version: 66.07
glider: 500
mission: 4
dive: 101
start: 7 7 110 11 35 15
data:
$ID,500
$MISSION,4
$DIVE,101
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111299.55
$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,46
$R_STBD_OVSHOOT,46
$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,100
$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
$GPS1,070710,112825,2021.366,-16011.303,40,1.2,40,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.1
$GPS2,070710,113419,2021.299,-16011.271,8,1.2,13,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.155,0.159
$KALMAN_X,-167802.0,2.1,89.6,-65277.1,-1321.0
$KALMAN_Y,83352.1,-134.7,80.4,-175764.2,-3754.1
$MHEAD_RNG_PITCHd_Wd,34.7,123791,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-51.10,0.000,2,0.000,0.000,137,2043,2671,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.4,-6.3,10,113,10.25,2.40,-14.62,0.000,4,0.239,0.056,2642,3619,3298,0,0,0,0,0,0
$GC,175,-0.71,-116.8,18.4,-17.4,27,180,0.00,2.33,0.00,0.000,6,0.000,0.028,2642,2018,3299,0,0,0,0,0,0
$GC,374,-0.71,-116.8,53.3,-13.1,51,378,0.00,2.28,0.00,0.000,4,0.000,0.042,2642,461,3302,0,0,0,0,0,0
$GC,401,-0.71,-116.8,57.1,-14.1,53,405,0.00,2.25,0.00,0.000,6,0.000,0.032,2630,2041,3302,0,0,0,0,0,0
$GC,666,-0.71,-116.8,92.3,-12.5,78,671,0.10,2.33,0.00,0.000,4,0.163,0.042,2659,454,3303,0,0,0,0,0,0
$GC,750,-0.71,-116.8,101.2,-10.1,85,754,0.00,2.22,0.00,0.000,6,0.000,0.031,2649,2033,3305,0,0,0,0,0,0
$GC,1010,-0.71,-116.8,120.8,-7.2,109,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2033,3306,0,0,0,0,0,0
$GC,1264,-0.71,-116.8,142.8,-9.7,133,1268,0.00,2.28,0.00,0.000,4,0.000,0.042,2649,460,3307,0,0,0,0,0,0
$GC,1326,-0.71,-116.8,149.7,-11.3,138,1330,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2025,3309,0,0,0,0,0,0
$GC,1591,-0.71,-116.8,181.7,-12.1,163,1595,0.00,2.28,0.00,0.000,4,0.000,0.041,2638,449,3307,0,0,0,0,0,0
$GC,1646,-0.71,-116.8,188.9,-12.6,167,1653,0.08,2.28,0.00,0.000,6,0.122,0.031,2655,2035,3307,0,0,0,0,0,0
$GC,1903,-0.71,-116.8,213.7,-9.5,185,1907,0.00,2.30,0.00,0.000,4,0.000,0.043,2645,3609,3307,0,0,0,0,0,0
$GC,1957,-0.71,-116.8,219.3,-10.1,187,1963,0.00,2.28,0.00,0.000,6,0.000,0.028,2645,2026,3307,0,0,0,0,0,0
$GC,2272,-0.71,-116.8,249.0,-8.7,203,2276,0.00,2.28,0.00,0.000,4,0.000,0.044,2645,462,3310,0,0,0,0,0,0
$GC,2334,-0.71,-116.8,254.4,-9.0,206,2338,0.00,2.22,0.00,0.000,6,0.000,0.032,2629,2034,3310,0,0,0,0,0,0
$GC,2665,-0.71,-116.8,284.2,-9.2,222,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2037,3306,0,0,0,0,0,0
$GC,2993,-0.71,-116.8,316.6,-10.1,234,2995,0.10,0.00,0.00,0.000,6,0.160,0.000,2664,2037,3305,0,0,0,0,0,0
$GC,3318,-0.71,-116.8,341.9,-7.5,242,3322,0.00,2.30,0.00,0.000,4,0.000,0.044,2664,452,3303,0,0,0,0,0,0
$GC,3405,-0.71,-116.8,348.8,-7.4,244,3410,0.00,2.28,0.00,0.000,6,0.000,0.033,2651,2030,3303,0,0,0,0,0,0
$GC,3730,-0.71,-116.8,369.3,-6.0,252,3734,0.00,2.28,0.00,0.000,4,0.000,0.044,2654,462,3300,0,0,0,0,0,0
$GC,3773,-0.71,-116.8,372.0,-6.4,253,3777,0.00,2.28,0.00,0.000,6,0.000,0.033,2643,2042,3300,0,0,0,0,0,0
$GC,4097,-0.71,-116.8,393.2,-6.7,261,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2042,3298,0,0,0,0,0,0
$GC,4422,-0.71,-116.8,417.5,-7.8,269,4426,0.00,2.30,0.00,0.000,4,0.000,0.044,2642,463,3297,0,0,0,0,0,0
$GC,4461,-0.71,-116.8,421.1,-9.4,270,4465,0.00,2.25,0.00,0.000,6,0.000,0.034,2633,2042,3296,0,0,0,0,0,0
$GC,4790,-0.71,-116.8,450.8,-9.2,278,4794,0.00,2.33,0.00,0.000,4,0.000,0.045,2619,3605,3295,0,0,0,0,0,0
$GC,4821,-0.71,-116.8,453.9,-9.8,278,4827,0.10,2.30,0.00,0.000,6,0.107,0.031,2659,2022,3295,0,0,0,0,0,0
$GC,5158,-0.71,-116.8,480.7,-7.9,287,5162,0.00,2.28,0.00,0.000,4,0.000,0.046,2658,458,3293,0,0,0,0,0,0
$GC,5197,-0.71,-116.8,484.1,-8.6,288,5201,0.00,2.22,0.00,0.000,6,0.000,0.033,2649,2028,3292,0,0,0,0,0,0
$GC,5526,-0.71,-116.8,509.9,-7.4,296,5530,0.00,2.35,0.00,0.000,4,0.000,0.045,2649,448,3290,0,0,0,0,0,0
$GC,5576,-0.71,-116.8,513.9,-8.4,297,5580,0.00,2.28,0.00,0.000,6,0.000,0.034,2638,2039,3290,0,0,0,0,0,0
$GC,5893,-0.71,-116.8,537.4,-7.3,305,5897,0.00,2.28,0.00,0.000,4,0.000,0.046,2626,3602,3288,0,0,0,0,0,0
$GC,5947,-0.71,-116.8,541.7,-8.3,306,5952,0.08,2.28,0.00,0.000,6,0.110,0.031,2666,2035,3289,0,0,0,0,0,0
$GC,6259,-0.71,-116.8,561.8,-6.4,314,6264,0.00,2.30,0.00,0.000,4,0.000,0.046,2667,455,3288,0,0,0,0,0,0
$GC,6314,-0.71,-116.8,565.8,-7.5,315,6319,0.00,2.28,0.00,0.000,6,0.000,0.033,2657,2027,3286,0,0,0,0,0,0
$GC,6627,-0.71,-116.8,587.3,-6.9,323,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2027,3284,0,0,0,0,0,0
$GC,6952,-0.71,-116.8,611.2,-7.4,331,6956,0.00,2.30,0.00,0.000,4,0.000,0.046,2657,457,3284,0,0,0,0,0,0
$GC,6984,-0.71,-116.8,613.8,-8.2,331,6990,0.00,2.25,0.00,0.000,6,0.000,0.034,2647,2042,3284,0,0,0,0,0,0
$GC,7315,-0.71,-116.8,638.3,-7.1,340,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2042,3283,0,0,0,0,0,0
$GC,7640,-0.71,-116.8,660.4,-6.7,348,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2042,3284,0,0,0,0,0,0
$GC,7965,-0.71,-116.8,682.2,-6.8,356,7969,0.00,2.38,0.00,0.000,4,0.000,0.048,2646,448,3281,0,0,0,0,0,0
$GC,8030,-0.71,-116.8,687.3,-7.5,357,8035,0.00,2.30,0.00,0.000,6,0.000,0.035,2634,2026,3280,0,0,0,0,0,0
$GC,8372,-0.71,-116.8,711.5,-7.1,366,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2027,3279,0,0,0,0,0,0
$GC,8697,-0.71,-116.8,732.7,-6.2,374,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2026,3278,0,0,0,0,0,0
$GC,9023,-0.71,-116.8,752.1,-5.8,382,9027,0.00,2.35,0.00,0.000,4,0.000,0.048,2634,452,3274,0,0,0,0,0,0
$GC,9049,-0.71,-116.8,753.8,-6.7,382,9054,0.10,2.30,0.00,0.000,6,0.117,0.035,2660,2026,3276,0,0,0,0,0,0
$GC,9385,-0.71,-116.8,770.9,-5.2,391,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2028,3276,0,0,0,0,0,0
$GC,9711,-0.71,-116.8,789.6,-6.0,399,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2026,3275,0,0,0,0,0,0
$GC,10035,-0.71,-116.8,810.9,-6.5,407,10039,0.00,2.33,0.00,0.000,4,0.000,0.049,2661,455,3275,0,0,0,0,0,0
$GC,10074,-0.71,-116.8,813.7,-7.6,408,10078,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2045,3275,0,0,0,0,0,0
$GC,10397,-0.71,-116.8,835.6,-6.7,416,10401,0.00,2.35,0.00,0.000,4,0.000,0.048,2651,453,3274,0,0,0,0,0,0
$GC,10445,-0.71,-116.8,839.2,-7.3,417,10450,0.00,2.30,0.00,0.000,6,0.000,0.035,2645,2023,3272,0,0,0,0,0,0
$GC,10764,-0.71,-116.8,859.3,-6.2,425,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2023,3275,0,0,0,0,0,0
$GC,11089,-0.71,-116.8,878.9,-6.0,433,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2023,3273,0,0,0,0,0,0
$GC,11414,-0.71,-116.8,898.1,-5.9,441,11418,0.00,2.35,0.00,0.000,4,0.000,0.050,2640,454,3273,0,0,0,0,0,0
$GC,11502,-0.71,-116.8,904.3,-6.9,443,11507,0.00,2.33,0.00,0.000,6,0.000,0.036,2629,2040,3272,0,0,0,0,0,0
$GC,11826,-0.71,-116.8,924.3,-6.2,451,11828,0.10,0.00,0.00,0.000,6,0.161,0.000,2659,2041,3272,0,0,0,0,0,0
$GC,12151,-0.71,-116.8,940.1,-4.8,459,12155,0.00,2.35,0.00,0.000,4,0.000,0.049,2659,457,3272,0,0,0,0,0,0
$GC,12177,-0.71,-116.8,941.6,-5.9,459,12182,0.00,2.30,0.00,0.000,6,0.000,0.037,2650,2030,3272,0,0,0,0,0,0
$GC,12514,-0.71,-116.8,958.5,-5.0,468,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2029,3271,0,0,0,0,0,0
$GC,12839,-0.71,-116.8,974.3,-5.0,476,12843,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,3612,3271,0,0,0,0,0,0
$GC,12870,-0.71,-116.8,976.1,-5.6,476,12875,0.00,2.33,0.00,0.000,6,0.000,0.033,2637,2024,3270,0,0,0,0,0,0
$STATE,13124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13124,begin apogee
$GC,13128,-0.23,0.0,990.8,5.9,483,13227,0.52,0.00,96.12,1.299,6,0.113,0.000,2812,2024,2826,0,0,0,0,0,0
$STATE,13274,end apogee,CONTROL_FINISHED_OK
$STATE,13274,begin climb
$GC,13276,0.71,116.8,992.3,0.0,485,13398,0.82,2.67,110.15,1.266,4,0.067,0.046,3119,3607,2342,0,0,0,0,0,0
$GC,13413,0.71,116.8,982.5,13.0,488,13418,0.00,2.53,0.00,0.000,6,0.000,0.036,3132,2040,2339,0,0,0,0,0,0
$GC,13726,0.71,116.8,939.4,13.9,496,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2037,2327,0,0,0,0,0,0
$GC,14052,0.71,116.8,892.8,14.7,504,14056,0.00,2.40,0.00,0.000,4,0.000,0.049,3143,448,2324,0,0,0,0,0,0
$GC,14106,0.71,116.8,884.4,15.9,505,14111,0.00,2.35,0.00,0.000,6,0.000,0.035,3143,2032,2327,0,0,0,0,0,0
$GC,14425,0.71,116.8,837.6,14.5,513,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2031,2322,0,0,0,0,0,0
$GC,14750,0.71,116.8,792.9,13.5,521,14754,0.00,2.40,0.00,0.000,4,0.000,0.050,3156,438,2321,0,0,0,0,0,0
$GC,14804,0.71,116.8,785.1,13.9,522,14809,0.10,2.35,0.00,0.000,6,0.143,0.035,3122,2032,2321,0,0,0,0,0,0
$GC,15116,0.71,116.8,748.0,11.8,530,15120,0.00,2.38,0.00,0.000,4,0.000,0.047,3122,3616,2319,0,0,0,0,0,0
$GC,15143,0.71,116.8,744.5,12.3,530,15147,0.00,2.38,0.00,0.000,6,0.000,0.036,3132,2020,2318,0,0,0,0,0,0
$GC,15479,0.71,116.8,705.0,11.6,539,15483,0.00,2.33,0.00,0.000,4,0.000,0.049,3145,455,2319,0,0,0,0,0,0
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$STATE,22322,end climb,SURFACE_DEPTH_REACHED
$STATE,22322,begin surface coast
$FINISH,0.8,1.023445
$STATE,22357,end surface coast,CONTROL_FINISHED_OK
$STATE,22357,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,11.698
$10V_AH,9.7,15.007
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334036
$DATA_FILE_SIZE,33382,911
$CAP_FILE_SIZE,173787,0
$CFSIZE,260165632,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070710,175107,2021.768,-16009.962,30,1.3,30,9.6