version: 66.07
glider: 500
mission: 4
dive: 71
start: 6 30 110 3 58 16
data:
$ID,500
$MISSION,4
$DIVE,71
$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,-110821.54
$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,50
$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,70
$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
$GPS1,300610,033707,2034.151,-15917.749,38,0.8,38,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.3
$GPS2,300610,035720,2034.323,-15918.394,13,1.1,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,-0.164
$KALMAN_X,-104146.7,-60.1,-246.7,-37218.1,-3266.7
$KALMAN_Y,135729.0,-232.1,-651.2,-203180.8,4867.6
$MHEAD_RNG_PITCHd_Wd,212.9,20359,-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,-51.38,0.000,2,0.000,0.000,132,2051,2709,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.3,-6.0,10,112,10.18,2.45,-13.70,0.000,4,0.235,0.059,2659,451,3301,0,0,0,0,0,0
$GC,314,-0.71,-116.8,43.1,-14.5,46,318,0.00,2.30,0.00,0.000,6,0.000,0.036,2648,2031,3302,0,0,0,0,0,0
$GC,580,-0.71,-116.8,77.5,-12.6,71,584,0.00,2.33,0.00,0.000,4,0.000,0.050,2649,452,3304,0,0,0,0,0,0
$GC,699,-0.71,-116.8,91.9,-11.7,81,703,0.00,2.28,0.00,0.000,6,0.000,0.035,2637,2037,3302,0,0,0,0,0,0
$GC,959,-0.71,-116.8,126.3,-12.6,105,963,0.00,2.35,0.00,0.000,4,0.000,0.044,2625,3617,3305,0,0,0,0,0,0
$GC,1009,-0.71,-116.8,132.4,-12.1,109,1013,0.12,2.28,0.00,0.000,6,0.136,0.031,2664,2030,3305,0,0,0,0,0,0
$GC,1269,-0.71,-116.8,157.3,-9.4,133,1273,0.00,2.28,0.00,0.000,4,0.000,0.045,2664,454,3306,0,0,0,0,0,0
$GC,1307,-0.71,-116.8,161.3,-10.7,136,1311,0.00,2.25,0.00,0.000,6,0.000,0.033,2654,2037,3307,0,0,0,0,0,0
$GC,1573,-0.71,-116.8,188.6,-9.7,161,1577,0.00,2.30,0.00,0.000,4,0.000,0.044,2654,442,3304,0,0,0,0,0,0
$GC,1683,-0.71,-116.8,200.3,-10.9,170,1689,0.00,2.28,0.00,0.000,6,0.000,0.034,2643,2023,3306,0,0,0,0,0,0
$GC,1936,-0.71,-116.8,226.2,-10.1,183,1940,0.00,2.30,0.00,0.000,4,0.000,0.044,2643,447,3306,0,0,0,0,0,0
$GC,2003,-0.71,-116.8,233.3,-10.4,186,2007,0.00,2.28,0.00,0.000,6,0.000,0.034,2631,2035,3306,0,0,0,0,0,0
$GC,2329,-0.71,-116.8,266.1,-10.0,202,2333,0.00,2.30,0.00,0.000,4,0.000,0.044,2631,453,3305,0,0,0,0,0,0
$GC,2383,-0.71,-116.8,272.3,-11.7,204,2388,0.10,2.28,0.00,0.000,6,0.118,0.034,2658,2031,3304,0,0,0,0,0,0
$GC,2703,-0.71,-116.8,301.3,-8.9,220,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2033,3303,0,0,0,0,0,0
$GC,3029,-0.71,-116.8,328.2,-8.0,228,3033,0.00,2.28,0.00,0.000,4,0.000,0.047,2657,456,3301,0,0,0,0,0,0
$GC,3067,-0.71,-116.8,331.3,-8.5,229,3071,0.00,2.25,0.00,0.000,6,0.000,0.035,2643,2039,3300,0,0,0,0,0,0
$GC,3396,-0.71,-116.8,358.4,-8.7,237,3400,0.00,2.30,0.00,0.000,4,0.000,0.046,2635,3605,3299,0,0,0,0,0,0
$GC,3506,-0.71,-116.8,369.3,-9.3,239,3511,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2034,3297,0,0,0,0,0,0
$GC,3849,-0.71,-116.8,399.2,-8.0,248,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2034,3296,0,0,0,0,0,0
$GC,4174,-0.71,-116.8,418.2,-5.5,256,4178,0.00,2.33,0.00,0.000,4,0.000,0.047,2636,447,3294,0,0,0,0,0,0
$GC,4403,-0.71,-116.8,435.0,-7.9,261,4408,0.10,2.28,0.00,0.000,6,0.117,0.035,2661,2020,3293,0,0,0,0,0,0
$GC,4721,-0.71,-116.8,459.9,-8.7,269,4725,0.00,2.38,0.00,0.000,4,0.000,0.047,2650,3612,3294,0,0,0,0,0,0
$GC,4780,-0.71,-116.8,466.3,-10.5,270,4785,0.00,2.30,0.00,0.000,6,0.000,0.033,2650,2030,3291,0,0,0,0,0,0
$GC,5128,-0.71,-116.8,504.7,-10.8,279,5133,0.00,2.30,0.00,0.000,4,0.000,0.048,2649,451,3289,0,0,0,0,0,0
$GC,5239,-0.71,-116.8,516.4,-10.0,281,5244,0.00,2.30,0.00,0.000,6,0.000,0.035,2639,2044,3289,0,0,0,0,0,0
$GC,5582,-0.71,-116.8,543.8,-7.3,290,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2044,3287,0,0,0,0,0,0
$GC,5907,-0.71,-116.8,564.5,-6.3,298,5911,0.00,2.35,0.00,0.000,4,0.000,0.048,2639,449,3287,0,0,0,0,0,0
$GC,5967,-0.71,-116.8,568.9,-7.5,299,5972,0.08,2.30,0.00,0.000,6,0.122,0.036,2657,2036,3286,0,0,0,0,0,0
$GC,6279,-0.71,-116.8,587.5,-6.0,307,6283,0.00,2.33,0.00,0.000,4,0.000,0.048,2646,3607,3285,0,0,0,0,0,0
$GC,6312,-0.71,-116.8,589.7,-6.4,307,6318,0.00,2.30,0.00,0.000,6,0.000,0.035,2646,2035,3284,0,0,0,0,0,0
$GC,6642,-0.71,-116.8,611.1,-6.5,316,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2034,3284,0,0,0,0,0,0
$GC,6967,-0.71,-116.8,632.9,-6.8,324,6972,0.00,2.33,0.00,0.000,4,0.000,0.049,2645,450,3283,0,0,0,0,0,0
$GC,7007,-0.71,-116.8,635.9,-8.0,325,7011,0.00,2.28,0.00,0.000,6,0.000,0.036,2634,2046,3283,0,0,0,0,0,0
$GC,7330,-0.71,-116.8,657.7,-6.5,333,7334,0.00,2.35,0.00,0.000,4,0.000,0.048,2634,448,3282,0,0,0,0,0,0
$GC,7368,-0.71,-116.8,660.5,-7.5,334,7373,0.12,2.28,0.00,0.000,6,0.146,0.036,2665,2027,3282,0,0,0,0,0,0
$GC,7691,-0.71,-116.8,677.3,-5.0,342,7695,0.00,2.35,0.00,0.000,4,0.000,0.049,2650,3614,3282,0,0,0,0,0,0
$GC,7741,-0.71,-116.8,679.8,-5.4,343,7745,0.00,2.30,0.00,0.000,6,0.000,0.035,2647,2024,3281,0,0,0,0,0,0
$GC,8058,-0.71,-116.8,695.2,-4.6,351,8062,0.00,2.30,0.00,0.000,4,0.000,0.049,2650,454,3281,0,0,0,0,0,0
$GC,8112,-0.71,-116.8,698.1,-5.5,352,8117,0.00,2.30,0.00,0.000,6,0.000,0.036,2638,2031,3279,0,0,0,0,0,0
$GC,8425,-0.71,-116.8,712.7,-4.6,360,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3283,0,0,0,0,0,0
$GC,8751,-0.71,-116.8,729.3,-5.3,368,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2031,3280,0,0,0,0,0,0
$GC,9075,-0.71,-116.8,747.9,-5.8,376,9079,0.00,2.38,0.00,0.000,4,0.000,0.051,2638,451,3280,0,0,0,0,0,0
$GC,9129,-0.71,-116.8,751.5,-6.8,377,9134,0.08,2.30,0.00,0.000,6,0.123,0.037,2672,2025,3279,0,0,0,0,0,0
$GC,9447,-0.71,-116.8,765.7,-4.5,385,9451,0.00,2.38,0.00,0.000,4,0.000,0.049,2661,3615,3279,0,0,0,0,0,0
$GC,9479,-0.71,-116.8,767.5,-5.0,385,9486,0.00,2.33,0.00,0.000,6,0.000,0.036,2661,2033,3279,0,0,0,0,0,0
$GC,9811,-0.71,-116.8,785.5,-5.5,394,9815,0.00,2.33,0.00,0.000,4,0.000,0.051,2661,455,3278,0,0,0,0,0,0
$GC,9860,-0.71,-116.8,788.7,-7.0,395,9864,0.00,2.30,0.00,0.000,6,0.000,0.037,2650,2024,3278,0,0,0,0,0,0
$GC,10178,-0.71,-116.8,807.2,-5.8,403,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3278,0,0,0,0,0,0
$GC,10503,-0.71,-116.8,824.2,-5.1,411,10507,0.00,2.35,0.00,0.000,4,0.000,0.051,2650,448,3277,0,0,0,0,0,0
$GC,10541,-0.71,-116.8,826.4,-5.8,411,10547,0.00,2.33,0.00,0.000,6,0.000,0.037,2636,2037,3278,0,0,0,0,0,0
$GC,10872,-0.71,-116.8,842.4,-4.7,420,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3278,0,0,0,0,0,0
$GC,11197,-0.71,-116.8,856.6,-4.3,428,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3277,0,0,0,0,0,0
$GC,11522,-0.71,-116.8,871.7,-4.8,436,11526,0.00,2.35,0.00,0.000,4,0.000,0.051,2639,454,3277,0,0,0,0,0,0
$GC,11554,-0.71,-116.8,873.5,-5.7,436,11561,0.08,2.33,0.00,0.000,6,0.121,0.038,2656,2036,3278,0,0,0,0,0,0
$GC,11885,-0.71,-116.8,888.9,-4.8,445,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2036,3279,0,0,0,0,0,0
$GC,12211,-0.71,-116.8,906.4,-5.6,453,12215,0.00,2.35,0.00,0.000,4,0.000,0.051,2646,3610,3277,0,0,0,0,0,0
$GC,12237,-0.71,-116.8,908.0,-6.9,453,12242,0.00,2.33,0.00,0.000,6,0.000,0.036,2643,2033,3277,0,0,0,0,0,0
$GC,12580,-0.71,-116.8,929.0,-6.1,462,12584,0.00,2.35,0.00,0.000,4,0.000,0.051,2646,450,3276,0,0,0,0,0,0
$GC,12629,-0.71,-116.8,932.5,-7.2,463,12633,0.00,2.33,0.00,0.000,6,0.000,0.037,2634,2035,3276,0,0,0,0,0,0
$GC,12947,-0.71,-116.8,953.1,-6.5,471,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2035,3276,0,0,0,0,0,0
$GC,13272,-0.71,-116.8,973.8,-6.3,479,13276,0.00,2.35,0.00,0.000,4,0.000,0.051,2632,450,3276,0,0,0,0,0,0
$GC,13326,-0.71,-116.8,977.6,-7.3,480,13331,0.08,2.33,0.00,0.000,6,0.124,0.037,2668,2034,3276,0,0,0,0,0,0
$STATE,13515,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13515,begin apogee
$GC,13519,-0.23,0.0,986.7,4.7,485,13619,0.43,0.00,97.00,1.301,6,0.114,0.000,2812,2034,2823,0,0,0,0,0,0
$STATE,13621,end apogee,CONTROL_FINISHED_OK
$STATE,13621,begin climb
$GC,13623,0.71,116.8,988.1,0.0,487,13745,0.85,2.65,110.18,1.260,4,0.068,0.048,3120,3603,2343,0,0,0,0,0,0
$GC,13777,0.71,116.8,974.6,15.2,490,13782,0.00,2.50,0.00,0.000,6,0.000,0.038,3131,2038,2337,0,0,0,0,0,0
$GC,14114,0.71,116.8,923.3,15.4,499,14118,0.00,2.47,0.00,0.000,4,0.000,0.051,3144,442,2328,0,0,0,0,0,0
$GC,14208,0.71,116.8,907.8,16.8,501,14213,0.00,2.40,0.00,0.000,6,0.000,0.038,3145,2024,2327,0,0,0,0,0,0
$GC,14526,0.71,116.8,858.1,15.3,509,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2025,2325,0,0,0,0,0,0
$GC,14852,0.71,116.8,809.4,14.8,517,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2025,2324,0,0,0,0,0,0
$GC,15176,0.71,116.8,762.8,14.2,525,15181,0.00,2.38,0.00,0.000,4,0.000,0.052,3156,449,2324,0,0,0,0,0,0
$GC,15227,0.71,116.8,755.6,14.2,526,15232,0.12,2.33,0.00,0.000,6,0.166,0.038,3124,2041,2324,0,0,0,0,0,0
$GC,15544,0.71,116.8,714.7,13.0,534,15545,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2040,2323,0,0,0,0,0,0
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$STATE,22346,end climb,SURFACE_DEPTH_REACHED
$STATE,22346,begin surface coast
$FINISH,0.8,1.002343
$STATE,22376,end surface coast,CONTROL_FINISHED_OK
$STATE,22376,begin surface
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$AR_DDRIVE_FREE,54673637376
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$24V_AH,23.0,8.319
$10V_AH,9.8,10.433
$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,334964
$DATA_FILE_SIZE,30052,890
$CAP_FILE_SIZE,197641,0
$CFSIZE,260165632,251985920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300610,101407,2033.728,-15922.668,33,1.2,33,9.6