version: 66.07
glider: 23
mission: 5
dive: 155
start: 12 17 110 4 8 28
data:
$ID,23
$MISSION,5
$DIVE,155
$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,-53244.953
$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,17
$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,154
$AR_SAMPLENUM,2
$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
$GPS1,171210,035651,1933.792,12539.226,37,2.9,57,-2.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-54.5
$GPS2,171210,040736,1933.873,12539.010,31,1.3,31,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,-0.194
$KALMAN_X,-243642.8,801.1,17.0,204942.1,-6141.2
$KALMAN_Y,67869.4,-260.4,759.9,-267546.6,1892.4
$MHEAD_RNG_PITCHd_Wd,159.0,196914,-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,25,begin dive
$GC,26,-1.00,-146.0,0.0,0.0,0,105,0.00,0.00,-75.82,0.000,2,0.000,0.000,365,2707,2779,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.1,-1.7,15,159,10.07,2.25,-32.72,0.000,4,0.155,0.051,2135,1608,3668,0,0,0,0,0,0
$GC,383,-1.00,-146.0,47.8,-17.6,57,387,0.00,2.08,0.00,0.000,6,0.000,0.025,2134,2686,3668,0,0,0,0,0,0
$GC,649,-1.00,-146.0,96.8,-18.1,82,652,0.00,1.70,0.00,0.000,4,0.000,0.038,2134,3749,3669,0,0,0,0,0,0
$GC,772,-1.00,-146.0,115.9,-14.8,93,776,0.00,1.70,0.00,0.000,6,0.000,0.025,2135,2662,3669,0,0,0,0,0,0
$GC,1038,-1.00,-146.0,151.6,-12.5,118,1042,0.00,2.05,0.00,0.000,4,0.000,0.037,2135,1622,3669,0,0,0,0,0,0
$GC,1121,-1.00,-146.0,161.5,-11.8,125,1127,0.00,2.08,0.00,0.000,6,0.000,0.025,2135,2680,3670,0,0,0,0,0,0
$GC,1383,-1.00,-146.0,191.4,-11.2,150,1387,0.00,2.08,0.00,0.000,4,0.000,0.036,2135,1620,3670,0,0,0,0,0,0
$GC,1535,-1.00,-146.0,211.2,-11.9,160,1538,0.00,2.08,0.00,0.000,6,0.000,0.027,2134,2688,3670,0,0,0,0,0,0
$GC,1860,-1.00,-146.0,252.5,-12.8,176,1864,0.00,2.12,0.00,0.000,4,0.000,0.037,2135,1615,3670,0,0,0,0,0,0
$GC,1892,-1.00,-146.0,257.0,-13.7,177,1899,0.00,2.08,0.00,0.000,6,0.000,0.028,2134,2665,3670,0,0,0,0,0,0
$GC,2208,-1.00,-146.0,292.9,-9.8,193,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2664,3670,0,0,0,0,0,0
$GC,2534,-1.00,-146.0,323.5,-9.1,203,2537,0.00,2.08,0.00,0.000,4,0.000,0.038,2134,1625,3668,0,0,0,0,0,0
$GC,2702,-1.00,-146.0,340.5,-10.3,206,2706,0.00,2.05,0.00,0.000,6,0.000,0.030,2134,2665,3667,0,0,0,0,0,0
$GC,3038,-1.00,-146.0,374.6,-9.6,215,3042,0.00,2.08,0.00,0.000,4,0.000,0.038,2135,1614,3666,0,0,0,0,0,0
$GC,3114,-1.00,-146.0,381.4,-8.9,216,3121,0.00,2.08,0.00,0.000,6,0.000,0.030,2135,2654,3665,0,0,0,0,0,0
$GC,3446,-1.00,-146.0,408.8,-7.5,225,3450,0.00,2.08,0.00,0.000,4,0.000,0.038,2135,1617,3663,0,0,0,0,0,0
$GC,3500,-1.00,-146.0,413.8,-9.4,226,3504,0.00,2.08,0.00,0.000,6,0.000,0.031,2134,2654,3663,0,0,0,0,0,0
$GC,3813,-1.00,-146.0,437.8,-8.1,234,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2654,3660,0,0,0,0,0,0
$GC,4138,-1.00,-146.0,463.7,-7.3,242,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2654,3659,0,0,0,0,0,0
$GC,4463,-1.00,-146.0,486.5,-7.0,250,4467,0.00,2.08,0.00,0.000,4,0.000,0.038,2134,1619,3656,0,0,0,0,0,0
$GC,4534,-1.00,-146.0,491.6,-7.2,251,4539,0.00,2.08,0.00,0.000,6,0.000,0.032,2135,2655,3654,0,0,0,0,0,0
$GC,4871,-1.00,-146.0,514.4,-6.8,260,4875,0.00,2.05,0.00,0.000,4,0.000,0.038,2134,1624,3652,0,0,0,0,0,0
$GC,5061,-1.00,-146.0,526.2,-6.2,264,5065,0.00,2.05,0.00,0.000,6,0.000,0.033,2134,2643,3650,0,0,0,0,0,0
$GC,5380,-1.00,-146.0,546.3,-6.6,272,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2643,3648,0,0,0,0,0,0
$GC,5705,-1.00,-146.0,568.8,-6.8,280,5708,0.00,2.05,0.00,0.000,4,0.000,0.040,2134,1626,3645,0,0,0,0,0,0
$GC,5794,-1.00,-146.0,575.6,-7.7,282,5797,0.00,2.03,0.00,0.000,6,0.000,0.035,2134,2655,3645,0,0,0,0,0,0
$GC,6123,-1.00,-146.0,599.1,-7.0,290,6127,0.00,2.08,0.00,0.000,4,0.000,0.040,2135,1624,3643,0,0,0,0,0,0
$GC,6229,-1.00,-146.0,606.1,-6.5,292,6233,0.00,2.05,0.00,0.000,6,0.000,0.035,2135,2635,3643,0,0,0,0,0,0
$GC,6577,-1.00,-146.0,626.7,-5.9,301,6581,0.00,1.83,0.00,0.000,4,0.000,0.054,2134,3735,3640,0,0,0,0,0,0
$GC,6834,-1.00,-146.0,641.7,-5.7,306,6839,0.00,1.77,0.00,0.000,6,0.000,0.027,2134,2635,3638,0,0,0,0,0,0
$GC,7171,-1.00,-146.0,656.2,-4.2,315,7175,0.00,2.03,0.00,0.000,4,0.000,0.043,2135,1632,3636,0,0,0,0,0,0
$GC,7306,-1.00,-146.0,661.9,-4.2,318,7309,0.00,2.03,0.00,0.000,6,0.000,0.037,2135,2639,3635,0,0,0,0,0,0
$GC,7635,-1.00,-146.0,678.3,-5.4,326,7639,0.00,2.05,0.00,0.000,4,0.000,0.042,2135,1626,3633,0,0,0,0,0,0
$GC,7887,-1.00,-146.0,692.1,-6.0,331,7891,0.00,2.05,0.00,0.000,6,0.000,0.038,2134,2630,3632,0,0,0,0,0,0
$GC,8230,-1.00,-146.0,710.3,-5.3,340,8233,0.00,2.03,0.00,0.000,4,0.000,0.043,2135,1622,3629,0,0,0,0,0,0
$GC,8459,-1.00,-146.0,721.6,-4.8,345,8463,0.00,2.03,0.00,0.000,6,0.000,0.038,2134,2607,3628,0,0,0,0,0,0
$GC,8783,-1.00,-146.0,738.2,-5.4,353,8787,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1606,3627,0,0,0,0,0,0
$GC,8918,-1.00,-146.0,746.1,-6.2,356,8922,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2618,3627,0,0,0,0,0,0
$GC,9242,-1.00,-146.0,763.5,-5.1,364,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2617,3626,0,0,0,0,0,0
$GC,9566,-1.00,-146.0,777.0,-4.0,372,9570,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1620,3624,0,0,0,0,0,0
$GC,9767,-1.00,-146.0,785.0,-4.4,376,9772,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2603,3623,0,0,0,0,0,0
$GC,10115,-1.00,-146.0,798.4,-3.8,385,10119,0.00,2.00,0.00,0.000,4,0.000,0.041,2135,1620,3622,0,0,0,0,0,0
$GC,10210,-1.00,-146.0,802.1,-3.9,387,10214,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2600,3622,0,0,0,0,0,0
$GC,10534,-1.00,-146.0,815.2,-4.3,395,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2599,3621,0,0,0,0,0,0
$GC,10859,-1.00,-146.0,831.4,-5.2,403,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2599,3619,0,0,0,0,0,0
$GC,11184,-1.00,-146.0,850.5,-6.2,411,11188,0.00,2.00,0.00,0.000,4,0.000,0.041,2134,1620,3617,0,0,0,0,0,0
$GC,11250,-1.00,-146.0,854.8,-6.9,412,11254,0.00,2.03,0.00,0.000,6,0.000,0.039,2134,2599,3618,0,0,0,0,0,0
$GC,11598,-1.00,-146.0,875.0,-5.4,421,11602,0.00,1.92,0.00,0.000,4,0.000,0.059,2134,3744,3617,0,0,0,0,0,0
$GC,11850,-1.00,-146.0,888.1,-4.7,426,11854,0.00,1.88,0.00,0.000,6,0.000,0.030,2134,2586,3616,0,0,0,0,0,0
$GC,12192,-1.00,-146.0,900.1,-3.2,435,12196,0.00,1.98,0.00,0.000,4,0.000,0.043,2134,1623,3615,0,0,0,0,0,0
$GC,12449,-1.00,-146.0,908.0,-2.6,440,12453,0.00,2.00,0.00,0.000,6,0.000,0.039,2134,2587,3615,0,0,0,0,0,0
$GC,12786,-1.00,-146.0,916.9,-2.5,449,12789,0.00,1.98,0.00,0.000,4,0.000,0.041,2134,1624,3614,0,0,0,0,0,0
$GC,12931,-1.00,-146.0,920.8,-2.5,452,12935,0.00,1.95,0.00,0.000,6,0.000,0.039,2134,2589,3615,0,0,0,0,0,0
$GC,13250,-1.00,-146.0,931.0,-3.6,460,13254,0.00,1.98,0.00,0.000,4,0.000,0.041,2134,1625,3614,0,0,0,0,0,0
$GC,13317,-1.00,-146.0,933.7,-4.2,461,13320,0.00,1.95,0.00,0.000,6,0.000,0.039,2134,2587,3614,0,0,0,0,0,0
$GC,13664,-1.00,-146.0,950.6,-5.4,470,13668,0.00,1.98,0.00,0.000,4,0.000,0.041,2134,1623,3613,0,0,0,0,0,0
$GC,13764,-1.00,-146.0,956.5,-5.8,472,13768,0.00,1.98,0.00,0.000,6,0.000,0.039,2134,2574,3613,0,0,0,0,0,0
$GC,14082,-1.00,-146.0,977.4,-6.9,480,14086,0.00,1.92,0.00,0.000,4,0.000,0.041,2134,1626,3612,0,0,0,0,0,0
$GC,14218,-1.00,-146.0,986.8,-6.2,483,14221,0.00,1.95,0.00,0.000,6,0.000,0.040,2134,2573,3611,0,0,0,0,0,0
$STATE,14260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14261,begin apogee
$GC,14266,-0.33,0.0,990.0,6.9,484,14384,0.73,0.00,114.40,1.506,6,0.094,0.000,2283,1949,3072,0,0,0,0,0,0
$STATE,14387,end apogee,CONTROL_FINISHED_OK
$STATE,14387,begin climb
$GC,14389,1.00,146.0,992.1,0.0,487,14522,1.40,2.38,126.43,1.443,4,0.064,0.051,2578,877,2475,0,0,0,0,0,0
$GC,14555,1.00,146.0,982.7,7.2,491,14560,0.00,2.22,0.00,0.000,6,0.000,0.030,2577,1951,2473,0,0,0,0,0,0
$GC,14868,1.00,146.0,958.0,8.1,499,14872,0.00,2.33,0.00,0.000,4,0.000,0.051,2578,881,2469,0,0,0,0,0,0
$GC,14906,1.00,146.0,954.7,9.1,500,14910,0.00,2.17,0.00,0.000,6,0.000,0.029,2577,1942,2469,0,0,0,0,0,0
$GC,15229,1.00,146.0,925.9,9.0,508,15233,0.00,2.28,0.00,0.000,4,0.000,0.051,2577,879,2469,0,0,0,0,0,0
$GC,15249,1.00,146.0,923.7,9.5,508,15254,0.00,2.20,0.00,0.000,6,0.000,0.029,2577,1925,2468,0,0,0,0,0,0
$GC,15592,1.00,146.0,888.0,10.9,517,15596,0.00,2.25,0.00,0.000,4,0.000,0.051,2577,880,2468,0,0,0,0,0,0
$GC,15623,1.00,146.0,884.1,11.4,517,15630,0.00,2.20,0.00,0.000,6,0.000,0.028,2578,1930,2467,0,0,0,0,0,0
$GC,15955,1.00,146.0,844.6,12.1,526,15958,0.00,2.05,0.00,0.000,4,0.000,0.041,2578,3012,2466,0,0,0,0,0,0
$GC,15999,1.00,146.0,839.0,12.6,527,16003,0.00,2.08,0.00,0.000,6,0.000,0.036,2578,1913,2467,0,0,0,0,0,0
$GC,16321,1.00,146.0,799.6,11.9,535,16325,0.00,2.22,0.00,0.000,4,0.000,0.053,2577,878,2467,0,0,0,0,0,0
$GC,16365,1.00,146.0,793.9,13.9,536,16369,0.00,2.20,0.00,0.000,6,0.000,0.028,2578,1932,2468,0,0,0,0,0,0
$GC,16689,1.00,146.0,756.3,11.5,544,16693,0.00,2.30,0.00,0.000,4,0.000,0.052,2578,871,2467,0,0,0,0,0,0
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$STATE,25985,end climb,SURFACE_DEPTH_REACHED
$STATE,25985,begin surface coast
$FINISH,2.0,1.009413
$STATE,26015,end surface coast,CONTROL_FINISHED_OK
$STATE,26015,begin surface
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$TT8_MAMPS,0.048321
$HUMID,1078759345
$TCM_TEMP,25.60
$XPDR_PINGS,428
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$AR_CDRIVE_FREE,2042134528
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59645198336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,26.472
$10V_AH,9.9,13.186
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.650,230.350,612.850,0.000,0.000,23.517,33.154,419.157,107.000,0.000,32.522,2082.051,20236.283,751.394,3405.730,256.126,33.364,2327.434,0.000,2832.215,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.815,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,36668,1021
$CAP_FILE_SIZE,227425,0
$CFSIZE,260034560,247562240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171210,150009,1929.798,12545.828,0,10000.0,0,-2.4