version: 66.07
glider: 500
mission: 4
dive: 178
start: 7 28 110 20 37 39
data:
$ID,500
$MISSION,4
$DIVE,178
$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,-112538.04
$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,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,177
$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
$GPS1,280710,201954,2104.997,-15844.121,36,1.9,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.4
$GPS2,280710,203644,2105.078,-15844.413,16,1.4,16,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.206,-0.083
$KALMAN_X,-169282.5,127.1,-195.5,301802.9,-1998.6
$KALMAN_Y,174729.9,-373.7,-190.9,-105469.6,2608.7
$MHEAD_RNG_PITCHd_Wd,102.2,90128,-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,-46.30,0.000,2,0.000,0.000,117,2044,2552,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.2,-4.9,9,112,10.18,0.00,-18.83,0.000,6,0.228,0.000,2665,2044,3303,0,0,0,0,0,0
$GC,310,-0.71,-116.8,43.0,-18.7,46,314,0.00,2.33,0.00,0.000,4,0.000,0.044,2659,463,3302,0,0,0,0,0,0
$GC,365,-0.71,-116.8,53.8,-19.0,50,371,0.00,2.28,0.00,0.000,6,0.000,0.035,2650,2029,3302,0,0,0,0,0,0
$GC,626,-0.71,-116.8,98.2,-15.2,75,630,0.00,2.33,0.00,0.000,4,0.000,0.044,2637,3606,3302,0,0,0,0,0,0
$GC,657,-0.71,-116.8,102.9,-14.5,77,664,0.00,2.28,0.00,0.000,6,0.000,0.028,2642,2027,3302,0,0,0,0,0,0
$GC,919,-0.71,-116.8,137.2,-11.3,102,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2024,3303,0,0,0,0,0,0
$GC,1173,-0.71,-116.8,168.3,-12.8,126,1178,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,454,3304,0,0,0,0,0,0
$GC,1251,-0.71,-116.8,178.1,-12.5,132,1258,0.08,2.28,0.00,0.000,6,0.116,0.034,2653,2031,3305,0,0,0,0,0,0
$GC,1523,-0.71,-116.8,204.1,-9.0,156,1527,0.00,2.28,0.00,0.000,4,0.000,0.044,2656,459,3305,0,0,0,0,0,0
$GC,1544,-0.71,-116.8,206.4,-9.5,157,1549,0.00,2.25,0.00,0.000,6,0.000,0.032,2646,2032,3303,0,0,0,0,0,0
$GC,1871,-0.71,-116.8,239.3,-10.7,173,1875,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,3606,3304,0,0,0,0,0,0
$GC,1914,-0.71,-116.8,244.1,-11.2,175,1918,0.00,2.25,0.00,0.000,6,0.000,0.028,2634,2038,3305,0,0,0,0,0,0
$GC,2241,-0.71,-116.8,276.0,-8.6,191,2245,0.00,2.30,0.00,0.000,4,0.000,0.042,2634,450,3306,0,0,0,0,0,0
$GC,2324,-0.71,-116.8,284.3,-10.2,195,2329,0.12,2.25,0.00,0.000,6,0.134,0.032,2662,2048,3305,0,0,0,0,0,0
$GC,2667,-0.71,-116.8,315.2,-9.2,208,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2048,3303,0,0,0,0,0,0
$GC,2993,-0.71,-116.8,340.2,-7.3,216,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2048,3304,0,0,0,0,0,0
$GC,3318,-0.71,-116.8,362.8,-7.1,224,3322,0.00,2.33,0.00,0.000,4,0.000,0.043,2662,451,3301,0,0,0,0,0,0
$GC,3378,-0.71,-116.8,368.1,-9.1,225,3382,0.00,2.25,0.00,0.000,6,0.000,0.032,2652,2018,3303,0,0,0,0,0,0
$GC,3692,-0.71,-116.8,392.6,-7.4,233,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2014,3299,0,0,0,0,0,0
$GC,4016,-0.71,-116.8,412.4,-5.7,241,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2015,3298,0,0,0,0,0,0
$GC,4341,-0.71,-116.8,432.8,-6.6,249,4345,0.00,2.38,0.00,0.000,4,0.000,0.044,2640,3608,3295,0,0,0,0,0,0
$GC,4413,-0.71,-116.8,438.1,-7.2,250,4417,0.00,2.25,0.00,0.000,6,0.000,0.029,2640,2018,3295,0,0,0,0,0,0
$GC,4743,-0.71,-116.8,462.5,-7.3,258,4747,0.00,2.28,0.00,0.000,4,0.000,0.043,2640,452,3293,0,0,0,0,0,0
$GC,4821,-0.71,-116.8,468.8,-7.8,259,4826,0.08,2.28,0.00,0.000,6,0.107,0.032,2659,2030,3293,0,0,0,0,0,0
$GC,5158,-0.71,-116.8,489.9,-6.3,268,5162,0.00,2.30,0.00,0.000,4,0.000,0.044,2660,451,3291,0,0,0,0,0,0
$GC,5229,-0.71,-116.8,495.1,-7.2,269,5233,0.00,2.25,0.00,0.000,6,0.000,0.032,2650,2048,3290,0,0,0,0,0,0
$GC,5566,-0.71,-116.8,518.6,-7.1,278,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2051,3288,0,0,0,0,0,0
$GC,5891,-0.71,-116.8,543.3,-7.7,286,5895,0.00,2.33,0.00,0.000,4,0.000,0.043,2650,457,3284,0,0,0,0,0,0
$GC,5951,-0.71,-116.8,548.6,-8.8,287,5956,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2037,3286,0,0,0,0,0,0
$GC,6299,-0.71,-116.8,575.2,-7.4,296,6303,0.00,2.30,0.00,0.000,4,0.000,0.044,2628,3604,3285,0,0,0,0,0,0
$GC,6343,-0.71,-116.8,578.5,-8.0,297,6348,0.12,2.28,0.00,0.000,6,0.128,0.031,2667,2022,3285,0,0,0,0,0,0
$GC,6660,-0.71,-116.8,595.4,-4.9,305,6664,0.00,2.30,0.00,0.000,4,0.000,0.045,2667,450,3283,0,0,0,0,0,0
$GC,6738,-0.71,-116.8,599.8,-5.8,306,6744,0.00,2.28,0.00,0.000,6,0.000,0.032,2658,2026,3283,0,0,0,0,0,0
$GC,7069,-0.71,-116.8,617.3,-5.6,315,7073,0.00,2.33,0.00,0.000,4,0.000,0.044,2658,455,3282,0,0,0,0,0,0
$GC,7117,-0.71,-116.8,620.8,-7.1,316,7122,0.00,2.28,0.00,0.000,6,0.000,0.033,2648,2027,3282,0,0,0,0,0,0
$GC,7437,-0.71,-116.8,644.1,-7.5,324,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2027,3283,0,0,0,0,0,0
$GC,7761,-0.71,-116.8,667.0,-6.9,332,7765,0.00,2.35,0.00,0.000,4,0.000,0.044,2635,3614,3282,0,0,0,0,0,0
$GC,7804,-0.71,-116.8,670.2,-8.0,333,7809,0.00,2.33,0.00,0.000,6,0.000,0.031,2635,2026,3279,0,0,0,0,0,0
$GC,8129,-0.71,-116.8,694.5,-7.6,341,8133,0.00,2.33,0.00,0.000,4,0.000,0.045,2635,451,3277,0,0,0,0,0,0
$GC,8218,-0.71,-116.8,702.4,-8.8,343,8223,0.12,2.25,0.00,0.000,6,0.138,0.033,2663,2037,3277,0,0,0,0,0,0
$GC,8541,-0.71,-116.8,724.8,-7.0,351,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2037,3277,0,0,0,0,0,0
$GC,8866,-0.71,-116.8,746.5,-6.5,359,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2036,3275,0,0,0,0,0,0
$GC,9191,-0.71,-116.8,766.9,-6.1,367,9195,0.00,2.35,0.00,0.000,4,0.000,0.046,2663,451,3275,0,0,0,0,0,0
$GC,9230,-0.71,-116.8,769.5,-7.1,368,9234,0.00,2.25,0.00,0.000,6,0.000,0.034,2654,2027,3273,0,0,0,0,0,0
$GC,9553,-0.71,-116.8,788.3,-5.7,376,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2027,3274,0,0,0,0,0,0
$GC,9878,-0.71,-116.8,805.0,-5.0,384,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2028,3273,0,0,0,0,0,0
$GC,10203,-0.71,-116.8,820.6,-4.9,392,10207,0.00,2.35,0.00,0.000,4,0.000,0.047,2654,454,3274,0,0,0,0,0,0
$GC,10246,-0.71,-116.8,823.1,-5.7,393,10251,0.00,2.25,0.00,0.000,6,0.000,0.034,2648,2035,3273,0,0,0,0,0,0
$GC,10570,-0.71,-116.8,841.2,-5.9,401,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3272,0,0,0,0,0,0
$GC,10896,-0.71,-116.8,859.5,-5.5,409,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2033,3270,0,0,0,0,0,0
$GC,11220,-0.71,-116.8,877.6,-5.7,417,11224,0.00,2.35,0.00,0.000,4,0.000,0.047,2642,454,3271,0,0,0,0,0,0
$GC,11253,-0.71,-116.8,879.8,-6.6,417,11259,0.00,2.30,0.00,0.000,6,0.000,0.034,2629,2024,3271,0,0,0,0,0,0
$GC,11584,-0.71,-116.8,903.2,-7.3,426,11588,0.00,2.33,0.00,0.000,4,0.000,0.047,2632,456,3271,0,0,0,0,0,0
$GC,11628,-0.71,-116.8,906.8,-8.9,427,11633,0.12,2.28,0.00,0.000,6,0.140,0.034,2659,2039,3270,0,0,0,0,0,0
$GC,11952,-0.71,-116.8,927.1,-6.2,435,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2039,3270,0,0,0,0,0,0
$GC,12277,-0.71,-116.8,945.8,-5.6,443,12281,0.00,2.35,0.00,0.000,4,0.000,0.047,2659,457,3269,0,0,0,0,0,0
$GC,12315,-0.71,-116.8,948.3,-5.6,444,12320,0.00,2.28,0.00,0.000,6,0.000,0.034,2650,2030,3269,0,0,0,0,0,0
$GC,12639,-0.71,-116.8,966.7,-5.5,452,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2030,3269,0,0,0,0,0,0
$GC,12964,-0.71,-116.8,983.7,-5.2,460,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2029,3268,0,0,0,0,0,0
$STATE,13084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13084,begin apogee
$GC,13088,-0.23,0.0,990.1,5.2,463,13187,0.50,0.00,96.43,1.298,6,0.104,0.000,2819,2029,2822,0,0,0,0,0,0
$STATE,13190,end apogee,CONTROL_FINISHED_OK
$STATE,13190,begin climb
$GC,13192,0.71,116.8,991.5,0.0,465,13315,0.80,2.67,110.88,1.262,4,0.058,0.045,3122,3614,2347,0,0,0,0,0,0
$GC,13376,0.71,116.8,975.2,14.8,469,13381,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,2015,2337,0,0,0,0,0,0
$GC,13689,0.71,116.8,933.1,13.2,477,13693,0.00,2.38,0.00,0.000,4,0.000,0.048,3146,456,2328,0,0,0,0,0,0
$GC,13728,0.71,116.8,927.9,15.0,478,13732,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,2025,2329,0,0,0,0,0,0
$GC,14051,0.71,116.8,883.3,13.7,486,14056,0.10,2.40,0.00,0.000,4,0.175,0.048,3131,447,2327,0,0,0,0,0,0
$GC,14094,0.71,116.8,877.4,13.3,487,14098,0.00,2.35,0.00,0.000,6,0.000,0.034,3130,2026,2327,0,0,0,0,0,0
$GC,14418,0.71,116.8,834.1,13.6,495,14422,0.00,2.35,0.00,0.000,4,0.000,0.045,3130,3612,2326,0,0,0,0,0,0
$GC,14433,0.71,116.8,831.6,13.5,495,14438,0.00,2.35,0.00,0.000,6,0.000,0.034,3142,2034,2325,0,0,0,0,0,0
$GC,14781,0.71,116.8,784.2,13.4,504,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2034,2325,0,0,0,0,0,0
$GC,15107,0.71,116.8,743.8,12.1,512,15111,0.00,2.38,0.00,0.000,4,0.000,0.048,3154,453,2324,0,0,0,0,0,0
$GC,15144,0.71,116.8,739.0,12.9,512,15151,0.10,2.33,0.00,0.000,6,0.138,0.035,3121,2038,2324,0,0,0,0,0,0
$GC,15475,0.71,116.8,701.3,11.5,521,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2038,2324,0,0,0,0,0,0
$GC,15800,0.71,116.8,663.0,11.9,529,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2038,2324,0,0,0,0,0,0
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$STATE,22545,end climb,SURFACE_DEPTH_REACHED
$STATE,22545,begin surface coast
$FINISH,0.8,1.013808
$STATE,22576,end surface coast,CONTROL_FINISHED_OK
$STATE,22576,begin surface
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$TCM_TEMP,25.00
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8422457344
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49546526720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,22.862
$10V_AH,9.6,27.104
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.350,176.400,310.250,74.600,0.000,60.862,54.651,623.431,0.500,0.000,17.854,1744.815,18331.014,533.662,2818.040,258.232,33.377,1660.792,0.000,1981.688,0.000,0.542,0.000
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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,335084
$DATA_FILE_SIZE,30125,896
$CAP_FILE_SIZE,186261,0
$CFSIZE,260165632,240087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290710,025707,2104.740,-15842.465,40,1.2,40,9.8