version: 66.07
glider: 500
mission: 4
dive: 109
start: 7 9 110 14 56 34
data:
$ID,500
$MISSION,4
$DIVE,109
$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,-111406.29
$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,55
$R_STBD_OVSHOOT,41
$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,108
$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
$GPS1,090710,144925,2027.094,-16002.109,40,1.0,40,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.9
$GPS2,090710,145538,2027.063,-16002.140,10,1.0,10,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.038
$KALMAN_X,-183703.0,-49.0,-132.4,-33326.0,-1979.2
$KALMAN_Y,68957.5,64.4,15.5,-150835.6,-1274.0
$MHEAD_RNG_PITCHd_Wd,70.5,108701,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.71,-116.8,0.0,0.0,0,80,0.00,0.00,-51.50,0.000,2,0.000,0.000,139,2012,2688,0,0,0,0,0,0
$GC,83,-0.71,-116.8,3.2,-4.9,10,114,10.10,0.00,-14.55,0.000,6,0.232,0.000,2652,2015,3301,0,0,0,0,0,0
$GC,316,-0.71,-116.8,47.0,-20.2,45,320,0.00,2.30,0.00,0.000,4,0.000,0.043,2652,450,3302,0,0,0,0,0,0
$GC,360,-0.71,-116.8,54.5,-15.9,48,366,0.00,2.30,0.00,0.000,6,0.000,0.031,2642,2039,3304,0,0,0,0,0,0
$GC,621,-0.71,-116.8,82.2,-9.8,73,625,0.00,2.30,0.00,0.000,4,0.000,0.042,2629,3600,3308,0,0,0,0,0,0
$GC,810,-0.71,-116.8,102.2,-11.5,89,816,0.00,2.28,0.00,0.000,6,0.000,0.028,2635,2037,3309,0,0,0,0,0,0
$GC,1071,-0.71,-116.8,134.8,-12.0,114,1075,0.10,2.33,0.00,0.000,4,0.149,0.042,2661,447,3310,0,0,0,0,0,0
$GC,1143,-0.71,-116.8,142.5,-10.0,120,1147,0.00,2.25,0.00,0.000,6,0.000,0.031,2651,2033,3310,0,0,0,0,0,0
$GC,1403,-0.71,-116.8,167.6,-9.8,144,1407,0.00,2.28,0.00,0.000,4,0.000,0.042,2638,3599,3311,0,0,0,0,0,0
$GC,1434,-0.71,-116.8,170.9,-10.2,146,1441,0.00,2.28,0.00,0.000,6,0.000,0.028,2639,2020,3312,0,0,0,0,0,0
$GC,1696,-0.71,-116.8,194.9,-8.7,171,1700,0.00,2.25,0.00,0.000,4,0.000,0.043,2638,458,3311,0,0,0,0,0,0
$GC,1761,-0.71,-116.8,200.8,-9.0,176,1766,0.08,2.25,0.00,0.000,6,0.120,0.031,2656,2025,3311,0,0,0,0,0,0
$GC,2088,-0.71,-116.8,223.1,-6.6,192,2092,0.00,2.30,0.00,0.000,4,0.000,0.042,2656,454,3311,0,0,0,0,0,0
$GC,2131,-0.71,-116.8,226.5,-8.2,194,2135,0.00,2.28,0.00,0.000,6,0.000,0.031,2646,2045,3311,0,0,0,0,0,0
$GC,2457,-0.71,-116.8,253.2,-8.6,210,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2045,3310,0,0,0,0,0,0
$GC,2766,-0.71,-116.8,281.0,-9.7,225,2770,0.00,2.28,0.00,0.000,4,0.000,0.043,2635,3607,3310,0,0,0,0,0,0
$GC,2815,-0.71,-116.8,286.4,-11.1,227,2820,0.00,2.28,0.00,0.000,6,0.000,0.029,2634,2035,3307,0,0,0,0,0,0
$GC,3154,-0.71,-116.8,319.5,-9.4,239,3158,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,450,3307,0,0,0,0,0,0
$GC,3276,-0.71,-116.8,332.8,-10.7,241,3283,0.10,2.25,0.00,0.000,6,0.112,0.031,2660,2015,3306,0,0,0,0,0,0
$GC,3608,-0.71,-116.8,359.2,-7.8,250,3612,0.00,2.30,0.00,0.000,4,0.000,0.044,2660,451,3305,0,0,0,0,0,0
$GC,3646,-0.71,-116.8,362.4,-8.4,251,3650,0.00,2.25,0.00,0.000,6,0.000,0.033,2651,2048,3305,0,0,0,0,0,0
$GC,3969,-0.71,-116.8,385.7,-7.1,259,3973,0.00,2.38,0.00,0.000,4,0.000,0.044,2650,450,3303,0,0,0,0,0,0
$GC,4001,-0.71,-116.8,388.3,-8.4,259,4007,0.00,2.28,0.00,0.000,6,0.000,0.033,2639,2026,3303,0,0,0,0,0,0
$GC,4331,-0.71,-116.8,416.5,-8.5,268,4335,0.00,2.33,0.00,0.000,4,0.000,0.044,2628,3604,3302,0,0,0,0,0,0
$GC,4380,-0.71,-116.8,420.6,-8.7,269,4385,0.08,2.28,0.00,0.000,6,0.110,0.030,2659,2034,3300,0,0,0,0,0,0
$GC,4699,-0.71,-116.8,441.0,-6.0,277,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2034,3300,0,0,0,0,0,0
$GC,5024,-0.71,-116.8,462.5,-6.9,285,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2034,3299,0,0,0,0,0,0
$GC,5349,-0.71,-116.8,483.7,-6.4,293,5353,0.00,2.30,0.00,0.000,4,0.000,0.045,2659,457,3298,0,0,0,0,0,0
$GC,5483,-0.71,-116.8,493.9,-7.7,296,5487,0.00,2.25,0.00,0.000,6,0.000,0.034,2647,2040,3297,0,0,0,0,0,0
$GC,5800,-0.71,-116.8,516.5,-7.1,304,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2042,3296,0,0,0,0,0,0
$GC,6125,-0.71,-116.8,537.9,-6.4,312,6129,0.00,2.35,0.00,0.000,4,0.000,0.046,2649,448,3295,0,0,0,0,0,0
$GC,6236,-0.71,-116.8,546.0,-7.5,314,6240,0.00,2.30,0.00,0.000,6,0.000,0.034,2638,2052,3297,0,0,0,0,0,0
$GC,6583,-0.71,-116.8,569.9,-7.1,323,6587,0.00,2.33,0.00,0.000,4,0.000,0.046,2625,3611,3295,0,0,0,0,0,0
$GC,6623,-0.71,-116.8,572.6,-7.6,324,6628,0.12,2.28,0.00,0.000,6,0.133,0.031,2665,2017,3294,0,0,0,0,0,0
$GC,6946,-0.71,-116.8,591.1,-5.5,332,6950,0.00,2.30,0.00,0.000,4,0.000,0.047,2665,448,3293,0,0,0,0,0,0
$GC,7011,-0.71,-116.8,595.2,-6.3,333,7016,0.00,2.28,0.00,0.000,6,0.000,0.034,2655,2012,3292,0,0,0,0,0,0
$GC,7354,-0.71,-116.8,612.5,-4.9,342,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2012,3291,0,0,0,0,0,0
$GC,7679,-0.71,-116.8,628.9,-5.3,350,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2013,3291,0,0,0,0,0,0
$GC,8004,-0.71,-116.8,648.4,-6.1,358,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2013,3290,0,0,0,0,0,0
$GC,8329,-0.71,-116.8,669.0,-6.3,366,8333,0.00,2.35,0.00,0.000,4,0.000,0.046,2643,3612,3290,0,0,0,0,0,0
$GC,8372,-0.71,-116.8,671.8,-6.5,367,8377,0.00,2.33,0.00,0.000,6,0.000,0.031,2643,2025,3292,0,0,0,0,0,0
$GC,8696,-0.71,-116.8,692.9,-6.5,375,8700,0.00,2.33,0.00,0.000,4,0.000,0.048,2643,452,3289,0,0,0,0,0,0
$GC,8757,-0.71,-116.8,697.1,-7.1,376,8761,0.00,2.28,0.00,0.000,6,0.000,0.034,2632,2053,3289,0,0,0,0,0,0
$GC,9069,-0.71,-116.8,716.8,-6.1,384,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2058,3290,0,0,0,0,0,0
$GC,9394,-0.71,-116.8,736.7,-6.2,392,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2053,3286,0,0,0,0,0,0
$GC,9720,-0.71,-116.8,758.8,-7.0,400,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2053,3288,0,0,0,0,0,0
$GC,10044,-0.71,-116.8,782.3,-7.3,408,10049,0.00,2.40,0.00,0.000,4,0.000,0.047,2632,447,3287,0,0,0,0,0,0
$GC,10088,-0.71,-116.8,785.9,-8.8,409,10093,0.10,2.30,0.00,0.000,6,0.117,0.035,2657,2022,3288,0,0,0,0,0,0
$GC,10412,-0.71,-116.8,804.7,-5.6,417,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2022,3287,0,0,0,0,0,0
$GC,10736,-0.71,-116.8,821.6,-5.1,425,10740,0.00,2.35,0.00,0.000,4,0.000,0.048,2658,457,3288,0,0,0,0,0,0
$GC,10781,-0.71,-116.8,824.2,-6.1,426,10785,0.00,2.28,0.00,0.000,6,0.000,0.035,2648,2035,3287,0,0,0,0,0,0
$GC,11109,-0.71,-116.8,842.3,-5.5,434,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2035,3287,0,0,0,0,0,0
$GC,11434,-0.71,-116.8,860.0,-5.4,442,11438,0.00,2.35,0.00,0.000,4,0.000,0.047,2648,455,3284,0,0,0,0,0,0
$GC,11472,-0.71,-116.8,862.4,-6.6,442,11478,0.00,2.30,0.00,0.000,6,0.000,0.035,2638,2033,3286,0,0,0,0,0,0
$GC,11803,-0.71,-116.8,882.6,-6.1,451,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2033,3286,0,0,0,0,0,0
$GC,12128,-0.71,-116.8,903.8,-6.7,459,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2033,3286,0,0,0,0,0,0
$GC,12453,-0.71,-116.8,925.6,-6.7,467,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2033,3286,0,0,0,0,0,0
$GC,12778,-0.71,-116.8,946.6,-6.3,475,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2033,3286,0,0,0,0,0,0
$GC,13103,-0.71,-116.8,965.9,-5.8,483,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2033,3285,0,0,0,0,0,0
$GC,13428,-0.71,-116.8,984.3,-5.6,491,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3285,0,0,0,0,0,0
$STATE,13509,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13509,begin apogee
$GC,13513,-0.23,0.0,989.0,5.7,493,13615,0.52,0.00,99.10,1.300,6,0.113,0.000,2812,2033,2824,0,0,0,0,0,0
$STATE,13661,end apogee,CONTROL_FINISHED_OK
$STATE,13661,begin climb
$GC,13663,0.71,116.8,990.5,0.0,495,13785,0.85,2.67,110.10,1.266,4,0.067,0.047,3125,3612,2345,0,0,0,0,0,0
$GC,13801,0.71,116.8,981.1,12.2,498,13806,0.00,2.53,0.00,0.000,6,0.000,0.035,3136,2042,2339,0,0,0,0,0,0
$GC,14114,0.71,116.8,939.3,13.2,506,14118,0.00,2.45,0.00,0.000,4,0.000,0.049,3148,446,2331,0,0,0,0,0,0
$GC,14146,0.71,116.8,934.8,14.6,506,14152,0.00,2.38,0.00,0.000,6,0.000,0.035,3148,2012,2331,0,0,0,0,0,0
$GC,14477,0.71,116.8,890.9,13.2,515,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2011,2328,0,0,0,0,0,0
$GC,14801,0.71,116.8,847.6,13.3,523,14806,0.00,2.40,0.00,0.000,4,0.000,0.045,3148,3621,2328,0,0,0,0,0,0
$GC,14828,0.71,116.8,843.6,14.7,523,14833,0.12,2.40,0.00,0.000,6,0.153,0.036,3122,2018,2330,0,0,0,0,0,0
$GC,15165,0.71,116.8,802.5,12.3,532,15169,0.00,2.35,0.00,0.000,4,0.000,0.048,3131,450,2328,0,0,0,0,0,0
$GC,15235,0.71,116.8,792.6,13.1,533,15240,0.00,2.35,0.00,0.000,6,0.000,0.035,3132,2037,2327,0,0,0,0,0,0
$GC,15572,0.71,116.8,748.2,13.1,542,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2037,2327,0,0,0,0,0,0
$GC,15897,0.71,116.8,708.4,12.0,550,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2037,2327,0,0,0,0,0,0
$GC,16222,0.71,116.8,670.3,11.8,558,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2037,2327,0,0,0,0,0,0
$GC,16547,0.71,116.8,632.0,11.9,566,16551,0.00,2.38,0.00,0.000,4,0.000,0.049,3144,457,2330,0,0,0,0,0,0
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$STATE,22995,end climb,SURFACE_DEPTH_REACHED
$STATE,22995,begin surface coast
$FINISH,0.7,1.001401
$STATE,23006,end surface coast,CONTROL_FINISHED_OK
$STATE,23006,begin surface
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$10V_AH,9.6,16.080
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$FG_AHR_10Vo,0.000
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$MEM,334036
$DATA_FILE_SIZE,33318,942
$CAP_FILE_SIZE,177202,0
$CFSIZE,260165632,249139200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090710,212406,2027.978,-16000.684,31,1.0,31,9.6