version: 66.07
glider: 500
mission: 4
dive: 40
start: 6 21 110 21 10 45
data:
$ID,500
$MISSION,4
$DIVE,40
$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,110
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110325.1
$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,2900
$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,51
$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,80
$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,39
$AR_SAMPLENUM,12
$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
$GPS1,210610,210107,2052.048,-15816.881,27,1.0,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.0
$GPS2,210610,210950,2052.165,-15817.010,11,1.0,11,9.8
$SPEED_LIMITS,0.147,0.214
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.017,-0.213
$KALMAN_X,-28367.1,-262.8,-19.9,-7025.1,-1731.0
$KALMAN_Y,33089.0,48.1,219.8,-68654.0,2522.9
$MHEAD_RNG_PITCHd_Wd,165.6,46828,-17.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.73,-107.1,0.0,0.0,0,72,0.00,0.00,-46.53,0.000,2,0.000,0.000,137,2016,2565,0,0,0,0,0,0
$GC,74,-0.73,-107.1,3.1,-4.7,9,111,10.32,2.38,-17.33,0.000,4,0.242,0.061,2658,462,3259,0,0,0,0,0,0
$GC,307,-0.73,-107.1,42.0,-16.1,45,311,0.00,2.30,0.00,0.000,6,0.000,0.035,2648,2042,3262,0,0,0,0,0,0
$GC,574,-0.73,-107.1,86.1,-16.7,70,578,0.00,2.35,0.00,0.000,4,0.000,0.045,2636,3612,3264,0,0,0,0,0,0
$GC,679,-0.73,-107.1,102.2,-13.2,79,683,0.00,2.30,0.00,0.000,6,0.000,0.033,2636,2038,3264,0,0,0,0,0,0
$GC,944,-0.73,-107.1,140.1,-13.8,104,945,0.10,0.00,0.00,0.000,6,0.156,0.000,2664,2037,3265,0,0,0,0,0,0
$GC,1199,-0.73,-107.1,170.4,-11.6,128,1203,0.00,2.33,0.00,0.000,4,0.000,0.045,2665,450,3272,0,0,0,0,0,0
$GC,1309,-0.73,-107.1,184.0,-11.8,137,1316,0.00,2.28,0.00,0.000,6,0.000,0.035,2654,2022,3267,0,0,0,0,0,0
$GC,1567,-0.73,-107.1,211.8,-10.7,157,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2022,3267,0,0,0,0,0,0
$GC,1876,-0.73,-107.1,240.0,-8.6,172,1880,0.00,2.30,0.00,0.000,4,0.000,0.046,2655,448,3267,0,0,0,0,0,0
$GC,1902,-0.73,-107.1,242.3,-8.7,173,1908,0.00,2.30,0.00,0.000,6,0.000,0.035,2642,2044,3267,0,0,0,0,0,0
$GC,2229,-0.73,-107.1,270.9,-9.7,189,2233,0.00,2.33,0.00,0.000,4,0.000,0.046,2643,450,3270,0,0,0,0,0,0
$GC,2441,-0.73,-107.1,293.2,-10.0,198,2448,0.08,2.28,0.00,0.000,6,0.128,0.035,2660,2027,3267,0,0,0,0,0,0
$GC,2774,-0.73,-107.1,320.5,-8.1,209,2778,0.00,2.33,0.00,0.000,4,0.000,0.047,2650,3612,3267,0,0,0,0,0,0
$GC,2895,-0.73,-107.1,332.0,-9.6,211,2902,0.00,2.30,0.00,0.000,6,0.000,0.033,2650,2021,3266,0,0,0,0,0,0
$GC,3226,-0.73,-107.1,362.6,-9.3,220,3230,0.00,2.30,0.00,0.000,4,0.000,0.047,2650,448,3267,0,0,0,0,0,0
$GC,3370,-0.73,-107.1,377.8,-10.4,223,3376,0.00,2.30,0.00,0.000,6,0.000,0.036,2635,2039,3262,0,0,0,0,0,0
$GC,3689,-0.73,-107.1,406.5,-8.8,231,3693,0.00,2.33,0.00,0.000,4,0.000,0.048,2626,3618,3260,0,0,0,0,0,0
$GC,3733,-0.73,-107.1,410.6,-9.4,232,3738,0.12,2.25,0.00,0.000,6,0.138,0.035,2666,2031,3260,0,0,0,0,0,0
$GC,4056,-0.73,-107.1,430.1,-5.3,240,4060,0.00,2.35,0.00,0.000,4,0.000,0.049,2671,447,3258,0,0,0,0,0,0
$GC,4150,-0.73,-107.1,435.5,-5.5,242,4155,0.00,2.30,0.00,0.000,6,0.000,0.037,2656,2027,3256,0,0,0,0,0,0
$GC,4469,-0.73,-107.1,454.4,-6.4,250,4473,0.00,2.35,0.00,0.000,4,0.000,0.049,2644,3617,3253,0,0,0,0,0,0
$GC,4517,-0.73,-107.1,458.1,-7.3,251,4522,0.00,2.33,0.00,0.000,6,0.000,0.035,2644,2025,3254,0,0,0,0,0,0
$GC,4836,-0.73,-107.1,483.5,-8.2,259,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2024,3252,0,0,0,0,0,0
$GC,5161,-0.73,-107.1,509.8,-8.0,267,5165,0.00,2.33,0.00,0.000,4,0.000,0.050,2641,447,3249,0,0,0,0,0,0
$GC,5231,-0.73,-107.1,516.4,-9.2,268,5237,0.08,2.33,0.00,0.000,6,0.123,0.038,2661,2046,3249,0,0,0,0,0,0
$GC,5568,-0.73,-107.1,543.3,-8.1,277,5572,0.00,2.33,0.00,0.000,4,0.000,0.050,2651,3616,3246,0,0,0,0,0,0
$GC,5599,-0.73,-107.1,546.1,-8.7,277,5604,0.00,2.33,0.00,0.000,6,0.000,0.037,2651,2031,3246,0,0,0,0,0,0
$GC,5936,-0.73,-107.1,574.8,-8.3,286,5940,0.00,2.35,0.00,0.000,4,0.000,0.051,2650,447,3243,0,0,0,0,0,0
$GC,5991,-0.73,-107.1,579.7,-8.8,287,5995,0.00,2.33,0.00,0.000,6,0.000,0.038,2639,2037,3243,0,0,0,0,0,0
$GC,6304,-0.73,-107.1,602.5,-7.1,295,6308,0.00,2.33,0.00,0.000,4,0.000,0.051,2639,455,3240,0,0,0,0,0,0
$GC,6335,-0.73,-107.1,605.0,-7.8,295,6342,0.10,2.30,0.00,0.000,6,0.122,0.039,2664,2032,3242,0,0,0,0,0,0
$GC,6667,-0.73,-107.1,623.9,-5.7,304,6671,0.00,2.35,0.00,0.000,4,0.000,0.053,2665,456,3240,0,0,0,0,0,0
$GC,6698,-0.73,-107.1,626.1,-6.8,304,6705,0.00,2.30,0.00,0.000,6,0.000,0.039,2655,2027,3239,0,0,0,0,0,0
$GC,7029,-0.73,-107.1,646.5,-6.2,313,7033,0.00,2.35,0.00,0.000,4,0.000,0.051,2643,3615,3237,0,0,0,0,0,0
$GC,7070,-0.73,-107.1,649.1,-7.1,314,7074,0.00,2.30,0.00,0.000,6,0.000,0.039,2643,2019,3237,0,0,0,0,0,0
$GC,7393,-0.73,-107.1,670.9,-6.8,322,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3236,0,0,0,0,0,0
$GC,7718,-0.73,-107.1,692.0,-6.5,330,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3234,0,0,0,0,0,0
$GC,8043,-0.73,-107.1,713.6,-6.7,338,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3232,0,0,0,0,0,0
$GC,8368,-0.73,-107.1,733.2,-6.0,346,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3232,0,0,0,0,0,0
$GC,8692,-0.73,-107.1,751.5,-5.5,354,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3230,0,0,0,0,0,0
$GC,9018,-0.73,-107.1,769.3,-5.4,362,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2020,3231,0,0,0,0,0,0
$GC,9343,-0.73,-107.1,786.0,-5.0,370,9347,0.00,2.35,0.00,0.000,4,0.000,0.054,2643,448,3228,0,0,0,0,0,0
$GC,9408,-0.73,-107.1,789.9,-5.9,371,9413,0.08,2.33,0.00,0.000,6,0.128,0.040,2660,2023,3228,0,0,0,0,0,0
$GC,9756,-0.73,-107.1,804.2,-3.9,380,9760,0.00,2.38,0.00,0.000,4,0.000,0.052,2650,3625,3228,0,0,0,0,0,0
$GC,9799,-0.73,-107.1,805.9,-4.3,381,9804,0.00,2.35,0.00,0.000,6,0.000,0.038,2649,2038,3230,0,0,0,0,0,0
$GC,10124,-0.73,-107.1,818.6,-4.0,389,10128,0.00,2.38,0.00,0.000,4,0.000,0.053,2651,451,3227,0,0,0,0,0,0
$GC,10183,-0.73,-107.1,821.4,-5.2,390,10188,0.00,2.35,0.00,0.000,6,0.000,0.041,2638,2045,3227,0,0,0,0,0,0
$GC,10531,-0.73,-107.1,837.7,-4.8,399,10535,0.00,2.33,0.00,0.000,4,0.000,0.053,2626,3610,3226,0,0,0,0,0,0
$GC,10571,-0.73,-107.1,839.7,-5.4,400,10576,0.12,2.30,0.00,0.000,6,0.140,0.039,2664,2028,3226,0,0,0,0,0,0
$GC,10894,-0.73,-107.1,853.0,-4.1,408,10899,0.00,2.35,0.00,0.000,4,0.000,0.054,2665,451,3226,0,0,0,0,0,0
$GC,10988,-0.73,-107.1,857.9,-5.5,410,10993,0.00,2.33,0.00,0.000,6,0.000,0.040,2656,2029,3225,0,0,0,0,0,0
$GC,11307,-0.73,-107.1,873.0,-4.7,418,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2029,3225,0,0,0,0,0,0
$GC,11632,-0.73,-107.1,887.1,-4.0,426,11636,0.00,2.38,0.00,0.000,4,0.000,0.054,2643,3623,3224,0,0,0,0,0,0
$GC,11675,-0.73,-107.1,888.9,-4.4,427,11679,0.00,2.38,0.00,0.000,6,0.000,0.039,2647,2018,3224,0,0,0,0,0,0
$GC,11999,-0.73,-107.1,902.7,-4.3,435,12003,0.00,2.33,0.00,0.000,4,0.000,0.054,2643,452,3221,0,0,0,0,0,0
$GC,12064,-0.73,-107.1,906.2,-5.3,436,12070,0.08,2.33,0.00,0.000,6,0.129,0.040,2661,2028,3223,0,0,0,0,0,0
$GC,12407,-0.73,-107.1,919.0,-3.7,445,12411,0.00,2.38,0.00,0.000,4,0.000,0.053,2650,3615,3223,0,0,0,0,0,0
$GC,12457,-0.73,-107.1,921.0,-4.4,446,12461,0.00,2.30,0.00,0.000,6,0.000,0.040,2650,2029,3223,0,0,0,0,0,0
$GC,12774,-0.73,-107.1,935.0,-4.4,454,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2029,3222,0,0,0,0,0,0
$GC,13099,-0.73,-107.1,950.2,-4.7,462,13103,0.00,2.35,0.00,0.000,4,0.000,0.054,2650,450,3222,0,0,0,0,0,0
$GC,13170,-0.73,-107.1,954.2,-5.7,463,13175,0.00,2.35,0.00,0.000,6,0.000,0.041,2639,2040,3222,0,0,0,0,0,0
$STATE,13511,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13511,begin apogee
$GC,13514,-0.23,0.0,973.4,5.9,472,13603,0.55,0.00,85.68,1.288,6,0.120,0.000,2821,2040,2824,0,0,0,0,0,0
$STATE,13650,end apogee,CONTROL_FINISHED_OK
$STATE,13650,begin climb
$GC,13651,0.73,107.1,974.9,0.0,474,13762,0.85,2.62,101.03,1.254,4,0.067,0.052,3139,3603,2384,0,0,0,0,0,0
$GC,13789,0.73,107.1,965.0,13.8,477,13794,0.00,2.50,0.00,0.000,6,0.000,0.042,3150,2039,2376,0,0,0,0,0,0
$GC,14102,0.73,107.1,922.8,13.5,485,14106,0.00,2.45,0.00,0.000,4,0.000,0.055,3159,445,2368,0,0,0,0,0,0
$GC,14150,0.73,107.1,915.7,14.0,486,14155,0.00,2.40,0.00,0.000,6,0.000,0.041,3162,2016,2367,0,0,0,0,0,0
$GC,14469,0.73,107.1,869.7,14.6,494,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2021,2364,0,0,0,0,0,0
$GC,14794,0.73,107.1,821.8,14.8,502,14798,0.00,2.40,0.00,0.000,4,0.000,0.055,3174,443,2363,0,0,0,0,0,0
$GC,14814,0.73,107.1,818.6,14.7,502,14820,0.10,2.40,0.00,0.000,6,0.153,0.041,3142,2038,2360,0,0,0,0,0,0
$GC,15156,0.73,107.1,773.4,13.0,511,15157,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2039,2361,0,0,0,0,0,0
$GC,15481,0.73,107.1,731.3,12.8,519,15485,0.00,2.40,0.00,0.000,4,0.000,0.053,3142,3619,2358,0,0,0,0,0,0
$GC,15547,0.73,107.1,722.1,14.1,520,15552,0.00,2.40,0.00,0.000,6,0.000,0.042,3152,2029,2359,0,0,0,0,0,0
$GC,15895,0.73,107.1,677.5,13.0,529,15896,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2026,2359,0,0,0,0,0,0
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$STATE,22473,end climb,SURFACE_DEPTH_REACHED
$STATE,22473,begin surface coast
$FINISH,0.8,1.023091
$STATE,22497,end surface coast,CONTROL_FINISHED_OK
$STATE,22497,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,4.268
$10V_AH,9.8,4.731
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334824
$DATA_FILE_SIZE,30054,886
$CAP_FILE_SIZE,187341,0
$CFSIZE,260165632,255488000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,033000,2050.881,-15818.019,37,1.1,37,9.7