version: 66.07
glider: 23
mission: 5
dive: 159
start: 12 18 110 10 36 5
data:
$ID,23
$MISSION,5
$DIVE,159
$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,-54507.676
$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,18
$R_STBD_OVSHOOT,36
$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,158
$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
$GPS1,181210,102330,1928.239,12532.803,39,1.2,40,-2.4
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-53.0
$GPS2,181210,103513,1928.405,12532.593,30,1.2,30,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,-0.207
$KALMAN_X,-261464.5,-513.2,216.4,212808.2,-4736.8
$KALMAN_Y,80074.8,565.6,58.5,-289990.1,2519.1
$MHEAD_RNG_PITCHd_Wd,170.1,181760,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-81.20,0.000,2,0.000,0.000,364,2699,2889,0,0,0,0,0,0
$GC,112,-1.00,-146.0,3.2,-1.9,16,154,10.15,2.17,-26.02,0.000,4,0.159,0.048,2139,1607,3668,0,0,0,0,0,0
$GC,290,-1.00,-146.0,30.5,-19.5,48,294,0.00,2.10,0.00,0.000,6,0.000,0.025,2139,2686,3668,0,0,0,0,0,0
$GC,550,-1.00,-146.0,76.1,-16.8,72,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2685,3669,0,0,0,0,0,0
$GC,805,-1.00,-146.0,114.0,-12.7,96,809,0.00,2.15,0.00,0.000,4,0.000,0.038,2139,1614,3668,0,0,0,0,0,0
$GC,938,-1.00,-146.0,130.3,-11.6,107,944,0.00,2.10,0.00,0.000,6,0.000,0.025,2139,2677,3670,0,0,0,0,0,0
$GC,1200,-1.00,-146.0,154.2,-7.6,132,1204,0.00,2.10,0.00,0.000,4,0.000,0.035,2139,1613,3670,0,0,0,0,0,0
$GC,1249,-1.00,-146.0,158.9,-9.4,136,1253,0.00,2.08,0.00,0.000,6,0.000,0.026,2139,2688,3670,0,0,0,0,0,0
$GC,1516,-1.00,-146.0,190.3,-13.2,161,1520,0.00,2.12,0.00,0.000,4,0.000,0.037,2141,1614,3670,0,0,0,0,0,0
$GC,1554,-1.00,-146.0,196.1,-14.7,164,1558,0.00,2.08,0.00,0.000,6,0.000,0.027,2139,2683,3670,0,0,0,0,0,0
$GC,1813,-1.00,-146.0,231.2,-12.6,178,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2684,3670,0,0,0,0,0,0
$GC,2122,-1.00,-146.0,262.1,-8.2,193,2126,0.00,2.15,0.00,0.000,4,0.000,0.038,2139,1613,3669,0,0,0,0,0,0
$GC,2177,-1.00,-146.0,266.7,-7.8,195,2183,0.00,2.10,0.00,0.000,6,0.000,0.028,2139,2659,3669,0,0,0,0,0,0
$GC,2492,-1.00,-146.0,291.0,-8.5,211,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2658,3667,0,0,0,0,0,0
$GC,2798,-1.00,-146.0,323.0,-11.0,221,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2659,3666,0,0,0,0,0,0
$GC,3123,-1.00,-146.0,355.2,-8.9,229,3127,0.00,2.10,0.00,0.000,4,0.000,0.038,2139,1608,3665,0,0,0,0,0,0
$GC,3380,-1.00,-146.0,372.2,-5.9,234,3387,0.00,2.12,0.00,0.000,6,0.000,0.031,2139,2663,3663,0,0,0,0,0,0
$GC,3712,-1.00,-146.0,392.1,-6.1,243,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2663,3662,0,0,0,0,0,0
$GC,4036,-1.00,-146.0,419.2,-8.9,251,4040,0.00,2.12,0.00,0.000,4,0.000,0.040,2139,1611,3659,0,0,0,0,0,0
$GC,4068,-1.00,-146.0,422.3,-9.1,251,4075,0.00,2.15,0.00,0.000,6,0.000,0.031,2139,2677,3659,0,0,0,0,0,0
$GC,4400,-1.00,-146.0,446.5,-6.4,260,4404,0.00,2.15,0.00,0.000,4,0.000,0.039,2139,1609,3658,0,0,0,0,0,0
$GC,4522,-1.00,-146.0,452.8,-4.9,262,4528,0.00,2.12,0.00,0.000,6,0.000,0.032,2139,2662,3657,0,0,0,0,0,0
$GC,4853,-1.00,-146.0,472.6,-6.6,271,4857,0.00,2.12,0.00,0.000,4,0.000,0.041,2139,1612,3654,0,0,0,0,0,0
$GC,4958,-1.00,-146.0,481.0,-7.7,273,4963,0.00,2.12,0.00,0.000,6,0.000,0.033,2139,2666,3653,0,0,0,0,0,0
$GC,5307,-1.00,-146.0,505.0,-6.4,282,5311,0.00,2.12,0.00,0.000,4,0.000,0.041,2139,1614,3651,0,0,0,0,0,0
$GC,5406,-1.00,-146.0,510.4,-4.9,284,5411,0.00,2.10,0.00,0.000,6,0.000,0.033,2139,2655,3649,0,0,0,0,0,0
$GC,5720,-1.00,-146.0,527.4,-5.8,292,5724,0.00,2.12,0.00,0.000,4,0.000,0.041,2139,1608,3647,0,0,0,0,0,0
$GC,5849,-1.00,-146.0,535.7,-6.0,295,5853,0.00,2.08,0.00,0.000,6,0.000,0.034,2139,2655,3645,0,0,0,0,0,0
$GC,6172,-1.00,-146.0,561.1,-8.2,303,6176,0.00,2.10,0.00,0.000,4,0.000,0.041,2139,1607,3644,0,0,0,0,0,0
$GC,6198,-1.00,-146.0,563.4,-8.6,303,6203,0.00,2.10,0.00,0.000,6,0.000,0.034,2139,2641,3644,0,0,0,0,0,0
$GC,6535,-1.00,-146.0,590.8,-7.8,312,6538,0.00,2.10,0.00,0.000,4,0.000,0.044,2139,1607,3641,0,0,0,0,0,0
$GC,6680,-1.00,-146.0,601.1,-6.9,315,6684,0.00,2.08,0.00,0.000,6,0.000,0.035,2139,2646,3640,0,0,0,0,0,0
$GC,6992,-1.00,-146.0,620.7,-6.2,323,6996,0.00,1.85,0.00,0.000,4,0.000,0.054,2139,3737,3639,0,0,0,0,0,0
$GC,7047,-1.00,-146.0,624.6,-7.0,324,7051,0.00,1.83,0.00,0.000,6,0.000,0.028,2139,2612,3639,0,0,0,0,0,0
$GC,7366,-1.00,-146.0,642.1,-5.2,332,7369,0.00,2.05,0.00,0.000,4,0.000,0.045,2139,1610,3636,0,0,0,0,0,0
$GC,7443,-1.00,-146.0,646.0,-5.1,333,7448,0.00,2.10,0.00,0.000,6,0.000,0.036,2139,2639,3636,0,0,0,0,0,0
$GC,7780,-1.00,-146.0,662.6,-5.4,342,7784,0.00,2.10,0.00,0.000,4,0.000,0.044,2140,1613,3634,0,0,0,0,0,0
$GC,8032,-1.00,-146.0,679.2,-6.8,347,8036,0.00,2.08,0.00,0.000,6,0.000,0.037,2139,2624,3632,0,0,0,0,0,0
$GC,8369,-1.00,-146.0,701.0,-6.1,356,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2624,3630,0,0,0,0,0,0
$GC,8694,-1.00,-146.0,717.7,-5.0,364,8698,0.00,1.90,0.00,0.000,4,0.000,0.058,2139,3740,3629,0,0,0,0,0,0
$GC,8765,-1.00,-146.0,720.7,-4.1,365,8769,0.00,1.85,0.00,0.000,6,0.000,0.029,2139,2602,3629,0,0,0,0,0,0
$GC,9108,-1.00,-146.0,741.1,-6.8,374,9111,0.00,2.03,0.00,0.000,4,0.000,0.047,2139,1606,3627,0,0,0,0,0,0
$GC,9308,-1.00,-146.0,755.7,-7.7,378,9313,0.00,2.10,0.00,0.000,6,0.000,0.038,2139,2626,3625,0,0,0,0,0,0
$GC,9657,-1.00,-146.0,778.9,-6.5,387,9661,0.00,2.08,0.00,0.000,4,0.000,0.044,2139,1613,3625,0,0,0,0,0,0
$GC,9741,-1.00,-146.0,783.9,-5.5,389,9745,0.00,2.05,0.00,0.000,6,0.000,0.039,2139,2634,3624,0,0,0,0,0,0
$GC,10064,-1.00,-146.0,799.2,-4.3,397,10068,0.00,2.10,0.00,0.000,4,0.000,0.044,2139,1605,3623,0,0,0,0,0,0
$GC,10199,-1.00,-146.0,804.8,-4.4,400,10203,0.00,2.05,0.00,0.000,6,0.000,0.039,2139,2626,3623,0,0,0,0,0,0
$GC,10517,-1.00,-146.0,818.3,-4.4,408,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2626,3622,0,0,0,0,0,0
$GC,10842,-1.00,-146.0,835.1,-5.4,416,10846,0.00,2.08,0.00,0.000,4,0.000,0.043,2139,1605,3620,0,0,0,0,0,0
$GC,11099,-1.00,-146.0,850.5,-6.1,421,11103,0.00,2.08,0.00,0.000,6,0.000,0.038,2139,2603,3621,0,0,0,0,0,0
$GC,11435,-1.00,-146.0,872.1,-6.7,430,11439,0.00,2.05,0.00,0.000,4,0.000,0.043,2139,1607,3619,0,0,0,0,0,0
$GC,11575,-1.00,-146.0,881.3,-5.5,433,11579,0.00,2.03,0.00,0.000,6,0.000,0.039,2139,2609,3619,0,0,0,0,0,0
$GC,11899,-1.00,-146.0,898.9,-5.0,441,11903,0.00,2.05,0.00,0.000,4,0.000,0.043,2139,1611,3618,0,0,0,0,0,0
$GC,12044,-1.00,-146.0,905.4,-4.4,444,12048,0.00,2.00,0.00,0.000,6,0.000,0.038,2139,2601,3618,0,0,0,0,0,0
$GC,12363,-1.00,-146.0,916.8,-3.4,452,12366,0.00,1.88,0.00,0.000,4,0.000,0.058,2140,3735,3617,0,0,0,0,0,0
$GC,12407,-1.00,-146.0,918.5,-3.4,453,12411,0.00,1.85,0.00,0.000,6,0.000,0.030,2139,2569,3617,0,0,0,0,0,0
$GC,12737,-1.00,-146.0,928.8,-3.1,461,12741,0.00,1.98,0.00,0.000,4,0.000,0.046,2139,1605,3616,0,0,0,0,0,0
$GC,12798,-1.00,-146.0,930.6,-3.3,462,12802,0.00,2.05,0.00,0.000,6,0.000,0.039,2139,2590,3616,0,0,0,0,0,0
$GC,13111,-1.00,-146.0,939.9,-3.1,470,13114,0.00,2.00,0.00,0.000,4,0.000,0.044,2139,1613,3616,0,0,0,0,0,0
$GC,13160,-1.00,-146.0,941.6,-3.9,471,13164,0.00,2.03,0.00,0.000,6,0.000,0.038,2139,2582,3616,0,0,0,0,0,0
$GC,13484,-1.00,-146.0,953.7,-3.9,479,13488,0.00,2.00,0.00,0.000,4,0.000,0.044,2139,1609,3615,0,0,0,0,0,0
$GC,13624,-1.00,-146.0,959.6,-4.1,482,13628,0.00,2.00,0.00,0.000,6,0.000,0.039,2139,2590,3615,0,0,0,0,0,0
$GC,13948,-1.00,-146.0,975.3,-5.2,490,13951,0.00,2.00,0.00,0.000,4,0.000,0.043,2139,1607,3614,0,0,0,0,0,0
$GC,13986,-1.00,-146.0,977.6,-5.3,490,13992,0.00,2.03,0.00,0.000,6,0.000,0.039,2139,2576,3614,0,0,0,0,0,0
$STATE,14234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14234,begin apogee
$GC,14240,-0.33,0.0,992.5,6.0,497,14358,0.70,0.00,114.80,1.500,6,0.097,0.000,2283,1932,3071,0,0,0,0,0,0
$STATE,14381,end apogee,CONTROL_FINISHED_OK
$STATE,14381,begin climb
$GC,14383,1.00,146.0,994.0,0.0,500,14518,1.40,2.38,125.82,1.446,4,0.068,0.053,2576,870,2475,0,0,0,0,0,0
$GC,14539,1.00,146.0,983.8,7.0,504,14544,0.00,2.28,0.00,0.000,6,0.000,0.030,2576,1942,2473,0,0,0,0,0,0
$GC,14888,1.00,146.0,952.1,9.6,513,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1946,2469,0,0,0,0,0,0
$GC,15213,1.00,146.0,917.8,10.9,521,15214,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1947,2469,0,0,0,0,0,0
$GC,15538,1.00,146.0,882.5,10.7,529,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1946,2468,0,0,0,0,0,0
$GC,15862,1.00,146.0,850.5,9.6,537,15867,0.00,2.33,0.00,0.000,4,0.000,0.053,2576,872,2467,0,0,0,0,0,0
$GC,15911,1.00,146.0,845.4,10.2,538,15916,0.00,2.25,0.00,0.000,6,0.000,0.029,2576,1945,2467,0,0,0,0,0,0
$GC,16230,1.00,146.0,816.9,8.7,546,16234,0.00,2.33,0.00,0.000,4,0.000,0.051,2576,870,2466,0,0,0,0,0,0
$GC,16279,1.00,146.0,812.0,9.6,547,16284,0.00,2.22,0.00,0.000,6,0.000,0.029,2576,1932,2467,0,0,0,0,0,0
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$STATE,25627,end climb,SURFACE_DEPTH_REACHED
$STATE,25627,begin surface coast
$FINISH,1.7,1.000103
$STATE,25651,end surface coast,CONTROL_FINISHED_OK
$STATE,25651,begin surface
$SM_CCo,25734,0.00,0.000,0,0,597,606.87
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$TT8_MAMPS,0.049088
$HUMID,1078813539
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$XPDR_PINGS,439
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$AR_CDRIVE_FREE,2093285376
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,27.365
$10V_AH,10.0,13.787
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.600,226.025,626.600,0.000,0.000,29.559,36.155,477.954,109.750,0.000,31.426,1983.660,20147.328,751.179,3312.859,232.317,33.379,2253.962,0.000,2648.583,0.000,0.545,0.000
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$SENSOR_SECS,665.044,0.000,0.000,0.000,0.000,0.000,0.000,22694.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.380,0.000,0.000
$MEM,354988
$DATA_FILE_SIZE,33413,981
$CAP_FILE_SIZE,221568,0
$CFSIZE,260034560,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181210,174625,1926.397,12532.209,38,1.1,39,-2.4