version: 66.07
glider: 500
mission: 4
dive: 67
start: 6 29 110 2 2 34
data:
$ID,500
$MISSION,4
$DIVE,67
$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,-110763.75
$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,50
$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,66
$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
$GPS1,290610,015207,2034.613,-15900.980,24,1.5,24,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.8
$GPS2,290610,020138,2034.673,-15901.192,10,1.7,10,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,-0.205
$KALMAN_X,-90100.2,96.3,32.3,-21997.8,-3318.3
$KALMAN_Y,123755.8,-408.5,-341.8,-190696.5,5030.3
$MHEAD_RNG_PITCHd_Wd,193.4,50001,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,72,0.00,0.00,-45.88,0.000,2,0.000,0.000,136,2045,2542,0,0,0,0,0,0
$GC,75,-0.71,-116.8,3.1,-5.2,9,111,10.12,2.40,-18.90,0.000,4,0.235,0.058,2654,442,3300,0,0,0,0,0,0
$GC,251,-0.71,-116.8,33.6,-21.1,40,255,0.00,2.33,0.00,0.000,6,0.000,0.034,2644,2043,3301,0,0,0,0,0,0
$GC,518,-0.71,-116.8,86.3,-16.8,65,522,0.00,2.35,0.00,0.000,4,0.000,0.044,2632,3612,3303,0,0,0,0,0,0
$GC,568,-0.71,-116.8,93.4,-13.3,69,572,0.00,2.25,0.00,0.000,6,0.000,0.031,2632,2027,3302,0,0,0,0,0,0
$GC,833,-0.71,-116.8,130.3,-13.5,94,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2024,3305,0,0,0,0,0,0
$GC,1089,-0.71,-116.8,161.2,-12.4,118,1093,0.00,2.28,0.00,0.000,4,0.000,0.044,2632,451,3306,0,0,0,0,0,0
$GC,1166,-0.71,-116.8,171.3,-12.6,125,1171,0.12,2.25,0.00,0.000,6,0.153,0.032,2655,2035,3305,0,0,0,0,0,0
$GC,1432,-0.71,-116.8,198.7,-9.7,150,1436,0.00,2.30,0.00,0.000,4,0.000,0.044,2645,3606,3306,0,0,0,0,0,0
$GC,1463,-0.71,-116.8,201.5,-9.1,152,1470,0.00,2.28,0.00,0.000,6,0.000,0.030,2645,2030,3309,0,0,0,0,0,0
$GC,1780,-0.71,-116.8,229.3,-8.6,168,1784,0.00,2.30,0.00,0.000,4,0.000,0.044,2646,450,3306,0,0,0,0,0,0
$GC,1932,-0.71,-116.8,245.6,-10.7,175,1937,0.00,2.22,0.00,0.000,6,0.000,0.033,2634,2034,3306,0,0,0,0,0,0
$GC,2258,-0.71,-116.8,279.2,-10.6,191,2262,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,452,3306,0,0,0,0,0,0
$GC,2289,-0.71,-116.8,283.1,-12.7,192,2295,0.10,2.25,0.00,0.000,6,0.117,0.033,2660,2021,3305,0,0,0,0,0,0
$GC,2628,-0.71,-116.8,315.8,-9.2,205,2632,0.00,2.38,0.00,0.000,4,0.000,0.045,2649,3625,3307,0,0,0,0,0,0
$GC,2672,-0.71,-116.8,319.5,-8.4,206,2676,0.00,2.30,0.00,0.000,6,0.000,0.031,2649,2029,3305,0,0,0,0,0,0
$GC,2996,-0.71,-116.8,345.2,-7.9,214,3000,0.00,2.30,0.00,0.000,4,0.000,0.046,2654,454,3303,0,0,0,0,0,0
$GC,3061,-0.71,-116.8,351.0,-9.1,215,3066,0.00,2.28,0.00,0.000,6,0.000,0.034,2638,2035,3303,0,0,0,0,0,0
$GC,3403,-0.71,-116.8,379.7,-8.7,224,3407,0.00,2.33,0.00,0.000,4,0.000,0.047,2638,457,3300,0,0,0,0,0,0
$GC,3526,-0.71,-116.8,392.4,-10.3,226,3533,0.08,2.28,0.00,0.000,6,0.121,0.035,2656,2037,3298,0,0,0,0,0,0
$GC,3857,-0.71,-116.8,420.1,-8.0,235,3861,0.00,2.33,0.00,0.000,4,0.000,0.047,2656,454,3296,0,0,0,0,0,0
$GC,3896,-0.71,-116.8,423.3,-8.0,236,3901,0.00,2.25,0.00,0.000,6,0.000,0.035,2646,2045,3296,0,0,0,0,0,0
$GC,4220,-0.71,-116.8,445.3,-6.2,244,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2045,3294,0,0,0,0,0,0
$GC,4545,-0.71,-116.8,464.4,-6.0,252,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2045,3291,0,0,0,0,0,0
$GC,4869,-0.71,-116.8,486.1,-6.6,260,4874,0.00,2.33,0.00,0.000,4,0.000,0.048,2634,3602,3288,0,0,0,0,0,0
$GC,5004,-0.71,-116.8,495.7,-6.8,263,5008,0.00,2.28,0.00,0.000,6,0.000,0.034,2634,2027,3288,0,0,0,0,0,0
$GC,5321,-0.71,-116.8,518.6,-7.3,271,5325,0.00,2.30,0.00,0.000,4,0.000,0.048,2634,451,3283,0,0,0,0,0,0
$GC,5420,-0.71,-116.8,527.1,-8.5,273,5425,0.10,2.28,0.00,0.000,6,0.118,0.035,2677,2021,3288,0,0,0,0,0,0
$GC,5732,-0.71,-116.8,544.9,-5.4,281,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2022,3283,0,0,0,0,0,0
$GC,6057,-0.71,-116.8,561.1,-4.9,289,6061,0.00,2.33,0.00,0.000,4,0.000,0.049,2677,452,3281,0,0,0,0,0,0
$GC,6112,-0.71,-116.8,564.2,-5.8,290,6116,0.00,2.25,0.00,0.000,6,0.000,0.036,2667,2030,3280,0,0,0,0,0,0
$GC,6430,-0.71,-116.8,582.0,-5.8,298,6435,0.00,2.33,0.00,0.000,4,0.000,0.048,2655,3611,3279,0,0,0,0,0,0
$GC,6459,-0.71,-116.8,583.8,-6.4,298,6463,0.00,2.28,0.00,0.000,6,0.000,0.035,2655,2021,3278,0,0,0,0,0,0
$GC,6789,-0.71,-116.8,607.1,-7.1,306,6793,0.00,2.30,0.00,0.000,4,0.000,0.049,2655,457,3277,0,0,0,0,0,0
$GC,6878,-0.71,-116.8,614.4,-7.8,308,6882,0.00,2.25,0.00,0.000,6,0.000,0.037,2644,2035,3276,0,0,0,0,0,0
$GC,7201,-0.71,-116.8,638.3,-7.3,316,7205,0.00,2.35,0.00,0.000,4,0.000,0.048,2644,447,3275,0,0,0,0,0,0
$GC,7238,-0.71,-116.8,641.4,-8.4,316,7245,0.00,2.30,0.00,0.000,6,0.000,0.036,2632,2026,3274,0,0,0,0,0,0
$GC,7569,-0.71,-116.8,667.4,-7.7,325,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2031,3272,0,0,0,0,0,0
$GC,7895,-0.71,-116.8,691.4,-7.2,333,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2027,3273,0,0,0,0,0,0
$GC,8219,-0.71,-116.8,714.9,-7.1,341,8223,0.00,2.33,0.00,0.000,4,0.000,0.051,2632,451,3271,0,0,0,0,0,0
$GC,8274,-0.71,-116.8,719.3,-7.8,342,8279,0.10,2.33,0.00,0.000,6,0.120,0.037,2658,2041,3271,0,0,0,0,0,0
$GC,8586,-0.71,-116.8,736.4,-5.2,350,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2041,3270,0,0,0,0,0,0
$GC,8911,-0.71,-116.8,752.0,-4.8,358,8915,0.00,2.35,0.00,0.000,4,0.000,0.050,2658,450,3269,0,0,0,0,0,0
$GC,8988,-0.71,-116.8,756.3,-5.1,359,8995,0.00,2.30,0.00,0.000,6,0.000,0.037,2648,2021,3269,0,0,0,0,0,0
$GC,9320,-0.71,-116.8,772.5,-4.8,368,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2021,3268,0,0,0,0,0,0
$GC,9644,-0.71,-116.8,788.0,-4.9,376,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2021,3267,0,0,0,0,0,0
$GC,9969,-0.71,-116.8,806.1,-5.9,384,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2021,3267,0,0,0,0,0,0
$GC,10295,-0.71,-116.8,825.5,-5.9,392,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2021,3266,0,0,0,0,0,0
$GC,10619,-0.71,-116.8,842.2,-4.8,400,10623,0.00,2.33,0.00,0.000,4,0.000,0.051,2648,455,3265,0,0,0,0,0,0
$GC,10719,-0.71,-116.8,847.5,-4.9,402,10723,0.00,2.33,0.00,0.000,6,0.000,0.038,2637,2037,3265,0,0,0,0,0,0
$GC,11032,-0.71,-116.8,861.2,-4.3,410,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2037,3265,0,0,0,0,0,0
$GC,11357,-0.71,-116.8,875.3,-4.5,418,11361,0.00,2.38,0.00,0.000,4,0.000,0.051,2637,451,3265,0,0,0,0,0,0
$GC,11394,-0.71,-116.8,877.1,-5.2,418,11401,0.08,2.33,0.00,0.000,6,0.125,0.038,2653,2033,3267,0,0,0,0,0,0
$GC,11725,-0.71,-116.8,890.1,-3.9,427,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2033,3263,0,0,0,0,0,0
$GC,12050,-0.71,-116.8,905.7,-5.1,435,12054,0.00,2.35,0.00,0.000,4,0.000,0.051,2654,451,3263,0,0,0,0,0,0
$GC,12082,-0.71,-116.8,907.7,-6.6,435,12088,0.00,2.33,0.00,0.000,6,0.000,0.038,2644,2036,3263,0,0,0,0,0,0
$GC,12413,-0.71,-116.8,928.1,-6.2,444,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2036,3262,0,0,0,0,0,0
$GC,12738,-0.71,-116.8,948.2,-6.2,452,12742,0.00,2.35,0.00,0.000,4,0.000,0.051,2644,457,3262,0,0,0,0,0,0
$GC,12780,-0.71,-116.8,951.2,-6.8,453,12785,0.00,2.33,0.00,0.000,6,0.000,0.038,2633,2032,3264,0,0,0,0,0,0
$GC,13105,-0.71,-116.8,971.1,-6.0,461,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2032,3261,0,0,0,0,0,0
$GC,13430,-0.71,-116.8,989.6,-5.8,469,13434,0.00,2.38,0.00,0.000,4,0.000,0.052,2633,454,3263,0,0,0,0,0,0
$STATE,13437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13437,begin apogee
$GC,13444,-0.23,0.0,990.1,5.7,469,13541,0.55,0.00,93.75,1.305,6,0.121,0.000,2807,2044,2823,0,0,0,0,0,0
$STATE,13543,end apogee,CONTROL_FINISHED_OK
$STATE,13543,begin climb
$GC,13545,0.71,116.8,991.3,0.0,471,13668,0.85,2.62,110.82,1.265,4,0.071,0.050,3116,3597,2344,0,0,0,0,0,0
$GC,13695,0.71,116.8,978.9,14.0,474,13699,0.00,2.50,0.00,0.000,6,0.000,0.039,3128,2048,2338,0,0,0,0,0,0
$GC,14037,0.71,116.8,931.6,13.6,483,14041,0.00,2.47,0.00,0.000,4,0.000,0.053,3139,443,2327,0,0,0,0,0,0
$GC,14113,0.71,116.8,920.5,13.5,484,14120,0.00,2.40,0.00,0.000,6,0.000,0.038,3139,2022,2327,0,0,0,0,0,0
$GC,14445,0.71,116.8,872.9,14.6,493,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2021,2324,0,0,0,0,0,0
$GC,14769,0.71,116.8,824.6,15.0,501,14774,0.00,2.42,0.00,0.000,4,0.000,0.054,3151,438,2323,0,0,0,0,0,0
$GC,14846,0.71,116.8,812.4,15.8,502,14854,0.10,2.40,0.00,0.000,6,0.147,0.039,3120,2044,2326,0,0,0,0,0,0
$GC,15178,0.71,116.8,766.3,13.8,511,15182,0.00,2.38,0.00,0.000,4,0.000,0.050,3120,3621,2325,0,0,0,0,0,0
$GC,15220,0.71,116.8,760.0,14.5,512,15225,0.00,2.42,0.00,0.000,6,0.000,0.040,3130,2012,2321,0,0,0,0,0,0
$GC,15544,0.71,116.8,715.7,13.5,520,15548,0.00,2.38,0.00,0.000,4,0.000,0.053,3142,448,2321,0,0,0,0,0,0
$GC,15628,0.71,116.8,704.2,14.4,522,15632,0.00,2.30,0.00,0.000,6,0.000,0.038,3142,2030,2321,0,0,0,0,0,0
$GC,15951,0.71,116.8,662.5,12.8,530,15955,0.00,2.38,0.00,0.000,4,0.000,0.052,3154,451,2318,0,0,0,0,0,0
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$STATE,22625,end climb,SURFACE_DEPTH_REACHED
$STATE,22625,begin surface coast
$FINISH,0.8,1.022428
$STATE,22661,end surface coast,CONTROL_FINISHED_OK
$STATE,22662,begin surface
$SM_CCo,22678,70.78,0.466,1,0,1292,375.06
$SM_GC,1.47,0.00,0.00,70.78,0.000,0.000,0.466,139,2035,1292,-8.60,0.11,375.06
$IRIDIUM_FIX,2027.17,-15858.08,221211,131302
$TT8_MAMPS,0.148031
$HUMID,1078399345
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$TCM_TEMP,24.10
$XPDR_PINGS,15
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$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8435761152
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54981066752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,7.760
$10V_AH,9.8,10.120
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.425,187.050,315.000,70.775,0.000,29.732,26.399,356.707,6.000,0.000,12.759,1783.167,18212.557,535.956,2621.007,178.813,33.372,1717.118,0.000,2104.102,0.000,16.308,0.000
$DEVICE_MAMPS,235.469,57.525,1305.434,465.569,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,616.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334896
$DATA_FILE_SIZE,33379,900
$CAP_FILE_SIZE,184853,0
$CFSIZE,260165632,252530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290610,082307,2034.192,-15904.420,25,1.0,25,9.7