version: 66.07
glider: 500
mission: 4
dive: 127
start: 7 14 110 13 26 9
data:
$ID,500
$MISSION,4
$DIVE,127
$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,-111663.51
$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,48
$R_STBD_OVSHOOT,55
$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,0
$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,126
$AR_SAMPLENUM,14
$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
$GPS1,140710,130136,2030.994,-15952.080,36,0.9,41,9.6
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.0
$GPS2,140710,132514,2031.183,-15952.128,12,1.3,12,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.137,-0.175
$KALMAN_X,-47700.1,-162.6,-242.3,63065.0,-1879.5
$KALMAN_Y,54527.0,262.6,680.6,-49551.6,1861.8
$MHEAD_RNG_PITCHd_Wd,132.2,24128,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-46.35,0.000,2,0.000,0.000,132,2043,2554,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.0,-4.8,9,112,10.07,2.35,-19.33,0.000,4,0.229,0.056,2652,451,3301,0,0,0,0,0,0
$GC,275,-0.71,-116.8,34.6,-17.4,43,279,0.00,2.25,0.00,0.000,6,0.000,0.033,2642,2024,3302,0,0,0,0,0,0
$GC,541,-0.71,-116.8,71.0,-13.8,68,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2026,3302,0,0,0,0,0,0
$GC,796,-0.71,-116.8,103.6,-12.0,92,800,0.00,2.38,0.00,0.000,4,0.000,0.043,2630,3623,3303,0,0,0,0,0,0
$GC,834,-0.71,-116.8,108.6,-13.0,95,839,0.10,2.30,0.00,0.000,6,0.146,0.029,2660,2013,3303,0,0,0,0,0,0
$GC,1094,-0.71,-116.8,134.1,-9.3,119,1098,0.00,2.25,0.00,0.000,4,0.000,0.042,2660,460,3304,0,0,0,0,0,0
$GC,1137,-0.71,-116.8,138.6,-10.2,122,1143,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2039,3304,0,0,0,0,0,0
$GC,1398,-0.71,-116.8,163.6,-9.7,147,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2039,3304,0,0,0,0,0,0
$GC,1653,-0.71,-116.8,187.3,-8.7,171,1657,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,448,3304,0,0,0,0,0,0
$GC,1695,-0.71,-116.8,191.7,-10.1,174,1702,0.00,2.28,0.00,0.000,6,0.000,0.033,2638,2037,3303,0,0,0,0,0,0
$GC,1961,-0.71,-116.8,219.1,-10.2,191,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2037,3303,0,0,0,0,0,0
$GC,2271,-0.71,-116.8,247.5,-8.5,206,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2036,3303,0,0,0,0,0,0
$GC,2580,-0.71,-116.8,275.0,-9.2,221,2584,0.00,2.28,0.00,0.000,4,0.000,0.043,2638,456,3302,0,0,0,0,0,0
$GC,2641,-0.71,-116.8,281.5,-10.7,224,2646,0.12,2.22,0.00,0.000,6,0.143,0.032,2664,2048,3301,0,0,0,0,0,0
$GC,2986,-0.71,-116.8,309.2,-7.6,238,2990,0.00,2.30,0.00,0.000,4,0.000,0.043,2665,457,3300,0,0,0,0,0,0
$GC,3018,-0.71,-116.8,311.8,-7.9,238,3024,0.00,2.25,0.00,0.000,6,0.000,0.033,2660,2043,3300,0,0,0,0,0,0
$GC,3349,-0.71,-116.8,332.5,-5.8,247,3353,0.00,2.30,0.00,0.000,4,0.000,0.044,2643,3605,3297,0,0,0,0,0,0
$GC,3404,-0.71,-116.8,335.9,-5.9,248,3407,0.00,2.22,0.00,0.000,6,0.000,0.029,2643,2020,3297,0,0,0,0,0,0
$GC,3722,-0.71,-116.8,356.8,-7.1,256,3726,0.00,2.25,0.00,0.000,4,0.000,0.042,2640,454,3295,0,0,0,0,0,0
$GC,3770,-0.71,-116.8,361.2,-8.5,257,3775,0.00,2.25,0.00,0.000,6,0.000,0.032,2632,2028,3295,0,0,0,0,0,0
$GC,4089,-0.71,-116.8,389.2,-8.8,265,4093,0.00,2.30,0.00,0.000,4,0.000,0.044,2620,3614,3293,0,0,0,0,0,0
$GC,4116,-0.71,-116.8,391.8,-9.6,265,4121,0.10,2.28,0.00,0.000,6,0.100,0.029,2660,2038,3293,0,0,0,0,0,0
$GC,4452,-0.71,-116.8,417.8,-7.6,274,4457,0.00,2.33,0.00,0.000,4,0.000,0.044,2661,448,3290,0,0,0,0,0,0
$GC,4518,-0.71,-116.8,423.4,-8.2,275,4523,0.00,2.28,0.00,0.000,6,0.000,0.032,2651,2028,3289,0,0,0,0,0,0
$GC,4861,-0.71,-116.8,450.4,-8.0,284,4865,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,3606,3285,0,0,0,0,0,0
$GC,4927,-0.71,-116.8,456.1,-8.7,285,4931,0.00,2.28,0.00,0.000,6,0.000,0.030,2639,2019,3286,0,0,0,0,0,0
$GC,5269,-0.71,-116.8,485.3,-8.5,294,5273,0.00,2.25,0.00,0.000,4,0.000,0.043,2638,459,3285,0,0,0,0,0,0
$GC,5373,-0.71,-116.8,495.3,-9.6,296,5379,0.08,2.28,0.00,0.000,6,0.117,0.032,2653,2041,3284,0,0,0,0,0,0
$GC,5722,-0.71,-116.8,520.6,-7.1,305,5726,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,3605,3282,0,0,0,0,0,0
$GC,5748,-0.71,-116.8,522.6,-7.4,305,5752,0.00,2.28,0.00,0.000,6,0.000,0.031,2646,2020,3280,0,0,0,0,0,0
$GC,6085,-0.71,-116.8,548.6,-7.8,314,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2019,3282,0,0,0,0,0,0
$GC,6410,-0.71,-116.8,575.3,-8.3,322,6414,0.00,2.28,0.00,0.000,4,0.000,0.044,2646,455,3277,0,0,0,0,0,0
$GC,6464,-0.71,-116.8,580.3,-8.7,323,6469,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2028,3277,0,0,0,0,0,0
$GC,6777,-0.71,-116.8,606.3,-8.1,331,6781,0.00,2.33,0.00,0.000,4,0.000,0.044,2635,453,3276,0,0,0,0,0,0
$GC,6816,-0.71,-116.8,609.5,-8.3,332,6821,0.12,2.25,0.00,0.000,6,0.143,0.033,2662,2044,3273,0,0,0,0,0,0
$GC,7140,-0.71,-116.8,631.6,-7.0,340,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2043,3274,0,0,0,0,0,0
$GC,7465,-0.71,-116.8,654.9,-7.3,348,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2043,3272,0,0,0,0,0,0
$GC,7789,-0.71,-116.8,678.3,-7.0,356,7794,0.00,2.33,0.00,0.000,4,0.000,0.046,2662,461,3272,0,0,0,0,0,0
$GC,7850,-0.71,-116.8,683.3,-8.2,357,7854,0.00,2.28,0.00,0.000,6,0.000,0.034,2652,2031,3271,0,0,0,0,0,0
$GC,8198,-0.71,-116.8,706.7,-6.5,366,8202,0.00,2.33,0.00,0.000,4,0.000,0.046,2641,3615,3267,0,0,0,0,0,0
$GC,8258,-0.71,-116.8,710.7,-6.6,367,8262,0.00,2.33,0.00,0.000,6,0.000,0.031,2640,2026,3269,0,0,0,0,0,0
$GC,8606,-0.71,-116.8,731.9,-5.8,376,8610,0.00,2.30,0.00,0.000,4,0.000,0.045,2641,458,3269,0,0,0,0,0,0
$GC,8666,-0.71,-116.8,735.8,-6.1,377,8670,0.00,2.25,0.00,0.000,6,0.000,0.033,2629,2048,3268,0,0,0,0,0,0
$GC,8979,-0.71,-116.8,756.1,-6.5,385,8981,0.10,0.00,0.00,0.000,6,0.156,0.000,2660,2048,3267,0,0,0,0,0,0
$GC,9304,-0.71,-116.8,774.0,-5.5,393,9308,0.00,2.35,0.00,0.000,4,0.000,0.045,2661,458,3267,0,0,0,0,0,0
$GC,9342,-0.71,-116.8,776.4,-6.2,394,9347,0.00,2.25,0.00,0.000,6,0.000,0.035,2651,2037,3267,0,0,0,0,0,0
$GC,9666,-0.71,-116.8,794.8,-5.5,402,9670,0.00,2.35,0.00,0.000,4,0.000,0.046,2651,453,3266,0,0,0,0,0,0
$GC,9704,-0.71,-116.8,797.1,-6.2,403,9708,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2033,3266,0,0,0,0,0,0
$GC,10027,-0.71,-116.8,815.3,-5.5,411,10031,0.00,2.33,0.00,0.000,4,0.000,0.046,2628,3608,3265,0,0,0,0,0,0
$GC,10059,-0.71,-116.8,817.2,-6.2,411,10064,0.08,2.33,0.00,0.000,6,0.108,0.031,2659,2024,3265,0,0,0,0,0,0
$GC,10395,-0.71,-116.8,833.8,-5.0,420,10399,0.00,2.30,0.00,0.000,4,0.000,0.047,2660,458,3264,0,0,0,0,0,0
$GC,10428,-0.71,-116.8,835.6,-6.3,420,10434,0.00,2.28,0.00,0.000,6,0.000,0.034,2650,2021,3265,0,0,0,0,0,0
$GC,10759,-0.71,-116.8,853.8,-5.5,429,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2021,3264,0,0,0,0,0,0
$GC,11084,-0.71,-116.8,872.9,-6.1,437,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2021,3263,0,0,0,0,0,0
$GC,11409,-0.71,-116.8,891.8,-5.8,445,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2025,3262,0,0,0,0,0,0
$GC,11734,-0.71,-116.8,908.5,-4.9,453,11738,0.00,2.35,0.00,0.000,4,0.000,0.048,2646,452,3261,0,0,0,0,0,0
$GC,11765,-0.71,-116.8,910.3,-5.2,453,11771,0.00,2.33,0.00,0.000,6,0.000,0.035,2638,2039,3259,0,0,0,0,0,0
$GC,12097,-0.71,-116.8,926.9,-4.9,462,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2039,3263,0,0,0,0,0,0
$GC,12421,-0.71,-116.8,941.3,-4.3,470,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2040,3260,0,0,0,0,0,0
$GC,12747,-0.71,-116.8,956.2,-4.6,478,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2040,3260,0,0,0,0,0,0
$GC,13072,-0.71,-116.8,972.4,-5.1,486,13076,0.00,2.38,0.00,0.000,4,0.000,0.048,2639,455,3260,0,0,0,0,0,0
$GC,13103,-0.71,-116.8,974.3,-6.1,486,13110,0.08,2.30,0.00,0.000,6,0.117,0.035,2657,2028,3258,0,0,0,0,0,0
$STATE,13433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13433,begin apogee
$GC,13437,-0.23,0.0,990.5,4.9,495,13534,0.47,0.00,93.95,1.310,6,0.104,0.000,2819,2028,2824,0,0,0,0,0,0
$STATE,13536,end apogee,CONTROL_FINISHED_OK
$STATE,13536,begin climb
$GC,13538,0.71,116.8,992.2,0.0,497,13654,0.82,0.00,111.40,1.276,6,0.058,0.000,3128,2028,2346,0,0,0,0,0,0
$GC,13944,0.71,116.8,948.2,13.2,507,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2028,2329,0,0,0,0,0,0
$GC,14270,0.71,116.8,905.0,13.3,515,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2028,2329,0,0,0,0,0,0
$GC,14594,0.71,116.8,862.3,13.3,523,14598,0.00,2.38,0.00,0.000,4,0.000,0.050,3140,454,2324,0,0,0,0,0,0
$GC,14643,0.71,116.8,855.4,14.5,524,14648,0.00,2.35,0.00,0.000,6,0.000,0.036,3140,2028,2324,0,0,0,0,0,0
$GC,14962,0.71,116.8,811.9,13.5,532,14966,0.00,2.38,0.00,0.000,4,0.000,0.046,3142,3614,2323,0,0,0,0,0,0
$GC,15016,0.71,116.8,803.5,15.9,533,15021,0.10,2.38,0.00,0.000,6,0.150,0.035,3117,2026,2323,0,0,0,0,0,0
$GC,15334,0.71,116.8,763.7,12.4,541,15338,0.00,2.35,0.00,0.000,4,0.000,0.048,3130,454,2322,0,0,0,0,0,0
$GC,15394,0.71,116.8,755.5,14.1,542,15398,0.00,2.33,0.00,0.000,6,0.000,0.035,3130,2032,2321,0,0,0,0,0,0
$GC,15742,0.71,116.8,711.3,12.7,551,15746,0.00,2.38,0.00,0.000,4,0.000,0.048,3142,458,2321,0,0,0,0,0,0
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$STATE,22816,end climb,SURFACE_DEPTH_REACHED
$STATE,22816,begin surface coast
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$STATE,22852,end surface coast,CONTROL_FINISHED_OK
$STATE,22852,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,33405,943
$CAP_FILE_SIZE,200468,0
$CFSIZE,260165632,247554048
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$GPS,140710,195025,2030.508,-15951.439,36,1.3,36,9.6