version: 66.07
glider: 500
mission: 4
dive: 108
start: 7 9 110 8 35 4
data:
$ID,500
$MISSION,4
$DIVE,108
$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,-111393.15
$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,52
$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,107
$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
$GPS1,090710,082531,2025.559,-16002.705,39,1.0,39,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.6
$GPS2,090710,083408,2025.577,-16002.660,10,1.2,10,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,0.163
$KALMAN_X,-180996.5,-89.7,-184.9,-36842.4,-1570.3
$KALMAN_Y,68867.0,466.0,756.6,-154636.3,-3989.7
$MHEAD_RNG_PITCHd_Wd,33.1,109305,-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,25,-0.71,-116.8,0.0,0.0,0,83,0.00,0.00,-55.70,0.000,2,0.000,0.000,129,2046,2840,0,0,0,0,0,0
$GC,86,-0.71,-116.8,3.3,-4.3,11,113,10.18,2.35,-10.45,0.000,4,0.232,0.053,2646,3615,3299,0,0,0,0,0,0
$GC,146,-0.71,-116.8,15.2,-19.3,22,152,0.00,2.30,0.00,0.000,6,0.000,0.030,2646,2024,3303,0,0,0,0,0,0
$GC,352,-0.71,-116.8,52.4,-15.3,48,356,0.00,2.30,0.00,0.000,4,0.000,0.043,2646,458,3304,0,0,0,0,0,0
$GC,439,-0.71,-116.8,64.3,-13.3,55,446,0.00,2.30,0.00,0.000,6,0.000,0.032,2635,2039,3301,0,0,0,0,0,0
$GC,702,-0.71,-116.8,91.2,-10.8,80,706,0.00,2.33,0.00,0.000,4,0.000,0.043,2623,3602,3303,0,0,0,0,0,0
$GC,764,-0.71,-116.8,97.6,-10.0,85,768,0.12,2.25,0.00,0.000,6,0.134,0.029,2661,2019,3304,0,0,0,0,0,0
$GC,1024,-0.71,-116.8,118.3,-7.8,109,1028,0.00,2.28,0.00,0.000,4,0.000,0.043,2662,451,3306,0,0,0,0,0,0
$GC,1062,-0.71,-116.8,121.7,-9.2,112,1066,0.00,2.22,0.00,0.000,6,0.000,0.031,2651,2028,3306,0,0,0,0,0,0
$GC,1323,-0.71,-116.8,146.0,-9.9,136,1327,0.00,2.33,0.00,0.000,4,0.000,0.044,2640,3608,3305,0,0,0,0,0,0
$GC,1372,-0.71,-116.8,151.4,-10.5,140,1376,0.00,2.22,0.00,0.000,6,0.000,0.028,2639,2033,3306,0,0,0,0,0,0
$GC,1638,-0.71,-116.8,179.6,-10.3,165,1642,0.00,2.28,0.00,0.000,4,0.000,0.044,2639,458,3305,0,0,0,0,0,0
$GC,1760,-0.71,-116.8,192.7,-10.0,175,1767,0.08,2.25,0.00,0.000,6,0.117,0.031,2658,2020,3307,0,0,0,0,0,0
$GC,2016,-0.71,-116.8,214.8,-8.8,192,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2020,3305,0,0,0,0,0,0
$GC,2326,-0.71,-116.8,241.9,-9.1,207,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2020,3304,0,0,0,0,0,0
$GC,2635,-0.71,-116.8,266.4,-7.1,222,2639,0.00,2.35,0.00,0.000,4,0.000,0.044,2647,3606,3301,0,0,0,0,0,0
$GC,2662,-0.71,-116.8,268.5,-8.1,223,2666,0.00,2.28,0.00,0.000,6,0.000,0.029,2647,2020,3302,0,0,0,0,0,0
$GC,2977,-0.71,-116.8,297.0,-9.4,238,2981,0.00,2.30,0.00,0.000,4,0.000,0.044,2647,453,3300,0,0,0,0,0,0
$GC,3036,-0.71,-116.8,303.0,-10.5,240,3041,0.00,2.28,0.00,0.000,6,0.000,0.031,2636,2033,3298,0,0,0,0,0,0
$GC,3384,-0.71,-116.8,336.4,-9.2,249,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2033,3297,0,0,0,0,0,0
$GC,3710,-0.71,-116.8,361.9,-7.7,257,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2033,3297,0,0,0,0,0,0
$GC,4034,-0.71,-116.8,387.6,-8.1,265,4039,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,456,3298,0,0,0,0,0,0
$GC,4106,-0.71,-116.8,394.2,-9.1,266,4111,0.08,2.28,0.00,0.000,6,0.115,0.032,2655,2032,3295,0,0,0,0,0,0
$GC,4442,-0.71,-116.8,421.2,-8.1,275,4447,0.00,2.35,0.00,0.000,4,0.000,0.045,2643,3612,3293,0,0,0,0,0,0
$GC,4485,-0.71,-116.8,425.0,-9.0,276,4490,0.00,2.30,0.00,0.000,6,0.000,0.030,2643,2029,3293,0,0,0,0,0,0
$GC,4810,-0.71,-116.8,451.5,-7.8,284,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2029,3291,0,0,0,0,0,0
$GC,5135,-0.71,-116.8,473.4,-6.6,292,5139,0.00,2.33,0.00,0.000,4,0.000,0.045,2645,451,3289,0,0,0,0,0,0
$GC,5235,-0.71,-116.8,480.6,-7.2,294,5240,0.00,2.28,0.00,0.000,6,0.000,0.033,2634,2027,3288,0,0,0,0,0,0
$GC,5548,-0.71,-116.8,501.8,-6.7,302,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2025,3287,0,0,0,0,0,0
$GC,5873,-0.71,-116.8,526.3,-7.8,310,5877,0.00,2.30,0.00,0.000,4,0.000,0.046,2633,457,3284,0,0,0,0,0,0
$GC,5911,-0.71,-116.8,529.7,-8.9,311,5916,0.12,2.25,0.00,0.000,6,0.146,0.034,2659,2046,3285,0,0,0,0,0,0
$GC,6234,-0.71,-116.8,554.0,-7.5,319,6238,0.00,2.33,0.00,0.000,4,0.000,0.046,2660,458,3283,0,0,0,0,0,0
$GC,6266,-0.71,-116.8,556.6,-8.0,319,6272,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2022,3283,0,0,0,0,0,0
$GC,6597,-0.71,-116.8,581.1,-7.3,328,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2020,3282,0,0,0,0,0,0
$GC,6922,-0.71,-116.8,604.8,-7.2,336,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2023,3280,0,0,0,0,0,0
$GC,7247,-0.71,-116.8,626.5,-6.4,344,7251,0.00,2.38,0.00,0.000,4,0.000,0.047,2638,3611,3283,0,0,0,0,0,0
$GC,7306,-0.71,-116.8,630.6,-6.8,345,7311,0.00,2.30,0.00,0.000,6,0.000,0.032,2638,2036,3279,0,0,0,0,0,0
$GC,7655,-0.71,-116.8,651.9,-6.0,354,7658,0.00,2.35,0.00,0.000,4,0.000,0.047,2638,446,3278,0,0,0,0,0,0
$GC,7760,-0.71,-116.8,659.4,-6.7,356,7765,0.08,2.30,0.00,0.000,6,0.118,0.034,2656,2030,3277,0,0,0,0,0,0
$GC,8072,-0.71,-116.8,676.3,-5.4,364,8076,0.00,2.38,0.00,0.000,4,0.000,0.047,2656,445,3277,0,0,0,0,0,0
$GC,8122,-0.71,-116.8,679.3,-6.3,365,8127,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2042,3276,0,0,0,0,0,0
$GC,8440,-0.71,-116.8,697.0,-5.5,373,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2043,3277,0,0,0,0,0,0
$GC,8765,-0.71,-116.8,714.7,-5.4,381,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2043,3274,0,0,0,0,0,0
$GC,9090,-0.71,-116.8,732.8,-5.7,389,9094,0.00,2.35,0.00,0.000,4,0.000,0.048,2646,449,3274,0,0,0,0,0,0
$GC,9134,-0.71,-116.8,735.8,-7.0,390,9138,0.00,2.30,0.00,0.000,6,0.000,0.034,2635,2030,3273,0,0,0,0,0,0
$GC,9458,-0.71,-116.8,755.7,-6.2,398,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2031,3272,0,0,0,0,0,0
$GC,9783,-0.71,-116.8,777.5,-6.8,406,9787,0.00,2.35,0.00,0.000,4,0.000,0.048,2635,454,3273,0,0,0,0,0,0
$GC,9815,-0.71,-116.8,780.0,-8.0,406,9822,0.08,2.30,0.00,0.000,6,0.116,0.035,2653,2033,3272,0,0,0,0,0,0
$GC,10146,-0.71,-116.8,799.7,-5.9,415,10150,0.00,2.35,0.00,0.000,4,0.000,0.048,2654,444,3272,0,0,0,0,0,0
$GC,10178,-0.71,-116.8,801.8,-7.1,415,10184,0.00,2.30,0.00,0.000,6,0.000,0.035,2644,2037,3271,0,0,0,0,0,0
$GC,10509,-0.71,-116.8,821.0,-5.7,424,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2034,3271,0,0,0,0,0,0
$GC,10834,-0.71,-116.8,839.7,-5.8,432,10838,0.00,2.35,0.00,0.000,4,0.000,0.048,2644,451,3270,0,0,0,0,0,0
$GC,10866,-0.71,-116.8,841.9,-6.4,432,10872,0.00,2.30,0.00,0.000,6,0.000,0.035,2633,2028,3269,0,0,0,0,0,0
$GC,11197,-0.71,-116.8,863.5,-6.7,441,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2024,3270,0,0,0,0,0,0
$GC,11522,-0.71,-116.8,885.2,-6.7,449,11526,0.00,2.35,0.00,0.000,4,0.000,0.047,2620,3616,3269,0,0,0,0,0,0
$GC,11548,-0.71,-116.8,887.2,-7.8,449,11553,0.08,2.33,0.00,0.000,6,0.110,0.033,2661,2028,3268,0,0,0,0,0,0
$GC,11884,-0.71,-116.8,906.2,-5.6,458,11888,0.00,2.33,0.00,0.000,4,0.000,0.048,2661,453,3272,0,0,0,0,0,0
$GC,11927,-0.71,-116.8,909.2,-6.3,459,11931,0.00,2.30,0.00,0.000,6,0.000,0.035,2651,2027,3268,0,0,0,0,0,0
$GC,12251,-0.71,-116.8,929.3,-6.3,467,12255,0.00,2.35,0.00,0.000,4,0.000,0.048,2652,450,3270,0,0,0,0,0,0
$GC,12295,-0.71,-116.8,932.5,-7.0,468,12299,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2044,3268,0,0,0,0,0,0
$GC,12623,-0.71,-116.8,953.4,-6.2,476,12627,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,458,3268,0,0,0,0,0,0
$GC,12662,-0.71,-116.8,956.1,-6.7,477,12667,0.10,2.28,0.00,0.000,6,0.156,0.035,2658,2034,3268,0,0,0,0,0,0
$GC,12985,-0.71,-116.8,973.4,-5.2,485,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2034,3269,0,0,0,0,0,0
$GC,13310,-0.71,-116.8,989.8,-5.0,493,13315,0.00,2.38,0.00,0.000,4,0.000,0.048,2658,448,3268,0,0,0,0,0,0
$STATE,13319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13319,begin apogee
$GC,13325,-0.23,0.0,990.3,4.8,493,13424,0.47,0.00,95.35,1.302,6,0.114,0.000,2811,2026,2820,0,0,0,0,0,0
$STATE,13470,end apogee,CONTROL_FINISHED_OK
$STATE,13470,begin climb
$GC,13472,0.71,116.8,991.3,0.0,495,13588,0.82,0.00,109.72,1.266,6,0.065,0.000,3115,2027,2345,0,0,0,0,0,0
$GC,13918,0.71,116.8,939.4,13.8,506,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2027,2333,0,0,0,0,0,0
$GC,14243,0.71,116.8,895.0,13.5,514,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2026,2328,0,0,0,0,0,0
$GC,14568,0.71,116.8,852.1,13.1,522,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2027,2327,0,0,0,0,0,0
$GC,14893,0.71,116.8,810.0,12.9,530,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2027,2326,0,0,0,0,0,0
$GC,15218,0.71,116.8,767.5,12.8,538,15222,0.00,2.35,0.00,0.000,4,0.000,0.050,3130,461,2327,0,0,0,0,0,0
$GC,15258,0.71,116.8,762.6,12.4,539,15262,0.00,2.28,0.00,0.000,6,0.000,0.037,3130,2027,2330,0,0,0,0,0,0
$GC,15580,0.71,116.8,721.8,12.5,547,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2027,2326,0,0,0,0,0,0
$GC,15906,0.71,116.8,682.0,12.3,555,15910,0.00,2.38,0.00,0.000,4,0.000,0.048,3130,3615,2326,0,0,0,0,0,0
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$STATE,22236,end climb,SURFACE_DEPTH_REACHED
$STATE,22236,begin surface coast
$FINISH,0.8,1.023396
$STATE,22272,end surface coast,CONTROL_FINISHED_OK
$STATE,22272,begin surface
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$TT8_MAMPS,0.059826
$HUMID,1078511603
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$TCM_TEMP,22.80
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$AR_CDRIVE_FREE,8439562240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54416015360
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,12.542
$10V_AH,9.7,16.005
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.786,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,30049,899
$CAP_FILE_SIZE,177143,0
$CFSIZE,260165632,249212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090710,144925,2027.094,-16002.109,40,1.0,40,9.6