version: 66.07
glider: 23
mission: 5
dive: 150
start: 12 15 110 15 47 50
data:
$ID,23
$MISSION,5
$DIVE,150
$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,-53081.977
$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,17
$R_STBD_OVSHOOT,22
$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,149
$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
$GPS1,151210,153537,1940.517,12557.812,29,1.9,29,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-56.9
$GPS2,151210,154656,1940.534,12557.485,11,1.9,11,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.111
$KALMAN_X,-227532.9,-1238.4,-64.4,222804.4,976.0
$KALMAN_Y,57686.2,656.6,146.7,-245305.7,-366.7
$MHEAD_RNG_PITCHd_Wd,240.7,229415,-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,26,-1.00,-146.0,0.0,0.0,0,105,0.00,0.00,-76.38,0.000,2,0.000,0.000,366,2706,2777,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.0,-1.4,15,159,10.07,2.20,-32.72,0.000,4,0.156,0.048,2134,1622,3670,0,0,0,0,0,0
$GC,410,-1.00,-146.0,54.0,-20.4,60,417,0.00,2.12,0.00,0.000,6,0.000,0.025,2134,2707,3669,0,0,0,0,0,0
$GC,672,-1.00,-146.0,100.9,-17.3,85,675,0.00,2.17,0.00,0.000,4,0.000,0.041,2134,1614,3669,0,0,0,0,0,0
$GC,704,-1.00,-146.0,107.0,-18.8,88,708,0.00,2.08,0.00,0.000,6,0.000,0.026,2134,2684,3669,0,0,0,0,0,0
$GC,971,-1.00,-146.0,148.1,-14.1,113,975,0.00,2.12,0.00,0.000,4,0.000,0.038,2135,1615,3670,0,0,0,0,0,0
$GC,1048,-1.00,-146.0,160.1,-14.9,119,1054,0.00,2.10,0.00,0.000,6,0.000,0.026,2134,2680,3670,0,0,0,0,0,0
$GC,1311,-1.00,-146.0,198.3,-14.3,144,1314,0.00,1.73,0.00,0.000,4,0.000,0.041,2134,3745,3670,0,0,0,0,0,0
$GC,1433,-1.00,-146.0,213.8,-11.1,150,1437,0.00,1.77,0.00,0.000,6,0.000,0.025,2134,2641,3670,0,0,0,0,0,0
$GC,1754,-1.00,-146.0,243.4,-8.2,166,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2641,3670,0,0,0,0,0,0
$GC,2063,-1.00,-146.0,272.5,-10.7,181,2067,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,1625,3670,0,0,0,0,0,0
$GC,2140,-1.00,-146.0,280.4,-9.5,184,2145,0.00,2.08,0.00,0.000,6,0.000,0.029,2135,2671,3669,0,0,0,0,0,0
$GC,2460,-1.00,-146.0,307.5,-8.5,198,2464,0.00,2.05,0.00,0.000,4,0.000,0.038,2134,1633,3668,0,0,0,0,0,0
$GC,2581,-1.00,-146.0,319.2,-9.7,200,2588,0.00,2.08,0.00,0.000,6,0.000,0.030,2134,2673,3667,0,0,0,0,0,0
$GC,2913,-1.00,-146.0,355.5,-11.5,209,2916,0.00,2.08,0.00,0.000,4,0.000,0.039,2134,1634,3666,0,0,0,0,0,0
$GC,3169,-1.00,-146.0,381.5,-9.5,214,3176,0.00,2.05,0.00,0.000,6,0.000,0.030,2134,2658,3665,0,0,0,0,0,0
$GC,3501,-1.00,-146.0,409.6,-7.7,223,3504,0.00,1.80,0.00,0.000,4,0.000,0.048,2134,3751,3663,0,0,0,0,0,0
$GC,3639,-1.00,-146.0,420.0,-8.2,226,3644,0.00,1.75,0.00,0.000,6,0.000,0.025,2134,2662,3662,0,0,0,0,0,0
$GC,3964,-1.00,-146.0,444.7,-7.8,234,3967,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1636,3660,0,0,0,0,0,0
$GC,4220,-1.00,-146.0,464.7,-7.6,239,4225,0.00,2.08,0.00,0.000,6,0.000,0.032,2134,2667,3659,0,0,0,0,0,0
$GC,4557,-1.00,-146.0,491.7,-8.0,248,4561,0.00,2.05,0.00,0.000,4,0.000,0.040,2134,1634,3658,0,0,0,0,0,0
$GC,4814,-1.00,-146.0,513.4,-7.9,253,4819,0.00,2.05,0.00,0.000,6,0.000,0.032,2134,2656,3654,0,0,0,0,0,0
$GC,5151,-1.00,-146.0,539.3,-7.4,262,5154,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1638,3651,0,0,0,0,0,0
$GC,5257,-1.00,-146.0,546.7,-6.5,264,5261,0.00,2.05,0.00,0.000,6,0.000,0.034,2134,2652,3651,0,0,0,0,0,0
$GC,5569,-1.00,-146.0,566.0,-5.9,272,5573,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1633,3648,0,0,0,0,0,0
$GC,5674,-1.00,-146.0,573.4,-7.7,274,5679,0.00,2.05,0.00,0.000,6,0.000,0.033,2134,2653,3647,0,0,0,0,0,0
$GC,5988,-1.00,-146.0,598.1,-8.2,282,5991,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1637,3645,0,0,0,0,0,0
$GC,6222,-1.00,-146.0,616.9,-8.1,287,6227,0.00,2.03,0.00,0.000,6,0.000,0.035,2134,2635,3643,0,0,0,0,0,0
$GC,6541,-1.00,-146.0,641.0,-7.3,295,6544,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1631,3641,0,0,0,0,0,0
$GC,6657,-1.00,-146.0,649.1,-7.1,297,6662,0.00,2.05,0.00,0.000,6,0.000,0.035,2134,2641,3640,0,0,0,0,0,0
$GC,7000,-1.00,-146.0,671.8,-6.4,306,7004,0.00,1.83,0.00,0.000,4,0.000,0.054,2134,3744,3639,0,0,0,0,0,0
$GC,7201,-1.00,-146.0,685.9,-6.2,310,7205,0.00,1.80,0.00,0.000,6,0.000,0.028,2134,2637,3637,0,0,0,0,0,0
$GC,7549,-1.00,-146.0,704.4,-4.9,319,7553,0.00,2.00,0.00,0.000,4,0.000,0.044,2134,1634,3635,0,0,0,0,0,0
$GC,7706,-1.00,-146.0,711.4,-4.5,322,7710,0.00,2.03,0.00,0.000,6,0.000,0.038,2134,2643,3634,0,0,0,0,0,0
$GC,8054,-1.00,-146.0,728.3,-5.3,331,8057,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1639,3631,0,0,0,0,0,0
$GC,8282,-1.00,-146.0,741.7,-5.9,336,8287,0.00,2.03,0.00,0.000,6,0.000,0.038,2134,2633,3630,0,0,0,0,0,0
$GC,8607,-1.00,-146.0,761.8,-6.2,344,8611,0.00,1.88,0.00,0.000,4,0.000,0.057,2134,3751,3629,0,0,0,0,0,0
$GC,8718,-1.00,-146.0,769.3,-7.8,346,8722,0.00,1.85,0.00,0.000,6,0.000,0.028,2134,2609,3628,0,0,0,0,0,0
$GC,9066,-1.00,-146.0,789.3,-5.8,355,9070,0.00,2.00,0.00,0.000,4,0.000,0.044,2134,1617,3627,0,0,0,0,0,0
$GC,9194,-1.00,-146.0,796.4,-5.5,357,9199,0.00,2.05,0.00,0.000,6,0.000,0.039,2134,2619,3627,0,0,0,0,0,0
$GC,9525,-1.00,-146.0,813.7,-5.2,366,9528,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1632,3624,0,0,0,0,0,0
$GC,9676,-1.00,-146.0,821.2,-4.9,369,9679,0.00,2.00,0.00,0.000,6,0.000,0.038,2134,2619,3624,0,0,0,0,0,0
$GC,9988,-1.00,-146.0,836.4,-4.8,377,9991,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1633,3623,0,0,0,0,0,0
$GC,10032,-1.00,-146.0,838.6,-4.3,378,10036,0.00,2.00,0.00,0.000,6,0.000,0.039,2134,2619,3623,0,0,0,0,0,0
$GC,10362,-1.00,-146.0,853.9,-4.5,386,10365,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1631,3622,0,0,0,0,0,0
$GC,10473,-1.00,-146.0,859.2,-5.1,388,10477,0.00,2.03,0.00,0.000,6,0.000,0.038,2134,2618,3621,0,0,0,0,0,0
$GC,10821,-1.00,-146.0,875.9,-5.0,397,10825,0.00,1.98,0.00,0.000,4,0.000,0.041,2134,1637,3620,0,0,0,0,0,0
$GC,10915,-1.00,-146.0,880.9,-4.9,399,10919,0.00,2.00,0.00,0.000,6,0.000,0.038,2134,2609,3620,0,0,0,0,0,0
$GC,11239,-1.00,-146.0,897.5,-5.1,407,11243,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1618,3619,0,0,0,0,0,0
$GC,11403,-1.00,-146.0,906.1,-4.9,410,11407,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2616,3618,0,0,0,0,0,0
$GC,11745,-1.00,-146.0,923.0,-4.9,419,11749,0.00,1.98,0.00,0.000,4,0.000,0.041,2134,1631,3618,0,0,0,0,0,0
$GC,11934,-1.00,-146.0,932.3,-4.8,423,11939,0.00,2.00,0.00,0.000,6,0.000,0.038,2134,2592,3617,0,0,0,0,0,0
$GC,12254,-1.00,-146.0,948.7,-5.3,431,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2592,3617,0,0,0,0,0,0
$GC,12578,-1.00,-146.0,967.7,-6.0,439,12582,0.00,1.92,0.00,0.000,4,0.000,0.060,2134,3757,3616,0,0,0,0,0,0
$GC,12610,-1.00,-146.0,969.9,-6.5,439,12614,0.00,1.90,0.00,0.000,6,0.000,0.030,2134,2587,3616,0,0,0,0,0,0
$STATE,12945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12945,begin apogee
$GC,12951,-0.33,0.0,990.3,5.7,448,13069,0.73,0.00,115.00,1.490,6,0.097,0.000,2283,1954,3071,0,0,0,0,0,0
$STATE,13085,end apogee,CONTROL_FINISHED_OK
$STATE,13085,begin climb
$GC,13087,1.00,146.0,991.1,0.0,451,13222,1.38,2.17,124.85,1.434,4,0.069,0.044,2574,3011,2474,0,0,0,0,0,0
$GC,13254,1.00,146.0,979.3,8.2,455,13259,0.00,2.10,0.00,0.000,6,0.000,0.036,2575,1948,2471,0,0,0,0,0,0
$GC,13578,1.00,146.0,948.2,10.1,463,13582,0.00,2.30,0.00,0.000,4,0.000,0.057,2575,879,2469,0,0,0,0,0,0
$GC,13610,1.00,146.0,944.5,11.4,463,13615,0.00,2.28,0.00,0.000,6,0.000,0.029,2574,1965,2468,0,0,0,0,0,0
$GC,13947,1.00,146.0,907.4,11.1,472,13952,0.00,2.35,0.00,0.000,4,0.000,0.056,2575,886,2468,0,0,0,0,0,0
$GC,13974,1.00,146.0,904.2,11.2,472,13979,0.00,2.25,0.00,0.000,6,0.000,0.029,2574,1960,2468,0,0,0,0,0,0
$GC,14311,1.00,146.0,866.2,11.2,481,14315,0.00,2.35,0.00,0.000,4,0.000,0.055,2575,881,2467,0,0,0,0,0,0
$GC,14360,1.00,146.0,860.6,11.4,482,14364,0.00,2.22,0.00,0.000,6,0.000,0.029,2575,1946,2467,0,0,0,0,0,0
$GC,14678,1.00,146.0,830.0,9.1,490,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1951,2466,0,0,0,0,0,0
$GC,15003,1.00,146.0,802.8,8.0,498,15007,0.00,2.30,0.00,0.000,4,0.000,0.056,2574,892,2466,0,0,0,0,0,0
$GC,15035,1.00,146.0,800.1,8.6,498,15041,0.00,2.20,0.00,0.000,6,0.000,0.028,2574,1946,2466,0,0,0,0,0,0
$GC,15365,1.00,146.0,771.6,8.7,507,15367,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1949,2465,0,0,0,0,0,0
$GC,15691,1.00,146.0,741.5,9.5,515,15694,0.00,2.03,0.00,0.000,4,0.000,0.041,2575,3010,2465,0,0,0,0,0,0
$GC,15723,1.00,146.0,738.1,10.3,515,15727,0.00,2.08,0.00,0.000,6,0.000,0.035,2575,1943,2465,0,0,0,0,0,0
$GC,16059,1.00,146.0,703.4,10.6,524,16063,0.00,2.28,0.00,0.000,4,0.000,0.057,2575,881,2465,0,0,0,0,0,0
$GC,16131,1.00,146.0,695.2,12.2,525,16135,0.00,2.20,0.00,0.000,6,0.000,0.028,2575,1942,2465,0,0,0,0,0,0
$GC,16468,1.00,146.0,664.0,8.7,534,16472,0.00,2.30,0.00,0.000,4,0.000,0.057,2575,887,2465,0,0,0,0,0,0
$GC,16493,1.00,146.0,661.6,8.2,534,16499,0.00,2.20,0.00,0.000,6,0.000,0.028,2575,1948,2465,0,0,0,0,0,0
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$STATE,24892,end climb,SURFACE_DEPTH_REACHED
$STATE,24892,begin surface coast
$FINISH,1.7,1.022499
$STATE,24928,end surface coast,CONTROL_FINISHED_OK
$STATE,24929,begin surface
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$XPDR_PINGS,507
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$AR_CDRIVE_FREE,2093580288
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59695398912
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,25.432
$10V_AH,10.0,12.507
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.950,224.850,378.200,104.475,0.000,53.540,67.158,372.811,126.750,0.000,13.272,2023.860,19516.764,674.731,3276.636,236.213,33.375,2167.604,0.000,2710.598,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.419,0.000,0.000
$MEM,355080
$DATA_FILE_SIZE,33397,980
$CAP_FILE_SIZE,216906,0
$CFSIZE,260034560,248066048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,224654,1938.985,12554.304,38,1.3,39,-2.4