version: 66.07
glider: 500
mission: 4
dive: 45
start: 6 23 110 5 36 16
data:
$ID,500
$MISSION,4
$DIVE,45
$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,-110400.9
$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,47
$R_STBD_OVSHOOT,61
$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,44
$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
$GPS1,230610,052657,2045.256,-15821.008,30,2.5,49,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.6
$GPS2,230610,053520,2045.348,-15821.116,11,1.0,11,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,-0.222
$KALMAN_X,-40081.7,-7.8,-287.4,-2390.4,-1528.9
$KALMAN_Y,45502.3,185.7,45.8,-93649.7,1841.4
$MHEAD_RNG_PITCHd_Wd,173.3,32333,-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,24,-0.71,-116.8,0.0,0.0,0,77,0.00,0.00,-50.97,0.000,2,0.000,0.000,139,2056,2702,0,0,0,0,0,0
$GC,80,-0.71,-116.8,3.4,-5.8,10,111,10.18,2.45,-13.73,0.000,4,0.241,0.060,2648,459,3304,0,0,0,0,0,0
$GC,313,-0.71,-116.8,48.2,-19.1,44,317,0.00,2.25,0.00,0.000,6,0.000,0.036,2638,2025,3303,0,0,0,0,0,0
$GC,578,-0.71,-116.8,93.0,-15.9,69,582,0.00,2.35,0.00,0.000,4,0.000,0.045,2626,3608,3304,0,0,0,0,0,0
$GC,628,-0.71,-116.8,100.7,-15.1,73,635,0.08,2.30,0.00,0.000,6,0.123,0.033,2655,2032,3304,0,0,0,0,0,0
$GC,888,-0.71,-116.8,133.3,-10.9,98,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2033,3306,0,0,0,0,0,0
$GC,1143,-0.71,-116.8,161.8,-11.7,122,1148,0.00,2.30,0.00,0.000,4,0.000,0.046,2655,446,3308,0,0,0,0,0,0
$GC,1177,-0.71,-116.8,166.0,-13.3,125,1181,0.00,2.28,0.00,0.000,6,0.000,0.035,2645,2038,3307,0,0,0,0,0,0
$GC,1443,-0.71,-116.8,196.9,-11.7,150,1447,0.00,2.30,0.00,0.000,4,0.000,0.046,2645,450,3307,0,0,0,0,0,0
$GC,1491,-0.71,-116.8,203.0,-12.7,153,1496,0.00,2.28,0.00,0.000,6,0.000,0.035,2633,2025,3308,0,0,0,0,0,0
$GC,1812,-0.71,-116.8,238.6,-10.0,169,1816,0.00,2.33,0.00,0.000,4,0.000,0.046,2621,3613,3308,0,0,0,0,0,0
$GC,1873,-0.71,-116.8,244.9,-10.6,172,1878,0.12,2.25,0.00,0.000,6,0.140,0.032,2660,2020,3308,0,0,0,0,0,0
$GC,2205,-0.71,-116.8,270.6,-7.3,188,2209,0.00,2.28,0.00,0.000,4,0.000,0.046,2660,455,3308,0,0,0,0,0,0
$GC,2311,-0.71,-116.8,278.5,-7.1,193,2315,0.00,2.25,0.00,0.000,6,0.000,0.035,2650,2049,3308,0,0,0,0,0,0
$GC,2656,-0.71,-116.8,303.6,-7.8,209,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2050,3308,0,0,0,0,0,0
$GC,2981,-0.71,-116.8,329.4,-8.2,217,2985,0.00,2.25,0.00,0.000,4,0.000,0.047,2638,3609,3306,0,0,0,0,0,0
$GC,3046,-0.71,-116.8,335.4,-8.8,218,3051,0.00,2.28,0.00,0.000,6,0.000,0.034,2638,2035,3306,0,0,0,0,0,0
$GC,3388,-0.71,-116.8,368.3,-9.8,227,3392,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,446,3305,0,0,0,0,0,0
$GC,3459,-0.71,-116.8,375.6,-9.8,228,3465,0.08,2.30,0.00,0.000,6,0.127,0.036,2654,2035,3305,0,0,0,0,0,0
$GC,3796,-0.71,-116.8,399.1,-6.6,237,3800,0.00,2.35,0.00,0.000,4,0.000,0.048,2651,438,3303,0,0,0,0,0,0
$GC,3828,-0.71,-116.8,401.7,-8.3,237,3834,0.00,2.30,0.00,0.000,6,0.000,0.036,2645,2026,3303,0,0,0,0,0,0
$GC,4159,-0.71,-116.8,429.3,-8.3,246,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2027,3297,0,0,0,0,0,0
$GC,4484,-0.71,-116.8,455.6,-7.8,254,4488,0.00,2.35,0.00,0.000,4,0.000,0.050,2633,3617,3298,0,0,0,0,0,0
$GC,4522,-0.71,-116.8,458.6,-8.0,255,4527,0.00,2.28,0.00,0.000,6,0.000,0.036,2632,2022,3298,0,0,0,0,0,0
$GC,4845,-0.71,-116.8,484.3,-7.9,263,4850,0.00,2.30,0.00,0.000,4,0.000,0.051,2632,457,3296,0,0,0,0,0,0
$GC,4945,-0.71,-116.8,492.8,-8.5,265,4950,0.10,2.30,0.00,0.000,6,0.122,0.038,2657,2042,3296,0,0,0,0,0,0
$GC,5257,-0.71,-116.8,510.1,-5.2,273,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2042,3294,0,0,0,0,0,0
$GC,5582,-0.71,-116.8,528.3,-5.9,281,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2042,3293,0,0,0,0,0,0
$GC,5907,-0.71,-116.8,547.8,-5.9,289,5911,0.00,2.33,0.00,0.000,4,0.000,0.051,2647,3608,3291,0,0,0,0,0,0
$GC,5952,-0.71,-116.8,550.6,-6.9,290,5956,0.00,2.28,0.00,0.000,6,0.000,0.037,2647,2035,3291,0,0,0,0,0,0
$GC,6280,-0.71,-116.8,572.1,-6.6,298,6284,0.00,2.35,0.00,0.000,4,0.000,0.051,2647,447,3289,0,0,0,0,0,0
$GC,6356,-0.71,-116.8,578.1,-7.5,299,6363,0.00,2.33,0.00,0.000,6,0.000,0.038,2636,2037,3287,0,0,0,0,0,0
$GC,6687,-0.71,-116.8,601.7,-7.3,308,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2037,3287,0,0,0,0,0,0
$GC,7012,-0.71,-116.8,626.6,-7.8,316,7017,0.00,2.35,0.00,0.000,4,0.000,0.052,2636,444,3286,0,0,0,0,0,0
$GC,7033,-0.71,-116.8,628.5,-8.3,316,7039,0.08,2.33,0.00,0.000,6,0.123,0.039,2656,2036,3284,0,0,0,0,0,0
$GC,7375,-0.71,-116.8,654.5,-7.8,325,7379,0.00,2.35,0.00,0.000,4,0.000,0.052,2643,3613,3283,0,0,0,0,0,0
$GC,7402,-0.71,-116.8,656.8,-8.5,325,7406,0.00,2.33,0.00,0.000,6,0.000,0.038,2643,2031,3283,0,0,0,0,0,0
$GC,7744,-0.71,-116.8,684.5,-7.9,334,7748,0.00,2.33,0.00,0.000,4,0.000,0.053,2643,452,3283,0,0,0,0,0,0
$GC,7783,-0.71,-116.8,687.8,-8.5,335,7787,0.00,2.28,0.00,0.000,6,0.000,0.039,2631,2038,3282,0,0,0,0,0,0
$GC,8112,-0.71,-116.8,713.9,-7.8,343,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2038,3281,0,0,0,0,0,0
$GC,8437,-0.71,-116.8,737.7,-7.2,351,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2038,3281,0,0,0,0,0,0
$GC,8762,-0.71,-116.8,761.5,-7.3,359,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2038,3280,0,0,0,0,0,0
$GC,9087,-0.71,-116.8,783.7,-6.8,367,9091,0.00,2.35,0.00,0.000,4,0.000,0.053,2631,448,3278,0,0,0,0,0,0
$GC,9141,-0.71,-116.8,788.0,-7.8,368,9147,0.10,2.30,0.00,0.000,6,0.124,0.040,2656,2020,3277,0,0,0,0,0,0
$GC,9454,-0.71,-116.8,805.3,-5.4,376,9458,0.00,2.40,0.00,0.000,4,0.000,0.052,2645,3621,3278,0,0,0,0,0,0
$GC,9491,-0.71,-116.8,807.5,-6.2,376,9498,0.00,2.35,0.00,0.000,6,0.000,0.039,2645,2029,3278,0,0,0,0,0,0
$GC,9823,-0.71,-116.8,826.4,-5.6,385,9827,0.00,2.35,0.00,0.000,4,0.000,0.053,2646,454,3277,0,0,0,0,0,0
$GC,9871,-0.71,-116.8,829.6,-6.8,386,9876,0.00,2.33,0.00,0.000,6,0.000,0.040,2630,2041,3276,0,0,0,0,0,0
$GC,10190,-0.71,-116.8,848.2,-5.8,394,10194,0.00,2.35,0.00,0.000,4,0.000,0.053,2622,3610,3276,0,0,0,0,0,0
$GC,10232,-0.71,-116.8,851.0,-5.7,395,10238,0.10,2.33,0.00,0.000,6,0.114,0.038,2660,2030,3276,0,0,0,0,0,0
$GC,10557,-0.71,-116.8,867.0,-4.9,403,10560,0.00,2.35,0.00,0.000,4,0.000,0.054,2660,449,3276,0,0,0,0,0,0
$GC,10611,-0.71,-116.8,870.1,-5.8,404,10616,0.00,2.33,0.00,0.000,6,0.000,0.040,2651,2029,3276,0,0,0,0,0,0
$GC,10930,-0.71,-116.8,887.5,-5.6,412,10934,0.00,2.38,0.00,0.000,4,0.000,0.053,2639,3613,3275,0,0,0,0,0,0
$GC,10961,-0.71,-116.8,889.5,-7.3,412,10968,0.00,2.35,0.00,0.000,6,0.000,0.038,2639,2023,3275,0,0,0,0,0,0
$GC,11292,-0.71,-116.8,909.4,-6.0,421,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2023,3274,0,0,0,0,0,0
$GC,11618,-0.71,-116.8,928.8,-5.9,429,11622,0.00,2.35,0.00,0.000,4,0.000,0.054,2644,457,3274,0,0,0,0,0,0
$GC,11705,-0.71,-116.8,934.9,-7.1,431,11711,0.08,2.33,0.00,0.000,6,0.124,0.040,2656,2033,3274,0,0,0,0,0,0
$GC,12030,-0.71,-116.8,951.2,-4.9,439,12034,0.00,2.35,0.00,0.000,4,0.000,0.054,2656,454,3274,0,0,0,0,0,0
$GC,12072,-0.71,-116.8,953.7,-5.5,440,12077,0.00,2.33,0.00,0.000,6,0.000,0.041,2646,2027,3274,0,0,0,0,0,0
$GC,12397,-0.71,-116.8,970.3,-5.0,448,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2029,3273,0,0,0,0,0,0
$GC,12722,-0.71,-116.8,988.4,-5.8,456,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2028,3273,0,0,0,0,0,0
$STATE,12761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12761,begin apogee
$GC,12764,-0.23,0.0,990.7,5.7,457,12863,0.50,0.00,95.62,1.304,6,0.121,0.000,2810,2029,2823,0,0,0,0,0,0
$STATE,12909,end apogee,CONTROL_FINISHED_OK
$STATE,12909,begin climb
$GC,12911,0.71,116.8,992.1,0.0,459,13028,0.85,2.60,109.57,1.266,4,0.072,0.054,3131,453,2345,0,0,0,0,0,0
$GC,13066,0.71,116.8,979.8,14.4,463,13071,0.00,2.50,0.00,0.000,6,0.000,0.040,3134,2037,2338,0,0,0,0,0,0
$GC,13403,0.71,116.8,932.5,14.2,472,13407,0.00,2.45,0.00,0.000,4,0.000,0.055,3151,450,2328,0,0,0,0,0,0
$GC,13458,0.71,116.8,924.1,14.6,473,13463,0.00,2.40,0.00,0.000,6,0.000,0.040,3146,2028,2327,0,0,0,0,0,0
$GC,13770,0.71,116.8,878.4,14.5,481,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2026,2325,0,0,0,0,0,0
$GC,14095,0.71,116.8,832.5,14.0,489,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2026,2324,0,0,0,0,0,0
$GC,14421,0.71,116.8,790.0,13.0,497,14425,0.00,2.40,0.00,0.000,4,0.000,0.052,3146,3613,2322,0,0,0,0,0,0
$GC,14458,0.71,116.8,784.6,14.4,497,14465,0.10,2.38,0.00,0.000,6,0.156,0.039,3126,2029,2322,0,0,0,0,0,0
$GC,14789,0.71,116.8,743.8,12.5,506,14793,0.00,2.40,0.00,0.000,4,0.000,0.055,3137,451,2321,0,0,0,0,0,0
$GC,14918,0.71,116.8,726.2,13.5,509,14922,0.00,2.33,0.00,0.000,6,0.000,0.041,3133,2039,2320,0,0,0,0,0,0
$GC,15241,0.71,116.8,682.5,13.8,517,15245,0.00,2.35,0.00,0.000,4,0.000,0.052,3137,3614,2319,0,0,0,0,0,0
$GC,15262,0.71,116.8,679.4,13.3,517,15267,0.00,2.38,0.00,0.000,6,0.000,0.041,3149,2032,2319,0,0,0,0,0,0
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$STATE,22101,end climb,SURFACE_DEPTH_REACHED
$STATE,22101,begin surface coast
$FINISH,0.8,1.011749
$STATE,22136,end surface coast,CONTROL_FINISHED_OK
$STATE,22136,begin surface
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$TCM_TEMP,24.40
$XPDR_PINGS,23
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$AR_CDRIVE_FREE,8445788160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56789991424
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,4.946
$10V_AH,9.9,6.447
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,17.279,0.000,0.000
$MEM,334804
$DATA_FILE_SIZE,30011,894
$CAP_FILE_SIZE,185561,0
$CFSIZE,260165632,254935040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230610,114837,2043.806,-15822.800,35,0.9,35,9.7