version: 66.07
glider: 500
mission: 4
dive: 177
start: 7 28 110 13 59 2
data:
$ID,500
$MISSION,4
$DIVE,177
$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,-112519.55
$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,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,176
$AR_SAMPLENUM,6
$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
$GPS1,280710,134837,2104.453,-15845.827,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.4
$GPS2,280710,135807,2104.548,-15845.956,10,1.6,15,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.223,-0.002
$KALMAN_X,-167319.0,269.2,206.7,296621.6,-2691.6
$KALMAN_Y,172879.5,-131.4,405.1,-105432.6,642.6
$MHEAD_RNG_PITCHd_Wd,80.6,92947,-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,-46.15,0.000,2,0.000,0.000,131,2029,2546,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-5.3,9,113,10.12,2.38,-18.85,0.000,4,0.228,0.055,2654,464,3301,0,0,0,0,0,0
$GC,147,-0.71,-116.8,13.6,-17.8,22,153,0.00,2.25,0.00,0.000,6,0.000,0.032,2645,2038,3302,0,0,0,0,0,0
$GC,349,-0.71,-116.8,51.2,-18.8,49,353,0.00,2.33,0.00,0.000,4,0.000,0.041,2632,3609,3302,0,0,0,0,0,0
$GC,392,-0.71,-116.8,60.0,-20.4,52,398,0.00,2.28,0.00,0.000,6,0.000,0.028,2630,2038,3299,0,0,0,0,0,0
$GC,653,-0.71,-116.8,105.4,-16.7,77,657,0.00,2.30,0.00,0.000,4,0.000,0.041,2629,458,3303,0,0,0,0,0,0
$GC,752,-0.71,-116.8,119.0,-13.5,85,759,0.08,2.28,0.00,0.000,6,0.123,0.031,2649,2040,3303,0,0,0,0,0,0
$GC,1014,-0.71,-116.8,149.4,-11.5,110,1018,0.00,2.33,0.00,0.000,4,0.000,0.042,2639,3611,3305,0,0,0,0,0,0
$GC,1154,-0.71,-116.8,165.5,-10.7,122,1158,0.00,2.25,0.00,0.000,6,0.000,0.028,2639,2028,3306,0,0,0,0,0,0
$GC,1415,-0.71,-116.8,193.3,-10.6,146,1419,0.00,2.28,0.00,0.000,4,0.000,0.041,2637,454,3306,0,0,0,0,0,0
$GC,1442,-0.71,-116.8,196.2,-10.4,148,1447,0.12,2.22,0.00,0.000,6,0.140,0.031,2665,2047,3309,0,0,0,0,0,0
$GC,1696,-0.71,-116.8,219.3,-9.4,162,1700,0.00,2.28,0.00,0.000,4,0.000,0.042,2655,3606,3307,0,0,0,0,0,0
$GC,1767,-0.71,-116.8,225.7,-8.7,165,1771,0.00,2.25,0.00,0.000,6,0.000,0.028,2656,2033,3309,0,0,0,0,0,0
$GC,2088,-0.71,-116.8,252.8,-8.4,181,2092,0.00,2.30,0.00,0.000,4,0.000,0.042,2655,445,3307,0,0,0,0,0,0
$GC,2165,-0.71,-116.8,260.3,-9.6,184,2170,0.00,2.25,0.00,0.000,6,0.000,0.031,2642,2019,3307,0,0,0,0,0,0
$GC,2487,-0.71,-116.8,290.1,-8.8,200,2491,0.00,2.33,0.00,0.000,4,0.000,0.042,2631,3609,3306,0,0,0,0,0,0
$GC,2518,-0.71,-116.8,293.1,-9.5,201,2525,0.00,2.28,0.00,0.000,6,0.000,0.028,2631,2021,3309,0,0,0,0,0,0
$GC,2851,-0.71,-116.8,323.4,-8.9,212,2855,0.10,2.28,0.00,0.000,4,0.142,0.042,2664,454,3306,0,0,0,0,0,0
$GC,2968,-0.71,-116.8,332.1,-6.9,214,2972,0.00,2.25,0.00,0.000,6,0.000,0.031,2654,2047,3305,0,0,0,0,0,0
$GC,3298,-0.71,-116.8,354.0,-6.7,222,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2047,3303,0,0,0,0,0,0
$GC,3623,-0.71,-116.8,379.6,-8.1,230,3627,0.00,2.33,0.00,0.000,4,0.000,0.044,2642,3609,3301,0,0,0,0,0,0
$GC,3689,-0.71,-116.8,385.4,-8.5,231,3694,0.00,2.28,0.00,0.000,6,0.000,0.029,2642,2037,3301,0,0,0,0,0,0
$GC,4032,-0.71,-116.8,413.6,-7.8,240,4036,0.00,2.30,0.00,0.000,4,0.000,0.043,2642,449,3297,0,0,0,0,0,0
$GC,4074,-0.71,-116.8,417.5,-8.7,241,4079,0.00,2.28,0.00,0.000,6,0.000,0.032,2631,2036,3298,0,0,0,0,0,0
$GC,4399,-0.71,-116.8,444.7,-8.7,249,4403,0.00,2.33,0.00,0.000,4,0.000,0.043,2631,449,3296,0,0,0,0,0,0
$GC,4442,-0.71,-116.8,449.1,-10.9,250,4447,0.10,2.25,0.00,0.000,6,0.105,0.032,2659,2014,3296,0,0,0,0,0,0
$GC,4766,-0.71,-116.8,476.1,-8.2,258,4770,0.00,2.30,0.00,0.000,4,0.000,0.044,2659,447,3293,0,0,0,0,0,0
$GC,4792,-0.71,-116.8,478.5,-8.9,258,4796,0.00,2.30,0.00,0.000,6,0.000,0.032,2649,2045,3291,0,0,0,0,0,0
$GC,5134,-0.71,-116.8,504.1,-6.8,267,5138,0.00,2.33,0.00,0.000,4,0.000,0.043,2649,452,3291,0,0,0,0,0,0
$GC,5195,-0.71,-116.8,508.2,-6.4,268,5200,0.00,2.28,0.00,0.000,6,0.000,0.032,2637,2027,3290,0,0,0,0,0,0
$GC,5543,-0.71,-116.8,529.5,-6.4,277,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2028,3288,0,0,0,0,0,0
$GC,5868,-0.71,-116.8,555.5,-8.3,285,5872,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,454,3286,0,0,0,0,0,0
$GC,5888,-0.71,-116.8,557.5,-9.3,285,5893,0.08,2.28,0.00,0.000,6,0.110,0.032,2657,2032,3285,0,0,0,0,0,0
$GC,6231,-0.71,-116.8,581.2,-6.6,294,6235,0.00,2.30,0.00,0.000,4,0.000,0.044,2647,3605,3282,0,0,0,0,0,0
$GC,6270,-0.71,-116.8,583.8,-6.8,295,6274,0.00,2.28,0.00,0.000,6,0.000,0.031,2648,2027,3283,0,0,0,0,0,0
$GC,6592,-0.71,-116.8,606.4,-7.3,303,6597,0.00,2.30,0.00,0.000,4,0.000,0.045,2647,455,3282,0,0,0,0,0,0
$GC,6676,-0.71,-116.8,613.7,-8.8,305,6681,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2046,3281,0,0,0,0,0,0
$GC,7000,-0.71,-116.8,638.9,-7.4,313,7004,0.00,2.28,0.00,0.000,4,0.000,0.044,2625,3601,3280,0,0,0,0,0,0
$GC,7026,-0.71,-116.8,640.9,-7.6,313,7031,0.12,2.25,0.00,0.000,6,0.130,0.031,2665,2028,3280,0,0,0,0,0,0
$GC,7362,-0.71,-116.8,655.5,-3.6,322,7366,0.00,2.33,0.00,0.000,4,0.000,0.045,2665,455,3281,0,0,0,0,0,0
$GC,7446,-0.71,-116.8,659.3,-5.2,324,7450,0.00,2.22,0.00,0.000,6,0.000,0.033,2655,2028,3277,0,0,0,0,0,0
$GC,7769,-0.71,-116.8,674.6,-5.0,332,7773,0.00,2.33,0.00,0.000,4,0.000,0.044,2644,3606,3276,0,0,0,0,0,0
$GC,7806,-0.71,-116.8,676.8,-6.4,332,7812,0.00,2.30,0.00,0.000,6,0.000,0.030,2644,2029,3276,0,0,0,0,0,0
$GC,8138,-0.71,-116.8,696.5,-6.0,341,8142,0.00,2.33,0.00,0.000,4,0.000,0.045,2644,449,3277,0,0,0,0,0,0
$GC,8187,-0.71,-116.8,700.0,-6.9,342,8191,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,2037,3274,0,0,0,0,0,0
$GC,8505,-0.71,-116.8,721.0,-6.5,350,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2037,3273,0,0,0,0,0,0
$GC,8830,-0.71,-116.8,740.9,-6.0,358,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2037,3275,0,0,0,0,0,0
$GC,9156,-0.71,-116.8,762.1,-6.7,366,9160,0.00,2.38,0.00,0.000,4,0.000,0.045,2632,449,3271,0,0,0,0,0,0
$GC,9182,-0.71,-116.8,764.1,-7.4,366,9187,0.10,2.30,0.00,0.000,6,0.109,0.033,2676,2028,3271,0,0,0,0,0,0
$GC,9518,-0.71,-116.8,780.8,-4.6,375,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2027,3270,0,0,0,0,0,0
$GC,9843,-0.71,-116.8,793.4,-3.7,383,9848,0.00,2.35,0.00,0.000,4,0.000,0.046,2676,459,3270,0,0,0,0,0,0
$GC,9898,-0.71,-116.8,795.7,-4.1,384,9903,0.00,2.30,0.00,0.000,6,0.000,0.033,2667,2033,3269,0,0,0,0,0,0
$GC,10211,-0.71,-116.8,807.7,-4.0,392,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2033,3267,0,0,0,0,0,0
$GC,10537,-0.71,-116.8,821.0,-4.2,400,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2033,3268,0,0,0,0,0,0
$GC,10861,-0.71,-116.8,834.4,-3.9,408,10865,0.00,2.38,0.00,0.000,4,0.000,0.047,2671,451,3268,0,0,0,0,0,0
$GC,10916,-0.71,-116.8,837.0,-5.1,409,10921,0.00,2.28,0.00,0.000,6,0.000,0.034,2656,2047,3267,0,0,0,0,0,0
$GC,11235,-0.71,-116.8,850.0,-4.1,417,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2047,3267,0,0,0,0,0,0
$GC,11560,-0.71,-116.8,864.0,-4.3,425,11564,0.00,2.38,0.00,0.000,4,0.000,0.046,2656,461,3267,0,0,0,0,0,0
$GC,11610,-0.71,-116.8,866.7,-5.6,426,11615,0.00,2.25,0.00,0.000,6,0.000,0.034,2645,2034,3266,0,0,0,0,0,0
$GC,11929,-0.71,-116.8,882.4,-4.9,434,11933,0.00,2.38,0.00,0.000,4,0.000,0.045,2645,449,3266,0,0,0,0,0,0
$GC,11977,-0.71,-116.8,885.3,-5.6,435,11982,0.00,2.30,0.00,0.000,6,0.000,0.032,2634,2024,3267,0,0,0,0,0,0
$GC,12296,-0.71,-116.8,903.0,-5.6,443,12300,0.00,2.35,0.00,0.000,4,0.000,0.046,2634,454,3266,0,0,0,0,0,0
$GC,12339,-0.71,-116.8,905.8,-6.6,444,12344,0.12,2.25,0.00,0.000,6,0.138,0.033,2661,2033,3265,0,0,0,0,0,0
$GC,12663,-0.71,-116.8,920.9,-4.6,452,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2034,3265,0,0,0,0,0,0
$GC,12988,-0.71,-116.8,935.9,-4.6,460,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2034,3263,0,0,0,0,0,0
$GC,13313,-0.71,-116.8,949.1,-3.9,468,13317,0.00,2.35,0.00,0.000,4,0.000,0.047,2661,455,3265,0,0,0,0,0,0
$GC,13373,-0.71,-116.8,951.9,-4.7,469,13377,0.00,2.28,0.00,0.000,6,0.000,0.034,2651,2040,3264,0,0,0,0,0,0
$STATE,13516,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13516,begin apogee
$GC,13520,-0.23,0.0,957.5,3.9,473,13618,0.47,0.00,95.18,1.276,6,0.104,0.000,2812,2039,2823,0,0,0,0,0,0
$STATE,13621,end apogee,CONTROL_FINISHED_OK
$STATE,13621,begin climb
$GC,13623,0.71,116.8,957.8,0.0,475,13746,0.85,2.62,111.25,1.239,4,0.062,0.044,3127,3601,2343,0,0,0,0,0,0
$GC,13768,0.71,116.8,945.0,14.5,478,13772,0.00,2.45,0.00,0.000,6,0.000,0.034,3138,2041,2339,0,0,0,0,0,0
$GC,14116,0.71,116.8,893.8,14.4,487,14120,0.00,2.42,0.00,0.000,4,0.000,0.048,3150,441,2329,0,0,0,0,0,0
$GC,14164,0.71,116.8,886.4,14.8,488,14169,0.08,2.38,0.00,0.000,6,0.137,0.035,3125,2038,2327,0,0,0,0,0,0
$GC,14482,0.71,116.8,846.1,12.3,496,14486,0.00,2.40,0.00,0.000,4,0.000,0.047,3136,453,2325,0,0,0,0,0,0
$GC,14565,0.71,116.8,835.2,13.1,497,14572,0.00,2.33,0.00,0.000,6,0.000,0.034,3136,2017,2325,0,0,0,0,0,0
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$GC,15546,0.71,116.8,718.0,12.1,522,15547,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2014,2323,0,0,0,0,0,0
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$STATE,22615,end climb,SURFACE_DEPTH_REACHED
$STATE,22616,begin surface coast
$FINISH,0.9,1.009451
$STATE,22657,end surface coast,CONTROL_FINISHED_OK
$STATE,22657,begin surface
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$SM_GC,1.59,0.00,0.00,85.85,0.000,0.000,0.075,118,2045,1295,-8.67,0.42,375.06
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$TT8_MAMPS,0.289159
$HUMID,1078372248
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$TCM_TEMP,25.10
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8430288896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49621499904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,22.714
$10V_AH,9.6,27.025
$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,335112
$DATA_FILE_SIZE,30015,892
$CAP_FILE_SIZE,189041,0
$CFSIZE,260165632,240218112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,201954,2104.997,-15844.121,36,1.9,36,9.8