version: 66.07
glider: 23
mission: 5
dive: 163
start: 12 19 110 15 24 11
data:
$ID,23
$MISSION,5
$DIVE,163
$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,-54632.473
$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,31
$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,162
$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
$GPS1,191210,151507,1922.653,12520.823,34,1.8,35,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-53.0
$GPS2,191210,152319,1922.657,12520.788,32,1.8,32,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.202
$KALMAN_X,-271022.3,44.2,139.9,201507.4,-2246.2
$KALMAN_Y,88385.8,484.6,-67.2,-308720.2,1529.7
$MHEAD_RNG_PITCHd_Wd,199.6,159491,-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,-75.88,0.000,2,0.000,0.000,363,2694,2783,0,0,0,0,0,0
$GC,106,-1.00,-146.0,3.1,-1.6,15,158,10.10,2.20,-32.70,0.000,4,0.156,0.048,2135,1617,3669,0,0,0,0,0,0
$GC,387,-1.00,-146.0,49.1,-19.4,57,393,0.00,2.12,0.00,0.000,6,0.000,0.025,2135,2695,3669,0,0,0,0,0,0
$GC,648,-1.00,-146.0,96.3,-17.1,82,652,0.00,2.17,0.00,0.000,4,0.000,0.041,2135,1620,3669,0,0,0,0,0,0
$GC,687,-1.00,-146.0,103.0,-17.3,85,690,0.00,2.05,0.00,0.000,6,0.000,0.025,2135,2681,3669,0,0,0,0,0,0
$GC,953,-1.00,-146.0,143.0,-12.5,110,956,0.00,1.70,0.00,0.000,4,0.000,0.041,2135,3734,3670,0,0,0,0,0,0
$GC,1210,-1.00,-146.0,179.7,-13.9,133,1214,0.00,1.70,0.00,0.000,6,0.000,0.025,2135,2671,3670,0,0,0,0,0,0
$GC,1475,-1.00,-146.0,208.0,-11.0,155,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2670,3670,0,0,0,0,0,0
$GC,1783,-1.00,-146.0,243.8,-11.5,170,1787,0.00,1.73,0.00,0.000,4,0.000,0.041,2134,3733,3670,0,0,0,0,0,0
$GC,1860,-1.00,-146.0,252.9,-12.0,173,1865,0.00,1.70,0.00,0.000,6,0.000,0.025,2135,2675,3670,0,0,0,0,0,0
$GC,2182,-1.00,-146.0,288.0,-10.6,189,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2675,3670,0,0,0,0,0,0
$GC,2509,-1.00,-146.0,321.2,-10.3,200,2512,0.00,2.12,0.00,0.000,4,0.000,0.039,2135,1620,3669,0,0,0,0,0,0
$GC,2568,-1.00,-146.0,327.4,-10.2,201,2573,0.00,2.12,0.00,0.000,6,0.000,0.030,2135,2675,3669,0,0,0,0,0,0
$GC,2917,-1.00,-146.0,359.9,-9.2,210,2921,0.00,2.12,0.00,0.000,4,0.000,0.038,2135,1621,3667,0,0,0,0,0,0
$GC,3016,-1.00,-146.0,370.0,-10.0,212,3021,0.00,2.10,0.00,0.000,6,0.000,0.030,2135,2664,3666,0,0,0,0,0,0
$GC,3330,-1.00,-146.0,401.6,-9.8,220,3333,0.00,2.10,0.00,0.000,4,0.000,0.038,2134,1616,3665,0,0,0,0,0,0
$GC,3368,-1.00,-146.0,405.3,-9.2,221,3372,0.00,2.08,0.00,0.000,6,0.000,0.031,2135,2653,3665,0,0,0,0,0,0
$GC,3697,-1.00,-146.0,429.7,-7.0,229,3701,0.00,2.08,0.00,0.000,4,0.000,0.039,2135,1624,3663,0,0,0,0,0,0
$GC,3769,-1.00,-146.0,435.1,-7.4,230,3773,0.00,2.05,0.00,0.000,6,0.000,0.031,2135,2638,3663,0,0,0,0,0,0
$GC,4111,-1.00,-146.0,463.4,-8.4,239,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2638,3661,0,0,0,0,0,0
$GC,4436,-1.00,-146.0,487.0,-6.6,247,4440,0.00,2.08,0.00,0.000,4,0.000,0.039,2135,1621,3659,0,0,0,0,0,0
$GC,4531,-1.00,-146.0,493.1,-5.2,249,4535,0.00,2.10,0.00,0.000,6,0.000,0.032,2135,2649,3658,0,0,0,0,0,0
$GC,4849,-1.00,-146.0,510.6,-5.5,257,4853,0.00,2.08,0.00,0.000,4,0.000,0.040,2135,1620,3656,0,0,0,0,0,0
$GC,4933,-1.00,-146.0,515.5,-5.9,259,4937,0.00,2.08,0.00,0.000,6,0.000,0.033,2135,2650,3655,0,0,0,0,0,0
$GC,5256,-1.00,-146.0,537.2,-7.1,267,5260,0.00,2.08,0.00,0.000,4,0.000,0.040,2135,1622,3652,0,0,0,0,0,0
$GC,5512,-1.00,-146.0,558.2,-8.5,272,5517,0.00,2.08,0.00,0.000,6,0.000,0.034,2135,2636,3650,0,0,0,0,0,0
$GC,5849,-1.00,-146.0,588.8,-9.4,281,5852,0.00,2.05,0.00,0.000,4,0.000,0.041,2135,1623,3648,0,0,0,0,0,0
$GC,5948,-1.00,-146.0,597.7,-9.0,283,5953,0.00,2.08,0.00,0.000,6,0.000,0.034,2135,2632,3646,0,0,0,0,0,0
$GC,6267,-1.00,-146.0,622.9,-7.7,291,6271,0.00,2.05,0.00,0.000,4,0.000,0.041,2135,1619,3644,0,0,0,0,0,0
$GC,6328,-1.00,-146.0,627.0,-6.6,292,6332,0.00,2.08,0.00,0.000,6,0.000,0.035,2134,2629,3644,0,0,0,0,0,0
$GC,6641,-1.00,-146.0,643.4,-4.7,300,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2629,3641,0,0,0,0,0,0
$GC,6966,-1.00,-146.0,659.2,-5.1,308,6970,0.00,2.08,0.00,0.000,4,0.000,0.042,2135,1622,3640,0,0,0,0,0,0
$GC,7116,-1.00,-146.0,668.7,-6.4,311,7120,0.00,2.08,0.00,0.000,6,0.000,0.037,2135,2643,3638,0,0,0,0,0,0
$GC,7429,-1.00,-146.0,691.9,-7.5,319,7433,0.00,2.08,0.00,0.000,4,0.000,0.044,2135,1623,3637,0,0,0,0,0,0
$GC,7483,-1.00,-146.0,696.4,-7.8,320,7488,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2623,3637,0,0,0,0,0,0
$GC,7797,-1.00,-146.0,718.7,-6.8,328,7801,0.00,2.08,0.00,0.000,4,0.000,0.044,2135,1621,3635,0,0,0,0,0,0
$GC,7981,-1.00,-146.0,729.6,-6.1,332,7985,0.00,2.08,0.00,0.000,6,0.000,0.038,2135,2619,3633,0,0,0,0,0,0
$GC,8305,-1.00,-146.0,746.7,-5.2,340,8309,0.00,2.08,0.00,0.000,4,0.000,0.044,2135,1617,3631,0,0,0,0,0,0
$GC,8421,-1.00,-146.0,752.9,-5.1,342,8426,0.00,2.05,0.00,0.000,6,0.000,0.038,2135,2597,3631,0,0,0,0,0,0
$GC,8758,-1.00,-146.0,769.6,-4.8,351,8762,0.00,2.03,0.00,0.000,4,0.000,0.044,2135,1624,3630,0,0,0,0,0,0
$GC,8892,-1.00,-146.0,775.9,-4.5,354,8896,0.00,2.03,0.00,0.000,6,0.000,0.039,2135,2609,3629,0,0,0,0,0,0
$GC,9221,-1.00,-146.0,789.3,-3.9,362,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2608,3627,0,0,0,0,0,0
$GC,9546,-1.00,-146.0,801.7,-4.0,370,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2607,3626,0,0,0,0,0,0
$GC,9872,-1.00,-146.0,816.8,-4.9,378,9875,0.00,2.03,0.00,0.000,4,0.000,0.043,2135,1620,3625,0,0,0,0,0,0
$GC,9921,-1.00,-146.0,819.5,-5.7,379,9925,0.00,2.03,0.00,0.000,6,0.000,0.038,2135,2589,3625,0,0,0,0,0,0
$GC,10245,-1.00,-146.0,834.9,-4.7,387,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2588,3623,0,0,0,0,0,0
$GC,10570,-1.00,-146.0,849.4,-4.5,395,10574,0.00,2.00,0.00,0.000,4,0.000,0.044,2135,1620,3622,0,0,0,0,0,0
$GC,10727,-1.00,-146.0,857.2,-4.9,398,10731,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2586,3621,0,0,0,0,0,0
$GC,11075,-1.00,-146.0,876.7,-5.8,407,11078,0.00,2.03,0.00,0.000,4,0.000,0.044,2135,1615,3620,0,0,0,0,0,0
$GC,11237,-1.00,-146.0,885.8,-5.6,410,11241,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2581,3620,0,0,0,0,0,0
$GC,11579,-1.00,-146.0,905.4,-5.8,419,11583,0.00,1.98,0.00,0.000,4,0.000,0.044,2135,1624,3619,0,0,0,0,0,0
$GC,11701,-1.00,-146.0,912.2,-5.3,421,11706,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2574,3619,0,0,0,0,0,0
$GC,12038,-1.00,-146.0,929.8,-5.2,430,12042,0.00,1.98,0.00,0.000,4,0.000,0.044,2135,1618,3619,0,0,0,0,0,0
$GC,12295,-1.00,-146.0,942.4,-4.8,435,12300,0.00,2.00,0.00,0.000,6,0.000,0.038,2135,2566,3618,0,0,0,0,0,0
$GC,12633,-1.00,-146.0,958.1,-4.6,444,12636,0.00,1.98,0.00,0.000,4,0.000,0.044,2135,1622,3618,0,0,0,0,0,0
$GC,12890,-1.00,-146.0,969.7,-3.9,449,12894,0.00,1.98,0.00,0.000,6,0.000,0.038,2135,2558,3617,0,0,0,0,0,0
$GC,13227,-1.00,-146.0,982.8,-3.7,458,13231,0.00,1.95,0.00,0.000,4,0.000,0.043,2135,1625,3616,0,0,0,0,0,0
$GC,13394,-1.00,-146.0,988.4,-3.3,461,13398,0.00,1.95,0.00,0.000,6,0.000,0.038,2135,2546,3616,0,0,0,0,0,0
$STATE,13445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13445,begin apogee
$GC,13451,-0.33,0.0,990.0,3.1,463,13569,0.73,0.00,115.22,1.493,6,0.099,0.000,2283,1942,3071,0,0,0,0,0,0
$STATE,13572,end apogee,CONTROL_FINISHED_OK
$STATE,13572,begin climb
$GC,13574,1.00,146.0,987.6,0.0,466,13707,1.40,2.38,125.70,1.430,4,0.067,0.052,2578,878,2476,0,0,0,0,0,0
$GC,13735,1.00,146.0,972.3,10.3,470,13740,0.00,2.28,0.00,0.000,6,0.000,0.029,2575,1949,2472,0,0,0,0,0,0
$GC,14054,1.00,146.0,937.0,11.1,478,14058,0.00,2.35,0.00,0.000,4,0.000,0.052,2575,872,2470,0,0,0,0,0,0
$GC,14092,1.00,146.0,932.7,12.2,479,14096,0.00,2.20,0.00,0.000,6,0.000,0.029,2576,1941,2470,0,0,0,0,0,0
$GC,14415,1.00,146.0,899.9,9.8,487,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1946,2469,0,0,0,0,0,0
$GC,14739,1.00,146.0,871.9,8.1,495,14743,0.00,2.33,0.00,0.000,4,0.000,0.053,2575,871,2468,0,0,0,0,0,0
$GC,14778,1.00,146.0,868.5,9.2,496,14782,0.00,2.17,0.00,0.000,6,0.000,0.029,2575,1929,2468,0,0,0,0,0,0
$GC,15107,1.00,146.0,843.2,7.6,504,15111,0.00,2.30,0.00,0.000,4,0.000,0.052,2575,868,2467,0,0,0,0,0,0
$GC,15133,1.00,146.0,840.8,8.5,504,15138,0.00,2.22,0.00,0.000,6,0.000,0.029,2576,1931,2466,0,0,0,0,0,0
$GC,15476,1.00,146.0,812.7,8.4,513,15480,0.00,2.05,0.00,0.000,4,0.000,0.041,2575,3002,2467,0,0,0,0,0,0
$GC,15503,1.00,146.0,810.5,7.6,513,15507,0.00,2.10,0.00,0.000,6,0.000,0.035,2575,1924,2468,0,0,0,0,0,0
$GC,15845,1.00,146.0,779.9,9.1,522,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1925,2466,0,0,0,0,0,0
$GC,16170,1.00,146.0,750.6,9.0,530,16174,0.00,2.25,0.00,0.000,4,0.000,0.052,2575,879,2466,0,0,0,0,0,0
$GC,16190,1.00,146.0,748.6,8.9,530,16195,0.00,2.20,0.00,0.000,6,0.000,0.028,2575,1929,2466,0,0,0,0,0,0
$GC,16533,1.00,146.0,716.9,9.2,539,16537,0.00,2.28,0.00,0.000,4,0.000,0.051,2576,883,2466,0,0,0,0,0,0
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$STATE,24922,end climb,SURFACE_DEPTH_REACHED
$STATE,24923,begin surface coast
$FINISH,1.8,1.022849
$STATE,24950,end surface coast,CONTROL_FINISHED_OK
$STATE,24950,begin surface
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$XPDR_PINGS,431
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,28.175
$10V_AH,10.0,14.230
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,195.775,531.225,16.175,0.000,22.732,47.027,283.064,107.750,0.000,34.068,1925.198,19693.057,686.694,2952.748,214.829,33.368,2089.490,0.000,2515.976,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.242,0.000,0.000
$MEM,354972
$DATA_FILE_SIZE,33329,959
$CAP_FILE_SIZE,202735,0
$CFSIZE,260034560,246792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,222207,1920.582,12518.975,38,1.9,39,-2.4