version: 66.07
glider: 500
mission: 4
dive: 180
start: 7 29 110 10 5 58
data:
$ID,500
$MISSION,4
$DIVE,180
$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,-112587.95
$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,54
$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,179
$AR_SAMPLENUM,11
$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
$GPS1,290710,095300,2105.273,-15840.737,34,1.4,34,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.1
$GPS2,290710,100504,2105.317,-15840.950,9,2.3,28,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,0.036
$KALMAN_X,-172983.4,-0.2,-179.5,311623.1,-1111.3
$KALMAN_Y,177279.1,297.1,276.4,-108711.6,163.4
$MHEAD_RNG_PITCHd_Wd,70.9,84220,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.92,0.000,2,0.000,0.000,132,2029,2679,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-5.6,10,112,10.05,2.35,-14.07,0.000,4,0.225,0.055,2654,455,3301,0,0,0,0,0,0
$GC,152,-0.71,-116.8,15.8,-17.0,23,157,0.00,2.28,0.00,0.000,6,0.000,0.032,2650,2034,3301,0,0,0,0,0,0
$GC,358,-0.71,-116.8,55.2,-19.1,49,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2031,3302,0,0,0,0,0,0
$GC,613,-0.71,-116.8,99.8,-15.4,73,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2034,3302,0,0,0,0,0,0
$GC,868,-0.71,-116.8,136.5,-14.7,97,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2035,3301,0,0,0,0,0,0
$GC,1123,-0.71,-116.8,168.0,-12.4,121,1127,0.00,2.30,0.00,0.000,4,0.000,0.044,2645,451,3303,0,0,0,0,0,0
$GC,1184,-0.71,-116.8,175.9,-12.9,126,1188,0.00,2.25,0.00,0.000,6,0.000,0.032,2633,2040,3306,0,0,0,0,0,0
$GC,1453,-0.71,-116.8,207.7,-11.2,148,1457,0.00,2.33,0.00,0.000,4,0.000,0.042,2633,445,3305,0,0,0,0,0,0
$GC,1520,-0.71,-116.8,215.2,-10.7,151,1525,0.12,2.22,0.00,0.000,6,0.140,0.031,2660,2029,3303,0,0,0,0,0,0
$GC,1840,-0.71,-116.8,242.6,-7.7,167,1844,0.00,2.33,0.00,0.000,4,0.000,0.042,2649,3610,3307,0,0,0,0,0,0
$GC,1917,-0.71,-116.8,248.7,-8.1,170,1921,0.00,2.25,0.00,0.000,6,0.000,0.028,2649,2019,3304,0,0,0,0,0,0
$GC,2238,-0.71,-116.8,277.1,-8.8,186,2242,0.00,2.25,0.00,0.000,4,0.000,0.043,2650,451,3304,0,0,0,0,0,0
$GC,2276,-0.71,-116.8,280.9,-10.0,188,2281,0.00,2.22,0.00,0.000,6,0.000,0.031,2638,2045,3304,0,0,0,0,0,0
$GC,2602,-0.71,-116.8,308.0,-7.9,202,2606,0.00,2.28,0.00,0.000,4,0.000,0.043,2626,3606,3303,0,0,0,0,0,0
$GC,2641,-0.71,-116.8,311.2,-8.1,203,2646,0.12,2.22,0.00,0.000,6,0.127,0.028,2667,2019,3303,0,0,0,0,0,0
$GC,2964,-0.71,-116.8,333.9,-6.9,211,2968,0.00,2.25,0.00,0.000,4,0.000,0.042,2667,454,3301,0,0,0,0,0,0
$GC,2990,-0.71,-116.8,335.9,-7.4,211,2995,0.00,2.25,0.00,0.000,6,0.000,0.031,2657,2030,3301,0,0,0,0,0,0
$GC,3333,-0.71,-116.8,360.3,-7.5,220,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2030,3300,0,0,0,0,0,0
$GC,3658,-0.71,-116.8,381.4,-6.1,228,3662,0.00,2.30,0.00,0.000,4,0.000,0.042,2657,456,3297,0,0,0,0,0,0
$GC,3712,-0.71,-116.8,385.3,-7.4,229,3717,0.00,2.25,0.00,0.000,6,0.000,0.032,2645,2029,3296,0,0,0,0,0,0
$GC,4025,-0.71,-116.8,409.5,-8.1,237,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2029,3295,0,0,0,0,0,0
$GC,4351,-0.71,-116.8,436.0,-8.2,245,4355,0.00,2.30,0.00,0.000,4,0.000,0.043,2645,456,3292,0,0,0,0,0,0
$GC,4461,-0.71,-116.8,445.9,-8.5,247,4466,0.00,2.28,0.00,0.000,6,0.000,0.032,2634,2042,3291,0,0,0,0,0,0
$GC,4804,-0.71,-116.8,472.0,-7.4,256,4808,0.00,2.28,0.00,0.000,4,0.000,0.044,2622,3608,3288,0,0,0,0,0,0
$GC,4903,-0.71,-116.8,479.9,-7.9,258,4908,0.12,2.25,0.00,0.000,6,0.125,0.029,2664,2038,3287,0,0,0,0,0,0
$GC,5250,-0.71,-116.8,499.9,-5.6,267,5254,0.00,2.33,0.00,0.000,4,0.000,0.044,2664,450,3285,0,0,0,0,0,0
$GC,5345,-0.71,-116.8,506.2,-6.5,269,5349,0.00,2.25,0.00,0.000,6,0.000,0.032,2654,2045,3284,0,0,0,0,0,0
$GC,5669,-0.71,-116.8,528.5,-7.2,277,5673,0.00,2.35,0.00,0.000,4,0.000,0.044,2654,447,3282,0,0,0,0,0,0
$GC,5724,-0.71,-116.8,533.3,-9.0,278,5729,0.00,2.28,0.00,0.000,6,0.000,0.033,2643,2016,3282,0,0,0,0,0,0
$GC,6043,-0.71,-116.8,557.1,-7.1,286,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2016,3280,0,0,0,0,0,0
$GC,6368,-0.71,-116.8,578.1,-6.6,294,6372,0.00,2.30,0.00,0.000,4,0.000,0.044,2643,454,3281,0,0,0,0,0,0
$GC,6428,-0.71,-116.8,582.4,-7.5,295,6432,0.00,2.30,0.00,0.000,6,0.000,0.033,2631,2040,3279,0,0,0,0,0,0
$GC,6741,-0.71,-116.8,602.1,-6.2,303,6745,0.00,2.33,0.00,0.000,4,0.000,0.044,2619,3616,3275,0,0,0,0,0,0
$GC,6780,-0.71,-116.8,604.8,-6.7,304,6785,0.12,2.30,0.00,0.000,6,0.128,0.031,2660,2025,3275,0,0,0,0,0,0
$GC,7104,-0.71,-116.8,621.0,-5.0,312,7108,0.00,2.33,0.00,0.000,4,0.000,0.045,2660,450,3274,0,0,0,0,0,0
$GC,7143,-0.71,-116.8,623.1,-6.2,313,7147,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2037,3274,0,0,0,0,0,0
$GC,7466,-0.71,-116.8,640.9,-5.4,321,7470,0.00,2.30,0.00,0.000,4,0.000,0.045,2639,3600,3272,0,0,0,0,0,0
$GC,7538,-0.71,-116.8,645.0,-5.4,322,7541,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2025,3272,0,0,0,0,0,0
$GC,7874,-0.71,-116.8,665.3,-6.3,331,7878,0.00,2.30,0.00,0.000,4,0.000,0.045,2639,455,3270,0,0,0,0,0,0
$GC,7951,-0.71,-116.8,671.1,-8.0,332,7957,0.05,2.30,0.00,0.000,6,0.127,0.033,2654,2037,3269,0,0,0,0,0,0
$GC,8282,-0.71,-116.8,690.7,-5.8,341,8286,0.00,2.33,0.00,0.000,4,0.000,0.045,2650,454,3268,0,0,0,0,0,0
$GC,8315,-0.71,-116.8,693.0,-6.8,341,8321,0.00,2.28,0.00,0.000,6,0.000,0.033,2640,2023,3267,0,0,0,0,0,0
$GC,8646,-0.71,-116.8,714.5,-6.7,350,8650,0.00,2.33,0.00,0.000,4,0.000,0.045,2639,458,3267,0,0,0,0,0,0
$GC,8678,-0.71,-116.8,716.9,-8.2,350,8685,0.10,2.25,0.00,0.000,6,0.152,0.033,2659,2041,3267,0,0,0,0,0,0
$GC,9009,-0.71,-116.8,735.6,-5.4,359,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2041,3266,0,0,0,0,0,0
$GC,9334,-0.71,-116.8,751.3,-4.7,367,9338,0.00,2.38,0.00,0.000,4,0.000,0.046,2659,452,3265,0,0,0,0,0,0
$GC,9389,-0.71,-116.8,754.2,-5.7,368,9393,0.00,2.30,0.00,0.000,6,0.000,0.034,2650,2032,3265,0,0,0,0,0,0
$GC,9701,-0.71,-116.8,768.7,-4.6,376,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2032,3264,0,0,0,0,0,0
$GC,10026,-0.71,-116.8,784.5,-4.9,384,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2032,3263,0,0,0,0,0,0
$GC,10351,-0.71,-116.8,802.0,-5.7,392,10355,0.00,2.33,0.00,0.000,4,0.000,0.047,2649,458,3262,0,0,0,0,0,0
$GC,10394,-0.71,-116.8,804.8,-6.7,393,10398,0.00,2.30,0.00,0.000,6,0.000,0.034,2637,2036,3262,0,0,0,0,0,0
$GC,10718,-0.71,-116.8,825.0,-6.3,401,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2041,3261,0,0,0,0,0,0
$GC,11044,-0.71,-116.8,846.0,-6.4,409,11048,0.00,2.35,0.00,0.000,4,0.000,0.047,2638,460,3261,0,0,0,0,0,0
$GC,11109,-0.71,-116.8,850.7,-7.4,410,11114,0.08,2.30,0.00,0.000,6,0.112,0.034,2666,2037,3264,0,0,0,0,0,0
$GC,11451,-0.71,-116.8,867.2,-4.5,419,11456,0.00,2.38,0.00,0.000,4,0.000,0.046,2666,454,3258,0,0,0,0,0,0
$GC,11491,-0.71,-116.8,869.3,-5.8,420,11495,0.00,2.28,0.00,0.000,6,0.000,0.034,2657,2046,3260,0,0,0,0,0,0
$GC,11814,-0.71,-116.8,884.7,-4.8,428,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2047,3259,0,0,0,0,0,0
$GC,12139,-0.71,-116.8,902.3,-5.6,436,12144,0.00,2.38,0.00,0.000,4,0.000,0.047,2657,462,3259,0,0,0,0,0,0
$GC,12166,-0.71,-116.8,904.1,-7.2,436,12171,0.00,2.28,0.00,0.000,6,0.000,0.034,2648,2013,3262,0,0,0,0,0,0
$GC,12503,-0.71,-116.8,925.2,-6.4,445,12507,0.00,2.30,0.00,0.000,4,0.000,0.046,2646,459,3258,0,0,0,0,0,0
$GC,12536,-0.71,-116.8,927.4,-6.9,445,12541,0.00,2.30,0.00,0.000,6,0.000,0.035,2635,2048,3258,0,0,0,0,0,0
$GC,12866,-0.71,-116.8,948.2,-6.1,454,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2048,3259,0,0,0,0,0,0
$GC,13191,-0.71,-116.8,966.9,-5.7,462,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2048,3257,0,0,0,0,0,0
$STATE,13514,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13514,begin apogee
$GC,13519,-0.23,0.0,984.6,5.4,470,13616,0.52,0.00,94.25,1.290,6,0.104,0.000,2812,2048,2822,0,0,0,0,0,0
$STATE,13619,end apogee,CONTROL_FINISHED_OK
$STATE,13619,begin climb
$GC,13620,0.71,116.8,985.7,0.0,472,13744,0.82,2.65,110.82,1.253,4,0.061,0.047,3120,3605,2346,0,0,0,0,0,0
$GC,13782,0.71,116.8,972.4,14.2,475,13788,0.00,2.45,0.00,0.000,6,0.000,0.035,3132,2038,2342,0,0,0,0,0,0
$GC,14113,0.71,116.8,928.2,13.1,484,14117,0.00,2.40,0.00,0.000,4,0.000,0.048,3143,453,2329,0,0,0,0,0,0
$GC,14167,0.71,116.8,920.7,13.0,485,14172,0.00,2.35,0.00,0.000,6,0.000,0.035,3144,2021,2330,0,0,0,0,0,0
$GC,14480,0.71,116.8,880.1,12.9,493,14484,0.00,2.42,0.00,0.000,4,0.000,0.045,3144,3626,2326,0,0,0,0,0,0
$GC,14519,0.71,116.8,874.5,15.1,494,14524,0.12,2.35,0.00,0.000,6,0.173,0.035,3123,2022,2328,0,0,0,0,0,0
$GC,14842,0.71,116.8,836.0,12.0,502,14846,0.00,2.38,0.00,0.000,4,0.000,0.048,3134,450,2328,0,0,0,0,0,0
$GC,14947,0.71,116.8,822.2,13.7,504,14951,0.00,2.33,0.00,0.000,6,0.000,0.034,3134,2031,2327,0,0,0,0,0,0
$GC,15259,0.71,116.8,781.3,13.2,512,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2032,2330,0,0,0,0,0,0
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$STATE,23258,end climb,SURFACE_DEPTH_REACHED
$STATE,23258,begin surface coast
$FINISH,0.9,1.021665
$STATE,23293,end surface coast,CONTROL_FINISHED_OK
$STATE,23293,begin surface
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,9.6,27.271
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335116
$DATA_FILE_SIZE,33326,907
$CAP_FILE_SIZE,194325,0
$CFSIZE,260165632,239796224
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$GPS,290710,163807,2105.488,-15839.063,30,0.9,30,9.8