version: 66.07
glider: 500
mission: 4
dive: 186
start: 7 31 110 2 6 9
data:
$ID,500
$MISSION,4
$DIVE,186
$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,-112675.64
$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,43
$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,185
$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
$GPS1,310710,015931,2105.600,-15829.684,40,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-68.2
$GPS2,310710,020514,2105.602,-15829.787,11,1.4,11,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.009
$KALMAN_X,-183947.0,109.9,-67.0,341731.9,-1448.0
$KALMAN_Y,180226.1,-26.1,261.0,-110790.5,186.3
$MHEAD_RNG_PITCHd_Wd,82.4,44558,-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,-116.8,0.0,0.0,0,73,0.00,0.00,-45.53,0.000,2,0.000,0.000,120,2032,2519,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.0,-4.7,9,111,10.15,0.00,-19.20,0.000,6,0.229,0.000,2654,2032,3301,0,0,0,0,0,0
$GC,315,-0.71,-116.8,42.4,-16.7,46,319,0.00,2.33,0.00,0.000,4,0.000,0.044,2654,452,3303,0,0,0,0,0,0
$GC,346,-0.71,-116.8,48.5,-18.2,48,353,0.00,2.30,0.00,0.000,6,0.000,0.033,2644,2038,3305,0,0,0,0,0,0
$GC,607,-0.71,-116.8,94.8,-16.8,73,612,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,3607,3303,0,0,0,0,0,0
$GC,636,-0.71,-116.8,98.9,-14.4,75,641,0.00,2.25,0.00,0.000,6,0.000,0.028,2629,2013,3302,0,0,0,0,0,0
$GC,896,-0.71,-116.8,133.7,-11.0,99,900,0.00,2.25,0.00,0.000,4,0.000,0.042,2632,462,3304,0,0,0,0,0,0
$GC,1014,-0.71,-116.8,148.9,-13.7,109,1019,0.12,2.22,0.00,0.000,6,0.144,0.032,2658,2046,3306,0,0,0,0,0,0
$GC,1274,-0.71,-116.8,177.0,-10.8,133,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2046,3307,0,0,0,0,0,0
$GC,1528,-0.71,-116.8,205.1,-11.4,155,1532,0.00,2.33,0.00,0.000,4,0.000,0.043,2658,451,3307,0,0,0,0,0,0
$GC,1589,-0.71,-116.8,212.3,-11.7,158,1593,0.00,2.22,0.00,0.000,6,0.000,0.031,2647,2043,3307,0,0,0,0,0,0
$GC,1914,-0.71,-116.8,243.4,-9.4,174,1918,0.00,2.28,0.00,0.000,4,0.000,0.041,2635,3603,3307,0,0,0,0,0,0
$GC,1956,-0.71,-116.8,247.7,-9.9,176,1961,0.00,2.25,0.00,0.000,6,0.000,0.028,2635,2035,3307,0,0,0,0,0,0
$GC,2284,-0.71,-116.8,279.1,-9.2,192,2288,0.00,2.28,0.00,0.000,4,0.000,0.042,2636,448,3308,0,0,0,0,0,0
$GC,2332,-0.71,-116.8,283.8,-9.6,194,2338,0.08,2.25,0.00,0.000,6,0.110,0.031,2655,2024,3307,0,0,0,0,0,0
$GC,2673,-0.71,-116.8,310.7,-8.0,208,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2023,3307,0,0,0,0,0,0
$GC,2998,-0.71,-116.8,335.7,-7.3,216,3002,0.00,2.33,0.00,0.000,4,0.000,0.043,2645,3610,3305,0,0,0,0,0,0
$GC,3047,-0.71,-116.8,339.3,-7.2,217,3051,0.00,2.28,0.00,0.000,6,0.000,0.028,2645,2027,3305,0,0,0,0,0,0
$GC,3365,-0.71,-116.8,362.8,-7.6,225,3369,0.00,2.30,0.00,0.000,4,0.000,0.043,2645,457,3303,0,0,0,0,0,0
$GC,3403,-0.71,-116.8,366.1,-8.6,225,3409,0.00,2.28,0.00,0.000,6,0.000,0.031,2634,2049,3303,0,0,0,0,0,0
$GC,3734,-0.71,-116.8,393.4,-8.3,234,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2049,3304,0,0,0,0,0,0
$GC,4059,-0.71,-116.8,420.8,-8.7,242,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2050,3299,0,0,0,0,0,0
$GC,4385,-0.71,-116.8,447.0,-7.8,250,4389,0.00,2.35,0.00,0.000,4,0.000,0.043,2634,450,3296,0,0,0,0,0,0
$GC,4462,-0.71,-116.8,453.6,-8.0,251,4468,0.08,2.25,0.00,0.000,6,0.114,0.031,2668,2018,3296,0,0,0,0,0,0
$GC,4793,-0.71,-116.8,472.6,-5.8,260,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2018,3294,0,0,0,0,0,0
$GC,5118,-0.71,-116.8,494.1,-6.8,268,5122,0.00,2.28,0.00,0.000,4,0.000,0.043,2669,454,3291,0,0,0,0,0,0
$GC,5206,-0.71,-116.8,501.2,-8.3,270,5210,0.00,2.28,0.00,0.000,6,0.000,0.032,2659,2040,3291,0,0,0,0,0,0
$GC,5531,-0.71,-116.8,525.2,-7.4,278,5535,0.00,2.30,0.00,0.000,4,0.000,0.044,2659,458,3289,0,0,0,0,0,0
$GC,5630,-0.71,-116.8,533.3,-8.0,280,5635,0.00,2.28,0.00,0.000,6,0.000,0.033,2648,2032,3288,0,0,0,0,0,0
$GC,5943,-0.71,-116.8,555.5,-7.1,288,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2032,3284,0,0,0,0,0,0
$GC,6269,-0.71,-116.8,577.8,-6.9,296,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2032,3285,0,0,0,0,0,0
$GC,6593,-0.71,-116.8,600.2,-6.9,304,6597,0.00,2.30,0.00,0.000,4,0.000,0.044,2648,461,3283,0,0,0,0,0,0
$GC,6644,-0.71,-116.8,603.9,-7.0,305,6648,0.00,2.22,0.00,0.000,6,0.000,0.033,2637,2033,3282,0,0,0,0,0,0
$GC,6962,-0.71,-116.8,623.9,-6.1,313,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2033,3281,0,0,0,0,0,0
$GC,7286,-0.71,-116.8,642.8,-5.9,321,7290,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,458,3279,0,0,0,0,0,0
$GC,7331,-0.71,-116.8,646.0,-6.8,322,7336,0.12,2.25,0.00,0.000,6,0.137,0.033,2664,2040,3279,0,0,0,0,0,0
$GC,7660,-0.71,-116.8,662.1,-5.0,330,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2036,3277,0,0,0,0,0,0
$GC,7985,-0.71,-116.8,679.0,-5.3,338,7988,0.00,2.35,0.00,0.000,4,0.000,0.045,2665,452,3276,0,0,0,0,0,0
$GC,8023,-0.71,-116.8,681.6,-6.8,338,8029,0.00,2.28,0.00,0.000,6,0.000,0.033,2656,2018,3276,0,0,0,0,0,0
$GC,8354,-0.71,-116.8,701.6,-6.2,347,8358,0.00,2.30,0.00,0.000,4,0.000,0.045,2655,455,3274,0,0,0,0,0,0
$GC,8403,-0.71,-116.8,705.0,-7.0,348,8407,0.00,2.30,0.00,0.000,6,0.000,0.033,2644,2042,3274,0,0,0,0,0,0
$GC,8721,-0.71,-116.8,726.8,-7.0,356,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2043,3274,0,0,0,0,0,0
$GC,9047,-0.71,-116.8,750.4,-7.4,364,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2043,3274,0,0,0,0,0,0
$GC,9371,-0.71,-116.8,773.4,-6.8,372,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2041,3272,0,0,0,0,0,0
$GC,9696,-0.71,-116.8,794.8,-6.4,380,9700,0.00,2.35,0.00,0.000,4,0.000,0.046,2644,451,3271,0,0,0,0,0,0
$GC,9757,-0.71,-116.8,799.1,-7.0,381,9762,0.00,2.30,0.00,0.000,6,0.000,0.034,2633,2031,3270,0,0,0,0,0,0
$GC,10105,-0.71,-116.8,820.3,-6.0,390,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2032,3273,0,0,0,0,0,0
$GC,10430,-0.71,-116.8,839.8,-6.1,398,10432,0.10,0.00,0.00,0.000,6,0.150,0.000,2664,2031,3269,0,0,0,0,0,0
$GC,10755,-0.71,-116.8,856.1,-5.0,406,10759,0.00,2.35,0.00,0.000,4,0.000,0.048,2666,461,3268,0,0,0,0,0,0
$GC,10805,-0.71,-116.8,858.9,-5.8,407,10809,0.00,2.30,0.00,0.000,6,0.000,0.035,2655,2036,3268,0,0,0,0,0,0
$GC,11123,-0.71,-116.8,876.3,-5.6,415,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2036,3267,0,0,0,0,0,0
$GC,11449,-0.71,-116.8,893.8,-5.4,423,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3267,0,0,0,0,0,0
$GC,11773,-0.71,-116.8,910.3,-4.8,431,11777,0.00,2.38,0.00,0.000,4,0.000,0.047,2655,454,3267,0,0,0,0,0,0
$GC,11828,-0.71,-116.8,913.3,-5.5,432,11833,0.00,2.28,0.00,0.000,6,0.000,0.035,2644,2043,3266,0,0,0,0,0,0
$GC,12147,-0.71,-116.8,927.7,-4.4,440,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2043,3266,0,0,0,0,0,0
$GC,12472,-0.71,-116.8,941.1,-4.1,448,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2043,3266,0,0,0,0,0,0
$GC,12797,-0.71,-116.8,955.7,-4.7,456,12801,0.00,2.35,0.00,0.000,4,0.000,0.046,2645,459,3268,0,0,0,0,0,0
$GC,12840,-0.71,-116.8,958.2,-5.6,457,12844,0.00,2.30,0.00,0.000,6,0.000,0.034,2633,2037,3265,0,0,0,0,0,0
$GC,13164,-0.71,-116.8,975.6,-5.5,465,13168,0.00,2.35,0.00,0.000,4,0.000,0.047,2636,456,3265,0,0,0,0,0,0
$GC,13196,-0.71,-116.8,977.6,-6.2,465,13201,0.05,2.30,0.00,0.000,6,0.130,0.034,2659,2020,3265,0,0,0,0,0,0
$STATE,13490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13490,begin apogee
$GC,13494,-0.23,0.0,991.4,4.7,473,13593,0.45,0.00,95.97,1.292,6,0.104,0.000,2813,2022,2822,0,0,0,0,0,0
$STATE,13596,end apogee,CONTROL_FINISHED_OK
$STATE,13596,begin climb
$GC,13597,0.71,116.8,992.9,0.0,475,13718,0.85,2.65,111.80,1.259,4,0.060,0.045,3124,3618,2346,0,0,0,0,0,0
$GC,13740,0.71,116.8,983.6,13.0,479,13744,0.00,2.50,0.00,0.000,6,0.000,0.035,3136,2031,2341,0,0,0,0,0,0
$GC,14064,0.71,116.8,942.2,12.7,487,14068,0.00,2.40,0.00,0.000,4,0.000,0.048,3148,454,2328,0,0,0,0,0,0
$GC,14107,0.71,116.8,936.2,14.0,488,14111,0.00,2.38,0.00,0.000,6,0.000,0.035,3148,2037,2327,0,0,0,0,0,0
$GC,14431,0.71,116.8,892.6,13.7,496,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2037,2324,0,0,0,0,0,0
$GC,14756,0.71,116.8,849.5,13.4,504,14757,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2038,2322,0,0,0,0,0,0
$GC,15081,0.71,116.8,806.8,13.0,512,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2037,2322,0,0,0,0,0,0
$GC,15406,0.71,116.8,764.8,12.9,520,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2037,2321,0,0,0,0,0,0
$GC,15731,0.71,116.8,724.4,12.3,528,15735,0.00,2.35,0.00,0.000,4,0.000,0.045,3148,3623,2318,0,0,0,0,0,0
$GC,15769,0.71,116.8,719.4,13.5,529,15774,0.15,2.33,0.00,0.000,6,0.166,0.035,3118,2023,2320,0,0,0,0,0,0
$GC,16092,0.71,116.8,685.4,10.3,537,16097,0.00,2.33,0.00,0.000,4,0.000,0.048,3130,457,2318,0,0,0,0,0,0
$GC,16209,0.71,116.8,672.9,10.4,539,16214,0.00,2.33,0.00,0.000,6,0.000,0.035,3130,2034,2318,0,0,0,0,0,0
$GC,16546,0.71,116.8,638.2,10.4,548,16550,0.00,2.35,0.00,0.000,4,0.000,0.045,3130,3619,2318,0,0,0,0,0,0
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$STATE,23240,end climb,SURFACE_DEPTH_REACHED
$STATE,23240,begin surface coast
$FINISH,0.8,1.023467
$STATE,23263,end surface coast,CONTROL_FINISHED_OK
$STATE,23263,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.4,23.943
$10V_AH,9.7,29.297
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334968
$DATA_FILE_SIZE,33340,915
$CAP_FILE_SIZE,178222,0
$CFSIZE,260165632,238997504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,083706,2105.303,-15827.174,38,1.1,38,9.8