version: 66.07
glider: 500
mission: 4
dive: 136
start: 7 17 110 1 40 58
data:
$ID,500
$MISSION,4
$DIVE,136
$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,-111801.92
$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,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,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,135
$AR_SAMPLENUM,13
$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
$GPS1,170710,011900,2038.132,-15944.780,35,0.8,40,9.6
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.0
$GPS2,170710,014002,2038.490,-15944.967,10,1.0,10,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.010
$KALMAN_X,-68850.8,146.9,-474.5,96568.2,-1312.8
$KALMAN_Y,90237.3,82.1,857.7,-71721.6,1165.3
$MHEAD_RNG_PITCHd_Wd,77.8,204590,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,72,0.00,0.00,-45.92,0.000,2,0.000,0.000,135,2022,2540,0,0,0,0,0,0
$GC,75,-0.71,-116.8,3.0,-4.4,9,111,10.15,0.00,-19.85,0.000,6,0.230,0.000,2663,2022,3300,0,0,0,0,0,0
$GC,316,-0.71,-116.8,39.4,-17.0,48,320,0.00,2.35,0.00,0.000,4,0.000,0.041,2652,3606,3302,0,0,0,0,0,0
$GC,359,-0.71,-116.8,46.8,-16.7,51,365,0.00,2.30,0.00,0.000,6,0.000,0.028,2652,2025,3302,0,0,0,0,0,0
$GC,620,-0.71,-116.8,83.8,-12.1,76,624,0.00,2.35,0.00,0.000,4,0.000,0.041,2637,3611,3302,0,0,0,0,0,0
$GC,679,-0.71,-116.8,91.1,-12.0,81,686,0.00,2.28,0.00,0.000,6,0.000,0.028,2640,2031,3302,0,0,0,0,0,0
$GC,940,-0.71,-116.8,122.6,-12.1,106,944,0.00,2.28,0.00,0.000,4,0.000,0.043,2640,456,3303,0,0,0,0,0,0
$GC,1012,-0.71,-116.8,131.9,-12.5,112,1019,0.08,2.25,0.00,0.000,6,0.120,0.031,2658,2032,3303,0,0,0,0,0,0
$GC,1274,-0.71,-116.8,157.1,-8.4,137,1278,0.00,2.30,0.00,0.000,4,0.000,0.042,2647,3624,3304,0,0,0,0,0,0
$GC,1302,-0.71,-116.8,159.5,-8.2,139,1306,0.00,2.25,0.00,0.000,6,0.000,0.029,2647,2026,3304,0,0,0,0,0,0
$GC,1563,-0.71,-116.8,182.9,-9.0,163,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3303,0,0,0,0,0,0
$GC,1825,-0.71,-116.8,207.8,-9.0,184,1829,0.00,2.33,0.00,0.000,4,0.000,0.041,2635,3618,3302,0,0,0,0,0,0
$GC,1851,-0.71,-116.8,210.3,-9.3,185,1856,0.00,2.28,0.00,0.000,6,0.000,0.028,2636,2035,3303,0,0,0,0,0,0
$GC,2173,-0.71,-116.8,241.5,-10.1,201,2177,0.00,2.28,0.00,0.000,4,0.000,0.042,2635,442,3302,0,0,0,0,0,0
$GC,2272,-0.71,-116.8,251.7,-10.0,205,2279,0.08,2.28,0.00,0.000,6,0.114,0.031,2655,2036,3303,0,0,0,0,0,0
$GC,2588,-0.71,-116.8,273.1,-7.1,221,2592,0.00,2.30,0.00,0.000,4,0.000,0.043,2645,3608,3299,0,0,0,0,0,0
$GC,2632,-0.71,-116.8,276.5,-7.8,223,2636,0.00,2.25,0.00,0.000,6,0.000,0.028,2645,2016,3301,0,0,0,0,0,0
$GC,2982,-0.71,-116.8,308.6,-9.5,238,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2015,3299,0,0,0,0,0,0
$GC,3307,-0.71,-116.8,338.1,-8.6,246,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2016,3297,0,0,0,0,0,0
$GC,3632,-0.71,-116.8,367.5,-9.3,254,3636,0.00,2.28,0.00,0.000,4,0.000,0.042,2645,447,3294,0,0,0,0,0,0
$GC,3675,-0.71,-116.8,372.5,-11.6,255,3680,0.00,2.28,0.00,0.000,6,0.000,0.031,2633,2035,3294,0,0,0,0,0,0
$GC,3999,-0.71,-116.8,409.5,-10.9,263,4004,0.00,2.30,0.00,0.000,4,0.000,0.042,2634,452,3291,0,0,0,0,0,0
$GC,4065,-0.71,-116.8,415.9,-9.0,264,4071,0.10,2.25,0.00,0.000,6,0.107,0.031,2661,2020,3290,0,0,0,0,0,0
$GC,4408,-0.71,-116.8,435.7,-5.4,273,4412,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,3624,3287,0,0,0,0,0,0
$GC,4542,-0.71,-116.8,443.2,-5.7,276,4546,0.00,2.25,0.00,0.000,6,0.000,0.030,2651,2031,3285,0,0,0,0,0,0
$GC,4859,-0.71,-116.8,463.2,-6.7,284,4863,0.00,2.30,0.00,0.000,4,0.000,0.044,2647,453,3284,0,0,0,0,0,0
$GC,4943,-0.71,-116.8,469.6,-7.8,286,4947,0.00,2.28,0.00,0.000,6,0.000,0.032,2639,2055,3283,0,0,0,0,0,0
$GC,5266,-0.71,-116.8,491.8,-6.8,294,5270,0.00,2.28,0.00,0.000,4,0.000,0.044,2628,3610,3281,0,0,0,0,0,0
$GC,5332,-0.71,-116.8,496.7,-7.0,295,5337,0.12,2.28,0.00,0.000,6,0.132,0.030,2668,2017,3280,0,0,0,0,0,0
$GC,5674,-0.71,-116.8,516.3,-5.7,304,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2017,3281,0,0,0,0,0,0
$GC,5999,-0.71,-116.8,536.5,-6.6,312,6003,0.00,2.30,0.00,0.000,4,0.000,0.044,2668,448,3276,0,0,0,0,0,0
$GC,6026,-0.71,-116.8,538.7,-8.1,312,6031,0.00,2.25,0.00,0.000,6,0.000,0.031,2658,2028,3276,0,0,0,0,0,0
$GC,6357,-0.71,-116.8,564.3,-7.8,320,6361,0.00,2.30,0.00,0.000,4,0.000,0.043,2658,454,3273,0,0,0,0,0,0
$GC,6394,-0.71,-116.8,567.6,-8.8,320,6400,0.00,2.28,0.00,0.000,6,0.000,0.032,2647,2035,3273,0,0,0,0,0,0
$GC,6725,-0.71,-116.8,594.5,-7.9,329,6729,0.00,2.33,0.00,0.000,4,0.000,0.044,2647,451,3274,0,0,0,0,0,0
$GC,6769,-0.71,-116.8,598.2,-8.2,330,6773,0.00,2.22,0.00,0.000,6,0.000,0.031,2639,2033,3271,0,0,0,0,0,0
$GC,7093,-0.71,-116.8,620.0,-6.2,338,7097,0.00,2.30,0.00,0.000,4,0.000,0.044,2636,457,3272,0,0,0,0,0,0
$GC,7125,-0.71,-116.8,622.2,-7.1,338,7132,0.08,2.28,0.00,0.000,6,0.115,0.033,2654,2030,3270,0,0,0,0,0,0
$GC,7456,-0.71,-116.8,641.4,-6.1,347,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2031,3268,0,0,0,0,0,0
$GC,7781,-0.71,-116.8,663.6,-7.0,355,7785,0.00,2.33,0.00,0.000,4,0.000,0.044,2644,3615,3266,0,0,0,0,0,0
$GC,7835,-0.71,-116.8,667.8,-8.0,356,7840,0.00,2.25,0.00,0.000,6,0.000,0.031,2644,2036,3266,0,0,0,0,0,0
$GC,8154,-0.71,-116.8,692.2,-7.6,364,8158,0.00,2.33,0.00,0.000,4,0.000,0.045,2644,445,3265,0,0,0,0,0,0
$GC,8192,-0.71,-116.8,695.3,-8.6,365,8196,0.00,2.25,0.00,0.000,6,0.000,0.033,2633,2039,3265,0,0,0,0,0,0
$GC,8516,-0.71,-116.8,718.7,-7.0,373,8520,0.00,2.33,0.00,0.000,4,0.000,0.044,2621,3611,3264,0,0,0,0,0,0
$GC,8564,-0.71,-116.8,722.3,-7.1,374,8570,0.08,2.33,0.00,0.000,6,0.110,0.031,2652,2018,3263,0,0,0,0,0,0
$GC,8883,-0.71,-116.8,740.8,-5.7,382,8887,0.00,2.30,0.00,0.000,4,0.000,0.045,2652,451,3263,0,0,0,0,0,0
$GC,8944,-0.71,-116.8,744.7,-6.4,383,8948,0.00,2.25,0.00,0.000,6,0.000,0.032,2642,2039,3262,0,0,0,0,0,0
$GC,9257,-0.71,-116.8,764.2,-6.3,391,9261,0.00,2.33,0.00,0.000,4,0.000,0.044,2643,450,3262,0,0,0,0,0,0
$GC,9296,-0.71,-116.8,766.9,-7.1,392,9300,0.00,2.25,0.00,0.000,6,0.000,0.032,2631,2041,3261,0,0,0,0,0,0
$GC,9619,-0.71,-116.8,788.5,-6.6,400,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2041,3260,0,0,0,0,0,0
$GC,9944,-0.71,-116.8,808.1,-5.8,408,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2041,3259,0,0,0,0,0,0
$GC,10269,-0.71,-116.8,825.8,-5.4,416,10273,0.00,2.30,0.00,0.000,4,0.000,0.046,2619,3606,3259,0,0,0,0,0,0
$GC,10312,-0.71,-116.8,828.5,-6.8,417,10317,0.12,2.28,0.00,0.000,6,0.133,0.031,2659,2019,3259,0,0,0,0,0,0
$GC,10635,-0.71,-116.8,842.8,-4.2,425,10639,0.00,2.30,0.00,0.000,4,0.000,0.045,2660,458,3258,0,0,0,0,0,0
$GC,10686,-0.71,-116.8,845.1,-5.0,426,10690,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2037,3258,0,0,0,0,0,0
$GC,11004,-0.71,-116.8,857.5,-3.7,434,11008,0.00,2.33,0.00,0.000,4,0.000,0.045,2638,3621,3257,0,0,0,0,0,0
$GC,11042,-0.71,-116.8,859.1,-4.2,435,11046,0.00,2.28,0.00,0.000,6,0.000,0.032,2637,2034,3257,0,0,0,0,0,0
$GC,11365,-0.71,-116.8,871.1,-3.7,443,11369,0.00,2.35,0.00,0.000,4,0.000,0.045,2638,445,3256,0,0,0,0,0,0
$GC,11465,-0.71,-116.8,875.9,-5.1,445,11470,0.08,2.33,0.00,0.000,6,0.119,0.034,2656,2036,3256,0,0,0,0,0,0
$GC,11778,-0.71,-116.8,886.3,-3.4,453,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2035,3255,0,0,0,0,0,0
$GC,12102,-0.71,-116.8,898.8,-3.9,461,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2039,3255,0,0,0,0,0,0
$GC,12427,-0.71,-116.8,912.7,-4.3,469,12431,0.00,2.38,0.00,0.000,4,0.000,0.047,2657,447,3255,0,0,0,0,0,0
$GC,12460,-0.71,-116.8,914.3,-5.4,469,12464,0.00,2.33,0.00,0.000,6,0.000,0.034,2646,2041,3255,0,0,0,0,0,0
$GC,12797,-0.71,-116.8,930.1,-4.7,478,12801,0.00,2.38,0.00,0.000,4,0.000,0.046,2646,448,3255,0,0,0,0,0,0
$GC,12835,-0.71,-116.8,932.3,-5.9,479,12840,0.00,2.30,0.00,0.000,6,0.000,0.034,2635,2045,3253,0,0,0,0,0,0
$GC,13159,-0.71,-116.8,949.4,-5.3,487,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2045,3254,0,0,0,0,0,0
$GC,13484,-0.71,-116.8,966.3,-5.2,495,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2044,3253,0,0,0,0,0,0
$STATE,13522,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13523,begin apogee
$GC,13526,-0.23,0.0,968.4,5.2,496,13622,0.52,0.00,92.80,1.288,6,0.111,0.000,2810,2045,2822,0,0,0,0,0,0
$STATE,13650,end apogee,CONTROL_FINISHED_OK
$STATE,13650,begin climb
$GC,13652,0.71,116.8,969.1,0.0,498,13772,0.85,2.62,111.10,1.256,4,0.067,0.046,3124,3602,2345,0,0,0,0,0,0
$GC,13794,0.71,116.8,957.4,14.0,502,13798,0.00,2.47,0.00,0.000,6,0.000,0.035,3136,2026,2341,0,0,0,0,0,0
$GC,14140,0.71,116.8,906.2,14.9,511,14144,0.00,2.40,0.00,0.000,4,0.000,0.049,3147,455,2329,0,0,0,0,0,0
$GC,14229,0.71,116.8,892.5,14.7,513,14233,0.00,2.35,0.00,0.000,6,0.000,0.035,3148,2030,2328,0,0,0,0,0,0
$GC,14553,0.71,116.8,842.9,15.3,521,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2030,2326,0,0,0,0,0,0
$GC,14878,0.71,116.8,794.2,15.1,529,14882,0.00,2.38,0.00,0.000,4,0.000,0.048,3160,457,2324,0,0,0,0,0,0
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$STATE,22676,end climb,SURFACE_DEPTH_REACHED
$STATE,22676,begin surface coast
$FINISH,0.9,1.023301
$STATE,22711,end surface coast,CONTROL_FINISHED_OK
$STATE,22711,begin surface
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$TCM_TEMP,24.50
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$AR_CDRIVE_FREE,8421146624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53268185088
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,16.622
$10V_AH,9.6,18.952
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.650,217.600,300.550,75.100,0.000,56.141,64.040,872.614,1.500,0.000,12.739,1865.861,18073.475,566.739,3284.326,286.589,33.389,1791.249,0.000,2189.261,0.000,0.541,0.000
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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,335212
$DATA_FILE_SIZE,33340,934
$CAP_FILE_SIZE,205910,0
$CFSIZE,260165632,246218752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170710,080237,2039.148,-15943.766,37,1.0,37,9.6