,0,0
$GC,14385,0.71,116.8,880.7,14.6,509,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2027,2325,0,0,0,0,0,0
$GC,14710,0.71,116.8,832.3,14.7,517,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2027,2324,0,0,0,0,0,0
$GC,15035,0.71,116.8,785.0,14.6,525,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2027,2323,0,0,0,0,0,0
$GC,15360,0.71,116.8,738.2,14.5,533,15364,0.00,2.40,0.00,0.000,4,0.000,0.056,3152,448,2322,0,0,0,0,0,0
$GC,15403,0.71,116.8,731.3,15.4,534,15409,0.10,2.38,0.00,0.000,6,0.150,0.041,3119,2040,2322,0,0,0,0,0,0
$GC,15727,0.71,116.8,688.9,13.1,542,15731,0.00,2.38,0.00,0.000,4,0.000,0.051,3121,3614,2321,0,0,0,0,0,0
$GC,15798,0.71,116.8,678.9,13.4,543,15803,0.00,2.38,0.00,0.000,6,0.000,0.041,3131,2026,2320,0,0,0,0,0,0
$GC,16141,0.71,116.8,636.1,12.3,552,16145,0.00,2.38,0.00,0.000,4,0.000,0.055,3144,450,2319,0,0,0,0,0,0
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$STATE,22712,end climb,SURFACE_DEPTH_REACHED
$STATE,22713,begin surface coast
$FINISH,0.7,1.011986
$STATE,22748,end surface coast,CONTROL_FINISHED_OK
$STATE,22748,begin surface
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$AR_DDRIVE_FREE,56287559680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,5.704
$10V_AH,9.9,6.897
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.525,177.375,315.825,65.325,0.000,52.553,66.592,513.408,8.750,0.000,12.098,1751.662,18538.445,563.347,2719.397,164.313,33.361,1652.208,0.000,1945.827,0.000,17.867,0.000
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$MEM,334940
$DATA_FILE_SIZE,33339,904
$CAP_FILE_SIZE,183273,0
$CFSIZE,260165632,254316544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250610,021906,2038.946,-15824.289,22,1.8,22,9.7