version: 66.07
glider: 500
mission: 4
dive: 137
start: 7 17 110 8 16 27
data:
$ID,500
$MISSION,4
$DIVE,137
$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,-111813.09
$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,58
$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,136
$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
$GPS1,170710,080237,2039.148,-15943.766,37,1.0,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.1
$GPS2,170710,081532,2039.339,-15943.965,8,1.8,8,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.211,0.070
$KALMAN_X,-72245.8,-179.1,-161.0,101724.5,-2350.2
$KALMAN_Y,93400.3,26.3,-916.7,-71480.7,4809.3
$MHEAD_RNG_PITCHd_Wd,62.2,202427,-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,-46.22,0.000,2,0.000,0.000,120,2050,2563,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-5.3,9,112,10.12,2.42,-18.50,0.000,4,0.228,0.057,2652,460,3300,0,0,0,0,0,0
$GC,146,-0.71,-116.8,12.7,-15.9,22,151,0.00,2.28,0.00,0.000,6,0.000,0.035,2642,2029,3301,0,0,0,0,0,0
$GC,347,-0.71,-116.8,49.1,-15.2,49,351,0.00,2.35,0.00,0.000,4,0.000,0.043,2629,3613,3302,0,0,0,0,0,0
$GC,369,-0.71,-116.8,52.4,-15.0,50,375,0.10,2.28,0.00,0.000,6,0.148,0.029,2659,2031,3303,0,0,0,0,0,0
$GC,630,-0.71,-116.8,88.2,-13.1,75,634,0.00,2.28,0.00,0.000,4,0.000,0.043,2659,459,3303,0,0,0,0,0,0
$GC,701,-0.71,-116.8,98.3,-13.7,81,706,0.00,2.22,0.00,0.000,6,0.000,0.031,2646,2038,3303,0,0,0,0,0,0
$GC,962,-0.71,-116.8,131.6,-13.0,105,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2039,3305,0,0,0,0,0,0
$GC,1217,-0.71,-116.8,159.9,-10.5,129,1221,0.00,2.33,0.00,0.000,4,0.000,0.042,2637,3611,3305,0,0,0,0,0,0
$GC,1278,-0.71,-116.8,166.7,-11.3,134,1282,0.00,2.22,0.00,0.000,6,0.000,0.029,2637,2030,3308,0,0,0,0,0,0
$GC,1539,-0.71,-116.8,195.9,-10.3,158,1543,0.00,2.28,0.00,0.000,4,0.000,0.042,2637,447,3306,0,0,0,0,0,0
$GC,1627,-0.71,-116.8,205.3,-10.3,163,1632,0.08,2.28,0.00,0.000,6,0.114,0.031,2655,2036,3306,0,0,0,0,0,0
$GC,1954,-0.71,-116.8,231.7,-8.1,179,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3306,0,0,0,0,0,0
$GC,2262,-0.71,-116.8,258.9,-9.2,194,2266,0.00,2.30,0.00,0.000,4,0.000,0.044,2653,449,3305,0,0,0,0,0,0
$GC,2329,-0.71,-116.8,265.8,-10.3,197,2334,0.00,2.25,0.00,0.000,6,0.000,0.032,2645,2040,3305,0,0,0,0,0,0
$GC,2650,-0.71,-116.8,295.3,-8.4,213,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2040,3304,0,0,0,0,0,0
$GC,2955,-0.71,-116.8,324.1,-10.0,222,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2040,3301,0,0,0,0,0,0
$GC,3280,-0.71,-116.8,355.1,-8.9,230,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2040,3300,0,0,0,0,0,0
$GC,3605,-0.71,-116.8,381.6,-8.1,238,3610,0.00,2.30,0.00,0.000,4,0.000,0.044,2633,3604,3296,0,0,0,0,0,0
$GC,3660,-0.71,-116.8,386.2,-8.4,239,3665,0.00,2.28,0.00,0.000,6,0.000,0.029,2629,2022,3298,0,0,0,0,0,0
$GC,3973,-0.71,-116.8,411.0,-7.9,247,3977,0.00,2.28,0.00,0.000,4,0.000,0.044,2633,458,3295,0,0,0,0,0,0
$GC,4061,-0.71,-116.8,418.9,-9.2,249,4066,0.10,2.25,0.00,0.000,6,0.110,0.032,2660,2016,3296,0,0,0,0,0,0
$GC,4385,-0.71,-116.8,441.9,-7.2,257,4389,0.00,2.33,0.00,0.000,4,0.000,0.044,2650,3615,3292,0,0,0,0,0,0
$GC,4428,-0.71,-116.8,445.4,-8.2,258,4432,0.00,2.28,0.00,0.000,6,0.000,0.029,2650,2036,3292,0,0,0,0,0,0
$GC,4752,-0.71,-116.8,471.0,-7.7,266,4756,0.00,2.33,0.00,0.000,4,0.000,0.044,2650,444,3289,0,0,0,0,0,0
$GC,4902,-0.71,-116.8,484.4,-8.9,269,4907,0.00,2.30,0.00,0.000,6,0.000,0.032,2638,2046,3288,0,0,0,0,0,0
$GC,5215,-0.71,-116.8,512.4,-9.4,277,5220,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,452,3286,0,0,0,0,0,0
$GC,5348,-0.71,-116.8,526.7,-10.6,280,5354,0.08,2.28,0.00,0.000,6,0.115,0.032,2657,2024,3285,0,0,0,0,0,0
$GC,5673,-0.71,-116.8,550.5,-6.9,288,5677,0.00,2.30,0.00,0.000,4,0.000,0.044,2657,442,3283,0,0,0,0,0,0
$GC,5705,-0.71,-116.8,553.0,-7.9,288,5711,0.00,2.30,0.00,0.000,6,0.000,0.033,2647,2038,3283,0,0,0,0,0,0
$GC,6036,-0.71,-116.8,577.7,-7.8,297,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2038,3280,0,0,0,0,0,0
$GC,6361,-0.71,-116.8,601.5,-6.9,305,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2038,3278,0,0,0,0,0,0
$GC,6686,-0.71,-116.8,619.7,-5.4,313,6690,0.00,2.33,0.00,0.000,4,0.000,0.045,2647,452,3277,0,0,0,0,0,0
$GC,6712,-0.71,-116.8,621.4,-6.4,313,6717,0.00,2.28,0.00,0.000,6,0.000,0.033,2636,2029,3276,0,0,0,0,0,0
$GC,7049,-0.71,-116.8,644.3,-7.3,322,7053,0.00,2.30,0.00,0.000,4,0.000,0.045,2624,3608,3274,0,0,0,0,0,0
$GC,7103,-0.71,-116.8,648.9,-8.4,323,7108,0.12,2.25,0.00,0.000,6,0.133,0.031,2664,2026,3276,0,0,0,0,0,0
$GC,7416,-0.71,-116.8,669.9,-6.6,331,7420,0.00,2.30,0.00,0.000,4,0.000,0.045,2664,446,3276,0,0,0,0,0,0
$GC,7465,-0.71,-116.8,673.4,-7.1,332,7469,0.00,2.28,0.00,0.000,6,0.000,0.034,2654,2033,3271,0,0,0,0,0,0
$GC,7783,-0.71,-116.8,691.8,-5.4,340,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2033,3272,0,0,0,0,0,0
$GC,8108,-0.71,-116.8,708.3,-5.1,348,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3270,0,0,0,0,0,0
$GC,8433,-0.71,-116.8,728.7,-6.8,356,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3269,0,0,0,0,0,0
$GC,8759,-0.71,-116.8,752.6,-7.5,364,8763,0.00,2.33,0.00,0.000,4,0.000,0.047,2654,455,3268,0,0,0,0,0,0
$GC,8864,-0.71,-116.8,761.5,-8.4,366,8868,0.00,2.30,0.00,0.000,6,0.000,0.034,2643,2039,3267,0,0,0,0,0,0
$GC,9212,-0.71,-116.8,787.7,-7.4,375,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2040,3266,0,0,0,0,0,0
$GC,9537,-0.71,-116.8,811.7,-7.3,383,9541,0.00,2.35,0.00,0.000,4,0.000,0.046,2644,448,3266,0,0,0,0,0,0
$GC,9569,-0.71,-116.8,814.3,-8.0,383,9575,0.00,2.30,0.00,0.000,6,0.000,0.034,2632,2032,3265,0,0,0,0,0,0
$GC,9900,-0.71,-116.8,840.5,-8.0,392,9904,0.00,2.33,0.00,0.000,4,0.000,0.046,2629,454,3264,0,0,0,0,0,0
$GC,9943,-0.71,-116.8,844.3,-8.8,393,9948,0.10,2.30,0.00,0.000,6,0.111,0.034,2659,2029,3264,0,0,0,0,0,0
$GC,10267,-0.71,-116.8,865.5,-6.3,401,10271,0.00,2.35,0.00,0.000,4,0.000,0.046,2659,450,3264,0,0,0,0,0,0
$GC,10299,-0.71,-116.8,867.8,-7.2,401,10305,0.00,2.28,0.00,0.000,6,0.000,0.033,2649,2036,3263,0,0,0,0,0,0
$GC,10630,-0.71,-116.8,889.6,-6.7,410,10634,0.00,2.35,0.00,0.000,4,0.000,0.046,2649,454,3263,0,0,0,0,0,0
$GC,10662,-0.71,-116.8,892.2,-8.5,410,10668,0.00,2.30,0.00,0.000,6,0.000,0.034,2638,2034,3262,0,0,0,0,0,0
$GC,10993,-0.71,-116.8,917.3,-7.8,419,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2034,3261,0,0,0,0,0,0
$GC,11318,-0.71,-116.8,942.5,-7.7,427,11322,0.00,2.35,0.00,0.000,4,0.000,0.047,2638,445,3261,0,0,0,0,0,0
$GC,11356,-0.71,-116.8,945.7,-8.5,428,11361,0.12,2.28,0.00,0.000,6,0.143,0.034,2664,2044,3261,0,0,0,0,0,0
$GC,11679,-0.71,-116.8,965.0,-5.7,436,11684,0.00,2.38,0.00,0.000,4,0.000,0.047,2668,454,3258,0,0,0,0,0,0
$GC,11723,-0.71,-116.8,967.7,-5.9,437,11727,0.00,2.30,0.00,0.000,6,0.000,0.035,2655,2022,3261,0,0,0,0,0,0
$GC,12047,-0.71,-116.8,985.9,-5.6,445,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2022,3259,0,0,0,0,0,0
$STATE,12127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12127,begin apogee
$GC,12131,-0.23,0.0,990.5,5.7,447,12228,0.47,0.00,94.07,1.301,6,0.110,0.000,2814,2022,2822,0,0,0,0,0,0
$STATE,12230,end apogee,CONTROL_FINISHED_OK
$STATE,12230,begin climb
$GC,12232,0.71,116.8,992.6,0.0,449,12352,0.88,2.60,111.05,1.266,4,0.065,0.044,3131,3610,2345,0,0,0,0,0,0
$GC,12378,0.71,116.8,982.9,12.9,453,12383,0.00,2.50,0.00,0.000,6,0.000,0.035,3142,2036,2338,0,0,0,0,0,0
$GC,12697,0.71,116.8,940.2,13.4,461,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2035,2328,0,0,0,0,0,0
$GC,13022,0.71,116.8,898.6,12.4,469,13026,0.00,2.38,0.00,0.000,4,0.000,0.048,3157,453,2326,0,0,0,0,0,0
$GC,13071,0.71,116.8,892.0,13.3,470,13076,0.10,2.35,0.00,0.000,6,0.137,0.035,3122,2032,2325,0,0,0,0,0,0
$GC,13390,0.71,116.8,857.5,10.7,478,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2032,2323,0,0,0,0,0,0
$GC,13715,0.71,116.8,821.9,11.1,486,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2032,2325,0,0,0,0,0,0
$GC,14040,0.71,116.8,784.4,11.4,494,14044,0.00,2.38,0.00,0.000,4,0.000,0.048,3132,447,2319,0,0,0,0,0,0
$GC,14071,0.71,116.8,780.5,11.4,494,14078,0.00,2.33,0.00,0.000,6,0.000,0.035,3132,2022,2322,0,0,0,0,0,0
$GC,14403,0.71,116.8,742.1,11.4,503,14407,0.00,2.35,0.00,0.000,4,0.000,0.046,3132,3614,2320,0,0,0,0,0,0
$GC,14463,0.71,116.8,734.6,11.8,504,14468,0.00,2.35,0.00,0.000,6,0.000,0.035,3144,2028,2319,0,0,0,0,0,0
$GC,14811,0.71,116.8,692.7,12.0,513,14815,0.00,2.35,0.00,0.000,4,0.000,0.048,3156,450,2319,0,0,0,0,0,0
$GC,14836,0.71,116.8,689.4,12.5,513,14842,0.10,2.35,0.00,0.000,6,0.145,0.035,3124,2042,2319,0,0,0,0,0,0
$GC,15173,0.71,116.8,651.6,11.0,522,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2043,2316,0,0,0,0,0,0
$GC,15498,0.71,116.8,616.5,10.8,530,15502,0.00,2.33,0.00,0.000,4,0.000,0.046,3123,3611,2318,0,0,0,0,0,0
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$STATE,21652,end climb,SURFACE_DEPTH_REACHED
$STATE,21652,begin surface coast
$FINISH,1.7,1.023038
$STATE,21659,end surface coast,CONTROL_FINISHED_OK
$STATE,21659,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$10V_AH,9.7,19.029
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335252
$DATA_FILE_SIZE,30054,885
$CAP_FILE_SIZE,181815,0
$CFSIZE,260165632,246099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170710,142107,2042.301,-15942.634,35,1.0,35,9.6