version: 66.07
glider: 500
mission: 4
dive: 83
start: 7 3 110 6 3 22
data:
$ID,500
$MISSION,4
$DIVE,83
$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,-111006.59
$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,82
$AR_SAMPLENUM,12
$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
$GPS1,030710,055707,2035.328,-16003.727,26,1.0,26,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.8
$GPS2,030710,060226,2035.233,-16003.778,11,1.5,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT05
$TGT_LATLONG,2032.000,-16015.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.214,-0.060
$KALMAN_X,-148511.3,594.6,418.6,-72563.8,-5055.2
$KALMAN_Y,124672.9,-22.8,-112.5,-191197.1,-1697.4
$MHEAD_RNG_PITCHd_Wd,244.7,20362,-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,-51.47,0.000,2,0.000,0.000,144,2020,2713,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.2,-4.4,10,113,10.12,2.38,-13.75,0.000,4,0.235,0.057,2655,458,3302,0,0,0,0,0,0
$GC,354,-0.71,-116.8,53.8,-17.6,47,360,0.00,2.30,0.00,0.000,6,0.000,0.033,2645,2033,3305,0,0,0,0,0,0
$GC,617,-0.71,-116.8,91.4,-13.6,72,621,0.00,2.33,0.00,0.000,4,0.000,0.042,2636,3610,3305,0,0,0,0,0,0
$GC,700,-0.71,-116.8,103.0,-14.3,79,704,0.00,2.28,0.00,0.000,6,0.000,0.029,2633,2019,3308,0,0,0,0,0,0
$GC,966,-0.71,-116.8,135.0,-10.2,104,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2018,3310,0,0,0,0,0,0
$GC,1221,-0.71,-116.8,161.2,-10.7,128,1225,0.00,2.35,0.00,0.000,4,0.000,0.042,2620,3610,3310,0,0,0,0,0,0
$GC,1259,-0.71,-116.8,165.4,-10.9,131,1264,0.12,2.25,0.00,0.000,6,0.137,0.031,2656,2034,3309,0,0,0,0,0,0
$GC,1519,-0.71,-116.8,186.6,-7.8,155,1523,0.00,2.33,0.00,0.000,4,0.000,0.042,2649,3615,3311,0,0,0,0,0,0
$GC,1618,-0.71,-116.8,195.9,-10.0,163,1625,0.00,2.28,0.00,0.000,6,0.000,0.029,2645,2036,3311,0,0,0,0,0,0
$GC,1873,-0.71,-116.8,223.2,-10.2,178,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2036,3311,0,0,0,0,0,0
$GC,2183,-0.71,-116.8,247.5,-9.3,193,2187,0.00,2.30,0.00,0.000,4,0.000,0.044,2649,454,3310,0,0,0,0,0,0
$GC,2214,-0.71,-116.8,251.1,-11.3,194,2219,0.00,2.28,0.00,0.000,6,0.000,0.033,2638,2041,3310,0,0,0,0,0,0
$GC,2535,-0.71,-116.8,284.0,-9.3,210,2539,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,450,3309,0,0,0,0,0,0
$GC,2567,-0.71,-116.8,287.2,-9.6,211,2574,0.08,2.28,0.00,0.000,6,0.121,0.033,2655,2037,3309,0,0,0,0,0,0
$GC,2902,-0.71,-116.8,308.8,-6.4,225,2906,0.00,2.33,0.00,0.000,4,0.000,0.044,2656,445,3307,0,0,0,0,0,0
$GC,2940,-0.71,-116.8,312.0,-8.7,226,2944,0.00,2.25,0.00,0.000,6,0.000,0.034,2645,2030,3307,0,0,0,0,0,0
$GC,3269,-0.71,-116.8,341.9,-9.0,234,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2030,3305,0,0,0,0,0,0
$GC,3593,-0.71,-116.8,370.0,-9.1,242,3597,0.00,2.33,0.00,0.000,4,0.000,0.046,2633,3610,3303,0,0,0,0,0,0
$GC,3637,-0.71,-116.8,374.0,-8.7,243,3641,0.00,2.28,0.00,0.000,6,0.000,0.031,2633,2032,3303,0,0,0,0,0,0
$GC,3961,-0.71,-116.8,408.1,-10.8,251,3965,0.00,2.30,0.00,0.000,4,0.000,0.046,2633,455,3300,0,0,0,0,0,0
$GC,3987,-0.71,-116.8,411.3,-11.9,251,3993,0.10,2.28,0.00,0.000,6,0.114,0.034,2660,2032,3300,0,0,0,0,0,0
$GC,4324,-0.71,-116.8,439.6,-7.9,260,4329,0.00,2.30,0.00,0.000,4,0.000,0.046,2650,3606,3296,0,0,0,0,0,0
$GC,4363,-0.71,-116.8,442.9,-8.3,261,4368,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2027,3298,0,0,0,0,0,0
$GC,4687,-0.71,-116.8,466.8,-6.8,269,4691,0.00,2.33,0.00,0.000,4,0.000,0.048,2650,448,3296,0,0,0,0,0,0
$GC,4752,-0.71,-116.8,471.7,-7.8,270,4757,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2033,3295,0,0,0,0,0,0
$GC,5095,-0.71,-116.8,495.6,-7.6,279,5099,0.00,2.33,0.00,0.000,4,0.000,0.047,2626,3606,3293,0,0,0,0,0,0
$GC,5133,-0.71,-116.8,498.9,-8.9,280,5138,0.12,2.28,0.00,0.000,6,0.135,0.034,2665,2032,3293,0,0,0,0,0,0
$GC,5456,-0.71,-116.8,523.4,-7.6,288,5460,0.00,2.35,0.00,0.000,4,0.000,0.048,2666,456,3290,0,0,0,0,0,0
$GC,5527,-0.71,-116.8,529.3,-7.9,289,5531,0.00,2.28,0.00,0.000,6,0.000,0.035,2656,2027,3291,0,0,0,0,0,0
$GC,5864,-0.71,-116.8,552.9,-6.6,298,5868,0.00,2.30,0.00,0.000,4,0.000,0.048,2656,456,3288,0,0,0,0,0,0
$GC,5904,-0.71,-116.8,555.8,-7.7,299,5908,0.00,2.25,0.00,0.000,6,0.000,0.036,2645,2038,3288,0,0,0,0,0,0
$GC,6227,-0.71,-116.8,576.4,-6.1,307,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2038,3286,0,0,0,0,0,0
$GC,6552,-0.71,-116.8,597.1,-6.4,315,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2038,3284,0,0,0,0,0,0
$GC,6877,-0.71,-116.8,620.4,-7.2,323,6881,0.00,2.35,0.00,0.000,4,0.000,0.048,2645,457,3282,0,0,0,0,0,0
$GC,6903,-0.71,-116.8,622.5,-7.8,323,6907,0.00,2.30,0.00,0.000,6,0.000,0.037,2632,2036,3283,0,0,0,0,0,0
$GC,7239,-0.71,-116.8,646.3,-6.8,332,7244,0.00,2.33,0.00,0.000,4,0.000,0.048,2621,3615,3281,0,0,0,0,0,0
$GC,7260,-0.71,-116.8,647.8,-6.8,332,7266,0.10,2.33,0.00,0.000,6,0.110,0.035,2660,2030,3281,0,0,0,0,0,0
$GC,7603,-0.71,-116.8,668.4,-6.2,341,7607,0.00,2.33,0.00,0.000,4,0.000,0.050,2665,457,3280,0,0,0,0,0,0
$GC,7658,-0.71,-116.8,672.4,-8.0,342,7662,0.00,2.30,0.00,0.000,6,0.000,0.036,2651,2028,3282,0,0,0,0,0,0
$GC,7976,-0.71,-116.8,693.2,-6.5,350,7980,0.00,2.38,0.00,0.000,4,0.000,0.048,2639,3611,3279,0,0,0,0,0,0
$GC,8015,-0.71,-116.8,695.9,-6.8,351,8019,0.00,2.30,0.00,0.000,6,0.000,0.035,2639,2027,3279,0,0,0,0,0,0
$GC,8338,-0.71,-116.8,719.0,-7.3,359,8342,0.00,2.35,0.00,0.000,4,0.000,0.049,2638,449,3275,0,0,0,0,0,0
$GC,8398,-0.71,-116.8,723.9,-8.5,360,8403,0.08,2.30,0.00,0.000,6,0.122,0.036,2656,2029,3277,0,0,0,0,0,0
$GC,8746,-0.71,-116.8,745.8,-5.9,369,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2029,3276,0,0,0,0,0,0
$GC,9070,-0.71,-116.8,761.6,-4.5,377,9074,0.00,2.38,0.00,0.000,4,0.000,0.049,2642,3619,3275,0,0,0,0,0,0
$GC,9109,-0.71,-116.8,763.4,-4.8,378,9114,0.00,2.33,0.00,0.000,6,0.000,0.035,2651,2020,3275,0,0,0,0,0,0
$GC,9433,-0.71,-116.8,778.7,-4.8,386,9437,0.00,2.30,0.00,0.000,4,0.000,0.050,2646,456,3274,0,0,0,0,0,0
$GC,9471,-0.71,-116.8,781.1,-6.5,387,9476,0.00,2.28,0.00,0.000,6,0.000,0.036,2635,2033,3277,0,0,0,0,0,0
$GC,9795,-0.71,-116.8,801.3,-6.5,395,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2033,3274,0,0,0,0,0,0
$GC,10120,-0.71,-116.8,822.3,-6.5,403,10124,0.00,2.33,0.00,0.000,4,0.000,0.048,2623,3607,3273,0,0,0,0,0,0
$GC,10145,-0.71,-116.8,824.1,-6.9,403,10151,0.10,2.33,0.00,0.000,6,0.111,0.035,2661,2029,3273,0,0,0,0,0,0
$GC,10483,-0.71,-116.8,842.9,-5.5,412,10487,0.00,2.35,0.00,0.000,4,0.000,0.051,2661,456,3274,0,0,0,0,0,0
$GC,10537,-0.71,-116.8,846.3,-6.9,413,10541,0.00,2.30,0.00,0.000,6,0.000,0.036,2651,2021,3272,0,0,0,0,0,0
$GC,10850,-0.71,-116.8,865.4,-6.1,421,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2021,3272,0,0,0,0,0,0
$GC,11175,-0.71,-116.8,884.8,-5.9,429,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2021,3273,0,0,0,0,0,0
$GC,11500,-0.71,-116.8,904.4,-6.1,437,11504,0.00,2.35,0.00,0.000,4,0.000,0.051,2652,455,3270,0,0,0,0,0,0
$GC,11532,-0.71,-116.8,906.6,-7.4,437,11538,0.00,2.33,0.00,0.000,6,0.000,0.038,2640,2036,3270,0,0,0,0,0,0
$GC,11863,-0.71,-116.8,928.0,-6.4,446,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2036,3270,0,0,0,0,0,0
$GC,12188,-0.71,-116.8,947.7,-5.9,454,12192,0.00,2.38,0.00,0.000,4,0.000,0.051,2640,451,3269,0,0,0,0,0,0
$GC,12219,-0.71,-116.8,949.8,-6.8,454,12224,0.08,2.33,0.00,0.000,6,0.124,0.037,2658,2033,3269,0,0,0,0,0,0
$GC,12556,-0.71,-116.8,966.2,-4.7,463,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2033,3269,0,0,0,0,0,0
$GC,12881,-0.71,-116.8,979.4,-3.9,471,12885,0.00,2.38,0.00,0.000,4,0.000,0.051,2657,451,3268,0,0,0,0,0,0
$GC,12907,-0.71,-116.8,980.6,-5.1,471,12912,0.00,2.33,0.00,0.000,6,0.000,0.038,2648,2030,3268,0,0,0,0,0,0
$STATE,13161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13161,begin apogee
$GC,13165,-0.23,0.0,991.8,4.5,478,13263,0.50,0.00,95.62,1.302,6,0.116,0.000,2813,2030,2822,0,0,0,0,0,0
$STATE,13266,end apogee,CONTROL_FINISHED_OK
$STATE,13266,begin climb
$GC,13267,0.71,116.8,992.7,0.0,480,13388,0.88,2.67,110.50,1.262,4,0.070,0.048,3123,3608,2344,0,0,0,0,0,0
$GC,13426,0.71,116.8,978.5,15.8,484,13431,0.00,2.53,0.00,0.000,6,0.000,0.038,3134,2028,2337,0,0,0,0,0,0
$GC,13774,0.71,116.8,928.8,14.1,493,13778,0.00,2.42,0.00,0.000,4,0.000,0.052,3151,455,2328,0,0,0,0,0,0
$GC,13835,0.71,116.8,919.9,14.4,494,13839,0.00,2.40,0.00,0.000,6,0.000,0.038,3146,2034,2327,0,0,0,0,0,0
$GC,14147,0.71,116.8,875.5,14.4,502,14152,0.00,2.42,0.00,0.000,4,0.000,0.051,3159,446,2325,0,0,0,0,0,0
$GC,14191,0.71,116.8,868.9,14.3,503,14196,0.10,2.38,0.00,0.000,6,0.146,0.038,3127,2032,2327,0,0,0,0,0,0
$GC,14515,0.71,116.8,826.3,13.3,511,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2033,2323,0,0,0,0,0,0
$GC,14839,0.71,116.8,786.6,11.8,519,14843,0.00,2.40,0.00,0.000,4,0.000,0.048,3126,3619,2322,0,0,0,0,0,0
$GC,14860,0.71,116.8,784.0,11.9,519,14865,0.00,2.40,0.00,0.000,6,0.000,0.038,3137,2026,2321,0,0,0,0,0,0
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$STATE,22481,end climb,SURFACE_DEPTH_REACHED
$STATE,22481,begin surface coast
$FINISH,0.7,1.011284
$STATE,22516,end surface coast,CONTROL_FINISHED_OK
$STATE,22516,begin surface
$SM_CCo,22531,67.60,0.456,1,0,1292,375.06
$SM_GC,1.38,0.00,0.00,67.60,0.000,0.000,0.456,133,2036,1292,-8.62,0.14,375.06
$IRIDIUM_FIX,2029.47,-16001.41,261211,181852
$TT8_MAMPS,0.059826
$HUMID,1078409668
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$TCM_TEMP,24.20
$XPDR_PINGS,5
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$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8441757696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54430531584
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,9.762
$10V_AH,9.8,12.773
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.550,201.050,317.350,67.600,0.000,24.413,35.134,152.299,3.750,0.000,13.480,1783.999,18173.498,557.602,2258.066,152.872,33.377,1689.133,0.000,1977.076,0.000,17.848,0.000
$DEVICE_MAMPS,235.469,56.758,1301.599,456.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,622.911,0.000,0.000,0.000,0.000,0.000,0.000,22854.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.765,0.000,0.000
$MEM,334396
$DATA_FILE_SIZE,33397,909
$CAP_FILE_SIZE,180318,0
$CFSIZE,260165632,250941440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030710,122130,2033.879,-16008.150,34,1.9,34,9.6