version: 66.07
glider: 500
mission: 4
dive: 167
start: 7 25 110 19 3 27
data:
$ID,500
$MISSION,4
$DIVE,167
$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,-112323.52
$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,46
$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,166
$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
$GPS1,250710,184507,2058.104,-15903.049,39,0.9,39,9.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.6
$GPS2,250710,190232,2058.141,-15903.152,13,1.0,13,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.214,-0.062
$KALMAN_X,-146109.3,-60.2,-56.8,246173.3,-2251.0
$KALMAN_Y,159664.8,-380.9,-431.7,-103003.5,2212.0
$MHEAD_RNG_PITCHd_Wd,96.5,124671,-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,-45.75,0.000,2,0.000,0.000,134,2040,2542,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-4.7,9,113,10.12,2.33,-18.98,0.000,4,0.229,0.056,2652,457,3301,0,0,0,0,0,0
$GC,136,-0.71,-116.8,10.9,-14.2,20,141,0.00,2.25,0.00,0.000,6,0.000,0.032,2642,2035,3300,0,0,0,0,0,0
$GC,344,-0.71,-116.8,52.8,-21.4,48,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2035,3302,0,0,0,0,0,0
$GC,598,-0.71,-116.8,95.8,-13.8,72,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2035,3303,0,0,0,0,0,0
$GC,853,-0.71,-116.8,130.5,-12.7,96,857,0.00,2.33,0.00,0.000,4,0.000,0.051,2642,458,3304,0,0,0,0,0,0
$GC,902,-0.71,-116.8,137.2,-14.4,100,906,0.00,2.25,0.00,0.000,6,0.000,0.035,2630,2044,3303,0,0,0,0,0,0
$GC,1162,-0.71,-116.8,172.1,-13.4,124,1164,0.10,0.00,0.00,0.000,6,0.161,0.000,2659,2047,3304,0,0,0,0,0,0
$GC,1417,-0.71,-116.8,198.1,-10.3,148,1421,0.00,2.30,0.00,0.000,4,0.000,0.044,2660,453,3305,0,0,0,0,0,0
$GC,1460,-0.71,-116.8,203.1,-10.9,151,1465,0.00,2.25,0.00,0.000,6,0.000,0.033,2650,2020,3304,0,0,0,0,0,0
$GC,1787,-0.71,-116.8,236.5,-9.4,167,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2021,3304,0,0,0,0,0,0
$GC,2098,-0.71,-116.8,267.8,-10.1,182,2102,0.00,2.25,0.00,0.000,4,0.000,0.043,2650,456,3305,0,0,0,0,0,0
$GC,2124,-0.71,-116.8,270.7,-10.1,183,2129,0.00,2.25,0.00,0.000,6,0.000,0.032,2638,2030,3303,0,0,0,0,0,0
$GC,2446,-0.71,-116.8,299.1,-7.7,199,2450,0.00,2.28,0.00,0.000,4,0.000,0.042,2639,459,3304,0,0,0,0,0,0
$GC,2500,-0.71,-116.8,304.2,-9.4,201,2505,0.08,2.25,0.00,0.000,6,0.116,0.031,2657,2035,3304,0,0,0,0,0,0
$GC,2813,-0.71,-116.8,330.1,-8.8,209,2817,0.00,2.30,0.00,0.000,4,0.000,0.042,2660,449,3304,0,0,0,0,0,0
$GC,2873,-0.71,-116.8,336.1,-10.1,210,2878,0.00,2.25,0.00,0.000,6,0.000,0.031,2647,2023,3304,0,0,0,0,0,0
$GC,3221,-0.71,-116.8,365.0,-7.7,219,3225,0.00,2.35,0.00,0.000,4,0.000,0.044,2635,3613,3302,0,0,0,0,0,0
$GC,3286,-0.71,-116.8,370.5,-8.8,220,3291,0.00,2.28,0.00,0.000,6,0.000,0.029,2635,2031,3302,0,0,0,0,0,0
$GC,3629,-0.71,-116.8,401.1,-9.1,229,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2032,3300,0,0,0,0,0,0
$GC,3954,-0.71,-116.8,428.7,-8.1,237,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2032,3297,0,0,0,0,0,0
$GC,4278,-0.71,-116.8,456.6,-8.7,245,4282,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,455,3295,0,0,0,0,0,0
$GC,4373,-0.71,-116.8,465.7,-9.7,247,4377,0.08,2.28,0.00,0.000,6,0.112,0.032,2655,2038,3295,0,0,0,0,0,0
$GC,4691,-0.71,-116.8,485.5,-5.5,255,4695,0.00,2.30,0.00,0.000,4,0.000,0.043,2655,448,3291,0,0,0,0,0,0
$GC,4746,-0.71,-116.8,488.6,-6.1,256,4750,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2029,3292,0,0,0,0,0,0
$GC,5059,-0.71,-116.8,506.5,-6.0,264,5064,0.00,2.30,0.00,0.000,4,0.000,0.044,2632,3611,3290,0,0,0,0,0,0
$GC,5148,-0.71,-116.8,513.1,-7.9,266,5152,0.00,2.28,0.00,0.000,6,0.000,0.030,2635,2034,3289,0,0,0,0,0,0
$GC,5473,-0.71,-116.8,539.5,-8.5,274,5477,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,453,3285,0,0,0,0,0,0
$GC,5511,-0.71,-116.8,543.0,-9.5,275,5516,0.12,2.25,0.00,0.000,6,0.140,0.032,2661,2048,3286,0,0,0,0,0,0
$GC,5834,-0.71,-116.8,564.1,-6.1,283,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2048,3285,0,0,0,0,0,0
$GC,6159,-0.71,-116.8,581.4,-5.2,291,6163,0.00,2.33,0.00,0.000,4,0.000,0.044,2661,454,3283,0,0,0,0,0,0
$GC,6208,-0.71,-116.8,584.5,-6.8,292,6213,0.00,2.28,0.00,0.000,6,0.000,0.033,2651,2026,3282,0,0,0,0,0,0
$GC,6527,-0.71,-116.8,604.3,-6.3,300,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3281,0,0,0,0,0,0
$GC,6852,-0.71,-116.8,625.9,-6.7,308,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3280,0,0,0,0,0,0
$GC,7177,-0.71,-116.8,649.6,-7.4,316,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3278,0,0,0,0,0,0
$GC,7502,-0.71,-116.8,673.8,-7.4,324,7506,0.00,2.30,0.00,0.000,4,0.000,0.046,2651,455,3277,0,0,0,0,0,0
$GC,7568,-0.71,-116.8,679.2,-8.4,325,7573,0.00,2.25,0.00,0.000,6,0.000,0.033,2640,2041,3276,0,0,0,0,0,0
$GC,7904,-0.71,-116.8,704.5,-7.5,334,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2041,3275,0,0,0,0,0,0
$GC,8229,-0.71,-116.8,727.5,-6.9,342,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2041,3274,0,0,0,0,0,0
$GC,8555,-0.71,-116.8,747.5,-5.8,350,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2041,3273,0,0,0,0,0,0
$GC,8879,-0.71,-116.8,764.5,-5.2,358,8883,0.00,2.35,0.00,0.000,4,0.000,0.047,2640,456,3275,0,0,0,0,0,0
$GC,8912,-0.71,-116.8,766.6,-6.5,358,8917,0.08,2.30,0.00,0.000,6,0.116,0.034,2672,2034,3271,0,0,0,0,0,0
$GC,9248,-0.71,-116.8,781.2,-4.5,367,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2035,3272,0,0,0,0,0,0
$GC,9574,-0.71,-116.8,795.1,-4.3,375,9578,0.00,2.35,0.00,0.000,4,0.000,0.046,2675,454,3271,0,0,0,0,0,0
$GC,9639,-0.71,-116.8,798.2,-4.6,376,9644,0.00,2.30,0.00,0.000,6,0.000,0.034,2667,2034,3270,0,0,0,0,0,0
$GC,9982,-0.71,-116.8,813.5,-4.5,385,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2034,3269,0,0,0,0,0,0
$GC,10307,-0.71,-116.8,830.0,-5.2,393,10311,0.00,2.33,0.00,0.000,4,0.000,0.046,2666,457,3267,0,0,0,0,0,0
$GC,10345,-0.71,-116.8,832.4,-6.9,394,10350,0.00,2.25,0.00,0.000,6,0.000,0.034,2656,2036,3269,0,0,0,0,0,0
$GC,10669,-0.71,-116.8,852.9,-6.4,402,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2036,3268,0,0,0,0,0,0
$GC,10994,-0.71,-116.8,874.0,-6.4,410,10998,0.00,2.35,0.00,0.000,4,0.000,0.047,2655,456,3270,0,0,0,0,0,0
$GC,11033,-0.71,-116.8,876.7,-7.2,411,11037,0.00,2.25,0.00,0.000,6,0.000,0.035,2641,2028,3268,0,0,0,0,0,0
$GC,11356,-0.71,-116.8,897.4,-6.2,419,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2029,3268,0,0,0,0,0,0
$GC,11680,-0.71,-116.8,916.6,-5.8,427,11684,0.00,2.35,0.00,0.000,4,0.000,0.046,2643,450,3267,0,0,0,0,0,0
$GC,11725,-0.71,-116.8,919.4,-6.7,428,11729,0.00,2.28,0.00,0.000,6,0.000,0.033,2634,2037,3267,0,0,0,0,0,0
$GC,12054,-0.71,-116.8,938.9,-5.9,436,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2035,3267,0,0,0,0,0,0
$GC,12379,-0.71,-116.8,957.4,-5.9,444,12384,0.10,2.40,0.00,0.000,4,0.150,0.047,2665,445,3267,0,0,0,0,0,0
$GC,12417,-0.71,-116.8,959.7,-5.4,445,12422,0.00,2.30,0.00,0.000,6,0.000,0.034,2656,2041,3267,0,0,0,0,0,0
$GC,12741,-0.71,-116.8,975.9,-5.0,453,12745,0.00,2.38,0.00,0.000,4,0.000,0.047,2655,449,3264,0,0,0,0,0,0
$GC,12786,-0.71,-116.8,978.7,-5.8,454,12790,0.00,2.28,0.00,0.000,6,0.000,0.034,2645,2024,3266,0,0,0,0,0,0
$STATE,13031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13031,begin apogee
$GC,13036,-0.23,0.0,991.0,4.8,460,13134,0.50,0.00,95.60,1.295,6,0.104,0.000,2813,2025,2822,0,0,0,0,0,0
$STATE,13137,end apogee,CONTROL_FINISHED_OK
$STATE,13137,begin climb
$GC,13139,0.71,116.8,991.9,0.0,462,13259,0.85,2.65,111.38,1.261,4,0.061,0.046,3124,3602,2342,0,0,0,0,0,0
$GC,13292,0.71,116.8,979.0,15.5,466,13296,0.00,2.45,0.00,0.000,6,0.000,0.035,3136,2037,2337,0,0,0,0,0,0
$GC,13605,0.71,116.8,934.5,14.0,474,13609,0.00,2.45,0.00,0.000,4,0.000,0.048,3149,437,2328,0,0,0,0,0,0
$GC,13647,0.71,116.8,928.0,14.1,475,13652,0.00,2.40,0.00,0.000,6,0.000,0.034,3148,2033,2330,0,0,0,0,0,0
$GC,13972,0.71,116.8,879.2,14.9,483,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2033,2325,0,0,0,0,0,0
$GC,14297,0.71,116.8,831.5,14.3,491,14298,0.12,0.00,0.00,0.000,6,0.166,0.000,3114,2034,2325,0,0,0,0,0,0
$GC,14622,0.71,116.8,792.3,11.7,499,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2034,2321,0,0,0,0,0,0
$GC,14947,0.71,116.8,756.7,10.9,507,14951,0.00,2.35,0.00,0.000,4,0.000,0.046,3114,3612,2322,0,0,0,0,0,0
$GC,14979,0.71,116.8,752.8,11.9,507,14985,0.00,2.35,0.00,0.000,6,0.000,0.035,3124,2026,2321,0,0,0,0,0,0
$GC,15310,0.71,116.8,716.2,10.9,516,15314,0.00,2.33,0.00,0.000,4,0.000,0.048,3137,458,2320,0,0,0,0,0,0
$GC,15386,0.71,116.8,707.1,11.5,517,15393,0.00,2.33,0.00,0.000,6,0.000,0.035,3136,2035,2321,0,0,0,0,0,0
$GC,15718,0.71,116.8,666.2,12.7,526,15719,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2033,2321,0,0,0,0,0,0
$GC,16042,0.71,116.8,624.5,12.9,534,16046,0.00,2.35,0.00,0.000,4,0.000,0.044,3136,3622,2321,0,0,0,0,0,0
$GC,16091,0.71,116.8,617.6,14.8,535,16096,0.00,2.35,0.00,0.000,6,0.000,0.035,3148,2036,2320,0,0,0,0,0,0
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$STATE,22745,end climb,SURFACE_DEPTH_REACHED
$STATE,22745,begin surface coast
$FINISH,0.8,1.022647
$STATE,22781,end surface coast,CONTROL_FINISHED_OK
$STATE,22782,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,9.7,26.239
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335212
$DATA_FILE_SIZE,33372,913
$CAP_FILE_SIZE,187611,0
$CFSIZE,260165632,241602560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260710,012631,2058.063,-15901.112,36,1.5,36,9.7