version: 66.07
glider: 500
mission: 4
dive: 102
start: 7 7 110 17 57 51
data:
$ID,500
$MISSION,4
$DIVE,102
$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,-111313.35
$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,54
$R_STBD_OVSHOOT,49
$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,101
$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
$GPS1,070710,175107,2021.768,-16009.962,30,1.3,30,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.8
$GPS2,070710,175655,2021.643,-16009.974,11,1.3,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,0.112
$KALMAN_X,-168785.4,-235.8,-63.0,-61659.2,-498.4
$KALMAN_Y,80461.0,-249.6,36.5,-172075.9,-2706.7
$MHEAD_RNG_PITCHd_Wd,50.2,121554,-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,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.95,0.000,2,0.000,0.000,132,2041,2685,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.1,-4.9,10,112,10.15,0.00,-14.93,0.000,6,0.235,0.000,2648,2042,3300,0,0,0,0,0,0
$GC,309,-0.71,-116.8,40.5,-11.5,45,313,0.00,2.33,0.00,0.000,4,0.000,0.044,2648,461,3303,0,0,0,0,0,0
$GC,393,-0.71,-116.8,49.9,-12.1,52,397,0.00,2.25,0.00,0.000,6,0.000,0.033,2638,2039,3304,0,0,0,0,0,0
$GC,654,-0.71,-116.8,80.6,-11.3,76,658,0.00,2.33,0.00,0.000,4,0.000,0.043,2625,3611,3306,0,0,0,0,0,0
$GC,694,-0.71,-116.8,85.4,-12.1,79,699,0.12,2.28,0.00,0.000,6,0.135,0.029,2664,2022,3306,0,0,0,0,0,0
$GC,956,-0.71,-116.8,115.2,-11.8,103,960,0.00,2.30,0.00,0.000,4,0.000,0.043,2664,452,3308,0,0,0,0,0,0
$GC,1106,-0.71,-116.8,132.5,-10.0,116,1110,0.00,2.25,0.00,0.000,6,0.000,0.032,2654,2030,3308,0,0,0,0,0,0
$GC,1371,-0.71,-116.8,158.4,-9.5,141,1375,0.00,2.28,0.00,0.000,4,0.000,0.043,2654,462,3309,0,0,0,0,0,0
$GC,1483,-0.71,-116.8,169.9,-10.0,151,1487,0.00,2.25,0.00,0.000,6,0.000,0.032,2647,2045,3309,0,0,0,0,0,0
$GC,1743,-0.71,-116.8,195.5,-10.1,175,1748,0.00,2.30,0.00,0.000,4,0.000,0.043,2642,457,3309,0,0,0,0,0,0
$GC,1777,-0.71,-116.8,198.8,-10.6,178,1781,0.00,2.22,0.00,0.000,6,0.000,0.032,2631,2041,3309,0,0,0,0,0,0
$GC,2041,-0.71,-116.8,221.4,-8.9,191,2045,0.00,2.28,0.00,0.000,4,0.000,0.043,2619,3611,3308,0,0,0,0,0,0
$GC,2072,-0.71,-116.8,224.8,-10.1,192,2079,0.10,2.28,0.00,0.000,6,0.105,0.029,2658,2024,3308,0,0,0,0,0,0
$GC,2388,-0.71,-116.8,253.7,-9.2,208,2392,0.00,2.25,0.00,0.000,4,0.000,0.043,2658,464,3308,0,0,0,0,0,0
$GC,2475,-0.71,-116.8,262.7,-10.5,212,2480,0.00,2.25,0.00,0.000,6,0.000,0.032,2648,2026,3307,0,0,0,0,0,0
$GC,2803,-0.71,-116.8,291.4,-8.1,228,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3306,0,0,0,0,0,0
$GC,3129,-0.71,-116.8,314.9,-6.9,239,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3304,0,0,0,0,0,0
$GC,3454,-0.71,-116.8,340.8,-8.6,247,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3303,0,0,0,0,0,0
$GC,3779,-0.71,-116.8,370.4,-8.9,255,3783,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,460,3301,0,0,0,0,0,0
$GC,3862,-0.71,-116.8,378.4,-9.6,257,3866,0.00,2.25,0.00,0.000,6,0.000,0.033,2637,2039,3300,0,0,0,0,0,0
$GC,4185,-0.71,-116.8,408.0,-9.2,265,4189,0.00,2.30,0.00,0.000,4,0.000,0.044,2625,3604,3297,0,0,0,0,0,0
$GC,4257,-0.71,-116.8,415.1,-9.9,266,4263,0.08,2.28,0.00,0.000,6,0.111,0.030,2656,2030,3297,0,0,0,0,0,0
$GC,4593,-0.71,-116.8,439.8,-6.8,275,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2031,3296,0,0,0,0,0,0
$GC,4918,-0.71,-116.8,459.3,-5.9,283,4922,0.00,2.30,0.00,0.000,4,0.000,0.045,2657,448,3294,0,0,0,0,0,0
$GC,5024,-0.71,-116.8,466.9,-7.2,285,5028,0.00,2.28,0.00,0.000,6,0.000,0.033,2647,2016,3293,0,0,0,0,0,0
$GC,5371,-0.71,-116.8,489.3,-6.3,294,5375,0.00,2.30,0.00,0.000,4,0.000,0.045,2647,458,3291,0,0,0,0,0,0
$GC,5426,-0.71,-116.8,493.1,-6.8,295,5431,0.00,2.28,0.00,0.000,6,0.000,0.034,2636,2032,3290,0,0,0,0,0,0
$GC,5739,-0.71,-116.8,513.0,-6.5,303,5743,0.00,2.30,0.00,0.000,4,0.000,0.046,2633,459,3289,0,0,0,0,0,0
$GC,5766,-0.71,-116.8,515.2,-7.8,303,5770,0.00,2.28,0.00,0.000,6,0.000,0.034,2624,2036,3286,0,0,0,0,0,0
$GC,6103,-0.71,-116.8,541.9,-8.0,312,6107,0.12,2.33,0.00,0.000,4,0.148,0.046,2652,3613,3286,0,0,0,0,0,0
$GC,6163,-0.71,-116.8,546.0,-6.7,313,6167,0.00,2.30,0.00,0.000,6,0.000,0.032,2652,2030,3290,0,0,0,0,0,0
$GC,6511,-0.71,-116.8,568.3,-6.5,322,6515,0.00,2.35,0.00,0.000,4,0.000,0.047,2652,448,3286,0,0,0,0,0,0
$GC,6582,-0.71,-116.8,573.9,-7.7,323,6587,0.00,2.30,0.00,0.000,6,0.000,0.033,2641,2038,3284,0,0,0,0,0,0
$GC,6924,-0.71,-116.8,597.2,-6.6,332,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2038,3286,0,0,0,0,0,0
$GC,7249,-0.71,-116.8,617.5,-6.1,340,7254,0.00,2.33,0.00,0.000,4,0.000,0.047,2641,455,3282,0,0,0,0,0,0
$GC,7293,-0.71,-116.8,620.6,-7.2,341,7298,0.10,2.25,0.00,0.000,6,0.163,0.034,2658,2039,3281,0,0,0,0,0,0
$GC,7616,-0.71,-116.8,639.5,-5.9,349,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2040,3281,0,0,0,0,0,0
$GC,7941,-0.71,-116.8,659.9,-6.4,357,7945,0.00,2.33,0.00,0.000,4,0.000,0.047,2648,3607,3280,0,0,0,0,0,0
$GC,7974,-0.71,-116.8,662.2,-7.7,357,7978,0.00,2.30,0.00,0.000,6,0.000,0.032,2648,2033,3279,0,0,0,0,0,0
$GC,8310,-0.71,-116.8,685.5,-6.9,366,8314,0.00,2.33,0.00,0.000,4,0.000,0.047,2648,447,3278,0,0,0,0,0,0
$GC,8337,-0.71,-116.8,687.5,-8.2,366,8341,0.00,2.30,0.00,0.000,6,0.000,0.034,2637,2029,3278,0,0,0,0,0,0
$GC,8674,-0.71,-116.8,710.4,-6.7,375,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2027,3277,0,0,0,0,0,0
$GC,8998,-0.71,-116.8,732.6,-7.2,383,9002,0.00,2.35,0.00,0.000,4,0.000,0.047,2636,447,3276,0,0,0,0,0,0
$GC,9049,-0.71,-116.8,736.6,-8.3,384,9054,0.12,2.30,0.00,0.000,6,0.148,0.035,2662,2051,3277,0,0,0,0,0,0
$GC,9367,-0.71,-116.8,755.7,-5.9,392,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2051,3276,0,0,0,0,0,0
$GC,9691,-0.71,-116.8,775.2,-6.1,400,9695,0.00,2.38,0.00,0.000,4,0.000,0.047,2662,449,3273,0,0,0,0,0,0
$GC,9757,-0.71,-116.8,779.8,-7.2,401,9762,0.00,2.30,0.00,0.000,6,0.000,0.035,2652,2026,3275,0,0,0,0,0,0
$GC,10105,-0.71,-116.8,802.7,-6.6,410,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2027,3275,0,0,0,0,0,0
$GC,10430,-0.71,-116.8,823.8,-6.4,418,10434,0.00,2.33,0.00,0.000,4,0.000,0.048,2652,450,3274,0,0,0,0,0,0
$GC,10495,-0.71,-116.8,828.5,-7.2,419,10500,0.00,2.33,0.00,0.000,6,0.000,0.035,2641,2047,3273,0,0,0,0,0,0
$GC,10838,-0.71,-116.8,850.2,-6.5,428,10842,0.00,2.35,0.00,0.000,4,0.000,0.047,2641,451,3274,0,0,0,0,0,0
$GC,10870,-0.71,-116.8,852.6,-7.8,428,10876,0.00,2.30,0.00,0.000,6,0.000,0.035,2630,2032,3273,0,0,0,0,0,0
$GC,11201,-0.71,-116.8,875.7,-7.0,437,11203,0.10,0.00,0.00,0.000,6,0.160,0.000,2660,2032,3272,0,0,0,0,0,0
$GC,11526,-0.71,-116.8,893.5,-5.4,445,11527,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2032,3272,0,0,0,0,0,0
$GC,11851,-0.71,-116.8,911.5,-5.6,453,11855,0.00,2.35,0.00,0.000,4,0.000,0.049,2660,446,3271,0,0,0,0,0,0
$GC,11910,-0.71,-116.8,915.5,-6.5,454,11915,0.00,2.30,0.00,0.000,6,0.000,0.035,2651,2023,3271,0,0,0,0,0,0
$GC,12259,-0.71,-116.8,935.5,-5.6,463,12263,0.00,2.33,0.00,0.000,4,0.000,0.048,2651,456,3271,0,0,0,0,0,0
$GC,12290,-0.71,-116.8,937.6,-6.4,463,12295,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2030,3274,0,0,0,0,0,0
$GC,12627,-0.71,-116.8,955.5,-5.1,472,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2031,3271,0,0,0,0,0,0
$GC,12952,-0.71,-116.8,970.6,-4.5,480,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2030,3270,0,0,0,0,0,0
$GC,13277,-0.71,-116.8,985.2,-4.5,488,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2030,3270,0,0,0,0,0,0
$STATE,13397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13397,begin apogee
$GC,13401,-0.23,0.0,990.9,4.7,491,13500,0.52,0.00,95.65,1.297,6,0.113,0.000,2814,2030,2821,0,0,0,0,0,0
$STATE,13546,end apogee,CONTROL_FINISHED_OK
$STATE,13546,begin climb
$GC,13548,0.71,116.8,991.7,0.0,493,13671,0.82,2.58,110.55,1.262,4,0.067,0.044,3122,3601,2339,0,0,0,0,0,0
$GC,13692,0.71,116.8,979.4,14.2,496,13697,0.00,2.50,0.00,0.000,6,0.000,0.035,3133,2045,2339,0,0,0,0,0,0
$GC,14040,0.71,116.8,930.3,14.1,505,14044,0.00,2.47,0.00,0.000,4,0.000,0.049,3151,435,2326,0,0,0,0,0,0
$GC,14065,0.71,116.8,926.5,14.7,505,14070,0.00,2.40,0.00,0.000,6,0.000,0.035,3146,2025,2326,0,0,0,0,0,0
$GC,14402,0.71,116.8,878.5,14.1,514,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2030,2323,0,0,0,0,0,0
$GC,14727,0.71,116.8,834.3,13.6,522,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2025,2322,0,0,0,0,0,0
$GC,15052,0.71,116.8,791.8,13.1,530,15056,0.00,2.38,0.00,0.000,4,0.000,0.050,3161,447,2321,0,0,0,0,0,0
$GC,15112,0.71,116.8,783.2,14.5,531,15118,0.10,2.35,0.00,0.000,6,0.145,0.036,3125,2032,2321,0,0,0,0,0,0
$GC,15460,0.71,116.8,741.1,12.1,540,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2032,2318,0,0,0,0,0,0
$GC,15785,0.71,116.8,702.2,12.1,548,15789,0.00,2.38,0.00,0.000,4,0.000,0.050,3136,447,2318,0,0,0,0,0,0
$GC,15840,0.71,116.8,695.5,12.0,549,15845,0.00,2.35,0.00,0.000,6,0.000,0.035,3136,2036,2318,0,0,0,0,0,0
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$STATE,22595,end climb,SURFACE_DEPTH_REACHED
$STATE,22595,begin surface coast
$FINISH,0.7,1.023284
$STATE,22628,end surface coast,CONTROL_FINISHED_OK
$STATE,22628,begin surface
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$10V_AH,9.7,15.148
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$FG_AHR_10Vo,0.000
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$MEM,334068
$DATA_FILE_SIZE,33329,913
$CAP_FILE_SIZE,173919,0
$CFSIZE,260165632,249659392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080710,001906,2021.749,-16008.265,32,1.6,32,9.6