version: 66.07
glider: 500
mission: 4
dive: 174
start: 7 27 110 17 54 15
data:
$ID,500
$MISSION,4
$DIVE,174
$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,-112469.59
$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,56
$R_STBD_OVSHOOT,49
$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,173
$AR_SAMPLENUM,11
$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
$GPS1,270710,174007,2101.191,-15850.769,38,0.9,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.5
$GPS2,270710,175320,2101.280,-15850.979,12,1.0,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,-0.033
$KALMAN_X,-160541.7,140.2,-147.3,281613.1,-1815.6
$KALMAN_Y,166747.4,37.2,-529.6,-104591.2,1708.1
$MHEAD_RNG_PITCHd_Wd,88.9,102874,-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,-45.75,0.000,2,0.000,0.000,127,2027,2527,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.0,-4.5,9,112,10.15,0.00,-19.55,0.000,6,0.229,0.000,2651,2026,3301,0,0,0,0,0,0
$GC,310,-0.71,-116.8,45.4,-20.1,45,314,0.00,2.30,0.00,0.000,4,0.000,0.044,2651,462,3302,0,0,0,0,0,0
$GC,348,-0.71,-116.8,52.8,-19.7,48,353,0.00,2.25,0.00,0.000,6,0.000,0.035,2642,2036,3302,0,0,0,0,0,0
$GC,608,-0.71,-116.8,98.3,-16.7,72,612,0.00,2.33,0.00,0.000,4,0.000,0.042,2629,3608,3302,0,0,0,0,0,0
$GC,651,-0.71,-116.8,105.9,-16.7,75,659,0.08,2.28,0.00,0.000,6,0.117,0.028,2659,2028,3303,0,0,0,0,0,0
$GC,914,-0.71,-116.8,137.9,-10.7,100,918,0.00,2.33,0.00,0.000,4,0.000,0.041,2648,3606,3303,0,0,0,0,0,0
$GC,941,-0.71,-116.8,141.4,-12.0,102,945,0.00,2.25,0.00,0.000,6,0.000,0.028,2648,2021,3303,0,0,0,0,0,0
$GC,1202,-0.71,-116.8,169.6,-11.4,126,1206,0.00,2.28,0.00,0.000,4,0.000,0.043,2648,454,3305,0,0,0,0,0,0
$GC,1312,-0.71,-116.8,183.2,-11.7,135,1319,0.00,2.25,0.00,0.000,6,0.000,0.032,2637,2030,3305,0,0,0,0,0,0
$GC,1580,-0.71,-116.8,215.2,-12.0,155,1585,0.00,2.30,0.00,0.000,4,0.000,0.041,2624,3609,3306,0,0,0,0,0,0
$GC,1670,-0.71,-116.8,225.8,-11.9,159,1675,0.12,2.20,0.00,0.000,6,0.132,0.028,2665,2036,3304,0,0,0,0,0,0
$GC,1990,-0.71,-116.8,254.3,-8.1,175,1994,0.00,2.28,0.00,0.000,4,0.000,0.042,2665,452,3307,0,0,0,0,0,0
$GC,2135,-0.71,-116.8,266.8,-8.6,181,2140,0.00,2.25,0.00,0.000,6,0.000,0.031,2655,2027,3306,0,0,0,0,0,0
$GC,2457,-0.71,-116.8,294.2,-8.0,197,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2028,3306,0,0,0,0,0,0
$GC,2783,-0.71,-116.8,318.6,-7.7,207,2787,0.00,2.28,0.00,0.000,4,0.000,0.042,2655,444,3306,0,0,0,0,0,0
$GC,2815,-0.71,-116.8,321.6,-9.2,207,2821,0.00,2.28,0.00,0.000,6,0.000,0.031,2644,2035,3306,0,0,0,0,0,0
$GC,3146,-0.71,-116.8,354.2,-10.2,216,3150,0.00,2.28,0.00,0.000,4,0.000,0.042,2644,454,3305,0,0,0,0,0,0
$GC,3200,-0.71,-116.8,360.1,-10.6,217,3204,0.00,2.25,0.00,0.000,6,0.000,0.031,2632,2031,3305,0,0,0,0,0,0
$GC,3513,-0.71,-116.8,392.1,-10.3,225,3517,0.00,2.33,0.00,0.000,4,0.000,0.043,2621,3616,3303,0,0,0,0,0,0
$GC,3555,-0.71,-116.8,396.7,-10.6,226,3561,0.10,2.28,0.00,0.000,6,0.101,0.029,2660,2035,3302,0,0,0,0,0,0
$GC,3880,-0.71,-116.8,420.5,-6.7,234,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2035,3301,0,0,0,0,0,0
$GC,4205,-0.71,-116.8,441.2,-6.5,242,4209,0.00,2.30,0.00,0.000,4,0.000,0.044,2661,448,3297,0,0,0,0,0,0
$GC,4254,-0.71,-116.8,445.1,-8.2,243,4258,0.00,2.25,0.00,0.000,6,0.000,0.032,2651,2046,3298,0,0,0,0,0,0
$GC,4572,-0.71,-116.8,468.3,-6.9,251,4576,0.00,2.33,0.00,0.000,4,0.000,0.043,2655,447,3297,0,0,0,0,0,0
$GC,4650,-0.71,-116.8,473.9,-7.4,252,4656,0.00,2.28,0.00,0.000,6,0.000,0.032,2641,2025,3296,0,0,0,0,0,0
$GC,4981,-0.71,-116.8,499.7,-8.4,261,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2025,3297,0,0,0,0,0,0
$GC,5305,-0.71,-116.8,528.4,-8.8,269,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2025,3291,0,0,0,0,0,0
$GC,5631,-0.71,-116.8,554.8,-7.8,277,5635,0.00,2.35,0.00,0.000,4,0.000,0.044,2627,3612,3290,0,0,0,0,0,0
$GC,5721,-0.71,-116.8,561.8,-8.3,279,5726,0.12,2.28,0.00,0.000,6,0.130,0.031,2667,2029,3292,0,0,0,0,0,0
$GC,6044,-0.71,-116.8,580.1,-5.6,287,6048,0.00,2.30,0.00,0.000,4,0.000,0.045,2667,458,3288,0,0,0,0,0,0
$GC,6110,-0.71,-116.8,584.4,-6.7,288,6114,0.00,2.28,0.00,0.000,6,0.000,0.032,2658,2033,3288,0,0,0,0,0,0
$GC,6458,-0.71,-116.8,605.3,-6.1,297,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2033,3286,0,0,0,0,0,0
$GC,6783,-0.71,-116.8,623.3,-5.1,305,6787,0.00,2.30,0.00,0.000,4,0.000,0.044,2658,458,3285,0,0,0,0,0,0
$GC,6837,-0.71,-116.8,626.5,-6.6,306,6842,0.00,2.28,0.00,0.000,6,0.000,0.033,2646,2034,3284,0,0,0,0,0,0
$GC,7151,-0.71,-116.8,642.1,-5.1,314,7155,0.00,2.33,0.00,0.000,4,0.000,0.044,2635,3621,3283,0,0,0,0,0,0
$GC,7189,-0.71,-116.8,644.3,-5.4,315,7193,0.00,2.28,0.00,0.000,6,0.000,0.031,2635,2023,3283,0,0,0,0,0,0
$GC,7513,-0.71,-116.8,664.4,-6.7,323,7517,0.00,2.30,0.00,0.000,4,0.000,0.044,2635,450,3282,0,0,0,0,0,0
$GC,7601,-0.71,-116.8,671.8,-8.5,325,7606,0.12,2.28,0.00,0.000,6,0.140,0.032,2662,2020,3282,0,0,0,0,0,0
$GC,7925,-0.71,-116.8,692.2,-6.2,333,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2021,3280,0,0,0,0,0,0
$GC,8250,-0.71,-116.8,711.1,-5.7,341,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2021,3277,0,0,0,0,0,0
$GC,8575,-0.71,-116.8,727.1,-4.8,349,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2021,3278,0,0,0,0,0,0
$GC,8900,-0.71,-116.8,740.4,-4.0,357,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2021,3277,0,0,0,0,0,0
$GC,9225,-0.71,-116.8,753.7,-4.3,365,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2020,3276,0,0,0,0,0,0
$GC,9550,-0.71,-116.8,769.1,-5.0,373,9554,0.00,2.33,0.00,0.000,4,0.000,0.046,2662,454,3278,0,0,0,0,0,0
$GC,9593,-0.71,-116.8,771.6,-5.9,374,9597,0.00,2.30,0.00,0.000,6,0.000,0.034,2652,2032,3274,0,0,0,0,0,0
$GC,9917,-0.71,-116.8,789.6,-5.4,382,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2034,3272,0,0,0,0,0,0
$GC,10243,-0.71,-116.8,807.3,-5.6,390,10247,0.00,2.35,0.00,0.000,4,0.000,0.047,2652,462,3273,0,0,0,0,0,0
$GC,10269,-0.71,-116.8,809.0,-6.2,390,10273,0.00,2.30,0.00,0.000,6,0.000,0.035,2642,2038,3273,0,0,0,0,0,0
$GC,10606,-0.71,-116.8,827.9,-5.6,399,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3272,0,0,0,0,0,0
$GC,10931,-0.71,-116.8,845.1,-5.1,407,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3273,0,0,0,0,0,0
$GC,11256,-0.71,-116.8,862.3,-5.2,415,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3272,0,0,0,0,0,0
$GC,11581,-0.71,-116.8,879.1,-5.2,423,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3272,0,0,0,0,0,0
$GC,11906,-0.71,-116.8,894.9,-4.8,431,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2038,3270,0,0,0,0,0,0
$GC,12231,-0.71,-116.8,912.4,-5.6,439,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2036,3271,0,0,0,0,0,0
$GC,12555,-0.71,-116.8,931.7,-6.1,447,12559,0.00,2.38,0.00,0.000,4,0.000,0.048,2642,458,3270,0,0,0,0,0,0
$GC,12628,-0.71,-116.8,936.9,-7.1,448,12632,0.10,2.25,0.00,0.000,6,0.152,0.034,2661,2031,3269,0,0,0,0,0,0
$GC,12963,-0.71,-116.8,956.3,-5.7,457,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2032,3269,0,0,0,0,0,0
$GC,13289,-0.71,-116.8,974.7,-5.6,465,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2031,3269,0,0,0,0,0,0
$STATE,13530,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13530,begin apogee
$GC,13535,-0.23,0.0,987.9,5.4,471,13634,0.45,0.00,96.35,1.285,6,0.104,0.000,2813,2031,2823,0,0,0,0,0,0
$STATE,13637,end apogee,CONTROL_FINISHED_OK
$STATE,13637,begin climb
$GC,13638,0.71,116.8,990.0,0.0,473,13761,0.82,2.65,111.78,1.253,4,0.061,0.046,3122,3595,2344,0,0,0,0,0,0
$GC,13828,0.71,116.8,974.4,13.9,477,13833,0.00,2.42,0.00,0.000,6,0.000,0.035,3134,2028,2335,0,0,0,0,0,0
$GC,14176,0.71,116.8,927.8,13.4,486,14180,0.00,2.40,0.00,0.000,4,0.000,0.049,3146,448,2327,0,0,0,0,0,0
$GC,14260,0.71,116.8,916.1,13.7,488,14264,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,2038,2327,0,0,0,0,0,0
$GC,14582,0.71,116.8,870.4,14.1,496,14587,0.00,2.38,0.00,0.000,4,0.000,0.045,3143,3613,2322,0,0,0,0,0,0
$GC,14642,0.71,116.8,861.1,15.0,497,14648,0.10,2.38,0.00,0.000,6,0.148,0.035,3126,2030,2323,0,0,0,0,0,0
$GC,14990,0.71,116.8,815.0,13.5,506,14995,0.00,2.38,0.00,0.000,4,0.000,0.048,3136,451,2322,0,0,0,0,0,0
$GC,15017,0.71,116.8,810.9,15.2,506,15021,0.00,2.33,0.00,0.000,6,0.000,0.035,3136,2018,2322,0,0,0,0,0,0
$GC,15354,0.71,116.8,765.7,13.2,515,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2018,2321,0,0,0,0,0,0
$GC,15679,0.71,116.8,725.2,12.2,523,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2018,2321,0,0,0,0,0,0
$GC,16003,0.71,116.8,685.8,12.3,531,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2018,2320,0,0,0,0,0,0
$GC,16328,0.71,116.8,644.1,12.8,539,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2019,2319,0,0,0,0,0,0
$GC,16653,0.71,116.8,605.2,11.5,547,16658,0.00,2.38,0.00,0.000,4,0.000,0.046,3137,3620,2319,0,0,0,0,0,0
$GC,16680,0.71,116.8,602.0,11.9,547,16685,0.00,2.33,0.00,0.000,6,0.000,0.036,3149,2025,2318,0,0,0,0,0,0
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$STATE,23172,end climb,SURFACE_DEPTH_REACHED
$STATE,23172,begin surface coast
$FINISH,0.8,1.021969
$STATE,23201,end surface coast,CONTROL_FINISHED_OK
$STATE,23202,begin surface
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$10V_AH,9.6,26.793
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335256
$DATA_FILE_SIZE,33337,911
$CAP_FILE_SIZE,179983,0
$CFSIZE,260165632,240611328
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$GPS,280710,002506,2102.517,-15849.188,32,0.9,32,9.7