version: 66.07
glider: 500
mission: 4
dive: 176
start: 7 28 110 7 21 3
data:
$ID,500
$MISSION,4
$DIVE,176
$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,-112501.59
$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,56
$R_STBD_OVSHOOT,51
$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,175
$AR_SAMPLENUM,10
$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
$GPS1,280710,070801,2104.323,-15847.812,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.6
$GPS2,280710,072008,2104.407,-15848.062,11,1.0,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.212,-0.067
$KALMAN_X,-165089.8,-205.1,-267.0,291688.6,-945.8
$KALMAN_Y,171398.6,460.2,-560.4,-103855.6,2512.0
$MHEAD_RNG_PITCHd_Wd,97.8,96541,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-45.53,0.000,2,0.000,0.000,135,2026,2527,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.7,9,112,10.12,2.35,-19.05,0.000,4,0.229,0.055,2652,458,3302,0,0,0,0,0,0
$GC,124,-0.71,-116.8,9.2,-11.8,18,129,0.00,2.28,0.00,0.000,6,0.000,0.031,2642,2036,3303,0,0,0,0,0,0
$GC,327,-0.71,-116.8,46.6,-18.1,47,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3304,0,0,0,0,0,0
$GC,581,-0.71,-116.8,93.7,-17.6,71,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2041,3304,0,0,0,0,0,0
$GC,836,-0.71,-116.8,134.4,-14.7,95,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3305,0,0,0,0,0,0
$GC,1091,-0.71,-116.8,167.6,-12.8,119,1095,0.00,2.30,0.00,0.000,4,0.000,0.042,2643,448,3306,0,0,0,0,0,0
$GC,1152,-0.71,-116.8,175.1,-11.8,124,1156,0.00,2.22,0.00,0.000,6,0.000,0.031,2630,2034,3306,0,0,0,0,0,0
$GC,1412,-0.71,-116.8,203.2,-10.7,147,1417,0.10,2.30,0.00,0.000,4,0.158,0.042,2661,451,3307,0,0,0,0,0,0
$GC,1450,-0.71,-116.8,206.8,-9.2,149,1454,0.00,2.22,0.00,0.000,6,0.000,0.031,2651,2040,3307,0,0,0,0,0,0
$GC,1776,-0.71,-116.8,235.3,-9.0,165,1780,0.00,2.28,0.00,0.000,4,0.000,0.041,2651,457,3307,0,0,0,0,0,0
$GC,1808,-0.71,-116.8,238.6,-10.5,166,1814,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2039,3307,0,0,0,0,0,0
$GC,2123,-0.71,-116.8,270.8,-10.4,182,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2039,3307,0,0,0,0,0,0
$GC,2452,-0.71,-116.8,304.7,-9.4,197,2456,0.00,2.30,0.00,0.000,4,0.000,0.043,2627,3613,3304,0,0,0,0,0,0
$GC,2512,-0.71,-116.8,310.5,-9.7,198,2517,0.08,2.25,0.00,0.000,6,0.103,0.028,2659,2041,3305,0,0,0,0,0,0
$GC,2859,-0.71,-116.8,336.3,-7.3,207,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3305,0,0,0,0,0,0
$GC,3184,-0.71,-116.8,357.5,-6.5,215,3189,0.00,2.30,0.00,0.000,4,0.000,0.043,2660,443,3302,0,0,0,0,0,0
$GC,3251,-0.71,-116.8,362.6,-7.3,216,3255,0.00,2.22,0.00,0.000,6,0.000,0.031,2649,2033,3303,0,0,0,0,0,0
$GC,3593,-0.71,-116.8,391.2,-8.9,225,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2033,3300,0,0,0,0,0,0
$GC,3917,-0.71,-116.8,420.7,-9.3,233,3922,0.00,2.33,0.00,0.000,4,0.000,0.043,2638,3615,3297,0,0,0,0,0,0
$GC,3957,-0.71,-116.8,424.4,-9.9,234,3961,0.00,2.25,0.00,0.000,6,0.000,0.029,2636,2025,3297,0,0,0,0,0,0
$GC,4280,-0.71,-116.8,453.8,-8.8,242,4284,0.00,2.28,0.00,0.000,4,0.000,0.043,2637,444,3295,0,0,0,0,0,0
$GC,4356,-0.71,-116.8,460.7,-9.3,243,4363,0.08,2.28,0.00,0.000,6,0.108,0.032,2656,2030,3295,0,0,0,0,0,0
$GC,4688,-0.71,-116.8,482.8,-6.6,252,4692,0.00,2.35,0.00,0.000,4,0.000,0.044,2656,443,3292,0,0,0,0,0,0
$GC,4754,-0.71,-116.8,487.9,-7.5,253,4758,0.00,2.30,0.00,0.000,6,0.000,0.032,2646,2042,3292,0,0,0,0,0,0
$GC,5102,-0.71,-116.8,511.9,-6.5,262,5106,0.00,2.33,0.00,0.000,4,0.000,0.044,2646,447,3289,0,0,0,0,0,0
$GC,5168,-0.71,-116.8,516.5,-7.1,263,5172,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2026,3288,0,0,0,0,0,0
$GC,5510,-0.71,-116.8,538.3,-6.6,272,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3285,0,0,0,0,0,0
$GC,5835,-0.71,-116.8,562.6,-7.7,280,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3284,0,0,0,0,0,0
$GC,6160,-0.71,-116.8,587.6,-7.4,288,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3284,0,0,0,0,0,0
$GC,6485,-0.71,-116.8,609.5,-6.6,296,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3280,0,0,0,0,0,0
$GC,6810,-0.71,-116.8,634.2,-8.2,304,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2026,3277,0,0,0,0,0,0
$GC,7135,-0.71,-116.8,661.1,-8.2,312,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2026,3275,0,0,0,0,0,0
$GC,7460,-0.71,-116.8,684.1,-6.7,320,7464,0.00,2.33,0.00,0.000,4,0.000,0.045,2635,452,3274,0,0,0,0,0,0
$GC,7486,-0.71,-116.8,686.0,-7.3,320,7491,0.08,2.28,0.00,0.000,6,0.112,0.033,2670,2018,3273,0,0,0,0,0,0
$GC,7823,-0.71,-116.8,702.0,-4.7,329,7827,0.00,2.35,0.00,0.000,4,0.000,0.044,2660,3612,3272,0,0,0,0,0,0
$GC,7855,-0.71,-116.8,703.8,-5.6,329,7861,0.00,2.33,0.00,0.000,6,0.000,0.031,2660,2027,3272,0,0,0,0,0,0
$GC,8186,-0.71,-116.8,721.8,-5.5,338,8190,0.00,2.35,0.00,0.000,4,0.000,0.046,2660,448,3270,0,0,0,0,0,0
$GC,8264,-0.71,-116.8,727.1,-7.1,339,8270,0.00,2.28,0.00,0.000,6,0.000,0.033,2648,2050,3270,0,0,0,0,0,0
$GC,8595,-0.71,-116.8,747.8,-6.3,348,8599,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,3614,3269,0,0,0,0,0,0
$GC,8633,-0.71,-116.8,750.4,-6.9,349,8638,0.00,2.28,0.00,0.000,6,0.000,0.031,2637,2028,3268,0,0,0,0,0,0
$GC,8957,-0.71,-116.8,771.1,-6.3,357,8961,0.00,2.33,0.00,0.000,4,0.000,0.045,2637,451,3268,0,0,0,0,0,0
$GC,9007,-0.71,-116.8,774.6,-7.5,358,9012,0.08,2.30,0.00,0.000,6,0.112,0.032,2673,2026,3268,0,0,0,0,0,0
$GC,9325,-0.71,-116.8,789.8,-4.7,366,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2026,3266,0,0,0,0,0,0
$GC,9651,-0.71,-116.8,806.3,-5.1,374,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2026,3266,0,0,0,0,0,0
$GC,9975,-0.71,-116.8,824.2,-5.6,382,9979,0.00,2.33,0.00,0.000,4,0.000,0.047,2669,458,3265,0,0,0,0,0,0
$GC,10019,-0.71,-116.8,827.1,-6.7,383,10023,0.00,2.30,0.00,0.000,6,0.000,0.034,2664,2032,3265,0,0,0,0,0,0
$GC,10344,-0.71,-116.8,846.0,-5.6,391,10348,0.00,2.38,0.00,0.000,4,0.000,0.047,2663,448,3264,0,0,0,0,0,0
$GC,10370,-0.71,-116.8,847.6,-6.1,391,10374,0.00,2.33,0.00,0.000,6,0.000,0.033,2652,2041,3265,0,0,0,0,0,0
$GC,10707,-0.71,-116.8,865.3,-5.0,400,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2041,3263,0,0,0,0,0,0
$GC,11032,-0.71,-116.8,880.7,-4.7,408,11036,0.00,2.38,0.00,0.000,4,0.000,0.046,2652,456,3260,0,0,0,0,0,0
$GC,11064,-0.71,-116.8,882.4,-5.4,408,11068,0.00,2.30,0.00,0.000,6,0.000,0.034,2641,2035,3262,0,0,0,0,0,0
$GC,11401,-0.71,-116.8,899.4,-5.2,417,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3261,0,0,0,0,0,0
$GC,11726,-0.71,-116.8,916.3,-5.2,425,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3257,0,0,0,0,0,0
$GC,12051,-0.71,-116.8,934.1,-5.5,433,12055,0.00,2.35,0.00,0.000,4,0.000,0.047,2645,455,3261,0,0,0,0,0,0
$GC,12117,-0.71,-116.8,938.4,-5.7,434,12121,0.00,2.30,0.00,0.000,6,0.000,0.034,2630,2033,3260,0,0,0,0,0,0
$GC,12465,-0.71,-116.8,958.1,-5.6,443,12470,0.10,2.38,0.00,0.000,4,0.152,0.046,2662,450,3259,0,0,0,0,0,0
$GC,12514,-0.71,-116.8,961.1,-5.8,444,12519,0.00,2.30,0.00,0.000,6,0.000,0.033,2652,2023,3257,0,0,0,0,0,0
$GC,12833,-0.71,-116.8,978.2,-5.6,452,12837,0.00,2.35,0.00,0.000,4,0.000,0.047,2652,454,3259,0,0,0,0,0,0
$GC,12878,-0.71,-116.8,980.9,-6.3,453,12882,0.00,2.30,0.00,0.000,6,0.000,0.035,2641,2047,3257,0,0,0,0,0,0
$STATE,13042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13042,begin apogee
$GC,13046,-0.23,0.0,990.8,5.8,457,13144,0.52,0.00,94.25,1.287,6,0.104,0.000,2818,2048,2823,0,0,0,0,0,0
$STATE,13186,end apogee,CONTROL_FINISHED_OK
$STATE,13186,begin climb
$GC,13188,0.71,116.8,992.6,0.0,459,13309,0.80,2.62,110.30,1.236,4,0.057,0.045,3128,3606,2347,0,0,0,0,0,0
$GC,13353,0.71,116.8,980.9,13.5,463,13360,0.00,2.45,0.00,0.000,6,0.000,0.035,3139,2032,2337,0,0,0,0,0,0
$GC,13684,0.71,116.8,937.0,13.2,472,13688,0.00,2.40,0.00,0.000,4,0.000,0.048,3152,445,2328,0,0,0,0,0,0
$GC,13789,0.71,116.8,922.3,13.8,474,13795,0.08,2.35,0.00,0.000,6,0.140,0.035,3126,2013,2326,0,0,0,0,0,0
$GC,14138,0.71,116.8,880.3,12.0,483,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2012,2324,0,0,0,0,0,0
$GC,14462,0.71,116.8,840.6,12.3,491,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2013,2326,0,0,0,0,0,0
$GC,14787,0.71,116.8,802.2,11.5,499,14791,0.00,2.35,0.00,0.000,4,0.000,0.048,3136,441,2322,0,0,0,0,0,0
$GC,14827,0.71,116.8,797.5,12.4,500,14831,0.00,2.35,0.00,0.000,6,0.000,0.035,3136,2048,2321,0,0,0,0,0,0
$GC,15149,0.71,116.8,760.5,11.2,508,15153,0.00,2.35,0.00,0.000,4,0.000,0.045,3136,3616,2321,0,0,0,0,0,0
$GC,15204,0.71,116.8,754.0,12.2,509,15208,0.00,2.35,0.00,0.000,6,0.000,0.035,3148,2033,2320,0,0,0,0,0,0
$GC,15517,0.71,116.8,721.1,10.3,517,15521,0.00,2.38,0.00,0.000,4,0.000,0.048,3163,449,2320,0,0,0,0,0,0
$GC,15555,0.71,116.8,716.9,11.7,518,15560,0.15,2.30,0.00,0.000,6,0.159,0.034,3120,2045,2320,0,0,0,0,0,0
$GC,15878,0.71,116.8,687.4,9.2,526,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2045,2318,0,0,0,0,0,0
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$STATE,23054,end climb,SURFACE_DEPTH_REACHED
$STATE,23054,begin surface coast
$FINISH,0.7,1.013809
$STATE,23084,end surface coast,CONTROL_FINISHED_OK
$STATE,23084,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,22.596
$10V_AH,9.8,26.949
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335156
$DATA_FILE_SIZE,33360,898
$CAP_FILE_SIZE,183893,0
$CFSIZE,260165632,240328704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280710,134837,2104.453,-15845.827,36,1.0,36,9.8