version: 66.07
glider: 23
mission: 5
dive: 85
start: 11 29 110 20 21 10
data:
$ID,23
$MISSION,5
$DIVE,85
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$D_BOOST,0
$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,366
$T_MISSION,720
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51413.754
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2430
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$AR_DIVENUM,84
$AR_SAMPLENUM,0
$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
$GPS1,291110,201001,2046.170,12616.949,38,1.3,38,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-54.7
$GPS2,291110,202019,2046.345,12617.105,11,1.9,28,-2.7
$SPEED_LIMITS,0.156,0.230
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.164
$KALMAN_X,-167038.2,-139.1,-239.0,195237.8,876.7
$KALMAN_Y,-35041.8,1762.3,100.4,-31764.9,867.3
$MHEAD_RNG_PITCHd_Wd,138.2,64522,-16.9,-9.016
$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,25,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-75.78,0.000,2,0.000,0.000,365,2426,2776,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.0,-2.4,15,157,9.77,2.12,-33.38,0.000,4,0.161,0.044,2053,1377,3667,0,0,0,0,0,0
$GC,207,-1.28,-146.0,17.2,-25.9,34,213,0.00,2.10,0.00,0.000,6,0.000,0.021,2053,2445,3668,0,0,0,0,0,0
$GC,407,-1.28,-146.0,68.8,-24.1,57,410,0.00,1.70,0.00,0.000,4,0.000,0.036,2053,3484,3668,0,0,0,0,0,0
$GC,664,-1.28,-146.0,120.1,-18.4,80,668,0.00,1.70,0.00,0.000,6,0.000,0.021,2053,2433,3669,0,0,0,0,0,0
$GC,931,-1.28,-146.0,158.9,-12.1,105,934,0.00,2.05,0.00,0.000,4,0.000,0.035,2053,1385,3671,0,0,0,0,0,0
$GC,1160,-1.28,-146.0,191.3,-13.6,125,1164,0.00,2.10,0.00,0.000,6,0.000,0.024,2053,2474,3670,0,0,0,0,0,0
$GC,1430,-1.28,-146.0,229.7,-14.5,141,1434,0.00,1.67,0.00,0.000,4,0.000,0.041,2054,3476,3671,0,0,0,0,0,0
$GC,1687,-1.28,-146.0,269.8,-15.2,152,1692,0.00,1.65,0.00,0.000,6,0.000,0.022,2053,2473,3671,0,0,0,0,0,0
$GC,2007,-1.28,-146.0,308.1,-10.0,166,2011,0.00,1.70,0.00,0.000,4,0.000,0.041,2053,3476,3670,0,0,0,0,0,0
$GC,2264,-1.28,-146.0,336.6,-11.4,171,2269,0.00,1.65,0.00,0.000,6,0.000,0.022,2053,2474,3669,0,0,0,0,0,0
$GC,2600,-1.28,-146.0,377.3,-12.5,180,2604,0.00,1.70,0.00,0.000,4,0.000,0.042,2053,3479,3666,0,0,0,0,0,0
$GC,2857,-1.28,-146.0,410.2,-11.1,185,2862,0.00,1.65,0.00,0.000,6,0.000,0.024,2053,2478,3665,0,0,0,0,0,0
$GC,3194,-1.28,-146.0,443.0,-9.5,194,3198,0.00,1.70,0.00,0.000,4,0.000,0.044,2053,3473,3664,0,0,0,0,0,0
$GC,3451,-1.28,-146.0,469.0,-10.3,199,3456,0.00,1.62,0.00,0.000,6,0.000,0.025,2053,2493,3662,0,0,0,0,0,0
$GC,3788,-1.28,-146.0,504.5,-10.2,208,3792,0.00,1.67,0.00,0.000,4,0.000,0.044,2053,3473,3660,0,0,0,0,0,0
$GC,4045,-1.28,-146.0,526.9,-7.8,213,4049,0.00,1.60,0.00,0.000,6,0.000,0.026,2053,2502,3658,0,0,0,0,0,0
$GC,4382,-1.28,-146.0,555.4,-9.2,222,4385,0.00,1.70,0.00,0.000,4,0.000,0.048,2053,3476,3657,0,0,0,0,0,0
$GC,4638,-1.28,-146.0,581.0,-9.2,227,4643,0.00,1.62,0.00,0.000,6,0.000,0.028,2053,2497,3653,0,0,0,0,0,0
$GC,4975,-1.28,-146.0,609.1,-8.2,236,4979,0.00,1.65,0.00,0.000,4,0.000,0.048,2053,3480,3652,0,0,0,0,0,0
$GC,5137,-1.28,-146.0,623.3,-9.0,239,5141,0.00,1.65,0.00,0.000,6,0.000,0.029,2053,2487,3650,0,0,0,0,0,0
$GC,5479,-1.28,-146.0,649.9,-7.7,248,5483,0.00,1.67,0.00,0.000,4,0.000,0.050,2053,3484,3647,0,0,0,0,0,0
$GC,5540,-1.28,-146.0,654.9,-8.2,249,5544,0.00,1.65,0.00,0.000,6,0.000,0.029,2053,2495,3647,0,0,0,0,0,0
$GC,5853,-1.28,-146.0,679.9,-8.0,257,5856,0.00,1.65,0.00,0.000,4,0.000,0.051,2053,3474,3644,0,0,0,0,0,0
$GC,5935,-1.28,-146.0,686.9,-8.5,258,5941,0.00,1.62,0.00,0.000,6,0.000,0.030,2053,2498,3643,0,0,0,0,0,0
$GC,6267,-1.28,-146.0,711.6,-7.3,267,6270,0.00,1.67,0.00,0.000,4,0.000,0.053,2053,3476,3641,0,0,0,0,0,0
$GC,6360,-1.28,-146.0,719.3,-8.4,269,6365,0.00,1.62,0.00,0.000,6,0.000,0.031,2053,2504,3640,0,0,0,0,0,0
$GC,6685,-1.28,-146.0,745.5,-8.3,277,6689,0.00,1.65,0.00,0.000,4,0.000,0.052,2053,3480,3638,0,0,0,0,0,0
$GC,6796,-1.28,-146.0,755.3,-8.8,279,6800,0.00,1.62,0.00,0.000,6,0.000,0.031,2053,2507,3637,0,0,0,0,0,0
$GC,7144,-1.28,-146.0,779.6,-6.7,288,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2507,3635,0,0,0,0,0,0
$GC,7469,-1.28,-146.0,799.1,-5.9,296,7473,0.00,1.65,0.00,0.000,4,0.000,0.053,2053,3482,3632,0,0,0,0,0,0
$GC,7715,-1.28,-146.0,814.8,-7.4,301,7719,0.00,1.62,0.00,0.000,6,0.000,0.031,2053,2508,3631,0,0,0,0,0,0
$GC,8063,-1.28,-146.0,834.1,-5.4,310,8067,0.00,1.65,0.00,0.000,4,0.000,0.052,2053,3484,3629,0,0,0,0,0,0
$GC,8320,-1.28,-146.0,848.3,-5.0,315,8324,0.00,1.60,0.00,0.000,6,0.000,0.031,2053,2524,3628,0,0,0,0,0,0
$GC,8657,-1.28,-146.0,864.1,-4.8,324,8660,0.00,1.62,0.00,0.000,4,0.000,0.053,2053,3488,3626,0,0,0,0,0,0
$GC,8914,-1.28,-146.0,877.4,-5.4,329,8918,0.00,1.60,0.00,0.000,6,0.000,0.031,2053,2527,3625,0,0,0,0,0,0
$GC,9251,-1.28,-146.0,894.2,-5.1,338,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2527,3624,0,0,0,0,0,0
$GC,9576,-1.28,-146.0,910.9,-5.2,346,9580,0.00,2.28,0.00,0.000,4,0.000,0.044,2053,1384,3622,0,0,0,0,0,0
$GC,9765,-1.28,-146.0,921.8,-5.4,350,9770,0.00,2.25,0.00,0.000,6,0.000,0.039,2053,2500,3621,0,0,0,0,0,0
$GC,10084,-1.28,-146.0,941.8,-6.4,358,10087,0.00,1.65,0.00,0.000,4,0.000,0.055,2053,3479,3620,0,0,0,0,0,0
$GC,10341,-1.28,-146.0,959.8,-6.4,363,10345,0.00,1.58,0.00,0.000,6,0.000,0.031,2053,2528,3620,0,0,0,0,0,0
$GC,10678,-1.28,-146.0,981.5,-6.2,372,10681,0.00,1.65,0.00,0.000,4,0.000,0.054,2053,3493,3619,0,0,0,0,0,0
$STATE,10811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10811,begin apogee
$GC,10818,-0.33,0.0,990.3,6.6,375,10936,1.05,0.00,115.18,1.485,6,0.104,0.000,2262,1968,3071,0,0,0,0,0,0
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10941,1.28,146.0,990.2,0.0,378,11076,1.67,2.42,124.53,1.427,4,0.064,0.052,2617,885,2474,0,0,0,0,0,0
$GC,11148,1.28,146.0,967.0,14.0,383,11152,0.00,2.20,0.00,0.000,6,0.000,0.030,2617,1951,2470,0,0,0,0,0,0
$GC,11477,1.28,146.0,921.1,14.0,391,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1957,2468,0,0,0,0,0,0
$GC,11802,1.28,146.0,875.6,14.3,399,11806,0.00,2.30,0.00,0.000,4,0.000,0.053,2617,885,2468,0,0,0,0,0,0
$GC,11892,1.28,146.0,861.9,15.8,401,11896,0.00,2.17,0.00,0.000,6,0.000,0.030,2617,1955,2467,0,0,0,0,0,0
$GC,12220,1.28,146.0,815.8,13.8,409,12224,0.00,2.28,0.00,0.000,4,0.000,0.054,2617,889,2467,0,0,0,0,0,0
$GC,12252,1.28,146.0,811.0,14.0,409,12259,0.00,2.20,0.00,0.000,6,0.000,0.030,2617,1948,2466,0,0,0,0,0,0
$GC,12584,1.28,146.0,768.4,12.5,418,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1953,2465,0,0,0,0,0,0
$GC,12908,1.28,146.0,731.8,10.9,426,12912,0.00,2.28,0.00,0.000,4,0.000,0.052,2617,875,2465,0,0,0,0,0,0
$GC,12935,1.28,146.0,728.7,11.6,426,12940,0.00,2.20,0.00,0.000,6,0.000,0.029,2617,1939,2465,0,0,0,0,0,0
$GC,13277,1.28,146.0,689.2,11.8,435,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1943,2464,0,0,0,0,0,0
$GC,13602,1.28,146.0,650.3,11.9,443,13606,0.00,2.25,0.00,0.000,4,0.000,0.051,2617,878,2464,0,0,0,0,0,0
$GC,13623,1.28,146.0,647.6,12.0,443,13628,0.00,2.20,0.00,0.000,6,0.000,0.028,2617,1946,2464,0,0,0,0,0,0
$GC,13971,1.28,146.0,608.2,11.2,452,13975,0.00,2.28,0.00,0.000,4,0.000,0.051,2617,879,2464,0,0,0,0,0,0
$GC,14014,1.28,146.0,602.9,13.1,453,14018,0.00,2.17,0.00,0.000,6,0.000,0.028,2617,1941,2463,0,0,0,0,0,0
$GC,14338,1.28,146.0,563.1,12.2,461,14342,0.00,1.95,0.00,0.000,4,0.000,0.038,2617,3003,2463,0,0,0,0,0,0
$GC,14369,1.28,146.0,559.4,11.1,461,14374,0.00,2.00,0.00,0.000,6,0.000,0.033,2617,1925,2465,0,0,0,0,0,0
$GC,14706,1.28,146.0,521.6,11.1,470,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1925,2464,0,0,0,0,0,0
$GC,15031,1.28,146.0,484.6,11.5,478,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1925,2465,0,0,0,0,0,0
$GC,15356,1.28,146.0,445.3,12.0,486,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1925,2465,0,0,0,0,0,0
$GC,15681,1.28,146.0,411.5,10.1,494,15685,0.00,2.17,0.00,0.000,4,0.000,0.050,2617,880,2465,0,0,0,0,0,0
$GC,15702,1.28,146.0,409.3,9.6,494,15707,0.00,2.17,0.00,0.000,6,0.000,0.025,2617,1955,2465,0,0,0,0,0,0
$GC,16050,1.28,146.0,375.4,9.9,503,16053,0.00,1.88,0.00,0.000,4,0.000,0.034,2617,3017,2465,0,0,0,0,0,0
$GC,16121,1.28,146.0,368.6,9.3,504,16126,0.00,1.98,0.00,0.000,6,0.000,0.029,2617,1937,2465,0,0,0,0,0,0
$GC,16464,1.28,146.0,335.9,9.5,513,16467,0.00,1.92,0.00,0.000,4,0.000,0.032,2617,3005,2466,0,0,0,0,0,0
$GC,16512,1.28,146.0,330.8,10.8,514,16517,0.00,1.95,0.00,0.000,6,0.000,0.029,2617,1943,2467,0,0,0,0,0,0
$GC,16837,1.28,146.0,298.5,10.1,522,16841,0.00,2.20,0.00,0.000,4,0.000,0.049,2617,883,2468,0,0,0,0,0,0
$GC,16881,1.28,146.0,293.6,9.9,524,16885,0.00,2.12,0.00,0.000,6,0.000,0.022,2618,1947,2468,0,0,0,0,0,0
$GC,17213,1.29,149.2,262.4,8.9,540,17216,0.00,1.90,0.00,0.000,4,0.000,0.032,2617,3002,2470,0,0,0,0,0,0
$GC,17250,1.29,153.5,259.0,8.8,541,17262,0.00,1.95,6.97,0.722,6,0.000,0.028,2617,1937,2444,0,0,0,0,0,0
$GC,17583,1.30,163.6,230.1,8.6,558,17597,0.00,2.22,9.98,0.748,4,0.000,0.051,2617,889,2403,0,0,0,0,0,0
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$STATE,20207,end climb,SURFACE_DEPTH_REACHED
$STATE,20207,begin surface coast
$FINISH,1.6,1.022539
$STATE,20234,end surface coast,CONTROL_FINISHED_OK
$STATE,20234,begin surface
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$XPDR_PINGS,407
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59996209152
$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.0,6.007
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.975,156.775,491.475,37.075,0.000,64.405,74.682,274.021,101.750,0.000,30.093,1662.831,15575.245,649.377,2882.552,139.163,33.373,1946.601,0.000,2349.644,0.000,0.545,0.000
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$SENSOR_SECS,551.407,0.000,0.000,0.000,0.000,0.000,0.000,17992.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.507,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,30053,815
$CAP_FILE_SIZE,177859,0
$CFSIZE,260034560,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301110,020037,2046.063,12618.908,26,1.5,26,-2.7