version: 66.07
glider: 23
mission: 5
dive: 149
start: 12 15 110 8 6 59
data:
$ID,23
$MISSION,5
$DIVE,149
$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,471
$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,-53068.074
$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,2360
$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,2690
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,35
$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,148
$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
$GPS1,151210,075527,1942.819,12559.362,29,2.9,48,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-54.2
$GPS2,151210,080606,1942.684,12559.044,37,1.5,37,-2.5
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.212
$KALMAN_X,-227030.1,581.6,198.1,222924.0,-4248.1
$KALMAN_Y,57685.0,-1002.2,-190.8,-239331.0,2273.7
$MHEAD_RNG_PITCHd_Wd,183.1,234074,-12.7,-7.006
$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,-1.00,-146.0,0.0,0.0,0,104,0.00,0.00,-75.60,0.000,2,0.000,0.000,360,2707,2769,0,0,0,0,0,0
$GC,106,-1.00,-146.0,3.0,-1.5,15,153,10.18,2.12,-29.95,0.000,4,0.160,0.047,2134,1622,3667,0,0,0,0,0,0
$GC,395,-1.00,-146.0,54.4,-22.8,57,399,0.00,2.05,0.00,0.000,6,0.000,0.024,2134,2699,3667,0,0,0,0,0,0
$GC,655,-1.00,-146.0,107.2,-19.5,81,659,0.00,1.70,0.00,0.000,4,0.000,0.039,2134,3752,3668,0,0,0,0,0,0
$GC,733,-1.00,-146.0,121.0,-16.0,88,737,0.00,1.73,0.00,0.000,6,0.000,0.025,2133,2662,3668,0,0,0,0,0,0
$GC,999,-1.00,-146.0,161.7,-13.3,113,1003,0.00,2.03,0.00,0.000,4,0.000,0.037,2133,1633,3669,0,0,0,0,0,0
$GC,1014,-1.00,-146.0,163.9,-12.4,114,1021,0.00,2.08,0.00,0.000,6,0.000,0.025,2134,2692,3669,0,0,0,0,0,0
$GC,1276,-1.00,-146.0,193.7,-11.2,139,1280,0.00,2.08,0.00,0.000,4,0.000,0.035,2134,1626,3670,0,0,0,0,0,0
$GC,1337,-1.00,-146.0,200.3,-9.9,144,1341,0.00,2.05,0.00,0.000,6,0.000,0.027,2134,2695,3670,0,0,0,0,0,0
$GC,1669,-1.00,-146.0,237.0,-10.5,160,1672,0.00,1.70,0.00,0.000,4,0.000,0.041,2134,3741,3670,0,0,0,0,0,0
$GC,1819,-1.00,-146.0,254.5,-10.9,166,1825,0.00,1.70,0.00,0.000,6,0.000,0.024,2134,2685,3670,0,0,0,0,0,0
$GC,2134,-1.00,-146.0,285.0,-9.1,182,2138,0.00,2.08,0.00,0.000,4,0.000,0.041,2133,1629,3669,0,0,0,0,0,0
$GC,2318,-1.00,-146.0,303.6,-10.4,190,2323,0.00,2.10,0.00,0.000,6,0.000,0.030,2133,2682,3668,0,0,0,0,0,0
$GC,2637,-1.00,-146.0,337.3,-11.1,198,2641,0.00,2.10,0.00,0.000,4,0.000,0.041,2133,1626,3666,0,0,0,0,0,0
$GC,2893,-1.00,-146.0,364.5,-9.7,203,2898,0.00,2.10,0.00,0.000,6,0.000,0.031,2133,2679,3665,0,0,0,0,0,0
$GC,3230,-1.00,-146.0,391.5,-7.8,212,3234,0.00,2.10,0.00,0.000,4,0.000,0.040,2133,1625,3663,0,0,0,0,0,0
$GC,3486,-1.00,-146.0,410.5,-7.4,217,3493,0.00,2.10,0.00,0.000,6,0.000,0.031,2133,2682,3661,0,0,0,0,0,0
$GC,3818,-1.00,-146.0,432.9,-6.7,226,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2681,3659,0,0,0,0,0,0
$GC,4143,-1.00,-146.0,450.6,-4.9,234,4147,0.00,2.10,0.00,0.000,4,0.000,0.039,2133,1625,3658,0,0,0,0,0,0
$GC,4400,-1.00,-146.0,466.0,-6.8,239,4404,0.00,2.10,0.00,0.000,6,0.000,0.032,2133,2674,3655,0,0,0,0,0,0
$GC,4736,-1.00,-146.0,492.4,-8.3,248,4740,0.00,2.08,0.00,0.000,4,0.000,0.040,2133,1636,3653,0,0,0,0,0,0
$GC,4993,-1.00,-146.0,512.3,-7.0,253,4998,0.00,2.08,0.00,0.000,6,0.000,0.032,2133,2668,3649,0,0,0,0,0,0
$GC,5330,-1.00,-146.0,531.6,-5.4,262,5334,0.00,2.10,0.00,0.000,4,0.000,0.041,2133,1623,3647,0,0,0,0,0,0
$GC,5447,-1.00,-146.0,538.1,-5.6,264,5451,0.00,2.10,0.00,0.000,6,0.000,0.034,2134,2670,3646,0,0,0,0,0,0
$GC,5784,-1.00,-146.0,558.3,-6.1,273,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2670,3643,0,0,0,0,0,0
$GC,6109,-1.00,-146.0,577.2,-6.0,281,6112,0.00,1.80,0.00,0.000,4,0.000,0.051,2134,3745,3641,0,0,0,0,0,0
$GC,6208,-1.00,-146.0,584.5,-7.1,283,6213,0.00,1.77,0.00,0.000,6,0.000,0.026,2133,2653,3641,0,0,0,0,0,0
$GC,6527,-1.00,-146.0,605.9,-7.0,291,6531,0.00,2.03,0.00,0.000,4,0.000,0.044,2133,1636,3639,0,0,0,0,0,0
$GC,6632,-1.00,-146.0,613.8,-7.6,293,6637,0.00,2.10,0.00,0.000,6,0.000,0.035,2133,2674,3639,0,0,0,0,0,0
$GC,6945,-1.00,-146.0,637.9,-7.8,301,6949,0.00,2.10,0.00,0.000,4,0.000,0.043,2134,1633,3636,0,0,0,0,0,0
$GC,7191,-1.00,-146.0,653.3,-5.1,306,7196,0.00,2.10,0.00,0.000,6,0.000,0.036,2133,2671,3635,0,0,0,0,0,0
$GC,7534,-1.00,-146.0,670.0,-4.8,315,7538,0.00,2.10,0.00,0.000,4,0.000,0.043,2133,1631,3633,0,0,0,0,0,0
$GC,7679,-1.00,-146.0,677.4,-5.3,318,7684,0.00,2.05,0.00,0.000,6,0.000,0.038,2133,2663,3631,0,0,0,0,0,0
$GC,8027,-1.00,-146.0,698.3,-6.6,327,8030,0.00,2.08,0.00,0.000,4,0.000,0.044,2134,1627,3629,0,0,0,0,0,0
$GC,8284,-1.00,-146.0,715.9,-6.6,332,8290,0.00,2.08,0.00,0.000,6,0.000,0.038,2133,2676,3629,0,0,0,0,0,0
$GC,8615,-1.00,-146.0,734.3,-5.6,341,8619,0.00,2.10,0.00,0.000,4,0.000,0.044,2133,1627,3626,0,0,0,0,0,0
$GC,8647,-1.00,-146.0,736.1,-5.7,341,8651,0.00,2.10,0.00,0.000,6,0.000,0.039,2133,2658,3626,0,0,0,0,0,0
$GC,8984,-1.00,-146.0,751.5,-4.1,350,8987,0.00,1.85,0.00,0.000,4,0.000,0.059,2133,3753,3625,0,0,0,0,0,0
$GC,9066,-1.00,-146.0,755.5,-4.4,351,9073,0.00,1.80,0.00,0.000,6,0.000,0.029,2133,2645,3624,0,0,0,0,0,0
$GC,9398,-1.00,-146.0,771.3,-5.0,360,9401,0.00,2.05,0.00,0.000,4,0.000,0.046,2133,1633,3623,0,0,0,0,0,0
$GC,9599,-1.00,-146.0,782.6,-6.1,364,9603,0.00,2.08,0.00,0.000,6,0.000,0.038,2133,2648,3623,0,0,0,0,0,0
$GC,9947,-1.00,-146.0,803.9,-6.1,373,9950,0.00,2.05,0.00,0.000,4,0.000,0.044,2133,1625,3621,0,0,0,0,0,0
$GC,10109,-1.00,-146.0,812.8,-5.1,376,10113,0.00,2.05,0.00,0.000,6,0.000,0.039,2133,2642,3620,0,0,0,0,0,0
$GC,10451,-1.00,-146.0,828.4,-4.3,385,10454,0.00,2.05,0.00,0.000,4,0.000,0.044,2133,1633,3619,0,0,0,0,0,0
$GC,10523,-1.00,-146.0,831.3,-3.9,386,10527,0.00,2.05,0.00,0.000,6,0.000,0.039,2133,2633,3618,0,0,0,0,0,0
$GC,10865,-1.00,-146.0,843.7,-3.7,395,10869,0.00,2.03,0.00,0.000,4,0.000,0.042,2133,1631,3617,0,0,0,0,0,0
$GC,10914,-1.00,-146.0,845.9,-4.1,396,10919,0.00,2.05,0.00,0.000,6,0.000,0.039,2133,2634,3617,0,0,0,0,0,0
$GC,11239,-1.00,-146.0,861.2,-5.0,404,11242,0.00,2.03,0.00,0.000,4,0.000,0.042,2133,1635,3616,0,0,0,0,0,0
$GC,11440,-1.00,-146.0,872.1,-5.7,408,11444,0.00,2.05,0.00,0.000,6,0.000,0.039,2133,2634,3616,0,0,0,0,0,0
$GC,11788,-1.00,-146.0,889.3,-4.6,417,11791,0.00,2.03,0.00,0.000,4,0.000,0.042,2133,1636,3616,0,0,0,0,0,0
$GC,11977,-1.00,-146.0,897.0,-4.1,421,11982,0.00,2.03,0.00,0.000,6,0.000,0.039,2133,2619,3616,0,0,0,0,0,0
$GC,12296,-1.00,-146.0,908.8,-3.6,429,12300,0.00,2.03,0.00,0.000,4,0.000,0.043,2133,1626,3614,0,0,0,0,0,0
$GC,12479,-1.00,-146.0,915.6,-2.9,433,12484,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2604,3614,0,0,0,0,0,0
$GC,12804,-1.00,-146.0,928.2,-3.9,441,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3612,0,0,0,0,0,0
$GC,13129,-1.00,-146.0,940.8,-3.9,449,13132,0.00,1.98,0.00,0.000,4,0.000,0.042,2133,1626,3611,0,0,0,0,0,0
$GC,13173,-1.00,-146.0,942.6,-3.3,450,13177,0.00,2.00,0.00,0.000,6,0.000,0.039,2133,2623,3611,0,0,0,0,0,0
$GC,13502,-1.00,-146.0,957.3,-4.6,458,13506,0.00,2.03,0.00,0.000,4,0.000,0.042,2133,1628,3611,0,0,0,0,0,0
$GC,13720,-1.00,-146.0,967.8,-4.8,462,13726,0.00,2.03,0.00,0.000,6,0.000,0.039,2133,2608,3611,0,0,0,0,0,0
$GC,14051,-1.00,-146.0,982.8,-4.5,471,14055,0.00,2.00,0.00,0.000,4,0.000,0.042,2133,1628,3610,0,0,0,0,0,0
$STATE,14229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14229,begin apogee
$GC,14234,-0.33,0.0,990.2,3.7,475,14352,0.73,0.00,113.90,1.499,6,0.094,0.000,2282,1973,3071,0,0,0,0,0,0
$STATE,14355,end apogee,CONTROL_FINISHED_OK
$STATE,14355,begin climb
$GC,14357,1.00,146.0,988.8,0.0,478,14492,1.38,2.10,125.03,1.443,4,0.067,0.044,2574,3001,2474,0,0,0,0,0,0
$GC,14501,1.00,146.0,977.5,8.0,481,14506,0.00,2.08,0.00,0.000,6,0.000,0.033,2574,1950,2473,0,0,0,0,0,0
$GC,14844,1.00,146.0,945.2,9.6,490,14848,0.00,2.30,0.00,0.000,4,0.000,0.059,2574,893,2469,0,0,0,0,0,0
$GC,14898,1.00,146.0,939.5,10.7,491,14903,0.00,2.20,0.00,0.000,6,0.000,0.029,2574,1947,2469,0,0,0,0,0,0
$GC,15211,1.00,146.0,911.4,8.8,499,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1952,2468,0,0,0,0,0,0
$GC,15536,1.00,146.0,886.0,7.5,507,15540,0.00,2.33,0.00,0.000,4,0.000,0.060,2574,887,2467,0,0,0,0,0,0
$GC,15590,1.00,146.0,881.4,8.5,508,15595,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1952,2466,0,0,0,0,0,0
$GC,15903,1.00,146.0,856.5,8.2,516,15907,0.00,2.33,0.00,0.000,4,0.000,0.060,2574,889,2466,0,0,0,0,0,0
$GC,15923,1.00,146.0,854.5,8.8,516,15928,0.00,2.22,0.00,0.000,6,0.000,0.029,2574,1956,2466,0,0,0,0,0,0
$GC,16266,1.00,146.0,823.2,9.3,525,16270,0.00,1.98,0.00,0.000,4,0.000,0.041,2574,3003,2466,0,0,0,0,0,0
$GC,16298,1.00,146.0,819.9,9.7,525,16303,0.00,2.08,0.00,0.000,6,0.000,0.038,2574,1950,2466,0,0,0,0,0,0
$GC,16635,1.00,146.0,786.7,10.1,534,16639,0.00,2.33,0.00,0.000,4,0.000,0.061,2574,888,2466,0,0,0,0,0,0
$GC,16683,1.00,146.0,781.1,12.7,535,16688,0.00,2.20,0.00,0.000,6,0.000,0.028,2574,1948,2466,0,0,0,0,0,0
$GC,17002,1.00,146.0,749.9,9.8,543,17005,0.00,2.00,0.00,0.000,4,0.000,0.039,2574,3016,2465,0,0,0,0,0,0
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$STATE,26719,end climb,SURFACE_DEPTH_REACHED
$STATE,26719,begin surface coast
$FINISH,1.6,1.005391
$STATE,26748,end surface coast,CONTROL_FINISHED_OK
$STATE,26749,begin surface
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$SM_GC,2.31,0.00,0.00,68.47,0.000,0.000,0.577,366,2705,951,-9.17,0.45,520.04
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$TT8_MAMPS,0.049855
$HUMID,1078791603
$TCM_TEMP,24.80
$XPDR_PINGS,483
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$AR_CDRIVE_FREE,2093613056
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59695398912
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,25.241
$10V_AH,10.0,12.394
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,222.400,440.350,68.475,0.000,56.160,75.784,306.220,120.750,0.000,38.578,2102.666,21065.332,687.091,3406.847,217.892,33.372,2253.976,0.000,2860.510,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,690.967,0.000,0.000,0.000,0.000,0.000,0.000,23588.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.335,0.000,0.000
$MEM,354908
$DATA_FILE_SIZE,36690,1017
$CAP_FILE_SIZE,226256,0
$CFSIZE,260034560,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,153537,1940.517,12557.812,29,1.9,29,-2.4