version: 66.07
glider: 500
mission: 4
dive: 82
start: 7 2 110 23 45 28
data:
$ID,500
$MISSION,4
$DIVE,82
$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,-110992.48
$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,42
$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,81
$AR_SAMPLENUM,11
$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
$GPS1,020710,233936,2036.351,-15959.478,35,1.1,41,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.3
$GPS2,020710,234432,2036.290,-15959.578,11,1.1,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT05
$TGT_LATLONG,2032.000,-16015.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,-0.001
$KALMAN_X,-145625.3,-6.3,190.8,-67346.5,-4596.4
$KALMAN_Y,126227.9,30.4,192.0,-191148.5,-2880.9
$MHEAD_RNG_PITCHd_Wd,260.0,27902,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.12,0.000,2,0.000,0.000,133,2033,2704,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.3,-5.3,10,113,10.23,2.38,-13.95,0.000,4,0.239,0.056,2641,3613,3301,0,0,0,0,0,0
$GC,331,-0.71,-116.8,48.2,-17.5,46,338,0.00,2.33,0.00,0.000,6,0.000,0.031,2641,2026,3304,0,0,0,0,0,0
$GC,593,-0.71,-116.8,87.8,-12.8,71,597,0.00,2.33,0.00,0.000,4,0.000,0.042,2629,3614,3305,0,0,0,0,0,0
$GC,635,-0.71,-116.8,93.8,-13.6,74,642,0.08,2.30,0.00,0.000,6,0.120,0.029,2658,2032,3306,0,0,0,0,0,0
$GC,896,-0.71,-116.8,123.5,-10.9,99,900,0.00,2.30,0.00,0.000,4,0.000,0.044,2657,457,3308,0,0,0,0,0,0
$GC,956,-0.71,-116.8,130.3,-12.0,104,963,0.00,2.28,0.00,0.000,6,0.000,0.032,2647,2037,3307,0,0,0,0,0,0
$GC,1218,-0.71,-116.8,156.2,-10.3,129,1222,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,448,3309,0,0,0,0,0,0
$GC,1255,-0.71,-116.8,160.4,-11.9,132,1261,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2029,3308,0,0,0,0,0,0
$GC,1516,-0.71,-116.8,187.7,-10.8,157,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2029,3312,0,0,0,0,0,0
$GC,1777,-0.71,-116.8,213.9,-9.5,175,1781,0.00,2.30,0.00,0.000,4,0.000,0.044,2624,3615,3313,0,0,0,0,0,0
$GC,1805,-0.71,-116.8,216.7,-10.5,176,1810,0.12,2.25,0.00,0.000,6,0.134,0.031,2663,2022,3311,0,0,0,0,0,0
$GC,2119,-0.71,-116.8,244.2,-8.5,191,2123,0.00,2.25,0.00,0.000,4,0.000,0.044,2664,458,3311,0,0,0,0,0,0
$GC,2182,-0.71,-116.8,249.4,-8.6,194,2186,0.00,2.25,0.00,0.000,6,0.000,0.034,2653,2045,3311,0,0,0,0,0,0
$GC,2506,-0.71,-116.8,275.1,-9.0,210,2511,0.00,2.28,0.00,0.000,4,0.000,0.044,2641,3612,3309,0,0,0,0,0,0
$GC,2600,-0.71,-116.8,284.9,-10.6,214,2605,0.00,2.28,0.00,0.000,6,0.000,0.031,2642,2038,3309,0,0,0,0,0,0
$GC,2925,-0.71,-116.8,314.6,-8.2,226,2929,0.00,2.33,0.00,0.000,4,0.000,0.045,2641,443,3307,0,0,0,0,0,0
$GC,2956,-0.71,-116.8,317.4,-9.1,226,2963,0.00,2.28,0.00,0.000,6,0.000,0.034,2629,2028,3308,0,0,0,0,0,0
$GC,3287,-0.71,-116.8,350.0,-9.6,235,3292,0.10,2.33,0.00,0.000,4,0.161,0.045,2660,451,3306,0,0,0,0,0,0
$GC,3319,-0.71,-116.8,352.7,-8.2,235,3325,0.00,2.28,0.00,0.000,6,0.000,0.034,2650,2034,3306,0,0,0,0,0,0
$GC,3651,-0.71,-116.8,375.8,-6.7,244,3655,0.00,2.33,0.00,0.000,4,0.000,0.045,2650,445,3304,0,0,0,0,0,0
$GC,3694,-0.71,-116.8,379.3,-8.2,245,3699,0.00,2.28,0.00,0.000,6,0.000,0.035,2636,2022,3301,0,0,0,0,0,0
$GC,4018,-0.71,-116.8,404.6,-7.8,253,4022,0.00,2.35,0.00,0.000,4,0.000,0.046,2627,3618,3302,0,0,0,0,0,0
$GC,4050,-0.71,-116.8,407.6,-9.2,253,4057,0.08,2.30,0.00,0.000,6,0.113,0.032,2657,2036,3303,0,0,0,0,0,0
$GC,4381,-0.71,-116.8,432.6,-7.5,262,4386,0.00,2.33,0.00,0.000,4,0.000,0.047,2658,437,3300,0,0,0,0,0,0
$GC,4453,-0.71,-116.8,438.3,-7.8,263,4458,0.00,2.30,0.00,0.000,6,0.000,0.034,2648,2029,3299,0,0,0,0,0,0
$GC,4790,-0.71,-116.8,460.0,-6.3,272,4794,0.00,2.35,0.00,0.000,4,0.000,0.047,2636,3622,3296,0,0,0,0,0,0
$GC,4844,-0.71,-116.8,464.1,-7.6,273,4849,0.00,2.33,0.00,0.000,6,0.000,0.033,2635,2023,3297,0,0,0,0,0,0
$GC,5157,-0.71,-116.8,492.1,-9.6,281,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2022,3295,0,0,0,0,0,0
$GC,5482,-0.71,-116.8,524.5,-9.6,289,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2023,3292,0,0,0,0,0,0
$GC,5807,-0.71,-116.8,548.8,-6.9,297,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2023,3292,0,0,0,0,0,0
$GC,6132,-0.71,-116.8,568.8,-6.0,305,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2023,3290,0,0,0,0,0,0
$GC,6457,-0.71,-116.8,588.6,-6.1,313,6461,0.00,2.30,0.00,0.000,4,0.000,0.049,2636,454,3288,0,0,0,0,0,0
$GC,6613,-0.71,-116.8,600.4,-7.6,316,6618,0.12,2.25,0.00,0.000,6,0.150,0.036,2661,2041,3287,0,0,0,0,0,0
$GC,6955,-0.71,-116.8,621.9,-6.4,325,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2038,3286,0,0,0,0,0,0
$GC,7280,-0.71,-116.8,642.2,-6.2,333,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2038,3284,0,0,0,0,0,0
$GC,7605,-0.71,-116.8,663.7,-6.7,341,7609,0.00,2.35,0.00,0.000,4,0.000,0.049,2662,457,3286,0,0,0,0,0,0
$GC,7637,-0.71,-116.8,666.1,-8.2,341,7643,0.00,2.28,0.00,0.000,6,0.000,0.036,2652,2011,3283,0,0,0,0,0,0
$GC,7968,-0.71,-116.8,689.1,-6.8,350,7972,0.00,2.33,0.00,0.000,4,0.000,0.049,2652,451,3281,0,0,0,0,0,0
$GC,8000,-0.71,-116.8,691.4,-7.8,350,8006,0.00,2.33,0.00,0.000,6,0.000,0.036,2641,2049,3282,0,0,0,0,0,0
$GC,8331,-0.71,-116.8,711.8,-5.9,359,8335,0.00,2.38,0.00,0.000,4,0.000,0.049,2637,452,3281,0,0,0,0,0,0
$GC,8374,-0.71,-116.8,714.7,-7.1,360,8379,0.10,2.28,0.00,0.000,6,0.160,0.037,2658,2037,3281,0,0,0,0,0,0
$GC,8698,-0.71,-116.8,730.1,-4.7,368,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2037,3281,0,0,0,0,0,0
$GC,9023,-0.71,-116.8,748.3,-6.1,376,9027,0.00,2.35,0.00,0.000,4,0.000,0.050,2658,455,3279,0,0,0,0,0,0
$GC,9067,-0.71,-116.8,751.5,-7.5,377,9071,0.00,2.28,0.00,0.000,6,0.000,0.037,2648,2039,3280,0,0,0,0,0,0
$GC,9396,-0.71,-116.8,775.9,-7.5,385,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2040,3278,0,0,0,0,0,0
$GC,9721,-0.71,-116.8,798.6,-6.8,393,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2040,3278,0,0,0,0,0,0
$GC,10046,-0.71,-116.8,815.9,-4.8,401,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2040,3277,0,0,0,0,0,0
$GC,10371,-0.71,-116.8,829.3,-4.1,409,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2040,3277,0,0,0,0,0,0
$GC,10696,-0.71,-116.8,845.0,-5.0,417,10700,0.00,2.38,0.00,0.000,4,0.000,0.051,2648,452,3276,0,0,0,0,0,0
$GC,10780,-0.71,-116.8,850.1,-6.4,419,10784,0.00,2.28,0.00,0.000,6,0.000,0.038,2638,2037,3276,0,0,0,0,0,0
$GC,11103,-0.71,-116.8,868.4,-5.6,427,11107,0.00,2.35,0.00,0.000,4,0.000,0.049,2625,3610,3277,0,0,0,0,0,0
$GC,11169,-0.71,-116.8,872.4,-7.1,428,11173,0.12,2.30,0.00,0.000,6,0.137,0.035,2664,2025,3274,0,0,0,0,0,0
$GC,11510,-0.71,-116.8,890.4,-5.5,437,11514,0.00,2.35,0.00,0.000,4,0.000,0.051,2664,451,3275,0,0,0,0,0,0
$GC,11593,-0.71,-116.8,895.9,-7.2,439,11597,0.00,2.30,0.00,0.000,6,0.000,0.038,2655,2038,3274,0,0,0,0,0,0
$GC,11916,-0.71,-116.8,917.0,-6.7,447,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3274,0,0,0,0,0,0
$GC,12241,-0.71,-116.8,937.7,-6.2,455,12245,0.00,2.38,0.00,0.000,4,0.000,0.051,2655,454,3275,0,0,0,0,0,0
$GC,12306,-0.71,-116.8,942.3,-7.2,456,12311,0.00,2.30,0.00,0.000,6,0.000,0.038,2644,2021,3274,0,0,0,0,0,0
$GC,12648,-0.71,-116.8,962.0,-5.4,465,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2021,3271,0,0,0,0,0,0
$GC,12973,-0.71,-116.8,979.6,-5.5,473,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2021,3273,0,0,0,0,0,0
$STATE,13174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13174,begin apogee
$GC,13178,-0.23,0.0,991.3,5.9,478,13277,0.52,0.00,96.43,1.301,6,0.116,0.000,2818,2021,2822,0,0,0,0,0,0
$STATE,13279,end apogee,CONTROL_FINISHED_OK
$STATE,13280,begin climb
$GC,13281,0.71,116.8,993.0,0.0,480,13396,0.88,0.00,111.05,1.263,6,0.067,0.000,3131,2022,2346,0,0,0,0,0,0
$GC,13700,0.71,116.8,947.4,13.1,491,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2022,2330,0,0,0,0,0,0
$GC,14025,0.71,116.8,904.5,13.5,499,14030,0.00,2.40,0.00,0.000,4,0.000,0.054,3143,451,2327,0,0,0,0,0,0
$GC,14069,0.71,116.8,898.2,14.4,500,14074,0.00,2.38,0.00,0.000,6,0.000,0.038,3143,2027,2327,0,0,0,0,0,0
$GC,14393,0.71,116.8,852.5,14.0,508,14397,0.00,2.40,0.00,0.000,4,0.000,0.049,3143,3613,2326,0,0,0,0,0,0
$GC,14419,0.71,116.8,848.3,15.6,508,14425,0.10,2.38,0.00,0.000,6,0.153,0.038,3123,2035,2322,0,0,0,0,0,0
$GC,14756,0.71,116.8,801.3,14.2,517,14760,0.00,2.40,0.00,0.000,4,0.000,0.052,3134,455,2324,0,0,0,0,0,0
$GC,14826,0.71,116.8,790.5,16.3,518,14831,0.00,2.35,0.00,0.000,6,0.000,0.038,3134,2034,2323,0,0,0,0,0,0
$GC,15163,0.71,116.8,740.0,15.0,527,15167,0.00,2.38,0.00,0.000,4,0.000,0.049,3134,3614,2323,0,0,0,0,0,0
$GC,15217,0.71,116.8,730.9,16.3,528,15222,0.00,2.38,0.00,0.000,6,0.000,0.038,3146,2025,2322,0,0,0,0,0,0
$GC,15530,0.71,116.8,681.0,15.9,536,15535,0.00,2.38,0.00,0.000,4,0.000,0.052,3158,451,2322,0,0,0,0,0,0
$GC,15608,0.71,116.8,668.0,17.2,537,15615,0.10,2.35,0.00,0.000,6,0.145,0.038,3125,2038,2322,0,0,0,0,0,0
$GC,15939,0.71,116.8,624.4,12.5,546,15940,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2038,2322,0,0,0,0,0,0
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$STATE,22116,end climb,SURFACE_DEPTH_REACHED
$STATE,22116,begin surface coast
$FINISH,0.8,1.023193
$STATE,22144,end surface coast,CONTROL_FINISHED_OK
$STATE,22144,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,9.8,12.640
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.806,0.000,0.000
$MEM,334596
$DATA_FILE_SIZE,30029,888
$CAP_FILE_SIZE,174605,0
$CFSIZE,260165632,251027456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030710,055707,2035.328,-16003.727,26,1.0,26,9.6