version: 66.07
glider: 500
mission: 4
dive: 114
start: 7 10 110 23 22 52
data:
$ID,500
$MISSION,4
$DIVE,114
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111478.62
$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,48
$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,113
$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
$GPS1,100710,231237,2030.901,-15955.172,27,1.3,27,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.8
$GPS2,100710,232156,2031.000,-15955.275,13,1.5,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,-0.062
$KALMAN_X,-9492.7,-49.1,385.9,18661.4,-3762.7
$KALMAN_Y,5392.9,60.7,633.9,-512.5,62.6
$MHEAD_RNG_PITCHd_Wd,96.6,27081,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.71,-116.8,0.0,0.0,0,80,0.00,0.00,-50.95,0.000,2,0.000,0.000,125,2027,2687,0,0,0,0,0,0
$GC,83,-0.71,-116.8,3.1,-5.0,10,115,10.27,2.38,-14.60,0.000,4,0.235,0.058,2654,451,3300,0,0,0,0,0,0
$GC,153,-0.71,-116.8,14.7,-17.5,23,160,0.00,2.30,0.00,0.000,6,0.000,0.033,2639,2041,3301,0,0,0,0,0,0
$GC,361,-0.71,-116.8,46.3,-12.2,50,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2041,3303,0,0,0,0,0,0
$GC,615,-0.71,-116.8,75.8,-12.5,74,619,0.00,2.35,0.00,0.000,4,0.000,0.043,2643,457,3304,0,0,0,0,0,0
$GC,682,-0.71,-116.8,85.2,-13.1,79,688,0.00,2.25,0.00,0.000,6,0.000,0.033,2631,2045,3305,0,0,0,0,0,0
$GC,942,-0.71,-116.8,117.5,-11.7,104,946,0.00,2.30,0.00,0.000,4,0.000,0.042,2620,3604,3306,0,0,0,0,0,0
$GC,1007,-0.71,-116.8,125.3,-11.5,109,1014,0.10,2.28,0.00,0.000,6,0.112,0.028,2658,2034,3307,0,0,0,0,0,0
$GC,1269,-0.71,-116.8,147.5,-8.0,134,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2034,3307,0,0,0,0,0,0
$GC,1524,-0.71,-116.8,166.9,-8.3,158,1528,0.00,2.28,0.00,0.000,4,0.000,0.043,2658,452,3307,0,0,0,0,0,0
$GC,1596,-0.71,-116.8,173.3,-9.2,164,1600,0.00,2.22,0.00,0.000,6,0.000,0.032,2647,2044,3308,0,0,0,0,0,0
$GC,1862,-0.71,-116.8,199.4,-10.8,189,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2043,3307,0,0,0,0,0,0
$GC,2119,-0.71,-116.8,225.3,-9.4,202,2123,0.00,2.28,0.00,0.000,4,0.000,0.044,2635,3600,3306,0,0,0,0,0,0
$GC,2208,-0.71,-116.8,233.9,-9.2,206,2212,0.00,2.28,0.00,0.000,6,0.000,0.029,2635,2020,3306,0,0,0,0,0,0
$GC,2534,-0.71,-116.8,265.1,-9.1,222,2538,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,450,3305,0,0,0,0,0,0
$GC,2601,-0.71,-116.8,272.1,-10.0,225,2606,0.12,2.22,0.00,0.000,6,0.143,0.032,2662,2040,3305,0,0,0,0,0,0
$GC,2927,-0.71,-116.8,299.3,-8.2,241,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2040,3305,0,0,0,0,0,0
$GC,3232,-0.71,-116.8,323.2,-7.7,249,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2040,3301,0,0,0,0,0,0
$GC,3557,-0.71,-116.8,346.8,-7.1,257,3561,0.00,2.28,0.00,0.000,4,0.000,0.044,2651,3600,3300,0,0,0,0,0,0
$GC,3589,-0.71,-116.8,349.1,-7.2,257,3595,0.00,2.28,0.00,0.000,6,0.000,0.030,2651,2014,3299,0,0,0,0,0,0
$GC,3920,-0.71,-116.8,370.8,-6.4,266,3924,0.00,2.25,0.00,0.000,4,0.000,0.044,2653,456,3297,0,0,0,0,0,0
$GC,4002,-0.71,-116.8,377.4,-8.2,267,4009,0.00,2.25,0.00,0.000,6,0.000,0.033,2640,2016,3297,0,0,0,0,0,0
$GC,4333,-0.71,-116.8,405.9,-9.0,276,4337,0.00,2.30,0.00,0.000,4,0.000,0.044,2640,451,3295,0,0,0,0,0,0
$GC,4376,-0.71,-116.8,410.3,-10.4,277,4382,0.08,2.28,0.00,0.000,6,0.119,0.032,2658,2028,3297,0,0,0,0,0,0
$GC,4701,-0.71,-116.8,435.4,-7.4,285,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2028,3293,0,0,0,0,0,0
$GC,5026,-0.71,-116.8,457.4,-6.6,293,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2028,3292,0,0,0,0,0,0
$GC,5350,-0.71,-116.8,477.1,-5.9,301,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2028,3290,0,0,0,0,0,0
$GC,5676,-0.71,-116.8,494.5,-5.2,309,5680,0.00,2.30,0.00,0.000,4,0.000,0.045,2659,456,3288,0,0,0,0,0,0
$GC,5708,-0.71,-116.8,496.4,-5.8,309,5714,0.00,2.28,0.00,0.000,6,0.000,0.033,2648,2025,3288,0,0,0,0,0,0
$GC,6039,-0.71,-116.8,515.9,-6.3,318,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2025,3287,0,0,0,0,0,0
$GC,6364,-0.71,-116.8,535.7,-5.8,326,6368,0.00,2.33,0.00,0.000,4,0.000,0.046,2636,3611,3285,0,0,0,0,0,0
$GC,6390,-0.71,-116.8,537.2,-5.8,326,6394,0.00,2.30,0.00,0.000,6,0.000,0.031,2637,2037,3285,0,0,0,0,0,0
$GC,6727,-0.71,-116.8,556.4,-5.7,335,6731,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,446,3285,0,0,0,0,0,0
$GC,6775,-0.71,-116.8,559.7,-6.9,336,6780,0.08,2.30,0.00,0.000,6,0.119,0.033,2655,2035,3283,0,0,0,0,0,0
$GC,7094,-0.71,-116.8,577.1,-5.6,344,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2035,3285,0,0,0,0,0,0
$GC,7419,-0.71,-116.8,598.3,-6.9,352,7423,0.00,2.33,0.00,0.000,4,0.000,0.046,2645,3610,3280,0,0,0,0,0,0
$GC,7474,-0.71,-116.8,602.7,-8.1,353,7479,0.00,2.30,0.00,0.000,6,0.000,0.031,2645,2029,3281,0,0,0,0,0,0
$GC,7787,-0.71,-116.8,627.5,-8.2,361,7791,0.00,2.33,0.00,0.000,4,0.000,0.046,2644,457,3280,0,0,0,0,0,0
$GC,7835,-0.71,-116.8,632.0,-9.3,362,7840,0.00,2.28,0.00,0.000,6,0.000,0.034,2633,2029,3280,0,0,0,0,0,0
$GC,8154,-0.71,-116.8,658.2,-8.1,370,8158,0.00,2.33,0.00,0.000,4,0.000,0.045,2622,3606,3281,0,0,0,0,0,0
$GC,8203,-0.71,-116.8,662.0,-7.8,371,8208,0.12,2.28,0.00,0.000,6,0.135,0.031,2661,2016,3279,0,0,0,0,0,0
$GC,8521,-0.71,-116.8,682.6,-6.5,379,8525,0.00,2.30,0.00,0.000,4,0.000,0.045,2661,451,3277,0,0,0,0,0,0
$GC,8566,-0.71,-116.8,685.8,-7.3,380,8570,0.00,2.28,0.00,0.000,6,0.000,0.034,2651,2042,3279,0,0,0,0,0,0
$GC,8895,-0.71,-116.8,706.5,-5.9,388,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2042,3279,0,0,0,0,0,0
$GC,9219,-0.71,-116.8,723.7,-5.2,396,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2042,3273,0,0,0,0,0,0
$GC,9544,-0.71,-116.8,741.0,-5.4,404,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2042,3275,0,0,0,0,0,0
$GC,9869,-0.71,-116.8,759.9,-6.0,412,9874,0.00,2.30,0.00,0.000,4,0.000,0.047,2639,3606,3274,0,0,0,0,0,0
$GC,9919,-0.71,-116.8,763.3,-7.2,413,9923,0.00,2.30,0.00,0.000,6,0.000,0.032,2639,2041,3275,0,0,0,0,0,0
$GC,10237,-0.71,-116.8,783.8,-6.5,421,10241,0.00,2.35,0.00,0.000,4,0.000,0.047,2640,446,3274,0,0,0,0,0,0
$GC,10276,-0.71,-116.8,786.4,-7.2,422,10281,0.12,2.28,0.00,0.000,6,0.147,0.035,2665,2042,3274,0,0,0,0,0,0
$GC,10599,-0.71,-116.8,804.4,-5.5,430,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2042,3272,0,0,0,0,0,0
$GC,10924,-0.71,-116.8,824.0,-6.3,438,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2042,3273,0,0,0,0,0,0
$GC,11249,-0.71,-116.8,845.1,-6.4,446,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2042,3273,0,0,0,0,0,0
$GC,11574,-0.71,-116.8,864.5,-5.8,454,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2042,3272,0,0,0,0,0,0
$GC,11899,-0.71,-116.8,882.6,-5.5,462,11902,0.00,2.38,0.00,0.000,4,0.000,0.048,2666,454,3271,0,0,0,0,0,0
$GC,11949,-0.71,-116.8,885.6,-6.7,463,11954,0.00,2.30,0.00,0.000,6,0.000,0.035,2656,2045,3271,0,0,0,0,0,0
$GC,12267,-0.71,-116.8,903.4,-5.7,471,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2045,3270,0,0,0,0,0,0
$GC,12592,-0.71,-116.8,921.2,-5.3,479,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2050,3270,0,0,0,0,0,0
$GC,12917,-0.71,-116.8,938.5,-5.3,487,12921,0.00,2.40,0.00,0.000,4,0.000,0.048,2656,447,3270,0,0,0,0,0,0
$GC,12960,-0.71,-116.8,941.0,-5.9,488,12964,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2042,3270,0,0,0,0,0,0
$GC,13284,-0.71,-116.8,958.7,-5.3,496,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2042,3270,0,0,0,0,0,0
$STATE,13526,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13526,begin apogee
$GC,13530,-0.23,0.0,971.1,5.1,502,13629,0.50,0.00,95.90,1.285,6,0.110,0.000,2812,2042,2822,0,0,0,0,0,0
$STATE,13676,end apogee,CONTROL_FINISHED_OK
$STATE,13676,begin climb
$GC,13677,0.71,116.8,972.1,0.0,504,13797,0.82,2.60,109.82,1.252,4,0.067,0.045,3119,3605,2344,0,0,0,0,0,0
$GC,13854,0.71,116.8,955.9,15.1,509,13858,0.00,2.45,0.00,0.000,6,0.000,0.035,3131,2035,2336,0,0,0,0,0,0
$GC,14171,0.71,116.8,911.3,13.9,517,14175,0.00,2.45,0.00,0.000,4,0.000,0.049,3143,447,2328,0,0,0,0,0,0
$GC,14242,0.71,116.8,901.0,14.3,518,14246,0.00,2.38,0.00,0.000,6,0.000,0.035,3143,2022,2327,0,0,0,0,0,0
$GC,14578,0.71,116.8,853.8,14.0,527,14582,0.00,2.38,0.00,0.000,4,0.000,0.050,3160,456,2324,0,0,0,0,0,0
$GC,14617,0.71,116.8,848.3,13.7,528,14622,0.12,2.33,0.00,0.000,6,0.166,0.035,3122,2035,2324,0,0,0,0,0,0
$GC,14940,0.71,116.8,808.2,12.2,536,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2035,2323,0,0,0,0,0,0
$GC,15264,0.71,116.8,770.6,11.4,544,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2035,2320,0,0,0,0,0,0
$GC,15589,0.71,116.8,737.0,9.9,552,15594,0.00,2.38,0.00,0.000,4,0.000,0.046,3123,3618,2322,0,0,0,0,0,0
$GC,15633,0.71,116.8,732.3,10.9,553,15638,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,2024,2321,0,0,0,0,0,0
$GC,15957,0.71,116.8,698.0,10.8,561,15961,0.00,2.35,0.00,0.000,4,0.000,0.049,3145,450,2321,0,0,0,0,0,0
$GC,16073,0.71,116.8,684.8,11.3,563,16077,0.00,2.33,0.00,0.000,6,0.000,0.035,3145,2026,2321,0,0,0,0,0,0
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$STATE,22734,end climb,SURFACE_DEPTH_REACHED
$STATE,22734,begin surface coast
$FINISH,0.7,1.023320
$STATE,22759,end surface coast,CONTROL_FINISHED_OK
$STATE,22759,begin surface
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$10V_AH,9.7,16.734
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,33365,926
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110710,054725,2031.950,-15954.646,38,1.1,38,9.6