version: 66.07
glider: 500
mission: 4
dive: 134
start: 7 16 110 12 14 46
data:
$ID,500
$MISSION,4
$DIVE,134
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111772.24
$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,54
$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,133
$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
$GPS1,160710,115837,2034.732,-15947.872,32,1.2,32,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.9
$GPS2,160710,121350,2034.903,-15947.886,15,1.2,15,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.206,-0.085
$KALMAN_X,-63612.3,-240.3,-757.8,86932.4,-189.9
$KALMAN_Y,84301.9,-142.9,162.5,-71508.9,3761.3
$MHEAD_RNG_PITCHd_Wd,102.8,211650,-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,-46.12,0.000,2,0.000,0.000,124,2039,2547,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-5.0,9,112,10.15,2.40,-19.15,0.000,4,0.229,0.058,2656,455,3300,0,0,0,0,0,0
$GC,186,-0.71,-116.8,19.6,-17.7,29,192,0.00,2.30,0.00,0.000,6,0.000,0.036,2646,2029,3302,0,0,0,0,0,0
$GC,390,-0.71,-116.8,56.8,-17.1,53,394,0.00,2.35,0.00,0.000,4,0.000,0.044,2634,3613,3304,0,0,0,0,0,0
$GC,452,-0.71,-116.8,65.5,-13.1,58,456,0.00,2.25,0.00,0.000,6,0.000,0.028,2634,2020,3301,0,0,0,0,0,0
$GC,712,-0.71,-116.8,104.0,-16.7,82,716,0.00,2.25,0.00,0.000,4,0.000,0.042,2634,458,3304,0,0,0,0,0,0
$GC,773,-0.71,-116.8,113.5,-15.0,87,778,0.12,2.25,0.00,0.000,6,0.147,0.034,2659,2046,3303,0,0,0,0,0,0
$GC,1034,-0.71,-116.8,144.0,-10.8,111,1038,0.00,2.30,0.00,0.000,4,0.000,0.042,2649,3607,3306,0,0,0,0,0,0
$GC,1088,-0.71,-116.8,150.4,-11.6,115,1094,0.00,2.25,0.00,0.000,6,0.000,0.028,2648,2039,3305,0,0,0,0,0,0
$GC,1350,-0.71,-116.8,176.4,-9.6,140,1354,0.00,2.28,0.00,0.000,4,0.000,0.042,2649,452,3305,0,0,0,0,0,0
$GC,1426,-0.71,-116.8,184.6,-9.7,146,1432,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2032,3304,0,0,0,0,0,0
$GC,1695,-0.71,-116.8,211.1,-10.0,167,1699,0.00,2.28,0.00,0.000,4,0.000,0.043,2637,452,3306,0,0,0,0,0,0
$GC,1733,-0.71,-116.8,215.2,-11.0,169,1738,0.10,2.25,0.00,0.000,6,0.154,0.032,2657,2042,3306,0,0,0,0,0,0
$GC,2059,-0.71,-116.8,242.6,-7.6,185,2063,0.00,2.30,0.00,0.000,4,0.000,0.043,2647,3603,3306,0,0,0,0,0,0
$GC,2114,-0.71,-116.8,247.3,-8.2,187,2120,0.00,2.28,0.00,0.000,6,0.000,0.028,2647,2018,3305,0,0,0,0,0,0
$GC,2430,-0.71,-116.8,273.2,-7.7,203,2434,0.00,2.25,0.00,0.000,4,0.000,0.043,2647,450,3305,0,0,0,0,0,0
$GC,2450,-0.71,-116.8,275.2,-9.4,204,2456,0.00,2.25,0.00,0.000,6,0.000,0.032,2636,2026,3306,0,0,0,0,0,0
$GC,2796,-0.71,-116.8,308.3,-9.9,219,2800,0.00,2.28,0.00,0.000,4,0.000,0.042,2635,446,3304,0,0,0,0,0,0
$GC,2840,-0.71,-116.8,313.3,-11.6,220,2845,0.08,2.28,0.00,0.000,6,0.117,0.032,2654,2037,3304,0,0,0,0,0,0
$GC,3164,-0.71,-116.8,340.8,-7.9,228,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2037,3302,0,0,0,0,0,0
$GC,3489,-0.71,-116.8,361.8,-6.2,236,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2037,3299,0,0,0,0,0,0
$GC,3814,-0.71,-116.8,386.8,-8.1,244,3818,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,448,3297,0,0,0,0,0,0
$GC,3868,-0.71,-116.8,391.8,-9.3,245,3872,0.00,2.28,0.00,0.000,6,0.000,0.033,2645,2038,3296,0,0,0,0,0,0
$GC,4181,-0.71,-116.8,417.3,-8.0,253,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2033,3294,0,0,0,0,0,0
$GC,4506,-0.71,-116.8,442.2,-7.7,261,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2033,3292,0,0,0,0,0,0
$GC,4831,-0.71,-116.8,468.8,-8.3,269,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2033,3289,0,0,0,0,0,0
$GC,5156,-0.71,-116.8,493.3,-7.1,277,5160,0.00,2.30,0.00,0.000,4,0.000,0.045,2645,451,3286,0,0,0,0,0,0
$GC,5216,-0.71,-116.8,498.0,-7.8,278,5220,0.00,2.28,0.00,0.000,6,0.000,0.032,2633,2030,3287,0,0,0,0,0,0
$GC,5564,-0.71,-116.8,523.3,-7.3,287,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2031,3286,0,0,0,0,0,0
$GC,5889,-0.71,-116.8,546.4,-6.9,295,5893,0.00,2.35,0.00,0.000,4,0.000,0.044,2622,3608,3283,0,0,0,0,0,0
$GC,5915,-0.71,-116.8,548.4,-7.7,295,5920,0.08,2.28,0.00,0.000,6,0.107,0.030,2653,2035,3283,0,0,0,0,0,0
$GC,6252,-0.71,-116.8,568.1,-5.9,304,6256,0.00,2.33,0.00,0.000,4,0.000,0.045,2650,451,3281,0,0,0,0,0,0
$GC,6317,-0.71,-116.8,572.6,-7.1,305,6322,0.00,2.22,0.00,0.000,6,0.000,0.033,2643,2033,3280,0,0,0,0,0,0
$GC,6660,-0.71,-116.8,595.6,-6.7,314,6664,0.00,2.33,0.00,0.000,4,0.000,0.044,2632,3613,3278,0,0,0,0,0,0
$GC,6692,-0.71,-116.8,597.8,-7.0,314,6697,0.00,2.25,0.00,0.000,6,0.000,0.030,2632,2024,3278,0,0,0,0,0,0
$GC,7022,-0.71,-116.8,620.9,-7.0,323,7027,0.00,2.28,0.00,0.000,4,0.000,0.045,2628,458,3276,0,0,0,0,0,0
$GC,7127,-0.71,-116.8,630.3,-9.0,325,7133,0.08,2.28,0.00,0.000,6,0.117,0.032,2650,2033,3276,0,0,0,0,0,0
$GC,7475,-0.71,-116.8,658.6,-8.5,334,7479,0.00,2.33,0.00,0.000,4,0.000,0.044,2651,450,3274,0,0,0,0,0,0
$GC,7506,-0.71,-116.8,661.6,-9.6,334,7511,0.00,2.28,0.00,0.000,6,0.000,0.032,2638,2024,3274,0,0,0,0,0,0
$GC,7843,-0.71,-116.8,691.2,-8.6,343,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2024,3273,0,0,0,0,0,0
$GC,8169,-0.71,-116.8,717.6,-7.8,351,8173,0.00,2.33,0.00,0.000,4,0.000,0.046,2641,455,3272,0,0,0,0,0,0
$GC,8234,-0.71,-116.8,722.9,-8.0,352,8239,0.08,2.30,0.00,0.000,6,0.120,0.034,2659,2041,3271,0,0,0,0,0,0
$GC,8576,-0.71,-116.8,742.5,-5.4,361,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3270,0,0,0,0,0,0
$GC,8902,-0.71,-116.8,757.9,-4.7,369,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3269,0,0,0,0,0,0
$GC,9226,-0.71,-116.8,772.3,-4.4,377,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3268,0,0,0,0,0,0
$GC,9551,-0.71,-116.8,787.0,-4.6,385,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3268,0,0,0,0,0,0
$GC,9876,-0.71,-116.8,803.0,-5.1,393,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2045,3267,0,0,0,0,0,0
$GC,10201,-0.71,-116.8,820.9,-5.6,401,10205,0.00,2.35,0.00,0.000,4,0.000,0.047,2659,448,3266,0,0,0,0,0,0
$GC,10272,-0.71,-116.8,825.6,-6.8,402,10277,0.00,2.30,0.00,0.000,6,0.000,0.034,2650,2026,3266,0,0,0,0,0,0
$GC,10609,-0.71,-116.8,846.0,-6.0,411,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2026,3265,0,0,0,0,0,0
$GC,10934,-0.71,-116.8,864.8,-5.7,419,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2026,3265,0,0,0,0,0,0
$GC,11259,-0.71,-116.8,882.4,-5.3,427,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2026,3265,0,0,0,0,0,0
$GC,11584,-0.71,-116.8,899.5,-5.2,435,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2026,3264,0,0,0,0,0,0
$GC,11909,-0.71,-116.8,915.9,-5.0,443,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2026,3261,0,0,0,0,0,0
$GC,12234,-0.71,-116.8,932.6,-5.2,451,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2027,3263,0,0,0,0,0,0
$GC,12559,-0.71,-116.8,951.0,-5.8,459,12563,0.00,2.35,0.00,0.000,4,0.000,0.049,2650,460,3261,0,0,0,0,0,0
$GC,12608,-0.71,-116.8,954.3,-6.5,460,12612,0.00,2.28,0.00,0.000,6,0.000,0.035,2641,2046,3261,0,0,0,0,0,0
$GC,12926,-0.71,-116.8,974.7,-6.4,468,12930,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,466,3261,0,0,0,0,0,0
$GC,12976,-0.71,-116.8,978.3,-7.2,469,12981,0.12,2.28,0.00,0.000,6,0.145,0.035,2667,2046,3258,0,0,0,0,0,0
$STATE,13170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13170,begin apogee
$GC,13174,-0.23,0.0,990.0,5.9,474,13272,0.43,0.00,94.57,1.301,6,0.108,0.000,2810,2047,2822,0,0,0,0,0,0
$STATE,13296,end apogee,CONTROL_FINISHED_OK
$STATE,13296,begin climb
$GC,13297,0.71,116.8,992.2,0.0,476,13421,0.85,2.62,110.80,1.271,4,0.067,0.047,3125,3599,2343,0,0,0,0,0,0
$GC,13459,0.71,116.8,980.7,14.5,479,13465,0.00,2.47,0.00,0.000,6,0.000,0.035,3137,2049,2339,0,0,0,0,0,0
$GC,13790,0.71,116.8,936.8,13.3,488,13794,0.00,2.47,0.00,0.000,4,0.000,0.049,3150,445,2327,0,0,0,0,0,0
$GC,13895,0.71,116.8,921.5,13.8,490,13900,0.08,2.38,0.00,0.000,6,0.137,0.035,3115,2028,2326,0,0,0,0,0,0
$GC,14242,0.71,116.8,878.7,12.3,499,14243,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2028,2324,0,0,0,0,0,0
$GC,14567,0.71,116.8,840.1,11.9,507,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2029,2321,0,0,0,0,0,0
$GC,14892,0.71,116.8,803.3,11.2,515,14896,0.00,2.40,0.00,0.000,4,0.000,0.051,3125,440,2323,0,0,0,0,0,0
$GC,14918,0.71,116.8,800.3,11.3,515,14923,0.00,2.38,0.00,0.000,6,0.000,0.036,3126,2039,2322,0,0,0,0,0,0
$GC,15254,0.71,116.8,761.1,11.7,524,15259,0.00,2.35,0.00,0.000,4,0.000,0.047,3127,3617,2321,0,0,0,0,0,0
$GC,15321,0.71,116.8,752.6,12.9,525,15325,0.00,2.33,0.00,0.000,6,0.000,0.036,3137,2018,2320,0,0,0,0,0,0
$GC,15663,0.71,116.8,711.2,12.0,534,15667,0.00,2.33,0.00,0.000,4,0.000,0.049,3150,455,2320,0,0,0,0,0,0
$GC,15722,0.71,116.8,703.6,12.4,535,15728,0.08,2.33,0.00,0.000,6,0.140,0.035,3125,2035,2320,0,0,0,0,0,0
$GC,16071,0.71,116.8,661.9,12.1,544,16075,0.00,2.35,0.00,0.000,4,0.000,0.048,3135,457,2319,0,0,0,0,0,0
$GC,16109,0.71,116.8,656.8,12.4,545,16113,0.00,2.28,0.00,0.000,6,0.000,0.035,3135,2038,2319,0,0,0,0,0,0
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$STATE,22917,end climb,SURFACE_DEPTH_REACHED
$STATE,22917,begin surface coast
$FINISH,0.7,1.023117
$STATE,22954,end surface coast,CONTROL_FINISHED_OK
$STATE,22954,begin surface
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$XPDR_PINGS,7
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$AR_CDRIVE_FREE,8418492416
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53464924160
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,16.318
$10V_AH,9.5,18.788
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335232
$DATA_FILE_SIZE,33402,935
$CAP_FILE_SIZE,178061,0
$CFSIZE,260165632,246558720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160710,184100,2034.662,-15945.934,35,0.9,40,9.6