version: 66.07
glider: 500
mission: 4
dive: 50
start: 6 24 110 13 37 10
data:
$ID,500
$MISSION,4
$DIVE,50
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110473.4
$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,46
$R_STBD_OVSHOOT,43
$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,80
$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,49
$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
$GPS1,240610,132440,2039.991,-15824.124,44,1.2,47,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.0
$GPS2,240610,133614,2040.270,-15824.266,9,1.7,9,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT02
$TGT_LATLONG,2030.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,-0.193
$KALMAN_X,-53219.5,38.7,305.1,4662.3,-3210.5
$KALMAN_Y,60717.7,57.6,-88.8,-118014.7,3257.1
$MHEAD_RNG_PITCHd_Wd,140.6,21464,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-116.8,0.0,0.0,0,77,0.00,0.00,-51.20,0.000,2,0.000,0.000,141,2044,2706,0,0,0,0,0,0
$GC,79,-0.71,-116.8,3.3,-6.2,10,111,10.20,2.40,-14.18,0.000,4,0.241,0.059,2648,450,3301,0,0,0,0,0,0
$GC,251,-0.71,-116.8,38.9,-22.0,37,257,0.00,2.30,0.00,0.000,6,0.000,0.034,2639,2039,3303,0,0,0,0,0,0
$GC,512,-0.71,-116.8,82.3,-15.4,62,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2039,3304,0,0,0,0,0,0
$GC,766,-0.71,-116.8,116.4,-12.0,86,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2039,3304,0,0,0,0,0,0
$GC,1021,-0.71,-116.8,149.3,-13.1,110,1025,0.00,2.33,0.00,0.000,4,0.000,0.046,2638,452,3305,0,0,0,0,0,0
$GC,1060,-0.71,-116.8,154.6,-13.5,113,1064,0.12,2.25,0.00,0.000,6,0.158,0.035,2661,2046,3305,0,0,0,0,0,0
$GC,1325,-0.71,-116.8,183.1,-10.6,138,1329,0.00,2.28,0.00,0.000,4,0.000,0.045,2651,3611,3306,0,0,0,0,0,0
$GC,1390,-0.71,-116.8,190.2,-10.7,143,1397,0.00,2.28,0.00,0.000,6,0.000,0.031,2650,2035,3306,0,0,0,0,0,0
$GC,1657,-0.71,-116.8,215.2,-9.4,161,1661,0.00,2.28,0.00,0.000,4,0.000,0.046,2651,457,3306,0,0,0,0,0,0
$GC,1750,-0.71,-116.8,224.5,-10.2,165,1755,0.00,2.28,0.00,0.000,6,0.000,0.035,2640,2037,3306,0,0,0,0,0,0
$GC,2077,-0.71,-116.8,260.1,-12.2,181,2080,0.00,2.30,0.00,0.000,4,0.000,0.045,2639,457,3306,0,0,0,0,0,0
$GC,2159,-0.71,-116.8,270.2,-11.9,184,2167,0.08,2.25,0.00,0.000,6,0.127,0.035,2656,2014,3306,0,0,0,0,0,0
$GC,2476,-0.71,-116.8,298.8,-8.7,200,2480,0.00,2.33,0.00,0.000,4,0.000,0.046,2645,3614,3305,0,0,0,0,0,0
$GC,2524,-0.71,-116.8,303.4,-9.3,202,2529,0.00,2.28,0.00,0.000,6,0.000,0.032,2645,2046,3305,0,0,0,0,0,0
$GC,2843,-0.71,-116.8,331.1,-8.4,210,2847,0.00,2.33,0.00,0.000,4,0.000,0.046,2633,3621,3303,0,0,0,0,0,0
$GC,2886,-0.71,-116.8,335.0,-8.7,211,2891,0.00,2.33,0.00,0.000,6,0.000,0.033,2633,2019,3303,0,0,0,0,0,0
$GC,3211,-0.71,-116.8,362.5,-8.4,219,3215,0.00,2.28,0.00,0.000,4,0.000,0.048,2633,446,3301,0,0,0,0,0,0
$GC,3309,-0.71,-116.8,372.0,-10.0,221,3315,0.10,2.30,0.00,0.000,6,0.120,0.036,2659,2038,3300,0,0,0,0,0,0
$GC,3622,-0.71,-116.8,396.0,-7.6,229,3626,0.00,2.33,0.00,0.000,4,0.000,0.048,2659,452,3297,0,0,0,0,0,0
$GC,3676,-0.71,-116.8,400.7,-8.1,230,3681,0.00,2.28,0.00,0.000,6,0.000,0.037,2654,2029,3296,0,0,0,0,0,0
$GC,3989,-0.71,-116.8,425.6,-7.9,238,3993,0.00,2.30,0.00,0.000,4,0.000,0.048,2637,3609,3296,0,0,0,0,0,0
$GC,4032,-0.71,-116.8,429.0,-8.2,239,4036,0.00,2.30,0.00,0.000,6,0.000,0.034,2637,2022,3295,0,0,0,0,0,0
$GC,4356,-0.71,-116.8,455.1,-7.8,247,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2023,3292,0,0,0,0,0,0
$GC,4681,-0.71,-116.8,479.3,-7.3,255,4685,0.00,2.30,0.00,0.000,4,0.000,0.049,2637,452,3290,0,0,0,0,0,0
$GC,4791,-0.71,-116.8,488.9,-8.5,257,4796,0.08,2.28,0.00,0.000,6,0.125,0.037,2654,2026,3286,0,0,0,0,0,0
$GC,5134,-0.71,-116.8,512.1,-6.8,266,5138,0.00,2.33,0.00,0.000,4,0.000,0.049,2655,450,3287,0,0,0,0,0,0
$GC,5193,-0.71,-116.8,516.7,-8.0,267,5198,0.00,2.30,0.00,0.000,6,0.000,0.037,2645,2037,3286,0,0,0,0,0,0
$GC,5541,-0.71,-116.8,541.3,-7.0,276,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2037,3283,0,0,0,0,0,0
$GC,5866,-0.71,-116.8,563.4,-6.9,284,5870,0.00,2.33,0.00,0.000,4,0.000,0.050,2633,3617,3282,0,0,0,0,0,0
$GC,5915,-0.71,-116.8,567.2,-7.4,285,5920,0.00,2.33,0.00,0.000,6,0.000,0.036,2633,2032,3281,0,0,0,0,0,0
$GC,6234,-0.71,-116.8,593.1,-8.4,293,6238,0.00,2.38,0.00,0.000,4,0.000,0.051,2633,446,3279,0,0,0,0,0,0
$GC,6372,-0.71,-116.8,606.4,-9.7,296,6377,0.10,2.33,0.00,0.000,6,0.120,0.038,2658,2038,3279,0,0,0,0,0,0
$GC,6697,-0.71,-116.8,628.2,-6.4,304,6701,0.00,2.33,0.00,0.000,4,0.000,0.051,2648,3614,3277,0,0,0,0,0,0
$GC,6757,-0.71,-116.8,632.2,-6.7,305,6762,0.00,2.33,0.00,0.000,6,0.000,0.037,2648,2028,3276,0,0,0,0,0,0
$GC,7105,-0.71,-116.8,654.2,-6.3,314,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2028,3274,0,0,0,0,0,0
$GC,7430,-0.71,-116.8,675.6,-6.7,322,7434,0.00,2.35,0.00,0.000,4,0.000,0.052,2648,448,3272,0,0,0,0,0,0
$GC,7484,-0.71,-116.8,679.9,-7.7,323,7488,0.00,2.33,0.00,0.000,6,0.000,0.039,2636,2038,3275,0,0,0,0,0,0
$GC,7797,-0.71,-116.8,701.5,-6.8,331,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2039,3272,0,0,0,0,0,0
$GC,8122,-0.71,-116.8,723.2,-6.7,339,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2039,3270,0,0,0,0,0,0
$GC,8447,-0.71,-116.8,743.0,-6.0,347,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2039,3272,0,0,0,0,0,0
$GC,8772,-0.71,-116.8,762.8,-6.1,355,8776,0.00,2.35,0.00,0.000,4,0.000,0.052,2636,452,3268,0,0,0,0,0,0
$GC,8810,-0.71,-116.8,765.5,-7.1,356,8815,0.12,2.30,0.00,0.000,6,0.149,0.039,2661,2034,3268,0,0,0,0,0,0
$GC,9133,-0.71,-116.8,782.7,-5.3,364,9137,0.00,2.35,0.00,0.000,4,0.000,0.053,2662,450,3267,0,0,0,0,0,0
$GC,9165,-0.71,-116.8,784.8,-6.5,364,9172,0.00,2.33,0.00,0.000,6,0.000,0.039,2651,2030,3267,0,0,0,0,0,0
$GC,9496,-0.71,-116.8,805.1,-6.2,373,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2030,3266,0,0,0,0,0,0
$GC,9821,-0.71,-116.8,825.8,-6.4,381,9825,0.00,2.38,0.00,0.000,4,0.000,0.052,2640,3624,3265,0,0,0,0,0,0
$GC,9858,-0.71,-116.8,828.4,-6.7,381,9865,0.00,2.35,0.00,0.000,6,0.000,0.038,2639,2027,3266,0,0,0,0,0,0
$GC,10190,-0.71,-116.8,850.8,-6.7,390,10194,0.00,2.35,0.00,0.000,4,0.000,0.053,2640,452,3265,0,0,0,0,0,0
$GC,10222,-0.71,-116.8,853.2,-8.0,390,10229,0.08,2.33,0.00,0.000,6,0.130,0.039,2656,2036,3265,0,0,0,0,0,0
$GC,10553,-0.71,-116.8,872.4,-5.7,399,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3262,0,0,0,0,0,0
$GC,10878,-0.71,-116.8,890.8,-5.7,407,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3263,0,0,0,0,0,0
$GC,11203,-0.71,-116.8,910.2,-6.2,415,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2035,3263,0,0,0,0,0,0
$GC,11528,-0.71,-116.8,931.2,-6.6,423,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3260,0,0,0,0,0,0
$GC,11853,-0.71,-116.8,952.7,-6.6,431,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2035,3261,0,0,0,0,0,0
$GC,12178,-0.71,-116.8,973.1,-6.2,439,12182,0.00,2.38,0.00,0.000,4,0.000,0.053,2646,3613,3261,0,0,0,0,0,0
$GC,12216,-0.71,-116.8,975.4,-6.1,440,12220,0.00,2.30,0.00,0.000,6,0.000,0.039,2645,2030,3261,0,0,0,0,0,0
$STATE,12456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12456,begin apogee
$GC,12459,-0.23,0.0,990.0,5.9,446,12556,0.50,0.00,93.43,1.299,6,0.117,0.000,2812,2032,2822,0,0,0,0,0,0
$STATE,12558,end apogee,CONTROL_FINISHED_OK
$STATE,12558,begin climb
$GC,12560,0.71,116.8,991.5,0.0,448,12678,0.85,2.60,109.53,1.258,4,0.071,0.050,3119,3611,2344,0,0,0,0,0,0
$GC,12722,0.71,116.8,978.2,13.7,451,12727,0.00,2.47,0.00,0.000,6,0.000,0.041,3130,2038,2336,0,0,0,0,0,0
$GC,13045,0.71,116.8,935.3,13.2,459,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2036,2327,0,0,0,0,0,0
$GC,13370,0.71,116.8,890.8,13.9,467,13374,0.00,2.42,0.00,0.000,4,0.000,0.055,3142,441,2324,0,0,0,0,0,0
$GC,13454,0.71,116.8,878.4,15.2,469,13458,0.00,2.35,0.00,0.000,6,0.000,0.041,3143,2037,2323,0,0,0,0,0,0
$GC,13776,0.71,116.8,831.5,14.6,477,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2036,2322,0,0,0,0,0,0
$GC,14101,0.71,116.8,782.5,15.2,485,14105,0.00,2.42,0.00,0.000,4,0.000,0.055,3155,447,2322,0,0,0,0,0,0
$GC,14128,0.71,116.8,778.3,15.3,485,14133,0.10,2.35,0.00,0.000,6,0.147,0.041,3124,2024,2318,0,0,0,0,0,0
$GC,14464,0.71,116.8,731.6,13.6,494,14468,0.00,2.38,0.00,0.000,4,0.000,0.055,3134,449,2319,0,0,0,0,0,0
$GC,14523,0.71,116.8,723.1,14.6,495,14529,0.00,2.35,0.00,0.000,6,0.000,0.040,3134,2028,2318,0,0,0,0,0,0
$GC,14871,0.71,116.8,677.2,13.1,504,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2028,2318,0,0,0,0,0,0
$GC,15196,0.71,116.8,636.5,12.6,512,15197,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2028,2318,0,0,0,0,0,0
$GC,15521,0.71,116.8,598.2,11.6,520,15522,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2029,2317,0,0,0,0,0,0
$GC,15846,0.71,116.8,561.7,11.0,528,15850,0.00,2.38,0.00,0.000,4,0.000,0.054,3146,450,2317,0,0,0,0,0,0
$GC,15912,0.71,116.8,554.0,11.9,529,15917,0.00,2.35,0.00,0.000,6,0.000,0.041,3147,2032,2317,0,0,0,0,0,0
$GC,16260,0.71,116.8,514.4,11.5,538,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2033,2318,0,0,0,0,0,0
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$STATE,21614,end climb,SURFACE_DEPTH_REACHED
$STATE,21614,begin surface coast
$FINISH,0.8,1.023105
$STATE,21643,end surface coast,CONTROL_FINISHED_OK
$STATE,21643,begin surface
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$AR_POSTDIVE_SAMPLENUM,11
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56351195136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,5.563
$10V_AH,9.9,6.820
$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,334780
$DATA_FILE_SIZE,30076,867
$CAP_FILE_SIZE,177226,0
$CFSIZE,260165632,254431232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,194124,2039.803,-15823.745,22,0.9,40,9.7