version: 66.07
glider: 500
mission: 4
dive: 152
start: 7 21 110 13 8 51
data:
$ID,500
$MISSION,4
$DIVE,152
$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,-112031.51
$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,51
$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,151
$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
$GPS1,210710,125307,2048.016,-15927.119,34,1.1,34,9.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.8
$GPS2,210710,130755,2048.192,-15927.264,13,1.3,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.005
$KALMAN_X,-111791.6,49.5,-151.4,169993.6,-1866.5
$KALMAN_Y,133661.8,-200.8,312.3,-96345.0,939.3
$MHEAD_RNG_PITCHd_Wd,78.9,169845,-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,-46.15,0.000,2,0.000,0.000,123,2039,2565,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-5.6,9,107,10.18,0.00,-18.25,0.000,6,0.231,0.000,2649,2042,3300,0,0,0,0,0,0
$GC,305,-0.71,-116.8,45.3,-19.4,44,309,0.00,2.33,0.00,0.000,4,0.000,0.044,2649,457,3301,0,0,0,0,0,0
$GC,325,-0.71,-116.8,49.1,-18.5,45,332,0.00,2.30,0.00,0.000,6,0.000,0.038,2639,2025,3301,0,0,0,0,0,0
$GC,586,-0.71,-116.8,88.1,-13.5,70,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2026,3303,0,0,0,0,0,0
$GC,841,-0.71,-116.8,120.8,-14.3,94,845,0.00,2.35,0.00,0.000,4,0.000,0.044,2627,3621,3303,0,0,0,0,0,0
$GC,885,-0.71,-116.8,127.8,-15.7,97,892,0.08,2.28,0.00,0.000,6,0.110,0.028,2657,2031,3302,0,0,0,0,0,0
$GC,1146,-0.71,-116.8,158.7,-10.5,122,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2030,3304,0,0,0,0,0,0
$GC,1400,-0.71,-116.8,183.1,-9.1,146,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2030,3304,0,0,0,0,0,0
$GC,1666,-0.71,-116.8,206.2,-8.6,168,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2030,3304,0,0,0,0,0,0
$GC,1973,-0.71,-116.8,236.7,-10.8,183,1978,0.00,2.25,0.00,0.000,4,0.000,0.044,2657,457,3304,0,0,0,0,0,0
$GC,2050,-0.71,-116.8,244.9,-10.1,186,2057,0.00,2.25,0.00,0.000,6,0.000,0.033,2647,2037,3302,0,0,0,0,0,0
$GC,2366,-0.71,-116.8,274.7,-9.3,202,2370,0.00,2.30,0.00,0.000,4,0.000,0.042,2644,446,3303,0,0,0,0,0,0
$GC,2415,-0.71,-116.8,279.5,-9.8,204,2420,0.00,2.28,0.00,0.000,6,0.000,0.031,2636,2036,3303,0,0,0,0,0,0
$GC,2735,-0.71,-116.8,308.1,-9.2,218,2739,0.00,2.30,0.00,0.000,4,0.000,0.043,2620,3616,3300,0,0,0,0,0,0
$GC,2789,-0.71,-116.8,313.4,-9.3,219,2794,0.10,2.28,0.00,0.000,6,0.100,0.029,2665,2027,3302,0,0,0,0,0,0
$GC,3102,-0.71,-116.8,336.0,-7.1,227,3106,0.00,2.25,0.00,0.000,4,0.000,0.043,2663,454,3301,0,0,0,0,0,0
$GC,3173,-0.71,-116.8,342.0,-8.7,228,3178,0.00,2.25,0.00,0.000,6,0.000,0.031,2654,2026,3299,0,0,0,0,0,0
$GC,3510,-0.71,-116.8,371.1,-9.2,237,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3297,0,0,0,0,0,0
$GC,3835,-0.71,-116.8,398.1,-7.9,245,3839,0.00,2.33,0.00,0.000,4,0.000,0.044,2641,3615,3295,0,0,0,0,0,0
$GC,3895,-0.71,-116.8,402.8,-7.7,246,3899,0.00,2.28,0.00,0.000,6,0.000,0.029,2642,2028,3295,0,0,0,0,0,0
$GC,4243,-0.71,-116.8,427.2,-6.7,255,4247,0.00,2.28,0.00,0.000,4,0.000,0.044,2641,454,3292,0,0,0,0,0,0
$GC,4371,-0.71,-116.8,438.6,-9.6,257,4378,0.08,2.28,0.00,0.000,6,0.114,0.031,2660,2042,3291,0,0,0,0,0,0
$GC,4703,-0.71,-116.8,463.8,-7.3,266,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2042,3288,0,0,0,0,0,0
$GC,5027,-0.71,-116.8,483.3,-5.7,274,5031,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,3610,3289,0,0,0,0,0,0
$GC,5059,-0.71,-116.8,485.4,-6.4,274,5063,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2037,3286,0,0,0,0,0,0
$GC,5396,-0.71,-116.8,506.7,-6.6,283,5400,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,444,3284,0,0,0,0,0,0
$GC,5473,-0.71,-116.8,512.7,-7.4,284,5479,0.00,2.28,0.00,0.000,6,0.000,0.032,2638,2028,3283,0,0,0,0,0,0
$GC,5804,-0.71,-116.8,536.5,-7.2,293,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2028,3281,0,0,0,0,0,0
$GC,6129,-0.71,-116.8,560.0,-7.4,301,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2030,3279,0,0,0,0,0,0
$GC,6454,-0.71,-116.8,585.5,-8.0,309,6458,0.00,2.30,0.00,0.000,4,0.000,0.044,2639,451,3277,0,0,0,0,0,0
$GC,6508,-0.71,-116.8,590.6,-9.8,310,6513,0.08,2.28,0.00,0.000,6,0.113,0.033,2657,2028,3276,0,0,0,0,0,0
$GC,6821,-0.71,-116.8,613.8,-7.2,318,6825,0.00,2.33,0.00,0.000,4,0.000,0.045,2647,3608,3275,0,0,0,0,0,0
$GC,6853,-0.71,-116.8,616.0,-7.4,318,6859,0.00,2.30,0.00,0.000,6,0.000,0.031,2647,2018,3276,0,0,0,0,0,0
$GC,7184,-0.71,-116.8,638.3,-6.7,327,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2018,3273,0,0,0,0,0,0
$GC,7509,-0.71,-116.8,661.8,-7.5,335,7513,0.00,2.28,0.00,0.000,4,0.000,0.046,2647,455,3271,0,0,0,0,0,0
$GC,7530,-0.71,-116.8,663.5,-7.7,335,7535,0.00,2.28,0.00,0.000,6,0.000,0.034,2636,2031,3270,0,0,0,0,0,0
$GC,7878,-0.71,-116.8,691.4,-7.9,344,7883,0.00,2.33,0.00,0.000,4,0.000,0.045,2624,3604,3269,0,0,0,0,0,0
$GC,7911,-0.71,-116.8,694.1,-8.3,344,7918,0.12,2.25,0.00,0.000,6,0.130,0.031,2664,2021,3269,0,0,0,0,0,0
$GC,8242,-0.71,-116.8,714.7,-5.9,353,8246,0.00,2.28,0.00,0.000,4,0.000,0.045,2664,459,3268,0,0,0,0,0,0
$GC,8290,-0.71,-116.8,717.9,-6.8,354,8295,0.00,2.28,0.00,0.000,6,0.000,0.033,2654,2033,3268,0,0,0,0,0,0
$GC,8609,-0.71,-116.8,736.0,-5.6,362,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2033,3267,0,0,0,0,0,0
$GC,8934,-0.71,-116.8,754.6,-5.8,370,8938,0.00,2.33,0.00,0.000,4,0.000,0.046,2642,3615,3266,0,0,0,0,0,0
$GC,8973,-0.71,-116.8,756.9,-6.5,371,8977,0.00,2.28,0.00,0.000,6,0.000,0.032,2642,2020,3266,0,0,0,0,0,0
$GC,9296,-0.71,-116.8,777.6,-6.5,379,9300,0.00,2.30,0.00,0.000,4,0.000,0.045,2642,456,3269,0,0,0,0,0,0
$GC,9350,-0.71,-116.8,781.7,-8.0,380,9355,0.00,2.30,0.00,0.000,6,0.000,0.034,2631,2040,3265,0,0,0,0,0,0
$GC,9663,-0.71,-116.8,803.8,-7.0,388,9667,0.00,2.35,0.00,0.000,4,0.000,0.045,2628,453,3264,0,0,0,0,0,0
$GC,9696,-0.71,-116.8,806.3,-7.3,388,9703,0.12,2.25,0.00,0.000,6,0.143,0.033,2658,2040,3264,0,0,0,0,0,0
$GC,10027,-0.71,-116.8,824.8,-5.4,397,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2040,3264,0,0,0,0,0,0
$GC,10352,-0.71,-116.8,840.3,-4.7,405,10356,0.00,2.33,0.00,0.000,4,0.000,0.045,2658,456,3262,0,0,0,0,0,0
$GC,10418,-0.71,-116.8,844.0,-5.3,406,10422,0.00,2.25,0.00,0.000,6,0.000,0.034,2652,2039,3262,0,0,0,0,0,0
$GC,10766,-0.71,-116.8,862.1,-5.4,415,10770,0.00,2.30,0.00,0.000,4,0.000,0.047,2636,3602,3261,0,0,0,0,0,0
$GC,10814,-0.71,-116.8,865.1,-6.2,416,10819,0.00,2.30,0.00,0.000,6,0.000,0.032,2636,2030,3261,0,0,0,0,0,0
$GC,11133,-0.71,-116.8,884.8,-6.3,424,11137,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,454,3261,0,0,0,0,0,0
$GC,11189,-0.71,-116.8,889.0,-8.1,425,11193,0.12,2.25,0.00,0.000,6,0.142,0.034,2663,2030,3260,0,0,0,0,0,0
$GC,11507,-0.71,-116.8,909.3,-6.6,433,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2030,3260,0,0,0,0,0,0
$GC,11831,-0.71,-116.8,931.2,-6.6,441,11835,0.00,2.33,0.00,0.000,4,0.000,0.047,2664,458,3259,0,0,0,0,0,0
$GC,11886,-0.71,-116.8,935.3,-7.4,442,11890,0.00,2.25,0.00,0.000,6,0.000,0.034,2654,2030,3260,0,0,0,0,0,0
$GC,12205,-0.71,-116.8,954.6,-5.8,450,12209,0.00,2.38,0.00,0.000,4,0.000,0.047,2654,453,3259,0,0,0,0,0,0
$GC,12231,-0.71,-116.8,956.3,-6.2,450,12236,0.00,2.28,0.00,0.000,6,0.000,0.033,2643,2035,3259,0,0,0,0,0,0
$GC,12568,-0.71,-116.8,974.7,-5.3,459,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2040,3258,0,0,0,0,0,0
$STATE,12891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12891,begin apogee
$GC,12895,-0.23,0.0,990.6,4.7,467,12992,0.50,0.00,94.20,1.295,6,0.108,0.000,2811,2035,2822,0,0,0,0,0,0
$STATE,12995,end apogee,CONTROL_FINISHED_OK
$STATE,12995,begin climb
$GC,12997,0.71,116.8,991.4,0.0,469,13117,0.88,2.65,111.43,1.261,4,0.064,0.045,3126,3606,2345,0,0,0,0,0,0
$GC,13138,0.71,116.8,979.5,15.2,473,13143,0.00,2.50,0.00,0.000,6,0.000,0.035,3143,2046,2341,0,0,0,0,0,0
$GC,13463,0.71,116.8,931.9,14.7,481,13467,0.00,2.42,0.00,0.000,4,0.000,0.048,3150,447,2330,0,0,0,0,0,0
$GC,13489,0.71,116.8,927.9,15.0,481,13494,0.08,2.35,0.00,0.000,6,0.138,0.034,3126,2017,2329,0,0,0,0,0,0
$GC,13825,0.71,116.8,881.7,13.7,490,13830,0.00,2.38,0.00,0.000,4,0.000,0.048,3136,448,2330,0,0,0,0,0,0
$GC,13874,0.71,116.8,874.4,15.0,491,13879,0.00,2.35,0.00,0.000,6,0.000,0.035,3135,2038,2326,0,0,0,0,0,0
$GC,14193,0.71,116.8,830.5,13.7,499,14197,0.00,2.38,0.00,0.000,4,0.000,0.045,3136,3618,2325,0,0,0,0,0,0
$GC,14225,0.71,116.8,825.6,14.4,499,14231,0.00,2.38,0.00,0.000,6,0.000,0.035,3148,2020,2324,0,0,0,0,0,0
$GC,14555,0.71,116.8,781.5,13.1,508,14560,0.00,2.35,0.00,0.000,4,0.000,0.048,3160,450,2324,0,0,0,0,0,0
$GC,14616,0.71,116.8,773.2,13.9,509,14621,0.10,2.33,0.00,0.000,6,0.144,0.034,3126,2034,2324,0,0,0,0,0,0
$GC,14963,0.71,116.8,732.2,11.8,518,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2034,2323,0,0,0,0,0,0
$GC,15288,0.71,116.8,692.5,12.2,526,15292,0.00,2.33,0.00,0.000,4,0.000,0.045,3127,3607,2321,0,0,0,0,0,0
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$STATE,22397,end climb,SURFACE_DEPTH_REACHED
$STATE,22398,begin surface coast
$FINISH,1.0,1.022892
$STATE,22438,end surface coast,CONTROL_FINISHED_OK
$STATE,22438,begin surface
$SM_CCo,22455,74.40,0.075,0,0,1293,375.06
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$IRIDIUM_FIX,2043.29,-15932.84,140112,000008
$TT8_MAMPS,0.246974
$HUMID,1078398055
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8410923008
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51780321280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,19.059
$10V_AH,9.7,20.262
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.675,203.650,307.075,74.400,0.000,27.406,29.552,629.160,0.000,0.000,15.296,1772.000,18066.445,568.299,2757.443,257.689,33.365,1694.420,0.000,1984.947,0.000,0.541,0.000
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$SENSOR_SECS,615.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335216
$DATA_FILE_SIZE,33383,901
$CAP_FILE_SIZE,188206,0
$CFSIZE,260165632,243834880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210710,192536,2048.958,-15925.632,21,1.9,21,9.7