version: 66.07
glider: 500
mission: 5
dive: 110
start: 11 26 110 15 39 50
data:
$ID,500
$MISSION,5
$DIVE,110
$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,720
$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,160
$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,500
$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,-123328.12
$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,3020
$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,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$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,109
$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
$GPS1,261110,151937,2050.811,12515.768,26,1.4,26,-2.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.7
$GPS2,261110,153855,2050.619,12515.772,9,1.8,9,-2.7
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.063
$KALMAN_X,-174977.6,430.9,-261.9,380384.5,-3530.5
$KALMAN_Y,-80407.9,507.6,392.3,44206.4,-1894.6
$MHEAD_RNG_PITCHd_Wd,78.5,166660,-15.3,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,26,-0.70,-155.7,0.0,0.0,0,120,0.00,0.00,-90.47,0.000,2,0.000,0.000,122,2292,3346,0,0,0,0,0,0
$GC,123,-0.70,-155.7,3.0,-6.1,18,145,10.00,2.40,-4.40,0.000,4,0.225,0.056,2786,661,3551,0,0,0,0,0,0
$GC,195,-0.70,-155.7,25.7,-33.1,31,201,0.00,2.35,0.00,0.000,6,0.000,0.044,2776,2267,3553,0,0,0,0,0,0
$GC,393,-0.70,-155.7,84.3,-23.7,51,397,0.00,2.33,0.00,0.000,4,0.000,0.045,2776,669,3554,0,0,0,0,0,0
$GC,458,-0.70,-155.7,97.5,-17.3,56,464,0.00,2.38,0.00,0.000,6,0.000,0.044,2764,2269,3554,0,0,0,0,0,0
$GC,719,-0.70,-155.7,137.9,-17.0,81,724,0.10,2.33,0.00,0.000,4,0.189,0.044,2789,674,3555,0,0,0,0,0,0
$GC,976,-0.70,-155.7,176.1,-13.9,103,982,0.00,2.35,0.00,0.000,6,0.000,0.044,2779,2277,3556,0,0,0,0,0,0
$GC,1247,-0.70,-155.7,210.9,-12.9,125,1251,0.00,2.33,0.00,0.000,4,0.000,0.054,2764,3842,3556,0,0,0,0,0,0
$GC,1309,-0.70,-155.7,220.1,-15.5,128,1313,0.00,2.30,0.00,0.000,6,0.000,0.036,2770,2254,3556,0,0,0,0,0,0
$GC,1634,-0.70,-155.7,265.5,-13.7,144,1638,0.00,2.40,0.00,0.000,4,0.000,0.054,2755,3850,3556,0,0,0,0,0,0
$GC,1678,-0.70,-155.7,272.0,-15.1,146,1683,0.12,2.30,0.00,0.000,6,0.160,0.038,2790,2267,3555,0,0,0,0,0,0
$GC,1997,-0.70,-155.7,309.2,-10.7,160,2001,0.00,2.30,0.00,0.000,4,0.000,0.045,2790,679,3555,0,0,0,0,0,0
$GC,2253,-0.70,-155.7,338.7,-10.1,165,2260,0.00,2.33,0.00,0.000,6,0.000,0.042,2780,2278,3555,0,0,0,0,0,0
$GC,2584,-0.70,-155.7,371.1,-9.6,174,2589,0.00,2.33,0.00,0.000,4,0.000,0.044,2780,678,3553,0,0,0,0,0,0
$GC,2785,-0.70,-155.7,390.7,-10.6,178,2790,0.00,2.33,0.00,0.000,6,0.000,0.042,2768,2267,3551,0,0,0,0,0,0
$GC,3128,-0.70,-155.7,427.4,-11.0,187,3132,0.00,2.35,0.00,0.000,4,0.000,0.053,2756,3853,3549,0,0,0,0,0,0
$GC,3279,-0.70,-155.7,443.4,-10.4,190,3284,0.12,2.30,0.00,0.000,6,0.159,0.036,2791,2255,3548,0,0,0,0,0,0
$GC,3621,-0.70,-155.7,470.4,-7.5,199,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2251,3546,0,0,0,0,0,0
$GC,3946,-0.70,-155.7,497.7,-8.5,207,3950,0.00,2.25,0.00,0.000,4,0.000,0.044,2791,688,3547,0,0,0,0,0,0
$GC,4108,-0.70,-155.7,513.4,-10.2,210,4112,0.00,2.30,0.00,0.000,6,0.000,0.044,2781,2283,3543,0,0,0,0,0,0
$GC,4438,-0.70,-155.7,544.5,-9.3,218,4442,0.00,2.35,0.00,0.000,4,0.000,0.054,2768,3848,3541,0,0,0,0,0,0
$GC,4516,-0.70,-155.7,552.9,-11.2,219,4522,0.00,2.30,0.00,0.000,6,0.000,0.036,2768,2269,3540,0,0,0,0,0,0
$GC,4846,-0.70,-155.7,584.1,-9.2,228,4850,0.00,2.35,0.00,0.000,4,0.000,0.053,2756,3838,3536,0,0,0,0,0,0
$GC,4884,-0.70,-155.7,587.6,-8.9,228,4891,0.12,2.30,0.00,0.000,6,0.163,0.035,2791,2270,3538,0,0,0,0,0,0
$GC,5216,-0.70,-155.7,613.7,-7.7,237,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2269,3535,0,0,0,0,0,0
$GC,5541,-0.70,-155.7,638.4,-7.6,245,5545,0.00,2.33,0.00,0.000,4,0.000,0.043,2792,675,3533,0,0,0,0,0,0
$GC,5652,-0.70,-155.7,647.6,-8.0,247,5656,0.00,2.35,0.00,0.000,6,0.000,0.042,2783,2286,3532,0,0,0,0,0,0
$GC,5995,-0.70,-155.7,674.3,-7.8,256,5999,0.00,2.33,0.00,0.000,4,0.000,0.042,2781,680,3530,0,0,0,0,0,0
$GC,6033,-0.70,-155.7,677.4,-7.9,257,6038,0.00,2.33,0.00,0.000,6,0.000,0.043,2770,2266,3529,0,0,0,0,0,0
$GC,6358,-0.70,-155.7,701.6,-7.3,265,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2266,3528,0,0,0,0,0,0
$GC,6682,-0.70,-155.7,724.4,-6.8,273,6686,0.00,2.35,0.00,0.000,4,0.000,0.053,2756,3843,3524,0,0,0,0,0,0
$GC,6792,-0.70,-155.7,733.3,-8.6,275,6797,0.12,2.33,0.00,0.000,6,0.160,0.035,2793,2227,3524,0,0,0,0,0,0
$GC,7135,-0.70,-155.7,755.5,-6.5,284,7139,0.00,2.22,0.00,0.000,4,0.000,0.044,2793,683,3523,0,0,0,0,0,0
$GC,7178,-0.70,-155.7,758.5,-6.9,285,7182,0.00,2.33,0.00,0.000,6,0.000,0.044,2782,2288,3522,0,0,0,0,0,0
$GC,7502,-0.70,-155.7,780.3,-6.9,293,7506,0.00,2.33,0.00,0.000,4,0.000,0.043,2782,688,3520,0,0,0,0,0,0
$GC,7593,-0.70,-155.7,786.9,-7.3,295,7597,0.00,2.33,0.00,0.000,6,0.000,0.045,2771,2283,3520,0,0,0,0,0,0
$GC,7916,-0.70,-155.7,810.5,-7.3,303,7920,0.00,2.33,0.00,0.000,4,0.000,0.044,2771,682,3516,0,0,0,0,0,0
$GC,8062,-0.70,-155.7,821.6,-7.4,306,8067,0.12,2.30,0.00,0.000,6,0.179,0.042,2792,2267,3518,0,0,0,0,0,0
$GC,8374,-0.70,-155.7,840.5,-5.9,314,8378,0.00,2.30,0.00,0.000,4,0.000,0.044,2792,682,3518,0,0,0,0,0,0
$GC,8463,-0.70,-155.7,846.0,-5.7,316,8467,0.00,2.33,0.00,0.000,6,0.000,0.044,2781,2279,3516,0,0,0,0,0,0
$GC,8781,-0.70,-155.7,864.0,-5.6,324,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2279,3515,0,0,0,0,0,0
$GC,9106,-0.70,-155.7,879.9,-4.8,332,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2279,3511,0,0,0,0,0,0
$GC,9431,-0.70,-155.7,893.5,-3.9,340,9435,0.00,2.33,0.00,0.000,4,0.000,0.047,2782,700,3512,0,0,0,0,0,0
$GC,9689,-0.70,-155.7,904.7,-4.8,345,9693,0.00,2.35,0.00,0.000,6,0.000,0.044,2770,2277,3513,0,0,0,0,0,0
$GC,10026,-0.70,-155.7,918.7,-4.1,354,10030,0.00,2.30,0.00,0.000,4,0.000,0.045,2770,700,3510,0,0,0,0,0,0
$GC,10098,-0.70,-155.7,922.2,-5.1,355,10103,0.12,2.33,0.00,0.000,6,0.176,0.043,2792,2299,3510,0,0,0,0,0,0
$GC,10434,-0.70,-155.7,936.9,-4.4,364,10439,0.00,2.35,0.00,0.000,4,0.000,0.047,2792,690,3511,0,0,0,0,0,0
$GC,10565,-0.70,-155.7,943.4,-5.0,367,10569,0.00,2.30,0.00,0.000,6,0.000,0.045,2782,2264,3508,0,0,0,0,0,0
$GC,10894,-0.70,-155.7,959.1,-4.6,375,10898,0.00,2.28,0.00,0.000,4,0.000,0.044,2782,686,3507,0,0,0,0,0,0
$GC,11056,-0.70,-155.7,967.0,-4.1,378,11060,0.00,2.35,0.00,0.000,6,0.000,0.044,2770,2273,3507,0,0,0,0,0,0
$GC,11393,-0.70,-155.7,981.0,-4.0,387,11397,0.00,2.30,0.00,0.000,4,0.000,0.046,2770,686,3506,0,0,0,0,0,0
$GC,11560,-0.70,-155.7,988.3,-4.6,390,11566,0.08,2.35,0.00,0.000,6,0.152,0.044,2794,2265,3506,0,0,0,0,0,0
$STATE,11645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11645,begin apogee
$GC,11650,-0.23,0.0,991.4,3.6,393,11776,0.45,0.00,123.20,1.380,6,0.127,0.000,2945,1857,2915,0,0,0,0,0,0
$STATE,11779,end apogee,CONTROL_FINISHED_OK
$STATE,11779,begin climb
$GC,11782,0.70,155.7,988.9,0.0,396,11928,0.82,2.62,138.30,1.334,4,0.074,0.054,3245,3445,2280,0,0,0,0,0,0
$GC,12007,0.70,155.7,958.7,14.9,401,12012,0.00,2.47,0.00,0.000,6,0.000,0.046,3256,1868,2269,0,0,0,0,0,0
$GC,12349,0.70,155.7,907.4,14.7,410,12353,0.00,2.47,0.00,0.000,4,0.000,0.057,3269,258,2263,0,0,0,0,0,0
$GC,12375,0.70,155.7,903.2,14.5,410,12379,0.00,2.45,0.00,0.000,6,0.000,0.045,3269,1851,2263,0,0,0,0,0,0
$GC,12712,0.70,155.7,849.6,16.0,419,12716,0.00,2.42,0.00,0.000,4,0.000,0.055,3269,3451,2260,0,0,0,0,0,0
$GC,12784,0.70,155.7,837.0,16.6,420,12789,0.10,2.47,0.00,0.000,6,0.125,0.045,3244,1844,2259,0,0,0,0,0,0
$GC,13120,0.70,155.7,789.7,14.0,429,13124,0.00,2.42,0.00,0.000,4,0.000,0.055,3244,3440,2257,0,0,0,0,0,0
$GC,13141,0.70,155.7,786.6,14.2,429,13145,0.00,2.42,0.00,0.000,6,0.000,0.048,3253,1847,2258,0,0,0,0,0,0
$GC,13476,0.70,155.7,737.5,14.7,438,13480,0.00,2.40,0.00,0.000,4,0.000,0.059,3267,261,2257,0,0,0,0,0,0
$GC,13497,0.70,155.7,734.1,14.7,438,13502,0.00,2.42,0.00,0.000,6,0.000,0.047,3267,1854,2256,0,0,0,0,0,0
$GC,13840,0.70,155.7,679.8,16.1,447,13844,0.00,2.40,0.00,0.000,4,0.000,0.056,3267,3447,2256,0,0,0,0,0,0
$GC,13962,0.70,155.7,658.5,17.0,449,13969,0.08,2.45,0.00,0.000,6,0.127,0.046,3250,1842,2256,0,0,0,0,0,0
$GC,14294,0.70,155.7,611.2,14.0,458,14298,0.00,2.45,0.00,0.000,4,0.000,0.054,3249,3453,2254,0,0,0,0,0,0
$GC,14315,0.70,155.7,607.9,14.6,458,14320,0.00,2.45,0.00,0.000,6,0.000,0.047,3260,1851,2255,0,0,0,0,0,0
$GC,14657,0.70,155.7,559.0,14.0,467,14662,0.00,2.40,0.00,0.000,4,0.000,0.057,3260,3444,2254,0,0,0,0,0,0
$GC,14684,0.70,155.7,554.9,14.8,467,14689,0.10,2.40,0.00,0.000,6,0.153,0.049,3242,1843,2253,0,0,0,0,0,0
$GC,15021,0.70,155.7,516.1,11.3,476,15025,0.00,2.42,0.00,0.000,4,0.000,0.055,3242,3453,2254,0,0,0,0,0,0
$GC,15047,0.70,155.7,512.7,11.6,476,15052,0.00,2.45,0.00,0.000,6,0.000,0.048,3249,1850,2254,0,0,0,0,0,0
$GC,15384,0.70,155.7,470.3,12.8,485,15387,0.00,2.40,0.00,0.000,4,0.000,0.058,3265,255,2252,0,0,0,0,0,0
$GC,15435,0.70,155.7,464.0,12.4,486,15439,0.00,2.38,0.00,0.000,6,0.000,0.046,3265,1864,2253,0,0,0,0,0,0
$GC,15752,0.70,155.7,425.4,11.8,494,15756,0.00,2.35,0.00,0.000,4,0.000,0.057,3265,3438,2253,0,0,0,0,0,0
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$STATE,20183,end climb,SURFACE_DEPTH_REACHED
$STATE,20183,begin surface coast
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$STATE,20229,end surface coast,CONTROL_FINISHED_OK
$STATE,20229,begin surface
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.2,13.209
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.816,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,30089,825
$CAP_FILE_SIZE,188754,0
$CFSIZE,260165632,215392256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261110,211937,2050.849,12517.822,35,1.3,35,-2.7