version: 66.07
glider: 23
mission: 5
dive: 154
start: 12 16 110 20 49 7
data:
$ID,23
$MISSION,5
$DIVE,154
$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,-53211.797
$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,2680
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,37
$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,153
$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
$GPS1,161210,203407,1934.739,12542.824,27,1.5,28,-2.4
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,6
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-52.3
$GPS2,161210,204814,1934.753,12542.559,16,1.5,16,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.093,-0.190
$KALMAN_X,-239548.9,314.2,-69.8,207545.6,-2827.3
$KALMAN_Y,63699.7,822.2,37.5,-262096.2,328.5
$MHEAD_RNG_PITCHd_Wd,208.3,202600,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.00,-146.0,0.0,0.0,0,103,0.00,0.00,-75.68,0.000,2,0.000,0.000,362,2706,2721,0,0,0,0,0,0
$GC,105,-1.00,-146.0,3.0,-1.3,15,157,10.07,1.65,-35.78,0.000,4,0.155,0.057,2134,3737,3667,0,0,0,0,0,0
$GC,408,-1.00,-146.0,57.2,-19.7,58,415,0.00,1.73,0.00,0.000,6,0.000,0.026,2134,2663,3668,0,0,0,0,0,0
$GC,670,-1.00,-146.0,107.3,-18.9,83,673,0.00,1.75,0.00,0.000,4,0.000,0.036,2134,3732,3668,0,0,0,0,0,0
$GC,927,-1.00,-146.0,143.7,-14.0,106,931,0.00,1.70,0.00,0.000,6,0.000,0.025,2134,2667,3669,0,0,0,0,0,0
$GC,1195,-1.00,-146.0,182.4,-14.0,131,1199,0.00,1.73,0.00,0.000,4,0.000,0.038,2134,3732,3669,0,0,0,0,0,0
$GC,1452,-1.00,-146.0,211.7,-9.3,149,1457,0.00,1.67,0.00,0.000,6,0.000,0.022,2134,2681,3669,0,0,0,0,0,0
$GC,1773,-1.00,-146.0,245.0,-12.3,165,1777,0.00,1.73,0.00,0.000,4,0.000,0.040,2134,3742,3668,0,0,0,0,0,0
$GC,2030,-1.00,-146.0,274.6,-11.1,176,2035,0.00,1.67,0.00,0.000,6,0.000,0.022,2134,2689,3668,0,0,0,0,0,0
$GC,2372,-1.00,-146.0,302.5,-6.0,192,2375,0.00,1.70,0.00,0.000,4,0.000,0.043,2134,3729,3666,0,0,0,0,0,0
$GC,2628,-1.00,-146.0,322.4,-9.9,197,2633,0.00,1.62,0.00,0.000,6,0.000,0.023,2134,2704,3665,0,0,0,0,0,0
$GC,2965,-1.00,-146.0,357.7,-10.5,206,2969,0.00,1.67,0.00,0.000,4,0.000,0.043,2134,3729,3662,0,0,0,0,0,0
$GC,2997,-1.00,-146.0,360.9,-9.2,206,3002,0.00,1.62,0.00,0.000,6,0.000,0.022,2135,2704,3662,0,0,0,0,0,0
$GC,3334,-1.00,-146.0,385.3,-6.8,215,3338,0.00,2.10,0.00,0.000,4,0.000,0.037,2134,1623,3662,0,0,0,0,0,0
$GC,3384,-1.00,-146.0,388.9,-6.8,216,3388,0.00,2.12,0.00,0.000,6,0.000,0.030,2134,2693,3661,0,0,0,0,0,0
$GC,3702,-1.00,-146.0,409.7,-6.1,224,3706,0.00,2.12,0.00,0.000,4,0.000,0.036,2134,1618,3659,0,0,0,0,0,0
$GC,3876,-1.00,-146.0,421.3,-6.6,228,3880,0.00,2.12,0.00,0.000,6,0.000,0.031,2134,2701,3658,0,0,0,0,0,0
$GC,4199,-1.00,-146.0,447.5,-8.5,236,4203,0.00,2.12,0.00,0.000,4,0.000,0.037,2133,1616,3656,0,0,0,0,0,0
$GC,4310,-1.00,-146.0,456.9,-7.8,238,4315,0.00,2.12,0.00,0.000,6,0.000,0.031,2134,2681,3655,0,0,0,0,0,0
$GC,4659,-1.00,-146.0,480.6,-6.3,247,4663,0.00,2.12,0.00,0.000,4,0.000,0.038,2133,1613,3653,0,0,0,0,0,0
$GC,4743,-1.00,-146.0,485.3,-5.4,249,4746,0.00,2.10,0.00,0.000,6,0.000,0.033,2134,2684,3652,0,0,0,0,0,0
$GC,5072,-1.00,-146.0,503.5,-5.7,257,5075,0.00,1.75,0.00,0.000,4,0.000,0.048,2134,3740,3650,0,0,0,0,0,0
$GC,5162,-1.00,-146.0,509.4,-6.5,259,5165,0.00,1.73,0.00,0.000,6,0.000,0.025,2134,2656,3649,0,0,0,0,0,0
$GC,5491,-1.00,-146.0,530.3,-6.3,267,5494,0.00,2.05,0.00,0.000,4,0.000,0.039,2134,1626,3646,0,0,0,0,0,0
$GC,5642,-1.00,-146.0,540.0,-6.7,270,5646,0.00,2.08,0.00,0.000,6,0.000,0.033,2134,2673,3645,0,0,0,0,0,0
$GC,5988,-1.00,-146.0,564.1,-7.1,279,5992,0.00,2.08,0.00,0.000,4,0.000,0.038,2134,1622,3643,0,0,0,0,0,0
$GC,6246,-1.00,-146.0,582.3,-6.6,284,6252,0.00,2.10,0.00,0.000,6,0.000,0.034,2134,2668,3640,0,0,0,0,0,0
$GC,6577,-1.00,-146.0,600.7,-5.1,293,6580,0.00,2.08,0.00,0.000,4,0.000,0.039,2134,1626,3639,0,0,0,0,0,0
$GC,6733,-1.00,-146.0,608.3,-5.4,296,6737,0.00,2.05,0.00,0.000,6,0.000,0.035,2134,2664,3637,0,0,0,0,0,0
$GC,7081,-1.00,-146.0,626.7,-5.6,305,7085,0.00,2.08,0.00,0.000,4,0.000,0.040,2134,1628,3635,0,0,0,0,0,0
$GC,7165,-1.00,-146.0,631.7,-5.5,307,7169,0.00,2.05,0.00,0.000,6,0.000,0.035,2134,2658,3634,0,0,0,0,0,0
$GC,7488,-1.00,-146.0,653.8,-7.4,315,7492,0.00,1.83,0.00,0.000,4,0.000,0.054,2134,3733,3633,0,0,0,0,0,0
$GC,7682,-1.00,-146.0,670.6,-8.4,319,7687,0.00,1.75,0.00,0.000,6,0.000,0.027,2134,2653,3632,0,0,0,0,0,0
$GC,7996,-1.00,-146.0,690.8,-5.6,327,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2653,3631,0,0,0,0,0,0
$GC,8321,-1.00,-146.0,703.9,-3.8,335,8324,0.00,1.83,0.00,0.000,4,0.000,0.053,2134,3739,3629,0,0,0,0,0,0
$GC,8483,-1.00,-146.0,711.8,-5.5,338,8487,0.00,1.75,0.00,0.000,6,0.000,0.028,2134,2650,3627,0,0,0,0,0,0
$GC,8825,-1.00,-146.0,731.5,-6.2,347,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2648,3626,0,0,0,0,0,0
$GC,9149,-1.00,-146.0,757.0,-8.2,355,9153,0.00,2.05,0.00,0.000,4,0.000,0.043,2134,1624,3624,0,0,0,0,0,0
$GC,9406,-1.00,-146.0,778.2,-7.8,360,9411,0.00,2.10,0.00,0.000,6,0.000,0.038,2134,2657,3623,0,0,0,0,0,0
$GC,9744,-1.00,-146.0,802.0,-6.6,369,9748,0.00,2.05,0.00,0.000,4,0.000,0.040,2134,1624,3623,0,0,0,0,0,0
$GC,10000,-1.00,-146.0,812.8,-3.0,374,10006,0.00,2.08,0.00,0.000,6,0.000,0.039,2134,2643,3621,0,0,0,0,0,0
$GC,10331,-1.00,-146.0,819.9,-1.9,383,10335,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1622,3619,0,0,0,0,0,0
$GC,10589,-1.00,-146.0,826.7,-2.7,388,10593,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2641,3618,0,0,0,0,0,0
$GC,10925,-1.00,-146.0,839.6,-4.2,397,10929,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1624,3618,0,0,0,0,0,0
$GC,11031,-1.00,-146.0,844.0,-4.3,399,11035,0.00,2.08,0.00,0.000,6,0.000,0.040,2134,2637,3617,0,0,0,0,0,0
$GC,11344,-1.00,-146.0,858.0,-4.7,407,11348,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1621,3616,0,0,0,0,0,0
$GC,11449,-1.00,-146.0,863.3,-5.0,409,11454,0.00,2.10,0.00,0.000,6,0.000,0.040,2134,2645,3617,0,0,0,0,0,0
$GC,11763,-1.00,-146.0,879.4,-5.4,417,11767,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1620,3615,0,0,0,0,0,0
$GC,11908,-1.00,-146.0,887.6,-6.4,420,11912,0.00,2.08,0.00,0.000,6,0.000,0.040,2134,2649,3615,0,0,0,0,0,0
$GC,12221,-1.00,-146.0,904.4,-5.4,428,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2648,3614,0,0,0,0,0,0
$GC,12545,-1.00,-146.0,919.1,-3.9,436,12549,0.00,2.08,0.00,0.000,4,0.000,0.041,2134,1620,3613,0,0,0,0,0,0
$GC,12640,-1.00,-146.0,922.4,-2.9,438,12644,0.00,2.10,0.00,0.000,6,0.000,0.040,2134,2642,3612,0,0,0,0,0,0
$GC,12964,-1.00,-146.0,930.6,-2.2,446,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2641,3612,0,0,0,0,0,0
$GC,13289,-1.00,-146.0,939.2,-3.0,454,13293,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1617,3612,0,0,0,0,0,0
$GC,13546,-1.00,-146.0,949.9,-4.6,459,13552,0.00,2.08,0.00,0.000,6,0.000,0.040,2134,2628,3611,0,0,0,0,0,0
$GC,13877,-1.00,-146.0,967.2,-5.4,468,13881,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1619,3611,0,0,0,0,0,0
$GC,14085,-1.00,-146.0,978.0,-4.9,472,14089,0.00,2.08,0.00,0.000,6,0.000,0.040,2134,2643,3610,0,0,0,0,0,0
$STATE,14378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14378,begin apogee
$GC,14384,-0.33,0.0,991.0,4.2,480,14501,0.73,0.00,113.97,1.503,6,0.097,0.000,2282,1941,3071,0,0,0,0,0,0
$STATE,14510,end apogee,CONTROL_FINISHED_OK
$STATE,14510,begin climb
$GC,14512,1.00,146.0,989.2,0.0,483,14646,1.38,2.17,124.88,1.443,4,0.064,0.044,2575,2997,2475,0,0,0,0,0,0
$GC,14668,1.00,146.0,974.8,9.1,486,14674,0.00,2.08,0.00,0.000,6,0.000,0.034,2576,1937,2473,0,0,0,0,0,0
$GC,14999,1.00,146.0,938.1,11.1,495,15003,0.00,2.28,0.00,0.000,4,0.000,0.054,2576,881,2469,0,0,0,0,0,0
$GC,15064,1.00,146.0,930.7,11.6,496,15069,0.00,2.22,0.00,0.000,6,0.000,0.029,2575,1942,2470,0,0,0,0,0,0
$GC,15407,1.00,146.0,894.6,10.6,505,15411,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,879,2469,0,0,0,0,0,0
$GC,15445,1.00,146.0,890.3,11.2,506,15449,0.00,2.17,0.00,0.000,6,0.000,0.029,2576,1931,2468,0,0,0,0,0,0
$GC,15774,1.00,146.0,856.1,10.5,514,15778,0.00,2.28,0.00,0.000,4,0.000,0.051,2576,880,2467,0,0,0,0,0,0
$GC,15812,1.00,146.0,851.9,11.7,515,15816,0.00,2.15,0.00,0.000,6,0.000,0.029,2576,1919,2467,0,0,0,0,0,0
$GC,16134,1.00,146.0,819.5,9.7,523,16138,0.00,2.25,0.00,0.000,4,0.000,0.050,2576,880,2466,0,0,0,0,0,0
$GC,16173,1.00,146.0,815.8,8.9,524,16177,0.00,2.15,0.00,0.000,6,0.000,0.029,2576,1918,2467,0,0,0,0,0,0
$GC,16502,1.00,146.0,787.4,8.5,532,16506,0.00,2.25,0.00,0.000,4,0.000,0.051,2576,873,2466,0,0,0,0,0,0
$GC,16592,1.00,146.0,779.0,9.1,534,16595,0.00,2.12,0.00,0.000,6,0.000,0.030,2576,1900,2467,0,0,0,0,0,0
$GC,16921,1.00,146.0,750.4,9.1,542,16925,0.00,2.20,0.00,0.000,4,0.000,0.051,2576,869,2466,0,0,0,0,0,0
$GC,16992,1.00,146.0,742.5,10.8,543,16997,0.00,2.15,0.00,0.000,6,0.000,0.028,2576,1901,2466,0,0,0,0,0,0
$GC,17329,1.00,146.0,704.5,12.0,552,17333,0.00,2.20,0.00,0.000,4,0.000,0.051,2576,876,2466,0,0,0,0,0,0
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$STATE,25437,end climb,SURFACE_DEPTH_REACHED
$STATE,25437,begin surface coast
$FINISH,1.7,1.022071
$STATE,25468,end surface coast,CONTROL_FINISHED_OK
$STATE,25468,begin surface
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59695398912
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,26.251
$10V_AH,9.9,13.008
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.325,219.800,446.000,64.175,0.000,58.087,74.073,503.775,80.250,0.000,17.474,2053.755,19757.986,672.219,3676.575,237.631,33.375,2267.759,0.000,2935.513,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.439,0.000,0.000
$MEM,354852
$DATA_FILE_SIZE,33356,965
$CAP_FILE_SIZE,226505,0
$CFSIZE,260034560,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171210,035651,1933.792,12539.226,37,2.9,57,-2.4