version: 66.07
glider: 500
mission: 4
dive: 141
start: 7 18 110 11 5 50
data:
$ID,500
$MISSION,4
$DIVE,141
$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,-111879.05
$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,48
$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,140
$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
$GPS1,180710,105054,2044.288,-15939.935,35,1.3,35,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,180710,110455,2044.391,-15940.097,8,1.6,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.211,-0.071
$KALMAN_X,-84115.8,40.7,-341.4,120247.8,-2146.1
$KALMAN_Y,106405.2,-434.2,469.0,-76056.7,2544.2
$MHEAD_RNG_PITCHd_Wd,99.0,193084,-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,-46.42,0.000,2,0.000,0.000,130,2036,2552,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-4.9,9,112,10.45,2.38,-18.00,0.000,4,0.241,0.056,2649,457,3299,0,0,0,0,0,0
$GC,204,-0.71,-116.8,24.6,-18.5,32,209,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2044,3301,0,0,0,0,0,0
$GC,407,-0.71,-116.8,59.0,-14.7,54,411,0.00,2.38,0.00,0.000,4,0.000,0.049,2639,451,3301,0,0,0,0,0,0
$GC,456,-0.71,-116.8,66.7,-16.0,58,461,0.12,2.25,0.00,0.000,6,0.152,0.035,2664,2030,3301,0,0,0,0,0,0
$GC,717,-0.71,-116.8,100.5,-13.1,82,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2032,3305,0,0,0,0,0,0
$GC,971,-0.71,-116.8,127.2,-9.2,106,975,0.00,2.30,0.00,0.000,4,0.000,0.043,2653,3617,3304,0,0,0,0,0,0
$GC,1043,-0.71,-116.8,133.4,-7.7,112,1048,0.00,2.22,0.00,0.000,6,0.000,0.028,2653,2034,3304,0,0,0,0,0,0
$GC,1304,-0.71,-116.8,155.2,-9.3,136,1308,0.00,2.28,0.00,0.000,4,0.000,0.043,2653,450,3304,0,0,0,0,0,0
$GC,1411,-0.71,-116.8,167.1,-11.1,145,1415,0.00,2.22,0.00,0.000,6,0.000,0.033,2640,2034,3304,0,0,0,0,0,0
$GC,1672,-0.71,-116.8,193.2,-9.0,169,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2034,3307,0,0,0,0,0,0
$GC,1921,-0.71,-116.8,216.1,-9.7,185,1925,0.00,2.30,0.00,0.000,4,0.000,0.043,2630,3613,3303,0,0,0,0,0,0
$GC,2094,-0.71,-116.8,234.6,-12.1,193,2099,0.10,2.22,0.00,0.000,6,0.139,0.029,2660,2020,3304,0,0,0,0,0,0
$GC,2421,-0.71,-116.8,266.4,-8.4,209,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2020,3304,0,0,0,0,0,0
$GC,2729,-0.71,-116.8,287.6,-5.7,224,2733,0.00,2.25,0.00,0.000,4,0.000,0.042,2661,446,3301,0,0,0,0,0,0
$GC,2777,-0.71,-116.8,291.2,-7.3,226,2782,0.00,2.28,0.00,0.000,6,0.000,0.031,2647,2042,3302,0,0,0,0,0,0
$GC,3117,-0.71,-116.8,315.8,-7.5,238,3121,0.00,2.33,0.00,0.000,4,0.000,0.043,2639,3618,3302,0,0,0,0,0,0
$GC,3157,-0.71,-116.8,319.1,-8.5,239,3161,0.00,2.25,0.00,0.000,6,0.000,0.029,2639,2029,3301,0,0,0,0,0,0
$GC,3479,-0.71,-116.8,349.8,-9.5,247,3483,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,446,3298,0,0,0,0,0,0
$GC,3529,-0.71,-116.8,354.8,-10.3,248,3534,0.08,2.28,0.00,0.000,6,0.116,0.032,2657,2029,3298,0,0,0,0,0,0
$GC,3847,-0.71,-116.8,377.8,-6.8,256,3851,0.00,2.28,0.00,0.000,4,0.000,0.042,2658,451,3296,0,0,0,0,0,0
$GC,3935,-0.71,-116.8,385.3,-8.5,258,3940,0.00,2.28,0.00,0.000,6,0.000,0.031,2647,2043,3296,0,0,0,0,0,0
$GC,4260,-0.71,-116.8,413.9,-9.1,266,4264,0.00,2.30,0.00,0.000,4,0.000,0.042,2647,450,3293,0,0,0,0,0,0
$GC,4291,-0.71,-116.8,417.2,-10.0,266,4298,0.00,2.25,0.00,0.000,6,0.000,0.031,2636,2029,3293,0,0,0,0,0,0
$GC,4623,-0.71,-116.8,445.6,-8.0,275,4627,0.00,2.30,0.00,0.000,4,0.000,0.043,2624,3614,3290,0,0,0,0,0,0
$GC,4672,-0.71,-116.8,449.5,-7.8,276,4677,0.12,2.28,0.00,0.000,6,0.131,0.030,2664,2016,3290,0,0,0,0,0,0
$GC,4990,-0.71,-116.8,468.5,-5.9,284,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2016,3287,0,0,0,0,0,0
$GC,5315,-0.71,-116.8,489.7,-6.7,292,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2017,3283,0,0,0,0,0,0
$GC,5640,-0.71,-116.8,511.0,-6.5,300,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2016,3283,0,0,0,0,0,0
$GC,5965,-0.71,-116.8,532.3,-6.4,308,5969,0.00,2.28,0.00,0.000,4,0.000,0.045,2665,451,3281,0,0,0,0,0,0
$GC,6053,-0.71,-116.8,539.1,-7.8,310,6057,0.00,2.28,0.00,0.000,6,0.000,0.033,2655,2033,3281,0,0,0,0,0,0
$GC,6378,-0.71,-116.8,561.6,-7.0,318,6382,0.00,2.33,0.00,0.000,4,0.000,0.044,2643,3612,3278,0,0,0,0,0,0
$GC,6449,-0.71,-116.8,567.1,-8.0,319,6454,0.00,2.28,0.00,0.000,6,0.000,0.031,2643,2037,3277,0,0,0,0,0,0
$GC,6792,-0.71,-116.8,592.2,-7.2,328,6796,0.00,2.30,0.00,0.000,4,0.000,0.046,2643,463,3273,0,0,0,0,0,0
$GC,6972,-0.71,-116.8,607.6,-8.4,332,6976,0.00,2.22,0.00,0.000,6,0.000,0.033,2629,2032,3275,0,0,0,0,0,0
$GC,7290,-0.71,-116.8,633.8,-8.2,340,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2032,3273,0,0,0,0,0,0
$GC,7614,-0.71,-116.8,658.8,-7.6,348,7618,0.00,2.33,0.00,0.000,4,0.000,0.045,2632,457,3272,0,0,0,0,0,0
$GC,7651,-0.71,-116.8,661.9,-8.4,348,7658,0.10,2.28,0.00,0.000,6,0.116,0.034,2659,2031,3271,0,0,0,0,0,0
$GC,7983,-0.71,-116.8,681.9,-5.9,357,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2027,3270,0,0,0,0,0,0
$GC,8308,-0.71,-116.8,698.6,-4.9,365,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2027,3268,0,0,0,0,0,0
$GC,8633,-0.71,-116.8,712.3,-4.2,373,8637,0.00,2.30,0.00,0.000,4,0.000,0.046,2659,457,3268,0,0,0,0,0,0
$GC,8682,-0.71,-116.8,714.9,-5.6,374,8686,0.00,2.28,0.00,0.000,6,0.000,0.033,2649,2026,3267,0,0,0,0,0,0
$GC,9001,-0.71,-116.8,729.4,-4.6,382,9005,0.00,2.30,0.00,0.000,4,0.000,0.046,2650,459,3267,0,0,0,0,0,0
$GC,9027,-0.71,-116.8,730.8,-5.8,382,9031,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2035,3267,0,0,0,0,0,0
$GC,9370,-0.71,-116.8,751.1,-6.4,391,9374,0.00,2.35,0.00,0.000,4,0.000,0.045,2627,3604,3265,0,0,0,0,0,0
$GC,9424,-0.71,-116.8,755.0,-7.4,392,9429,0.08,2.30,0.00,0.000,6,0.108,0.031,2657,2028,3265,0,0,0,0,0,0
$GC,9737,-0.71,-116.8,775.0,-6.7,400,9742,0.00,2.30,0.00,0.000,4,0.000,0.046,2658,457,3264,0,0,0,0,0,0
$GC,9798,-0.71,-116.8,779.7,-8.1,401,9803,0.00,2.28,0.00,0.000,6,0.000,0.034,2648,2025,3265,0,0,0,0,0,0
$GC,10146,-0.71,-116.8,804.2,-7.0,410,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2025,3263,0,0,0,0,0,0
$GC,10471,-0.71,-116.8,825.7,-6.4,418,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2026,3263,0,0,0,0,0,0
$GC,10796,-0.71,-116.8,845.4,-6.0,426,10800,0.00,2.33,0.00,0.000,4,0.000,0.047,2648,448,3262,0,0,0,0,0,0
$GC,10895,-0.71,-116.8,852.2,-7.0,428,10900,0.00,2.30,0.00,0.000,6,0.000,0.034,2636,2034,3261,0,0,0,0,0,0
$GC,11208,-0.71,-116.8,871.1,-6.0,436,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2035,3261,0,0,0,0,0,0
$GC,11534,-0.71,-116.8,891.6,-6.4,444,11538,0.00,2.35,0.00,0.000,4,0.000,0.046,2625,3613,3260,0,0,0,0,0,0
$GC,11582,-0.71,-116.8,895.0,-8.1,445,11587,0.08,2.30,0.00,0.000,6,0.111,0.031,2655,2041,3261,0,0,0,0,0,0
$GC,11901,-0.71,-116.8,913.6,-5.8,453,11905,0.00,2.33,0.00,0.000,4,0.000,0.046,2661,455,3260,0,0,0,0,0,0
$GC,11939,-0.71,-116.8,916.0,-6.6,454,11943,0.00,2.25,0.00,0.000,6,0.000,0.034,2646,2035,3260,0,0,0,0,0,0
$GC,12262,-0.71,-116.8,936.7,-6.4,462,12266,0.00,2.35,0.00,0.000,4,0.000,0.046,2647,452,3259,0,0,0,0,0,0
$GC,12339,-0.71,-116.8,942.2,-7.5,463,12345,0.00,2.28,0.00,0.000,6,0.000,0.034,2635,2037,3258,0,0,0,0,0,0
$GC,12670,-0.71,-116.8,964.1,-6.6,472,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2038,3257,0,0,0,0,0,0
$GC,12995,-0.71,-116.8,986.3,-6.8,480,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2037,3258,0,0,0,0,0,0
$STATE,13074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13074,begin apogee
$GC,13078,-0.23,0.0,991.8,6.8,482,13175,0.52,0.00,93.47,1.300,6,0.111,0.000,2810,2037,2823,0,0,0,0,0,0
$STATE,13198,end apogee,CONTROL_FINISHED_OK
$STATE,13198,begin climb
$GC,13199,0.71,116.8,994.0,0.0,484,13320,0.85,2.65,110.82,1.269,4,0.066,0.046,3125,3607,2344,0,0,0,0,0,0
$GC,13353,0.71,116.8,983.9,13.4,488,13358,0.00,2.50,0.00,0.000,6,0.000,0.035,3136,2037,2339,0,0,0,0,0,0
$GC,13695,0.71,116.8,938.6,13.6,497,13699,0.00,2.42,0.00,0.000,4,0.000,0.048,3149,451,2328,0,0,0,0,0,0
$GC,13744,0.71,116.8,931.3,14.8,498,13749,0.00,2.35,0.00,0.000,6,0.000,0.035,3149,2019,2328,0,0,0,0,0,0
$GC,14063,0.71,116.8,882.4,15.8,506,14067,0.00,2.40,0.00,0.000,4,0.000,0.046,3149,3619,2325,0,0,0,0,0,0
$GC,14094,0.71,116.8,877.0,15.6,506,14100,0.12,2.40,0.00,0.000,6,0.152,0.036,3121,2017,2324,0,0,0,0,0,0
$GC,14431,0.71,116.8,826.3,14.9,515,14435,0.00,2.35,0.00,0.000,4,0.000,0.048,3131,458,2323,0,0,0,0,0,0
$GC,14553,0.71,116.8,807.0,15.3,517,14559,0.00,2.30,0.00,0.000,6,0.000,0.035,3132,2045,2323,0,0,0,0,0,0
$GC,14883,0.71,116.8,758.0,14.6,526,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2045,2321,0,0,0,0,0,0
$GC,15208,0.71,116.8,714.7,12.9,534,15212,0.00,2.35,0.00,0.000,4,0.000,0.046,3132,3615,2322,0,0,0,0,0,0
$GC,15235,0.71,116.8,711.1,13.6,534,15239,0.00,2.35,0.00,0.000,6,0.000,0.036,3143,2030,2320,0,0,0,0,0,0
$GC,15571,0.71,116.8,672.0,11.2,543,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2029,2320,0,0,0,0,0,0
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$STATE,22430,end climb,SURFACE_DEPTH_REACHED
$STATE,22431,begin surface coast
$FINISH,1.0,1.022879
$STATE,22458,end surface coast,CONTROL_FINISHED_OK
$STATE,22459,begin surface
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$XPDR_PINGS,9
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$AR_CDRIVE_FREE,8412626944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52803698688
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,17.408
$10V_AH,9.7,19.371
$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,335188
$DATA_FILE_SIZE,33372,912
$CAP_FILE_SIZE,189462,0
$CFSIZE,260165632,245465088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180710,172306,2044.439,-15938.630,33,1.0,33,9.7