version: 66.07
glider: 500
mission: 4
dive: 112
start: 7 10 110 10 19 19
data:
$ID,500
$MISSION,4
$DIVE,112
$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,-111448.52
$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,57
$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,111
$AR_SAMPLENUM,11
$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
$GPS1,100710,101236,2028.796,-15958.088,33,1.4,39,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.9
$GPS2,100710,101825,2028.796,-15958.086,9,1.4,9,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.050
$KALMAN_X,-3148.8,-151.4,-917.1,8872.7,1563.2
$KALMAN_Y,1094.5,106.7,967.9,-679.1,-2225.8
$MHEAD_RNG_PITCHd_Wd,67.5,102178,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-46.47,0.000,2,0.000,0.000,135,2051,2540,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.0,-4.4,9,114,10.15,2.40,-19.67,0.000,4,0.233,0.055,2660,458,3301,0,0,0,0,0,0
$GC,141,-0.71,-116.8,12.1,-17.2,21,147,0.00,2.30,0.00,0.000,6,0.000,0.033,2649,2032,3302,0,0,0,0,0,0
$GC,349,-0.71,-116.8,45.5,-14.5,49,353,0.00,2.33,0.00,0.000,4,0.000,0.042,2650,450,3303,0,0,0,0,0,0
$GC,420,-0.71,-116.8,55.6,-13.4,55,424,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2032,3302,0,0,0,0,0,0
$GC,687,-0.71,-116.8,86.1,-10.5,80,691,0.00,2.30,0.00,0.000,4,0.000,0.041,2625,3610,3308,0,0,0,0,0,0
$GC,883,-0.71,-116.8,104.2,-8.3,97,888,0.10,2.28,0.00,0.000,6,0.145,0.028,2659,2017,3309,0,0,0,0,0,0
$GC,1143,-0.71,-116.8,126.5,-9.8,121,1147,0.00,2.28,0.00,0.000,4,0.000,0.043,2659,451,3308,0,0,0,0,0,0
$GC,1187,-0.71,-116.8,131.1,-10.4,125,1191,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2045,3310,0,0,0,0,0,0
$GC,1453,-0.71,-116.8,155.9,-9.7,150,1457,0.00,2.28,0.00,0.000,4,0.000,0.043,2636,3612,3310,0,0,0,0,0,0
$GC,1519,-0.71,-116.8,162.9,-10.1,155,1525,0.00,2.28,0.00,0.000,6,0.000,0.028,2637,2037,3310,0,0,0,0,0,0
$GC,1781,-0.71,-116.8,188.5,-8.9,180,1785,0.00,2.30,0.00,0.000,4,0.000,0.043,2633,453,3310,0,0,0,0,0,0
$GC,1830,-0.71,-116.8,193.5,-9.8,184,1837,0.08,2.25,0.00,0.000,6,0.117,0.031,2654,2018,3310,0,0,0,0,0,0
$GC,2086,-0.71,-116.8,213.6,-7.8,201,2090,0.00,2.30,0.00,0.000,4,0.000,0.042,2654,446,3310,0,0,0,0,0,0
$GC,2124,-0.71,-116.8,216.8,-9.0,203,2128,0.00,2.25,0.00,0.000,6,0.000,0.032,2645,2035,3310,0,0,0,0,0,0
$GC,2449,-0.71,-116.8,245.6,-9.3,219,2453,0.00,2.30,0.00,0.000,4,0.000,0.042,2633,3606,3307,0,0,0,0,0,0
$GC,2559,-0.71,-116.8,256.6,-10.0,224,2564,0.00,2.28,0.00,0.000,6,0.000,0.028,2633,2027,3307,0,0,0,0,0,0
$GC,2886,-0.71,-116.8,288.6,-9.7,240,2890,0.00,2.30,0.00,0.000,4,0.000,0.043,2633,451,3307,0,0,0,0,0,0
$GC,2918,-0.71,-116.8,292.1,-10.3,241,2925,0.10,2.25,0.00,0.000,6,0.115,0.031,2659,2021,3307,0,0,0,0,0,0
$GC,3231,-0.71,-116.8,317.6,-8.1,252,3235,0.00,2.30,0.00,0.000,4,0.000,0.043,2660,456,3308,0,0,0,0,0,0
$GC,3296,-0.71,-116.8,323.2,-8.3,253,3301,0.00,2.28,0.00,0.000,6,0.000,0.031,2655,2035,3306,0,0,0,0,0,0
$GC,3638,-0.71,-116.8,348.2,-7.5,262,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2037,3305,0,0,0,0,0,0
$GC,3963,-0.71,-116.8,372.2,-7.4,270,3967,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,3605,3301,0,0,0,0,0,0
$GC,3995,-0.71,-116.8,374.8,-7.9,270,4001,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2041,3303,0,0,0,0,0,0
$GC,4326,-0.71,-116.8,400.7,-7.7,279,4330,0.00,2.35,0.00,0.000,4,0.000,0.044,2637,440,3301,0,0,0,0,0,0
$GC,4380,-0.71,-116.8,405.4,-8.6,280,4385,0.08,2.30,0.00,0.000,6,0.117,0.032,2655,2031,3301,0,0,0,0,0,0
$GC,4692,-0.71,-116.8,424.7,-6.1,288,4696,0.00,2.33,0.00,0.000,4,0.000,0.045,2656,453,3299,0,0,0,0,0,0
$GC,4776,-0.71,-116.8,431.4,-8.2,290,4780,0.00,2.25,0.00,0.000,6,0.000,0.033,2647,2046,3300,0,0,0,0,0,0
$GC,5099,-0.71,-116.8,456.9,-8.0,298,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2047,3298,0,0,0,0,0,0
$GC,5424,-0.71,-116.8,481.3,-7.4,306,5428,0.00,2.33,0.00,0.000,4,0.000,0.044,2643,453,3300,0,0,0,0,0,0
$GC,5478,-0.71,-116.8,485.9,-8.2,307,5482,0.00,2.28,0.00,0.000,6,0.000,0.033,2635,2028,3296,0,0,0,0,0,0
$GC,5791,-0.71,-116.8,510.6,-7.8,315,5795,0.00,2.33,0.00,0.000,4,0.000,0.045,2623,3607,3296,0,0,0,0,0,0
$GC,5829,-0.71,-116.8,513.7,-8.6,316,5834,0.12,2.28,0.00,0.000,6,0.133,0.031,2663,2026,3294,0,0,0,0,0,0
$GC,6152,-0.71,-116.8,533.1,-5.6,324,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2026,3295,0,0,0,0,0,0
$GC,6477,-0.71,-116.8,550.0,-5.1,332,6481,0.00,2.30,0.00,0.000,4,0.000,0.045,2663,452,3294,0,0,0,0,0,0
$GC,6560,-0.71,-116.8,555.2,-6.5,334,6564,0.00,2.28,0.00,0.000,6,0.000,0.033,2653,2043,3293,0,0,0,0,0,0
$GC,6884,-0.71,-116.8,574.3,-6.1,342,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2044,3292,0,0,0,0,0,0
$GC,7208,-0.71,-116.8,594.7,-6.3,350,7213,0.00,2.35,0.00,0.000,4,0.000,0.046,2652,458,3291,0,0,0,0,0,0
$GC,7257,-0.71,-116.8,598.5,-7.8,351,7262,0.00,2.28,0.00,0.000,6,0.000,0.034,2641,2027,3292,0,0,0,0,0,0
$GC,7576,-0.71,-116.8,622.5,-7.7,359,7580,0.00,2.38,0.00,0.000,4,0.000,0.046,2630,3617,3290,0,0,0,0,0,0
$GC,7615,-0.71,-116.8,625.6,-8.3,360,7620,0.10,2.30,0.00,0.000,6,0.143,0.032,2658,2029,3290,0,0,0,0,0,0
$GC,7938,-0.71,-116.8,647.6,-6.8,368,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2029,3290,0,0,0,0,0,0
$GC,8263,-0.71,-116.8,667.9,-6.0,376,8267,0.00,2.33,0.00,0.000,4,0.000,0.047,2661,447,3289,0,0,0,0,0,0
$GC,8328,-0.71,-116.8,672.1,-6.8,377,8333,0.00,2.30,0.00,0.000,6,0.000,0.035,2651,2024,3288,0,0,0,0,0,0
$GC,8671,-0.71,-116.8,691.9,-5.9,386,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2024,3291,0,0,0,0,0,0
$GC,8996,-0.71,-116.8,712.1,-6.2,394,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2024,3288,0,0,0,0,0,0
$GC,9321,-0.71,-116.8,732.3,-6.1,402,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2024,3289,0,0,0,0,0,0
$GC,9646,-0.71,-116.8,752.5,-6.2,410,9650,0.00,2.35,0.00,0.000,4,0.000,0.047,2639,3619,3287,0,0,0,0,0,0
$GC,9706,-0.71,-116.8,756.5,-6.7,411,9710,0.00,2.33,0.00,0.000,6,0.000,0.033,2639,2037,3287,0,0,0,0,0,0
$GC,10053,-0.71,-116.8,778.4,-6.3,420,10057,0.00,2.35,0.00,0.000,4,0.000,0.047,2644,454,3285,0,0,0,0,0,0
$GC,10119,-0.71,-116.8,783.4,-8.1,421,10125,0.08,2.30,0.00,0.000,6,0.121,0.035,2657,2036,3286,0,0,0,0,0,0
$GC,10468,-0.71,-116.8,804.2,-6.0,430,10472,0.00,2.35,0.00,0.000,4,0.000,0.047,2657,448,3286,0,0,0,0,0,0
$GC,10522,-0.71,-116.8,808.2,-7.2,431,10527,0.00,2.33,0.00,0.000,6,0.000,0.035,2647,2044,3286,0,0,0,0,0,0
$GC,10835,-0.71,-116.8,829.6,-6.8,439,10840,0.00,2.30,0.00,0.000,4,0.000,0.047,2635,3606,3286,0,0,0,0,0,0
$GC,10868,-0.71,-116.8,832.1,-7.7,439,10874,0.00,2.33,0.00,0.000,6,0.000,0.033,2635,2023,3286,0,0,0,0,0,0
$GC,11199,-0.71,-116.8,854.6,-6.6,448,11203,0.00,2.30,0.00,0.000,4,0.000,0.048,2635,458,3285,0,0,0,0,0,0
$GC,11248,-0.71,-116.8,858.1,-7.5,449,11252,0.12,2.25,0.00,0.000,6,0.147,0.034,2661,2035,3286,0,0,0,0,0,0
$GC,11566,-0.71,-116.8,874.9,-5.1,457,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2039,3285,0,0,0,0,0,0
$GC,11891,-0.71,-116.8,891.0,-5.1,465,11895,0.00,2.38,0.00,0.000,4,0.000,0.048,2663,449,3285,0,0,0,0,0,0
$GC,11923,-0.71,-116.8,892.9,-6.2,465,11929,0.00,2.30,0.00,0.000,6,0.000,0.034,2651,2055,3284,0,0,0,0,0,0
$GC,12254,-0.71,-116.8,913.0,-6.5,474,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2054,3285,0,0,0,0,0,0
$GC,12578,-0.71,-116.8,936.2,-7.3,482,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2055,3284,0,0,0,0,0,0
$GC,12904,-0.71,-116.8,958.9,-6.8,490,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2054,3284,0,0,0,0,0,0
$GC,13228,-0.71,-116.8,979.1,-6.0,498,13233,0.00,2.40,0.00,0.000,4,0.000,0.047,2651,450,3284,0,0,0,0,0,0
$GC,13261,-0.71,-116.8,981.2,-6.6,498,13267,0.00,2.33,0.00,0.000,6,0.000,0.035,2640,2045,3284,0,0,0,0,0,0
$STATE,13428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13428,begin apogee
$GC,13432,-0.23,0.0,991.0,5.9,503,13534,0.52,0.00,99.03,1.301,6,0.114,0.000,2814,2045,2824,0,0,0,0,0,0
$STATE,13580,end apogee,CONTROL_FINISHED_OK
$STATE,13580,begin climb
$GC,13582,0.71,116.8,992.3,0.0,505,13696,0.82,0.00,111.00,1.266,6,0.066,0.000,3121,2045,2347,0,0,0,0,0,0
$GC,13992,0.71,116.8,945.5,13.5,516,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2045,2330,0,0,0,0,0,0
$GC,14317,0.71,116.8,901.8,13.3,524,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2045,2327,0,0,0,0,0,0
$GC,14642,0.71,116.8,859.3,12.9,532,14646,0.00,2.40,0.00,0.000,4,0.000,0.049,3133,459,2326,0,0,0,0,0,0
$GC,14667,0.71,116.8,855.7,13.2,532,14672,0.00,2.33,0.00,0.000,6,0.000,0.036,3133,2017,2326,0,0,0,0,0,0
$GC,15004,0.71,116.8,809.8,13.8,541,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2017,2323,0,0,0,0,0,0
$GC,15329,0.71,116.8,763.8,14.1,549,15333,0.00,2.35,0.00,0.000,4,0.000,0.050,3145,454,2325,0,0,0,0,0,0
$GC,15373,0.71,116.8,757.3,14.6,550,15378,0.00,2.35,0.00,0.000,6,0.000,0.036,3145,2060,2325,0,0,0,0,0,0
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$STATE,22747,end climb,SURFACE_DEPTH_REACHED
$STATE,22747,begin surface coast
$FINISH,0.7,1.023393
$STATE,22770,end surface coast,CONTROL_FINISHED_OK
$STATE,22771,begin surface
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$TT8_MAMPS,0.059826
$HUMID,1078507732
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$TCM_TEMP,22.80
$XPDR_PINGS,4
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$AR_POSTDIVE_SAMPLENUM,12
$AR_CDRIVE_FREE,8439169024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54413590528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,13.024
$10V_AH,9.8,16.583
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,648.330,0.000,0.000,0.000,0.000,0.000,0.000,23131.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.956,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,33332,944
$CAP_FILE_SIZE,180826,0
$CFSIZE,260165632,248909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100710,164254,2030.181,-15956.811,38,1.0,38,9.6