version: 66.07
glider: 500
mission: 4
dive: 31
start: 6 19 110 10 48 8
data:
$ID,500
$MISSION,4
$DIVE,31
$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,100
$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,-110188.68
$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,2905
$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,43
$R_STBD_OVSHOOT,53
$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,30
$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
$GPS1,190610,103807,2103.886,-15807.249,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.5
$GPS2,190610,104715,2103.917,-15807.328,12,1.2,25,9.8
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.203
$KALMAN_X,-12314.3,395.2,-22.5,-7024.1,-1947.9
$KALMAN_Y,12421.3,-279.4,-293.7,-25373.3,2595.2
$MHEAD_RNG_PITCHd_Wd,162.8,74111,-18.8,-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,-0.75,-97.3,0.0,0.0,0,77,0.00,0.00,-51.47,0.000,2,0.000,0.000,144,2057,2714,0,0,0,0,0,0
$GC,80,-0.75,-97.3,3.4,-6.3,10,111,10.30,2.47,-11.45,0.000,4,0.245,0.061,2654,443,3221,0,0,0,0,0,0
$GC,317,-0.75,-97.3,49.0,-17.9,44,324,0.00,2.33,0.00,0.000,6,0.000,0.037,2644,2021,3223,0,0,0,0,0,0
$GC,579,-0.75,-97.3,91.0,-16.2,69,583,0.00,2.38,0.00,0.000,4,0.000,0.048,2632,3617,3224,0,0,0,0,0,0
$GC,640,-0.75,-97.3,100.3,-13.5,74,645,0.10,2.30,0.00,0.000,6,0.157,0.034,2660,2024,3224,0,0,0,0,0,0
$GC,899,-0.75,-97.3,132.8,-12.8,98,903,0.00,2.30,0.00,0.000,4,0.000,0.047,2660,455,3225,0,0,0,0,0,0
$GC,1027,-0.75,-97.3,149.5,-12.1,109,1034,0.00,2.30,0.00,0.000,6,0.000,0.036,2650,2036,3227,0,0,0,0,0,0
$GC,1288,-0.75,-97.3,178.6,-11.2,134,1292,0.00,2.33,0.00,0.000,4,0.000,0.047,2638,3611,3227,0,0,0,0,0,0
$GC,1337,-0.75,-97.3,184.0,-11.1,138,1344,0.00,2.28,0.00,0.000,6,0.000,0.033,2638,2039,3228,0,0,0,0,0,0
$GC,1606,-0.75,-97.3,213.8,-11.0,158,1610,0.00,2.30,0.00,0.000,4,0.000,0.046,2625,3615,3226,0,0,0,0,0,0
$GC,1654,-0.75,-97.3,219.7,-12.2,160,1660,0.10,2.30,0.00,0.000,6,0.117,0.032,2665,2025,3228,0,0,0,0,0,0
$GC,1977,-0.75,-97.3,250.5,-8.9,176,1981,0.00,2.28,0.00,0.000,4,0.000,0.048,2664,450,3228,0,0,0,0,0,0
$GC,2092,-0.75,-97.3,261.0,-8.8,181,2097,0.00,2.30,0.00,0.000,6,0.000,0.036,2654,2038,3228,0,0,0,0,0,0
$GC,2413,-0.75,-97.3,289.2,-9.4,197,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2039,3228,0,0,0,0,0,0
$GC,2721,-0.75,-97.3,312.8,-7.4,208,2725,0.00,2.30,0.00,0.000,4,0.000,0.049,2653,454,3228,0,0,0,0,0,0
$GC,2764,-0.75,-97.3,316.3,-7.8,209,2768,0.00,2.30,0.00,0.000,6,0.000,0.038,2642,2038,3227,0,0,0,0,0,0
$GC,3087,-0.75,-97.3,344.3,-9.0,217,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3229,0,0,0,0,0,0
$GC,3412,-0.75,-97.3,372.9,-8.7,225,3416,0.00,2.35,0.00,0.000,4,0.000,0.050,2630,3603,3226,0,0,0,0,0,0
$GC,3478,-0.75,-97.3,378.5,-8.2,226,3484,0.08,2.28,0.00,0.000,6,0.120,0.035,2660,2040,3224,0,0,0,0,0,0
$GC,3826,-0.75,-97.3,402.2,-6.7,235,3830,0.00,2.30,0.00,0.000,4,0.000,0.049,2660,451,3221,0,0,0,0,0,0
$GC,3937,-0.75,-97.3,410.5,-7.3,237,3942,0.00,2.30,0.00,0.000,6,0.000,0.038,2650,2033,3220,0,0,0,0,0,0
$GC,4279,-0.75,-97.3,433.5,-6.7,246,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2033,3218,0,0,0,0,0,0
$GC,4604,-0.75,-97.3,458.3,-7.7,254,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2033,3216,0,0,0,0,0,0
$GC,4929,-0.75,-97.3,481.6,-7.1,262,4933,0.00,2.38,0.00,0.000,4,0.000,0.053,2650,449,3214,0,0,0,0,0,0
$GC,4995,-0.75,-97.3,486.6,-7.9,263,5000,0.00,2.30,0.00,0.000,6,0.000,0.040,2636,2025,3213,0,0,0,0,0,0
$GC,5343,-0.75,-97.3,511.3,-7.1,272,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2025,3211,0,0,0,0,0,0
$GC,5668,-0.75,-97.3,534.7,-7.0,280,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2025,3208,0,0,0,0,0,0
$GC,5993,-0.75,-97.3,557.5,-7.1,288,5997,0.00,2.35,0.00,0.000,4,0.000,0.054,2639,449,3207,0,0,0,0,0,0
$GC,6032,-0.75,-97.3,560.5,-8.3,289,6037,0.12,2.28,0.00,0.000,6,0.155,0.041,2663,2035,3206,0,0,0,0,0,0
$GC,6355,-0.75,-97.3,581.4,-6.4,297,6359,0.00,2.38,0.00,0.000,4,0.000,0.054,2664,443,3205,0,0,0,0,0,0
$GC,6403,-0.75,-97.3,585.1,-7.6,298,6408,0.00,2.33,0.00,0.000,6,0.000,0.041,2654,2026,3205,0,0,0,0,0,0
$GC,6722,-0.75,-97.3,607.2,-6.9,306,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3203,0,0,0,0,0,0
$GC,7047,-0.75,-97.3,630.0,-7.0,314,7051,0.00,2.33,0.00,0.000,4,0.000,0.054,2653,454,3202,0,0,0,0,0,0
$GC,7078,-0.75,-97.3,632.5,-7.7,314,7085,0.00,2.33,0.00,0.000,6,0.000,0.041,2642,2033,3201,0,0,0,0,0,0
$GC,7410,-0.75,-97.3,653.9,-6.1,323,7414,0.00,2.38,0.00,0.000,4,0.000,0.054,2642,447,3200,0,0,0,0,0,0
$GC,7464,-0.75,-97.3,658.0,-7.4,324,7469,0.08,2.35,0.00,0.000,6,0.130,0.041,2658,2046,3199,0,0,0,0,0,0
$GC,7777,-0.75,-97.3,677.2,-6.4,332,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2043,3198,0,0,0,0,0,0
$GC,8102,-0.75,-97.3,697.8,-6.1,340,8106,0.00,2.35,0.00,0.000,4,0.000,0.054,2649,3618,3197,0,0,0,0,0,0
$GC,8140,-0.75,-97.3,700.3,-6.4,341,8144,0.00,2.30,0.00,0.000,6,0.000,0.040,2648,2023,3197,0,0,0,0,0,0
$GC,8463,-0.75,-97.3,718.3,-5.4,349,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2022,3197,0,0,0,0,0,0
$GC,8788,-0.75,-97.3,736.1,-5.5,357,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2022,3196,0,0,0,0,0,0
$GC,9113,-0.75,-97.3,753.0,-5.1,365,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2022,3192,0,0,0,0,0,0
$GC,9438,-0.75,-97.3,771.1,-5.6,373,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2022,3193,0,0,0,0,0,0
$GC,9763,-0.75,-97.3,789.3,-5.7,381,9767,0.00,2.35,0.00,0.000,4,0.000,0.054,2648,450,3193,0,0,0,0,0,0
$GC,9857,-0.75,-97.3,795.8,-6.6,383,9862,0.00,2.33,0.00,0.000,6,0.000,0.041,2636,2022,3192,0,0,0,0,0,0
$GC,10181,-0.75,-97.3,816.4,-6.3,391,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2022,3191,0,0,0,0,0,0
$GC,10506,-0.75,-97.3,834.8,-5.3,399,10510,0.00,2.33,0.00,0.000,4,0.000,0.055,2638,457,3191,0,0,0,0,0,0
$GC,10583,-0.75,-97.3,839.2,-6.2,400,10591,0.10,2.33,0.00,0.000,6,0.127,0.042,2661,2025,3191,0,0,0,0,0,0
$GC,10915,-0.75,-97.3,852.7,-4.1,409,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2025,3193,0,0,0,0,0,0
$GC,11239,-0.75,-97.3,865.9,-4.0,417,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2025,3189,0,0,0,0,0,0
$GC,11564,-0.75,-97.3,881.1,-4.7,425,11569,0.00,2.38,0.00,0.000,4,0.000,0.055,2652,3615,3189,0,0,0,0,0,0
$GC,11603,-0.75,-97.3,883.3,-5.9,426,11607,0.00,2.33,0.00,0.000,6,0.000,0.041,2648,2029,3190,0,0,0,0,0,0
$GC,11926,-0.75,-97.3,900.4,-5.3,434,11931,0.00,2.35,0.00,0.000,4,0.000,0.055,2651,452,3188,0,0,0,0,0,0
$GC,11992,-0.75,-97.3,904.6,-6.7,435,11997,0.00,2.35,0.00,0.000,6,0.000,0.041,2639,2042,3188,0,0,0,0,0,0
$GC,12335,-0.75,-97.3,925.6,-6.1,444,12339,0.00,2.38,0.00,0.000,4,0.000,0.054,2627,3621,3187,0,0,0,0,0,0
$GC,12384,-0.75,-97.3,928.7,-6.8,445,12389,0.12,2.35,0.00,0.000,6,0.143,0.041,2665,2023,3190,0,0,0,0,0,0
$GC,12702,-0.75,-97.3,946.0,-5.5,453,12706,0.00,2.35,0.00,0.000,4,0.000,0.056,2665,447,3187,0,0,0,0,0,0
$GC,12773,-0.75,-97.3,950.4,-5.7,454,12777,0.00,2.35,0.00,0.000,6,0.000,0.042,2655,2035,3186,0,0,0,0,0,0
$GC,13109,-0.75,-97.3,969.0,-5.5,463,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2032,3186,0,0,0,0,0,0
$GC,13434,-0.75,-97.3,988.6,-6.1,471,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2034,3186,0,0,0,0,0,0
$STATE,13473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13473,begin apogee
$GC,13476,-0.23,0.0,991.1,6.2,472,13557,0.52,0.00,77.00,1.315,6,0.120,0.000,2828,2032,2826,0,0,0,0,0,0
$STATE,13592,end apogee,CONTROL_FINISHED_OK
$STATE,13592,begin climb
$GC,13593,0.75,97.3,992.6,0.0,474,13689,0.85,0.00,93.10,1.276,6,0.067,0.000,3148,2032,2425,0,0,0,0,0,0
$GC,14003,0.75,97.3,949.6,12.7,485,14007,0.00,2.42,0.00,0.000,4,0.000,0.054,3148,3609,2409,0,0,0,0,0,0
$GC,14056,0.75,97.3,941.9,14.0,486,14062,0.00,2.42,0.00,0.000,6,0.000,0.043,3159,2037,2406,0,0,0,0,0,0
$GC,14369,0.75,97.3,899.8,13.5,494,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2037,2406,0,0,0,0,0,0
$GC,14695,0.75,97.3,856.1,13.2,502,14699,0.00,2.42,0.00,0.000,4,0.000,0.053,3160,3619,2406,0,0,0,0,0,0
$GC,14754,0.75,97.3,847.1,15.9,503,14759,0.00,2.42,0.00,0.000,6,0.000,0.044,3171,2021,2404,0,0,0,0,0,0
$GC,15102,0.75,97.3,800.9,13.1,512,15106,0.00,2.40,0.00,0.000,4,0.000,0.056,3184,448,2405,0,0,0,0,0,0
$GC,15147,0.75,97.3,794.8,13.7,513,15152,0.15,2.35,0.00,0.000,6,0.178,0.042,3145,2033,2404,0,0,0,0,0,0
$GC,15475,0.75,97.3,757.2,11.3,521,15479,0.00,2.42,0.00,0.000,4,0.000,0.056,3156,440,2404,0,0,0,0,0,0
$GC,15528,0.75,97.3,750.1,12.9,522,15534,0.00,2.38,0.00,0.000,6,0.000,0.041,3156,2026,2404,0,0,0,0,0,0
$GC,15842,0.75,97.3,711.3,12.5,530,15843,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2026,2403,0,0,0,0,0,0
$GC,16167,0.75,97.3,672.0,12.1,538,16171,0.00,2.42,0.00,0.000,4,0.000,0.054,3156,3620,2403,0,0,0,0,0,0
$GC,16350,0.75,97.3,647.4,12.3,542,16355,0.00,2.40,0.00,0.000,6,0.000,0.043,3168,2028,2402,0,0,0,0,0,0
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$STATE,22680,end climb,SURFACE_DEPTH_REACHED
$STATE,22680,begin surface coast
$FINISH,0.7,1.000352
$STATE,22708,end surface coast,CONTROL_FINISHED_OK
$STATE,22709,begin surface
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$HUMID,1078392893
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$TCM_TEMP,24.50
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$AR_CDRIVE_FREE,8439693312
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58092912640
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,3.170
$10V_AH,9.9,4.055
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334788
$DATA_FILE_SIZE,30029,879
$CAP_FILE_SIZE,179537,0
$CFSIZE,260165632,256581632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190610,170954,2102.410,-15807.956,35,1.2,35,9.8