version: 66.07
glider: 500
mission: 4
dive: 103
start: 7 8 110 0 25 52
data:
$ID,500
$MISSION,4
$DIVE,103
$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,-111328.29
$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,53
$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,102
$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
$GPS1,080710,001906,2021.749,-16008.265,32,1.6,32,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.1
$GPS2,080710,002456,2021.712,-16008.290,12,1.7,12,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.142
$KALMAN_X,-170363.4,-110.9,-183.5,-57171.6,-452.0
$KALMAN_Y,77396.3,353.4,26.6,-169471.6,-3402.6
$MHEAD_RNG_PITCHd_Wd,40.7,118635,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-55.83,0.000,2,0.000,0.000,143,2013,2837,0,0,0,0,0,0
$GC,86,-0.71,-116.8,3.2,-3.7,11,113,10.10,2.40,-10.43,0.000,4,0.234,0.051,2641,3619,3300,0,0,0,0,0,0
$GC,186,-0.71,-116.8,21.5,-17.0,29,191,0.00,2.33,0.00,0.000,6,0.000,0.029,2641,2018,3302,0,0,0,0,0,0
$GC,385,-0.71,-116.8,51.7,-11.1,52,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2015,3307,0,0,0,0,0,0
$GC,639,-0.71,-116.8,78.7,-10.6,76,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2018,3306,0,0,0,0,0,0
$GC,896,-0.71,-116.8,105.8,-11.4,100,900,0.00,2.25,0.00,0.000,4,0.000,0.042,2641,462,3308,0,0,0,0,0,0
$GC,1029,-0.71,-116.8,122.4,-12.0,111,1036,0.08,2.28,0.00,0.000,6,0.125,0.031,2658,2040,3309,0,0,0,0,0,0
$GC,1290,-0.71,-116.8,149.1,-10.2,136,1294,0.00,2.28,0.00,0.000,4,0.000,0.041,2658,458,3309,0,0,0,0,0,0
$GC,1328,-0.71,-116.8,153.5,-11.0,139,1335,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2029,3310,0,0,0,0,0,0
$GC,1590,-0.71,-116.8,180.1,-9.4,164,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2030,3310,0,0,0,0,0,0
$GC,1854,-0.71,-116.8,203.7,-8.0,187,1857,0.00,2.30,0.00,0.000,4,0.000,0.042,2636,3611,3310,0,0,0,0,0,0
$GC,1920,-0.71,-116.8,209.7,-8.9,190,1924,0.00,2.22,0.00,0.000,6,0.000,0.028,2635,2034,3313,0,0,0,0,0,0
$GC,2252,-0.71,-116.8,239.5,-8.8,206,2256,0.00,2.28,0.00,0.000,4,0.000,0.043,2636,454,3310,0,0,0,0,0,0
$GC,2323,-0.71,-116.8,246.5,-9.6,209,2328,0.08,2.25,0.00,0.000,6,0.117,0.031,2654,2021,3310,0,0,0,0,0,0
$GC,2644,-0.71,-116.8,271.9,-7.9,225,2648,0.00,2.30,0.00,0.000,4,0.000,0.043,2654,449,3307,0,0,0,0,0,0
$GC,2675,-0.71,-116.8,274.9,-9.5,226,2682,0.00,2.28,0.00,0.000,6,0.000,0.031,2644,2036,3308,0,0,0,0,0,0
$GC,3011,-0.71,-116.8,304.4,-8.7,242,3015,0.00,2.28,0.00,0.000,4,0.000,0.043,2632,3603,3307,0,0,0,0,0,0
$GC,3042,-0.71,-116.8,307.5,-9.2,242,3049,0.00,2.28,0.00,0.000,6,0.000,0.029,2629,2027,3307,0,0,0,0,0,0
$GC,3373,-0.71,-116.8,338.0,-9.3,251,3377,0.00,2.28,0.00,0.000,4,0.000,0.043,2632,453,3305,0,0,0,0,0,0
$GC,3484,-0.71,-116.8,349.3,-9.9,253,3490,0.10,2.28,0.00,0.000,6,0.114,0.032,2658,2038,3304,0,0,0,0,0,0
$GC,3827,-0.71,-116.8,374.5,-6.9,262,3831,0.00,2.35,0.00,0.000,4,0.000,0.044,2659,449,3303,0,0,0,0,0,0
$GC,3887,-0.71,-116.8,378.9,-7.5,263,3891,0.00,2.28,0.00,0.000,6,0.000,0.032,2649,2026,3302,0,0,0,0,0,0
$GC,4200,-0.71,-116.8,398.3,-6.1,271,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3301,0,0,0,0,0,0
$GC,4525,-0.71,-116.8,419.6,-6.9,279,4529,0.00,2.38,0.00,0.000,4,0.000,0.045,2637,3621,3298,0,0,0,0,0,0
$GC,4580,-0.71,-116.8,424.1,-8.2,280,4584,0.00,2.25,0.00,0.000,6,0.000,0.031,2634,2035,3298,0,0,0,0,0,0
$GC,4898,-0.71,-116.8,451.9,-9.1,288,4902,0.00,2.33,0.00,0.000,4,0.000,0.046,2637,450,3297,0,0,0,0,0,0
$GC,4992,-0.71,-116.8,460.9,-9.4,290,4997,0.08,2.28,0.00,0.000,6,0.118,0.033,2656,2033,3296,0,0,0,0,0,0
$GC,5310,-0.71,-116.8,483.5,-6.6,298,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2033,3296,0,0,0,0,0,0
$GC,5635,-0.71,-116.8,503.2,-6.2,306,5639,0.00,2.35,0.00,0.000,4,0.000,0.046,2656,454,3294,0,0,0,0,0,0
$GC,5689,-0.71,-116.8,507.2,-7.3,307,5694,0.00,2.28,0.00,0.000,6,0.000,0.033,2646,2024,3294,0,0,0,0,0,0
$GC,6008,-0.71,-116.8,529.0,-6.9,315,6012,0.00,2.30,0.00,0.000,4,0.000,0.045,2646,451,3292,0,0,0,0,0,0
$GC,6040,-0.71,-116.8,531.4,-7.6,315,6046,0.00,2.28,0.00,0.000,6,0.000,0.034,2634,2042,3292,0,0,0,0,0,0
$GC,6371,-0.71,-116.8,555.0,-7.1,324,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2042,3290,0,0,0,0,0,0
$GC,6695,-0.71,-116.8,579.5,-7.8,332,6700,0.00,2.33,0.00,0.000,4,0.000,0.046,2634,455,3289,0,0,0,0,0,0
$GC,6734,-0.71,-116.8,583.1,-9.0,333,6739,0.12,2.28,0.00,0.000,6,0.146,0.034,2660,2045,3289,0,0,0,0,0,0
$GC,7057,-0.71,-116.8,606.1,-6.9,341,7061,0.00,2.35,0.00,0.000,4,0.000,0.047,2661,451,3288,0,0,0,0,0,0
$GC,7140,-0.71,-116.8,612.4,-7.5,343,7145,0.00,2.28,0.00,0.000,6,0.000,0.034,2651,2031,3287,0,0,0,0,0,0
$GC,7464,-0.71,-116.8,635.4,-7.0,351,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2032,3287,0,0,0,0,0,0
$GC,7788,-0.71,-116.8,656.3,-6.4,359,7793,0.00,2.33,0.00,0.000,4,0.000,0.048,2651,455,3285,0,0,0,0,0,0
$GC,7854,-0.71,-116.8,661.5,-8.5,360,7859,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2038,3284,0,0,0,0,0,0
$GC,8197,-0.71,-116.8,686.7,-7.5,369,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2039,3283,0,0,0,0,0,0
$GC,8522,-0.71,-116.8,711.9,-7.9,377,8526,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,457,3282,0,0,0,0,0,0
$GC,8549,-0.71,-116.8,714.2,-8.7,377,8554,0.10,2.25,0.00,0.000,6,0.157,0.035,2658,2040,3284,0,0,0,0,0,0
$GC,8879,-0.71,-116.8,737.4,-6.8,385,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2040,3282,0,0,0,0,0,0
$GC,9204,-0.71,-116.8,757.0,-5.7,393,9208,0.00,2.33,0.00,0.000,4,0.000,0.047,2652,3603,3281,0,0,0,0,0,0
$GC,9235,-0.71,-116.8,758.9,-6.1,393,9242,0.00,2.30,0.00,0.000,6,0.000,0.033,2647,2034,3281,0,0,0,0,0,0
$GC,9567,-0.71,-116.8,775.7,-4.9,402,9571,0.00,2.35,0.00,0.000,4,0.000,0.048,2647,455,3280,0,0,0,0,0,0
$GC,9610,-0.71,-116.8,778.2,-6.3,403,9614,0.00,2.30,0.00,0.000,6,0.000,0.035,2636,2033,3280,0,0,0,0,0,0
$GC,9934,-0.71,-116.8,795.0,-5.2,411,9938,0.00,2.33,0.00,0.000,4,0.000,0.048,2636,455,3279,0,0,0,0,0,0
$GC,9966,-0.71,-116.8,796.9,-6.5,411,9972,0.12,2.25,0.00,0.000,6,0.146,0.035,2662,2035,3280,0,0,0,0,0,0
$GC,10297,-0.71,-116.8,812.7,-5.0,420,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2035,3277,0,0,0,0,0,0
$GC,10621,-0.71,-116.8,831.1,-5.8,428,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2035,3279,0,0,0,0,0,0
$GC,10947,-0.71,-116.8,850.8,-6.0,436,10951,0.00,2.35,0.00,0.000,4,0.000,0.048,2662,448,3278,0,0,0,0,0,0
$GC,11012,-0.71,-116.8,855.3,-7.0,437,11017,0.00,2.30,0.00,0.000,6,0.000,0.035,2653,2021,3278,0,0,0,0,0,0
$GC,11354,-0.71,-116.8,876.1,-6.0,446,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2021,3277,0,0,0,0,0,0
$GC,11679,-0.71,-116.8,894.5,-5.7,454,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2021,3277,0,0,0,0,0,0
$GC,12004,-0.71,-116.8,912.5,-5.5,462,12008,0.00,2.33,0.00,0.000,4,0.000,0.049,2652,454,3276,0,0,0,0,0,0
$GC,12120,-0.71,-116.8,919.9,-6.3,464,12124,0.00,2.33,0.00,0.000,6,0.000,0.035,2643,2045,3276,0,0,0,0,0,0
$GC,12456,-0.71,-116.8,938.8,-5.7,473,12461,0.00,2.30,0.00,0.000,4,0.000,0.048,2630,3606,3276,0,0,0,0,0,0
$GC,12522,-0.71,-116.8,943.1,-7.3,474,12527,0.00,2.33,0.00,0.000,6,0.000,0.033,2631,2022,3276,0,0,0,0,0,0
$GC,12865,-0.71,-116.8,964.9,-6.5,483,12869,0.00,2.33,0.00,0.000,4,0.000,0.048,2631,450,3276,0,0,0,0,0,0
$GC,12913,-0.71,-116.8,968.5,-7.3,484,12919,0.10,2.30,0.00,0.000,6,0.117,0.035,2657,2021,3274,0,0,0,0,0,0
$GC,13232,-0.71,-116.8,986.9,-5.7,492,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2022,3275,0,0,0,0,0,0
$STATE,13312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13312,begin apogee
$GC,13316,-0.23,0.0,991.4,5.5,494,13416,0.47,0.00,96.97,1.302,6,0.111,0.000,2817,2022,2823,0,0,0,0,0,0
$STATE,13462,end apogee,CONTROL_FINISHED_OK
$STATE,13462,begin climb
$GC,13464,0.71,116.8,993.3,0.0,496,13587,0.82,2.67,110.43,1.267,4,0.067,0.047,3123,3605,2342,0,0,0,0,0,0
$GC,13653,0.71,116.8,976.7,15.0,500,13658,0.00,2.47,0.00,0.000,6,0.000,0.035,3135,2042,2335,0,0,0,0,0,0
$GC,14001,0.71,116.8,929.6,13.5,509,14002,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2041,2327,0,0,0,0,0,0
$GC,14326,0.71,116.8,886.0,13.2,517,14330,0.00,2.42,0.00,0.000,4,0.000,0.050,3147,446,2325,0,0,0,0,0,0
$GC,14402,0.71,116.8,874.7,15.6,518,14409,0.00,2.38,0.00,0.000,6,0.000,0.036,3147,2035,2324,0,0,0,0,0,0
$GC,14733,0.71,116.8,827.2,14.2,527,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2035,2322,0,0,0,0,0,0
$GC,15058,0.71,116.8,781.4,14.2,535,15063,0.00,2.35,0.00,0.000,4,0.000,0.047,3147,3611,2322,0,0,0,0,0,0
$GC,15108,0.71,116.8,773.8,15.6,536,15114,0.15,2.35,0.00,0.000,6,0.175,0.036,3120,2021,2321,0,0,0,0,0,0
$GC,15420,0.71,116.8,736.3,11.5,544,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2021,2321,0,0,0,0,0,0
$GC,15745,0.71,116.8,702.5,10.1,552,15749,0.00,2.35,0.00,0.000,4,0.000,0.050,3129,445,2320,0,0,0,0,0,0
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$STATE,22424,end climb,SURFACE_DEPTH_REACHED
$STATE,22424,begin surface coast
$FINISH,0.7,1.023284
$STATE,22458,end surface coast,CONTROL_FINISHED_OK
$STATE,22458,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,11.933
$10V_AH,9.8,15.291
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334036
$DATA_FILE_SIZE,33329,899
$CAP_FILE_SIZE,178690,0
$CFSIZE,260165632,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080710,064436,2022.563,-16007.288,37,0.9,37,9.6