version: 66.07
glider: 23
mission: 5
dive: 162
start: 12 19 110 8 1 7
data:
$ID,23
$MISSION,5
$DIVE,162
$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,-54597.777
$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,47
$R_STBD_OVSHOOT,23
$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,161
$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
$GPS1,191210,074937,1923.684,12524.235,29,1.3,30,-2.4
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,6
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-53.2
$GPS2,191210,080014,1923.649,12524.083,14,1.6,14,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.156
$KALMAN_X,-269158.2,-704.4,601.9,205613.8,-4470.0
$KALMAN_Y,86835.0,-22.4,-533.0,-304351.9,4502.1
$MHEAD_RNG_PITCHd_Wd,225.0,164879,-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,-76.38,0.000,2,0.000,0.000,362,2619,2778,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.1,-1.1,15,159,10.10,2.03,-34.30,0.000,4,0.156,0.054,2135,1638,3669,0,0,0,0,0,0
$GC,411,-1.00,-146.0,51.0,-19.5,60,417,0.00,2.10,0.00,0.000,6,0.000,0.024,2135,2703,3669,0,0,0,0,0,0
$GC,672,-1.00,-146.0,101.2,-18.1,85,675,0.00,2.12,0.00,0.000,4,0.000,0.038,2135,1639,3669,0,0,0,0,0,0
$GC,686,-1.00,-146.0,104.2,-18.0,86,693,0.00,2.08,0.00,0.000,6,0.000,0.024,2134,2690,3669,0,0,0,0,0,0
$GC,948,-1.00,-146.0,144.4,-9.9,111,951,0.00,1.67,0.00,0.000,4,0.000,0.039,2135,3748,3670,0,0,0,0,0,0
$GC,1206,-1.00,-146.0,173.2,-12.4,134,1210,0.00,1.67,0.00,0.000,6,0.000,0.024,2134,2696,3670,0,0,0,0,0,0
$GC,1481,-1.00,-146.0,209.1,-13.4,157,1485,0.00,1.70,0.00,0.000,4,0.000,0.039,2135,3727,3670,0,0,0,0,0,0
$GC,1709,-1.00,-146.0,235.6,-10.8,167,1714,0.00,1.67,0.00,0.000,6,0.000,0.023,2135,2678,3670,0,0,0,0,0,0
$GC,2038,-1.00,-146.0,264.4,-8.5,183,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2677,3670,0,0,0,0,0,0
$GC,2346,-1.00,-146.0,297.3,-10.9,198,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2677,3670,0,0,0,0,0,0
$GC,2671,-1.00,-146.0,326.0,-7.7,207,2675,0.00,2.10,0.00,0.000,4,0.000,0.038,2135,1620,3668,0,0,0,0,0,0
$GC,2861,-1.00,-146.0,339.4,-7.6,211,2866,0.00,2.12,0.00,0.000,6,0.000,0.029,2135,2684,3666,0,0,0,0,0,0
$GC,3179,-1.00,-146.0,366.0,-8.8,219,3183,0.00,2.10,0.00,0.000,4,0.000,0.036,2135,1622,3666,0,0,0,0,0,0
$GC,3436,-1.00,-146.0,389.7,-9.0,224,3443,0.00,2.12,0.00,0.000,6,0.000,0.030,2135,2680,3664,0,0,0,0,0,0
$GC,3767,-1.00,-146.0,415.7,-7.8,233,3771,0.00,2.12,0.00,0.000,4,0.000,0.037,2135,1619,3662,0,0,0,0,0,0
$GC,3861,-1.00,-146.0,423.6,-7.6,235,3866,0.00,2.10,0.00,0.000,6,0.000,0.031,2135,2666,3661,0,0,0,0,0,0
$GC,4180,-1.00,-146.0,449.2,-8.0,243,4184,0.00,2.08,0.00,0.000,4,0.000,0.038,2135,1623,3660,0,0,0,0,0,0
$GC,4313,-1.00,-146.0,460.5,-6.9,246,4317,0.00,2.10,0.00,0.000,6,0.000,0.031,2135,2684,3659,0,0,0,0,0,0
$GC,4637,-1.00,-146.0,483.8,-6.9,254,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2685,3657,0,0,0,0,0,0
$GC,4962,-1.00,-146.0,505.8,-7.3,262,4966,0.00,2.12,0.00,0.000,4,0.000,0.038,2135,1615,3654,0,0,0,0,0,0
$GC,5045,-1.00,-146.0,513.1,-8.6,264,5049,0.00,2.10,0.00,0.000,6,0.000,0.032,2135,2667,3653,0,0,0,0,0,0
$GC,5375,-1.00,-146.0,542.6,-8.7,272,5379,0.00,2.08,0.00,0.000,4,0.000,0.038,2135,1625,3650,0,0,0,0,0,0
$GC,5632,-1.00,-146.0,559.7,-5.4,277,5638,0.00,2.10,0.00,0.000,6,0.000,0.032,2135,2660,3649,0,0,0,0,0,0
$GC,5963,-1.00,-146.0,577.9,-5.7,286,5967,0.00,2.10,0.00,0.000,4,0.000,0.039,2135,1620,3645,0,0,0,0,0,0
$GC,6092,-1.00,-146.0,585.9,-6.2,289,6096,0.00,2.10,0.00,0.000,6,0.000,0.034,2135,2669,3644,0,0,0,0,0,0
$GC,6416,-1.00,-146.0,607.2,-6.9,297,6420,0.00,2.10,0.00,0.000,4,0.000,0.039,2135,1618,3643,0,0,0,0,0,0
$GC,6550,-1.00,-146.0,615.8,-6.4,300,6554,0.00,2.10,0.00,0.000,6,0.000,0.035,2135,2663,3642,0,0,0,0,0,0
$GC,6868,-1.00,-146.0,635.6,-6.4,308,6872,0.00,2.12,0.00,0.000,4,0.000,0.041,2135,1615,3641,0,0,0,0,0,0
$GC,6911,-1.00,-146.0,638.5,-6.6,309,6915,0.00,2.10,0.00,0.000,6,0.000,0.035,2134,2641,3640,0,0,0,0,0,0
$GC,7235,-1.00,-146.0,657.8,-6.0,317,7239,0.00,2.05,0.00,0.000,4,0.000,0.041,2135,1624,3639,0,0,0,0,0,0
$GC,7409,-1.00,-146.0,667.5,-5.5,321,7413,0.00,2.08,0.00,0.000,6,0.000,0.037,2135,2649,3637,0,0,0,0,0,0
$GC,7732,-1.00,-146.0,685.2,-5.5,329,7736,0.00,2.10,0.00,0.000,4,0.000,0.044,2135,1618,3635,0,0,0,0,0,0
$GC,7911,-1.00,-146.0,696.4,-6.3,333,7915,0.00,2.08,0.00,0.000,6,0.000,0.038,2135,2638,3633,0,0,0,0,0,0
$GC,8235,-1.00,-146.0,718.3,-6.7,341,8239,0.00,2.08,0.00,0.000,4,0.000,0.043,2135,1626,3631,0,0,0,0,0,0
$GC,8346,-1.00,-146.0,726.0,-7.1,343,8350,0.00,2.08,0.00,0.000,6,0.000,0.038,2135,2629,3631,0,0,0,0,0,0
$GC,8688,-1.00,-146.0,747.7,-6.1,352,8692,0.00,1.88,0.00,0.000,4,0.000,0.058,2134,3742,3629,0,0,0,0,0,0
$GC,8834,-1.00,-146.0,756.7,-6.1,355,8837,0.00,1.83,0.00,0.000,6,0.000,0.029,2135,2598,3628,0,0,0,0,0,0
$GC,9152,-1.00,-146.0,773.3,-5.4,363,9155,0.00,2.00,0.00,0.000,4,0.000,0.044,2135,1622,3627,0,0,0,0,0,0
$GC,9314,-1.00,-146.0,781.4,-4.5,366,9318,0.00,2.05,0.00,0.000,6,0.000,0.039,2135,2626,3627,0,0,0,0,0,0
$GC,9655,-1.00,-146.0,798.8,-5.0,375,9659,0.00,2.08,0.00,0.000,4,0.000,0.043,2135,1616,3625,0,0,0,0,0,0
$GC,9771,-1.00,-146.0,804.3,-4.5,377,9776,0.00,2.05,0.00,0.000,6,0.000,0.039,2135,2604,3624,0,0,0,0,0,0
$GC,10108,-1.00,-146.0,816.4,-3.3,386,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2603,3622,0,0,0,0,0,0
$GC,10433,-1.00,-146.0,827.4,-3.4,394,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2603,3621,0,0,0,0,0,0
$GC,10758,-1.00,-146.0,839.0,-3.5,402,10762,0.00,2.03,0.00,0.000,4,0.000,0.042,2134,1625,3620,0,0,0,0,0,0
$GC,10807,-1.00,-146.0,840.7,-3.4,403,10812,0.00,2.05,0.00,0.000,6,0.000,0.038,2135,2610,3620,0,0,0,0,0,0
$GC,11132,-1.00,-146.0,851.5,-3.5,411,11135,0.00,2.03,0.00,0.000,4,0.000,0.044,2137,1620,3619,0,0,0,0,0,0
$GC,11272,-1.00,-146.0,857.2,-4.0,414,11275,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2602,3619,0,0,0,0,0,0
$GC,11595,-1.00,-146.0,873.3,-5.5,422,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2602,3618,0,0,0,0,0,0
$GC,11920,-1.00,-146.0,894.0,-6.6,430,11924,0.00,1.90,0.00,0.000,4,0.000,0.058,2135,3734,3618,0,0,0,0,0,0
$GC,11986,-1.00,-146.0,898.6,-7.3,431,11991,0.00,1.88,0.00,0.000,6,0.000,0.030,2135,2585,3618,0,0,0,0,0,0
$GC,12334,-1.00,-146.0,920.0,-5.9,440,12338,0.00,1.98,0.00,0.000,4,0.000,0.044,2134,1616,3618,0,0,0,0,0,0
$GC,12591,-1.00,-146.0,932.8,-4.7,445,12596,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2579,3617,0,0,0,0,0,0
$GC,12928,-1.00,-146.0,945.1,-3.4,454,12932,0.00,2.00,0.00,0.000,4,0.000,0.044,2135,1619,3616,0,0,0,0,0,0
$GC,13135,-1.00,-146.0,950.5,-2.5,458,13139,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2581,3616,0,0,0,0,0,0
$GC,13478,-1.00,-146.0,961.4,-3.5,467,13481,0.00,1.98,0.00,0.000,4,0.000,0.043,2135,1623,3614,0,0,0,0,0,0
$GC,13617,-1.00,-146.0,967.4,-4.4,470,13621,0.00,2.00,0.00,0.000,6,0.000,0.039,2137,2589,3614,0,0,0,0,0,0
$GC,13941,-1.00,-146.0,982.4,-4.7,478,13945,0.00,2.03,0.00,0.000,4,0.000,0.043,2135,1615,3613,0,0,0,0,0,0
$STATE,14112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14112,begin apogee
$GC,14117,-0.33,0.0,990.2,4.1,481,14235,0.70,0.00,115.12,1.503,6,0.098,0.000,2280,1951,3072,0,0,0,0,0,0
$STATE,14239,end apogee,CONTROL_FINISHED_OK
$STATE,14239,begin climb
$GC,14240,1.00,146.0,990.5,0.0,484,14375,1.40,2.42,126.43,1.442,4,0.067,0.052,2576,892,2475,0,0,0,0,0,0
$GC,14398,1.00,146.0,976.3,9.1,488,14402,0.00,2.22,0.00,0.000,6,0.000,0.028,2577,1936,2473,0,0,0,0,0,0
$GC,14735,1.00,146.0,942.8,10.0,497,14739,0.00,2.30,0.00,0.000,4,0.000,0.052,2576,889,2469,0,0,0,0,0,0
$GC,14767,1.00,146.0,939.4,10.2,497,14773,0.00,2.22,0.00,0.000,6,0.000,0.028,2576,1944,2469,0,0,0,0,0,0
$GC,15098,1.00,146.0,907.1,9.6,506,15102,0.00,2.30,0.00,0.000,4,0.000,0.051,2577,879,2469,0,0,0,0,0,0
$GC,15135,1.00,146.0,903.2,9.6,506,15142,0.00,2.20,0.00,0.000,6,0.000,0.028,2576,1924,2469,0,0,0,0,0,0
$GC,15467,1.00,146.0,872.0,9.4,515,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1930,2467,0,0,0,0,0,0
$GC,15791,1.00,146.0,839.5,10.2,523,15795,0.00,2.28,0.00,0.000,4,0.000,0.051,2577,878,2467,0,0,0,0,0,0
$GC,15812,1.00,146.0,837.1,10.2,523,15817,0.00,2.20,0.00,0.000,6,0.000,0.028,2577,1930,2467,0,0,0,0,0,0
$GC,16155,1.00,146.0,799.6,11.0,532,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1938,2466,0,0,0,0,0,0
$GC,16480,1.00,146.0,765.6,10.1,540,16483,0.00,2.05,0.00,0.000,4,0.000,0.039,2577,3010,2467,0,0,0,0,0,0
$GC,16500,1.00,146.0,763.4,9.7,540,16505,0.00,2.10,0.00,0.000,6,0.000,0.035,2576,1931,2467,0,0,0,0,0,0
$GC,16848,1.00,146.0,732.3,8.5,549,16852,0.00,2.28,0.00,0.000,4,0.000,0.052,2576,872,2467,0,0,0,0,0,0
$GC,16903,1.00,146.0,727.5,9.3,550,16908,0.00,2.20,0.00,0.000,6,0.000,0.028,2577,1925,2467,0,0,0,0,0,0
$GC,17216,1.00,146.0,701.4,8.5,558,17219,0.00,2.05,0.00,0.000,4,0.000,0.039,2577,3010,2467,0,0,0,0,0,0
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$STATE,25848,end climb,SURFACE_DEPTH_REACHED
$STATE,25848,begin surface coast
$FINISH,1.8,1.022138
$STATE,25878,end surface coast,CONTROL_FINISHED_OK
$STATE,25878,begin surface
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,27.976
$10V_AH,10.0,14.124
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,214.425,465.400,55.975,0.000,28.522,44.406,439.609,116.750,0.000,15.834,2044.993,20245.109,705.325,3371.237,219.637,33.369,2221.040,0.000,2780.289,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,673.823,0.000,0.000,0.000,0.000,0.000,0.000,22812.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.322,0.000,0.000
$MEM,354904
$DATA_FILE_SIZE,36700,992
$CAP_FILE_SIZE,218895,0
$CFSIZE,260034560,246861824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,151507,1922.653,12520.823,34,1.8,35,-2.4