version: 66.07
glider: 500
mission: 4
dive: 148
start: 7 20 110 10 26 45
data:
$ID,500
$MISSION,4
$DIVE,148
$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,-111978.9
$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,50
$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,147
$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
$GPS1,200710,100107,2047.833,-15932.650,32,1.0,32,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.1
$GPS2,200710,102550,2048.126,-15932.941,11,1.1,11,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.202,-0.094
$KALMAN_X,-102030.6,-170.1,-319.3,150781.3,-1489.0
$KALMAN_Y,126808.8,-66.4,-291.9,-89155.7,3156.1
$MHEAD_RNG_PITCHd_Wd,105.2,179229,-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,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-50.90,0.000,2,0.000,0.000,128,2042,2705,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.5,-6.4,10,113,10.15,2.40,-13.02,0.000,4,0.231,0.058,2651,469,3301,0,0,0,0,0,0
$GC,181,-0.71,-116.8,23.7,-21.5,28,187,0.00,2.28,0.00,0.000,6,0.000,0.035,2637,2036,3302,0,0,0,0,0,0
$GC,385,-0.71,-116.8,60.1,-14.1,50,389,0.00,2.35,0.00,0.000,4,0.000,0.042,2626,3616,3303,0,0,0,0,0,0
$GC,412,-0.71,-116.8,64.3,-15.1,52,417,0.10,2.25,0.00,0.000,6,0.150,0.029,2658,2025,3303,0,0,0,0,0,0
$GC,673,-0.71,-116.8,94.9,-11.1,76,677,0.00,2.28,0.00,0.000,4,0.000,0.043,2658,450,3303,0,0,0,0,0,0
$GC,749,-0.71,-116.8,105.1,-13.0,82,756,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2032,3304,0,0,0,0,0,0
$GC,1010,-0.71,-116.8,138.4,-11.9,107,1014,0.00,2.28,0.00,0.000,4,0.000,0.042,2636,3611,3303,0,0,0,0,0,0
$GC,1133,-0.71,-116.8,153.4,-11.6,117,1139,0.00,2.28,0.00,0.000,6,0.000,0.030,2633,2037,3304,0,0,0,0,0,0
$GC,1394,-0.71,-116.8,182.7,-10.2,142,1398,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,447,3304,0,0,0,0,0,0
$GC,1483,-0.71,-116.8,193.5,-12.2,149,1490,0.12,2.25,0.00,0.000,6,0.144,0.032,2662,2043,3304,0,0,0,0,0,0
$GC,1738,-0.71,-116.8,217.9,-9.4,165,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2043,3304,0,0,0,0,0,0
$GC,2049,-0.71,-116.8,244.5,-8.7,180,2053,0.00,2.33,0.00,0.000,4,0.000,0.051,2662,451,3302,0,0,0,0,0,0
$GC,2110,-0.71,-116.8,250.4,-9.4,183,2114,0.00,2.22,0.00,0.000,6,0.000,0.035,2652,2030,3307,0,0,0,0,0,0
$GC,2435,-0.71,-116.8,279.0,-8.7,199,2439,0.00,2.30,0.00,0.000,4,0.000,0.043,2652,448,3303,0,0,0,0,0,0
$GC,2484,-0.71,-116.8,283.5,-9.3,201,2489,0.00,2.28,0.00,0.000,6,0.000,0.031,2641,2043,3303,0,0,0,0,0,0
$GC,2824,-0.71,-116.8,310.8,-8.2,215,2828,0.00,2.28,0.00,0.000,4,0.000,0.043,2629,3603,3302,0,0,0,0,0,0
$GC,2890,-0.71,-116.8,316.6,-9.3,216,2895,0.08,2.25,0.00,0.000,6,0.104,0.028,2660,2027,3302,0,0,0,0,0,0
$GC,3239,-0.71,-116.8,341.1,-6.9,225,3243,0.00,2.25,0.00,0.000,4,0.000,0.043,2661,458,3300,0,0,0,0,0,0
$GC,3323,-0.71,-116.8,347.5,-7.5,227,3327,0.00,2.20,0.00,0.000,6,0.000,0.032,2650,2025,3300,0,0,0,0,0,0
$GC,3646,-0.71,-116.8,369.7,-6.7,235,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2025,3298,0,0,0,0,0,0
$GC,3971,-0.71,-116.8,393.9,-7.4,243,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2025,3296,0,0,0,0,0,0
$GC,4296,-0.71,-116.8,417.2,-7.1,251,4300,0.00,2.28,0.00,0.000,4,0.000,0.044,2651,454,3293,0,0,0,0,0,0
$GC,4335,-0.71,-116.8,420.2,-8.0,252,4339,0.00,2.25,0.00,0.000,6,0.000,0.033,2640,2038,3294,0,0,0,0,0,0
$GC,4658,-0.71,-116.8,445.6,-7.9,260,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2040,3291,0,0,0,0,0,0
$GC,4983,-0.71,-116.8,469.8,-7.5,268,4987,0.00,2.30,0.00,0.000,4,0.000,0.044,2640,455,3289,0,0,0,0,0,0
$GC,5088,-0.71,-116.8,478.4,-7.9,270,5093,0.12,2.22,0.00,0.000,6,0.141,0.033,2666,2036,3288,0,0,0,0,0,0
$GC,5435,-0.71,-116.8,498.4,-5.8,279,5440,0.00,2.30,0.00,0.000,4,0.000,0.044,2667,449,3285,0,0,0,0,0,0
$GC,5475,-0.71,-116.8,501.2,-7.3,280,5479,0.00,2.22,0.00,0.000,6,0.000,0.033,2657,2030,3289,0,0,0,0,0,0
$GC,5798,-0.71,-116.8,525.7,-7.9,288,5802,0.00,2.35,0.00,0.000,4,0.000,0.044,2657,446,3284,0,0,0,0,0,0
$GC,5864,-0.71,-116.8,531.2,-8.2,289,5868,0.00,2.28,0.00,0.000,6,0.000,0.033,2650,2025,3283,0,0,0,0,0,0
$GC,6212,-0.71,-116.8,552.1,-5.2,298,6216,0.00,2.35,0.00,0.000,4,0.000,0.044,2634,3617,3282,0,0,0,0,0,0
$GC,6255,-0.71,-116.8,554.4,-5.5,299,6259,0.00,2.30,0.00,0.000,6,0.000,0.031,2634,2031,3279,0,0,0,0,0,0
$GC,6579,-0.71,-116.8,573.2,-6.0,307,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2028,3280,0,0,0,0,0,0
$GC,6905,-0.71,-116.8,597.8,-8.0,315,6909,0.00,2.33,0.00,0.000,4,0.000,0.046,2634,454,3278,0,0,0,0,0,0
$GC,6948,-0.71,-116.8,602.0,-9.6,316,6953,0.10,2.28,0.00,0.000,6,0.109,0.033,2657,2024,3278,0,0,0,0,0,0
$GC,7272,-0.71,-116.8,625.7,-7.1,324,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2024,3277,0,0,0,0,0,0
$GC,7597,-0.71,-116.8,644.4,-5.4,332,7601,0.00,2.35,0.00,0.000,4,0.000,0.044,2651,3616,3275,0,0,0,0,0,0
$GC,7636,-0.71,-116.8,646.5,-5.8,333,7640,0.00,2.28,0.00,0.000,6,0.000,0.031,2651,2029,3275,0,0,0,0,0,0
$GC,7960,-0.71,-116.8,665.2,-5.9,341,7964,0.00,2.30,0.00,0.000,4,0.000,0.046,2651,454,3276,0,0,0,0,0,0
$GC,8037,-0.71,-116.8,670.6,-6.9,342,8043,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2048,3277,0,0,0,0,0,0
$GC,8368,-0.71,-116.8,691.9,-6.3,351,8372,0.00,2.33,0.00,0.000,4,0.000,0.044,2639,456,3273,0,0,0,0,0,0
$GC,8411,-0.71,-116.8,694.9,-7.3,352,8416,0.10,2.25,0.00,0.000,6,0.154,0.033,2658,2031,3276,0,0,0,0,0,0
$GC,8735,-0.71,-116.8,712.0,-5.2,360,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2027,3272,0,0,0,0,0,0
$GC,9060,-0.71,-116.8,729.1,-5.2,368,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2027,3270,0,0,0,0,0,0
$GC,9385,-0.71,-116.8,746.4,-5.3,376,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2027,3270,0,0,0,0,0,0
$GC,9710,-0.71,-116.8,762.8,-4.9,384,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2027,3269,0,0,0,0,0,0
$GC,10035,-0.71,-116.8,778.1,-4.6,392,10039,0.00,2.33,0.00,0.000,4,0.000,0.047,2658,451,3266,0,0,0,0,0,0
$GC,10073,-0.71,-116.8,780.0,-5.7,393,10077,0.00,2.25,0.00,0.000,6,0.000,0.035,2648,2032,3268,0,0,0,0,0,0
$GC,10396,-0.71,-116.8,797.6,-5.6,401,10400,0.00,2.35,0.00,0.000,4,0.000,0.046,2637,3606,3268,0,0,0,0,0,0
$GC,10429,-0.71,-116.8,799.6,-6.0,401,10433,0.00,2.30,0.00,0.000,6,0.000,0.032,2637,2030,3268,0,0,0,0,0,0
$GC,10765,-0.71,-116.8,821.6,-6.8,410,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2030,3267,0,0,0,0,0,0
$GC,11091,-0.71,-116.8,844.0,-7.0,418,11095,0.00,2.33,0.00,0.000,4,0.000,0.047,2637,448,3265,0,0,0,0,0,0
$GC,11122,-0.71,-116.8,846.6,-8.9,418,11129,0.08,2.30,0.00,0.000,6,0.116,0.034,2655,2026,3267,0,0,0,0,0,0
$GC,11454,-0.71,-116.8,867.8,-6.5,427,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2026,3266,0,0,0,0,0,0
$GC,11779,-0.71,-116.8,889.3,-6.5,435,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2026,3267,0,0,0,0,0,0
$GC,12104,-0.71,-116.8,909.7,-6.3,443,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2026,3267,0,0,0,0,0,0
$GC,12429,-0.71,-116.8,930.5,-6.4,451,12432,0.00,2.33,0.00,0.000,4,0.000,0.048,2655,457,3267,0,0,0,0,0,0
$GC,12474,-0.71,-116.8,933.9,-8.1,452,12478,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2043,3266,0,0,0,0,0,0
$GC,12803,-0.71,-116.8,956.8,-6.9,460,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2043,3266,0,0,0,0,0,0
$GC,13128,-0.71,-116.8,978.2,-6.4,468,13132,0.00,2.33,0.00,0.000,4,0.000,0.047,2634,3606,3266,0,0,0,0,0,0
$GC,13173,-0.71,-116.8,981.1,-7.3,469,13177,0.00,2.30,0.00,0.000,6,0.000,0.033,2634,2017,3265,0,0,0,0,0,0
$STATE,13337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13337,begin apogee
$GC,13341,-0.23,0.0,991.4,6.1,473,13440,0.55,0.00,95.55,1.297,6,0.109,0.000,2818,2017,2822,0,0,0,0,0,0
$STATE,13442,end apogee,CONTROL_FINISHED_OK
$STATE,13443,begin climb
$GC,13444,0.71,116.8,992.7,0.0,475,13568,0.82,2.67,110.82,1.262,4,0.061,0.044,3128,3600,2343,0,0,0,0,0,0
$GC,13600,0.71,116.8,979.4,15.9,478,13605,0.00,2.47,0.00,0.000,6,0.000,0.035,3140,2050,2335,0,0,0,0,0,0
$GC,13937,0.71,116.8,929.3,15.0,487,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2049,2328,0,0,0,0,0,0
$GC,14262,0.71,116.8,881.1,14.7,495,14266,0.00,2.40,0.00,0.000,4,0.000,0.048,3152,449,2325,0,0,0,0,0,0
$GC,14378,0.71,116.8,862.7,14.8,497,14383,0.08,2.35,0.00,0.000,6,0.140,0.035,3126,2036,2324,0,0,0,0,0,0
$GC,14714,0.71,116.8,816.6,13.2,506,14718,0.00,2.35,0.00,0.000,4,0.000,0.044,3126,3612,2322,0,0,0,0,0,0
$GC,14762,0.71,116.8,809.7,13.5,507,14767,0.00,2.38,0.00,0.000,6,0.000,0.034,3136,2010,2322,0,0,0,0,0,0
$GC,15081,0.71,116.8,767.9,13.1,515,15085,0.00,2.33,0.00,0.000,4,0.000,0.048,3149,450,2321,0,0,0,0,0,0
$GC,15113,0.71,116.8,763.5,13.5,515,15120,0.08,2.33,0.00,0.000,6,0.139,0.034,3124,2027,2321,0,0,0,0,0,0
$GC,15444,0.71,116.8,723.0,12.0,524,15448,0.00,2.38,0.00,0.000,4,0.000,0.046,3123,3618,2320,0,0,0,0,0,0
$GC,15458,0.71,116.8,721.0,12.3,524,15463,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,2035,2319,0,0,0,0,0,0
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$STATE,22816,end climb,SURFACE_DEPTH_REACHED
$STATE,22816,begin surface coast
$FINISH,1.6,1.022930
$STATE,22820,end surface coast,CONTROL_FINISHED_OK
$STATE,22820,begin surface
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$TT8_MAMPS,0.255411
$HUMID,1078385152
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8411545600
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52157349888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,18.492
$10V_AH,9.6,19.947
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.625,180.800,345.800,51.175,0.000,106.560,179.020,799.645,0.000,0.000,13.411,1776.489,18609.336,544.640,3159.276,293.280,33.365,1684.473,0.000,2004.595,0.000,0.541,0.000
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$SENSOR_SECS,625.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335268
$DATA_FILE_SIZE,33336,917
$CAP_FILE_SIZE,194200,0
$CFSIZE,260165632,244416512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200710,164955,2047.631,-15931.388,38,1.0,38,9.7