version: 66.07
glider: 500
mission: 4
dive: 106
start: 7 8 110 19 41 58
data:
$ID,500
$MISSION,4
$DIVE,106
$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,-111365.77
$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,58
$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,105
$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
$GPS1,080710,193455,2024.020,-16005.430,40,0.9,40,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.2
$GPS2,080710,194102,2023.967,-16005.448,11,1.5,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,0.105
$KALMAN_X,-176418.0,19.9,-320.2,-46209.5,-1168.9
$KALMAN_Y,71254.6,-134.7,382.3,-159026.1,-2671.1
$MHEAD_RNG_PITCHd_Wd,52.2,113894,-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,-51.47,0.000,2,0.000,0.000,125,2025,2696,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.3,-5.8,10,113,10.12,2.40,-14.50,0.000,4,0.232,0.055,2641,3604,3301,0,0,0,0,0,0
$GC,152,-0.71,-116.8,14.4,-17.6,23,158,0.00,2.30,0.00,0.000,6,0.000,0.029,2641,2012,3302,0,0,0,0,0,0
$GC,360,-0.71,-116.8,47.4,-12.3,50,364,0.00,2.40,0.00,0.000,4,0.000,0.041,2629,3607,3304,0,0,0,0,0,0
$GC,616,-0.71,-116.8,75.5,-11.5,72,623,0.08,2.28,0.00,0.000,6,0.114,0.028,2659,2037,3306,0,0,0,0,0,0
$GC,877,-0.71,-116.8,103.0,-10.4,97,881,0.00,2.30,0.00,0.000,4,0.000,0.043,2659,454,3308,0,0,0,0,0,0
$GC,983,-0.71,-116.8,114.6,-11.4,106,987,0.00,2.22,0.00,0.000,6,0.000,0.032,2649,2038,3308,0,0,0,0,0,0
$GC,1247,-0.71,-116.8,140.4,-8.7,131,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2039,3308,0,0,0,0,0,0
$GC,1503,-0.71,-116.8,161.1,-7.9,155,1507,0.00,2.33,0.00,0.000,4,0.000,0.043,2649,450,3308,0,0,0,0,0,0
$GC,1581,-0.71,-116.8,167.6,-8.2,162,1585,0.00,2.22,0.00,0.000,6,0.000,0.031,2638,2030,3308,0,0,0,0,0,0
$GC,1842,-0.71,-116.8,190.5,-10.0,186,1846,0.00,2.30,0.00,0.000,4,0.000,0.042,2626,3602,3308,0,0,0,0,0,0
$GC,1918,-0.71,-116.8,199.6,-12.3,192,1926,0.08,2.28,0.00,0.000,6,0.108,0.028,2657,2026,3308,0,0,0,0,0,0
$GC,2172,-0.71,-116.8,229.1,-11.6,205,2176,0.00,2.25,0.00,0.000,4,0.000,0.044,2657,461,3307,0,0,0,0,0,0
$GC,2288,-0.71,-116.8,242.1,-10.5,210,2293,0.00,2.25,0.00,0.000,6,0.000,0.032,2647,2025,3307,0,0,0,0,0,0
$GC,2609,-0.71,-116.8,270.7,-7.8,226,2613,0.00,2.33,0.00,0.000,4,0.000,0.044,2647,452,3306,0,0,0,0,0,0
$GC,2651,-0.71,-116.8,274.3,-8.8,228,2656,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2045,3306,0,0,0,0,0,0
$GC,2979,-0.71,-116.8,299.0,-6.9,244,2983,0.00,2.30,0.00,0.000,4,0.000,0.044,2624,3612,3305,0,0,0,0,0,0
$GC,3039,-0.71,-116.8,303.4,-7.1,246,3044,0.08,2.28,0.00,0.000,6,0.110,0.029,2656,2039,3304,0,0,0,0,0,0
$GC,3386,-0.71,-116.8,325.8,-6.9,255,3390,0.00,2.33,0.00,0.000,4,0.000,0.044,2656,454,3305,0,0,0,0,0,0
$GC,3491,-0.71,-116.8,334.8,-8.9,257,3496,0.00,2.28,0.00,0.000,6,0.000,0.032,2646,2034,3299,0,0,0,0,0,0
$GC,3840,-0.71,-116.8,362.3,-7.7,266,3844,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,3606,3299,0,0,0,0,0,0
$GC,3911,-0.71,-116.8,368.0,-7.7,267,3916,0.00,2.28,0.00,0.000,6,0.000,0.029,2634,2034,3298,0,0,0,0,0,0
$GC,4254,-0.71,-116.8,396.5,-8.4,276,4258,0.00,2.30,0.00,0.000,4,0.000,0.045,2634,452,3297,0,0,0,0,0,0
$GC,4383,-0.71,-116.8,408.8,-9.7,279,4388,0.12,2.22,0.00,0.000,6,0.143,0.033,2660,2030,3296,0,0,0,0,0,0
$GC,4706,-0.71,-116.8,434.4,-8.0,287,4710,0.00,2.35,0.00,0.000,4,0.000,0.044,2660,452,3295,0,0,0,0,0,0
$GC,4733,-0.71,-116.8,436.7,-9.2,287,4737,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2027,3295,0,0,0,0,0,0
$GC,5064,-0.71,-116.8,463.0,-7.8,295,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2028,3295,0,0,0,0,0,0
$GC,5388,-0.71,-116.8,484.7,-6.3,303,5392,0.00,2.35,0.00,0.000,4,0.000,0.045,2638,3619,3291,0,0,0,0,0,0
$GC,5477,-0.71,-116.8,490.5,-6.2,305,5481,0.00,2.30,0.00,0.000,6,0.000,0.031,2638,2006,3291,0,0,0,0,0,0
$GC,5801,-0.71,-116.8,511.6,-6.5,313,5805,0.00,2.25,0.00,0.000,4,0.000,0.046,2638,460,3289,0,0,0,0,0,0
$GC,5855,-0.71,-116.8,515.7,-7.3,314,5860,0.05,2.28,0.00,0.000,6,0.129,0.033,2648,2030,3288,0,0,0,0,0,0
$GC,6168,-0.71,-116.8,536.0,-6.5,322,6172,0.00,2.33,0.00,0.000,4,0.000,0.045,2638,3621,3287,0,0,0,0,0,0
$GC,6216,-0.71,-116.8,539.6,-7.1,323,6221,0.00,2.30,0.00,0.000,6,0.000,0.031,2638,2040,3284,0,0,0,0,0,0
$GC,6535,-0.71,-116.8,561.9,-6.9,331,6539,0.00,2.33,0.00,0.000,4,0.000,0.046,2638,450,3286,0,0,0,0,0,0
$GC,6640,-0.71,-116.8,570.1,-8.4,333,6645,0.12,2.30,0.00,0.000,6,0.147,0.034,2664,2040,3285,0,0,0,0,0,0
$GC,6987,-0.71,-116.8,590.1,-5.7,342,6991,0.00,2.33,0.00,0.000,4,0.000,0.045,2665,454,3284,0,0,0,0,0,0
$GC,7043,-0.71,-116.8,593.8,-6.5,343,7047,0.00,2.25,0.00,0.000,6,0.000,0.034,2654,2039,3283,0,0,0,0,0,0
$GC,7361,-0.71,-116.8,613.3,-6.1,351,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2039,3285,0,0,0,0,0,0
$GC,7686,-0.71,-116.8,633.8,-6.5,359,7690,0.00,2.35,0.00,0.000,4,0.000,0.047,2654,448,3281,0,0,0,0,0,0
$GC,7712,-0.71,-116.8,635.7,-7.2,359,7717,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2024,3281,0,0,0,0,0,0
$GC,8055,-0.71,-116.8,658.4,-6.5,368,8059,0.00,2.33,0.00,0.000,4,0.000,0.046,2632,3612,3280,0,0,0,0,0,0
$GC,8115,-0.71,-116.8,662.8,-7.3,369,8120,0.00,2.30,0.00,0.000,6,0.000,0.031,2632,2035,3282,0,0,0,0,0,0
$GC,8463,-0.71,-116.8,685.9,-6.7,378,8465,0.10,0.00,0.00,0.000,6,0.150,0.000,2662,2035,3279,0,0,0,0,0,0
$GC,8788,-0.71,-116.8,704.8,-5.9,386,8792,0.00,2.33,0.00,0.000,4,0.000,0.048,2662,454,3278,0,0,0,0,0,0
$GC,8847,-0.71,-116.8,709.0,-7.3,387,8852,0.00,2.30,0.00,0.000,6,0.000,0.034,2653,2034,3277,0,0,0,0,0,0
$GC,9196,-0.71,-116.8,731.8,-6.6,396,9200,0.00,2.33,0.00,0.000,4,0.000,0.047,2653,455,3277,0,0,0,0,0,0
$GC,9272,-0.71,-116.8,737.7,-7.8,397,9279,0.00,2.30,0.00,0.000,6,0.000,0.034,2641,2038,3277,0,0,0,0,0,0
$GC,9603,-0.71,-116.8,759.5,-6.4,406,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2037,3276,0,0,0,0,0,0
$GC,9929,-0.71,-116.8,778.5,-5.5,414,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2037,3275,0,0,0,0,0,0
$GC,10253,-0.71,-116.8,795.6,-5.3,422,10258,0.00,2.35,0.00,0.000,4,0.000,0.048,2642,448,3275,0,0,0,0,0,0
$GC,10297,-0.71,-116.8,798.4,-6.3,423,10301,0.00,2.30,0.00,0.000,6,0.000,0.035,2630,2026,3275,0,0,0,0,0,0
$GC,10621,-0.71,-116.8,818.5,-6.4,431,10623,0.10,0.00,0.00,0.000,6,0.156,0.000,2661,2026,3274,0,0,0,0,0,0
$GC,10946,-0.71,-116.8,836.3,-5.6,439,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2026,3274,0,0,0,0,0,0
$GC,11271,-0.71,-116.8,855.2,-5.9,447,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2026,3273,0,0,0,0,0,0
$GC,11596,-0.71,-116.8,874.0,-5.8,455,11601,0.00,2.33,0.00,0.000,4,0.000,0.048,2661,458,3273,0,0,0,0,0,0
$GC,11680,-0.71,-116.8,879.5,-6.1,457,11684,0.00,2.25,0.00,0.000,6,0.000,0.035,2652,2032,3273,0,0,0,0,0,0
$GC,12004,-0.71,-116.8,898.0,-5.4,465,12008,0.00,2.35,0.00,0.000,4,0.000,0.048,2651,449,3272,0,0,0,0,0,0
$GC,12042,-0.71,-116.8,900.3,-6.2,466,12047,0.00,2.30,0.00,0.000,6,0.000,0.035,2643,2042,3272,0,0,0,0,0,0
$GC,12366,-0.71,-116.8,917.6,-5.3,474,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2043,3272,0,0,0,0,0,0
$GC,12691,-0.71,-116.8,934.9,-5.4,482,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2043,3271,0,0,0,0,0,0
$GC,13016,-0.71,-116.8,953.7,-5.9,490,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2043,3271,0,0,0,0,0,0
$GC,13341,-0.71,-116.8,974.8,-6.7,498,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2043,3270,0,0,0,0,0,0
$STATE,13542,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13542,begin apogee
$GC,13546,-0.23,0.0,988.7,6.9,503,13645,0.52,0.00,95.90,1.298,6,0.110,0.000,2817,2043,2822,0,0,0,0,0,0
$STATE,13691,end apogee,CONTROL_FINISHED_OK
$STATE,13691,begin climb
$GC,13693,0.71,116.8,991.2,0.0,505,13815,0.82,2.58,109.93,1.266,4,0.064,0.046,3127,3604,2343,0,0,0,0,0,0
$GC,13860,0.71,116.8,979.8,13.1,509,13864,0.00,2.47,0.00,0.000,6,0.000,0.036,3138,2025,2336,0,0,0,0,0,0
$GC,14182,0.71,116.8,936.4,13.4,517,14186,0.00,2.42,0.00,0.000,4,0.000,0.050,3150,447,2327,0,0,0,0,0,0
$GC,14203,0.71,116.8,933.4,12.8,517,14209,0.08,2.38,0.00,0.000,6,0.140,0.035,3126,2016,2327,0,0,0,0,0,0
$GC,14551,0.71,116.8,888.4,12.9,526,14556,0.00,2.38,0.00,0.000,4,0.000,0.050,3132,449,2324,0,0,0,0,0,0
$GC,14594,0.71,116.8,882.3,13.6,527,14599,0.00,2.38,0.00,0.000,6,0.000,0.035,3136,2042,2324,0,0,0,0,0,0
$GC,14919,0.71,116.8,837.5,13.7,535,14923,0.00,2.42,0.00,0.000,4,0.000,0.050,3148,447,2323,0,0,0,0,0,0
$GC,14950,0.71,116.8,832.6,14.8,535,14955,0.00,2.35,0.00,0.000,6,0.000,0.036,3148,2023,2322,0,0,0,0,0,0
$GC,15287,0.71,116.8,782.8,14.9,544,15291,0.00,2.38,0.00,0.000,4,0.000,0.050,3160,449,2321,0,0,0,0,0,0
$GC,15319,0.71,116.8,777.7,15.9,544,15326,0.10,2.35,0.00,0.000,6,0.143,0.035,3127,2034,2321,0,0,0,0,0,0
$GC,15651,0.71,116.8,731.6,13.9,553,15655,0.00,2.38,0.00,0.000,4,0.000,0.048,3127,3617,2320,0,0,0,0,0,0
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$STATE,22529,begin surface coast
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$STATE,22549,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,15.721
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$FG_AHR_10Vo,0.000
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$MEM,334068
$DATA_FILE_SIZE,33339,913
$CAP_FILE_SIZE,185696,0
$CFSIZE,260165632,249352192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090710,020007,2024.481,-16003.946,29,1.1,29,9.6