version: 66.07
glider: 500
mission: 4
dive: 69
start: 6 29 110 15 1 28
data:
$ID,500
$MISSION,4
$DIVE,69
$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,-110793.33
$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,44
$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,68
$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
$GPS1,290610,144806,2033.869,-15908.657,32,1.1,32,9.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.9
$GPS2,290610,150032,2033.999,-15908.932,12,1.2,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,-0.141
$KALMAN_X,-96766.5,-163.7,-175.6,-28224.8,-2125.1
$KALMAN_Y,129897.2,156.8,-497.8,-198488.8,3903.9
$MHEAD_RNG_PITCHd_Wd,221.0,36711,-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,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-51.50,0.000,2,0.000,0.000,133,2039,2701,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.3,-5.4,10,112,10.15,2.40,-13.75,0.000,4,0.236,0.058,2653,458,3302,0,0,0,0,0,0
$GC,363,-0.71,-116.8,52.5,-16.2,49,370,0.00,2.30,0.00,0.000,6,0.000,0.033,2643,2031,3304,0,0,0,0,0,0
$GC,625,-0.71,-116.8,87.4,-12.4,74,629,0.00,2.33,0.00,0.000,4,0.000,0.044,2643,449,3305,0,0,0,0,0,0
$GC,696,-0.71,-116.8,96.8,-13.5,80,700,0.00,2.28,0.00,0.000,6,0.000,0.034,2632,2043,3306,0,0,0,0,0,0
$GC,962,-0.71,-116.8,132.3,-13.0,105,966,0.00,2.33,0.00,0.000,4,0.000,0.044,2631,448,3305,0,0,0,0,0,0
$GC,1022,-0.71,-116.8,140.8,-13.7,110,1027,0.15,2.28,0.00,0.000,6,0.150,0.034,2664,2039,3309,0,0,0,0,0,0
$GC,1288,-0.71,-116.8,170.1,-10.6,135,1292,0.00,2.30,0.00,0.000,4,0.000,0.044,2658,3611,3308,0,0,0,0,0,0
$GC,1347,-0.71,-116.8,176.4,-11.2,140,1354,0.00,2.28,0.00,0.000,6,0.000,0.030,2653,2033,3308,0,0,0,0,0,0
$GC,1618,-0.71,-116.8,204.4,-10.0,164,1622,0.00,2.30,0.00,0.000,4,0.000,0.045,2656,452,3308,0,0,0,0,0,0
$GC,1814,-0.71,-116.8,225.7,-11.1,173,1818,0.00,2.25,0.00,0.000,6,0.000,0.034,2639,2038,3308,0,0,0,0,0,0
$GC,2145,-0.71,-116.8,258.9,-10.3,189,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3308,0,0,0,0,0,0
$GC,2455,-0.71,-116.8,289.5,-9.8,204,2459,0.00,2.30,0.00,0.000,4,0.000,0.045,2629,3607,3308,0,0,0,0,0,0
$GC,2543,-0.71,-116.8,298.7,-10.4,208,2548,0.08,2.28,0.00,0.000,6,0.110,0.031,2661,2031,3308,0,0,0,0,0,0
$GC,2885,-0.71,-116.8,326.6,-8.2,217,2890,0.00,2.28,0.00,0.000,4,0.000,0.046,2661,453,3305,0,0,0,0,0,0
$GC,2985,-0.71,-116.8,336.5,-9.8,219,2990,0.00,2.28,0.00,0.000,6,0.000,0.034,2651,2034,3307,0,0,0,0,0,0
$GC,3298,-0.71,-116.8,367.1,-9.6,227,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2035,3307,0,0,0,0,0,0
$GC,3623,-0.71,-116.8,392.5,-7.2,235,3627,0.00,2.33,0.00,0.000,4,0.000,0.047,2650,447,3303,0,0,0,0,0,0
$GC,3688,-0.71,-116.8,397.4,-7.4,236,3693,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2027,3303,0,0,0,0,0,0
$GC,4031,-0.71,-116.8,423.9,-8.2,245,4035,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,449,3301,0,0,0,0,0,0
$GC,4073,-0.71,-116.8,428.2,-10.0,246,4079,0.08,2.30,0.00,0.000,6,0.122,0.035,2657,2037,3301,0,0,0,0,0,0
$GC,4398,-0.71,-116.8,454.8,-8.3,254,4402,0.00,2.35,0.00,0.000,4,0.000,0.047,2646,3615,3299,0,0,0,0,0,0
$GC,4424,-0.71,-116.8,457.2,-9.1,254,4428,0.00,2.30,0.00,0.000,6,0.000,0.033,2646,2035,3299,0,0,0,0,0,0
$GC,4760,-0.71,-116.8,489.6,-9.8,263,4764,0.00,2.33,0.00,0.000,4,0.000,0.047,2635,3606,3300,0,0,0,0,0,0
$GC,4831,-0.71,-116.8,497.2,-10.2,264,4837,0.00,2.30,0.00,0.000,6,0.000,0.033,2640,2027,3297,0,0,0,0,0,0
$GC,5168,-0.71,-116.8,528.1,-8.7,273,5173,0.00,2.33,0.00,0.000,4,0.000,0.048,2635,449,3295,0,0,0,0,0,0
$GC,5342,-0.71,-116.8,543.8,-8.7,277,5347,0.08,2.30,0.00,0.000,6,0.123,0.035,2665,2035,3296,0,0,0,0,0,0
$GC,5671,-0.71,-116.8,562.7,-5.4,285,5676,0.00,2.33,0.00,0.000,4,0.000,0.048,2670,448,3293,0,0,0,0,0,0
$GC,5692,-0.71,-116.8,563.9,-6.1,285,5697,0.00,2.30,0.00,0.000,6,0.000,0.035,2655,2037,3293,0,0,0,0,0,0
$GC,6035,-0.71,-116.8,584.5,-6.3,294,6039,0.00,2.33,0.00,0.000,4,0.000,0.048,2643,3606,3291,0,0,0,0,0,0
$GC,6090,-0.71,-116.8,588.5,-7.7,295,6094,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2028,3293,0,0,0,0,0,0
$GC,6408,-0.71,-116.8,612.5,-7.4,303,6412,0.00,2.30,0.00,0.000,4,0.000,0.049,2643,456,3289,0,0,0,0,0,0
$GC,6451,-0.71,-116.8,616.2,-8.2,304,6455,0.00,2.30,0.00,0.000,6,0.000,0.036,2628,2037,3289,0,0,0,0,0,0
$GC,6775,-0.71,-116.8,641.1,-7.6,312,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2038,3288,0,0,0,0,0,0
$GC,7100,-0.71,-116.8,665.3,-7.5,320,7104,0.00,2.33,0.00,0.000,4,0.000,0.049,2620,3602,3287,0,0,0,0,0,0
$GC,7187,-0.71,-116.8,672.5,-8.7,322,7193,0.10,2.30,0.00,0.000,6,0.108,0.035,2659,2030,3287,0,0,0,0,0,0
$GC,7511,-0.71,-116.8,693.3,-6.3,330,7515,0.00,2.33,0.00,0.000,4,0.000,0.050,2660,447,3286,0,0,0,0,0,0
$GC,7560,-0.71,-116.8,696.8,-7.8,331,7565,0.00,2.30,0.00,0.000,6,0.000,0.036,2649,2022,3285,0,0,0,0,0,0
$GC,7879,-0.71,-116.8,714.8,-5.2,339,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3284,0,0,0,0,0,0
$GC,8204,-0.71,-116.8,731.0,-5.1,347,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2022,3284,0,0,0,0,0,0
$GC,8529,-0.71,-116.8,748.3,-5.4,355,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2022,3283,0,0,0,0,0,0
$GC,8854,-0.71,-116.8,765.7,-5.4,363,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2023,3280,0,0,0,0,0,0
$GC,9179,-0.71,-116.8,783.4,-5.5,371,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2022,3282,0,0,0,0,0,0
$GC,9504,-0.71,-116.8,803.1,-6.3,379,9508,0.00,2.33,0.00,0.000,4,0.000,0.051,2650,455,3279,0,0,0,0,0,0
$GC,9552,-0.71,-116.8,806.6,-7.3,380,9557,0.00,2.33,0.00,0.000,6,0.000,0.038,2638,2040,3281,0,0,0,0,0,0
$GC,9871,-0.71,-116.8,828.0,-6.8,388,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2040,3280,0,0,0,0,0,0
$GC,10196,-0.71,-116.8,849.7,-6.6,396,10200,0.00,2.35,0.00,0.000,4,0.000,0.051,2638,454,3280,0,0,0,0,0,0
$GC,10261,-0.71,-116.8,854.7,-8.1,397,10266,0.08,2.30,0.00,0.000,6,0.120,0.038,2655,2021,3280,0,0,0,0,0,0
$GC,10603,-0.71,-116.8,873.8,-5.2,406,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2021,3279,0,0,0,0,0,0
$GC,10928,-0.71,-116.8,888.6,-4.3,414,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2021,3279,0,0,0,0,0,0
$GC,11253,-0.71,-116.8,901.8,-3.9,422,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2021,3278,0,0,0,0,0,0
$GC,11578,-0.71,-116.8,915.1,-4.1,430,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2021,3278,0,0,0,0,0,0
$GC,11903,-0.71,-116.8,929.5,-4.6,438,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2024,3277,0,0,0,0,0,0
$GC,12228,-0.71,-116.8,946.3,-5.4,446,12232,0.00,2.40,0.00,0.000,4,0.000,0.051,2644,3614,3277,0,0,0,0,0,0
$GC,12259,-0.71,-116.8,948.2,-5.7,446,12266,0.00,2.35,0.00,0.000,6,0.000,0.037,2641,2027,3277,0,0,0,0,0,0
$GC,12590,-0.71,-116.8,968.5,-6.1,455,12594,0.00,2.35,0.00,0.000,4,0.000,0.052,2645,447,3277,0,0,0,0,0,0
$GC,12651,-0.71,-116.8,972.6,-7.6,456,12655,0.00,2.35,0.00,0.000,6,0.000,0.038,2633,2042,3276,0,0,0,0,0,0
$STATE,12916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12916,begin apogee
$GC,12919,-0.23,0.0,990.1,6.5,463,13019,0.55,0.00,96.88,1.307,6,0.115,0.000,2816,2044,2822,0,0,0,0,0,0
$STATE,13022,end apogee,CONTROL_FINISHED_OK
$STATE,13022,begin climb
$GC,13023,0.71,116.8,992.0,0.0,465,13143,0.85,2.62,110.43,1.266,4,0.067,0.050,3126,3600,2345,0,0,0,0,0,0
$GC,13176,0.71,116.8,980.5,14.7,469,13181,0.00,2.50,0.00,0.000,6,0.000,0.039,3132,2041,2338,0,0,0,0,0,0
$GC,13489,0.71,116.8,937.7,13.8,477,13493,0.00,2.42,0.00,0.000,4,0.000,0.053,3145,456,2327,0,0,0,0,0,0
$GC,13599,0.71,116.8,921.4,14.3,479,13604,0.00,2.38,0.00,0.000,6,0.000,0.038,3144,2020,2326,0,0,0,0,0,0
$GC,13941,0.71,116.8,872.2,14.4,488,13945,0.00,2.40,0.00,0.000,4,0.000,0.053,3156,456,2323,0,0,0,0,0,0
$GC,13962,0.71,116.8,868.9,15.6,488,13968,0.10,2.38,0.00,0.000,6,0.149,0.038,3125,2040,2325,0,0,0,0,0,0
$GC,14305,0.71,116.8,823.7,13.0,497,14309,0.00,2.42,0.00,0.000,4,0.000,0.053,3135,452,2325,0,0,0,0,0,0
$GC,14343,0.71,116.8,818.5,13.6,498,14347,0.00,2.35,0.00,0.000,6,0.000,0.038,3135,2040,2322,0,0,0,0,0,0
$GC,14672,0.71,116.8,774.6,13.1,506,14676,0.00,2.40,0.00,0.000,4,0.000,0.053,3148,448,2320,0,0,0,0,0,0
$GC,14726,0.71,116.8,767.2,13.1,507,14731,0.00,2.38,0.00,0.000,6,0.000,0.038,3148,2039,2320,0,0,0,0,0,0
$GC,15039,0.71,116.8,725.0,13.5,515,15043,0.00,2.40,0.00,0.000,4,0.000,0.049,3147,3622,2319,0,0,0,0,0,0
$GC,15070,0.71,116.8,720.2,14.5,515,15077,0.10,2.38,0.00,0.000,6,0.156,0.039,3127,2035,2319,0,0,0,0,0,0
$GC,15401,0.71,116.8,679.3,12.3,524,15405,0.00,2.38,0.00,0.000,4,0.000,0.052,3139,449,2318,0,0,0,0,0,0
$GC,15450,0.71,116.8,672.8,13.8,525,15455,0.00,2.35,0.00,0.000,6,0.000,0.038,3137,2030,2318,0,0,0,0,0,0
$GC,15769,0.71,116.8,631.4,13.4,533,15773,0.00,2.38,0.00,0.000,4,0.000,0.049,3138,3616,2318,0,0,0,0,0,0
$GC,15806,0.71,116.8,625.6,14.7,533,15814,0.08,2.38,0.00,0.000,6,0.158,0.038,3126,2026,2317,0,0,0,0,0,0
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$STATE,22166,end climb,SURFACE_DEPTH_REACHED
$STATE,22166,begin surface coast
$FINISH,0.7,0.999005
$STATE,22201,end surface coast,CONTROL_FINISHED_OK
$STATE,22202,begin surface
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$AR_POSTDIVE_SAMPLENUM,10
$AR_CDRIVE_FREE,8443166720
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54821912576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,8.035
$10V_AH,9.8,10.275
$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,334972
$DATA_FILE_SIZE,30068,895
$CAP_FILE_SIZE,185392,0
$CFSIZE,260165632,252276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290610,211437,2033.927,-15912.785,31,0.9,31,9.7