version: 66.07
glider: 500
mission: 4
dive: 149
start: 7 20 110 17 5 27
data:
$ID,500
$MISSION,4
$DIVE,149
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111990.55
$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,54
$R_STBD_OVSHOOT,50
$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,0
$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,148
$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
$GPS1,200710,164955,2047.631,-15931.388,38,1.0,38,9.7
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.7
$GPS2,200710,170432,2047.695,-15931.401,9,1.9,9,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.195,-0.108
$KALMAN_X,-104705.2,-11.5,170.7,155472.9,-2679.7
$KALMAN_Y,128434.2,-332.2,-226.5,-91360.3,3089.1
$MHEAD_RNG_PITCHd_Wd,109.3,176928,-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,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-46.03,0.000,2,0.000,0.000,136,2039,2535,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.0,-4.3,9,112,10.18,2.38,-19.10,0.000,4,0.232,0.057,2649,453,3302,0,0,0,0,0,0
$GC,208,-0.71,-116.8,24.9,-20.2,33,213,0.00,2.28,0.00,0.000,6,0.000,0.035,2639,2033,3304,0,0,0,0,0,0
$GC,405,-0.71,-116.8,62.8,-16.5,54,409,0.00,2.33,0.00,0.000,4,0.000,0.043,2627,3615,3303,0,0,0,0,0,0
$GC,449,-0.71,-116.8,70.2,-16.0,57,456,0.08,2.30,0.00,0.000,6,0.118,0.029,2656,2018,3307,0,0,0,0,0,0
$GC,710,-0.71,-116.8,106.2,-13.7,82,714,0.00,2.28,0.00,0.000,4,0.000,0.043,2656,452,3306,0,0,0,0,0,0
$GC,738,-0.71,-116.8,110.3,-14.8,84,742,0.00,2.25,0.00,0.000,6,0.000,0.031,2646,2040,3304,0,0,0,0,0,0
$GC,1004,-0.71,-116.8,147.2,-12.9,109,1008,0.00,2.30,0.00,0.000,4,0.000,0.048,2646,464,3306,0,0,0,0,0,0
$GC,1065,-0.71,-116.8,155.4,-13.1,114,1069,0.00,2.22,0.00,0.000,6,0.000,0.035,2634,2043,3307,0,0,0,0,0,0
$GC,1326,-0.71,-116.8,186.3,-11.1,138,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2043,3310,0,0,0,0,0,0
$GC,1587,-0.71,-116.8,214.4,-10.8,157,1591,0.00,2.28,0.00,0.000,4,0.000,0.042,2622,3612,3307,0,0,0,0,0,0
$GC,1630,-0.71,-116.8,219.4,-11.8,159,1635,0.10,2.25,0.00,0.000,6,0.105,0.029,2662,2037,3307,0,0,0,0,0,0
$GC,1956,-0.71,-116.8,248.9,-8.7,175,1960,0.00,2.28,0.00,0.000,4,0.000,0.044,2662,449,3305,0,0,0,0,0,0
$GC,2056,-0.71,-116.8,258.6,-9.9,179,2062,0.00,2.25,0.00,0.000,6,0.000,0.031,2652,2024,3307,0,0,0,0,0,0
$GC,2372,-0.71,-116.8,286.0,-7.4,195,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3307,0,0,0,0,0,0
$GC,2700,-0.71,-116.8,309.4,-7.4,208,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3306,0,0,0,0,0,0
$GC,3024,-0.71,-116.8,336.9,-8.8,216,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2024,3305,0,0,0,0,0,0
$GC,3350,-0.71,-116.8,363.1,-7.7,224,3354,0.00,2.33,0.00,0.000,4,0.000,0.044,2652,441,3303,0,0,0,0,0,0
$GC,3387,-0.71,-116.8,366.4,-8.6,224,3394,0.00,2.30,0.00,0.000,6,0.000,0.033,2640,2048,3302,0,0,0,0,0,0
$GC,3718,-0.71,-116.8,393.8,-8.0,233,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2048,3301,0,0,0,0,0,0
$GC,4044,-0.71,-116.8,418.1,-7.3,241,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2049,3297,0,0,0,0,0,0
$GC,4368,-0.71,-116.8,442.8,-7.6,249,4373,0.00,2.35,0.00,0.000,4,0.000,0.044,2641,454,3296,0,0,0,0,0,0
$GC,4423,-0.71,-116.8,447.4,-8.5,250,4428,0.08,2.28,0.00,0.000,6,0.122,0.034,2659,2039,3298,0,0,0,0,0,0
$GC,4736,-0.71,-116.8,467.5,-6.3,258,4740,0.00,2.33,0.00,0.000,4,0.000,0.044,2658,448,3295,0,0,0,0,0,0
$GC,4813,-0.71,-116.8,473.0,-7.1,259,4819,0.00,2.28,0.00,0.000,6,0.000,0.033,2649,2036,3293,0,0,0,0,0,0
$GC,5144,-0.71,-116.8,494.4,-6.7,268,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2036,3290,0,0,0,0,0,0
$GC,5470,-0.71,-116.8,519.3,-8.0,276,5474,0.00,2.28,0.00,0.000,4,0.000,0.044,2637,3609,3289,0,0,0,0,0,0
$GC,5530,-0.71,-116.8,524.4,-8.3,277,5535,0.00,2.28,0.00,0.000,6,0.000,0.030,2637,2029,3287,0,0,0,0,0,0
$GC,5878,-0.71,-116.8,552.3,-7.9,286,5882,0.00,2.30,0.00,0.000,4,0.000,0.044,2638,449,3288,0,0,0,0,0,0
$GC,5978,-0.71,-116.8,561.3,-8.9,288,5982,0.12,2.25,0.00,0.000,6,0.141,0.033,2664,2037,3287,0,0,0,0,0,0
$GC,6290,-0.71,-116.8,581.5,-6.3,296,6294,0.00,2.28,0.00,0.000,4,0.000,0.044,2653,3603,3283,0,0,0,0,0,0
$GC,6361,-0.71,-116.8,586.6,-7.3,297,6365,0.00,2.22,0.00,0.000,6,0.000,0.031,2653,2029,3282,0,0,0,0,0,0
$GC,6698,-0.71,-116.8,608.5,-6.2,306,6702,0.00,2.28,0.00,0.000,4,0.000,0.044,2653,458,3282,0,0,0,0,0,0
$GC,6752,-0.71,-116.8,612.1,-6.7,307,6756,0.00,2.25,0.00,0.000,6,0.000,0.033,2642,2020,3280,0,0,0,0,0,0
$GC,7065,-0.71,-116.8,630.2,-5.6,315,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2020,3278,0,0,0,0,0,0
$GC,7390,-0.71,-116.8,649.0,-5.7,323,7394,0.00,2.35,0.00,0.000,4,0.000,0.045,2630,3614,3277,0,0,0,0,0,0
$GC,7495,-0.71,-116.8,655.6,-6.2,325,7499,0.00,2.30,0.00,0.000,6,0.000,0.031,2632,2028,3276,0,0,0,0,0,0
$GC,7843,-0.71,-116.8,677.5,-6.3,334,7845,0.10,0.00,0.00,0.000,6,0.147,0.000,2658,2026,3275,0,0,0,0,0,0
$GC,8168,-0.71,-116.8,693.8,-5.0,342,8172,0.00,2.28,0.00,0.000,4,0.000,0.047,2662,464,3273,0,0,0,0,0,0
$GC,8251,-0.71,-116.8,698.7,-6.4,344,8256,0.00,2.25,0.00,0.000,6,0.000,0.035,2652,2045,3272,0,0,0,0,0,0
$GC,8580,-0.71,-116.8,717.8,-5.8,352,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2047,3272,0,0,0,0,0,0
$GC,8905,-0.71,-116.8,737.5,-6.2,360,8909,0.00,2.30,0.00,0.000,4,0.000,0.046,2640,3607,3271,0,0,0,0,0,0
$GC,8943,-0.71,-116.8,739.9,-6.8,360,8949,0.00,2.28,0.00,0.000,6,0.000,0.032,2640,2021,3271,0,0,0,0,0,0
$GC,9274,-0.71,-116.8,762.0,-6.7,369,9278,0.00,2.28,0.00,0.000,4,0.000,0.046,2640,460,3268,0,0,0,0,0,0
$GC,9363,-0.71,-116.8,769.2,-7.8,371,9368,0.08,2.28,0.00,0.000,6,0.119,0.034,2658,2037,3267,0,0,0,0,0,0
$GC,9687,-0.71,-116.8,788.6,-5.8,379,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2037,3268,0,0,0,0,0,0
$GC,10012,-0.71,-116.8,805.6,-5.1,387,10016,0.00,2.33,0.00,0.000,4,0.000,0.046,2653,3605,3268,0,0,0,0,0,0
$GC,10040,-0.71,-116.8,807.0,-5.2,387,10044,0.00,2.25,0.00,0.000,6,0.000,0.032,2645,2033,3268,0,0,0,0,0,0
$GC,10370,-0.71,-116.8,823.0,-4.6,395,10374,0.00,2.33,0.00,0.000,4,0.000,0.046,2648,448,3267,0,0,0,0,0,0
$GC,10403,-0.71,-116.8,824.7,-5.7,395,10407,0.00,2.30,0.00,0.000,6,0.000,0.034,2642,2038,3265,0,0,0,0,0,0
$GC,10739,-0.71,-116.8,841.3,-5.0,404,10743,0.00,2.30,0.00,0.000,4,0.000,0.046,2625,3605,3267,0,0,0,0,0,0
$GC,10783,-0.71,-116.8,843.7,-6.0,405,10788,0.12,2.25,0.00,0.000,6,0.133,0.031,2664,2034,3266,0,0,0,0,0,0
$GC,11107,-0.71,-116.8,858.4,-4.7,413,11111,0.00,2.33,0.00,0.000,4,0.000,0.046,2663,452,3267,0,0,0,0,0,0
$GC,11139,-0.71,-116.8,860.3,-6.3,413,11143,0.00,2.28,0.00,0.000,6,0.000,0.034,2655,2023,3266,0,0,0,0,0,0
$GC,11476,-0.71,-116.8,879.3,-5.7,422,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2022,3266,0,0,0,0,0,0
$GC,11801,-0.71,-116.8,899.4,-6.4,430,11805,0.00,2.38,0.00,0.000,4,0.000,0.047,2645,3617,3265,0,0,0,0,0,0
$GC,11828,-0.71,-116.8,901.2,-6.7,430,11833,0.00,2.33,0.00,0.000,6,0.000,0.033,2643,2014,3266,0,0,0,0,0,0
$GC,12159,-0.71,-116.8,922.4,-6.1,438,12163,0.00,2.30,0.00,0.000,4,0.000,0.048,2643,454,3267,0,0,0,0,0,0
$GC,12253,-0.71,-116.8,928.6,-5.8,440,12257,0.00,2.30,0.00,0.000,6,0.000,0.034,2632,2035,3264,0,0,0,0,0,0
$GC,12577,-0.71,-116.8,946.4,-5.2,448,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2035,3265,0,0,0,0,0,0
$GC,12902,-0.71,-116.8,961.7,-4.5,456,12906,0.00,2.35,0.00,0.000,4,0.000,0.047,2620,3610,3263,0,0,0,0,0,0
$GC,12940,-0.71,-116.8,963.3,-5.3,457,12945,0.12,2.28,0.00,0.000,6,0.133,0.032,2660,2022,3263,0,0,0,0,0,0
$GC,13264,-0.71,-116.8,973.3,-3.0,465,13268,0.00,2.30,0.00,0.000,4,0.000,0.047,2660,459,3263,0,0,0,0,0,0
$GC,13303,-0.71,-116.8,974.8,-4.0,466,13307,0.00,2.28,0.00,0.000,6,0.000,0.035,2650,2038,3262,0,0,0,0,0,0
$STATE,13544,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13544,begin apogee
$GC,13548,-0.23,0.0,982.6,3.2,472,13646,0.50,0.00,95.00,1.290,6,0.110,0.000,2817,2038,2822,0,0,0,0,0,0
$STATE,13649,end apogee,CONTROL_FINISHED_OK
$STATE,13649,begin climb
$GC,13650,0.71,116.8,982.5,0.0,474,13773,0.82,2.62,110.82,1.255,4,0.064,0.045,3122,3599,2347,0,0,0,0,0,0
$GC,13789,0.71,116.8,969.7,15.0,477,13794,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,2041,2340,0,0,0,0,0,0
$GC,14102,0.71,116.8,921.4,15.5,485,14106,0.00,2.42,0.00,0.000,4,0.000,0.048,3146,448,2328,0,0,0,0,0,0
$GC,14129,0.71,116.8,917.0,15.5,485,14133,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,2012,2328,0,0,0,0,0,0
$GC,14466,0.71,116.8,865.1,15.3,494,14470,0.00,2.38,0.00,0.000,4,0.000,0.048,3157,451,2325,0,0,0,0,0,0
$GC,14525,0.71,116.8,855.6,16.3,495,14531,0.10,2.35,0.00,0.000,6,0.140,0.035,3125,2036,2322,0,0,0,0,0,0
$GC,14873,0.71,116.8,807.5,13.5,504,14877,0.00,2.35,0.00,0.000,4,0.000,0.045,3125,3613,2323,0,0,0,0,0,0
$GC,14894,0.71,116.8,804.4,13.8,504,14899,0.00,2.35,0.00,0.000,6,0.000,0.035,3135,2025,2322,0,0,0,0,0,0
$GC,15236,0.71,116.8,757.8,13.7,513,15241,0.00,2.35,0.00,0.000,4,0.000,0.048,3147,448,2322,0,0,0,0,0,0
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$STATE,22725,end climb,SURFACE_DEPTH_REACHED
$STATE,22726,begin surface coast
$FINISH,0.8,1.022841
$STATE,22761,end surface coast,CONTROL_FINISHED_OK
$STATE,22761,begin surface
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,9.6,20.026
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335200
$DATA_FILE_SIZE,33382,917
$CAP_FILE_SIZE,194340,0
$CFSIZE,260165632,244277248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200710,232755,2047.686,-15930.382,40,0.9,40,9.7