version: 66.07
glider: 500
mission: 4
dive: 105
start: 7 8 110 13 13 39
data:
$ID,500
$MISSION,4
$DIVE,105
$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,-111351.63
$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,42
$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,104
$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
$GPS1,080710,130525,2023.449,-16006.680,40,0.9,40,9.6
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.4
$GPS2,080710,131243,2023.367,-16006.686,9,1.0,9,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT07
$TGT_LATLONG,2020.000,-15900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,0.112
$KALMAN_X,-174478.5,-40.8,144.3,-50687.4,-2069.2
$KALMAN_Y,73083.4,-105.4,11.8,-161627.1,-2737.5
$MHEAD_RNG_PITCHd_Wd,50.2,115973,-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,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.42,0.000,2,0.000,0.000,126,2019,2679,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.2,-5.9,10,113,10.15,2.40,-14.60,0.000,4,0.233,0.055,2637,3617,3298,0,0,0,0,0,0
$GC,169,-0.71,-116.8,17.1,-16.1,26,175,0.00,2.33,0.00,0.000,6,0.000,0.029,2637,2016,3301,0,0,0,0,0,0
$GC,369,-0.71,-116.8,51.0,-13.1,51,373,0.00,2.28,0.00,0.000,4,0.000,0.043,2637,454,3302,0,0,0,0,0,0
$GC,413,-0.71,-116.8,57.3,-14.1,54,420,0.08,2.30,0.00,0.000,6,0.125,0.031,2654,2038,3302,0,0,0,0,0,0
$GC,675,-0.71,-116.8,85.3,-10.7,79,679,0.00,2.33,0.00,0.000,4,0.000,0.042,2653,458,3308,0,0,0,0,0,0
$GC,774,-0.71,-116.8,96.5,-11.6,87,780,0.00,2.28,0.00,0.000,6,0.000,0.032,2643,2037,3304,0,0,0,0,0,0
$GC,1039,-0.71,-116.8,125.4,-9.8,112,1043,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,3603,3306,0,0,0,0,0,0
$GC,1178,-0.71,-116.8,139.5,-9.9,124,1182,0.00,2.25,0.00,0.000,6,0.000,0.028,2629,2026,3306,0,0,0,0,0,0
$GC,1439,-0.71,-116.8,165.6,-9.7,148,1443,0.00,2.28,0.00,0.000,4,0.000,0.042,2632,458,3306,0,0,0,0,0,0
$GC,1527,-0.71,-116.8,176.0,-11.0,155,1534,0.08,2.25,0.00,0.000,6,0.120,0.031,2651,2026,3306,0,0,0,0,0,0
$GC,1788,-0.71,-116.8,202.2,-9.8,179,1792,0.00,2.33,0.00,0.000,4,0.000,0.043,2639,3612,3306,0,0,0,0,0,0
$GC,1820,-0.71,-116.8,205.5,-10.2,180,1826,0.00,2.28,0.00,0.000,6,0.000,0.028,2644,2035,3306,0,0,0,0,0,0
$GC,2135,-0.71,-116.8,235.3,-8.1,196,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2035,3306,0,0,0,0,0,0
$GC,2444,-0.71,-116.8,256.4,-6.4,211,2449,0.00,2.33,0.00,0.000,4,0.000,0.044,2640,457,3305,0,0,0,0,0,0
$GC,2506,-0.71,-116.8,261.3,-8.3,214,2511,0.10,2.22,0.00,0.000,6,0.157,0.032,2658,2042,3304,0,0,0,0,0,0
$GC,2832,-0.71,-116.8,286.6,-8.2,230,2836,0.00,2.33,0.00,0.000,4,0.000,0.044,2647,3613,3303,0,0,0,0,0,0
$GC,2870,-0.71,-116.8,289.8,-8.4,232,2874,0.00,2.25,0.00,0.000,6,0.000,0.029,2647,2018,3302,0,0,0,0,0,0
$GC,3214,-0.71,-116.8,316.4,-7.7,244,3218,0.00,2.30,0.00,0.000,4,0.000,0.044,2647,448,3300,0,0,0,0,0,0
$GC,3279,-0.71,-116.8,322.5,-9.0,245,3284,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2024,3299,0,0,0,0,0,0
$GC,3621,-0.71,-116.8,355.0,-9.8,254,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2024,3297,0,0,0,0,0,0
$GC,3945,-0.71,-116.8,386.2,-9.3,262,3950,0.00,2.33,0.00,0.000,4,0.000,0.044,2624,3607,3295,0,0,0,0,0,0
$GC,3972,-0.71,-116.8,388.8,-9.7,262,3977,0.10,2.30,0.00,0.000,6,0.105,0.030,2663,2022,3294,0,0,0,0,0,0
$GC,4309,-0.71,-116.8,416.1,-7.9,271,4313,0.00,2.28,0.00,0.000,4,0.000,0.045,2663,454,3294,0,0,0,0,0,0
$GC,4420,-0.71,-116.8,425.7,-8.4,273,4425,0.00,2.28,0.00,0.000,6,0.000,0.033,2653,2033,3293,0,0,0,0,0,0
$GC,4763,-0.71,-116.8,449.6,-6.4,282,4767,0.00,2.33,0.00,0.000,4,0.000,0.044,2653,455,3291,0,0,0,0,0,0
$GC,4829,-0.71,-116.8,453.9,-6.3,283,4833,0.00,2.28,0.00,0.000,6,0.000,0.033,2642,2032,3290,0,0,0,0,0,0
$GC,5171,-0.71,-116.8,474.8,-6.2,292,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2033,3288,0,0,0,0,0,0
$GC,5496,-0.71,-116.8,497.2,-7.2,300,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2033,3287,0,0,0,0,0,0
$GC,5821,-0.71,-116.8,521.1,-7.5,308,5825,0.00,2.33,0.00,0.000,4,0.000,0.046,2630,3616,3285,0,0,0,0,0,0
$GC,5865,-0.71,-116.8,524.7,-8.2,309,5870,0.10,2.28,0.00,0.000,6,0.146,0.032,2661,2027,3285,0,0,0,0,0,0
$GC,6193,-0.71,-116.8,546.3,-6.3,317,6197,0.00,2.30,0.00,0.000,4,0.000,0.047,2660,453,3283,0,0,0,0,0,0
$GC,6265,-0.71,-116.8,551.4,-7.1,318,6269,0.00,2.28,0.00,0.000,6,0.000,0.035,2651,2029,3283,0,0,0,0,0,0
$GC,6601,-0.71,-116.8,574.6,-7.2,327,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2025,3281,0,0,0,0,0,0
$GC,6926,-0.71,-116.8,599.2,-7.5,335,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2026,3279,0,0,0,0,0,0
$GC,7252,-0.71,-116.8,621.9,-6.8,343,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2026,3279,0,0,0,0,0,0
$GC,7576,-0.71,-116.8,643.0,-6.5,351,7581,0.00,2.33,0.00,0.000,4,0.000,0.048,2652,450,3279,0,0,0,0,0,0
$GC,7603,-0.71,-116.8,645.0,-6.9,351,7608,0.00,2.30,0.00,0.000,6,0.000,0.035,2640,2028,3275,0,0,0,0,0,0
$GC,7940,-0.71,-116.8,666.6,-6.3,360,7944,0.00,2.33,0.00,0.000,4,0.000,0.046,2628,3614,3276,0,0,0,0,0,0
$GC,7967,-0.71,-116.8,668.5,-7.1,360,7972,0.10,2.28,0.00,0.000,6,0.144,0.032,2665,2024,3276,0,0,0,0,0,0
$GC,8297,-0.71,-116.8,687.3,-5.7,368,8301,0.00,2.33,0.00,0.000,4,0.000,0.046,2665,453,3275,0,0,0,0,0,0
$GC,8375,-0.71,-116.8,692.5,-6.9,369,8379,0.00,2.30,0.00,0.000,6,0.000,0.035,2650,2037,3275,0,0,0,0,0,0
$GC,8711,-0.71,-116.8,715.0,-6.8,378,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2037,3274,0,0,0,0,0,0
$GC,9036,-0.71,-116.8,736.5,-6.5,386,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2037,3274,0,0,0,0,0,0
$GC,9362,-0.71,-116.8,757.8,-6.6,394,9366,0.00,2.33,0.00,0.000,4,0.000,0.048,2650,461,3272,0,0,0,0,0,0
$GC,9416,-0.71,-116.8,761.9,-7.1,395,9421,0.00,2.30,0.00,0.000,6,0.000,0.035,2639,2036,3272,0,0,0,0,0,0
$GC,9729,-0.71,-116.8,783.1,-6.7,403,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2037,3271,0,0,0,0,0,0
$GC,10054,-0.71,-116.8,804.5,-6.5,411,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2036,3271,0,0,0,0,0,0
$GC,10379,-0.71,-116.8,825.0,-6.3,419,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2036,3271,0,0,0,0,0,0
$GC,10704,-0.71,-116.8,845.0,-6.1,427,10708,0.00,2.35,0.00,0.000,4,0.000,0.048,2638,451,3273,0,0,0,0,0,0
$GC,10736,-0.71,-116.8,847.1,-7.3,427,10743,0.08,2.30,0.00,0.000,6,0.121,0.035,2656,2027,3270,0,0,0,0,0,0
$GC,11068,-0.71,-116.8,864.3,-5.2,436,11072,0.00,2.35,0.00,0.000,4,0.000,0.048,2657,455,3269,0,0,0,0,0,0
$GC,11099,-0.71,-116.8,866.3,-7.0,436,11106,0.00,2.30,0.00,0.000,6,0.000,0.035,2647,2035,3269,0,0,0,0,0,0
$GC,11431,-0.71,-116.8,884.6,-5.7,445,11435,0.00,2.33,0.00,0.000,4,0.000,0.048,2647,461,3267,0,0,0,0,0,0
$GC,11479,-0.71,-116.8,887.7,-6.3,446,11484,0.00,2.30,0.00,0.000,6,0.000,0.035,2639,2035,3268,0,0,0,0,0,0
$GC,11798,-0.71,-116.8,906.6,-6.0,454,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2035,3268,0,0,0,0,0,0
$GC,12123,-0.71,-116.8,925.8,-5.9,462,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2034,3268,0,0,0,0,0,0
$GC,12448,-0.71,-116.8,945.3,-6.0,470,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2033,3267,0,0,0,0,0,0
$GC,12773,-0.71,-116.8,965.7,-6.3,478,12777,0.00,2.35,0.00,0.000,4,0.000,0.048,2636,452,3266,0,0,0,0,0,0
$GC,12821,-0.71,-116.8,969.4,-8.2,479,12826,0.08,2.30,0.00,0.000,6,0.123,0.035,2670,2017,3267,0,0,0,0,0,0
$GC,13140,-0.71,-116.8,986.3,-5.3,487,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2017,3267,0,0,0,0,0,0
$STATE,13221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13221,begin apogee
$GC,13225,-0.23,0.0,990.5,5.2,489,13322,0.43,0.00,94.88,1.302,6,0.109,0.000,2814,2015,2824,0,0,0,0,0,0
$STATE,13369,end apogee,CONTROL_FINISHED_OK
$STATE,13369,begin climb
$GC,13371,0.71,116.8,992.6,0.0,491,13491,0.82,2.62,110.05,1.267,4,0.067,0.046,3121,3614,2345,0,0,0,0,0,0
$GC,13552,0.71,116.8,977.8,13.8,496,13557,0.00,2.47,0.00,0.000,6,0.000,0.035,3132,2039,2336,0,0,0,0,0,0
$GC,13870,0.71,116.8,934.5,13.7,504,13875,0.00,2.42,0.00,0.000,4,0.000,0.050,3143,459,2329,0,0,0,0,0,0
$GC,13975,0.71,116.8,919.0,15.4,506,13980,0.00,2.38,0.00,0.000,6,0.000,0.035,3145,2029,2328,0,0,0,0,0,0
$GC,14324,0.71,116.8,867.6,14.7,515,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2030,2325,0,0,0,0,0,0
$GC,14648,0.71,116.8,820.7,14.3,523,14653,0.00,2.40,0.00,0.000,4,0.000,0.049,3157,455,2328,0,0,0,0,0,0
$GC,14708,0.71,116.8,811.6,15.0,524,14714,0.10,2.35,0.00,0.000,6,0.146,0.035,3125,2038,2328,0,0,0,0,0,0
$GC,15056,0.71,116.8,767.3,12.6,533,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2039,2326,0,0,0,0,0,0
$GC,15381,0.71,116.8,728.2,11.7,541,15385,0.00,2.38,0.00,0.000,4,0.000,0.049,3135,452,2326,0,0,0,0,0,0
$GC,15424,0.71,116.8,722.9,12.3,542,15429,0.00,2.33,0.00,0.000,6,0.000,0.036,3135,2025,2330,0,0,0,0,0,0
$GC,15748,0.71,116.8,685.3,11.5,550,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2025,2326,0,0,0,0,0,0
$GC,16073,0.71,116.8,646.8,11.9,558,16077,0.00,2.40,0.00,0.000,4,0.000,0.047,3135,3626,2326,0,0,0,0,0,0
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