version: 66.07
glider: 500
mission: 4
dive: 72
start: 6 30 110 10 29 57
data:
$ID,500
$MISSION,4
$DIVE,72
$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,-110837.88
$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,49
$R_STBD_OVSHOOT,53
$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,71
$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
$GPS1,300610,101407,2033.728,-15922.668,33,1.2,33,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.1
$GPS2,300610,102901,2033.855,-15923.088,8,1.1,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.008
$KALMAN_X,-108396.4,-579.2,-82.5,-40715.3,-2893.4
$KALMAN_Y,137698.8,-27.2,133.1,-207000.2,2496.7
$MHEAD_RNG_PITCHd_Wd,262.4,12624,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-50.80,0.000,2,0.000,0.000,136,2053,2680,0,0,0,0,0,0
$GC,80,-0.71,-116.8,3.4,-5.8,10,111,10.02,2.42,-14.18,0.000,4,0.232,0.058,2651,445,3301,0,0,0,0,0,0
$GC,358,-0.71,-116.8,54.1,-17.2,49,362,0.00,2.28,0.00,0.000,6,0.000,0.034,2641,2025,3300,0,0,0,0,0,0
$GC,625,-0.71,-116.8,90.2,-13.7,74,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2025,3303,0,0,0,0,0,0
$GC,879,-0.71,-116.8,126.1,-13.2,98,883,0.00,2.33,0.00,0.000,4,0.000,0.044,2642,443,3306,0,0,0,0,0,0
$GC,910,-0.71,-116.8,130.4,-14.1,100,917,0.00,2.30,0.00,0.000,6,0.000,0.033,2630,2033,3306,0,0,0,0,0,0
$GC,1172,-0.71,-116.8,162.9,-13.4,125,1177,0.10,2.35,0.00,0.000,4,0.166,0.044,2648,3619,3307,0,0,0,0,0,0
$GC,1294,-0.71,-116.8,177.8,-12.0,135,1300,0.00,2.30,0.00,0.000,6,0.000,0.031,2648,2021,3307,0,0,0,0,0,0
$GC,1554,-0.71,-116.8,204.8,-9.8,158,1558,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,455,3307,0,0,0,0,0,0
$GC,1647,-0.71,-116.8,215.1,-11.2,162,1652,0.00,2.28,0.00,0.000,6,0.000,0.033,2637,2040,3307,0,0,0,0,0,0
$GC,1969,-0.71,-116.8,246.8,-9.0,178,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2040,3307,0,0,0,0,0,0
$GC,2278,-0.71,-116.8,272.1,-8.3,193,2282,0.00,2.35,0.00,0.000,4,0.000,0.045,2637,446,3308,0,0,0,0,0,0
$GC,2316,-0.71,-116.8,276.0,-10.8,195,2321,0.12,2.25,0.00,0.000,6,0.147,0.035,2663,2030,3306,0,0,0,0,0,0
$GC,2647,-0.71,-116.8,304.4,-7.9,210,2651,0.00,2.33,0.00,0.000,4,0.000,0.046,2652,3614,3303,0,0,0,0,0,0
$GC,2690,-0.71,-116.8,307.6,-7.3,211,2695,0.00,2.30,0.00,0.000,6,0.000,0.031,2655,2024,3302,0,0,0,0,0,0
$GC,3014,-0.71,-116.8,332.5,-8.2,219,3018,0.00,2.28,0.00,0.000,4,0.000,0.045,2652,448,3300,0,0,0,0,0,0
$GC,3057,-0.71,-116.8,336.7,-9.8,220,3061,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2029,3299,0,0,0,0,0,0
$GC,3381,-0.71,-116.8,372.1,-11.0,228,3385,0.00,2.33,0.00,0.000,4,0.000,0.046,2628,3608,3297,0,0,0,0,0,0
$GC,3508,-0.71,-116.8,383.7,-7.8,230,3515,0.08,2.28,0.00,0.000,6,0.110,0.031,2659,2033,3296,0,0,0,0,0,0
$GC,3839,-0.71,-116.8,404.6,-6.9,239,3843,0.00,2.33,0.00,0.000,4,0.000,0.047,2665,447,3296,0,0,0,0,0,0
$GC,3961,-0.71,-116.8,416.1,-9.5,241,3968,0.00,2.28,0.00,0.000,6,0.000,0.035,2650,2022,3293,0,0,0,0,0,0
$GC,4292,-0.71,-116.8,448.1,-9.7,250,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2023,3291,0,0,0,0,0,0
$GC,4617,-0.71,-116.8,474.4,-7.1,258,4621,0.00,2.35,0.00,0.000,4,0.000,0.047,2638,3613,3288,0,0,0,0,0,0
$GC,4706,-0.71,-116.8,480.2,-6.6,260,4710,0.00,2.30,0.00,0.000,6,0.000,0.034,2638,2032,3287,0,0,0,0,0,0
$GC,5030,-0.71,-116.8,502.1,-7.1,268,5034,0.00,2.33,0.00,0.000,4,0.000,0.048,2638,446,3285,0,0,0,0,0,0
$GC,5119,-0.71,-116.8,510.0,-8.7,270,5124,0.12,2.28,0.00,0.000,6,0.145,0.035,2663,2048,3284,0,0,0,0,0,0
$GC,5442,-0.71,-116.8,533.4,-7.1,278,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2048,3284,0,0,0,0,0,0
$GC,5767,-0.71,-116.8,552.1,-5.5,286,5771,0.00,2.35,0.00,0.000,4,0.000,0.048,2665,455,3281,0,0,0,0,0,0
$GC,5827,-0.71,-116.8,555.8,-5.6,287,5831,0.00,2.28,0.00,0.000,6,0.000,0.036,2652,2013,3280,0,0,0,0,0,0
$GC,6175,-0.71,-116.8,576.0,-6.1,296,6179,0.00,2.38,0.00,0.000,4,0.000,0.048,2642,3615,3279,0,0,0,0,0,0
$GC,6258,-0.71,-116.8,581.9,-7.1,297,6264,0.00,2.33,0.00,0.000,6,0.000,0.035,2642,2034,3278,0,0,0,0,0,0
$GC,6589,-0.71,-116.8,603.3,-6.2,306,6593,0.00,2.35,0.00,0.000,4,0.000,0.049,2642,443,3276,0,0,0,0,0,0
$GC,6632,-0.71,-116.8,606.3,-7.5,307,6636,0.00,2.33,0.00,0.000,6,0.000,0.037,2630,2039,3276,0,0,0,0,0,0
$GC,6956,-0.71,-116.8,625.6,-6.1,315,6961,0.10,2.38,0.00,0.000,4,0.162,0.048,2661,451,3273,0,0,0,0,0,0
$GC,7022,-0.71,-116.8,630.1,-7.2,316,7026,0.00,2.25,0.00,0.000,6,0.000,0.036,2651,2029,3277,0,0,0,0,0,0
$GC,7363,-0.71,-116.8,656.9,-8.8,325,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2029,3273,0,0,0,0,0,0
$GC,7689,-0.71,-116.8,686.1,-8.5,333,7693,0.00,2.33,0.00,0.000,4,0.000,0.049,2651,452,3272,0,0,0,0,0,0
$GC,7720,-0.71,-116.8,688.9,-8.8,333,7726,0.00,2.30,0.00,0.000,6,0.000,0.037,2640,2024,3272,0,0,0,0,0,0
$GC,8051,-0.71,-116.8,711.2,-6.3,342,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2024,3270,0,0,0,0,0,0
$GC,8376,-0.71,-116.8,733.2,-7.2,350,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2024,3270,0,0,0,0,0,0
$GC,8701,-0.71,-116.8,760.6,-8.6,358,8705,0.00,2.38,0.00,0.000,4,0.000,0.050,2628,3613,3268,0,0,0,0,0,0
$GC,8744,-0.71,-116.8,764.7,-9.5,359,8750,0.08,2.33,0.00,0.000,6,0.113,0.035,2656,2026,3268,0,0,0,0,0,0
$GC,9069,-0.71,-116.8,789.9,-7.6,367,9073,0.00,2.35,0.00,0.000,4,0.000,0.050,2659,447,3268,0,0,0,0,0,0
$GC,9179,-0.71,-116.8,799.2,-8.1,369,9184,0.00,2.33,0.00,0.000,6,0.000,0.037,2649,2035,3269,0,0,0,0,0,0
$GC,9521,-0.71,-116.8,824.1,-7.1,378,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2036,3267,0,0,0,0,0,0
$GC,9846,-0.71,-116.8,847.1,-7.0,386,9851,0.00,2.35,0.00,0.000,4,0.000,0.050,2637,3607,3266,0,0,0,0,0,0
$GC,9879,-0.71,-116.8,849.6,-8.4,386,9885,0.00,2.28,0.00,0.000,6,0.000,0.035,2637,2030,3266,0,0,0,0,0,0
$GC,10210,-0.71,-116.8,874.4,-7.5,395,10214,0.00,2.33,0.00,0.000,4,0.000,0.051,2637,456,3266,0,0,0,0,0,0
$GC,10269,-0.71,-116.8,879.5,-8.6,396,10275,0.08,2.30,0.00,0.000,6,0.122,0.037,2655,2024,3266,0,0,0,0,0,0
$GC,10583,-0.71,-116.8,900.7,-6.6,404,10587,0.00,2.38,0.00,0.000,4,0.000,0.050,2644,3613,3265,0,0,0,0,0,0
$GC,10615,-0.71,-116.8,903.0,-7.1,404,10621,0.00,2.33,0.00,0.000,6,0.000,0.035,2650,2027,3265,0,0,0,0,0,0
$GC,10946,-0.71,-116.8,922.2,-5.4,413,10950,0.00,2.38,0.00,0.000,4,0.000,0.051,2645,455,3266,0,0,0,0,0,0
$GC,11000,-0.71,-116.8,925.3,-5.9,414,11004,0.00,2.33,0.00,0.000,6,0.000,0.038,2633,2042,3264,0,0,0,0,0,0
$GC,11313,-0.71,-116.8,941.0,-4.9,422,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2045,3263,0,0,0,0,0,0
$GC,11638,-0.71,-116.8,957.8,-5.2,430,11642,0.00,2.38,0.00,0.000,4,0.000,0.051,2633,459,3263,0,0,0,0,0,0
$GC,11715,-0.71,-116.8,962.6,-6.5,431,11721,0.08,2.30,0.00,0.000,6,0.126,0.037,2664,2018,3263,0,0,0,0,0,0
$GC,12045,-0.71,-116.8,977.1,-4.4,440,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2018,3262,0,0,0,0,0,0
$STATE,12328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12328,begin apogee
$GC,12332,-0.23,0.0,990.6,4.7,447,12429,0.43,0.00,93.80,1.303,6,0.112,0.000,2811,2018,2821,0,0,0,0,0,0
$STATE,12475,end apogee,CONTROL_FINISHED_OK
$STATE,12475,begin climb
$GC,12477,0.71,116.8,992.2,0.0,449,12594,0.82,2.62,109.18,1.268,4,0.069,0.049,3119,3609,2346,0,0,0,0,0,0
$GC,12644,0.71,116.8,979.8,13.1,452,12649,0.00,2.50,0.00,0.000,6,0.000,0.038,3129,2037,2338,0,0,0,0,0,0
$GC,12967,0.71,116.8,938.9,12.5,460,12971,0.00,2.45,0.00,0.000,4,0.000,0.052,3142,451,2329,0,0,0,0,0,0
$GC,13072,0.71,116.8,924.3,13.5,462,13077,0.00,2.38,0.00,0.000,6,0.000,0.038,3140,2022,2328,0,0,0,0,0,0
$GC,13420,0.71,116.8,874.9,14.6,471,13424,0.00,2.42,0.00,0.000,4,0.000,0.049,3143,3615,2325,0,0,0,0,0,0
$GC,13469,0.71,116.8,866.9,16.3,472,13475,0.10,2.40,0.00,0.000,6,0.158,0.039,3124,2027,2323,0,0,0,0,0,0
$GC,13788,0.71,116.8,820.9,14.6,480,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2027,2324,0,0,0,0,0,0
$GC,14113,0.71,116.8,773.5,14.5,488,14117,0.00,2.38,0.00,0.000,4,0.000,0.052,3134,446,2322,0,0,0,0,0,0
$GC,14196,0.71,116.8,761.2,14.6,490,14200,0.00,2.35,0.00,0.000,6,0.000,0.038,3134,2046,2321,0,0,0,0,0,0
$GC,14519,0.71,116.8,718.9,12.6,498,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2046,2320,0,0,0,0,0,0
$GC,14843,0.71,116.8,681.2,11.7,506,14848,0.00,2.40,0.00,0.000,4,0.000,0.052,3146,447,2320,0,0,0,0,0,0
$GC,14864,0.71,116.8,678.5,12.3,506,14869,0.00,2.35,0.00,0.000,6,0.000,0.038,3146,2028,2320,0,0,0,0,0,0
$GC,15207,0.71,116.8,631.8,13.9,515,15211,0.00,2.38,0.00,0.000,4,0.000,0.052,3158,451,2319,0,0,0,0,0,0
$GC,15227,0.71,116.8,628.7,14.6,515,15232,0.10,2.35,0.00,0.000,6,0.143,0.038,3125,2039,2320,0,0,0,0,0,0
$GC,15568,0.71,116.8,585.0,12.4,524,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2039,2319,0,0,0,0,0,0
$GC,15894,0.71,116.8,546.0,11.9,532,15898,0.00,2.38,0.00,0.000,4,0.000,0.050,3125,3621,2319,0,0,0,0,0,0
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$STATE,21524,end climb,SURFACE_DEPTH_REACHED
$STATE,21524,begin surface coast
$FINISH,0.8,1.023242
$STATE,21559,end surface coast,CONTROL_FINISHED_OK
$STATE,21559,begin surface
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$10V_AH,9.8,11.209
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$FG_AHR_10Vo,0.000
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$MEM,334920
$DATA_FILE_SIZE,30038,889
$CAP_FILE_SIZE,189148,0
$CFSIZE,260165632,251858944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300610,163230,2033.790,-15927.693,39,1.2,39,9.6