version: 66.07
glider: 500
mission: 4
dive: 142
start: 7 18 110 17 46 33
data:
$ID,500
$MISSION,4
$DIVE,142
$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,-111893.95
$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,53
$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,141
$AR_SAMPLENUM,12
$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
$GPS1,180710,172306,2044.439,-15938.630,33,1.0,33,9.7
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.6
$GPS2,180710,174538,2044.762,-15938.803,12,1.4,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.137,-0.175
$KALMAN_X,-86915.4,-399.6,248.6,125151.3,-2546.8
$KALMAN_Y,109204.2,238.9,-654.5,-77715.5,4288.1
$MHEAD_RNG_PITCHd_Wd,132.3,190748,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.60,0.000,2,0.000,0.000,133,2026,2690,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-6.4,10,112,10.20,2.38,-13.70,0.000,4,0.234,0.057,2650,463,3300,0,0,0,0,0,0
$GC,219,-0.71,-116.8,28.2,-19.1,35,225,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2034,3302,0,0,0,0,0,0
$GC,421,-0.71,-116.8,61.7,-15.0,55,425,0.00,2.33,0.00,0.000,4,0.000,0.044,2628,3611,3302,0,0,0,0,0,0
$GC,443,-0.71,-116.8,64.8,-14.7,56,449,0.12,2.28,0.00,0.000,6,0.139,0.030,2665,2018,3303,0,0,0,0,0,0
$GC,704,-0.71,-116.8,99.2,-13.8,81,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2016,3303,0,0,0,0,0,0
$GC,958,-0.71,-116.8,132.9,-12.0,105,962,0.00,2.25,0.00,0.000,4,0.000,0.042,2665,451,3306,0,0,0,0,0,0
$GC,1053,-0.71,-116.8,144.0,-11.4,113,1057,0.00,2.22,0.00,0.000,6,0.000,0.031,2656,2041,3302,0,0,0,0,0,0
$GC,1313,-0.71,-116.8,171.3,-9.7,137,1317,0.00,2.30,0.00,0.000,4,0.000,0.043,2643,3609,3303,0,0,0,0,0,0
$GC,1352,-0.71,-116.8,175.3,-10.3,140,1356,0.00,2.25,0.00,0.000,6,0.000,0.030,2646,2022,3304,0,0,0,0,0,0
$GC,1612,-0.71,-116.8,205.6,-12.2,162,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2022,3305,0,0,0,0,0,0
$GC,1922,-0.71,-116.8,240.0,-10.1,177,1926,0.00,2.25,0.00,0.000,4,0.000,0.041,2643,445,3304,0,0,0,0,0,0
$GC,2038,-0.71,-116.8,251.5,-9.0,182,2043,0.00,2.25,0.00,0.000,6,0.000,0.031,2632,2024,3303,0,0,0,0,0,0
$GC,2359,-0.71,-116.8,282.1,-9.9,198,2363,0.00,2.35,0.00,0.000,4,0.000,0.044,2619,3619,3303,0,0,0,0,0,0
$GC,2413,-0.71,-116.8,287.8,-10.5,200,2420,0.08,2.28,0.00,0.000,6,0.112,0.028,2651,2032,3303,0,0,0,0,0,0
$GC,2746,-0.71,-116.8,317.5,-8.4,212,2750,0.00,2.28,0.00,0.000,4,0.000,0.041,2651,452,3302,0,0,0,0,0,0
$GC,2801,-0.71,-116.8,322.2,-8.7,213,2806,0.00,2.25,0.00,0.000,6,0.000,0.031,2641,2035,3300,0,0,0,0,0,0
$GC,3114,-0.71,-116.8,344.1,-6.8,221,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3300,0,0,0,0,0,0
$GC,3438,-0.71,-116.8,369.7,-8.4,229,3442,0.00,2.28,0.00,0.000,4,0.000,0.044,2629,3607,3298,0,0,0,0,0,0
$GC,3493,-0.71,-116.8,374.7,-8.9,230,3498,0.00,2.28,0.00,0.000,6,0.000,0.029,2629,2022,3297,0,0,0,0,0,0
$GC,3806,-0.71,-116.8,402.2,-8.6,238,3811,0.10,2.28,0.00,0.000,4,0.145,0.042,2661,450,3295,0,0,0,0,0,0
$GC,3861,-0.71,-116.8,406.8,-8.1,239,3865,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2018,3295,0,0,0,0,0,0
$GC,4174,-0.71,-116.8,430.9,-8.0,247,4178,0.00,2.35,0.00,0.000,4,0.000,0.044,2639,3623,3295,0,0,0,0,0,0
$GC,4245,-0.71,-116.8,437.2,-8.7,248,4250,0.00,2.30,0.00,0.000,6,0.000,0.029,2639,2029,3291,0,0,0,0,0,0
$GC,4581,-0.71,-116.8,467.0,-8.7,257,4586,0.00,2.28,0.00,0.000,4,0.000,0.043,2639,450,3288,0,0,0,0,0,0
$GC,4687,-0.71,-116.8,477.2,-9.4,259,4692,0.08,2.28,0.00,0.000,6,0.117,0.031,2658,2039,3288,0,0,0,0,0,0
$GC,5034,-0.71,-116.8,499.7,-5.8,268,5038,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,3607,3285,0,0,0,0,0,0
$GC,5095,-0.71,-116.8,503.4,-5.7,269,5099,0.00,2.28,0.00,0.000,6,0.000,0.030,2645,2027,3284,0,0,0,0,0,0
$GC,5443,-0.71,-116.8,523.4,-5.8,278,5447,0.00,2.28,0.00,0.000,4,0.000,0.044,2647,454,3285,0,0,0,0,0,0
$GC,5526,-0.71,-116.8,529.0,-6.8,280,5530,0.00,2.22,0.00,0.000,6,0.000,0.031,2637,2036,3282,0,0,0,0,0,0
$GC,5850,-0.71,-116.8,548.7,-6.0,288,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2036,3280,0,0,0,0,0,0
$GC,6175,-0.71,-116.8,568.1,-6.0,296,6179,0.00,2.30,0.00,0.000,4,0.000,0.044,2641,455,3277,0,0,0,0,0,0
$GC,6320,-0.71,-116.8,578.6,-7.2,299,6325,0.12,2.22,0.00,0.000,6,0.142,0.032,2663,2032,3276,0,0,0,0,0,0
$GC,6667,-0.71,-116.8,600.3,-6.6,308,6671,0.00,2.33,0.00,0.000,4,0.000,0.045,2652,3607,3274,0,0,0,0,0,0
$GC,6705,-0.71,-116.8,603.1,-7.8,309,6710,0.00,2.28,0.00,0.000,6,0.000,0.031,2653,2021,3274,0,0,0,0,0,0
$GC,7029,-0.71,-116.8,628.6,-8.0,317,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3273,0,0,0,0,0,0
$GC,7354,-0.71,-116.8,653.9,-7.6,325,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3271,0,0,0,0,0,0
$GC,7679,-0.71,-116.8,675.9,-6.6,333,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3270,0,0,0,0,0,0
$GC,8004,-0.71,-116.8,694.6,-5.5,341,8008,0.00,2.28,0.00,0.000,4,0.000,0.046,2653,466,3268,0,0,0,0,0,0
$GC,8053,-0.71,-116.8,697.8,-6.7,342,8057,0.00,2.22,0.00,0.000,6,0.000,0.034,2642,2034,3268,0,0,0,0,0,0
$GC,8371,-0.71,-116.8,716.4,-5.8,350,8375,0.00,2.30,0.00,0.000,4,0.000,0.044,2641,461,3267,0,0,0,0,0,0
$GC,8411,-0.71,-116.8,718.9,-6.6,351,8415,0.00,2.22,0.00,0.000,6,0.000,0.033,2630,2028,3267,0,0,0,0,0,0
$GC,8733,-0.71,-116.8,739.5,-6.5,359,8738,0.00,2.35,0.00,0.000,4,0.000,0.045,2618,3617,3266,0,0,0,0,0,0
$GC,8788,-0.71,-116.8,743.5,-6.8,360,8793,0.10,2.30,0.00,0.000,6,0.105,0.031,2658,2043,3266,0,0,0,0,0,0
$GC,9101,-0.71,-116.8,759.8,-5.1,368,9106,0.00,2.33,0.00,0.000,4,0.000,0.044,2658,452,3264,0,0,0,0,0,0
$GC,9173,-0.71,-116.8,764.3,-6.3,369,9178,0.00,2.28,0.00,0.000,6,0.000,0.033,2645,2027,3268,0,0,0,0,0,0
$GC,9510,-0.71,-116.8,782.9,-5.4,378,9514,0.00,2.33,0.00,0.000,4,0.000,0.045,2636,3612,3264,0,0,0,0,0,0
$GC,9570,-0.71,-116.8,786.6,-5.8,379,9574,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2022,3265,0,0,0,0,0,0
$GC,9918,-0.71,-116.8,808.1,-6.3,388,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2022,3263,0,0,0,0,0,0
$GC,10243,-0.71,-116.8,829.5,-6.8,396,10247,0.00,2.33,0.00,0.000,4,0.000,0.045,2636,450,3262,0,0,0,0,0,0
$GC,10308,-0.71,-116.8,834.8,-8.3,397,10313,0.08,2.30,0.00,0.000,6,0.119,0.034,2655,2036,3262,0,0,0,0,0,0
$GC,10651,-0.71,-116.8,856.5,-6.3,406,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2036,3259,0,0,0,0,0,0
$GC,10976,-0.71,-116.8,874.6,-5.2,414,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2040,3261,0,0,0,0,0,0
$GC,11301,-0.71,-116.8,888.4,-4.0,422,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2036,3261,0,0,0,0,0,0
$GC,11626,-0.71,-116.8,900.2,-3.5,430,11630,0.00,2.35,0.00,0.000,4,0.000,0.046,2656,459,3260,0,0,0,0,0,0
$GC,11664,-0.71,-116.8,901.7,-4.7,431,11668,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2039,3263,0,0,0,0,0,0
$GC,11988,-0.71,-116.8,914.7,-4.2,439,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2039,3259,0,0,0,0,0,0
$GC,12313,-0.71,-116.8,929.8,-4.9,447,12317,0.00,2.33,0.00,0.000,4,0.000,0.048,2634,3611,3258,0,0,0,0,0,0
$GC,12362,-0.71,-116.8,932.6,-5.3,448,12366,0.00,2.28,0.00,0.000,6,0.000,0.032,2630,2022,3258,0,0,0,0,0,0
$GC,12680,-0.71,-116.8,953.0,-6.8,456,12684,0.00,2.33,0.00,0.000,4,0.000,0.046,2634,457,3258,0,0,0,0,0,0
$GC,12723,-0.71,-116.8,956.5,-8.2,457,12728,0.10,2.30,0.00,0.000,6,0.114,0.034,2660,2036,3258,0,0,0,0,0,0
$GC,13047,-0.71,-116.8,977.3,-6.4,465,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2036,3257,0,0,0,0,0,0
$STATE,13248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13248,begin apogee
$GC,13252,-0.23,0.0,990.5,6.5,470,13349,0.45,0.00,93.78,1.303,6,0.110,0.000,2812,2036,2822,0,0,0,0,0,0
$STATE,13351,end apogee,CONTROL_FINISHED_OK
$STATE,13351,begin climb
$GC,13353,0.71,116.8,993.1,0.0,472,13473,0.88,2.58,111.18,1.269,4,0.067,0.044,3126,3604,2345,0,0,0,0,0,0
$GC,13511,0.71,116.8,983.2,12.6,476,13516,0.00,2.50,0.00,0.000,6,0.000,0.035,3138,2039,2339,0,0,0,0,0,0
$GC,13859,0.71,116.8,938.2,13.0,485,13863,0.00,2.42,0.00,0.000,4,0.000,0.048,3150,448,2328,0,0,0,0,0,0
$GC,13890,0.71,116.8,933.7,13.2,485,13896,0.08,2.35,0.00,0.000,6,0.139,0.034,3126,2019,2327,0,0,0,0,0,0
$GC,14227,0.71,116.8,891.8,12.6,494,14231,0.00,2.38,0.00,0.000,4,0.000,0.048,3136,447,2325,0,0,0,0,0,0
$GC,14259,0.71,116.8,887.7,13.4,494,14266,0.00,2.35,0.00,0.000,6,0.000,0.035,3136,2027,2325,0,0,0,0,0,0
$GC,14590,0.71,116.8,845.8,13.0,503,14594,0.00,2.40,0.00,0.000,4,0.000,0.048,3148,445,2324,0,0,0,0,0,0
$GC,14623,0.71,116.8,841.1,13.7,503,14629,0.00,2.35,0.00,0.000,6,0.000,0.035,3150,2033,2325,0,0,0,0,0,0
$GC,14953,0.71,116.8,796.6,13.3,512,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2033,2323,0,0,0,0,0,0
$GC,15279,0.71,116.8,754.4,12.9,520,15280,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2031,2322,0,0,0,0,0,0
$GC,15603,0.71,116.8,713.4,12.4,528,15608,0.00,2.40,0.00,0.000,4,0.000,0.049,3160,445,2322,0,0,0,0,0,0
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$STATE,22821,end climb,SURFACE_DEPTH_REACHED
$STATE,22821,begin surface coast
$FINISH,0.8,1.022067
$STATE,22856,end surface coast,CONTROL_FINISHED_OK
$STATE,22856,begin surface
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$AR_CDRIVE_FREE,8412463104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52706869248
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,17.576
$10V_AH,9.7,19.456
$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,335252
$DATA_FILE_SIZE,33387,917
$CAP_FILE_SIZE,203472,0
$CFSIZE,260165632,245297152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190710,001037,2044.788,-15938.295,27,1.2,27,9.7