version: 66.07
glider: 500
mission: 4
dive: 118
start: 7 12 110 1 59 45
data:
$ID,500
$MISSION,4
$DIVE,118
$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,-111541.16
$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,117
$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
$GPS1,120710,013637,2032.256,-15953.304,30,0.8,30,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.1
$GPS2,120710,015849,2032.600,-15953.613,11,1.0,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.165
$KALMAN_X,-22087.2,28.3,239.1,34205.6,-3679.8
$KALMAN_Y,21925.8,-277.9,22.4,-13124.3,4137.0
$MHEAD_RNG_PITCHd_Wd,128.1,27718,-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,-46.60,0.000,2,0.000,0.000,134,2027,2577,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-5.4,9,113,10.15,2.40,-18.38,0.000,4,0.233,0.057,2652,455,3300,0,0,0,0,0,0
$GC,204,-0.71,-116.8,22.3,-17.4,32,210,0.00,2.30,0.00,0.000,6,0.000,0.034,2642,2041,3300,0,0,0,0,0,0
$GC,408,-0.71,-116.8,58.8,-12.8,55,412,0.00,2.33,0.00,0.000,4,0.000,0.043,2626,3614,3301,0,0,0,0,0,0
$GC,436,-0.71,-116.8,62.5,-13.7,57,440,0.10,2.28,0.00,0.000,6,0.146,0.029,2659,2030,3301,0,0,0,0,0,0
$GC,696,-0.71,-116.8,88.8,-10.0,81,700,0.00,2.30,0.00,0.000,4,0.000,0.042,2659,450,3302,0,0,0,0,0,0
$GC,725,-0.71,-116.8,91.5,-10.0,83,729,0.00,2.25,0.00,0.000,6,0.000,0.031,2649,2034,3302,0,0,0,0,0,0
$GC,984,-0.71,-116.8,116.4,-10.2,107,988,0.00,2.30,0.00,0.000,4,0.000,0.042,2637,3608,3303,0,0,0,0,0,0
$GC,1034,-0.71,-116.8,121.3,-9.6,111,1039,0.00,2.25,0.00,0.000,6,0.000,0.028,2634,2026,3302,0,0,0,0,0,0
$GC,1295,-0.71,-116.8,143.7,-7.5,135,1299,0.00,2.28,0.00,0.000,4,0.000,0.041,2637,453,3303,0,0,0,0,0,0
$GC,1322,-0.71,-116.8,145.9,-8.4,137,1327,0.10,2.22,0.00,0.000,6,0.156,0.031,2656,2041,3304,0,0,0,0,0,0
$GC,1582,-0.71,-116.8,165.4,-7.6,161,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2041,3304,0,0,0,0,0,0
$GC,1837,-0.71,-116.8,185.3,-9.3,185,1841,0.00,2.28,0.00,0.000,4,0.000,0.043,2646,3604,3304,0,0,0,0,0,0
$GC,1931,-0.71,-116.8,193.9,-8.8,193,1935,0.00,2.22,0.00,0.000,6,0.000,0.028,2646,2020,3303,0,0,0,0,0,0
$GC,2186,-0.71,-116.8,216.0,-8.4,208,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2020,3303,0,0,0,0,0,0
$GC,2496,-0.71,-116.8,241.8,-7.6,223,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2020,3300,0,0,0,0,0,0
$GC,2805,-0.71,-116.8,262.4,-6.2,238,2809,0.00,2.25,0.00,0.000,4,0.000,0.042,2651,454,3301,0,0,0,0,0,0
$GC,2876,-0.71,-116.8,267.7,-7.1,241,2881,0.00,2.25,0.00,0.000,6,0.000,0.031,2634,2028,3300,0,0,0,0,0,0
$GC,3198,-0.71,-116.8,292.2,-7.9,257,3202,0.00,2.28,0.00,0.000,4,0.000,0.042,2620,3607,3298,0,0,0,0,0,0
$GC,3241,-0.71,-116.8,295.9,-8.3,259,3246,0.10,2.28,0.00,0.000,6,0.104,0.028,2662,2024,3298,0,0,0,0,0,0
$GC,3564,-0.71,-116.8,318.8,-7.2,269,3568,0.00,2.30,0.00,0.000,4,0.000,0.042,2652,3609,3296,0,0,0,0,0,0
$GC,3595,-0.71,-116.8,321.4,-7.8,269,3602,0.00,2.28,0.00,0.000,6,0.000,0.029,2655,2028,3296,0,0,0,0,0,0
$GC,3926,-0.71,-116.8,348.0,-7.8,278,3931,0.00,2.30,0.00,0.000,4,0.000,0.043,2648,446,3296,0,0,0,0,0,0
$GC,4032,-0.71,-116.8,356.1,-7.5,280,4036,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2036,3297,0,0,0,0,0,0
$GC,4380,-0.71,-116.8,378.6,-6.5,289,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2035,3292,0,0,0,0,0,0
$GC,4705,-0.71,-116.8,401.4,-7.3,297,4709,0.00,2.30,0.00,0.000,4,0.000,0.044,2628,3604,3290,0,0,0,0,0,0
$GC,4771,-0.71,-116.8,406.5,-7.8,298,4776,0.05,2.28,0.00,0.000,6,0.117,0.029,2661,2030,3289,0,0,0,0,0,0
$GC,5112,-0.71,-116.8,428.4,-6.5,307,5117,0.00,2.28,0.00,0.000,4,0.000,0.044,2661,455,3288,0,0,0,0,0,0
$GC,5197,-0.71,-116.8,435.1,-8.1,309,5201,0.00,2.22,0.00,0.000,6,0.000,0.032,2651,2036,3287,0,0,0,0,0,0
$GC,5520,-0.71,-116.8,462.1,-8.6,317,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2037,3286,0,0,0,0,0,0
$GC,5845,-0.71,-116.8,488.0,-7.7,325,5849,0.00,2.30,0.00,0.000,4,0.000,0.044,2651,448,3285,0,0,0,0,0,0
$GC,5905,-0.71,-116.8,492.9,-7.8,326,5909,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2029,3285,0,0,0,0,0,0
$GC,6253,-0.71,-116.8,516.6,-6.4,335,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2026,3284,0,0,0,0,0,0
$GC,6578,-0.71,-116.8,534.2,-5.2,343,6582,0.00,2.33,0.00,0.000,4,0.000,0.044,2640,450,3282,0,0,0,0,0,0
$GC,6605,-0.71,-116.8,535.8,-6.4,343,6609,0.12,2.25,0.00,0.000,6,0.143,0.033,2666,2044,3284,0,0,0,0,0,0
$GC,6940,-0.71,-116.8,551.9,-4.9,352,6945,0.00,2.35,0.00,0.000,4,0.000,0.044,2667,450,3280,0,0,0,0,0,0
$GC,6979,-0.71,-116.8,554.2,-6.1,353,6984,0.00,2.22,0.00,0.000,6,0.000,0.033,2654,2021,3281,0,0,0,0,0,0
$GC,7303,-0.71,-116.8,571.2,-5.1,361,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2022,3281,0,0,0,0,0,0
$GC,7628,-0.71,-116.8,587.9,-4.9,369,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2022,3280,0,0,0,0,0,0
$GC,7953,-0.71,-116.8,604.2,-4.9,377,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2022,3277,0,0,0,0,0,0
$GC,8278,-0.71,-116.8,620.1,-4.8,385,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2022,3279,0,0,0,0,0,0
$GC,8603,-0.71,-116.8,637.1,-5.4,393,8607,0.00,2.30,0.00,0.000,4,0.000,0.047,2657,456,3278,0,0,0,0,0,0
$GC,8652,-0.71,-116.8,640.3,-6.1,394,8656,0.00,2.30,0.00,0.000,6,0.000,0.034,2646,2043,3278,0,0,0,0,0,0
$GC,8971,-0.71,-116.8,659.6,-6.0,402,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2044,3278,0,0,0,0,0,0
$GC,9295,-0.71,-116.8,680.4,-6.4,410,9299,0.00,2.30,0.00,0.000,4,0.000,0.046,2635,3612,3276,0,0,0,0,0,0
$GC,9322,-0.71,-116.8,682.2,-7.3,410,9326,0.00,2.30,0.00,0.000,6,0.000,0.031,2633,2042,3278,0,0,0,0,0,0
$GC,9659,-0.71,-116.8,704.4,-6.5,419,9663,0.00,2.35,0.00,0.000,4,0.000,0.046,2633,451,3278,0,0,0,0,0,0
$GC,9685,-0.71,-116.8,706.3,-7.7,419,9690,0.10,2.30,0.00,0.000,6,0.113,0.033,2660,2037,3278,0,0,0,0,0,0
$GC,10021,-0.71,-116.8,724.1,-5.2,428,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2037,3281,0,0,0,0,0,0
$GC,10346,-0.71,-116.8,740.3,-4.9,436,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2037,3280,0,0,0,0,0,0
$GC,10671,-0.71,-116.8,756.8,-5.1,444,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2037,3278,0,0,0,0,0,0
$GC,10996,-0.71,-116.8,773.4,-5.1,452,11000,0.00,2.35,0.00,0.000,4,0.000,0.047,2661,446,3278,0,0,0,0,0,0
$GC,11039,-0.71,-116.8,776.0,-6.2,453,11043,0.00,2.25,0.00,0.000,6,0.000,0.034,2651,2022,3278,0,0,0,0,0,0
$GC,11363,-0.71,-116.8,793.9,-5.6,461,11368,0.00,2.35,0.00,0.000,4,0.000,0.048,2651,446,3278,0,0,0,0,0,0
$GC,11390,-0.71,-116.8,795.7,-7.0,461,11395,0.00,2.28,0.00,0.000,6,0.000,0.034,2640,2046,3278,0,0,0,0,0,0
$GC,11727,-0.71,-116.8,818.7,-7.0,470,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2049,3279,0,0,0,0,0,0
$GC,12052,-0.71,-116.8,842.8,-7.4,478,12056,0.00,2.30,0.00,0.000,4,0.000,0.047,2628,3608,3281,0,0,0,0,0,0
$GC,12084,-0.71,-116.8,845.5,-8.0,478,12091,0.08,2.33,0.00,0.000,6,0.112,0.033,2658,2027,3278,0,0,0,0,0,0
$GC,12416,-0.71,-116.8,868.9,-7.1,487,12420,0.00,2.33,0.00,0.000,4,0.000,0.048,2658,453,3279,0,0,0,0,0,0
$GC,12471,-0.71,-116.8,873.3,-7.4,488,12475,0.00,2.25,0.00,0.000,6,0.000,0.034,2649,2031,3279,0,0,0,0,0,0
$GC,12783,-0.71,-116.8,897.1,-7.5,496,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2031,3280,0,0,0,0,0,0
$GC,13109,-0.71,-116.8,920.0,-6.8,504,13113,0.00,2.38,0.00,0.000,4,0.000,0.048,2648,457,3280,0,0,0,0,0,0
$GC,13141,-0.71,-116.8,922.4,-7.5,504,13147,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2026,3280,0,0,0,0,0,0
$GC,13472,-0.71,-116.8,944.2,-6.5,513,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2025,3281,0,0,0,0,0,0
$STATE,13511,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13511,begin apogee
$GC,13515,-0.23,0.0,946.6,6.3,514,13616,0.52,0.00,98.45,1.282,6,0.109,0.000,2814,2025,2822,0,0,0,0,0,0
$STATE,13663,end apogee,CONTROL_FINISHED_OK
$STATE,13663,begin climb
$GC,13665,0.71,116.8,948.5,0.0,516,13782,0.82,2.60,109.30,1.252,4,0.065,0.045,3123,3615,2345,0,0,0,0,0,0
$GC,13798,0.71,116.8,939.5,12.3,520,13803,0.00,2.53,0.00,0.000,6,0.000,0.035,3134,2047,2342,0,0,0,0,0,0
$GC,14116,0.71,116.8,895.4,13.9,528,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2046,2329,0,0,0,0,0,0
$GC,14441,0.71,116.8,848.9,14.1,536,14446,0.00,2.42,0.00,0.000,4,0.000,0.048,3147,444,2324,0,0,0,0,0,0
$GC,14519,0.71,116.8,837.3,14.5,537,14525,0.00,2.35,0.00,0.000,6,0.000,0.035,3147,2025,2325,0,0,0,0,0,0
$GC,14850,0.71,116.8,788.6,14.8,546,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2025,2321,0,0,0,0,0,0
$GC,15175,0.71,116.8,741.1,14.3,554,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2025,2323,0,0,0,0,0,0
$GC,15500,0.71,116.8,696.4,13.7,562,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2030,2322,0,0,0,0,0,0
$GC,15824,0.71,116.8,652.4,13.6,570,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2026,2322,0,0,0,0,0,0
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$STATE,22490,end climb,SURFACE_DEPTH_REACHED
$STATE,22491,begin surface coast
$FINISH,0.7,1.023000
$STATE,22519,end surface coast,CONTROL_FINISHED_OK
$STATE,22519,begin surface
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$24V_AH,22.9,13.861
$10V_AH,9.8,17.492
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.459,0.000,0.000
$MEM,333116
$DATA_FILE_SIZE,33373,950
$CAP_FILE_SIZE,185035,0
$CFSIZE,260165632,248455168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120710,081754,2032.653,-15953.871,40,0.9,40,9.6