version: 66.07
glider: 500
mission: 4
dive: 68
start: 6 29 110 8 36 21
data:
$ID,500
$MISSION,4
$DIVE,68
$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,-110778.7
$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,44
$R_STBD_OVSHOOT,45
$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,67
$AR_SAMPLENUM,10
$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
$GPS1,290610,082307,2034.192,-15904.420,25,1.0,25,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.8
$GPS2,290610,083525,2034.428,-15904.656,12,1.1,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT03
$TGT_LATLONG,2036.000,-15930.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.130
$KALMAN_X,-93271.5,-476.2,-176.2,-24025.8,-2098.8
$KALMAN_Y,127062.2,106.4,150.9,-195460.6,3449.1
$MHEAD_RNG_PITCHd_Wd,224.5,44032,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,78,0.00,0.00,-50.90,0.000,2,0.000,0.000,138,2036,2697,0,0,0,0,0,0
$GC,81,-0.71,-116.8,3.5,-6.5,10,112,10.10,2.42,-13.57,0.000,4,0.234,0.058,2656,451,3301,0,0,0,0,0,0
$GC,348,-0.71,-116.8,50.6,-16.2,48,352,0.00,2.28,0.00,0.000,6,0.000,0.034,2646,2034,3303,0,0,0,0,0,0
$GC,613,-0.71,-116.8,86.8,-12.4,73,617,0.00,2.33,0.00,0.000,4,0.000,0.044,2645,450,3303,0,0,0,0,0,0
$GC,707,-0.71,-116.8,99.6,-14.0,81,714,0.00,2.30,0.00,0.000,6,0.000,0.033,2634,2035,3304,0,0,0,0,0,0
$GC,968,-0.71,-116.8,130.7,-12.3,106,972,0.00,2.33,0.00,0.000,4,0.000,0.044,2634,443,3304,0,0,0,0,0,0
$GC,1011,-0.71,-116.8,136.7,-13.8,109,1018,0.10,2.28,0.00,0.000,6,0.127,0.033,2658,2023,3305,0,0,0,0,0,0
$GC,1271,-0.71,-116.8,161.9,-9.7,134,1275,0.00,2.30,0.00,0.000,4,0.000,0.044,2658,444,3306,0,0,0,0,0,0
$GC,1338,-0.71,-116.8,168.7,-10.7,140,1343,0.00,2.28,0.00,0.000,6,0.000,0.033,2653,2045,3306,0,0,0,0,0,0
$GC,1605,-0.71,-116.8,196.0,-10.4,165,1609,0.00,2.38,0.00,0.000,4,0.000,0.044,2648,436,3307,0,0,0,0,0,0
$GC,1636,-0.71,-116.8,199.8,-11.6,167,1643,0.00,2.30,0.00,0.000,6,0.000,0.033,2636,2031,3307,0,0,0,0,0,0
$GC,1890,-0.71,-116.8,229.1,-10.9,180,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2031,3307,0,0,0,0,0,0
$GC,2199,-0.71,-116.8,258.4,-9.1,195,2203,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,450,3307,0,0,0,0,0,0
$GC,2226,-0.71,-116.8,261.1,-10.5,196,2232,0.10,2.28,0.00,0.000,6,0.120,0.033,2661,2029,3306,0,0,0,0,0,0
$GC,2546,-0.71,-116.8,289.3,-9.7,212,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2027,3305,0,0,0,0,0,0
$GC,2873,-0.71,-116.8,318.4,-8.1,223,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2029,3304,0,0,0,0,0,0
$GC,3198,-0.71,-116.8,336.8,-5.0,231,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2029,3302,0,0,0,0,0,0
$GC,3523,-0.71,-116.8,357.1,-6.9,239,3527,0.00,2.30,0.00,0.000,4,0.000,0.047,2662,450,3299,0,0,0,0,0,0
$GC,3555,-0.71,-116.8,359.9,-8.9,239,3560,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2022,3299,0,0,0,0,0,0
$GC,3892,-0.71,-116.8,389.2,-9.0,248,3896,0.00,2.30,0.00,0.000,4,0.000,0.047,2652,451,3297,0,0,0,0,0,0
$GC,4021,-0.71,-116.8,401.8,-9.3,251,4025,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2043,3296,0,0,0,0,0,0
$GC,4343,-0.71,-116.8,428.8,-8.1,259,4348,0.00,2.35,0.00,0.000,4,0.000,0.048,2640,450,3297,0,0,0,0,0,0
$GC,4415,-0.71,-116.8,434.9,-8.0,260,4420,0.08,2.30,0.00,0.000,6,0.120,0.035,2663,2037,3294,0,0,0,0,0,0
$GC,4751,-0.71,-116.8,455.6,-6.2,269,4755,0.00,2.35,0.00,0.000,4,0.000,0.048,2647,3613,3291,0,0,0,0,0,0
$GC,4833,-0.71,-116.8,460.8,-6.3,270,4840,0.00,2.33,0.00,0.000,6,0.000,0.033,2648,2017,3291,0,0,0,0,0,0
$GC,5165,-0.71,-116.8,483.0,-7.0,279,5169,0.00,2.35,0.00,0.000,4,0.000,0.046,2636,3605,3289,0,0,0,0,0,0
$GC,5241,-0.71,-116.8,489.9,-9.0,280,5248,0.00,2.30,0.00,0.000,6,0.000,0.033,2636,2023,3288,0,0,0,0,0,0
$GC,5572,-0.71,-116.8,519.4,-8.9,289,5577,0.00,2.28,0.00,0.000,4,0.000,0.049,2636,458,3286,0,0,0,0,0,0
$GC,5729,-0.71,-116.8,533.8,-8.6,292,5734,0.12,2.25,0.00,0.000,6,0.146,0.036,2661,2041,3285,0,0,0,0,0,0
$GC,6065,-0.71,-116.8,556.9,-6.9,301,6069,0.00,2.35,0.00,0.000,4,0.000,0.048,2662,453,3284,0,0,0,0,0,0
$GC,6119,-0.71,-116.8,561.2,-8.0,302,6124,0.00,2.30,0.00,0.000,6,0.000,0.036,2651,2035,3283,0,0,0,0,0,0
$GC,6432,-0.71,-116.8,582.4,-6.5,310,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2035,3281,0,0,0,0,0,0
$GC,6757,-0.71,-116.8,602.7,-6.3,318,6761,0.00,2.33,0.00,0.000,4,0.000,0.049,2640,3610,3280,0,0,0,0,0,0
$GC,6834,-0.71,-116.8,608.1,-7.0,319,6838,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2033,3280,0,0,0,0,0,0
$GC,7170,-0.71,-116.8,632.4,-7.4,328,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2033,3278,0,0,0,0,0,0
$GC,7495,-0.71,-116.8,655.8,-7.0,336,7499,0.00,2.35,0.00,0.000,4,0.000,0.050,2638,448,3277,0,0,0,0,0,0
$GC,7579,-0.71,-116.8,662.1,-7.9,338,7584,0.12,2.28,0.00,0.000,6,0.147,0.037,2671,2044,3276,0,0,0,0,0,0
$GC,7902,-0.71,-116.8,677.0,-4.1,346,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2044,3275,0,0,0,0,0,0
$GC,8228,-0.71,-116.8,689.6,-4.0,354,8232,0.00,2.35,0.00,0.000,4,0.000,0.050,2665,456,3272,0,0,0,0,0,0
$GC,8271,-0.71,-116.8,691.9,-5.4,355,8276,0.00,2.30,0.00,0.000,6,0.000,0.037,2656,2024,3274,0,0,0,0,0,0
$GC,8595,-0.71,-116.8,708.2,-5.2,363,8599,0.00,2.35,0.00,0.000,4,0.000,0.050,2644,3614,3274,0,0,0,0,0,0
$GC,8644,-0.71,-116.8,711.2,-6.2,364,8648,0.00,2.33,0.00,0.000,6,0.000,0.036,2644,2030,3273,0,0,0,0,0,0
$GC,8962,-0.71,-116.8,731.4,-6.4,372,8966,0.00,2.35,0.00,0.000,4,0.000,0.051,2644,450,3272,0,0,0,0,0,0
$GC,9012,-0.71,-116.8,735.1,-7.8,373,9016,0.00,2.28,0.00,0.000,6,0.000,0.037,2632,2038,3274,0,0,0,0,0,0
$GC,9329,-0.71,-116.8,758.0,-7.2,381,9333,0.00,2.33,0.00,0.000,4,0.000,0.050,2620,3611,3272,0,0,0,0,0,0
$GC,9394,-0.71,-116.8,763.2,-7.7,382,9400,0.10,2.33,0.00,0.000,6,0.109,0.035,2658,2027,3274,0,0,0,0,0,0
$GC,9737,-0.71,-116.8,784.7,-6.0,391,9741,0.00,2.35,0.00,0.000,4,0.000,0.050,2660,447,3270,0,0,0,0,0,0
$GC,9796,-0.71,-116.8,788.9,-7.3,392,9802,0.00,2.33,0.00,0.000,6,0.000,0.037,2650,2036,3270,0,0,0,0,0,0
$GC,10145,-0.71,-116.8,810.2,-5.9,401,10149,0.00,2.38,0.00,0.000,4,0.000,0.051,2650,446,3269,0,0,0,0,0,0
$GC,10176,-0.71,-116.8,812.4,-6.2,401,10182,0.00,2.33,0.00,0.000,6,0.000,0.037,2639,2035,3271,0,0,0,0,0,0
$GC,10507,-0.71,-116.8,831.3,-5.4,410,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2035,3268,0,0,0,0,0,0
$GC,10832,-0.71,-116.8,848.0,-5.1,418,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3269,0,0,0,0,0,0
$GC,11157,-0.71,-116.8,864.2,-5.0,426,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3268,0,0,0,0,0,0
$GC,11482,-0.71,-116.8,882.3,-5.7,434,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2035,3268,0,0,0,0,0,0
$GC,11807,-0.71,-116.8,902.6,-6.3,442,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2036,3265,0,0,0,0,0,0
$GC,12132,-0.71,-116.8,924.5,-6.8,450,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2035,3267,0,0,0,0,0,0
$GC,12457,-0.71,-116.8,947.1,-7.1,458,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2036,3269,0,0,0,0,0,0
$GC,12782,-0.71,-116.8,970.8,-7.3,466,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2036,3266,0,0,0,0,0,0
$STATE,13065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13065,begin apogee
$GC,13068,-0.23,0.0,991.6,7.3,473,13166,0.52,0.00,94.80,1.306,6,0.116,0.000,2812,2036,2824,0,0,0,0,0,0
$STATE,13189,end apogee,CONTROL_FINISHED_OK
$STATE,13189,begin climb
$GC,13191,0.71,116.8,994.0,0.0,475,13311,0.85,2.65,110.28,1.269,4,0.068,0.050,3125,3601,2345,0,0,0,0,0,0
$GC,13344,0.71,116.8,983.6,13.2,479,13349,0.00,2.50,0.00,0.000,6,0.000,0.040,3136,2041,2336,0,0,0,0,0,0
$GC,13686,0.71,116.8,935.1,14.4,488,13690,0.00,2.45,0.00,0.000,4,0.000,0.052,3149,442,2325,0,0,0,0,0,0
$GC,13735,0.71,116.8,927.3,15.0,489,13741,0.08,2.40,0.00,0.000,6,0.144,0.038,3125,2023,2326,0,0,0,0,0,0
$GC,14054,0.71,116.8,881.1,14.7,497,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2024,2323,0,0,0,0,0,0
$GC,14378,0.71,116.8,832.0,15.3,505,14383,0.00,2.40,0.00,0.000,4,0.000,0.053,3139,448,2322,0,0,0,0,0,0
$GC,14410,0.71,116.8,826.8,16.0,505,14417,0.00,2.38,0.00,0.000,6,0.000,0.038,3135,2034,2322,0,0,0,0,0,0
$GC,14742,0.71,116.8,775.8,15.2,514,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2034,2321,0,0,0,0,0,0
$GC,15067,0.71,116.8,728.6,14.3,522,15068,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2034,2320,0,0,0,0,0,0
$GC,15392,0.71,116.8,684.3,13.7,530,15396,0.00,2.40,0.00,0.000,4,0.000,0.050,3135,3621,2320,0,0,0,0,0,0
$GC,15435,0.71,116.8,677.2,15.8,531,15440,0.00,2.40,0.00,0.000,6,0.000,0.039,3147,2015,2318,0,0,0,0,0,0
$GC,15759,0.71,116.8,629.9,14.3,539,15763,0.00,2.38,0.00,0.000,4,0.000,0.052,3159,450,2321,0,0,0,0,0,0
$GC,15798,0.71,116.8,624.1,14.8,540,15803,0.15,2.33,0.00,0.000,6,0.164,0.038,3119,2038,2319,0,0,0,0,0,0
$GC,16120,0.71,116.8,585.4,11.5,548,16122,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2038,2318,0,0,0,0,0,0
$GC,16446,0.71,116.8,552.9,9.4,556,16450,0.00,2.40,0.00,0.000,4,0.000,0.052,3130,455,2318,0,0,0,0,0,0
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$STATE,22087,end climb,SURFACE_DEPTH_REACHED
$STATE,22087,begin surface coast
$FINISH,0.8,0.999003
$STATE,22117,end surface coast,CONTROL_FINISHED_OK
$STATE,22117,begin surface
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$TT8_MAMPS,0.265382
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$AR_CDRIVE_FREE,8443297792
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$AR_DDRIVE_FREE,54899146752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,7.895
$10V_AH,9.8,10.196
$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,334992
$DATA_FILE_SIZE,30039,887
$CAP_FILE_SIZE,181260,0
$CFSIZE,260165632,252420096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290610,144806,2033.869,-15908.657,32,1.1,32,9.7