version: 66.07
glider: 500
mission: 5
dive: 33
start: 11 12 110 19 2 32
data:
$ID,500
$MISSION,5
$DIVE,33
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,366
$T_MISSION,630
$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,51806
$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,450
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-121999.11
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2950
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3000
$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,-66.543793
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,32
$AR_SAMPLENUM,2
$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
$GPS1,121110,183406,2118.599,12415.876,38,0.9,38,-2.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.9
$GPS2,121110,190137,2118.369,12416.150,12,1.1,12,-2.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.005,-0.227
$KALMAN_X,25742.3,449.8,-191.5,76584.7,-1109.6
$KALMAN_Y,17663.0,-3463.8,-744.5,2674.9,5409.0
$MHEAD_RNG_PITCHd_Wd,183.9,280702,-18.0,-9.016
$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,-0.74,-116.8,0.0,0.0,0,118,0.00,0.00,-86.28,0.000,6,0.000,0.000,123,2024,3478,0,0,0,0,0,0
$GC,121,-0.74,-116.8,3.3,-6.8,18,137,9.85,2.25,0.00,0.000,4,0.235,0.050,2707,509,3480,0,0,0,0,0,0
$GC,221,-0.74,-116.8,39.6,-31.3,34,226,0.00,2.38,0.00,0.000,6,0.000,0.057,2696,2090,3484,0,0,0,0,0,0
$GC,482,-0.74,-116.8,123.4,-24.1,58,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2090,3481,0,0,0,0,0,0
$GC,736,-0.74,-116.8,178.6,-20.2,82,741,0.00,2.45,0.00,0.000,4,0.000,0.062,2683,3692,3482,0,0,0,0,0,0
$GC,993,-0.74,-116.8,229.4,-18.5,98,1000,0.00,2.40,0.00,0.000,6,0.000,0.052,2683,2099,3483,0,0,0,0,0,0
$GC,1309,-0.74,-116.8,284.0,-16.8,114,1314,0.10,2.42,0.00,0.000,4,0.190,0.062,2694,3692,3483,0,0,0,0,0,0
$GC,1543,-0.74,-116.8,319.7,-14.1,122,1548,0.00,2.40,0.00,0.000,6,0.000,0.053,2697,2096,3483,0,0,0,0,0,0
$GC,1856,-0.74,-116.8,361.9,-13.1,130,1860,0.00,2.45,0.00,0.000,4,0.000,0.067,2685,3692,3482,0,0,0,0,0,0
$GC,2112,-0.74,-116.8,391.6,-10.3,135,2119,0.00,2.38,0.00,0.000,6,0.000,0.053,2684,2110,3481,0,0,0,0,0,0
$GC,2445,-0.74,-116.8,419.8,-8.5,144,2449,0.00,2.45,0.00,0.000,4,0.000,0.067,2672,3705,3480,0,0,0,0,0,0
$GC,2702,-0.74,-116.8,443.2,-8.6,149,2709,0.12,2.40,0.00,0.000,6,0.175,0.046,2706,2070,3478,0,0,0,0,0,0
$GC,3034,-0.74,-116.8,470.7,-8.5,158,3038,0.00,2.25,0.00,0.000,4,0.000,0.052,2706,516,3475,0,0,0,0,0,0
$GC,3290,-0.74,-116.8,492.3,-8.3,163,3297,0.00,2.38,0.00,0.000,6,0.000,0.051,2695,2132,3473,0,0,0,0,0,0
$GC,3622,-0.74,-116.8,520.7,-8.8,172,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2132,3470,0,0,0,0,0,0
$GC,3947,-0.74,-116.8,546.7,-7.2,180,3951,0.00,2.33,0.00,0.000,4,0.000,0.058,2683,3694,3467,0,0,0,0,0,0
$GC,4204,-0.74,-116.8,564.3,-7.3,185,4210,0.00,2.35,0.00,0.000,6,0.000,0.041,2683,2095,3465,0,0,0,0,0,0
$GC,4535,-0.74,-116.8,590.6,-8.1,194,4539,0.00,2.40,0.00,0.000,4,0.000,0.058,2670,3695,3465,0,0,0,0,0,0
$GC,4735,-0.74,-116.8,605.5,-7.1,198,4740,0.08,2.35,0.00,0.000,6,0.162,0.041,2704,2094,3460,0,0,0,0,0,0
$GC,5078,-0.74,-116.8,624.4,-5.6,207,5082,0.00,2.28,0.00,0.000,4,0.000,0.050,2704,519,3459,0,0,0,0,0,0
$GC,5224,-0.74,-116.8,633.5,-6.4,210,5228,0.00,2.30,0.00,0.000,6,0.000,0.047,2693,2111,3456,0,0,0,0,0,0
$GC,5571,-0.74,-116.8,654.8,-5.9,219,5575,0.00,2.35,0.00,0.000,4,0.000,0.058,2679,3694,3454,0,0,0,0,0,0
$GC,5632,-0.74,-116.8,659.2,-7.0,220,5636,0.00,2.33,0.00,0.000,6,0.000,0.042,2681,2101,3453,0,0,0,0,0,0
$GC,5979,-0.74,-116.8,682.5,-6.4,229,5983,0.10,2.35,0.00,0.000,4,0.200,0.051,2705,507,3451,0,0,0,0,0,0
$GC,6236,-0.74,-116.8,698.2,-6.0,234,6242,0.00,2.33,0.00,0.000,6,0.000,0.048,2694,2113,3450,0,0,0,0,0,0
$GC,6567,-0.74,-116.8,715.8,-5.2,243,6571,0.00,2.33,0.00,0.000,4,0.000,0.050,2695,519,3447,0,0,0,0,0,0
$GC,6622,-0.74,-116.8,719.0,-6.1,244,6626,0.00,2.30,0.00,0.000,6,0.000,0.047,2683,2105,3447,0,0,0,0,0,0
$GC,6941,-0.74,-116.8,735.4,-4.9,252,6945,0.00,2.35,0.00,0.000,4,0.000,0.056,2671,3683,3445,0,0,0,0,0,0
$GC,7103,-0.74,-116.8,744.8,-5.2,255,7108,0.12,2.30,0.00,0.000,6,0.179,0.039,2704,2088,3444,0,0,0,0,0,0
$GC,7434,-0.74,-116.8,762.8,-5.7,263,7438,0.00,2.30,0.00,0.000,4,0.000,0.049,2704,509,3443,0,0,0,0,0,0
$GC,7691,-0.74,-116.8,776.4,-5.3,268,7697,0.00,2.35,0.00,0.000,6,0.000,0.047,2693,2113,3441,0,0,0,0,0,0
$GC,8022,-0.74,-116.8,793.1,-5.2,277,8026,0.00,2.35,0.00,0.000,4,0.000,0.050,2690,518,3439,0,0,0,0,0,0
$GC,8212,-0.74,-116.8,803.3,-4.9,281,8216,0.00,2.33,0.00,0.000,6,0.000,0.047,2681,2105,3438,0,0,0,0,0,0
$GC,8559,-0.74,-116.8,818.6,-4.4,290,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2105,3437,0,0,0,0,0,0
$GC,8884,-0.74,-116.8,832.6,-4.2,298,8888,0.00,2.35,0.00,0.000,4,0.000,0.056,2669,3681,3436,0,0,0,0,0,0
$GC,8973,-0.74,-116.8,836.8,-4.7,300,8978,0.15,2.28,0.00,0.000,6,0.174,0.038,2710,2093,3436,0,0,0,0,0,0
$GC,9291,-0.74,-116.8,848.8,-3.6,308,9295,0.00,2.28,0.00,0.000,4,0.000,0.050,2710,522,3434,0,0,0,0,0,0
$GC,9386,-0.74,-116.8,852.5,-4.0,310,9390,0.00,2.30,0.00,0.000,6,0.000,0.046,2699,2110,3434,0,0,0,0,0,0
$GC,9698,-0.74,-116.8,864.6,-3.7,318,9702,0.00,2.33,0.00,0.000,4,0.000,0.058,2687,3680,3434,0,0,0,0,0,0
$GC,9955,-0.74,-116.8,875.5,-4.4,323,9961,0.00,2.30,0.00,0.000,6,0.000,0.040,2687,2092,3433,0,0,0,0,0,0
$GC,10286,-0.74,-116.8,887.2,-3.4,332,10290,0.00,2.40,0.00,0.000,4,0.000,0.058,2675,3682,3431,0,0,0,0,0,0
$GC,10543,-0.74,-116.8,897.6,-4.1,337,10549,0.12,2.33,0.00,0.000,6,0.177,0.040,2708,2082,3430,0,0,0,0,0,0
$GC,10874,-0.74,-116.8,910.2,-3.7,346,10878,0.00,2.40,0.00,0.000,4,0.000,0.058,2697,3681,3433,0,0,0,0,0,0
$GC,11130,-0.74,-116.8,921.7,-4.3,351,11136,0.00,2.33,0.00,0.000,6,0.000,0.040,2697,2096,3430,0,0,0,0,0,0
$GC,11463,-0.74,-116.8,936.6,-4.2,360,11467,0.00,2.38,0.00,0.000,4,0.000,0.058,2685,3688,3431,0,0,0,0,0,0
$GC,11585,-0.74,-116.8,941.8,-4.5,362,11591,0.00,2.30,0.00,0.000,6,0.000,0.041,2684,2097,3429,0,0,0,0,0,0
$GC,11916,-0.74,-116.8,952.4,-3.1,371,11920,0.00,2.30,0.00,0.000,4,0.000,0.051,2685,517,3428,0,0,0,0,0,0
$GC,12173,-0.74,-116.8,960.4,-2.7,376,12180,0.15,2.33,0.00,0.000,6,0.204,0.047,2708,2122,3427,0,0,0,0,0,0
$GC,12504,-0.74,-116.8,967.2,-2.0,385,12508,0.00,2.33,0.00,0.000,4,0.000,0.049,2711,521,3426,0,0,0,0,0,0
$GC,12761,-0.74,-116.8,973.4,-2.6,390,12767,0.00,2.33,0.00,0.000,6,0.000,0.046,2700,2112,3427,0,0,0,0,0,0
$GC,13093,-0.74,-116.8,982.4,-2.8,399,13097,0.00,2.33,0.00,0.000,4,0.000,0.051,2700,521,3428,0,0,0,0,0,0
$STATE,13337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13337,begin apogee
$GC,13344,-0.23,0.0,990.0,3.1,404,13440,0.55,0.00,89.12,1.467,6,0.162,0.000,2865,2102,3000,0,0,0,0,0,0
$STATE,13442,end apogee,CONTROL_FINISHED_OK
$STATE,13442,begin climb
$GC,13445,0.74,116.8,987.8,0.0,407,13562,0.93,2.62,107.78,1.444,4,0.091,0.061,3187,3673,2522,0,0,0,0,0,0
$GC,13657,0.74,116.8,969.4,11.0,411,13661,0.00,2.45,0.00,0.000,6,0.000,0.048,3196,2112,2513,0,0,0,0,0,0
$GC,13974,0.74,116.8,937.0,10.0,419,13978,0.00,2.45,0.00,0.000,4,0.000,0.058,3206,506,2508,0,0,0,0,0,0
$GC,14091,0.74,116.8,925.1,10.7,421,14095,0.00,2.42,0.00,0.000,6,0.000,0.052,3206,2101,2506,0,0,0,0,0,0
$GC,14426,0.74,116.8,889.5,10.7,430,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2101,2504,0,0,0,0,0,0
$GC,14751,0.74,116.8,852.9,11.3,438,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2099,2503,0,0,0,0,0,0
$GC,15076,0.74,116.8,815.3,11.4,446,15080,0.00,2.42,0.00,0.000,4,0.000,0.057,3218,500,2501,0,0,0,0,0,0
$GC,15119,0.74,116.8,810.3,10.7,447,15124,0.00,2.38,0.00,0.000,6,0.000,0.052,3218,2099,2502,0,0,0,0,0,0
$GC,15437,0.74,116.8,774.5,11.2,455,15442,0.10,2.42,0.00,0.000,4,0.160,0.063,3187,3682,2501,0,0,0,0,0,0
$GC,15481,0.74,116.8,769.8,10.2,456,15485,0.00,2.40,0.00,0.000,6,0.000,0.048,3199,2097,2500,0,0,0,0,0,0
$GC,15805,0.74,116.8,739.0,9.4,464,15809,0.00,2.38,0.00,0.000,4,0.000,0.061,3210,512,2504,0,0,0,0,0,0
$GC,15920,0.74,116.8,727.5,9.9,466,15925,0.00,2.40,0.00,0.000,6,0.000,0.054,3211,2094,2501,0,0,0,0,0,0
$GC,16258,0.74,116.8,693.3,10.1,475,16262,0.00,2.42,0.00,0.000,4,0.000,0.064,3216,3693,2499,0,0,0,0,0,0
$GC,16284,0.74,116.8,690.3,10.8,475,16289,0.08,2.42,0.00,0.000,6,0.125,0.050,3193,2102,2499,0,0,0,0,0,0
$GC,16620,0.76,127.8,661.4,8.4,484,16631,0.00,2.40,6.03,0.996,4,0.000,0.059,3204,510,2479,0,0,0,0,0,0
$GC,16745,0.76,127.8,650.8,10.4,486,16751,0.00,2.38,0.00,0.000,6,0.000,0.053,3209,2102,2479,0,0,0,0,0,0
$GC,17076,0.76,130.7,621.0,8.9,495,17082,0.00,0.00,4.12,0.807,6,0.000,0.000,3204,2102,2468,0,0,0,0,0,0
$GC,17402,0.77,140.2,593.2,8.5,503,17417,0.00,2.42,10.70,1.097,4,0.000,0.055,3216,512,2428,0,0,0,0,0,0
$GC,17456,0.78,145.8,588.5,8.7,504,17467,0.00,2.42,6.60,0.973,6,0.000,0.052,3216,2100,2405,0,0,0,0,0,0
$GC,17803,0.79,150.7,558.1,8.8,513,17814,0.00,2.40,5.60,0.907,4,0.000,0.054,3228,511,2384,0,0,0,0,0,0
$GC,17843,0.81,169.7,554.8,8.0,514,17867,0.00,2.40,18.08,1.118,6,0.000,0.053,3228,2108,2309,0,0,0,0,0,0
$GC,18209,0.81,169.7,520.9,9.5,523,18213,0.00,2.47,0.00,0.000,4,0.000,0.064,3229,3687,2303,0,0,0,0,0,0
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$STATE,23711,end climb,SURFACE_DEPTH_REACHED
$STATE,23711,begin surface coast
$FINISH,0.5,1.008537
$STATE,23729,end surface coast,CONTROL_FINISHED_OK
$STATE,23729,begin surface
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$TT8_MAMPS,0.062894
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$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,25.60
$XPDR_PINGS,19
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$AR_CDRIVE_FREE,8277000192
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59389575168
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,5.654
$10V_AH,10.2,4.396
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.900,218.650,551.400,0.000,0.000,118.340,189.778,953.045,4.750,0.000,14.163,1843.409,18461.547,668.399,4086.721,391.791,33.370,2194.597,0.000,2775.608,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.905,0.000,0.000
$MEM,355040
$DATA_FILE_SIZE,30058,844
$CAP_FILE_SIZE,227544,0
$CFSIZE,260165632,221126656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,014036,2115.767,12416.714,28,0.9,28,-2.8