version: 66.07
glider: 500
mission: 4
dive: 175
start: 7 28 110 0 46 33
data:
$ID,500
$MISSION,4
$DIVE,175
$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,-112487.37
$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,49
$R_STBD_OVSHOOT,54
$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,174
$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
$GPS1,280710,002506,2102.517,-15849.188,32,0.9,32,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.6
$GPS2,280710,004538,2102.873,-15849.499,15,0.9,15,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.213,0.063
$KALMAN_X,-162818.8,-312.7,36.2,286728.8,-1846.4
$KALMAN_Y,168874.6,29.0,1047.4,-105350.2,-668.7
$MHEAD_RNG_PITCHd_Wd,63.7,99634,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-45.78,0.000,2,0.000,0.000,130,2042,2544,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.0,-4.8,9,113,10.15,2.35,-19.55,0.000,4,0.229,0.055,2645,3600,3301,0,0,0,0,0,0
$GC,125,-0.71,-116.8,8.1,-9.6,18,130,0.00,2.30,0.00,0.000,6,0.000,0.029,2645,2016,3301,0,0,0,0,0,0
$GC,334,-0.71,-116.8,44.0,-18.2,49,338,0.00,2.35,0.00,0.000,4,0.000,0.041,2633,3607,3302,0,0,0,0,0,0
$GC,384,-0.71,-116.8,53.6,-19.4,53,388,0.00,2.25,0.00,0.000,6,0.000,0.028,2633,2031,3302,0,0,0,0,0,0
$GC,644,-0.71,-116.8,98.7,-17.5,77,648,0.00,2.33,0.00,0.000,4,0.000,0.041,2621,3610,3301,0,0,0,0,0,0
$GC,660,-0.71,-116.8,101.7,-17.7,78,665,0.12,2.25,0.00,0.000,6,0.140,0.028,2659,2025,3302,0,0,0,0,0,0
$GC,921,-0.71,-116.8,131.3,-10.8,102,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2025,3303,0,0,0,0,0,0
$GC,1176,-0.71,-116.8,158.7,-9.8,126,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2025,3304,0,0,0,0,0,0
$GC,1431,-0.71,-116.8,185.0,-8.8,150,1435,0.00,2.28,0.00,0.000,4,0.000,0.044,2659,454,3305,0,0,0,0,0,0
$GC,1503,-0.71,-116.8,192.4,-9.7,156,1507,0.00,2.22,0.00,0.000,6,0.000,0.031,2649,2031,3304,0,0,0,0,0,0
$GC,1768,-0.71,-116.8,219.3,-9.7,172,1772,0.00,2.28,0.00,0.000,4,0.000,0.042,2649,450,3306,0,0,0,0,0,0
$GC,1852,-0.71,-116.8,227.9,-10.4,176,1856,0.00,2.25,0.00,0.000,6,0.000,0.032,2637,2049,3302,0,0,0,0,0,0
$GC,2178,-0.71,-116.8,261.3,-10.5,192,2182,0.00,2.28,0.00,0.000,4,0.000,0.042,2625,3601,3303,0,0,0,0,0,0
$GC,2271,-0.71,-116.8,270.4,-9.0,196,2277,0.08,2.25,0.00,0.000,6,0.108,0.028,2658,2032,3303,0,0,0,0,0,0
$GC,2594,-0.71,-116.8,293.7,-7.0,212,2598,0.00,2.30,0.00,0.000,4,0.000,0.043,2658,443,3302,0,0,0,0,0,0
$GC,2643,-0.71,-116.8,297.9,-8.5,214,2648,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2015,3303,0,0,0,0,0,0
$GC,2960,-0.71,-116.8,322.5,-7.5,223,2964,0.00,2.33,0.00,0.000,4,0.000,0.042,2636,3621,3300,0,0,0,0,0,0
$GC,3001,-0.71,-116.8,325.5,-8.0,224,3005,0.00,2.25,0.00,0.000,6,0.000,0.029,2635,2017,3300,0,0,0,0,0,0
$GC,3324,-0.71,-116.8,350.5,-7.6,232,3328,0.00,2.25,0.00,0.000,4,0.000,0.043,2636,452,3298,0,0,0,0,0,0
$GC,3396,-0.71,-116.8,357.0,-9.0,233,3401,0.08,2.28,0.00,0.000,6,0.113,0.031,2655,2042,3296,0,0,0,0,0,0
$GC,3732,-0.71,-116.8,381.6,-7.0,242,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2041,3296,0,0,0,0,0,0
$GC,4057,-0.71,-116.8,403.8,-6.9,250,4061,0.00,2.33,0.00,0.000,4,0.000,0.044,2645,3609,3294,0,0,0,0,0,0
$GC,4111,-0.71,-116.8,407.8,-7.7,251,4116,0.00,2.28,0.00,0.000,6,0.000,0.029,2645,2037,3293,0,0,0,0,0,0
$GC,4425,-0.71,-116.8,433.3,-8.4,259,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2036,3291,0,0,0,0,0,0
$GC,4749,-0.71,-116.8,459.9,-7.9,267,4754,0.00,2.30,0.00,0.000,4,0.000,0.044,2645,449,3288,0,0,0,0,0,0
$GC,4838,-0.71,-116.8,467.3,-8.0,269,4842,0.00,2.28,0.00,0.000,6,0.000,0.032,2635,2030,3288,0,0,0,0,0,0
$GC,5163,-0.71,-116.8,491.7,-7.3,277,5167,0.00,2.30,0.00,0.000,4,0.000,0.043,2634,448,3285,0,0,0,0,0,0
$GC,5200,-0.71,-116.8,494.9,-8.4,277,5207,0.08,2.28,0.00,0.000,6,0.115,0.032,2669,2033,3285,0,0,0,0,0,0
$GC,5532,-0.71,-116.8,513.8,-5.6,286,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2034,3282,0,0,0,0,0,0
$GC,5857,-0.71,-116.8,530.7,-5.2,294,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2033,3281,0,0,0,0,0,0
$GC,6182,-0.71,-116.8,548.0,-5.3,302,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2033,3279,0,0,0,0,0,0
$GC,6507,-0.71,-116.8,564.8,-5.1,310,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2033,3277,0,0,0,0,0,0
$GC,6832,-0.71,-116.8,582.3,-5.6,318,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2033,3275,0,0,0,0,0,0
$GC,7156,-0.71,-116.8,600.5,-5.4,326,7161,0.00,2.33,0.00,0.000,4,0.000,0.044,2668,450,3273,0,0,0,0,0,0
$GC,7196,-0.71,-116.8,602.8,-6.2,327,7200,0.00,2.28,0.00,0.000,6,0.000,0.032,2658,2039,3273,0,0,0,0,0,0
$GC,7519,-0.71,-116.8,619.3,-5.1,335,7524,0.00,2.33,0.00,0.000,4,0.000,0.044,2659,454,3272,0,0,0,0,0,0
$GC,7563,-0.71,-116.8,622.1,-5.9,336,7567,0.00,2.28,0.00,0.000,6,0.000,0.032,2648,2024,3272,0,0,0,0,0,0
$GC,7887,-0.71,-116.8,641.3,-6.1,344,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2029,3270,0,0,0,0,0,0
$GC,8213,-0.71,-116.8,663.6,-7.0,352,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2025,3269,0,0,0,0,0,0
$GC,8537,-0.71,-116.8,685.9,-6.6,360,8541,0.00,2.33,0.00,0.000,4,0.000,0.046,2648,450,3269,0,0,0,0,0,0
$GC,8577,-0.71,-116.8,688.5,-7.0,361,8581,0.00,2.28,0.00,0.000,6,0.000,0.034,2633,2052,3271,0,0,0,0,0,0
$GC,8900,-0.71,-116.8,706.8,-5.4,369,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2052,3267,0,0,0,0,0,0
$GC,9225,-0.71,-116.8,725.3,-5.9,377,9229,0.00,2.28,0.00,0.000,4,0.000,0.045,2625,3600,3266,0,0,0,0,0,0
$GC,9280,-0.71,-116.8,728.9,-6.7,378,9285,0.12,2.30,0.00,0.000,6,0.130,0.031,2665,2032,3266,0,0,0,0,0,0
$GC,9593,-0.71,-116.8,745.3,-5.2,386,9597,0.00,2.35,0.00,0.000,4,0.000,0.046,2669,452,3265,0,0,0,0,0,0
$GC,9642,-0.71,-116.8,748.2,-5.8,387,9646,0.00,2.28,0.00,0.000,6,0.000,0.033,2655,2017,3265,0,0,0,0,0,0
$GC,9960,-0.71,-116.8,765.1,-5.3,395,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2017,3264,0,0,0,0,0,0
$GC,10286,-0.71,-116.8,782.3,-5.4,403,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2017,3263,0,0,0,0,0,0
$GC,10610,-0.71,-116.8,800.0,-5.4,411,10614,0.00,2.33,0.00,0.000,4,0.000,0.046,2656,455,3265,0,0,0,0,0,0
$GC,10655,-0.71,-116.8,802.7,-6.2,412,10659,0.00,2.28,0.00,0.000,6,0.000,0.035,2645,2044,3265,0,0,0,0,0,0
$GC,10984,-0.71,-116.8,819.7,-5.1,420,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2044,3261,0,0,0,0,0,0
$GC,11308,-0.71,-116.8,836.5,-5.3,428,11312,0.00,2.38,0.00,0.000,4,0.000,0.046,2645,449,3261,0,0,0,0,0,0
$GC,11353,-0.71,-116.8,839.3,-6.9,429,11358,0.10,2.25,0.00,0.000,6,0.149,0.034,2663,2026,3261,0,0,0,0,0,0
$GC,11682,-0.71,-116.8,855.1,-4.7,437,11687,0.00,2.35,0.00,0.000,4,0.000,0.046,2663,454,3263,0,0,0,0,0,0
$GC,11715,-0.71,-116.8,857.0,-5.8,437,11721,0.00,2.30,0.00,0.000,6,0.000,0.034,2654,2028,3263,0,0,0,0,0,0
$GC,12046,-0.71,-116.8,875.6,-5.8,446,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2027,3262,0,0,0,0,0,0
$GC,12371,-0.71,-116.8,895.5,-6.1,454,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2027,3259,0,0,0,0,0,0
$GC,12696,-0.71,-116.8,914.9,-5.9,462,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2027,3259,0,0,0,0,0,0
$GC,13021,-0.71,-116.8,934.1,-6.0,470,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2024,3256,0,0,0,0,0,0
$GC,13346,-0.71,-116.8,955.1,-6.4,478,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2028,3258,0,0,0,0,0,0
$STATE,13506,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13506,begin apogee
$GC,13511,-0.23,0.0,965.9,6.7,482,13607,0.47,0.00,93.85,1.270,6,0.104,0.000,2814,2027,2822,0,0,0,0,0,0
$STATE,13610,end apogee,CONTROL_FINISHED_OK
$STATE,13610,begin climb
$GC,13612,0.71,116.8,968.6,0.0,484,13735,0.82,2.67,110.53,1.237,4,0.061,0.045,3122,3608,2344,0,0,0,0,0,0
$GC,13773,0.71,116.8,959.1,12.1,487,13779,0.00,2.50,0.00,0.000,6,0.000,0.034,3134,2038,2338,0,0,0,0,0,0
$GC,14104,0.71,116.8,919.7,12.2,496,14108,0.00,2.40,0.00,0.000,4,0.000,0.048,3146,448,2329,0,0,0,0,0,0
$GC,14130,0.71,116.8,916.1,12.7,496,14135,0.00,2.38,0.00,0.000,6,0.000,0.034,3146,2039,2330,0,0,0,0,0,0
$GC,14467,0.71,116.8,870.8,13.4,505,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2039,2327,0,0,0,0,0,0
$GC,14792,0.71,116.8,826.5,13.9,513,14796,0.00,2.40,0.00,0.000,4,0.000,0.048,3155,445,2326,0,0,0,0,0,0
$GC,14891,0.71,116.8,812.4,14.1,515,14896,0.10,2.35,0.00,0.000,6,0.140,0.034,3125,2034,2326,0,0,0,0,0,0
$GC,15203,0.71,116.8,775.3,11.7,523,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2034,2325,0,0,0,0,0,0
$GC,15528,0.71,116.8,736.8,11.9,531,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2034,2326,0,0,0,0,0,0
$GC,15853,0.71,116.8,698.3,11.8,539,15857,0.00,2.38,0.00,0.000,4,0.000,0.044,3124,3615,2324,0,0,0,0,0,0
$GC,15892,0.71,116.8,693.5,13.0,540,15897,0.00,2.33,0.00,0.000,6,0.000,0.034,3135,2012,2325,0,0,0,0,0,0
$GC,16215,0.71,116.8,655.3,11.9,548,16219,0.00,2.33,0.00,0.000,4,0.000,0.048,3148,462,2324,0,0,0,0,0,0
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$STATE,22674,end climb,SURFACE_DEPTH_REACHED
$STATE,22674,begin surface coast
$FINISH,0.7,1.023572
$STATE,22704,end surface coast,CONTROL_FINISHED_OK
$STATE,22704,begin surface
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$AR_CDRIVE_FREE,8422785024
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49752276992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,22.463
$10V_AH,9.6,26.872
$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,335132
$DATA_FILE_SIZE,30029,891
$CAP_FILE_SIZE,187369,0
$CFSIZE,260165632,240467968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280710,070801,2104.323,-15847.812,40,1.0,40,9.8