version: 66.07
glider: 500
mission: 4
dive: 131
start: 7 15 110 16 12 45
data:
$ID,500
$MISSION,4
$DIVE,131
$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,-111720.62
$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,51
$R_STBD_OVSHOOT,51
$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,130
$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
$GPS1,150710,154001,2030.793,-15950.698,39,1.5,39,9.6
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.3
$GPS2,150710,161150,2031.233,-15950.812,9,1.5,9,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,-0.171
$KALMAN_X,-57477.1,-107.8,478.0,74348.2,-2931.6
$KALMAN_Y,72205.3,133.8,411.8,-66738.1,3187.8
$MHEAD_RNG_PITCHd_Wd,130.6,23122,-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,-46.17,0.000,2,0.000,0.000,123,2045,2543,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.5,9,113,10.12,2.38,-19.58,0.000,4,0.232,0.058,2648,453,3299,0,0,0,0,0,0
$GC,242,-0.71,-116.8,29.7,-19.2,39,248,0.00,2.28,0.00,0.000,6,0.000,0.036,2638,2032,3300,0,0,0,0,0,0
$GC,438,-0.71,-116.8,60.4,-13.8,58,442,0.00,2.35,0.00,0.000,4,0.000,0.045,2626,3614,3300,0,0,0,0,0,0
$GC,493,-0.71,-116.8,67.8,-12.9,62,500,0.08,2.30,0.00,0.000,6,0.115,0.028,2656,2021,3301,0,0,0,0,0,0
$GC,755,-0.71,-116.8,99.3,-13.2,87,759,0.00,2.28,0.00,0.000,4,0.000,0.044,2655,463,3302,0,0,0,0,0,0
$GC,894,-0.71,-116.8,117.2,-10.5,99,899,0.00,2.25,0.00,0.000,6,0.000,0.035,2645,2036,3304,0,0,0,0,0,0
$GC,1155,-0.71,-116.8,142.5,-9.1,123,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2037,3303,0,0,0,0,0,0
$GC,1409,-0.71,-116.8,166.8,-10.1,147,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2037,3301,0,0,0,0,0,0
$GC,1665,-0.71,-116.8,191.8,-10.0,171,1669,0.00,2.28,0.00,0.000,4,0.000,0.045,2646,459,3304,0,0,0,0,0,0
$GC,1715,-0.71,-116.8,197.4,-10.3,175,1719,0.00,2.20,0.00,0.000,6,0.000,0.032,2634,2035,3301,0,0,0,0,0,0
$GC,1968,-0.71,-116.8,221.0,-9.0,188,1972,0.00,2.30,0.00,0.000,4,0.000,0.042,2622,3603,3300,0,0,0,0,0,0
$GC,2006,-0.71,-116.8,224.6,-9.2,190,2011,0.12,2.22,0.00,0.000,6,0.131,0.028,2665,2029,3300,0,0,0,0,0,0
$GC,2332,-0.71,-116.8,249.1,-7.9,206,2336,0.00,2.25,0.00,0.000,4,0.000,0.044,2666,459,3299,0,0,0,0,0,0
$GC,2381,-0.71,-116.8,253.5,-8.5,208,2385,0.00,2.25,0.00,0.000,6,0.000,0.031,2652,2033,3299,0,0,0,0,0,0
$GC,2702,-0.71,-116.8,282.9,-9.3,224,2706,0.00,2.33,0.00,0.000,4,0.000,0.043,2641,3614,3297,0,0,0,0,0,0
$GC,2744,-0.71,-116.8,286.9,-9.1,226,2749,0.00,2.25,0.00,0.000,6,0.000,0.029,2640,2037,3299,0,0,0,0,0,0
$GC,3069,-0.71,-116.8,313.1,-7.5,238,3073,0.00,2.30,0.00,0.000,4,0.000,0.042,2629,3608,3295,0,0,0,0,0,0
$GC,3153,-0.71,-116.8,319.4,-7.5,240,3158,0.10,2.25,0.00,0.000,6,0.142,0.028,2661,2018,3294,0,0,0,0,0,0
$GC,3476,-0.71,-116.8,337.1,-5.4,248,3480,0.00,2.25,0.00,0.000,4,0.000,0.043,2661,455,3292,0,0,0,0,0,0
$GC,3622,-0.71,-116.8,346.7,-6.9,251,3626,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2042,3290,0,0,0,0,0,0
$GC,3969,-0.71,-116.8,371.1,-7.2,260,3973,0.00,2.30,0.00,0.000,4,0.000,0.044,2651,452,3287,0,0,0,0,0,0
$GC,4045,-0.71,-116.8,377.6,-8.6,261,4052,0.00,2.28,0.00,0.000,6,0.000,0.032,2640,2041,3285,0,0,0,0,0,0
$GC,4377,-0.71,-116.8,405.1,-8.5,270,4381,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,451,3284,0,0,0,0,0,0
$GC,4437,-0.71,-116.8,410.9,-9.5,271,4442,0.08,2.28,0.00,0.000,6,0.117,0.033,2658,2036,3283,0,0,0,0,0,0
$GC,4785,-0.71,-116.8,433.0,-5.9,280,4789,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,3603,3280,0,0,0,0,0,0
$GC,4816,-0.71,-116.8,434.8,-5.9,280,4823,0.00,2.28,0.00,0.000,6,0.000,0.030,2648,2026,3280,0,0,0,0,0,0
$GC,5148,-0.71,-116.8,453.0,-5.6,289,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3278,0,0,0,0,0,0
$GC,5473,-0.71,-116.8,471.5,-5.7,297,5476,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,452,3275,0,0,0,0,0,0
$GC,5528,-0.71,-116.8,475.3,-7.5,298,5532,0.00,2.22,0.00,0.000,6,0.000,0.032,2636,2032,3275,0,0,0,0,0,0
$GC,5846,-0.71,-116.8,496.0,-6.7,306,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2032,3271,0,0,0,0,0,0
$GC,6171,-0.71,-116.8,518.2,-6.9,314,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2032,3271,0,0,0,0,0,0
$GC,6496,-0.71,-116.8,541.0,-7.1,322,6500,0.00,2.30,0.00,0.000,4,0.000,0.045,2624,3603,3269,0,0,0,0,0,0
$GC,6539,-0.71,-116.8,544.4,-7.7,323,6544,0.08,2.30,0.00,0.000,6,0.110,0.031,2656,2026,3266,0,0,0,0,0,0
$GC,6863,-0.71,-116.8,564.6,-6.2,331,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2026,3268,0,0,0,0,0,0
$GC,7187,-0.71,-116.8,585.2,-6.2,339,7192,0.00,2.30,0.00,0.000,4,0.000,0.046,2657,454,3266,0,0,0,0,0,0
$GC,7299,-0.71,-116.8,593.2,-7.4,341,7303,0.00,2.25,0.00,0.000,6,0.000,0.033,2646,2035,3265,0,0,0,0,0,0
$GC,7641,-0.71,-116.8,616.0,-6.7,350,7645,0.00,2.30,0.00,0.000,4,0.000,0.044,2646,459,3264,0,0,0,0,0,0
$GC,7695,-0.71,-116.8,620.4,-8.1,351,7699,0.00,2.28,0.00,0.000,6,0.000,0.033,2635,2037,3264,0,0,0,0,0,0
$GC,8008,-0.71,-116.8,641.6,-6.6,359,8013,0.00,2.33,0.00,0.000,4,0.000,0.045,2635,456,3262,0,0,0,0,0,0
$GC,8074,-0.71,-116.8,646.1,-6.7,360,8079,0.12,2.25,0.00,0.000,6,0.144,0.033,2662,2040,3264,0,0,0,0,0,0
$GC,8416,-0.71,-116.8,660.0,-3.7,369,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2040,3260,0,0,0,0,0,0
$GC,8741,-0.71,-116.8,670.8,-3.2,377,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2040,3259,0,0,0,0,0,0
$GC,9066,-0.71,-116.8,682.2,-3.7,385,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2040,3258,0,0,0,0,0,0
$GC,9391,-0.71,-116.8,696.9,-5.0,393,9395,0.00,2.35,0.00,0.000,4,0.000,0.046,2665,460,3257,0,0,0,0,0,0
$GC,9429,-0.71,-116.8,699.1,-6.0,393,9435,0.00,2.28,0.00,0.000,6,0.000,0.034,2652,2040,3258,0,0,0,0,0,0
$GC,9760,-0.71,-116.8,719.9,-6.5,402,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2040,3256,0,0,0,0,0,0
$GC,10085,-0.71,-116.8,741.5,-6.7,410,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2040,3254,0,0,0,0,0,0
$GC,10410,-0.71,-116.8,762.6,-6.4,418,10414,0.00,2.35,0.00,0.000,4,0.000,0.047,2652,459,3256,0,0,0,0,0,0
$GC,10448,-0.71,-116.8,765.3,-7.5,419,10453,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2042,3255,0,0,0,0,0,0
$GC,10772,-0.71,-116.8,787.0,-6.8,427,10776,0.00,2.30,0.00,0.000,4,0.000,0.047,2629,3602,3254,0,0,0,0,0,0
$GC,10793,-0.71,-116.8,788.4,-7.2,427,10797,0.00,2.28,0.00,0.000,6,0.000,0.032,2629,2037,3254,0,0,0,0,0,0
$GC,11140,-0.71,-116.8,812.6,-6.8,436,11144,0.00,2.33,0.00,0.000,4,0.000,0.046,2633,455,3256,0,0,0,0,0,0
$GC,11218,-0.71,-116.8,818.8,-7.9,437,11224,0.10,2.28,0.00,0.000,6,0.114,0.035,2656,2015,3254,0,0,0,0,0,0
$GC,11549,-0.71,-116.8,838.0,-5.5,446,11553,0.00,2.33,0.00,0.000,4,0.000,0.047,2655,444,3253,0,0,0,0,0,0
$GC,11582,-0.71,-116.8,840.0,-6.1,446,11588,0.00,2.30,0.00,0.000,6,0.000,0.034,2646,2027,3253,0,0,0,0,0,0
$GC,11913,-0.71,-116.8,856.7,-4.9,455,11917,0.00,2.35,0.00,0.000,4,0.000,0.046,2633,3609,3252,0,0,0,0,0,0
$GC,11953,-0.71,-116.8,858.6,-5.0,456,11957,0.00,2.28,0.00,0.000,6,0.000,0.031,2634,2022,3252,0,0,0,0,0,0
$GC,12277,-0.71,-116.8,875.1,-5.0,464,12281,0.00,2.33,0.00,0.000,4,0.000,0.047,2634,459,3251,0,0,0,0,0,0
$GC,12309,-0.71,-116.8,877.1,-6.2,464,12316,0.15,2.28,0.00,0.000,6,0.137,0.035,2669,2032,3251,0,0,0,0,0,0
$GC,12640,-0.71,-116.8,891.8,-4.4,473,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2032,3254,0,0,0,0,0,0
$GC,12965,-0.71,-116.8,906.3,-4.5,481,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2033,3250,0,0,0,0,0,0
$GC,13290,-0.71,-116.8,920.5,-4.3,489,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2033,3250,0,0,0,0,0,0
$STATE,13532,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13532,begin apogee
$GC,13536,-0.23,0.0,930.8,4.2,495,13630,0.43,0.00,91.38,1.265,6,0.109,0.000,2813,2032,2822,0,0,0,0,0,0
$STATE,13650,end apogee,CONTROL_FINISHED_OK
$STATE,13650,begin climb
$GC,13651,0.71,116.8,932.0,0.0,497,13770,0.82,2.58,109.40,1.233,4,0.067,0.045,3115,3602,2345,0,0,0,0,0,0
$GC,13831,0.71,116.8,915.9,14.1,500,13835,0.00,2.47,0.00,0.000,6,0.000,0.035,3130,2038,2334,0,0,0,0,0,0
$GC,14143,0.71,116.8,873.3,13.3,508,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2036,2328,0,0,0,0,0,0
$GC,14469,0.71,116.8,829.5,13.5,516,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2036,2326,0,0,0,0,0,0
$GC,14793,0.71,116.8,787.5,12.8,524,14797,0.00,2.40,0.00,0.000,4,0.000,0.048,3142,451,2325,0,0,0,0,0,0
$GC,14859,0.71,116.8,778.5,14.5,525,14864,0.00,2.33,0.00,0.000,6,0.000,0.035,3142,2023,2324,0,0,0,0,0,0
$GC,15202,0.71,116.8,733.6,13.1,534,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2023,2322,0,0,0,0,0,0
$GC,15526,0.71,116.8,690.6,13.3,542,15528,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2024,2322,0,0,0,0,0,0
$GC,15851,0.71,116.8,644.1,14.5,550,15855,0.00,2.38,0.00,0.000,4,0.000,0.047,3142,3619,2321,0,0,0,0,0,0
$GC,15889,0.71,116.8,637.9,16.3,550,15896,0.10,2.38,0.00,0.000,6,0.150,0.035,3122,2025,2319,0,0,0,0,0,0
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$STATE,22331,end climb,SURFACE_DEPTH_REACHED
$STATE,22331,begin surface coast
$FINISH,0.8,1.023228
$STATE,22366,end surface coast,CONTROL_FINISHED_OK
$STATE,22366,begin surface
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$XPDR_PINGS,5
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$AR_CDRIVE_FREE,8421965824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53758066688
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,15.871
$10V_AH,9.6,18.543
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.375,189.750,293.400,82.375,0.000,113.651,118.845,1252.756,1.250,0.000,11.819,1791.824,18100.912,545.287,3634.112,312.987,33.366,1705.504,0.000,2060.909,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333756
$DATA_FILE_SIZE,33400,924
$CAP_FILE_SIZE,208068,0
$CFSIZE,260165632,246976512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150710,222837,2030.876,-15950.429,25,1.1,25,9.6