version: 66.07
glider: 500
mission: 4
dive: 179
start: 7 29 110 3 20 26
data:
$ID,500
$MISSION,4
$DIVE,179
$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,-112555.75
$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,61
$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,178
$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
$GPS1,290710,025707,2104.740,-15842.465,40,1.2,40,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.8
$GPS2,290710,031931,2104.905,-15842.737,10,1.5,15,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.215,-0.056
$KALMAN_X,-171193.3,-284.2,230.5,306606.5,-2063.1
$KALMAN_Y,175871.5,95.4,-168.3,-107415.9,2035.2
$MHEAD_RNG_PITCHd_Wd,94.7,87397,-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,-45.75,0.000,2,0.000,0.000,133,2040,2543,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-5.0,9,113,10.05,2.33,-19.30,0.000,4,0.227,0.058,2654,464,3301,0,0,0,0,0,0
$GC,130,-0.71,-116.8,9.4,-12.0,19,136,0.00,2.25,0.00,0.000,6,0.000,0.034,2644,2035,3301,0,0,0,0,0,0
$GC,339,-0.71,-116.8,47.9,-17.9,48,343,0.00,2.35,0.00,0.000,4,0.000,0.042,2632,3613,3304,0,0,0,0,0,0
$GC,371,-0.71,-116.8,54.2,-19.4,50,377,0.00,2.28,0.00,0.000,6,0.000,0.029,2632,2039,3302,0,0,0,0,0,0
$GC,632,-0.71,-116.8,100.9,-17.0,75,636,0.00,2.33,0.00,0.000,4,0.000,0.043,2631,448,3302,0,0,0,0,0,0
$GC,664,-0.71,-116.8,106.4,-16.2,78,669,0.12,2.25,0.00,0.000,6,0.147,0.032,2659,2048,3302,0,0,0,0,0,0
$GC,925,-0.71,-116.8,138.7,-11.2,102,929,0.00,2.30,0.00,0.000,4,0.000,0.043,2646,3610,3303,0,0,0,0,0,0
$GC,986,-0.71,-116.8,145.5,-10.5,107,991,0.00,2.25,0.00,0.000,6,0.000,0.028,2645,2024,3303,0,0,0,0,0,0
$GC,1247,-0.71,-116.8,171.7,-10.3,131,1252,0.00,2.28,0.00,0.000,4,0.000,0.043,2646,453,3303,0,0,0,0,0,0
$GC,1269,-0.71,-116.8,174.4,-11.6,132,1275,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2045,3303,0,0,0,0,0,0
$GC,1528,-0.71,-116.8,205.8,-12.3,155,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2045,3305,0,0,0,0,0,0
$GC,1839,-0.71,-116.8,241.3,-10.3,170,1843,0.00,2.30,0.00,0.000,4,0.000,0.042,2622,3608,3303,0,0,0,0,0,0
$GC,1933,-0.71,-116.8,251.4,-10.5,174,1939,0.10,2.25,0.00,0.000,6,0.103,0.028,2663,2038,3304,0,0,0,0,0,0
$GC,2254,-0.71,-116.8,273.5,-7.5,190,2258,0.00,2.28,0.00,0.000,4,0.000,0.042,2663,450,3302,0,0,0,0,0,0
$GC,2383,-0.71,-116.8,285.9,-9.1,196,2387,0.00,2.20,0.00,0.000,6,0.000,0.031,2653,2024,3302,0,0,0,0,0,0
$GC,2706,-0.71,-116.8,312.2,-8.5,209,2710,0.00,2.25,0.00,0.000,4,0.000,0.042,2653,453,3301,0,0,0,0,0,0
$GC,2869,-0.71,-116.8,330.5,-10.4,212,2873,0.00,2.22,0.00,0.000,6,0.000,0.031,2642,2049,3301,0,0,0,0,0,0
$GC,3199,-0.71,-116.8,359.0,-8.4,220,3203,0.00,2.25,0.00,0.000,4,0.000,0.042,2629,3604,3302,0,0,0,0,0,0
$GC,3231,-0.71,-116.8,361.8,-8.6,220,3238,0.08,2.28,0.00,0.000,6,0.108,0.029,2671,2024,3299,0,0,0,0,0,0
$GC,3562,-0.71,-116.8,383.9,-6.7,229,3566,0.00,2.28,0.00,0.000,4,0.000,0.043,2672,448,3296,0,0,0,0,0,0
$GC,3628,-0.71,-116.8,389.2,-7.7,230,3632,0.00,2.25,0.00,0.000,6,0.000,0.031,2662,2011,3296,0,0,0,0,0,0
$GC,3970,-0.71,-116.8,411.4,-5.7,239,3975,0.00,2.28,0.00,0.000,4,0.000,0.043,2662,443,3297,0,0,0,0,0,0
$GC,4116,-0.71,-116.8,420.6,-6.4,242,4120,0.00,2.25,0.00,0.000,6,0.000,0.032,2650,2048,3292,0,0,0,0,0,0
$GC,4463,-0.71,-116.8,444.7,-7.5,251,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2048,3290,0,0,0,0,0,0
$GC,4788,-0.71,-116.8,470.4,-7.9,259,4792,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,3612,3288,0,0,0,0,0,0
$GC,4836,-0.71,-116.8,474.4,-8.2,260,4841,0.00,2.28,0.00,0.000,6,0.000,0.030,2638,2037,3287,0,0,0,0,0,0
$GC,5155,-0.71,-116.8,499.7,-8.0,268,5160,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,450,3286,0,0,0,0,0,0
$GC,5194,-0.71,-116.8,503.3,-9.2,269,5199,0.12,2.22,0.00,0.000,6,0.139,0.032,2665,2026,3284,0,0,0,0,0,0
$GC,5517,-0.71,-116.8,525.9,-7.0,277,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2029,3282,0,0,0,0,0,0
$GC,5843,-0.71,-116.8,545.5,-5.7,285,5847,0.00,2.33,0.00,0.000,4,0.000,0.044,2666,451,3280,0,0,0,0,0,0
$GC,5891,-0.71,-116.8,548.6,-6.5,286,5896,0.00,2.28,0.00,0.000,6,0.000,0.032,2656,2029,3279,0,0,0,0,0,0
$GC,6210,-0.71,-116.8,568.9,-6.6,294,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2029,3277,0,0,0,0,0,0
$GC,6536,-0.71,-116.8,589.2,-6.1,302,6540,0.00,2.35,0.00,0.000,4,0.000,0.044,2657,444,3275,0,0,0,0,0,0
$GC,6590,-0.71,-116.8,593.2,-7.8,303,6595,0.00,2.30,0.00,0.000,6,0.000,0.032,2645,2035,3274,0,0,0,0,0,0
$GC,6903,-0.71,-116.8,612.9,-6.2,311,6907,0.00,2.30,0.00,0.000,4,0.000,0.044,2630,3607,3273,0,0,0,0,0,0
$GC,6925,-0.71,-116.8,614.4,-6.6,311,6929,0.00,2.25,0.00,0.000,6,0.000,0.031,2633,2025,3273,0,0,0,0,0,0
$GC,7267,-0.71,-116.8,637.6,-6.5,320,7271,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,454,3270,0,0,0,0,0,0
$GC,7361,-0.71,-116.8,644.4,-6.9,322,7366,0.15,2.28,0.00,0.000,6,0.130,0.033,2669,2046,3270,0,0,0,0,0,0
$GC,7673,-0.71,-116.8,658.1,-4.3,330,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2048,3269,0,0,0,0,0,0
$GC,7998,-0.71,-116.8,672.2,-4.4,338,8002,0.00,2.35,0.00,0.000,4,0.000,0.045,2670,458,3271,0,0,0,0,0,0
$GC,8036,-0.71,-116.8,674.3,-5.1,338,8042,0.00,2.22,0.00,0.000,6,0.000,0.034,2660,2026,3267,0,0,0,0,0,0
$GC,8366,-0.71,-116.8,691.1,-5.0,347,8371,0.00,2.33,0.00,0.000,4,0.000,0.045,2660,456,3266,0,0,0,0,0,0
$GC,8410,-0.71,-116.8,693.7,-6.1,348,8414,0.00,2.28,0.00,0.000,6,0.000,0.033,2649,2021,3267,0,0,0,0,0,0
$GC,8735,-0.71,-116.8,712.2,-6.0,356,8739,0.00,2.35,0.00,0.000,4,0.000,0.046,2637,3616,3266,0,0,0,0,0,0
$GC,8779,-0.71,-116.8,715.3,-7.0,357,8783,0.00,2.30,0.00,0.000,6,0.000,0.031,2637,2025,3265,0,0,0,0,0,0
$GC,9107,-0.71,-116.8,737.9,-6.9,365,9112,0.00,2.33,0.00,0.000,4,0.000,0.046,2637,458,3265,0,0,0,0,0,0
$GC,9237,-0.71,-116.8,747.6,-7.5,368,9242,0.12,2.25,0.00,0.000,6,0.140,0.033,2664,2038,3264,0,0,0,0,0,0
$GC,9560,-0.71,-116.8,764.3,-5.0,376,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2039,3263,0,0,0,0,0,0
$GC,9886,-0.71,-116.8,780.7,-5.1,384,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2038,3261,0,0,0,0,0,0
$GC,10210,-0.71,-116.8,798.5,-5.6,392,10214,0.00,2.35,0.00,0.000,4,0.000,0.046,2665,450,3260,0,0,0,0,0,0
$GC,10242,-0.71,-116.8,800.7,-6.8,392,10248,0.00,2.30,0.00,0.000,6,0.000,0.034,2654,2023,3261,0,0,0,0,0,0
$GC,10574,-0.71,-116.8,821.5,-6.4,401,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2023,3260,0,0,0,0,0,0
$GC,10898,-0.71,-116.8,842.8,-6.6,409,10902,0.00,2.33,0.00,0.000,4,0.000,0.047,2654,454,3261,0,0,0,0,0,0
$GC,10930,-0.71,-116.8,845.3,-7.2,409,10936,0.00,2.33,0.00,0.000,6,0.000,0.035,2643,2047,3259,0,0,0,0,0,0
$GC,11261,-0.71,-116.8,868.8,-7.0,418,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2047,3258,0,0,0,0,0,0
$GC,11586,-0.71,-116.8,890.1,-6.2,426,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2047,3257,0,0,0,0,0,0
$GC,11911,-0.71,-116.8,909.6,-5.8,434,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2047,3256,0,0,0,0,0,0
$GC,12236,-0.71,-116.8,927.0,-5.2,442,12240,0.00,2.38,0.00,0.000,4,0.000,0.048,2643,453,3256,0,0,0,0,0,0
$GC,12296,-0.71,-116.8,930.6,-5.6,443,12301,0.00,2.28,0.00,0.000,6,0.000,0.035,2632,2029,3257,0,0,0,0,0,0
$GC,12638,-0.71,-116.8,948.1,-5.1,452,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2029,3253,0,0,0,0,0,0
$GC,12963,-0.71,-116.8,964.3,-4.9,460,12967,0.00,2.33,0.00,0.000,4,0.000,0.048,2632,461,3255,0,0,0,0,0,0
$GC,13041,-0.71,-116.8,968.8,-5.5,461,13048,0.12,2.28,0.00,0.000,6,0.143,0.035,2659,2031,3255,0,0,0,0,0,0
$GC,13372,-0.71,-116.8,983.2,-4.4,470,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2032,3255,0,0,0,0,0,0
$STATE,13532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13532,begin apogee
$GC,13536,-0.23,0.0,990.3,4.4,474,13633,0.45,0.00,93.70,1.295,6,0.104,0.000,2815,2032,2822,0,0,0,0,0,0
$STATE,13635,end apogee,CONTROL_FINISHED_OK
$STATE,13635,begin climb
$GC,13638,0.71,116.8,991.5,0.0,476,13759,0.85,2.60,111.22,1.256,4,0.061,0.044,3123,3604,2344,0,0,0,0,0,0
$GC,13792,0.71,116.8,979.3,14.2,480,13797,0.00,2.47,0.00,0.000,6,0.000,0.035,3135,2044,2339,0,0,0,0,0,0
$GC,14105,0.71,116.8,934.5,14.4,488,14109,0.00,2.45,0.00,0.000,4,0.000,0.048,3146,444,2330,0,0,0,0,0,0
$GC,14153,0.71,116.8,926.8,15.1,489,14158,0.00,2.38,0.00,0.000,6,0.000,0.035,3147,2022,2330,0,0,0,0,0,0
$GC,14472,0.71,116.8,878.4,15.2,497,14476,0.00,2.40,0.00,0.000,4,0.000,0.049,3159,443,2326,0,0,0,0,0,0
$GC,14503,0.71,116.8,873.3,15.2,497,14509,0.10,2.38,0.00,0.000,6,0.138,0.035,3125,2039,2328,0,0,0,0,0,0
$GC,14840,0.71,116.8,826.4,13.8,506,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2040,2325,0,0,0,0,0,0
$GC,15165,0.71,116.8,783.2,13.1,514,15169,0.00,2.38,0.00,0.000,4,0.000,0.045,3126,3622,2325,0,0,0,0,0,0
$GC,15196,0.71,116.8,778.6,13.9,514,15203,0.00,2.40,0.00,0.000,6,0.000,0.035,3136,2015,2324,0,0,0,0,0,0
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$STATE,23277,end climb,SURFACE_DEPTH_REACHED
$STATE,23278,begin surface coast
$FINISH,0.8,1.023009
$STATE,23311,end surface coast,CONTROL_FINISHED_OK
$STATE,23311,begin surface
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$TCM_TEMP,25.10
$XPDR_PINGS,2
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$AR_CDRIVE_FREE,8399224832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49484693504
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,23.009
$10V_AH,9.7,27.191
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.375,212.950,308.225,70.775,0.000,114.750,169.766,659.527,0.500,0.000,17.076,1849.468,18803.418,547.280,3318.835,294.085,33.369,1790.689,0.000,2210.650,0.000,0.541,0.000
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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,335128
$DATA_FILE_SIZE,33305,924
$CAP_FILE_SIZE,206048,0
$CFSIZE,260165632,239923200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,095300,2105.273,-15840.737,34,1.4,34,9.8