version: 66.07
glider: 500
mission: 4
dive: 147
start: 7 20 110 3 40 39
data:
$ID,500
$MISSION,4
$DIVE,147
$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,-111964.86
$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,55
$R_STBD_OVSHOOT,61
$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,146
$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
$GPS1,200710,031500,2046.463,-15933.716,35,1.0,35,9.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.9
$GPS2,200710,033944,2046.833,-15934.029,12,1.6,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.018
$KALMAN_X,-99071.0,-134.9,-60.9,145637.9,-1726.8
$KALMAN_Y,123693.9,98.2,702.3,-89586.2,668.1
$MHEAD_RNG_PITCHd_Wd,75.7,181733,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-51.10,0.000,2,0.000,0.000,125,2062,2699,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-5.9,10,113,10.25,2.42,-13.48,0.000,4,0.233,0.056,2650,470,3301,0,0,0,0,0,0
$GC,163,-0.71,-116.8,19.0,-19.6,25,169,0.00,2.22,0.00,0.000,6,0.000,0.037,2641,2017,3302,0,0,0,0,0,0
$GC,363,-0.71,-116.8,55.0,-16.3,49,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2017,3303,0,0,0,0,0,0
$GC,617,-0.71,-116.8,91.6,-13.7,73,621,0.00,2.38,0.00,0.000,4,0.000,0.044,2628,3617,3303,0,0,0,0,0,0
$GC,700,-0.71,-116.8,102.9,-13.4,80,707,0.08,2.28,0.00,0.000,6,0.114,0.029,2658,2040,3304,0,0,0,0,0,0
$GC,962,-0.71,-116.8,133.7,-11.8,105,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2039,3304,0,0,0,0,0,0
$GC,1216,-0.71,-116.8,162.8,-10.7,129,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2039,3304,0,0,0,0,0,0
$GC,1471,-0.71,-116.8,190.0,-11.0,153,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2039,3305,0,0,0,0,0,0
$GC,1732,-0.71,-116.8,219.0,-11.1,170,1736,0.00,2.33,0.00,0.000,4,0.000,0.045,2658,453,3305,0,0,0,0,0,0
$GC,1782,-0.71,-116.8,224.9,-11.7,172,1787,0.00,2.25,0.00,0.000,6,0.000,0.035,2649,2036,3305,0,0,0,0,0,0
$GC,2102,-0.71,-116.8,258.5,-10.8,188,2106,0.00,2.33,0.00,0.000,4,0.000,0.044,2648,452,3303,0,0,0,0,0,0
$GC,2157,-0.71,-116.8,264.7,-11.3,190,2162,0.00,2.28,0.00,0.000,6,0.000,0.033,2637,2042,3303,0,0,0,0,0,0
$GC,2478,-0.71,-116.8,296.4,-9.8,206,2482,0.00,2.30,0.00,0.000,4,0.000,0.044,2625,3607,3302,0,0,0,0,0,0
$GC,2528,-0.71,-116.8,301.1,-9.3,208,2533,0.12,2.22,0.00,0.000,6,0.129,0.028,2665,2022,3302,0,0,0,0,0,0
$GC,2845,-0.71,-116.8,319.9,-5.4,216,2849,0.00,2.25,0.00,0.000,4,0.000,0.043,2665,454,3300,0,0,0,0,0,0
$GC,2979,-0.71,-116.8,329.7,-7.9,219,2983,0.00,2.22,0.00,0.000,6,0.000,0.031,2656,2032,3299,0,0,0,0,0,0
$GC,3302,-0.71,-116.8,357.2,-8.6,227,3306,0.00,2.30,0.00,0.000,4,0.000,0.044,2644,3607,3298,0,0,0,0,0,0
$GC,3362,-0.71,-116.8,362.1,-8.2,228,3366,0.00,2.22,0.00,0.000,6,0.000,0.029,2644,2022,3297,0,0,0,0,0,0
$GC,3710,-0.71,-116.8,388.7,-7.6,237,3714,0.00,2.25,0.00,0.000,4,0.000,0.043,2644,455,3295,0,0,0,0,0,0
$GC,3759,-0.71,-116.8,392.8,-8.4,238,3763,0.00,2.25,0.00,0.000,6,0.000,0.032,2633,2029,3295,0,0,0,0,0,0
$GC,4077,-0.71,-116.8,416.5,-7.1,246,4082,0.00,2.28,0.00,0.000,4,0.000,0.042,2632,452,3292,0,0,0,0,0,0
$GC,4132,-0.71,-116.8,420.9,-7.9,247,4137,0.10,2.28,0.00,0.000,6,0.114,0.031,2676,2044,3291,0,0,0,0,0,0
$GC,4445,-0.71,-116.8,439.4,-6.2,255,4449,0.00,2.33,0.00,0.000,4,0.000,0.044,2671,3614,3289,0,0,0,0,0,0
$GC,4483,-0.71,-116.8,442.1,-7.3,256,4488,0.00,2.28,0.00,0.000,6,0.000,0.030,2665,2019,3288,0,0,0,0,0,0
$GC,4807,-0.71,-116.8,467.1,-8.3,264,4811,0.00,2.28,0.00,0.000,4,0.000,0.044,2671,451,3287,0,0,0,0,0,0
$GC,4906,-0.71,-116.8,476.5,-9.6,266,4911,0.00,2.28,0.00,0.000,6,0.000,0.032,2654,2032,3288,0,0,0,0,0,0
$GC,5224,-0.71,-116.8,501.1,-7.4,274,5228,0.00,2.30,0.00,0.000,4,0.000,0.044,2642,3615,3283,0,0,0,0,0,0
$GC,5290,-0.71,-116.8,506.1,-7.3,275,5294,0.00,2.30,0.00,0.000,6,0.000,0.030,2648,2022,3283,0,0,0,0,0,0
$GC,5632,-0.71,-116.8,529.4,-6.6,284,5636,0.00,2.28,0.00,0.000,4,0.000,0.044,2642,448,3281,0,0,0,0,0,0
$GC,5738,-0.71,-116.8,537.4,-7.4,286,5742,0.00,2.28,0.00,0.000,6,0.000,0.032,2631,2032,3280,0,0,0,0,0,0
$GC,6086,-0.71,-116.8,559.8,-6.5,295,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2037,3278,0,0,0,0,0,0
$GC,6411,-0.71,-116.8,582.7,-7.3,303,6416,0.10,2.33,0.00,0.000,4,0.155,0.044,2662,450,3276,0,0,0,0,0,0
$GC,6454,-0.71,-116.8,586.1,-7.6,304,6458,0.00,2.28,0.00,0.000,6,0.000,0.032,2652,2024,3276,0,0,0,0,0,0
$GC,6779,-0.71,-116.8,607.3,-6.4,312,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3273,0,0,0,0,0,0
$GC,7103,-0.71,-116.8,627.0,-6.3,320,7107,0.00,2.33,0.00,0.000,4,0.000,0.045,2640,3614,3273,0,0,0,0,0,0
$GC,7129,-0.71,-116.8,628.9,-7.5,320,7134,0.00,2.30,0.00,0.000,6,0.000,0.031,2640,2036,3272,0,0,0,0,0,0
$GC,7466,-0.71,-116.8,655.0,-8.0,329,7471,0.00,2.33,0.00,0.000,4,0.000,0.045,2640,442,3273,0,0,0,0,0,0
$GC,7521,-0.71,-116.8,659.9,-9.1,330,7526,0.08,2.30,0.00,0.000,6,0.117,0.033,2661,2030,3270,0,0,0,0,0,0
$GC,7834,-0.71,-116.8,676.9,-4.7,338,7838,0.00,2.33,0.00,0.000,4,0.000,0.045,2647,3619,3270,0,0,0,0,0,0
$GC,7866,-0.71,-116.8,678.3,-4.6,338,7872,0.00,2.30,0.00,0.000,6,0.000,0.031,2647,2024,3270,0,0,0,0,0,0
$GC,8197,-0.71,-116.8,689.9,-3.2,347,8201,0.00,2.30,0.00,0.000,4,0.000,0.045,2647,454,3267,0,0,0,0,0,0
$GC,8240,-0.71,-116.8,691.6,-4.1,348,8245,0.00,2.28,0.00,0.000,6,0.000,0.033,2636,2025,3267,0,0,0,0,0,0
$GC,8565,-0.71,-116.8,705.5,-4.7,356,8569,0.00,2.33,0.00,0.000,4,0.000,0.045,2624,3614,3266,0,0,0,0,0,0
$GC,8608,-0.71,-116.8,707.7,-5.6,357,8613,0.08,2.30,0.00,0.000,6,0.110,0.031,2655,2034,3266,0,0,0,0,0,0
$GC,8932,-0.71,-116.8,725.2,-5.8,365,8936,0.00,2.33,0.00,0.000,4,0.000,0.046,2656,450,3266,0,0,0,0,0,0
$GC,9009,-0.71,-116.8,731.1,-8.1,366,9013,0.00,2.30,0.00,0.000,6,0.000,0.033,2646,2039,3266,0,0,0,0,0,0
$GC,9346,-0.71,-116.8,754.9,-7.1,375,9350,0.00,2.30,0.00,0.000,4,0.000,0.045,2634,3605,3264,0,0,0,0,0,0
$GC,9372,-0.71,-116.8,756.8,-7.2,375,9376,0.00,2.25,0.00,0.000,6,0.000,0.031,2634,2031,3265,0,0,0,0,0,0
$GC,9709,-0.71,-116.8,779.3,-6.4,384,9713,0.00,2.35,0.00,0.000,4,0.000,0.046,2634,456,3261,0,0,0,0,0,0
$GC,9774,-0.71,-116.8,784.1,-7.7,385,9779,0.10,2.28,0.00,0.000,6,0.114,0.034,2660,2020,3263,0,0,0,0,0,0
$GC,10116,-0.71,-116.8,802.4,-5.3,394,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2021,3265,0,0,0,0,0,0
$GC,10441,-0.71,-116.8,820.4,-5.6,402,10445,0.00,2.33,0.00,0.000,4,0.000,0.046,2661,458,3261,0,0,0,0,0,0
$GC,10469,-0.71,-116.8,822.1,-6.4,402,10473,0.00,2.25,0.00,0.000,6,0.000,0.034,2651,2036,3261,0,0,0,0,0,0
$GC,10799,-0.71,-116.8,842.4,-6.1,410,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2036,3261,0,0,0,0,0,0
$GC,11124,-0.71,-116.8,862.0,-5.9,418,11128,0.00,2.33,0.00,0.000,4,0.000,0.046,2651,458,3259,0,0,0,0,0,0
$GC,11178,-0.71,-116.8,865.6,-6.6,419,11182,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2041,3259,0,0,0,0,0,0
$GC,11491,-0.71,-116.8,883.5,-5.7,427,11495,0.00,2.35,0.00,0.000,4,0.000,0.046,2640,458,3258,0,0,0,0,0,0
$GC,11535,-0.71,-116.8,886.3,-7.0,428,11540,0.08,2.28,0.00,0.000,6,0.119,0.034,2658,2024,3256,0,0,0,0,0,0
$GC,11859,-0.71,-116.8,903.7,-5.4,436,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2024,3256,0,0,0,0,0,0
$GC,12184,-0.71,-116.8,923.1,-6.2,444,12188,0.00,2.35,0.00,0.000,4,0.000,0.048,2658,450,3258,0,0,0,0,0,0
$GC,12222,-0.71,-116.8,925.8,-7.0,445,12226,0.00,2.25,0.00,0.000,6,0.000,0.035,2649,2030,3257,0,0,0,0,0,0
$GC,12546,-0.71,-116.8,947.9,-6.8,453,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2031,3255,0,0,0,0,0,0
$GC,12871,-0.71,-116.8,968.8,-6.3,461,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2031,3257,0,0,0,0,0,0
$GC,13196,-0.71,-116.8,987.5,-5.6,469,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2031,3256,0,0,0,0,0,0
$STATE,13275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13275,begin apogee
$GC,13279,-0.23,0.0,992.0,5.5,471,13376,0.50,0.00,93.62,1.300,6,0.111,0.000,2815,2034,2822,0,0,0,0,0,0
$STATE,13398,end apogee,CONTROL_FINISHED_OK
$STATE,13398,begin climb
$GC,13400,0.71,116.8,993.5,0.0,473,13523,0.82,2.65,110.72,1.268,4,0.065,0.046,3121,3603,2344,0,0,0,0,0,0
$GC,13562,0.71,116.8,980.7,14.1,476,13568,0.00,2.50,0.00,0.000,6,0.000,0.035,3133,2006,2337,0,0,0,0,0,0
$GC,13893,0.71,116.8,935.4,13.5,485,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2005,2328,0,0,0,0,0,0
$GC,14217,0.71,116.8,891.7,13.3,493,14222,0.00,2.38,0.00,0.000,4,0.000,0.048,3145,443,2326,0,0,0,0,0,0
$GC,14306,0.71,116.8,879.1,13.6,495,14311,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,2021,2325,0,0,0,0,0,0
$GC,14629,0.71,116.8,835.2,13.4,503,14634,0.00,2.40,0.00,0.000,4,0.000,0.049,3158,444,2323,0,0,0,0,0,0
$GC,14684,0.71,116.8,827.2,14.2,504,14689,0.10,2.35,0.00,0.000,6,0.141,0.035,3124,2032,2324,0,0,0,0,0,0
$GC,14998,0.71,116.8,787.3,12.7,512,15002,0.00,2.38,0.00,0.000,4,0.000,0.049,3134,447,2323,0,0,0,0,0,0
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$STATE,22616,end climb,SURFACE_DEPTH_REACHED
$STATE,22616,begin surface coast
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$STATE,22651,end surface coast,CONTROL_FINISHED_OK
$STATE,22651,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$10V_AH,9.7,19.864
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,33359,899
$CAP_FILE_SIZE,202053,0
$CFSIZE,260165632,244563968
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$GPS,200710,100107,2047.833,-15932.650,32,1.0,32,9.7