version: 66.07
glider: 500
mission: 4
dive: 182
start: 7 29 110 23 37 58
data:
$ID,500
$MISSION,4
$DIVE,182
$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,-112616.23
$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,58
$R_STBD_OVSHOOT,47
$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,181
$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
$GPS1,290710,232307,2105.571,-15837.339,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.1
$GPS2,290710,233702,2105.603,-15837.586,11,1.3,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.223,0.001
$KALMAN_X,-177437.2,-109.9,197.1,321649.1,-2280.7
$KALMAN_Y,179049.2,-333.2,445.5,-109487.6,746.9
$MHEAD_RNG_PITCHd_Wd,80.0,78465,-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,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.55,0.000,2,0.000,0.000,122,2043,2535,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-4.8,9,112,10.15,0.00,-19.62,0.000,6,0.228,0.000,2655,2043,3301,0,0,0,0,0,0
$GC,316,-0.71,-116.8,41.7,-18.1,47,319,0.00,2.33,0.00,0.000,4,0.000,0.044,2655,462,3303,0,0,0,0,0,0
$GC,371,-0.71,-116.8,52.2,-17.8,52,376,0.00,2.28,0.00,0.000,6,0.000,0.036,2644,2037,3303,0,0,0,0,0,0
$GC,631,-0.71,-116.8,96.5,-15.6,76,636,0.00,2.33,0.00,0.000,4,0.000,0.042,2633,3606,3304,0,0,0,0,0,0
$GC,648,-0.71,-116.8,99.3,-16.7,77,652,0.00,2.25,0.00,0.000,6,0.000,0.029,2633,2026,3303,0,0,0,0,0,0
$GC,908,-0.71,-116.8,137.0,-12.7,101,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2026,3304,0,0,0,0,0,0
$GC,1163,-0.71,-116.8,170.5,-12.2,125,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2026,3306,0,0,0,0,0,0
$GC,1418,-0.71,-116.8,199.9,-11.4,149,1422,0.00,2.28,0.00,0.000,4,0.000,0.043,2633,458,3309,0,0,0,0,0,0
$GC,1472,-0.71,-116.8,206.7,-12.3,151,1479,0.10,2.25,0.00,0.000,6,0.111,0.032,2660,2024,3306,0,0,0,0,0,0
$GC,1788,-0.71,-116.8,234.9,-8.0,167,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2023,3307,0,0,0,0,0,0
$GC,2097,-0.71,-116.8,260.3,-9.2,182,2101,0.00,2.25,0.00,0.000,4,0.000,0.043,2661,459,3307,0,0,0,0,0,0
$GC,2157,-0.71,-116.8,266.0,-9.4,185,2162,0.00,2.22,0.00,0.000,6,0.000,0.032,2650,2036,3307,0,0,0,0,0,0
$GC,2484,-0.71,-116.8,292.7,-7.8,201,2488,0.00,2.28,0.00,0.000,4,0.000,0.042,2638,3608,3307,0,0,0,0,0,0
$GC,2577,-0.71,-116.8,300.5,-8.0,205,2582,0.00,2.25,0.00,0.000,6,0.000,0.028,2638,2040,3308,0,0,0,0,0,0
$GC,2914,-0.71,-116.8,328.9,-8.8,214,2918,0.00,2.35,0.00,0.000,4,0.000,0.043,2638,443,3305,0,0,0,0,0,0
$GC,3024,-0.71,-116.8,339.5,-9.4,216,3029,0.08,2.28,0.00,0.000,6,0.113,0.032,2674,2030,3304,0,0,0,0,0,0
$GC,3367,-0.71,-116.8,363.2,-6.8,225,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2030,3302,0,0,0,0,0,0
$GC,3692,-0.71,-116.8,385.0,-6.7,233,3696,0.00,2.33,0.00,0.000,4,0.000,0.044,2664,3608,3298,0,0,0,0,0,0
$GC,3753,-0.71,-116.8,389.3,-7.2,234,3757,0.00,2.28,0.00,0.000,6,0.000,0.029,2665,2029,3298,0,0,0,0,0,0
$GC,4101,-0.71,-116.8,411.1,-6.0,243,4105,0.00,2.30,0.00,0.000,4,0.000,0.044,2664,459,3296,0,0,0,0,0,0
$GC,4140,-0.71,-116.8,413.7,-6.5,244,4144,0.00,2.22,0.00,0.000,6,0.000,0.032,2652,2033,3296,0,0,0,0,0,0
$GC,4463,-0.71,-116.8,436.1,-7.2,252,4467,0.00,2.33,0.00,0.000,4,0.000,0.043,2652,447,3294,0,0,0,0,0,0
$GC,4540,-0.71,-116.8,442.7,-9.1,253,4544,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2030,3293,0,0,0,0,0,0
$GC,4877,-0.71,-116.8,470.6,-8.3,262,4881,0.00,2.33,0.00,0.000,4,0.000,0.044,2641,450,3290,0,0,0,0,0,0
$GC,4931,-0.71,-116.8,475.7,-9.8,263,4936,0.08,2.28,0.00,0.000,6,0.114,0.032,2660,2030,3290,0,0,0,0,0,0
$GC,5244,-0.71,-116.8,498.5,-7.3,271,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2030,3288,0,0,0,0,0,0
$GC,5569,-0.71,-116.8,521.0,-6.7,279,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2030,3286,0,0,0,0,0,0
$GC,5894,-0.71,-116.8,541.4,-5.9,287,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2031,3284,0,0,0,0,0,0
$GC,6219,-0.71,-116.8,561.4,-6.1,295,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2030,3282,0,0,0,0,0,0
$GC,6544,-0.71,-116.8,581.4,-6.1,303,6548,0.00,2.35,0.00,0.000,4,0.000,0.045,2660,458,3281,0,0,0,0,0,0
$GC,6621,-0.71,-116.8,586.7,-6.9,304,6627,0.00,2.28,0.00,0.000,6,0.000,0.032,2651,2030,3280,0,0,0,0,0,0
$GC,6952,-0.71,-116.8,606.9,-6.1,313,6956,0.00,2.38,0.00,0.000,4,0.000,0.044,2651,442,3279,0,0,0,0,0,0
$GC,6996,-0.71,-116.8,610.0,-6.8,314,7000,0.00,2.25,0.00,0.000,6,0.000,0.032,2639,2040,3278,0,0,0,0,0,0
$GC,7319,-0.71,-116.8,632.0,-6.9,322,7323,0.00,2.35,0.00,0.000,4,0.000,0.044,2639,451,3277,0,0,0,0,0,0
$GC,7357,-0.71,-116.8,635.0,-8.6,322,7364,0.08,2.28,0.00,0.000,6,0.113,0.033,2659,2025,3277,0,0,0,0,0,0
$GC,7689,-0.71,-116.8,656.6,-6.5,331,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2026,3275,0,0,0,0,0,0
$GC,8014,-0.71,-116.8,677.7,-6.5,339,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2025,3275,0,0,0,0,0,0
$GC,8338,-0.71,-116.8,698.4,-6.3,347,8343,0.00,2.33,0.00,0.000,4,0.000,0.046,2659,454,3273,0,0,0,0,0,0
$GC,8382,-0.71,-116.8,701.2,-6.3,348,8386,0.00,2.25,0.00,0.000,6,0.000,0.034,2648,2036,3273,0,0,0,0,0,0
$GC,8706,-0.71,-116.8,719.6,-5.5,356,8710,0.00,2.35,0.00,0.000,4,0.000,0.045,2649,455,3272,0,0,0,0,0,0
$GC,8750,-0.71,-116.8,722.1,-6.4,357,8754,0.00,2.25,0.00,0.000,6,0.000,0.033,2638,2029,3272,0,0,0,0,0,0
$GC,9079,-0.71,-116.8,739.9,-5.2,365,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2029,3269,0,0,0,0,0,0
$GC,9403,-0.71,-116.8,758.6,-5.8,373,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2029,3269,0,0,0,0,0,0
$GC,9728,-0.71,-116.8,777.6,-5.7,381,9733,0.00,2.35,0.00,0.000,4,0.000,0.046,2638,455,3269,0,0,0,0,0,0
$GC,9823,-0.71,-116.8,783.8,-6.5,383,9828,0.12,2.30,0.00,0.000,6,0.137,0.034,2665,2051,3268,0,0,0,0,0,0
$GC,10135,-0.71,-116.8,797.5,-4.3,391,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2053,3268,0,0,0,0,0,0
$GC,10460,-0.71,-116.8,812.7,-4.7,399,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2051,3267,0,0,0,0,0,0
$GC,10785,-0.71,-116.8,827.7,-4.6,407,10790,0.00,2.35,0.00,0.000,4,0.000,0.045,2665,459,3267,0,0,0,0,0,0
$GC,10812,-0.71,-116.8,829.1,-5.1,407,10817,0.00,2.28,0.00,0.000,6,0.000,0.033,2656,2015,3265,0,0,0,0,0,0
$GC,11149,-0.71,-116.8,844.2,-4.4,416,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2016,3266,0,0,0,0,0,0
$GC,11474,-0.71,-116.8,857.9,-4.2,424,11478,0.00,2.35,0.00,0.000,4,0.000,0.047,2654,450,3266,0,0,0,0,0,0
$GC,11512,-0.71,-116.8,859.9,-5.3,424,11519,0.00,2.33,0.00,0.000,6,0.000,0.034,2645,2045,3266,0,0,0,0,0,0
$GC,11844,-0.71,-116.8,875.2,-4.6,433,11848,0.00,2.38,0.00,0.000,4,0.000,0.046,2645,459,3266,0,0,0,0,0,0
$GC,11915,-0.71,-116.8,879.0,-5.4,434,11920,0.00,2.25,0.00,0.000,6,0.000,0.034,2634,2037,3265,0,0,0,0,0,0
$GC,12246,-0.71,-116.8,894.8,-4.8,442,12248,0.10,0.00,0.00,0.000,6,0.149,0.000,2667,2034,3266,0,0,0,0,0,0
$GC,12571,-0.71,-116.8,908.0,-4.2,450,12575,0.00,2.38,0.00,0.000,4,0.000,0.047,2666,452,3262,0,0,0,0,0,0
$GC,12631,-0.71,-116.8,911.1,-5.6,451,12636,0.00,2.28,0.00,0.000,6,0.000,0.034,2656,2029,3264,0,0,0,0,0,0
$GC,12979,-0.71,-116.8,928.7,-5.2,460,12983,0.00,2.33,0.00,0.000,4,0.000,0.045,2656,459,3264,0,0,0,0,0,0
$GC,13028,-0.71,-116.8,931.7,-6.3,461,13032,0.00,2.25,0.00,0.000,6,0.000,0.034,2645,2039,3264,0,0,0,0,0,0
$GC,13346,-0.71,-116.8,949.8,-5.7,469,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3263,0,0,0,0,0,0
$STATE,13507,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13507,begin apogee
$GC,13511,-0.23,0.0,958.8,5.6,473,13609,0.50,0.00,95.22,1.270,6,0.105,0.000,2813,2040,2822,0,0,0,0,0,0
$STATE,13611,end apogee,CONTROL_FINISHED_OK
$STATE,13612,begin climb
$GC,13614,0.71,116.8,960.1,0.0,475,13735,0.85,2.62,111.18,1.234,4,0.061,0.045,3130,3599,2345,0,0,0,0,0,0
$GC,13778,0.71,116.8,946.5,14.4,479,13783,0.00,2.47,0.00,0.000,6,0.000,0.035,3136,2045,2336,0,0,0,0,0,0
$GC,14121,0.71,116.8,898.1,14.3,488,14125,0.00,2.42,0.00,0.000,4,0.000,0.049,3144,448,2327,0,0,0,0,0,0
$GC,14193,0.71,116.8,886.8,15.8,489,14197,0.00,2.35,0.00,0.000,6,0.000,0.034,3148,2021,2326,0,0,0,0,0,0
$GC,14529,0.71,116.8,837.0,14.5,498,14534,0.00,2.38,0.00,0.000,4,0.000,0.048,3160,448,2324,0,0,0,0,0,0
$GC,14601,0.71,116.8,825.8,15.9,499,14606,0.15,2.33,0.00,0.000,6,0.158,0.035,3119,2047,2324,0,0,0,0,0,0
$GC,14937,0.71,116.8,783.0,12.4,508,14941,0.00,2.38,0.00,0.000,4,0.000,0.046,3119,3619,2326,0,0,0,0,0,0
$GC,15008,0.71,116.8,773.6,13.9,509,15013,0.00,2.38,0.00,0.000,6,0.000,0.035,3129,2027,2321,0,0,0,0,0,0
$GC,15345,0.71,116.8,733.2,11.8,518,15349,0.00,2.35,0.00,0.000,4,0.000,0.048,3142,451,2320,0,0,0,0,0,0
$GC,15416,0.71,116.8,723.9,12.3,519,15421,0.00,2.33,0.00,0.000,6,0.000,0.034,3141,2027,2321,0,0,0,0,0,0
$GC,15753,0.71,116.8,682.1,12.3,528,15754,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2028,2321,0,0,0,0,0,0
$GC,16078,0.71,116.8,643.3,11.9,536,16079,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2027,2319,0,0,0,0,0,0
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$STATE,22444,end climb,SURFACE_DEPTH_REACHED
$STATE,22445,begin surface coast
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$STATE,22467,end surface coast,CONTROL_FINISHED_OK
$STATE,22467,begin surface
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$10V_AH,9.7,27.431
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$FG_AHR_10Vo,0.000
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$MEM,335116
$DATA_FILE_SIZE,30002,881
$CAP_FILE_SIZE,182890,0
$CFSIZE,260165632,239513600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,055454,2105.661,-15835.476,34,1.1,34,9.8