version: 66.07
glider: 500
mission: 4
dive: 62
start: 6 27 110 17 53 16
data:
$ID,500
$MISSION,4
$DIVE,62
$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,-110693.8
$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,61
$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
$GPS1,270610,174306,2034.712,-15842.764,31,1.3,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.9
$GPS2,270610,175220,2034.865,-15842.822,10,1.2,10,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.177
$KALMAN_X,-76730.9,249.9,-79.2,-3689.5,-2301.7
$KALMAN_Y,106457.6,-38.7,-195.5,-173551.8,4251.9
$MHEAD_RNG_PITCHd_Wd,207.8,81814,-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,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.83,0.000,2,0.000,0.000,132,2045,2544,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.9,9,112,10.12,2.40,-19.08,0.000,4,0.235,0.058,2652,449,3300,0,0,0,0,0,0
$GC,336,-0.71,-116.8,51.4,-20.1,47,342,0.00,2.33,0.00,0.000,6,0.000,0.035,2643,2034,3302,0,0,0,0,0,0
$GC,597,-0.71,-116.8,94.8,-14.0,72,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2035,3303,0,0,0,0,0,0
$GC,851,-0.71,-116.8,128.3,-12.7,96,855,0.00,2.30,0.00,0.000,4,0.000,0.044,2643,447,3304,0,0,0,0,0,0
$GC,909,-0.71,-116.8,134.7,-11.6,101,913,0.00,2.28,0.00,0.000,6,0.000,0.034,2631,2035,3303,0,0,0,0,0,0
$GC,1169,-0.71,-116.8,168.1,-14.6,125,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2035,3306,0,0,0,0,0,0
$GC,1423,-0.71,-116.8,198.2,-10.6,149,1427,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,443,3306,0,0,0,0,0,0
$GC,1455,-0.71,-116.8,201.9,-11.7,151,1463,0.10,2.28,0.00,0.000,6,0.127,0.034,2655,2021,3306,0,0,0,0,0,0
$GC,1771,-0.71,-116.8,232.3,-10.2,167,1775,0.00,2.35,0.00,0.000,4,0.000,0.044,2645,3622,3306,0,0,0,0,0,0
$GC,1791,-0.71,-116.8,234.4,-9.7,168,1796,0.00,2.30,0.00,0.000,6,0.000,0.031,2645,2022,3305,0,0,0,0,0,0
$GC,2118,-0.71,-116.8,266.9,-9.6,184,2122,0.00,2.25,0.00,0.000,4,0.000,0.044,2650,454,3305,0,0,0,0,0,0
$GC,2149,-0.71,-116.8,270.1,-9.9,185,2156,0.00,2.28,0.00,0.000,6,0.000,0.033,2633,2045,3306,0,0,0,0,0,0
$GC,2465,-0.71,-116.8,301.5,-10.0,201,2468,0.00,2.28,0.00,0.000,4,0.000,0.045,2621,3606,3306,0,0,0,0,0,0
$GC,2497,-0.71,-116.8,304.6,-9.6,201,2502,0.10,2.28,0.00,0.000,6,0.108,0.031,2660,2026,3306,0,0,0,0,0,0
$GC,2833,-0.71,-116.8,328.7,-6.8,210,2837,0.00,2.30,0.00,0.000,4,0.000,0.046,2661,459,3305,0,0,0,0,0,0
$GC,2973,-0.71,-116.8,338.5,-7.7,213,2977,0.00,2.25,0.00,0.000,6,0.000,0.034,2650,2023,3302,0,0,0,0,0,0
$GC,3291,-0.71,-116.8,361.5,-7.4,221,3295,0.00,2.35,0.00,0.000,4,0.000,0.046,2638,3614,3304,0,0,0,0,0,0
$GC,3374,-0.71,-116.8,367.9,-7.2,223,3378,0.00,2.25,0.00,0.000,6,0.000,0.032,2639,2024,3299,0,0,0,0,0,0
$GC,3698,-0.71,-116.8,391.7,-7.5,231,3702,0.00,2.30,0.00,0.000,4,0.000,0.047,2638,454,3296,0,0,0,0,0,0
$GC,3865,-0.71,-116.8,405.3,-8.1,234,3870,0.12,2.28,0.00,0.000,6,0.150,0.035,2664,2050,3297,0,0,0,0,0,0
$GC,4196,-0.71,-116.8,425.9,-6.2,242,4199,0.00,2.33,0.00,0.000,4,0.000,0.046,2664,451,3295,0,0,0,0,0,0
$GC,4246,-0.71,-116.8,429.7,-8.2,243,4250,0.00,2.25,0.00,0.000,6,0.000,0.035,2654,2042,3295,0,0,0,0,0,0
$GC,4563,-0.71,-116.8,455.5,-8.6,251,4567,0.00,2.33,0.00,0.000,4,0.000,0.047,2642,3606,3292,0,0,0,0,0,0
$GC,4605,-0.71,-116.8,459.5,-9.0,252,4610,0.00,2.30,0.00,0.000,6,0.000,0.033,2642,2024,3295,0,0,0,0,0,0
$GC,4930,-0.71,-116.8,486.4,-8.2,260,4934,0.00,2.35,0.00,0.000,4,0.000,0.047,2631,3611,3289,0,0,0,0,0,0
$GC,5019,-0.71,-116.8,493.7,-7.9,262,5024,0.08,2.30,0.00,0.000,6,0.110,0.034,2661,2030,3288,0,0,0,0,0,0
$GC,5343,-0.71,-116.8,514.7,-6.5,270,5347,0.00,2.30,0.00,0.000,4,0.000,0.048,2662,452,3286,0,0,0,0,0,0
$GC,5419,-0.71,-116.8,520.5,-8.1,271,5426,0.00,2.28,0.00,0.000,6,0.000,0.035,2652,2019,3285,0,0,0,0,0,0
$GC,5751,-0.71,-116.8,544.5,-7.3,280,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2019,3283,0,0,0,0,0,0
$GC,6076,-0.71,-116.8,567.1,-7.0,288,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2019,3282,0,0,0,0,0,0
$GC,6401,-0.71,-116.8,588.6,-6.6,296,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2019,3279,0,0,0,0,0,0
$GC,6725,-0.71,-116.8,611.5,-7.3,304,6729,0.00,2.35,0.00,0.000,4,0.000,0.049,2639,3612,3277,0,0,0,0,0,0
$GC,6758,-0.71,-116.8,614.1,-8.5,304,6762,0.00,2.30,0.00,0.000,6,0.000,0.035,2644,2039,3278,0,0,0,0,0,0
$GC,7094,-0.71,-116.8,640.7,-7.8,313,7098,0.00,2.33,0.00,0.000,4,0.000,0.050,2640,453,3276,0,0,0,0,0,0
$GC,7199,-0.71,-116.8,649.6,-8.5,315,7205,0.08,2.30,0.00,0.000,6,0.123,0.036,2657,2033,3276,0,0,0,0,0,0
$GC,7548,-0.71,-116.8,672.4,-6.5,324,7552,0.00,2.33,0.00,0.000,4,0.000,0.048,2645,3606,3274,0,0,0,0,0,0
$GC,7592,-0.71,-116.8,675.3,-6.7,325,7596,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2028,3274,0,0,0,0,0,0
$GC,7921,-0.71,-116.8,695.4,-5.8,333,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3273,0,0,0,0,0,0
$GC,8245,-0.71,-116.8,714.5,-5.9,341,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2027,3272,0,0,0,0,0,0
$GC,8570,-0.71,-116.8,732.7,-5.5,349,8574,0.00,2.33,0.00,0.000,4,0.000,0.051,2646,448,3271,0,0,0,0,0,0
$GC,8613,-0.71,-116.8,735.4,-6.2,350,8618,0.00,2.30,0.00,0.000,6,0.000,0.037,2635,2018,3270,0,0,0,0,0,0
$GC,8938,-0.71,-116.8,754.9,-6.1,358,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2018,3269,0,0,0,0,0,0
$GC,9263,-0.71,-116.8,774.2,-5.9,366,9267,0.00,2.40,0.00,0.000,4,0.000,0.050,2623,3625,3269,0,0,0,0,0,0
$GC,9294,-0.71,-116.8,776.2,-6.3,366,9301,0.10,2.35,0.00,0.000,6,0.108,0.036,2662,2025,3271,0,0,0,0,0,0
$GC,9626,-0.71,-116.8,792.7,-4.9,375,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2025,3266,0,0,0,0,0,0
$GC,9950,-0.71,-116.8,808.5,-4.8,383,9954,0.00,2.35,0.00,0.000,4,0.000,0.051,2662,446,3268,0,0,0,0,0,0
$GC,9995,-0.71,-116.8,811.2,-6.1,384,9999,0.00,2.30,0.00,0.000,6,0.000,0.038,2652,2041,3267,0,0,0,0,0,0
$GC,10323,-0.71,-116.8,828.7,-5.3,392,10327,0.00,2.35,0.00,0.000,4,0.000,0.051,2657,454,3267,0,0,0,0,0,0
$GC,10350,-0.71,-116.8,830.3,-6.5,392,10354,0.00,2.30,0.00,0.000,6,0.000,0.038,2641,2031,3267,0,0,0,0,0,0
$GC,10687,-0.71,-116.8,848.7,-5.4,401,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2031,3266,0,0,0,0,0,0
$GC,11011,-0.71,-116.8,866.9,-5.5,409,11016,0.00,2.38,0.00,0.000,4,0.000,0.051,2641,459,3266,0,0,0,0,0,0
$GC,11060,-0.71,-116.8,870.0,-6.6,410,11065,0.00,2.30,0.00,0.000,6,0.000,0.038,2630,2030,3265,0,0,0,0,0,0
$GC,11379,-0.71,-116.8,888.9,-5.9,418,11384,0.10,2.38,0.00,0.000,4,0.161,0.051,2660,446,3266,0,0,0,0,0,0
$GC,11428,-0.71,-116.8,892.0,-5.5,419,11433,0.00,2.33,0.00,0.000,6,0.000,0.037,2653,2028,3265,0,0,0,0,0,0
$GC,11747,-0.71,-116.8,910.1,-5.7,427,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2028,3265,0,0,0,0,0,0
$GC,12072,-0.71,-116.8,928.2,-5.4,435,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2029,3264,0,0,0,0,0,0
$GC,12397,-0.71,-116.8,943.6,-4.6,443,12401,0.00,2.35,0.00,0.000,4,0.000,0.051,2650,448,3264,0,0,0,0,0,0
$GC,12429,-0.71,-116.8,945.3,-4.9,443,12435,0.00,2.33,0.00,0.000,6,0.000,0.038,2639,2031,3264,0,0,0,0,0,0
$GC,12760,-0.71,-116.8,960.0,-4.5,452,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2031,3263,0,0,0,0,0,0
$GC,13085,-0.71,-116.8,973.9,-4.3,460,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2031,3261,0,0,0,0,0,0
$GC,13410,-0.71,-116.8,988.4,-4.5,468,13414,0.00,2.38,0.00,0.000,4,0.000,0.051,2627,3612,3261,0,0,0,0,0,0
$STATE,13446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13447,begin apogee
$GC,13453,-0.23,0.0,990.2,4.5,469,13550,0.55,0.00,94.25,1.302,6,0.116,0.000,2810,2028,2822,0,0,0,0,0,0
$STATE,13553,end apogee,CONTROL_FINISHED_OK
$STATE,13553,begin climb
$GC,13554,0.71,116.8,990.5,0.0,471,13669,0.88,0.00,111.20,1.260,6,0.069,0.000,3122,2028,2345,0,0,0,0,0,0
$GC,13973,0.71,116.8,938.7,14.1,482,13977,0.00,2.45,0.00,0.000,4,0.000,0.050,3121,3612,2328,0,0,0,0,0,0
$GC,13999,0.71,116.8,934.6,14.0,482,14003,0.00,2.42,0.00,0.000,6,0.000,0.039,3133,2031,2328,0,0,0,0,0,0
$GC,14335,0.71,116.8,887.5,14.1,491,14340,0.00,2.42,0.00,0.000,4,0.000,0.053,3142,450,2325,0,0,0,0,0,0
$GC,14367,0.71,116.8,882.6,14.3,491,14374,0.00,2.38,0.00,0.000,6,0.000,0.038,3145,2030,2324,0,0,0,0,0,0
$GC,14699,0.71,116.8,836.8,13.7,500,14703,0.00,2.40,0.00,0.000,4,0.000,0.052,3153,458,2323,0,0,0,0,0,0
$GC,14803,0.71,116.8,822.1,13.2,502,14808,0.10,2.35,0.00,0.000,6,0.144,0.038,3125,2032,2324,0,0,0,0,0,0
$GC,15151,0.71,116.8,782.0,11.3,511,15155,0.00,2.38,0.00,0.000,4,0.000,0.049,3125,3614,2321,0,0,0,0,0,0
$GC,15194,0.71,116.8,776.6,13.0,512,15199,0.00,2.38,0.00,0.000,6,0.000,0.038,3135,2024,2323,0,0,0,0,0,0
$GC,15518,0.71,116.8,737.5,12.4,520,15523,0.00,2.38,0.00,0.000,4,0.000,0.052,3147,454,2319,0,0,0,0,0,0
$GC,15612,0.71,116.8,724.6,13.6,522,15617,0.00,2.35,0.00,0.000,6,0.000,0.038,3147,2035,2320,0,0,0,0,0,0
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$STATE,22458,end climb,SURFACE_DEPTH_REACHED
$STATE,22458,begin surface coast
$FINISH,0.7,1.004864
$STATE,22498,end surface coast,CONTROL_FINISHED_OK
$STATE,22498,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,7.084
$10V_AH,9.9,9.061
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334984
$DATA_FILE_SIZE,30012,878
$CAP_FILE_SIZE,185304,0
$CFSIZE,260165632,253177856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280610,001131,2033.895,-15845.583,41,1.2,41,9.7