version: 66.07
glider: 500
mission: 4
dive: 58
start: 6 26 110 16 39 15
data:
$ID,500
$MISSION,4
$DIVE,58
$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,-110630.43
$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,47
$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,57
$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
$GPS1,260610,162956,2036.405,-15832.158,24,2.2,43,9.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.3
$GPS2,260610,163819,2036.562,-15832.233,10,2.0,15,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.077,-0.209
$KALMAN_X,-68361.0,164.8,57.5,6168.3,-2069.4
$KALMAN_Y,91556.0,109.3,-310.0,-155546.2,4817.1
$MHEAD_RNG_PITCHd_Wd,190.6,100149,-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,-50.80,0.000,2,0.000,0.000,129,2037,2681,0,0,0,0,0,0
$GC,79,-0.71,-116.8,3.3,-5.9,10,111,10.20,2.35,-14.20,0.000,4,0.239,0.058,2650,452,3299,0,0,0,0,0,0
$GC,358,-0.71,-116.8,54.0,-18.6,49,362,0.00,2.28,0.00,0.000,6,0.000,0.036,2640,2044,3303,0,0,0,0,0,0
$GC,624,-0.71,-116.8,94.7,-15.2,74,628,0.00,2.33,0.00,0.000,4,0.000,0.044,2640,447,3304,0,0,0,0,0,0
$GC,802,-0.71,-116.8,122.3,-15.8,90,807,0.10,2.28,0.00,0.000,6,0.170,0.034,2656,2039,3304,0,0,0,0,0,0
$GC,1062,-0.71,-116.8,157.0,-12.3,114,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3306,0,0,0,0,0,0
$GC,1317,-0.71,-116.8,184.7,-10.2,138,1321,0.00,2.30,0.00,0.000,4,0.000,0.045,2656,449,3307,0,0,0,0,0,0
$GC,1360,-0.71,-116.8,189.6,-10.7,141,1366,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2025,3308,0,0,0,0,0,0
$GC,1617,-0.71,-116.8,215.5,-10.1,159,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3308,0,0,0,0,0,0
$GC,1926,-0.71,-116.8,246.0,-10.6,174,1930,0.00,2.33,0.00,0.000,4,0.000,0.044,2634,3618,3307,0,0,0,0,0,0
$GC,2003,-0.71,-116.8,254.6,-10.9,177,2009,0.00,2.28,0.00,0.000,6,0.000,0.031,2634,2037,3308,0,0,0,0,0,0
$GC,2318,-0.71,-116.8,285.4,-9.0,193,2322,0.00,2.30,0.00,0.000,4,0.000,0.046,2634,448,3308,0,0,0,0,0,0
$GC,2379,-0.71,-116.8,291.3,-9.7,195,2386,0.08,2.30,0.00,0.000,6,0.124,0.035,2652,2040,3308,0,0,0,0,0,0
$GC,2691,-0.71,-116.8,321.5,-10.4,206,2694,0.00,2.30,0.00,0.000,4,0.000,0.046,2641,3611,3306,0,0,0,0,0,0
$GC,2723,-0.71,-116.8,325.0,-10.3,206,2728,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2033,3306,0,0,0,0,0,0
$GC,3060,-0.71,-116.8,360.5,-10.1,215,3064,0.00,2.33,0.00,0.000,4,0.000,0.047,2641,453,3305,0,0,0,0,0,0
$GC,3143,-0.71,-116.8,369.5,-10.7,217,3147,0.10,2.22,0.00,0.000,6,0.161,0.035,2657,2038,3304,0,0,0,0,0,0
$GC,3472,-0.71,-116.8,396.5,-7.9,225,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2038,3300,0,0,0,0,0,0
$GC,3796,-0.71,-116.8,418.9,-6.9,233,3800,0.00,2.33,0.00,0.000,4,0.000,0.048,2648,3612,3299,0,0,0,0,0,0
$GC,3817,-0.71,-116.8,420.5,-7.4,233,3822,0.00,2.30,0.00,0.000,6,0.000,0.034,2647,2029,3298,0,0,0,0,0,0
$GC,4160,-0.71,-116.8,447.9,-8.4,242,4164,0.00,2.33,0.00,0.000,4,0.000,0.049,2648,445,3296,0,0,0,0,0,0
$GC,4231,-0.71,-116.8,455.3,-10.0,243,4236,0.00,2.28,0.00,0.000,6,0.000,0.037,2636,2016,3296,0,0,0,0,0,0
$GC,4567,-0.71,-116.8,487.4,-9.5,252,4571,0.00,2.30,0.00,0.000,4,0.000,0.048,2636,453,3293,0,0,0,0,0,0
$GC,4605,-0.71,-116.8,491.2,-10.0,252,4612,0.08,2.30,0.00,0.000,6,0.123,0.037,2654,2039,3293,0,0,0,0,0,0
$GC,4937,-0.71,-116.8,518.5,-8.3,261,4941,0.00,2.35,0.00,0.000,4,0.000,0.049,2644,3614,3291,0,0,0,0,0,0
$GC,4979,-0.71,-116.8,522.4,-8.9,262,4984,0.00,2.30,0.00,0.000,6,0.000,0.035,2644,2037,3290,0,0,0,0,0,0
$GC,5303,-0.71,-116.8,550.8,-8.7,270,5308,0.00,2.33,0.00,0.000,4,0.000,0.049,2644,444,3288,0,0,0,0,0,0
$GC,5387,-0.71,-116.8,558.8,-9.7,272,5391,0.00,2.28,0.00,0.000,6,0.000,0.038,2635,2048,3287,0,0,0,0,0,0
$GC,5716,-0.71,-116.8,588.3,-9.0,280,5720,0.00,2.33,0.00,0.000,4,0.000,0.049,2620,3612,3285,0,0,0,0,0,0
$GC,5759,-0.71,-116.8,592.4,-9.4,281,5764,0.10,2.30,0.00,0.000,6,0.107,0.035,2657,2029,3287,0,0,0,0,0,0
$GC,6082,-0.71,-116.8,616.4,-7.2,289,6086,0.00,2.35,0.00,0.000,4,0.000,0.051,2660,457,3286,0,0,0,0,0,0
$GC,6133,-0.71,-116.8,620.4,-8.3,290,6137,0.00,2.25,0.00,0.000,6,0.000,0.038,2650,2027,3282,0,0,0,0,0,0
$GC,6450,-0.71,-116.8,642.9,-6.8,298,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2027,3281,0,0,0,0,0,0
$GC,6775,-0.71,-116.8,665.1,-6.7,306,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2027,3281,0,0,0,0,0,0
$GC,7100,-0.71,-116.8,685.5,-6.1,314,7104,0.00,2.33,0.00,0.000,4,0.000,0.050,2650,448,3277,0,0,0,0,0,0
$GC,7143,-0.71,-116.8,688.5,-7.3,315,7147,0.00,2.30,0.00,0.000,6,0.000,0.038,2639,2017,3278,0,0,0,0,0,0
$GC,7467,-0.71,-116.8,709.8,-6.7,323,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2017,3278,0,0,0,0,0,0
$GC,7792,-0.71,-116.8,732.1,-6.8,331,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2018,3274,0,0,0,0,0,0
$GC,8117,-0.71,-116.8,753.2,-6.3,339,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2018,3273,0,0,0,0,0,0
$GC,8442,-0.71,-116.8,770.9,-5.2,347,8446,0.00,2.38,0.00,0.000,4,0.000,0.052,2628,3618,3272,0,0,0,0,0,0
$GC,8507,-0.71,-116.8,774.4,-5.9,348,8512,0.05,2.33,0.00,0.000,6,0.122,0.038,2662,2039,3271,0,0,0,0,0,0
$GC,8849,-0.71,-116.8,787.9,-4.0,357,8853,0.00,2.35,0.00,0.000,4,0.000,0.052,2666,447,3270,0,0,0,0,0,0
$GC,8920,-0.71,-116.8,791.5,-5.0,358,8924,0.00,2.33,0.00,0.000,6,0.000,0.039,2656,2031,3270,0,0,0,0,0,0
$GC,9257,-0.71,-116.8,808.5,-5.3,367,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2031,3269,0,0,0,0,0,0
$GC,9582,-0.71,-116.8,826.6,-5.7,375,9586,0.00,2.38,0.00,0.000,4,0.000,0.052,2656,448,3268,0,0,0,0,0,0
$GC,9620,-0.71,-116.8,829.2,-7.2,376,9625,0.00,2.30,0.00,0.000,6,0.000,0.039,2645,2046,3268,0,0,0,0,0,0
$GC,9944,-0.71,-116.8,848.4,-6.0,384,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2046,3268,0,0,0,0,0,0
$GC,10268,-0.71,-116.8,867.0,-5.7,392,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2047,3265,0,0,0,0,0,0
$GC,10593,-0.71,-116.8,885.6,-5.8,400,10598,0.00,2.38,0.00,0.000,4,0.000,0.052,2645,448,3267,0,0,0,0,0,0
$GC,10637,-0.71,-116.8,888.7,-7.2,401,10641,0.00,2.33,0.00,0.000,6,0.000,0.039,2634,2028,3266,0,0,0,0,0,0
$GC,10961,-0.71,-116.8,909.5,-6.4,409,10965,0.00,2.38,0.00,0.000,4,0.000,0.051,2622,3614,3266,0,0,0,0,0,0
$GC,11027,-0.71,-116.8,914.1,-6.7,410,11032,0.10,2.35,0.00,0.000,6,0.108,0.038,2661,2023,3266,0,0,0,0,0,0
$GC,11375,-0.71,-116.8,932.6,-5.3,419,11379,0.00,2.33,0.00,0.000,4,0.000,0.052,2661,453,3266,0,0,0,0,0,0
$GC,11423,-0.71,-116.8,935.8,-6.0,420,11428,0.00,2.33,0.00,0.000,6,0.000,0.039,2651,2027,3265,0,0,0,0,0,0
$GC,11742,-0.71,-116.8,955.9,-6.4,428,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2027,3265,0,0,0,0,0,0
$GC,12067,-0.71,-116.8,976.8,-6.2,436,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3265,0,0,0,0,0,0
$STATE,12349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12350,begin apogee
$GC,12353,-0.23,0.0,992.0,5.2,443,12450,0.50,0.00,94.20,1.302,6,0.114,0.000,2818,2028,2819,0,0,0,0,0,0
$STATE,12453,end apogee,CONTROL_FINISHED_OK
$STATE,12453,begin climb
$GC,12454,0.71,116.8,992.8,0.0,445,12572,0.82,2.60,110.40,1.260,4,0.065,0.051,3120,3612,2344,0,0,0,0,0,0
$GC,12593,0.71,116.8,981.3,14.5,449,12599,0.00,2.53,0.00,0.000,6,0.000,0.040,3132,2035,2338,0,0,0,0,0,0
$GC,12918,0.71,116.8,932.5,15.4,457,12922,0.00,2.45,0.00,0.000,4,0.000,0.053,3144,451,2327,0,0,0,0,0,0
$GC,12972,0.71,116.8,923.9,15.8,458,12977,0.00,2.40,0.00,0.000,6,0.000,0.039,3144,2033,2327,0,0,0,0,0,0
$GC,13285,0.71,116.8,876.8,14.9,466,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2034,2325,0,0,0,0,0,0
$GC,13610,0.71,116.8,830.6,13.9,474,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2032,2323,0,0,0,0,0,0
$GC,13935,0.71,116.8,788.1,13.0,482,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2032,2322,0,0,0,0,0,0
$GC,14260,0.71,116.8,745.8,13.1,490,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2032,2321,0,0,0,0,0,0
$GC,14585,0.71,116.8,701.6,13.7,498,14589,0.00,2.40,0.00,0.000,4,0.000,0.051,3144,3618,2320,0,0,0,0,0,0
$GC,14672,0.71,116.8,688.1,15.4,500,14678,0.10,2.38,0.00,0.000,6,0.160,0.039,3125,2026,2319,0,0,0,0,0,0
$GC,14996,0.71,116.8,646.8,12.7,508,15000,0.00,2.38,0.00,0.000,4,0.000,0.054,3132,452,2318,0,0,0,0,0,0
$GC,15112,0.71,116.8,630.5,13.9,510,15117,0.00,2.35,0.00,0.000,6,0.000,0.038,3135,2034,2318,0,0,0,0,0,0
$GC,15455,0.71,116.8,586.9,12.6,519,15456,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2034,2318,0,0,0,0,0,0
$GC,15780,0.71,116.8,548.2,11.3,527,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2035,2318,0,0,0,0,0,0
$GC,16105,0.71,116.8,512.2,11.2,535,16109,0.00,2.38,0.00,0.000,4,0.000,0.049,3135,3625,2318,0,0,0,0,0,0
$GC,16147,0.71,116.8,507.0,11.8,536,16152,0.00,2.38,0.00,0.000,6,0.000,0.039,3147,2030,2315,0,0,0,0,0,0
$GC,16471,0.71,116.8,470.7,11.0,544,16476,0.00,2.38,0.00,0.000,4,0.000,0.053,3159,450,2317,0,0,0,0,0,0
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$STATE,21475,end climb,SURFACE_DEPTH_REACHED
$STATE,21475,begin surface coast
$FINISH,0.8,1.010717
$STATE,21510,end surface coast,CONTROL_FINISHED_OK
$STATE,21510,begin surface
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$HUMID,1078387732
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$TCM_TEMP,24.30
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$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8444510208
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55678140416
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,6.579
$10V_AH,9.8,8.761
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.367,0.000,0.000
$MEM,335008
$DATA_FILE_SIZE,30023,873
$CAP_FILE_SIZE,173326,0
$CFSIZE,260165632,253628416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260610,224100,2035.793,-15834.602,37,1.0,42,9.7