version: 66.07
glider: 23
mission: 5
dive: 156
start: 12 17 110 12 8 27
data:
$ID,23
$MISSION,5
$DIVE,156
$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,-54401.91
$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,22
$R_STBD_OVSHOOT,25
$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,155
$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
$GPS1,171210,150009,1929.798,12545.828,0,10000.0,0,-2.4
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-46.9
$GPS2,171210,120735,1932.921,12537.489,244,1.8,248,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.210
$KALMAN_X,-247117.1,-753.2,57.1,207297.6,-2949.2
$KALMAN_Y,72194.2,-15.4,-28.0,-273079.4,3867.6
$MHEAD_RNG_PITCHd_Wd,174.7,193760,-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,25,-1.00,-146.0,0.0,0.0,0,104,0.00,0.00,-76.30,0.000,2,0.000,0.000,361,2707,2544,0,0,0,0,0,0
$GC,106,-1.00,-146.0,3.0,-1.6,15,168,10.07,2.17,-44.03,0.000,4,0.156,0.047,2135,1620,3669,0,0,0,0,0,0
$GC,363,-1.00,-146.0,43.8,-22.8,56,370,0.00,2.10,0.00,0.000,6,0.000,0.022,2135,2703,3668,0,0,0,0,0,0
$GC,624,-1.00,-146.0,96.0,-16.9,81,628,0.00,1.67,0.00,0.000,4,0.000,0.039,2135,3728,3668,0,0,0,0,0,0
$GC,680,-1.00,-146.0,104.2,-14.1,86,684,0.00,1.70,0.00,0.000,6,0.000,0.021,2135,2648,3668,0,0,0,0,0,0
$GC,948,-1.00,-146.0,138.8,-11.8,111,952,0.00,1.98,0.00,0.000,4,0.000,0.033,2135,1629,3668,0,0,0,0,0,0
$GC,997,-1.00,-146.0,145.0,-10.9,115,1003,0.00,2.08,0.00,0.000,6,0.000,0.024,2135,2689,3669,0,0,0,0,0,0
$GC,1260,-1.00,-146.0,173.7,-10.9,140,1264,0.00,1.67,0.00,0.000,4,0.000,0.041,2135,3744,3669,0,0,0,0,0,0
$GC,1332,-1.00,-146.0,182.4,-11.9,146,1338,0.00,1.67,0.00,0.000,6,0.000,0.022,2135,2692,3669,0,0,0,0,0,0
$GC,1602,-1.00,-146.0,208.7,-10.1,168,1606,0.00,2.08,0.00,0.000,4,0.000,0.035,2135,1620,3668,0,0,0,0,0,0
$GC,1618,-1.00,-146.0,210.4,-10.0,169,1622,0.00,2.08,0.00,0.000,6,0.000,0.028,2135,2702,3668,0,0,0,0,0,0
$GC,1950,-1.00,-146.0,246.2,-10.6,185,1954,0.00,2.10,0.00,0.000,4,0.000,0.033,2135,1623,3666,0,0,0,0,0,0
$GC,1994,-1.00,-146.0,250.7,-9.4,187,1998,0.00,2.10,0.00,0.000,6,0.000,0.027,2135,2686,3665,0,0,0,0,0,0
$GC,2321,-1.00,-146.0,282.0,-8.8,203,2325,0.00,2.10,0.00,0.000,4,0.000,0.033,2135,1617,3665,0,0,0,0,0,0
$GC,2466,-1.00,-146.0,294.2,-8.7,209,2472,0.00,2.10,0.00,0.000,6,0.000,0.028,2135,2678,3663,0,0,0,0,0,0
$GC,2777,-1.00,-146.0,321.3,-8.9,219,2781,0.00,2.10,0.00,0.000,4,0.000,0.034,2135,1614,3662,0,0,0,0,0,0
$GC,2943,-1.00,-146.0,337.1,-8.6,222,2950,0.00,2.10,0.00,0.000,6,0.000,0.028,2135,2670,3660,0,0,0,0,0,0
$GC,3274,-1.00,-146.0,366.1,-8.9,231,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2669,3659,0,0,0,0,0,0
$GC,3600,-1.00,-146.0,397.6,-9.8,239,3603,0.00,2.08,0.00,0.000,4,0.000,0.035,2135,1614,3657,0,0,0,0,0,0
$GC,3806,-1.00,-146.0,415.0,-7.6,243,3810,0.00,2.12,0.00,0.000,6,0.000,0.029,2135,2680,3655,0,0,0,0,0,0
$GC,4149,-1.00,-146.0,439.1,-6.8,252,4152,0.00,1.75,0.00,0.000,4,0.000,0.048,2135,3741,3652,0,0,0,0,0,0
$GC,4283,-1.00,-146.0,449.3,-8.2,255,4287,0.00,1.75,0.00,0.000,6,0.000,0.025,2135,2645,3651,0,0,0,0,0,0
$GC,4612,-1.00,-146.0,478.3,-9.0,263,4616,0.00,2.00,0.00,0.000,4,0.000,0.035,2135,1620,3648,0,0,0,0,0,0
$GC,4656,-1.00,-146.0,482.5,-9.7,264,4660,0.00,2.05,0.00,0.000,6,0.000,0.031,2135,2671,3648,0,0,0,0,0,0
$GC,4985,-1.00,-146.0,509.9,-7.5,272,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2671,3646,0,0,0,0,0,0
$GC,5311,-1.00,-146.0,529.8,-5.8,280,5315,0.00,2.08,0.00,0.000,4,0.000,0.035,2135,1625,3643,0,0,0,0,0,0
$GC,5404,-1.00,-146.0,535.4,-6.2,282,5409,0.00,2.08,0.00,0.000,6,0.000,0.031,2135,2659,3643,0,0,0,0,0,0
$GC,5723,-1.00,-146.0,555.5,-6.5,290,5727,0.00,2.03,0.00,0.000,4,0.000,0.035,2135,1627,3640,0,0,0,0,0,0
$GC,5880,-1.00,-146.0,566.7,-7.8,293,5884,0.00,2.03,0.00,0.000,6,0.000,0.032,2135,2659,3639,0,0,0,0,0,0
$GC,6227,-1.00,-146.0,591.4,-7.3,302,6230,0.00,2.05,0.00,0.000,4,0.000,0.036,2135,1626,3636,0,0,0,0,0,0
$GC,6327,-1.00,-146.0,598.6,-7.2,304,6331,0.00,2.05,0.00,0.000,6,0.000,0.033,2135,2647,3636,0,0,0,0,0,0
$GC,6645,-1.00,-146.0,620.1,-6.6,312,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2647,3633,0,0,0,0,0,0
$GC,6970,-1.00,-146.0,636.0,-4.4,320,6974,0.00,1.83,0.00,0.000,4,0.000,0.053,2135,3740,3631,0,0,0,0,0,0
$GC,7228,-1.00,-146.0,648.7,-5.7,325,7232,0.00,1.77,0.00,0.000,6,0.000,0.027,2135,2641,3630,0,0,0,0,0,0
$GC,7564,-1.00,-146.0,666.3,-5.5,334,7568,0.00,2.00,0.00,0.000,4,0.000,0.039,2135,1624,3627,0,0,0,0,0,0
$GC,7821,-1.00,-146.0,683.2,-7.0,339,7826,0.00,2.05,0.00,0.000,6,0.000,0.035,2135,2640,3626,0,0,0,0,0,0
$GC,8158,-1.00,-146.0,703.8,-5.8,348,8162,0.00,2.05,0.00,0.000,4,0.000,0.041,2135,1620,3624,0,0,0,0,0,0
$GC,8310,-1.00,-146.0,711.3,-4.7,351,8313,0.00,2.03,0.00,0.000,6,0.000,0.037,2135,2640,3623,0,0,0,0,0,0
$GC,8657,-1.00,-146.0,726.1,-4.2,360,8660,0.00,2.05,0.00,0.000,4,0.000,0.040,2135,1620,3621,0,0,0,0,0,0
$GC,8751,-1.00,-146.0,730.0,-3.8,362,8755,0.00,2.08,0.00,0.000,6,0.000,0.037,2135,2638,3621,0,0,0,0,0,0
$GC,9075,-1.00,-146.0,742.7,-4.1,370,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2638,3619,0,0,0,0,0,0
$GC,9400,-1.00,-146.0,760.2,-5.9,378,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2637,3618,0,0,0,0,0,0
$GC,9725,-1.00,-146.0,783.0,-7.3,386,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2638,3616,0,0,0,0,0,0
$GC,10050,-1.00,-146.0,804.4,-6.4,394,10054,0.00,2.05,0.00,0.000,4,0.000,0.040,2135,1617,3615,0,0,0,0,0,0
$GC,10173,-1.00,-146.0,811.7,-5.9,396,10177,0.00,2.05,0.00,0.000,6,0.000,0.038,2135,2647,3615,0,0,0,0,0,0
$GC,10509,-1.00,-146.0,827.4,-4.4,405,10513,0.00,2.05,0.00,0.000,4,0.000,0.039,2135,1626,3614,0,0,0,0,0,0
$GC,10581,-1.00,-146.0,830.5,-4.6,406,10585,0.00,2.05,0.00,0.000,6,0.000,0.037,2135,2631,3614,0,0,0,0,0,0
$GC,10923,-1.00,-146.0,844.2,-4.2,415,10927,0.00,1.85,0.00,0.000,4,0.000,0.056,2135,3735,3613,0,0,0,0,0,0
$GC,11059,-1.00,-146.0,850.9,-5.4,418,11062,0.00,1.77,0.00,0.000,6,0.000,0.029,2135,2628,3612,0,0,0,0,0,0
$GC,11388,-1.00,-146.0,869.7,-5.8,426,11391,0.00,2.00,0.00,0.000,4,0.000,0.041,2135,1619,3612,0,0,0,0,0,0
$GC,11426,-1.00,-146.0,872.0,-6.0,426,11432,0.00,2.08,0.00,0.000,6,0.000,0.038,2135,2633,3612,0,0,0,0,0,0
$GC,11757,-1.00,-146.0,894.2,-7.1,435,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2633,3610,0,0,0,0,0,0
$GC,12082,-1.00,-146.0,915.7,-6.2,443,12085,0.00,2.03,0.00,0.000,4,0.000,0.039,2135,1627,3609,0,0,0,0,0,0
$GC,12165,-1.00,-146.0,920.2,-5.6,444,12171,0.00,2.05,0.00,0.000,6,0.000,0.038,2135,2626,3609,0,0,0,0,0,0
$GC,12496,-1.00,-146.0,935.0,-4.0,453,12500,0.00,1.85,0.00,0.000,4,0.000,0.056,2135,3746,3608,0,0,0,0,0,0
$GC,12568,-1.00,-146.0,938.2,-4.5,454,12572,0.00,1.83,0.00,0.000,6,0.000,0.029,2135,2619,3607,0,0,0,0,0,0
$GC,12910,-1.00,-146.0,953.5,-4.7,463,12914,0.00,2.00,0.00,0.000,4,0.000,0.041,2136,1618,3606,0,0,0,0,0,0
$GC,13168,-1.00,-146.0,967.0,-6.1,468,13172,0.00,2.05,0.00,0.000,6,0.000,0.039,2135,2618,3607,0,0,0,0,0,0
$GC,13504,-1.00,-146.0,986.8,-5.8,477,13508,0.00,2.00,0.00,0.000,4,0.000,0.040,2135,1617,3606,0,0,0,0,0,0
$STATE,13557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13557,begin apogee
$GC,13563,-0.33,0.0,990.1,5.8,478,13679,0.70,0.00,112.93,1.493,6,0.097,0.000,2281,1961,3071,0,0,0,0,0,0
$STATE,13703,end apogee,CONTROL_FINISHED_OK
$STATE,13703,begin climb
$GC,13704,1.00,146.0,990.9,0.0,481,13839,1.38,2.00,125.18,1.434,4,0.062,0.041,2577,2982,2474,0,0,0,0,0,0
$GC,13855,1.00,146.0,980.0,7.3,484,13860,0.00,2.03,0.00,0.000,6,0.000,0.031,2577,1942,2473,0,0,0,0,0,0
$GC,14192,1.00,146.0,948.2,10.0,493,14196,0.00,2.28,0.00,0.000,4,0.000,0.051,2577,886,2470,0,0,0,0,0,0
$GC,14291,1.00,146.0,937.2,11.4,495,14296,0.00,2.17,0.00,0.000,6,0.000,0.028,2577,1916,2469,0,0,0,0,0,0
$GC,14604,1.00,146.0,907.1,9.2,503,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1923,2468,0,0,0,0,0,0
$GC,14929,1.00,146.0,879.8,8.1,511,14933,0.00,2.22,0.00,0.000,4,0.000,0.048,2577,883,2467,0,0,0,0,0,0
$GC,14949,1.00,146.0,878.0,8.1,511,14954,0.00,2.22,0.00,0.000,6,0.000,0.028,2577,1948,2466,0,0,0,0,0,0
$GC,15297,1.00,146.0,848.6,8.6,520,15298,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1953,2466,0,0,0,0,0,0
$GC,15622,1.00,146.0,817.1,10.0,528,15626,0.00,2.30,0.00,0.000,4,0.000,0.049,2577,875,2466,0,0,0,0,0,0
$GC,15665,1.00,146.0,812.4,11.3,529,15669,0.00,2.20,0.00,0.000,6,0.000,0.028,2577,1929,2466,0,0,0,0,0,0
$GC,15989,1.00,146.0,779.0,10.3,537,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1936,2465,0,0,0,0,0,0
$GC,16314,1.00,146.0,747.3,9.4,545,16315,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1936,2465,0,0,0,0,0,0
$GC,16639,1.00,146.0,716.2,9.5,553,16640,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1936,2465,0,0,0,0,0,0
$GC,16964,1.00,146.0,687.1,8.5,561,16968,0.00,2.25,0.00,0.000,4,0.000,0.051,2577,884,2465,0,0,0,0,0,0
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$STATE,25081,end climb,SURFACE_DEPTH_REACHED
$STATE,25081,begin surface coast
$FINISH,1.7,0.998640
$STATE,25111,end surface coast,CONTROL_FINISHED_OK
$STATE,25112,begin surface
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$FG_AHR_10Vo,0.000
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$CFSIZE,260034560,247455744
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