version: 66.07
glider: 500
mission: 4
dive: 159
start: 7 23 110 12 19 40
data:
$ID,500
$MISSION,4
$DIVE,159
$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,-112182.16
$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,57
$R_STBD_OVSHOOT,53
$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,158
$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
$GPS1,230710,120337,2053.212,-15915.825,35,1.0,35,9.7
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.7
$GPS2,230710,121844,2053.317,-15915.892,11,1.1,11,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,-0.008
$KALMAN_X,-128432.8,367.5,227.8,205668.2,-2963.4
$KALMAN_Y,146856.7,97.7,132.9,-100176.4,855.0
$MHEAD_RNG_PITCHd_Wd,82.4,148280,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-46.00,0.000,2,0.000,0.000,124,2038,2541,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-4.5,9,113,10.20,2.40,-18.67,0.000,4,0.231,0.058,2652,464,3301,0,0,0,0,0,0
$GC,153,-0.71,-116.8,14.6,-17.6,23,158,0.00,2.28,0.00,0.000,6,0.000,0.036,2643,2031,3302,0,0,0,0,0,0
$GC,353,-0.71,-116.8,57.4,-18.9,48,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2030,3303,0,0,0,0,0,0
$GC,608,-0.71,-116.8,94.0,-13.5,72,612,0.00,2.35,0.00,0.000,4,0.000,0.042,2630,3613,3305,0,0,0,0,0,0
$GC,651,-0.71,-116.8,100.0,-13.7,75,657,0.00,2.28,0.00,0.000,6,0.000,0.029,2630,2037,3307,0,0,0,0,0,0
$GC,912,-0.71,-116.8,136.9,-12.7,100,916,0.10,2.33,0.00,0.000,4,0.149,0.043,2661,452,3304,0,0,0,0,0,0
$GC,939,-0.71,-116.8,140.2,-11.8,102,943,0.00,2.22,0.00,0.000,6,0.000,0.032,2651,2035,3305,0,0,0,0,0,0
$GC,1199,-0.71,-116.8,167.2,-10.4,126,1204,0.00,2.30,0.00,0.000,4,0.000,0.043,2639,3611,3305,0,0,0,0,0,0
$GC,1254,-0.71,-116.8,173.4,-11.3,130,1260,0.00,2.28,0.00,0.000,6,0.000,0.029,2639,2026,3305,0,0,0,0,0,0
$GC,1525,-0.71,-116.8,206.5,-12.7,154,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3306,0,0,0,0,0,0
$GC,1835,-0.71,-116.8,240.8,-10.0,169,1839,0.00,2.25,0.00,0.000,4,0.000,0.042,2639,454,3305,0,0,0,0,0,0
$GC,1867,-0.71,-116.8,244.3,-10.5,170,1874,0.08,2.25,0.00,0.000,6,0.114,0.032,2658,2030,3307,0,0,0,0,0,0
$GC,2182,-0.71,-116.8,269.4,-7.9,186,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2030,3306,0,0,0,0,0,0
$GC,2492,-0.71,-116.8,293.9,-7.5,201,2496,0.00,2.28,0.00,0.000,4,0.000,0.043,2658,450,3305,0,0,0,0,0,0
$GC,2508,-0.71,-116.8,295.2,-7.6,202,2513,0.00,2.22,0.00,0.000,6,0.000,0.031,2647,2043,3305,0,0,0,0,0,0
$GC,2831,-0.71,-116.8,321.0,-8.1,212,2835,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,3608,3304,0,0,0,0,0,0
$GC,2862,-0.71,-116.8,323.9,-8.8,212,2867,0.00,2.28,0.00,0.000,6,0.000,0.028,2636,2023,3304,0,0,0,0,0,0
$GC,3200,-0.71,-116.8,353.4,-8.3,221,3204,0.00,2.25,0.00,0.000,4,0.000,0.043,2636,455,3302,0,0,0,0,0,0
$GC,3254,-0.71,-116.8,358.3,-8.6,222,3259,0.08,2.25,0.00,0.000,6,0.113,0.031,2656,2027,3301,0,0,0,0,0,0
$GC,3567,-0.71,-116.8,379.4,-6.8,230,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2027,3300,0,0,0,0,0,0
$GC,3892,-0.71,-116.8,405.4,-7.9,238,3896,0.00,2.30,0.00,0.000,4,0.000,0.043,2653,454,3297,0,0,0,0,0,0
$GC,3924,-0.71,-116.8,408.1,-7.9,238,3930,0.00,2.25,0.00,0.000,6,0.000,0.032,2646,2042,3297,0,0,0,0,0,0
$GC,4255,-0.71,-116.8,429.9,-6.0,247,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2042,3296,0,0,0,0,0,0
$GC,4580,-0.71,-116.8,451.4,-7.0,255,4584,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,3605,3294,0,0,0,0,0,0
$GC,4640,-0.71,-116.8,456.0,-8.0,256,4644,0.00,2.28,0.00,0.000,6,0.000,0.030,2634,2026,3293,0,0,0,0,0,0
$GC,4988,-0.71,-116.8,480.2,-6.7,265,4992,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,454,3291,0,0,0,0,0,0
$GC,5093,-0.71,-116.8,488.6,-8.1,267,5098,0.10,2.28,0.00,0.000,6,0.109,0.032,2661,2033,3290,0,0,0,0,0,0
$GC,5405,-0.71,-116.8,508.7,-6.8,275,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2033,3286,0,0,0,0,0,0
$GC,5730,-0.71,-116.8,531.0,-6.8,283,5735,0.00,2.33,0.00,0.000,4,0.000,0.044,2651,3608,3286,0,0,0,0,0,0
$GC,5774,-0.71,-116.8,534.2,-6.8,284,5778,0.00,2.30,0.00,0.000,6,0.000,0.031,2651,2024,3286,0,0,0,0,0,0
$GC,6098,-0.71,-116.8,555.8,-6.5,292,6102,0.00,2.28,0.00,0.000,4,0.000,0.044,2651,458,3282,0,0,0,0,0,0
$GC,6204,-0.71,-116.8,563.7,-7.3,294,6208,0.00,2.28,0.00,0.000,6,0.000,0.032,2640,2041,3283,0,0,0,0,0,0
$GC,6517,-0.71,-116.8,586.1,-7.1,302,6521,0.00,2.30,0.00,0.000,4,0.000,0.044,2628,3606,3282,0,0,0,0,0,0
$GC,6543,-0.71,-116.8,588.2,-7.9,302,6548,0.08,2.30,0.00,0.000,6,0.105,0.030,2659,2026,3282,0,0,0,0,0,0
$GC,6886,-0.71,-116.8,611.9,-6.8,311,6890,0.00,2.30,0.00,0.000,4,0.000,0.045,2659,450,3280,0,0,0,0,0,0
$GC,6935,-0.71,-116.8,615.6,-8.0,312,6939,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2022,3280,0,0,0,0,0,0
$GC,7253,-0.71,-116.8,635.9,-6.2,320,7257,0.00,2.35,0.00,0.000,4,0.000,0.044,2638,3611,3279,0,0,0,0,0,0
$GC,7298,-0.71,-116.8,638.7,-6.2,321,7302,0.00,2.28,0.00,0.000,6,0.000,0.031,2638,2028,3282,0,0,0,0,0,0
$GC,7627,-0.71,-116.8,659.7,-6.4,329,7631,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,453,3278,0,0,0,0,0,0
$GC,7711,-0.71,-116.8,666.0,-7.8,331,7716,0.12,2.25,0.00,0.000,6,0.143,0.032,2665,2042,3280,0,0,0,0,0,0
$GC,8034,-0.71,-116.8,683.9,-5.5,339,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3276,0,0,0,0,0,0
$GC,8359,-0.71,-116.8,701.5,-5.4,347,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3275,0,0,0,0,0,0
$GC,8685,-0.71,-116.8,717.9,-4.8,355,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2042,3274,0,0,0,0,0,0
$GC,9009,-0.71,-116.8,734.4,-5.1,363,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3274,0,0,0,0,0,0
$GC,9334,-0.71,-116.8,751.7,-5.3,371,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2042,3273,0,0,0,0,0,0
$GC,9659,-0.71,-116.8,768.1,-5.1,379,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3272,0,0,0,0,0,0
$GC,9985,-0.71,-116.8,785.4,-5.6,387,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3274,0,0,0,0,0,0
$GC,10309,-0.71,-116.8,806.3,-6.6,395,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2042,3270,0,0,0,0,0,0
$GC,10634,-0.71,-116.8,827.3,-6.4,403,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2043,3270,0,0,0,0,0,0
$GC,10960,-0.71,-116.8,844.9,-5.0,411,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2043,3269,0,0,0,0,0,0
$GC,11284,-0.71,-116.8,857.3,-3.5,419,11288,0.00,2.35,0.00,0.000,4,0.000,0.048,2665,461,3268,0,0,0,0,0,0
$GC,11338,-0.71,-116.8,859.5,-4.6,420,11343,0.00,2.28,0.00,0.000,6,0.000,0.035,2656,2010,3268,0,0,0,0,0,0
$GC,11652,-0.71,-116.8,870.1,-3.4,428,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2010,3268,0,0,0,0,0,0
$GC,11976,-0.71,-116.8,882.2,-3.8,436,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2010,3268,0,0,0,0,0,0
$GC,12301,-0.71,-116.8,896.5,-4.6,444,12305,0.00,2.40,0.00,0.000,4,0.000,0.046,2644,3615,3268,0,0,0,0,0,0
$GC,12334,-0.71,-116.8,898.1,-4.7,444,12338,0.00,2.33,0.00,0.000,6,0.000,0.033,2644,2020,3267,0,0,0,0,0,0
$GC,12670,-0.71,-116.8,915.8,-5.3,453,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2020,3265,0,0,0,0,0,0
$GC,12995,-0.71,-116.8,933.2,-5.4,461,13000,0.00,2.35,0.00,0.000,4,0.000,0.047,2644,448,3267,0,0,0,0,0,0
$GC,13024,-0.71,-116.8,934.9,-6.0,461,13028,0.00,2.28,0.00,0.000,6,0.000,0.033,2633,2042,3267,0,0,0,0,0,0
$GC,13354,-0.71,-116.8,954.7,-5.9,469,13358,0.00,2.38,0.00,0.000,4,0.000,0.046,2633,451,3266,0,0,0,0,0,0
$GC,13398,-0.71,-116.8,957.6,-7.2,470,13403,0.12,2.30,0.00,0.000,6,0.143,0.035,2660,2042,3266,0,0,0,0,0,0
$STATE,13522,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13522,begin apogee
$GC,13526,-0.23,0.0,964.7,5.4,473,13624,0.45,0.00,95.22,1.279,6,0.104,0.000,2813,2042,2824,0,0,0,0,0,0
$STATE,13627,end apogee,CONTROL_FINISHED_OK
$STATE,13627,begin climb
$GC,13629,0.71,116.8,966.8,0.0,475,13744,0.85,0.00,111.88,1.245,6,0.061,0.000,3124,2042,2345,0,0,0,0,0,0
$GC,14049,0.71,116.8,924.0,12.4,486,14053,0.00,2.45,0.00,0.000,4,0.000,0.049,3137,461,2329,0,0,0,0,0,0
$GC,14110,0.71,116.8,915.7,13.1,487,14114,0.00,2.35,0.00,0.000,6,0.000,0.035,3137,2019,2331,0,0,0,0,0,0
$GC,14457,0.71,116.8,872.0,12.2,496,14461,0.00,2.42,0.00,0.000,4,0.000,0.044,3136,3616,2324,0,0,0,0,0,0
$GC,14478,0.71,116.8,869.2,12.4,496,14483,0.00,2.38,0.00,0.000,6,0.000,0.035,3154,2037,2322,0,0,0,0,0,0
$GC,14821,0.71,116.8,825.7,12.8,505,14825,0.00,2.38,0.00,0.000,4,0.000,0.048,3161,448,2323,0,0,0,0,0,0
$GC,14920,0.71,116.8,812.1,13.8,507,14925,0.12,2.35,0.00,0.000,6,0.138,0.035,3119,2039,2322,0,0,0,0,0,0
$GC,15233,0.71,116.8,777.9,10.7,515,15237,0.00,2.33,0.00,0.000,4,0.000,0.044,3119,3610,2320,0,0,0,0,0,0
$GC,15253,0.71,116.8,775.4,11.1,515,15258,0.00,2.35,0.00,0.000,6,0.000,0.035,3130,2027,2320,0,0,0,0,0,0
$GC,15596,0.71,116.8,737.1,11.4,524,15600,0.00,2.33,0.00,0.000,4,0.000,0.048,3139,458,2319,0,0,0,0,0,0
$GC,15689,0.71,116.8,725.3,11.9,526,15693,0.00,2.33,0.00,0.000,6,0.000,0.034,3142,2034,2321,0,0,0,0,0,0
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$STATE,23139,end climb,SURFACE_DEPTH_REACHED
$STATE,23139,begin surface coast
$FINISH,1.0,1.022947
$STATE,23179,end surface coast,CONTROL_FINISHED_OK
$STATE,23179,begin surface
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$TCM_TEMP,24.80
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8417476608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51136069632
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,20.134
$10V_AH,9.7,20.828
$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,335196
$DATA_FILE_SIZE,33387,924
$CAP_FILE_SIZE,190345,0
$CFSIZE,260165632,242778112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230710,184907,2053.522,-15914.393,29,1.0,29,9.7