version: 66.07
glider: 500
mission: 4
dive: 184
start: 7 30 110 12 45 57
data:
$ID,500
$MISSION,4
$DIVE,184
$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,-112646.41
$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,49
$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,183
$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
$GPS1,300710,122636,2105.531,-15833.525,32,1.0,32,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.0
$GPS2,300710,124502,2105.566,-15833.878,12,1.3,12,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.213,0.065
$KALMAN_X,-181229.6,25.9,40.2,331899.2,-2056.2
$KALMAN_Y,179723.5,23.2,414.7,-110552.3,-687.9
$MHEAD_RNG_PITCHd_Wd,63.1,72316,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-45.70,0.000,2,0.000,0.000,125,2046,2530,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.1,-4.0,9,112,10.12,2.35,-18.90,0.000,4,0.227,0.058,2646,3605,3301,0,0,0,0,0,0
$GC,152,-0.71,-116.8,13.7,-14.6,23,158,0.00,2.28,0.00,0.000,6,0.000,0.030,2647,2023,3302,0,0,0,0,0,0
$GC,353,-0.71,-116.8,53.3,-19.2,49,357,0.00,2.30,0.00,0.000,4,0.000,0.043,2646,449,3302,0,0,0,0,0,0
$GC,384,-0.71,-116.8,59.4,-18.7,51,391,0.00,2.30,0.00,0.000,6,0.000,0.033,2635,2030,3302,0,0,0,0,0,0
$GC,645,-0.71,-116.8,106.1,-16.5,76,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2030,3302,0,0,0,0,0,0
$GC,900,-0.71,-116.8,140.9,-14.4,100,904,0.00,2.28,0.00,0.000,4,0.000,0.043,2635,458,3301,0,0,0,0,0,0
$GC,995,-0.71,-116.8,153.5,-12.7,108,1000,0.12,2.22,0.00,0.000,6,0.142,0.032,2661,2047,3303,0,0,0,0,0,0
$GC,1255,-0.71,-116.8,178.7,-9.9,132,1259,0.00,2.25,0.00,0.000,4,0.000,0.042,2650,3606,3304,0,0,0,0,0,0
$GC,1294,-0.71,-116.8,182.6,-9.9,135,1298,0.00,2.22,0.00,0.000,6,0.000,0.028,2650,2038,3304,0,0,0,0,0,0
$GC,1563,-0.71,-116.8,209.0,-9.9,156,1567,0.00,2.30,0.00,0.000,4,0.000,0.042,2650,449,3305,0,0,0,0,0,0
$GC,1594,-0.71,-116.8,212.5,-10.8,157,1601,0.00,2.25,0.00,0.000,6,0.000,0.031,2639,2021,3305,0,0,0,0,0,0
$GC,1910,-0.71,-116.8,244.0,-9.8,173,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2021,3305,0,0,0,0,0,0
$GC,2220,-0.71,-116.8,276.8,-10.1,188,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2021,3305,0,0,0,0,0,0
$GC,2548,-0.71,-116.8,308.1,-8.8,202,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2018,3303,0,0,0,0,0,0
$GC,2873,-0.71,-116.8,335.8,-8.9,210,2877,0.00,2.35,0.00,0.000,4,0.000,0.044,2627,3618,3301,0,0,0,0,0,0
$GC,2905,-0.71,-116.8,339.0,-9.5,210,2912,0.08,2.30,0.00,0.000,6,0.103,0.029,2669,2018,3303,0,0,0,0,0,0
$GC,3236,-0.71,-116.8,365.3,-7.6,219,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2021,3301,0,0,0,0,0,0
$GC,3561,-0.71,-116.8,387.9,-6.7,227,3565,0.00,2.28,0.00,0.000,4,0.000,0.043,2668,446,3298,0,0,0,0,0,0
$GC,3683,-0.71,-116.8,397.0,-7.8,229,3689,0.00,2.28,0.00,0.000,6,0.000,0.032,2658,2051,3299,0,0,0,0,0,0
$GC,4014,-0.71,-116.8,418.0,-6.1,238,4018,0.00,2.35,0.00,0.000,4,0.000,0.043,2659,444,3295,0,0,0,0,0,0
$GC,4080,-0.71,-116.8,422.7,-7.2,239,4084,0.00,2.25,0.00,0.000,6,0.000,0.032,2647,2026,3295,0,0,0,0,0,0
$GC,4428,-0.71,-116.8,446.5,-7.0,248,4432,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,3608,3293,0,0,0,0,0,0
$GC,4454,-0.71,-116.8,448.4,-7.5,248,4459,0.00,2.28,0.00,0.000,6,0.000,0.029,2635,2034,3292,0,0,0,0,0,0
$GC,4791,-0.71,-116.8,473.3,-7.2,257,4796,0.00,2.30,0.00,0.000,4,0.000,0.043,2635,451,3290,0,0,0,0,0,0
$GC,4886,-0.71,-116.8,480.6,-7.7,259,4890,0.08,2.28,0.00,0.000,6,0.111,0.031,2671,2030,3289,0,0,0,0,0,0
$GC,5204,-0.71,-116.8,497.6,-5.4,267,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2030,3286,0,0,0,0,0,0
$GC,5530,-0.71,-116.8,517.2,-6.3,275,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2030,3284,0,0,0,0,0,0
$GC,5854,-0.71,-116.8,537.9,-6.3,283,5858,0.00,2.33,0.00,0.000,4,0.000,0.044,2672,449,3283,0,0,0,0,0,0
$GC,5937,-0.71,-116.8,543.8,-7.0,284,5943,0.00,2.28,0.00,0.000,6,0.000,0.032,2661,2023,3282,0,0,0,0,0,0
$GC,6269,-0.71,-116.8,562.2,-5.4,293,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2023,3280,0,0,0,0,0,0
$GC,6593,-0.71,-116.8,581.9,-6.4,301,6597,0.00,2.30,0.00,0.000,4,0.000,0.045,2662,455,3278,0,0,0,0,0,0
$GC,6637,-0.71,-116.8,585.4,-8.2,302,6641,0.00,2.28,0.00,0.000,6,0.000,0.033,2651,2042,3278,0,0,0,0,0,0
$GC,6962,-0.71,-116.8,610.0,-7.7,310,6966,0.00,2.33,0.00,0.000,4,0.000,0.045,2639,3611,3276,0,0,0,0,0,0
$GC,7011,-0.71,-116.8,613.9,-7.5,311,7015,0.00,2.30,0.00,0.000,6,0.000,0.031,2639,2037,3276,0,0,0,0,0,0
$GC,7330,-0.71,-116.8,638.1,-7.4,319,7334,0.00,2.35,0.00,0.000,4,0.000,0.044,2639,447,3274,0,0,0,0,0,0
$GC,7429,-0.71,-116.8,646.3,-8.5,321,7434,0.05,2.30,0.00,0.000,6,0.123,0.032,2659,2035,3274,0,0,0,0,0,0
$GC,7742,-0.71,-116.8,664.9,-5.8,329,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2035,3272,0,0,0,0,0,0
$GC,8067,-0.71,-116.8,683.4,-5.6,337,8071,0.00,2.33,0.00,0.000,4,0.000,0.044,2659,454,3273,0,0,0,0,0,0
$GC,8116,-0.71,-116.8,686.6,-6.9,338,8121,0.00,2.28,0.00,0.000,6,0.000,0.033,2649,2022,3272,0,0,0,0,0,0
$GC,8435,-0.71,-116.8,705.9,-6.0,346,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2021,3270,0,0,0,0,0,0
$GC,8761,-0.71,-116.8,725.5,-5.9,354,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2021,3268,0,0,0,0,0,0
$GC,9085,-0.71,-116.8,742.9,-5.2,362,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2021,3268,0,0,0,0,0,0
$GC,9410,-0.71,-116.8,759.7,-5.2,370,9414,0.00,2.33,0.00,0.000,4,0.000,0.047,2648,451,3266,0,0,0,0,0,0
$GC,9459,-0.71,-116.8,762.8,-6.4,371,9463,0.00,2.30,0.00,0.000,6,0.000,0.034,2638,2030,3271,0,0,0,0,0,0
$GC,9778,-0.71,-116.8,781.0,-5.7,379,9782,0.00,2.35,0.00,0.000,4,0.000,0.046,2638,451,3265,0,0,0,0,0,0
$GC,9822,-0.71,-116.8,783.8,-6.3,380,9827,0.10,2.28,0.00,0.000,6,0.150,0.033,2659,2035,3267,0,0,0,0,0,0
$GC,10151,-0.71,-116.8,799.2,-4.6,388,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2036,3266,0,0,0,0,0,0
$GC,10476,-0.71,-116.8,816.2,-5.4,396,10480,0.00,2.38,0.00,0.000,4,0.000,0.046,2659,448,3264,0,0,0,0,0,0
$GC,10536,-0.71,-116.8,820.3,-6.3,397,10540,0.00,2.30,0.00,0.000,6,0.000,0.033,2650,2022,3265,0,0,0,0,0,0
$GC,10884,-0.71,-116.8,842.6,-6.4,406,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2022,3265,0,0,0,0,0,0
$GC,11209,-0.71,-116.8,862.1,-5.8,414,11213,0.00,2.35,0.00,0.000,4,0.000,0.047,2648,452,3264,0,0,0,0,0,0
$GC,11269,-0.71,-116.8,866.0,-6.7,415,11273,0.00,2.30,0.00,0.000,6,0.000,0.034,2639,2029,3265,0,0,0,0,0,0
$GC,11582,-0.71,-116.8,884.4,-5.8,423,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2031,3263,0,0,0,0,0,0
$GC,11907,-0.71,-116.8,903.4,-5.9,431,11911,0.00,2.35,0.00,0.000,4,0.000,0.046,2643,451,3263,0,0,0,0,0,0
$GC,11962,-0.71,-116.8,907.2,-7.0,432,11966,0.12,2.28,0.00,0.000,6,0.139,0.033,2666,2044,3262,0,0,0,0,0,0
$GC,12280,-0.71,-116.8,922.5,-4.8,440,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2044,3262,0,0,0,0,0,0
$GC,12604,-0.71,-116.8,937.8,-4.7,448,12608,0.00,2.38,0.00,0.000,4,0.000,0.047,2672,452,3259,0,0,0,0,0,0
$GC,12655,-0.71,-116.8,940.5,-5.5,449,12659,0.00,2.28,0.00,0.000,6,0.000,0.034,2657,2038,3261,0,0,0,0,0,0
$GC,12973,-0.71,-116.8,955.2,-4.6,457,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2039,3259,0,0,0,0,0,0
$GC,13297,-0.71,-116.8,969.2,-4.3,465,13301,0.00,2.38,0.00,0.000,4,0.000,0.047,2656,454,3260,0,0,0,0,0,0
$GC,13342,-0.71,-116.8,971.5,-5.3,466,13346,0.00,2.28,0.00,0.000,6,0.000,0.035,2646,2031,3261,0,0,0,0,0,0
$STATE,13506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13506,begin apogee
$GC,13511,-0.23,0.0,979.4,4.6,470,13608,0.50,0.00,94.85,1.282,6,0.104,0.000,2814,2032,2820,0,0,0,0,0,0
$STATE,13611,end apogee,CONTROL_FINISHED_OK
$STATE,13611,begin climb
$GC,13613,0.71,116.8,980.4,0.0,472,13734,0.85,2.65,111.00,1.248,4,0.061,0.044,3125,3605,2346,0,0,0,0,0,0
$GC,13778,0.71,116.8,965.9,15.3,476,13783,0.00,2.50,0.00,0.000,6,0.000,0.034,3136,2038,2337,0,0,0,0,0,0
$GC,14120,0.71,116.8,916.0,14.6,485,14125,0.00,2.40,0.00,0.000,4,0.000,0.048,3149,448,2328,0,0,0,0,0,0
$GC,14175,0.71,116.8,907.5,15.0,486,14181,0.08,2.35,0.00,0.000,6,0.137,0.035,3124,2023,2327,0,0,0,0,0,0
$GC,14487,0.71,116.8,863.6,13.9,494,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2024,2325,0,0,0,0,0,0
$GC,14812,0.71,116.8,821.0,12.9,502,14817,0.00,2.38,0.00,0.000,4,0.000,0.049,3134,444,2323,0,0,0,0,0,0
$GC,14856,0.71,116.8,815.0,13.2,503,14860,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,2030,2323,0,0,0,0,0,0
$GC,15180,0.71,116.8,773.5,12.6,511,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2030,2322,0,0,0,0,0,0
$GC,15505,0.71,116.8,735.4,11.3,519,15509,0.00,2.38,0.00,0.000,4,0.000,0.046,3134,3615,2324,0,0,0,0,0,0
$GC,15548,0.71,116.8,730.1,12.3,520,15552,0.00,2.38,0.00,0.000,6,0.000,0.035,3146,2014,2321,0,0,0,0,0,0
$GC,15872,0.71,116.8,696.3,10.0,528,15873,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2017,2320,0,0,0,0,0,0
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$STATE,23086,end climb,SURFACE_DEPTH_REACHED
$STATE,23086,begin surface coast
$FINISH,1.0,1.023085
$STATE,23115,end surface coast,CONTROL_FINISHED_OK
$STATE,23115,begin surface
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49080991744
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,23.714
$10V_AH,9.7,27.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.125,190.775,329.875,60.400,0.000,61.870,60.264,700.334,0.500,0.000,14.681,1766.019,18781.297,546.140,2942.353,275.757,33.371,1693.453,0.000,2014.024,0.000,0.541,0.000
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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,335116
$DATA_FILE_SIZE,33387,904
$CAP_FILE_SIZE,192336,0
$CFSIZE,260165632,239198208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300710,191407,2106.002,-15831.528,33,0.9,33,9.8