version: 66.07
glider: 500
mission: 4
dive: 190
start: 8 1 110 4 15 40
data:
$ID,500
$MISSION,4
$DIVE,190
$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,-112733.93
$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,55
$R_STBD_OVSHOOT,48
$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,189
$AR_SAMPLENUM,13
$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
$GPS1,010810,040906,2104.193,-15819.364,31,1.1,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.1
$GPS2,010810,041444,2104.145,-15819.423,13,1.3,13,9.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME1
$TGT_LATLONG,2105.500,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,0.022
$KALMAN_X,-186720.8,-244.2,411.1,362367.0,-1305.2
$KALMAN_Y,178777.7,27.5,9.7,-111837.9,-163.1
$MHEAD_RNG_PITCHd_Wd,74.4,26768,-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,-45.97,0.000,2,0.000,0.000,126,2035,2530,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.2,-4.8,9,113,10.10,2.38,-19.10,0.000,4,0.228,0.054,2644,3618,3302,0,0,0,0,0,0
$GC,140,-0.71,-116.8,11.9,-14.4,21,146,0.00,2.28,0.00,0.000,6,0.000,0.028,2644,2029,3303,0,0,0,0,0,0
$GC,342,-0.71,-116.8,50.6,-18.9,48,346,0.00,2.30,0.00,0.000,4,0.000,0.041,2644,449,3304,0,0,0,0,0,0
$GC,403,-0.71,-116.8,62.5,-20.0,53,407,0.00,2.28,0.00,0.000,6,0.000,0.031,2632,2049,3305,0,0,0,0,0,0
$GC,663,-0.71,-116.8,105.9,-14.3,77,667,0.00,2.33,0.00,0.000,4,0.000,0.041,2632,448,3305,0,0,0,0,0,0
$GC,706,-0.71,-116.8,112.1,-14.3,80,713,0.10,2.28,0.00,0.000,6,0.120,0.031,2657,2022,3305,0,0,0,0,0,0
$GC,968,-0.71,-116.8,143.5,-11.8,105,972,0.00,2.28,0.00,0.000,4,0.000,0.042,2657,454,3308,0,0,0,0,0,0
$GC,1040,-0.71,-116.8,152.5,-12.2,111,1044,0.00,2.25,0.00,0.000,6,0.000,0.031,2647,2040,3306,0,0,0,0,0,0
$GC,1301,-0.71,-116.8,180.8,-10.1,135,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2041,3309,0,0,0,0,0,0
$GC,1563,-0.71,-116.8,209.8,-11.0,156,1567,0.00,2.30,0.00,0.000,4,0.000,0.042,2647,448,3310,0,0,0,0,0,0
$GC,1618,-0.71,-116.8,216.6,-12.2,158,1624,0.00,2.25,0.00,0.000,6,0.000,0.031,2635,2025,3310,0,0,0,0,0,0
$GC,1933,-0.71,-116.8,249.6,-10.3,174,1937,0.00,2.30,0.00,0.000,4,0.000,0.042,2623,3614,3311,0,0,0,0,0,0
$GC,1965,-0.71,-116.8,253.0,-10.7,175,1972,0.08,2.28,0.00,0.000,6,0.107,0.028,2654,2028,3311,0,0,0,0,0,0
$GC,2281,-0.71,-116.8,280.5,-8.7,191,2285,0.00,2.28,0.00,0.000,4,0.000,0.041,2655,446,3311,0,0,0,0,0,0
$GC,2319,-0.71,-116.8,283.9,-8.9,193,2323,0.00,2.25,0.00,0.000,6,0.000,0.031,2644,2038,3311,0,0,0,0,0,0
$GC,2644,-0.71,-116.8,311.2,-8.4,206,2648,0.00,2.28,0.00,0.000,4,0.000,0.042,2632,3607,3311,0,0,0,0,0,0
$GC,2709,-0.71,-116.8,316.9,-8.9,207,2714,0.00,2.25,0.00,0.000,6,0.000,0.028,2632,2038,3312,0,0,0,0,0,0
$GC,3051,-0.71,-116.8,347.2,-8.8,216,3056,0.00,2.28,0.00,0.000,4,0.000,0.042,2637,454,3308,0,0,0,0,0,0
$GC,3157,-0.71,-116.8,356.8,-9.1,218,3162,0.12,2.25,0.00,0.000,6,0.137,0.031,2660,2025,3309,0,0,0,0,0,0
$GC,3504,-0.71,-116.8,382.5,-7.9,227,3508,0.00,2.30,0.00,0.000,4,0.000,0.043,2660,446,3308,0,0,0,0,0,0
$GC,3525,-0.71,-116.8,384.5,-8.8,227,3530,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2023,3307,0,0,0,0,0,0
$GC,3874,-0.71,-116.8,416.5,-9.2,236,3878,0.00,2.38,0.00,0.000,4,0.000,0.043,2638,3622,3304,0,0,0,0,0,0
$GC,3912,-0.71,-116.8,420.0,-8.8,237,3916,0.00,2.25,0.00,0.000,6,0.000,0.029,2637,2030,3305,0,0,0,0,0,0
$GC,4236,-0.71,-116.8,447.2,-8.1,245,4240,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,453,3304,0,0,0,0,0,0
$GC,4363,-0.71,-116.8,457.8,-8.6,247,4370,0.12,2.28,0.00,0.000,6,0.140,0.032,2666,2062,3303,0,0,0,0,0,0
$GC,4694,-0.71,-116.8,475.1,-4.9,256,4699,0.00,2.38,0.00,0.000,4,0.000,0.043,2665,450,3302,0,0,0,0,0,0
$GC,4744,-0.71,-116.8,478.1,-6.0,257,4748,0.00,2.25,0.00,0.000,6,0.000,0.032,2661,2048,3301,0,0,0,0,0,0
$GC,5062,-0.71,-116.8,497.5,-6.4,265,5066,0.00,2.33,0.00,0.000,4,0.000,0.043,2655,454,3300,0,0,0,0,0,0
$GC,5089,-0.71,-116.8,499.5,-6.8,265,5093,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2027,3299,0,0,0,0,0,0
$GC,5426,-0.71,-116.8,523.6,-7.1,274,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2027,3297,0,0,0,0,0,0
$GC,5751,-0.71,-116.8,545.1,-6.4,282,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2027,3297,0,0,0,0,0,0
$GC,6076,-0.71,-116.8,564.6,-5.9,290,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2027,3295,0,0,0,0,0,0
$GC,6401,-0.71,-116.8,584.5,-6.5,298,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2032,3294,0,0,0,0,0,0
$GC,6726,-0.71,-116.8,606.8,-6.7,306,6730,0.00,2.33,0.00,0.000,4,0.000,0.045,2645,458,3293,0,0,0,0,0,0
$GC,6831,-0.71,-116.8,615.0,-7.6,308,6835,0.00,2.28,0.00,0.000,6,0.000,0.033,2634,2029,3293,0,0,0,0,0,0
$GC,7179,-0.71,-116.8,642.0,-8.0,317,7183,0.00,2.38,0.00,0.000,4,0.000,0.044,2620,3619,3291,0,0,0,0,0,0
$GC,7234,-0.71,-116.8,646.7,-8.3,318,7239,0.12,2.30,0.00,0.000,6,0.129,0.031,2662,2021,3291,0,0,0,0,0,0
$GC,7546,-0.71,-116.8,665.7,-5.8,326,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2021,3290,0,0,0,0,0,0
$GC,7871,-0.71,-116.8,681.6,-4.7,334,7875,0.00,2.33,0.00,0.000,4,0.000,0.046,2658,451,3289,0,0,0,0,0,0
$GC,7914,-0.71,-116.8,684.3,-6.3,335,7919,0.00,2.30,0.00,0.000,6,0.000,0.033,2652,2037,3289,0,0,0,0,0,0
$GC,8239,-0.71,-116.8,702.3,-5.7,343,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2038,3291,0,0,0,0,0,0
$GC,8564,-0.71,-116.8,722.3,-6.2,351,8568,0.00,2.33,0.00,0.000,4,0.000,0.045,2652,460,3288,0,0,0,0,0,0
$GC,8613,-0.71,-116.8,726.1,-7.5,352,8617,0.00,2.28,0.00,0.000,6,0.000,0.034,2640,2026,3288,0,0,0,0,0,0
$GC,8931,-0.71,-116.8,747.5,-6.6,360,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2027,3286,0,0,0,0,0,0
$GC,9256,-0.71,-116.8,768.4,-6.3,368,9260,0.00,2.35,0.00,0.000,4,0.000,0.045,2629,3619,3287,0,0,0,0,0,0
$GC,9306,-0.71,-116.8,771.7,-6.6,369,9311,0.08,2.33,0.00,0.000,6,0.104,0.031,2671,2035,3287,0,0,0,0,0,0
$GC,9624,-0.71,-116.8,786.8,-4.6,377,9628,0.00,2.35,0.00,0.000,4,0.000,0.046,2671,451,3284,0,0,0,0,0,0
$GC,9714,-0.71,-116.8,791.5,-5.1,379,9719,0.00,2.30,0.00,0.000,6,0.000,0.033,2661,2046,3286,0,0,0,0,0,0
$GC,10038,-0.71,-116.8,807.9,-5.1,387,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2047,3286,0,0,0,0,0,0
$GC,10363,-0.71,-116.8,826.0,-5.7,395,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2047,3285,0,0,0,0,0,0
$GC,10688,-0.71,-116.8,842.9,-5.1,403,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2047,3285,0,0,0,0,0,0
$GC,11013,-0.71,-116.8,860.0,-5.3,411,11017,0.00,2.38,0.00,0.000,4,0.000,0.048,2661,445,3285,0,0,0,0,0,0
$GC,11051,-0.71,-116.8,862.3,-6.3,412,11055,0.00,2.30,0.00,0.000,6,0.000,0.034,2650,2037,3285,0,0,0,0,0,0
$GC,11375,-0.71,-116.8,881.2,-5.8,420,11379,0.00,2.38,0.00,0.000,4,0.000,0.047,2650,448,3285,0,0,0,0,0,0
$GC,11413,-0.71,-116.8,883.6,-6.6,420,11419,0.00,2.33,0.00,0.000,6,0.000,0.034,2639,2038,3284,0,0,0,0,0,0
$GC,11744,-0.71,-116.8,902.0,-5.5,429,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2038,3285,0,0,0,0,0,0
$GC,12069,-0.71,-116.8,919.8,-5.5,437,12073,0.00,2.33,0.00,0.000,4,0.000,0.047,2628,3606,3284,0,0,0,0,0,0
$GC,12108,-0.71,-116.8,922.0,-5.7,438,12113,0.12,2.28,0.00,0.000,6,0.129,0.032,2667,2026,3282,0,0,0,0,0,0
$GC,12431,-0.71,-116.8,937.7,-4.8,446,12435,0.00,2.33,0.00,0.000,4,0.000,0.047,2667,460,3285,0,0,0,0,0,0
$GC,12475,-0.71,-116.8,940.3,-6.2,447,12479,0.00,2.30,0.00,0.000,6,0.000,0.034,2658,2025,3284,0,0,0,0,0,0
$GC,12799,-0.71,-116.8,958.1,-5.5,455,12803,0.00,2.35,0.00,0.000,4,0.000,0.045,2646,3615,3281,0,0,0,0,0,0
$GC,12838,-0.71,-116.8,960.4,-5.6,456,12842,0.00,2.28,0.00,0.000,6,0.000,0.031,2646,2034,3283,0,0,0,0,0,0
$GC,13161,-0.71,-116.8,978.8,-5.6,464,13165,0.00,2.35,0.00,0.000,4,0.000,0.047,2647,449,3283,0,0,0,0,0,0
$GC,13212,-0.71,-116.8,982.0,-5.9,465,13216,0.00,2.28,0.00,0.000,6,0.000,0.033,2635,2037,3283,0,0,0,0,0,0
$STATE,13365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13365,begin apogee
$GC,13369,-0.23,0.0,990.5,5.4,469,13472,0.52,0.00,99.45,1.284,6,0.106,0.000,2811,2037,2823,0,0,0,0,0,0
$STATE,13518,end apogee,CONTROL_FINISHED_OK
$STATE,13518,begin climb
$GC,13520,0.71,116.8,991.6,0.0,471,13642,0.82,2.65,110.88,1.254,4,0.064,0.044,3122,3605,2344,0,0,0,0,0,0
$GC,13669,0.71,116.8,979.2,14.8,475,13674,0.00,2.50,0.00,0.000,6,0.000,0.035,3131,2040,2338,0,0,0,0,0,0
$GC,14017,0.71,116.8,929.9,13.9,484,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2039,2328,0,0,0,0,0,0
$GC,14343,0.71,116.8,884.5,13.8,492,14347,0.00,2.38,0.00,0.000,4,0.000,0.044,3133,3606,2326,0,0,0,0,0,0
$GC,14402,0.71,116.8,875.6,14.4,493,14407,0.00,2.38,0.00,0.000,6,0.000,0.035,3145,2025,2324,0,0,0,0,0,0
$GC,14750,0.71,116.8,826.7,14.0,502,14754,0.00,2.38,0.00,0.000,4,0.000,0.048,3157,453,2323,0,0,0,0,0,0
$GC,14833,0.71,116.8,814.4,14.8,503,14840,0.12,2.30,0.00,0.000,6,0.160,0.035,3123,2042,2322,0,0,0,0,0,0
$GC,15164,0.71,116.8,773.9,12.1,512,15168,0.00,2.38,0.00,0.000,4,0.000,0.048,3134,451,2323,0,0,0,0,0,0
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$STATE,23084,end climb,SURFACE_DEPTH_REACHED
$STATE,23084,begin surface coast
$FINISH,0.8,1.023090
$STATE,23107,end surface coast,CONTROL_FINISHED_OK
$STATE,23107,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
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$10V_AH,9.6,29.839
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334980
$DATA_FILE_SIZE,33382,905
$CAP_FILE_SIZE,186858,0
$CFSIZE,260165632,238694400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,104331,2104.542,-15817.064,38,1.4,38,9.8