version: 66.07
glider: 500
mission: 4
dive: 187
start: 7 31 110 8 43 39
data:
$ID,500
$MISSION,4
$DIVE,187
$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,-112692.72
$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,53
$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,186
$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
$GPS1,310710,083706,2105.303,-15827.174,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.9
$GPS2,310710,084244,2105.251,-15827.266,14,1.6,14,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.021
$KALMAN_X,-185038.2,58.3,270.5,346911.9,-1961.4
$KALMAN_Y,180168.3,222.9,-373.2,-110996.4,523.8
$MHEAD_RNG_PITCHd_Wd,85.6,40204,-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,-46.00,0.000,2,0.000,0.000,136,2041,2558,0,0,0,0,0,0
$GC,77,-0.71,-116.8,3.1,-4.2,9,114,10.07,2.38,-18.65,0.000,4,0.228,0.054,2644,3602,3302,0,0,0,0,0,0
$GC,136,-0.71,-116.8,10.3,-12.6,20,141,0.00,2.28,0.00,0.000,6,0.000,0.030,2644,2029,3303,0,0,0,0,0,0
$GC,344,-0.71,-116.8,51.4,-22.1,49,349,0.00,2.30,0.00,0.000,4,0.000,0.042,2644,456,3304,0,0,0,0,0,0
$GC,383,-0.71,-116.8,59.8,-20.1,52,387,0.00,2.25,0.00,0.000,6,0.000,0.031,2630,2048,3305,0,0,0,0,0,0
$GC,643,-0.71,-116.8,111.7,-20.4,76,648,0.10,2.33,0.00,0.000,4,0.165,0.041,2661,453,3305,0,0,0,0,0,0
$GC,697,-0.71,-116.8,121.1,-15.6,80,704,0.00,2.28,0.00,0.000,6,0.000,0.031,2651,2036,3305,0,0,0,0,0,0
$GC,958,-0.71,-116.8,151.2,-10.2,105,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2036,3306,0,0,0,0,0,0
$GC,1213,-0.71,-116.8,179.9,-11.7,129,1217,0.00,2.28,0.00,0.000,4,0.000,0.041,2651,450,3305,0,0,0,0,0,0
$GC,1290,-0.71,-116.8,189.6,-12.4,135,1297,0.00,2.28,0.00,0.000,6,0.000,0.031,2639,2036,3310,0,0,0,0,0,0
$GC,1546,-0.71,-116.8,218.2,-10.0,152,1551,0.00,2.28,0.00,0.000,4,0.000,0.041,2627,3618,3308,0,0,0,0,0,0
$GC,1573,-0.71,-116.8,221.1,-10.3,153,1579,0.08,2.28,0.00,0.000,6,0.105,0.028,2655,2024,3308,0,0,0,0,0,0
$GC,1894,-0.71,-116.8,248.9,-7.8,169,1898,0.00,2.25,0.00,0.000,4,0.000,0.042,2658,448,3309,0,0,0,0,0,0
$GC,1988,-0.71,-116.8,255.9,-7.6,173,1992,0.00,2.25,0.00,0.000,6,0.000,0.031,2648,2059,3309,0,0,0,0,0,0
$GC,2308,-0.71,-116.8,282.6,-9.0,189,2312,0.00,2.33,0.00,0.000,4,0.000,0.041,2650,455,3309,0,0,0,0,0,0
$GC,2386,-0.71,-116.8,290.7,-10.3,192,2392,0.00,2.25,0.00,0.000,6,0.000,0.031,2638,2029,3309,0,0,0,0,0,0
$GC,2698,-0.71,-116.8,321.0,-9.4,203,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2029,3309,0,0,0,0,0,0
$GC,3023,-0.71,-116.8,349.8,-8.8,211,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2033,3307,0,0,0,0,0,0
$GC,3348,-0.71,-116.8,376.5,-7.9,219,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2029,3305,0,0,0,0,0,0
$GC,3673,-0.71,-116.8,403.4,-8.3,227,3677,0.00,2.35,0.00,0.000,4,0.000,0.044,2624,3616,3303,0,0,0,0,0,0
$GC,3728,-0.71,-116.8,408.2,-8.6,228,3733,0.12,2.28,0.00,0.000,6,0.130,0.029,2665,2024,3302,0,0,0,0,0,0
$GC,4046,-0.71,-116.8,430.9,-7.2,236,4050,0.00,2.28,0.00,0.000,4,0.000,0.043,2665,451,3300,0,0,0,0,0,0
$GC,4141,-0.71,-116.8,438.8,-8.0,238,4145,0.00,2.22,0.00,0.000,6,0.000,0.032,2656,2037,3299,0,0,0,0,0,0
$GC,4459,-0.71,-116.8,463.1,-7.7,246,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3296,0,0,0,0,0,0
$GC,4784,-0.71,-116.8,486.5,-7.0,254,4788,0.00,2.33,0.00,0.000,4,0.000,0.044,2644,3606,3295,0,0,0,0,0,0
$GC,4811,-0.71,-116.8,488.4,-7.2,254,4815,0.00,2.22,0.00,0.000,6,0.000,0.030,2649,2034,3295,0,0,0,0,0,0
$GC,5153,-0.71,-116.8,511.9,-6.8,263,5157,0.00,2.35,0.00,0.000,4,0.000,0.044,2644,448,3293,0,0,0,0,0,0
$GC,5276,-0.71,-116.8,520.9,-7.6,265,5282,0.00,2.25,0.00,0.000,6,0.000,0.032,2630,2030,3291,0,0,0,0,0,0
$GC,5608,-0.71,-116.8,544.8,-7.2,274,5611,0.00,2.33,0.00,0.000,4,0.000,0.044,2632,453,3290,0,0,0,0,0,0
$GC,5645,-0.71,-116.8,547.9,-8.3,274,5652,0.10,2.28,0.00,0.000,6,0.110,0.031,2676,2027,3289,0,0,0,0,0,0
$GC,5977,-0.71,-116.8,566.5,-5.5,283,5981,0.00,2.33,0.00,0.000,4,0.000,0.044,2676,452,3288,0,0,0,0,0,0
$GC,6009,-0.71,-116.8,568.6,-6.6,283,6015,0.00,2.22,0.00,0.000,6,0.000,0.032,2667,2028,3287,0,0,0,0,0,0
$GC,6340,-0.71,-116.8,586.2,-5.2,292,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2028,3283,0,0,0,0,0,0
$GC,6665,-0.71,-116.8,604.1,-5.7,300,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2028,3283,0,0,0,0,0,0
$GC,6990,-0.71,-116.8,623.0,-5.8,308,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2028,3282,0,0,0,0,0,0
$GC,7314,-0.71,-116.8,643.1,-6.4,316,7319,0.00,2.35,0.00,0.000,4,0.000,0.045,2667,447,3281,0,0,0,0,0,0
$GC,7347,-0.71,-116.8,645.5,-7.4,316,7353,0.00,2.30,0.00,0.000,6,0.000,0.033,2652,2030,3281,0,0,0,0,0,0
$GC,7678,-0.71,-116.8,668.4,-6.8,325,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2031,3279,0,0,0,0,0,0
$GC,8003,-0.71,-116.8,687.4,-5.7,333,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2031,3278,0,0,0,0,0,0
$GC,8328,-0.71,-116.8,706.3,-5.8,341,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2031,3276,0,0,0,0,0,0
$GC,8653,-0.71,-116.8,724.7,-5.8,349,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2031,3275,0,0,0,0,0,0
$GC,8978,-0.71,-116.8,745.6,-6.7,357,8982,0.00,2.35,0.00,0.000,4,0.000,0.046,2644,3608,3274,0,0,0,0,0,0
$GC,9027,-0.71,-116.8,749.1,-7.3,358,9032,0.00,2.30,0.00,0.000,6,0.000,0.031,2644,2035,3274,0,0,0,0,0,0
$GC,9346,-0.71,-116.8,772.0,-7.1,366,9350,0.00,2.33,0.00,0.000,4,0.000,0.046,2644,452,3271,0,0,0,0,0,0
$GC,9423,-0.71,-116.8,778.2,-8.0,367,9429,0.00,2.28,0.00,0.000,6,0.000,0.033,2633,2036,3273,0,0,0,0,0,0
$GC,9754,-0.71,-116.8,800.3,-6.4,376,9758,0.00,2.35,0.00,0.000,4,0.000,0.045,2632,444,3273,0,0,0,0,0,0
$GC,9826,-0.71,-116.8,805.4,-7.1,377,9830,0.12,2.28,0.00,0.000,6,0.140,0.033,2660,2041,3273,0,0,0,0,0,0
$GC,10156,-0.71,-116.8,821.0,-4.5,385,10161,0.00,2.38,0.00,0.000,4,0.000,0.045,2660,448,3271,0,0,0,0,0,0
$GC,10217,-0.71,-116.8,824.2,-5.0,386,10221,0.00,2.30,0.00,0.000,6,0.000,0.033,2650,2021,3272,0,0,0,0,0,0
$GC,10565,-0.71,-116.8,840.1,-4.6,395,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2022,3271,0,0,0,0,0,0
$GC,10890,-0.71,-116.8,855.6,-4.8,403,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2022,3270,0,0,0,0,0,0
$GC,11215,-0.71,-116.8,872.0,-5.0,411,11219,0.00,2.35,0.00,0.000,4,0.000,0.047,2649,454,3269,0,0,0,0,0,0
$GC,11269,-0.71,-116.8,875.2,-6.0,412,11274,0.00,2.28,0.00,0.000,6,0.000,0.034,2639,2047,3269,0,0,0,0,0,0
$GC,11582,-0.71,-116.8,892.4,-5.5,420,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2047,3269,0,0,0,0,0,0
$GC,11907,-0.71,-116.8,910.4,-5.5,428,11911,0.00,2.38,0.00,0.000,4,0.000,0.047,2638,448,3268,0,0,0,0,0,0
$GC,11939,-0.71,-116.8,912.5,-6.7,428,11946,0.12,2.28,0.00,0.000,6,0.140,0.034,2666,2028,3268,0,0,0,0,0,0
$GC,12270,-0.71,-116.8,926.7,-4.2,437,12274,0.00,2.35,0.00,0.000,4,0.000,0.046,2655,3606,3269,0,0,0,0,0,0
$GC,12308,-0.71,-116.8,928.4,-4.3,437,12314,0.00,2.33,0.00,0.000,6,0.000,0.031,2656,2017,3268,0,0,0,0,0,0
$GC,12639,-0.71,-116.8,942.6,-4.2,446,12643,0.00,2.30,0.00,0.000,4,0.000,0.046,2656,459,3268,0,0,0,0,0,0
$GC,12693,-0.71,-116.8,945.3,-5.0,447,12698,0.00,2.30,0.00,0.000,6,0.000,0.034,2645,2036,3268,0,0,0,0,0,0
$GC,13007,-0.71,-116.8,960.4,-4.9,455,13011,0.00,2.35,0.00,0.000,4,0.000,0.046,2645,459,3267,0,0,0,0,0,0
$GC,13084,-0.71,-116.8,965.1,-6.4,456,13090,0.00,2.28,0.00,0.000,6,0.000,0.034,2634,2039,3268,0,0,0,0,0,0
$GC,13415,-0.71,-116.8,984.9,-6.3,465,13419,0.00,2.35,0.00,0.000,4,0.000,0.045,2634,454,3267,0,0,0,0,0,0
$GC,13455,-0.71,-116.8,987.7,-7.1,466,13460,0.12,2.28,0.00,0.000,6,0.138,0.034,2661,2023,3267,0,0,0,0,0,0
$STATE,13486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13486,begin apogee
$GC,13490,-0.23,0.0,990.1,6.1,466,13589,0.43,0.00,96.40,1.291,6,0.106,0.000,2811,2026,2823,0,0,0,0,0,0
$STATE,13636,end apogee,CONTROL_FINISHED_OK
$STATE,13636,begin climb
$GC,13638,0.71,116.8,992.7,0.0,469,13760,0.82,2.65,111.22,1.259,4,0.064,0.044,3122,3607,2344,0,0,0,0,0,0
$GC,13810,0.71,116.8,982.0,13.3,474,13815,0.00,2.45,0.00,0.000,6,0.000,0.035,3133,2030,2336,0,0,0,0,0,0
$GC,14134,0.71,116.8,941.3,12.6,482,14138,0.00,2.40,0.00,0.000,4,0.000,0.048,3146,459,2327,0,0,0,0,0,0
$GC,14210,0.71,116.8,931.0,13.2,483,14217,0.00,2.35,0.00,0.000,6,0.000,0.034,3146,2030,2327,0,0,0,0,0,0
$GC,14542,0.71,116.8,887.5,13.3,492,14546,0.00,2.35,0.00,0.000,4,0.000,0.044,3145,3612,2324,0,0,0,0,0,0
$GC,14573,0.71,116.8,882.8,14.6,492,14580,0.15,2.38,0.00,0.000,6,0.170,0.034,3117,1987,2323,0,0,0,0,0,0
$GC,14904,0.71,116.8,840.5,12.7,501,14908,0.00,2.28,0.00,0.000,4,0.000,0.048,3128,460,2322,0,0,0,0,0,0
$GC,14932,0.71,116.8,836.8,13.7,501,14936,0.00,2.28,0.00,0.000,6,0.000,0.034,3130,2035,2322,0,0,0,0,0,0
$GC,15263,0.71,116.8,791.7,13.7,509,15267,0.00,2.35,0.00,0.000,4,0.000,0.047,3140,461,2323,0,0,0,0,0,0
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$STATE,22966,end climb,SURFACE_DEPTH_REACHED
$STATE,22966,begin surface coast
$FINISH,0.8,1.023140
$STATE,22985,end surface coast,CONTROL_FINISHED_OK
$STATE,22985,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,24.062
$10V_AH,9.5,29.432
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,335012
$DATA_FILE_SIZE,30050,883
$CAP_FILE_SIZE,181595,0
$CFSIZE,260165632,238923776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310710,150937,2104.994,-15824.199,34,1.0,34,9.8