version: 66.07
glider: 500
mission: 4
dive: 59
start: 6 26 110 22 51 3
data:
$ID,500
$MISSION,4
$DIVE,59
$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,-110656.14
$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,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,58
$AR_SAMPLENUM,10
$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
$GPS1,260610,224100,2035.793,-15834.602,37,1.0,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.9
$GPS2,260610,225008,2035.903,-15834.693,20,1.2,20,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.133,-0.178
$KALMAN_X,-70429.5,-4.4,-146.2,4370.6,-1851.8
$KALMAN_Y,95099.1,-131.9,24.6,-160397.0,4154.6
$MHEAD_RNG_PITCHd_Wd,207.1,95879,-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,-51.72,0.000,2,0.000,0.000,142,2027,2713,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-6.2,10,112,10.15,2.38,-13.40,0.000,4,0.239,0.058,2659,459,3300,0,0,0,0,0,0
$GC,308,-0.71,-116.8,46.5,-17.2,43,314,0.00,2.30,0.00,0.000,6,0.000,0.034,2649,2038,3302,0,0,0,0,0,0
$GC,569,-0.71,-116.8,86.6,-13.3,68,573,0.00,2.30,0.00,0.000,4,0.000,0.043,2649,451,3303,0,0,0,0,0,0
$GC,635,-0.71,-116.8,95.9,-14.0,73,640,0.00,2.28,0.00,0.000,6,0.000,0.033,2637,2038,3305,0,0,0,0,0,0
$GC,894,-0.71,-116.8,128.2,-12.3,98,899,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,444,3304,0,0,0,0,0,0
$GC,944,-0.71,-116.8,134.5,-12.3,102,949,0.12,2.28,0.00,0.000,6,0.157,0.034,2661,2039,3304,0,0,0,0,0,0
$GC,1204,-0.71,-116.8,163.6,-11.6,126,1208,0.00,2.30,0.00,0.000,4,0.000,0.044,2667,444,3305,0,0,0,0,0,0
$GC,1249,-0.71,-116.8,168.9,-11.8,130,1253,0.00,2.28,0.00,0.000,6,0.000,0.034,2656,2050,3305,0,0,0,0,0,0
$GC,1514,-0.71,-116.8,198.0,-10.7,155,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2050,3305,0,0,0,0,0,0
$GC,1762,-0.71,-116.8,226.0,-11.5,168,1766,0.00,2.33,0.00,0.000,4,0.000,0.044,2652,446,3307,0,0,0,0,0,0
$GC,1794,-0.71,-116.8,229.9,-11.8,169,1800,0.00,2.28,0.00,0.000,6,0.000,0.033,2640,2034,3306,0,0,0,0,0,0
$GC,2109,-0.71,-116.8,259.2,-8.6,185,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2035,3305,0,0,0,0,0,0
$GC,2419,-0.71,-116.8,289.8,-9.9,200,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2035,3305,0,0,0,0,0,0
$GC,2725,-0.71,-116.8,318.4,-8.7,210,2729,0.00,2.28,0.00,0.000,4,0.000,0.044,2640,449,3303,0,0,0,0,0,0
$GC,2768,-0.71,-116.8,322.5,-9.6,211,2774,0.08,2.28,0.00,0.000,6,0.127,0.033,2656,2035,3304,0,0,0,0,0,0
$GC,3092,-0.71,-116.8,349.7,-8.6,219,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3300,0,0,0,0,0,0
$GC,3418,-0.71,-116.8,373.6,-6.8,227,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2034,3301,0,0,0,0,0,0
$GC,3743,-0.71,-116.8,396.7,-7.3,235,3747,0.00,2.28,0.00,0.000,4,0.000,0.046,2657,457,3297,0,0,0,0,0,0
$GC,3865,-0.71,-116.8,406.9,-7.6,237,3871,0.00,2.25,0.00,0.000,6,0.000,0.035,2647,2021,3296,0,0,0,0,0,0
$GC,4195,-0.71,-116.8,431.7,-7.3,246,4199,0.00,2.35,0.00,0.000,4,0.000,0.047,2635,3609,3294,0,0,0,0,0,0
$GC,4233,-0.71,-116.8,434.6,-7.7,246,4240,0.00,2.28,0.00,0.000,6,0.000,0.033,2635,2036,3293,0,0,0,0,0,0
$GC,4564,-0.71,-116.8,458.4,-7.1,255,4568,0.00,2.30,0.00,0.000,4,0.000,0.047,2635,448,3291,0,0,0,0,0,0
$GC,4675,-0.71,-116.8,467.7,-9.0,257,4680,0.10,2.28,0.00,0.000,6,0.117,0.035,2661,2027,3290,0,0,0,0,0,0
$GC,5017,-0.71,-116.8,490.2,-6.6,266,5021,0.00,2.30,0.00,0.000,4,0.000,0.048,2661,445,3286,0,0,0,0,0,0
$GC,5043,-0.71,-116.8,492.2,-7.5,266,5047,0.00,2.30,0.00,0.000,6,0.000,0.035,2651,2037,3288,0,0,0,0,0,0
$GC,5380,-0.71,-116.8,516.2,-7.2,275,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2037,3285,0,0,0,0,0,0
$GC,5704,-0.71,-116.8,541.8,-8.0,283,5708,0.00,2.30,0.00,0.000,4,0.000,0.048,2639,3605,3283,0,0,0,0,0,0
$GC,5776,-0.71,-116.8,547.7,-7.7,284,5781,0.00,2.30,0.00,0.000,6,0.000,0.035,2636,2027,3282,0,0,0,0,0,0
$GC,6119,-0.71,-116.8,571.9,-6.6,293,6123,0.00,2.30,0.00,0.000,4,0.000,0.048,2639,449,3279,0,0,0,0,0,0
$GC,6151,-0.71,-116.8,574.2,-7.3,293,6158,0.08,2.28,0.00,0.000,6,0.122,0.036,2656,2022,3280,0,0,0,0,0,0
$GC,6482,-0.71,-116.8,593.4,-5.8,302,6486,0.00,2.35,0.00,0.000,4,0.000,0.048,2646,3613,3278,0,0,0,0,0,0
$GC,6547,-0.71,-116.8,597.8,-6.8,303,6551,0.00,2.30,0.00,0.000,6,0.000,0.035,2651,2032,3281,0,0,0,0,0,0
$GC,6889,-0.71,-116.8,620.6,-6.5,312,6893,0.00,2.33,0.00,0.000,4,0.000,0.050,2646,453,3276,0,0,0,0,0,0
$GC,7029,-0.71,-116.8,631.5,-8.2,315,7033,0.00,2.25,0.00,0.000,6,0.000,0.037,2634,2038,3277,0,0,0,0,0,0
$GC,7347,-0.71,-116.8,657.7,-8.5,323,7351,0.00,2.33,0.00,0.000,4,0.000,0.048,2634,455,3274,0,0,0,0,0,0
$GC,7378,-0.71,-116.8,660.8,-10.0,323,7385,0.10,2.30,0.00,0.000,6,0.118,0.036,2660,2032,3272,0,0,0,0,0,0
$GC,7710,-0.71,-116.8,686.0,-7.5,332,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2032,3273,0,0,0,0,0,0
$GC,8034,-0.71,-116.8,707.1,-6.0,340,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2032,3272,0,0,0,0,0,0
$GC,8359,-0.71,-116.8,723.2,-4.8,348,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2032,3270,0,0,0,0,0,0
$GC,8685,-0.71,-116.8,740.4,-5.4,356,8689,0.00,2.35,0.00,0.000,4,0.000,0.050,2651,3607,3269,0,0,0,0,0,0
$GC,8717,-0.71,-116.8,742.3,-5.9,356,8723,0.00,2.33,0.00,0.000,6,0.000,0.035,2649,2024,3268,0,0,0,0,0,0
$GC,9048,-0.71,-116.8,761.6,-5.7,365,9052,0.00,2.33,0.00,0.000,4,0.000,0.051,2650,456,3268,0,0,0,0,0,0
$GC,9130,-0.71,-116.8,767.1,-6.9,366,9137,0.00,2.30,0.00,0.000,6,0.000,0.038,2638,2030,3267,0,0,0,0,0,0
$GC,9461,-0.71,-116.8,785.2,-5.3,375,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2030,3267,0,0,0,0,0,0
$GC,9786,-0.71,-116.8,800.7,-4.6,383,9790,0.00,2.33,0.00,0.000,4,0.000,0.050,2639,454,3266,0,0,0,0,0,0
$GC,9812,-0.71,-116.8,802.1,-5.8,383,9817,0.08,2.30,0.00,0.000,6,0.123,0.037,2657,2027,3266,0,0,0,0,0,0
$GC,10148,-0.71,-116.8,816.7,-4.4,392,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2027,3266,0,0,0,0,0,0
$GC,10473,-0.71,-116.8,832.6,-5.1,400,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2027,3267,0,0,0,0,0,0
$GC,10798,-0.71,-116.8,850.3,-5.6,408,10802,0.00,2.35,0.00,0.000,4,0.000,0.051,2656,450,3263,0,0,0,0,0,0
$GC,10864,-0.71,-116.8,854.6,-6.7,409,10869,0.00,2.33,0.00,0.000,6,0.000,0.038,2646,2036,3263,0,0,0,0,0,0
$GC,11212,-0.71,-116.8,876.6,-6.4,418,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2037,3263,0,0,0,0,0,0
$GC,11537,-0.71,-116.8,898.6,-6.9,426,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2037,3263,0,0,0,0,0,0
$GC,11862,-0.71,-116.8,920.8,-6.7,434,11866,0.00,2.35,0.00,0.000,4,0.000,0.051,2646,453,3262,0,0,0,0,0,0
$GC,11900,-0.71,-116.8,923.5,-8.1,435,11904,0.00,2.28,0.00,0.000,6,0.000,0.038,2635,2033,3261,0,0,0,0,0,0
$GC,12223,-0.71,-116.8,943.3,-5.8,443,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2034,3262,0,0,0,0,0,0
$GC,12548,-0.71,-116.8,960.3,-5.1,451,12552,0.00,2.35,0.00,0.000,4,0.000,0.051,2635,452,3261,0,0,0,0,0,0
$GC,12613,-0.71,-116.8,964.4,-6.3,452,12618,0.08,2.33,0.00,0.000,6,0.123,0.038,2653,2030,3261,0,0,0,0,0,0
$GC,12955,-0.71,-116.8,981.6,-5.2,461,12959,0.00,2.38,0.00,0.000,4,0.000,0.050,2642,3619,3260,0,0,0,0,0,0
$GC,12986,-0.71,-116.8,983.5,-6.8,461,12991,0.00,2.35,0.00,0.000,6,0.000,0.036,2643,2027,3260,0,0,0,0,0,0
$STATE,13118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13119,begin apogee
$GC,13122,-0.23,0.0,991.7,6.2,465,13219,0.52,0.00,93.70,1.305,6,0.115,0.000,2816,2027,2822,0,0,0,0,0,0
$STATE,13221,end apogee,CONTROL_FINISHED_OK
$STATE,13221,begin climb
$GC,13223,0.71,116.8,993.3,0.0,467,13345,0.82,2.60,109.93,1.266,4,0.067,0.048,3124,3602,2345,0,0,0,0,0,0
$GC,13382,0.71,116.8,980.8,13.7,470,13389,0.00,2.50,0.00,0.000,6,0.000,0.039,3131,2032,2338,0,0,0,0,0,0
$GC,13714,0.71,116.8,937.9,12.7,479,13718,0.00,2.45,0.00,0.000,4,0.000,0.053,3143,444,2328,0,0,0,0,0,0
$GC,13785,0.71,116.8,928.2,13.0,480,13790,0.00,2.40,0.00,0.000,6,0.000,0.038,3143,2028,2328,0,0,0,0,0,0
$GC,14121,0.71,116.8,885.6,12.4,489,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2028,2326,0,0,0,0,0,0
$GC,14446,0.71,116.8,846.9,11.8,497,14450,0.00,2.40,0.00,0.000,4,0.000,0.053,3155,450,2324,0,0,0,0,0,0
$GC,14512,0.71,116.8,838.7,11.8,498,14518,0.10,2.35,0.00,0.000,6,0.145,0.038,3124,2028,2322,0,0,0,0,0,0
$GC,14855,0.71,116.8,798.5,11.8,507,14859,0.00,2.38,0.00,0.000,4,0.000,0.049,3122,3621,2323,0,0,0,0,0,0
$GC,14881,0.71,116.8,794.9,12.4,507,14886,0.00,2.40,0.00,0.000,6,0.000,0.040,3133,2017,2323,0,0,0,0,0,0
$GC,15217,0.71,116.8,750.4,13.3,516,15222,0.00,2.35,0.00,0.000,4,0.000,0.054,3146,448,2322,0,0,0,0,0,0
$GC,15272,0.71,116.8,742.5,14.0,517,15277,0.00,2.35,0.00,0.000,6,0.000,0.038,3146,2029,2322,0,0,0,0,0,0
$GC,15585,0.71,116.8,699.2,13.9,525,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2029,2321,0,0,0,0,0,0
$GC,15910,0.71,116.8,656.2,13.1,533,15914,0.00,2.38,0.00,0.000,4,0.000,0.049,3146,3614,2321,0,0,0,0,0,0
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$STATE,22361,end climb,SURFACE_DEPTH_REACHED
$STATE,22361,begin surface coast
$FINISH,0.7,0.998132
$STATE,22391,end surface coast,CONTROL_FINISHED_OK
$STATE,22391,begin surface
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$TT8_MAMPS,0.254644
$HUMID,1078370958
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$TCM_TEMP,24.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,115.0,9.3
$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8436711424
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55603036160
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,6.708
$10V_AH,9.8,8.837
$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,335000
$DATA_FILE_SIZE,30085,889
$CAP_FILE_SIZE,185407,0
$CFSIZE,260165632,253497344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,5
$GPS,270610,050706,2035.608,-15837.770,32,0.9,32,9.7