version: 66.07
glider: 500
mission: 4
dive: 80
start: 7 2 110 12 9 10
data:
$ID,500
$MISSION,4
$DIVE,80
$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,-110962.41
$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,47
$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,79
$AR_SAMPLENUM,13
$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
$GPS1,020710,115106,2033.742,-15956.933,27,1.2,27,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.3
$GPS2,020710,120814,2033.728,-15957.210,13,1.5,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT04
$TGT_LATLONG,2036.000,-15959.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,0.167
$KALMAN_X,-138131.1,-87.2,22.8,-70510.9,-3685.4
$KALMAN_Y,129217.8,18.0,561.3,-199227.8,-3532.9
$MHEAD_RNG_PITCHd_Wd,31.8,5228,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-50.88,0.000,2,0.000,0.000,135,2041,2709,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.2,-5.1,10,112,10.12,0.00,-14.25,0.000,6,0.235,0.000,2655,2041,3301,0,0,0,0,0,0
$GC,310,-0.71,-116.8,39.9,-14.2,46,314,0.00,2.38,0.00,0.000,4,0.000,0.046,2644,3614,3302,0,0,0,0,0,0
$GC,360,-0.71,-116.8,46.8,-14.1,50,364,0.00,2.28,0.00,0.000,6,0.000,0.031,2644,2024,3303,0,0,0,0,0,0
$GC,626,-0.71,-116.8,86.7,-13.8,75,631,0.00,2.30,0.00,0.000,4,0.000,0.047,2644,454,3303,0,0,0,0,0,0
$GC,692,-0.71,-116.8,96.2,-14.4,80,699,0.00,2.28,0.00,0.000,6,0.000,0.035,2633,2027,3303,0,0,0,0,0,0
$GC,953,-0.71,-116.8,129.1,-11.8,105,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2027,3304,0,0,0,0,0,0
$GC,1208,-0.71,-116.8,157.0,-11.0,129,1212,0.00,2.33,0.00,0.000,4,0.000,0.046,2633,450,3308,0,0,0,0,0,0
$GC,1269,-0.71,-116.8,163.8,-11.2,134,1274,0.08,2.30,0.00,0.000,6,0.102,0.036,2663,2041,3305,0,0,0,0,0,0
$GC,1534,-0.71,-116.8,186.5,-9.1,159,1538,0.00,2.30,0.00,0.000,4,0.000,0.045,2653,3610,3305,0,0,0,0,0,0
$GC,1601,-0.71,-116.8,192.7,-9.3,165,1605,0.00,2.25,0.00,0.000,6,0.000,0.031,2653,2017,3306,0,0,0,0,0,0
$GC,1872,-0.71,-116.8,218.7,-9.4,182,1876,0.00,2.30,0.00,0.000,4,0.000,0.047,2653,456,3305,0,0,0,0,0,0
$GC,1954,-0.71,-116.8,227.0,-9.8,185,1961,0.00,2.28,0.00,0.000,6,0.000,0.034,2641,2033,3308,0,0,0,0,0,0
$GC,2269,-0.71,-116.8,254.9,-8.8,201,2273,0.00,2.30,0.00,0.000,4,0.000,0.045,2629,3611,3303,0,0,0,0,0,0
$GC,2330,-0.71,-116.8,260.3,-9.1,204,2335,0.10,2.25,0.00,0.000,6,0.143,0.031,2660,2027,3302,0,0,0,0,0,0
$GC,2655,-0.71,-116.8,288.1,-9.1,220,2659,0.00,2.28,0.00,0.000,4,0.000,0.045,2660,441,3301,0,0,0,0,0,0
$GC,2704,-0.71,-116.8,293.4,-10.9,222,2709,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2025,3300,0,0,0,0,0,0
$GC,3022,-0.71,-116.8,326.4,-10.2,232,3026,0.00,2.35,0.00,0.000,4,0.000,0.045,2638,3615,3298,0,0,0,0,0,0
$GC,3048,-0.71,-116.8,329.2,-10.0,232,3053,0.00,2.28,0.00,0.000,6,0.000,0.031,2638,2040,3298,0,0,0,0,0,0
$GC,3385,-0.71,-116.8,362.2,-9.3,241,3389,0.00,2.30,0.00,0.000,4,0.000,0.045,2635,447,3294,0,0,0,0,0,0
$GC,3473,-0.71,-116.8,370.5,-8.8,243,3478,0.08,2.30,0.00,0.000,6,0.121,0.035,2655,2043,3297,0,0,0,0,0,0
$GC,3796,-0.71,-116.8,392.5,-6.6,251,3800,0.00,2.33,0.00,0.000,4,0.000,0.047,2646,3615,3293,0,0,0,0,0,0
$GC,3851,-0.71,-116.8,396.3,-7.1,252,3856,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2020,3292,0,0,0,0,0,0
$GC,4170,-0.71,-116.8,418.7,-7.0,260,4174,0.00,2.28,0.00,0.000,4,0.000,0.046,2646,451,3290,0,0,0,0,0,0
$GC,4198,-0.71,-116.8,420.8,-8.0,260,4202,0.00,2.25,0.00,0.000,6,0.000,0.035,2634,2045,3291,0,0,0,0,0,0
$GC,4528,-0.71,-116.8,446.5,-7.8,268,4532,0.00,2.28,0.00,0.000,4,0.000,0.046,2622,3606,3287,0,0,0,0,0,0
$GC,4577,-0.71,-116.8,450.5,-8.7,269,4582,0.12,2.28,0.00,0.000,6,0.136,0.033,2661,2023,3287,0,0,0,0,0,0
$GC,4895,-0.71,-116.8,469.6,-5.8,277,4899,0.00,2.28,0.00,0.000,4,0.000,0.048,2662,457,3285,0,0,0,0,0,0
$GC,4960,-0.71,-116.8,474.1,-6.8,278,4965,0.00,2.28,0.00,0.000,6,0.000,0.035,2652,2027,3284,0,0,0,0,0,0
$GC,5302,-0.71,-116.8,494.3,-5.7,287,5306,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,3622,3281,0,0,0,0,0,0
$GC,5329,-0.71,-116.8,496.0,-6.0,287,5333,0.00,2.30,0.00,0.000,6,0.000,0.034,2640,2036,3280,0,0,0,0,0,0
$GC,5666,-0.71,-116.8,517.7,-6.7,296,5670,0.00,2.30,0.00,0.000,4,0.000,0.048,2640,455,3280,0,0,0,0,0,0
$GC,5698,-0.71,-116.8,520.1,-8.1,296,5704,0.12,2.30,0.00,0.000,6,0.149,0.035,2666,2042,3279,0,0,0,0,0,0
$GC,6029,-0.71,-116.8,539.8,-5.9,305,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3277,0,0,0,0,0,0
$GC,6353,-0.71,-116.8,558.6,-5.8,313,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3276,0,0,0,0,0,0
$GC,6678,-0.71,-116.8,575.8,-5.1,321,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3277,0,0,0,0,0,0
$GC,7003,-0.71,-116.8,591.7,-5.0,329,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3273,0,0,0,0,0,0
$GC,7329,-0.71,-116.8,608.9,-5.4,337,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2043,3271,0,0,0,0,0,0
$GC,7653,-0.71,-116.8,627.2,-5.7,345,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2043,3272,0,0,0,0,0,0
$GC,7978,-0.71,-116.8,647.7,-6.6,353,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2046,3268,0,0,0,0,0,0
$GC,8304,-0.71,-116.8,669.7,-6.7,361,8308,0.00,2.35,0.00,0.000,4,0.000,0.050,2666,450,3268,0,0,0,0,0,0
$GC,8347,-0.71,-116.8,672.9,-7.7,362,8352,0.00,2.30,0.00,0.000,6,0.000,0.037,2656,2023,3267,0,0,0,0,0,0
$GC,8671,-0.71,-116.8,693.6,-6.1,370,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2022,3267,0,0,0,0,0,0
$GC,8996,-0.71,-116.8,711.8,-5.4,378,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2022,3266,0,0,0,0,0,0
$GC,9321,-0.71,-116.8,729.3,-5.4,386,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2023,3265,0,0,0,0,0,0
$GC,9646,-0.71,-116.8,748.1,-6.0,394,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2023,3265,0,0,0,0,0,0
$GC,9971,-0.71,-116.8,770.3,-6.8,402,9975,0.00,2.38,0.00,0.000,4,0.000,0.050,2644,3609,3262,0,0,0,0,0,0
$GC,10020,-0.71,-116.8,774.0,-7.7,403,10024,0.00,2.33,0.00,0.000,6,0.000,0.036,2644,2033,3263,0,0,0,0,0,0
$GC,10338,-0.71,-116.8,797.3,-7.3,411,10342,0.00,2.35,0.00,0.000,4,0.000,0.051,2644,443,3262,0,0,0,0,0,0
$GC,10358,-0.71,-116.8,799.0,-7.6,411,10363,0.00,2.33,0.00,0.000,6,0.000,0.037,2632,2035,3262,0,0,0,0,0,0
$GC,10701,-0.71,-116.8,823.3,-6.8,420,10705,0.00,2.33,0.00,0.000,4,0.000,0.049,2620,3604,3260,0,0,0,0,0,0
$GC,10790,-0.71,-116.8,829.3,-7.5,422,10795,0.12,2.28,0.00,0.000,6,0.140,0.035,2659,2023,3262,0,0,0,0,0,0
$GC,11113,-0.71,-116.8,844.6,-4.5,430,11117,0.00,2.33,0.00,0.000,4,0.000,0.051,2659,448,3261,0,0,0,0,0,0
$GC,11163,-0.71,-116.8,847.2,-5.3,431,11167,0.00,2.28,0.00,0.000,6,0.000,0.037,2650,2031,3259,0,0,0,0,0,0
$GC,11480,-0.71,-116.8,864.1,-5.6,439,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2030,3260,0,0,0,0,0,0
$GC,11805,-0.71,-116.8,884.3,-6.4,447,11809,0.00,2.35,0.00,0.000,4,0.000,0.051,2649,458,3260,0,0,0,0,0,0
$GC,11842,-0.71,-116.8,887.1,-7.3,447,11849,0.00,2.30,0.00,0.000,6,0.000,0.036,2639,2025,3259,0,0,0,0,0,0
$GC,12173,-0.71,-116.8,909.1,-6.6,456,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2025,3259,0,0,0,0,0,0
$GC,12498,-0.71,-116.8,930.3,-6.4,464,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2025,3258,0,0,0,0,0,0
$GC,12823,-0.71,-116.8,950.2,-6.0,472,12827,0.00,2.35,0.00,0.000,4,0.000,0.051,2639,446,3258,0,0,0,0,0,0
$GC,12861,-0.71,-116.8,952.7,-6.8,473,12866,0.12,2.30,0.00,0.000,6,0.150,0.038,2663,2044,3258,0,0,0,0,0,0
$GC,13185,-0.71,-116.8,968.1,-4.6,481,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2044,3258,0,0,0,0,0,0
$STATE,13508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13508,begin apogee
$GC,13511,-0.23,0.0,982.0,4.2,489,13607,0.45,0.00,92.62,1.297,6,0.114,0.000,2815,2043,2823,0,0,0,0,0,0
$STATE,13654,end apogee,CONTROL_FINISHED_OK
$STATE,13654,begin climb
$GC,13655,0.71,116.8,982.6,0.0,491,13773,0.82,2.58,109.40,1.261,4,0.070,0.048,3122,3604,2345,0,0,0,0,0,0
$GC,13828,0.71,116.8,965.4,15.7,494,13833,0.00,2.50,0.00,0.000,6,0.000,0.039,3134,2036,2334,0,0,0,0,0,0
$GC,14147,0.71,116.8,917.5,14.7,502,14151,0.00,2.45,0.00,0.000,4,0.000,0.052,3147,444,2328,0,0,0,0,0,0
$GC,14217,0.71,116.8,906.5,15.2,503,14223,0.08,2.40,0.00,0.000,6,0.144,0.038,3123,2030,2326,0,0,0,0,0,0
$GC,14554,0.71,116.8,860.1,13.4,512,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2030,2325,0,0,0,0,0,0
$GC,14879,0.71,116.8,817.2,13.1,520,14883,0.00,2.40,0.00,0.000,4,0.000,0.052,3133,446,2323,0,0,0,0,0,0
$GC,14899,0.71,116.8,814.4,13.2,520,14904,0.00,2.38,0.00,0.000,6,0.000,0.038,3133,2039,2323,0,0,0,0,0,0
$GC,15241,0.71,116.8,771.4,12.3,529,15245,0.00,2.38,0.00,0.000,4,0.000,0.048,3133,3615,2322,0,0,0,0,0,0
$GC,15279,0.71,116.8,766.1,14.5,529,15286,0.00,2.38,0.00,0.000,6,0.000,0.038,3145,2029,2320,0,0,0,0,0,0
$GC,15610,0.71,116.8,721.0,14.2,538,15614,0.00,2.38,0.00,0.000,4,0.000,0.052,3157,447,2322,0,0,0,0,0,0
$GC,15659,0.71,116.8,713.6,15.1,539,15664,0.10,2.35,0.00,0.000,6,0.143,0.038,3125,2031,2320,0,0,0,0,0,0
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$STATE,22646,end climb,SURFACE_DEPTH_REACHED
$STATE,22647,begin surface coast
$FINISH,1.0,1.023201
$STATE,22676,end surface coast,CONTROL_FINISHED_OK
$STATE,22676,begin surface
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$10V_AH,9.8,12.393
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335000
$DATA_FILE_SIZE,33378,911
$CAP_FILE_SIZE,182441,0
$CFSIZE,260165632,251158528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020710,183007,2034.867,-15957.505,25,1.1,25,9.6