version: 66.07
glider: 500
mission: 4
dive: 55
start: 6 25 110 21 30 16
data:
$ID,500
$MISSION,4
$DIVE,55
$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,-110562.59
$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,51
$R_STBD_OVSHOOT,46
$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,54
$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
$GPS1,250610,211907,2036.986,-15825.983,31,1.0,31,9.7
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.3
$GPS2,250610,212920,2037.183,-15826.040,9,1.7,9,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,-0.212
$KALMAN_X,-62796.8,104.9,-3.4,11425.9,-2235.8
$KALMAN_Y,79504.1,196.3,62.8,-142805.1,3632.7
$MHEAD_RNG_PITCHd_Wd,152.7,14972,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.00,0.000,2,0.000,0.000,130,2039,2700,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.4,-6.1,10,113,10.20,2.35,-13.93,0.000,4,0.237,0.060,2651,457,3300,0,0,0,0,0,0
$GC,236,-0.71,-116.8,32.0,-20.3,38,240,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2034,3303,0,0,0,0,0,0
$GC,502,-0.71,-116.8,83.5,-16.5,63,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2034,3304,0,0,0,0,0,0
$GC,757,-0.71,-116.8,121.9,-13.7,87,761,0.00,2.33,0.00,0.000,4,0.000,0.045,2629,3611,3305,0,0,0,0,0,0
$GC,783,-0.71,-116.8,125.9,-14.9,89,791,0.08,2.30,0.00,0.000,6,0.121,0.032,2657,2030,3305,0,0,0,0,0,0
$GC,1045,-0.71,-116.8,152.4,-9.5,114,1049,0.00,2.30,0.00,0.000,4,0.000,0.046,2658,452,3306,0,0,0,0,0,0
$GC,1132,-0.71,-116.8,161.8,-10.3,121,1139,0.00,2.28,0.00,0.000,6,0.000,0.035,2648,2034,3306,0,0,0,0,0,0
$GC,1395,-0.71,-116.8,190.0,-11.6,146,1400,0.00,2.30,0.00,0.000,4,0.000,0.045,2636,3618,3306,0,0,0,0,0,0
$GC,1427,-0.71,-116.8,194.2,-12.2,148,1434,0.00,2.30,0.00,0.000,6,0.000,0.031,2636,2023,3307,0,0,0,0,0,0
$GC,1682,-0.71,-116.8,224.0,-10.7,163,1686,0.00,2.28,0.00,0.000,4,0.000,0.046,2636,441,3307,0,0,0,0,0,0
$GC,1748,-0.71,-116.8,231.3,-10.6,166,1753,0.08,2.30,0.00,0.000,6,0.131,0.035,2653,2035,3307,0,0,0,0,0,0
$GC,2075,-0.71,-116.8,254.6,-6.7,182,2079,0.00,2.33,0.00,0.000,4,0.000,0.045,2653,441,3307,0,0,0,0,0,0
$GC,2129,-0.71,-116.8,258.8,-7.7,184,2136,0.00,2.30,0.00,0.000,6,0.000,0.035,2643,2040,3307,0,0,0,0,0,0
$GC,2444,-0.71,-116.8,284.5,-8.6,200,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2039,3306,0,0,0,0,0,0
$GC,2751,-0.71,-116.8,311.1,-8.6,212,2755,0.00,2.33,0.00,0.000,4,0.000,0.047,2631,3610,3305,0,0,0,0,0,0
$GC,2845,-0.71,-116.8,319.4,-8.8,214,2850,0.00,2.28,0.00,0.000,6,0.000,0.032,2631,2034,3304,0,0,0,0,0,0
$GC,3164,-0.71,-116.8,347.1,-8.7,222,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2034,3303,0,0,0,0,0,0
$GC,3489,-0.71,-116.8,374.5,-8.2,230,3493,0.00,2.30,0.00,0.000,4,0.000,0.048,2631,446,3301,0,0,0,0,0,0
$GC,3617,-0.71,-116.8,385.7,-8.7,232,3624,0.10,2.28,0.00,0.000,6,0.120,0.036,2660,2022,3299,0,0,0,0,0,0
$GC,3948,-0.71,-116.8,408.0,-6.9,241,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2022,3297,0,0,0,0,0,0
$GC,4273,-0.71,-116.8,432.2,-7.7,249,4277,0.00,2.30,0.00,0.000,4,0.000,0.048,2657,447,3298,0,0,0,0,0,0
$GC,4332,-0.71,-116.8,437.4,-9.0,250,4337,0.00,2.30,0.00,0.000,6,0.000,0.036,2647,2038,3294,0,0,0,0,0,0
$GC,4645,-0.71,-116.8,461.0,-7.2,258,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2036,3292,0,0,0,0,0,0
$GC,4970,-0.71,-116.8,481.8,-6.3,266,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2036,3290,0,0,0,0,0,0
$GC,5296,-0.71,-116.8,503.6,-6.7,274,5300,0.00,2.33,0.00,0.000,4,0.000,0.049,2635,3607,3287,0,0,0,0,0,0
$GC,5367,-0.71,-116.8,508.9,-7.2,275,5372,0.00,2.30,0.00,0.000,6,0.000,0.035,2635,2030,3287,0,0,0,0,0,0
$GC,5704,-0.71,-116.8,533.0,-7.1,284,5708,0.00,2.30,0.00,0.000,4,0.000,0.050,2631,458,3285,0,0,0,0,0,0
$GC,5848,-0.71,-116.8,544.4,-7.5,287,5853,0.10,2.28,0.00,0.000,6,0.119,0.038,2660,2018,3282,0,0,0,0,0,0
$GC,6160,-0.71,-116.8,561.7,-5.3,295,6164,0.00,2.35,0.00,0.000,4,0.000,0.050,2650,3615,3282,0,0,0,0,0,0
$GC,6210,-0.71,-116.8,564.5,-5.5,296,6214,0.00,2.30,0.00,0.000,6,0.000,0.036,2650,2028,3281,0,0,0,0,0,0
$GC,6527,-0.71,-116.8,584.4,-6.4,304,6531,0.00,2.33,0.00,0.000,4,0.000,0.051,2650,444,3280,0,0,0,0,0,0
$GC,6559,-0.71,-116.8,586.7,-7.5,304,6565,0.00,2.30,0.00,0.000,6,0.000,0.038,2644,2022,3279,0,0,0,0,0,0
$GC,6890,-0.71,-116.8,609.1,-6.9,313,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2022,3278,0,0,0,0,0,0
$GC,7215,-0.71,-116.8,632.4,-7.3,321,7219,0.00,2.30,0.00,0.000,4,0.000,0.051,2639,456,3277,0,0,0,0,0,0
$GC,7247,-0.71,-116.8,635.1,-8.5,321,7254,0.08,2.30,0.00,0.000,6,0.123,0.038,2656,2032,3277,0,0,0,0,0,0
$GC,7578,-0.71,-116.8,655.8,-5.9,330,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2033,3275,0,0,0,0,0,0
$GC,7903,-0.71,-116.8,672.7,-4.9,338,7907,0.00,2.35,0.00,0.000,4,0.000,0.051,2645,3615,3274,0,0,0,0,0,0
$GC,7935,-0.71,-116.8,674.4,-5.2,338,7939,0.00,2.33,0.00,0.000,6,0.000,0.038,2645,2032,3274,0,0,0,0,0,0
$GC,8272,-0.71,-116.8,690.7,-4.8,347,8276,0.00,2.33,0.00,0.000,4,0.000,0.052,2645,455,3272,0,0,0,0,0,0
$GC,8320,-0.71,-116.8,693.5,-6.1,348,8325,0.00,2.33,0.00,0.000,6,0.000,0.039,2633,2039,3275,0,0,0,0,0,0
$GC,8639,-0.71,-116.8,711.9,-6.0,356,8643,0.00,2.33,0.00,0.000,4,0.000,0.051,2622,3613,3271,0,0,0,0,0,0
$GC,8677,-0.71,-116.8,714.4,-7.2,357,8682,0.12,2.28,0.00,0.000,6,0.139,0.037,2661,2030,3270,0,0,0,0,0,0
$GC,9000,-0.71,-116.8,733.2,-6.0,365,9004,0.00,2.35,0.00,0.000,4,0.000,0.052,2661,449,3269,0,0,0,0,0,0
$GC,9087,-0.71,-116.8,739.4,-7.3,367,9092,0.00,2.30,0.00,0.000,6,0.000,0.038,2651,2019,3269,0,0,0,0,0,0
$GC,9412,-0.71,-116.8,760.7,-6.5,375,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2019,3267,0,0,0,0,0,0
$GC,9737,-0.71,-116.8,781.2,-6.3,383,9741,0.00,2.38,0.00,0.000,4,0.000,0.051,2639,3619,3267,0,0,0,0,0,0
$GC,9796,-0.71,-116.8,785.4,-7.3,384,9801,0.00,2.35,0.00,0.000,6,0.000,0.038,2635,2023,3267,0,0,0,0,0,0
$GC,10144,-0.71,-116.8,808.0,-6.4,393,10148,0.00,2.35,0.00,0.000,4,0.000,0.053,2639,450,3264,0,0,0,0,0,0
$GC,10244,-0.71,-116.8,815.4,-7.8,395,10249,0.08,2.33,0.00,0.000,6,0.126,0.039,2656,2035,3266,0,0,0,0,0,0
$GC,10556,-0.71,-116.8,831.9,-5.0,403,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2035,3265,0,0,0,0,0,0
$GC,10881,-0.71,-116.8,847.1,-4.6,411,10885,0.00,2.38,0.00,0.000,4,0.000,0.053,2656,450,3263,0,0,0,0,0,0
$GC,10924,-0.71,-116.8,849.4,-5.7,412,10929,0.00,2.33,0.00,0.000,6,0.000,0.039,2646,2033,3265,0,0,0,0,0,0
$GC,11248,-0.71,-116.8,864.6,-4.7,420,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2033,3264,0,0,0,0,0,0
$GC,11573,-0.71,-116.8,879.4,-4.6,428,11577,0.00,2.35,0.00,0.000,4,0.000,0.053,2646,451,3264,0,0,0,0,0,0
$GC,11604,-0.71,-116.8,881.1,-5.3,428,11611,0.00,2.33,0.00,0.000,6,0.000,0.040,2635,2031,3264,0,0,0,0,0,0
$GC,11936,-0.71,-116.8,898.2,-5.3,437,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2031,3262,0,0,0,0,0,0
$GC,12261,-0.71,-116.8,915.7,-5.4,445,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2030,3262,0,0,0,0,0,0
$GC,12586,-0.71,-116.8,934.1,-5.8,453,12590,0.00,2.38,0.00,0.000,4,0.000,0.054,2635,453,3263,0,0,0,0,0,0
$GC,12612,-0.71,-116.8,936.0,-7.0,453,12617,0.08,2.33,0.00,0.000,6,0.129,0.040,2651,2030,3261,0,0,0,0,0,0
$GC,12948,-0.71,-116.8,955.2,-5.8,462,12952,0.00,2.35,0.00,0.000,4,0.000,0.051,2641,3614,3262,0,0,0,0,0,0
$GC,12980,-0.71,-116.8,957.2,-6.5,462,12987,0.00,2.33,0.00,0.000,6,0.000,0.038,2641,2037,3261,0,0,0,0,0,0
$GC,13312,-0.71,-116.8,978.0,-6.3,471,13316,0.00,2.38,0.00,0.000,4,0.000,0.054,2641,440,3261,0,0,0,0,0,0
$GC,13371,-0.71,-116.8,982.5,-7.6,472,13376,0.00,2.35,0.00,0.000,6,0.000,0.040,2629,2033,3261,0,0,0,0,0,0
$STATE,13514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13515,begin apogee
$GC,13518,-0.23,0.0,992.7,7.0,476,13616,0.55,0.00,94.62,1.302,6,0.121,0.000,2810,2033,2824,0,0,0,0,0,0
$STATE,13629,end apogee,CONTROL_FINISHED_OK
$STATE,13629,begin climb
$GC,13631,0.71,116.8,994.6,0.0,478,13745,0.85,0.00,110.55,1.263,6,0.071,0.000,3121,2033,2347,0,0,0,0,0,0
$GC,14041,0.71,116.8,951.7,12.8,489,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2033,2332,0,0,0,0,0,0
$GC,14366,0.71,116.8,911.5,12.0,497,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2033,2325,0,0,0,0,0,0
$GC,14691,0.71,116.8,871.1,12.4,505,14695,0.00,2.42,0.00,0.000,4,0.000,0.054,3133,446,2324,0,0,0,0,0,0
$GC,14729,0.71,116.8,866.1,13.4,506,14733,0.00,2.33,0.00,0.000,6,0.000,0.041,3133,2030,2324,0,0,0,0,0,0
$GC,15058,0.71,116.8,823.5,13.0,514,15062,0.00,2.42,0.00,0.000,4,0.000,0.054,3145,447,2323,0,0,0,0,0,0
$GC,15108,0.71,116.8,816.6,14.5,515,15112,0.00,2.35,0.00,0.000,6,0.000,0.040,3145,2035,2323,0,0,0,0,0,0
$GC,15424,0.71,116.8,772.8,13.8,523,15428,0.00,2.40,0.00,0.000,4,0.000,0.054,3157,445,2321,0,0,0,0,0,0
$GC,15457,0.71,116.8,768.2,13.9,523,15464,0.12,2.35,0.00,0.000,6,0.148,0.040,3117,2024,2322,0,0,0,0,0,0
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$STATE,23215,end climb,SURFACE_DEPTH_REACHED
$STATE,23215,begin surface coast
$FINISH,0.8,1.011730
$STATE,23248,end surface coast,CONTROL_FINISHED_OK
$STATE,23248,begin surface
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55917674496
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,6.208
$10V_AH,9.8,7.194
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334800
$DATA_FILE_SIZE,33398,933
$CAP_FILE_SIZE,186807,0
$CFSIZE,260165632,253911040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260610,040107,2036.208,-15826.348,39,1.1,39,9.7