version: 66.07
glider: 23
mission: 5
dive: 165
start: 12 20 110 5 56 41
data:
$ID,23
$MISSION,5
$DIVE,165
$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,-54702.66
$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,25
$R_STBD_OVSHOOT,33
$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,164
$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
$GPS1,201210,054807,1918.675,12518.407,24,1.4,25,-2.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-56.1
$GPS2,201210,055549,1918.681,12518.316,29,1.4,29,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,-0.203
$KALMAN_X,-275446.4,-343.5,239.9,201959.3,-3276.9
$KALMAN_Y,93270.5,-223.3,-365.5,-319969.0,4152.6
$MHEAD_RNG_PITCHd_Wd,165.7,151203,-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,-76.07,0.000,2,0.000,0.000,366,2705,2769,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.2,-1.4,15,159,9.93,2.22,-32.85,0.000,4,0.149,0.048,2137,1614,3670,0,0,0,0,0,0
$GC,372,-1.00,-146.0,47.5,-21.7,56,376,0.00,2.08,0.00,0.000,6,0.000,0.024,2137,2688,3669,0,0,0,0,0,0
$GC,638,-1.00,-146.0,98.3,-17.3,81,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2688,3670,0,0,0,0,0,0
$GC,892,-1.00,-146.0,133.5,-11.9,105,896,0.00,1.70,0.00,0.000,4,0.000,0.039,2137,3735,3670,0,0,0,0,0,0
$GC,1042,-1.00,-146.0,151.6,-11.5,118,1049,0.00,1.70,0.00,0.000,6,0.000,0.021,2137,2664,3670,0,0,0,0,0,0
$GC,1304,-1.00,-146.0,184.9,-13.1,143,1308,0.00,2.08,0.00,0.000,4,0.000,0.035,2137,1621,3671,0,0,0,0,0,0
$GC,1325,-1.00,-146.0,188.1,-13.8,144,1332,0.00,2.10,0.00,0.000,6,0.000,0.026,2137,2674,3671,0,0,0,0,0,0
$GC,1593,-1.00,-146.0,219.0,-10.6,162,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2673,3672,0,0,0,0,0,0
$GC,1901,-1.00,-146.0,248.8,-10.6,177,1905,0.00,1.70,0.00,0.000,4,0.000,0.041,2137,3736,3671,0,0,0,0,0,0
$GC,1950,-1.00,-146.0,254.7,-11.6,179,1955,0.00,1.70,0.00,0.000,6,0.000,0.022,2137,2667,3671,0,0,0,0,0,0
$GC,2277,-1.00,-146.0,289.8,-10.1,195,2281,0.00,2.10,0.00,0.000,4,0.000,0.037,2137,1621,3670,0,0,0,0,0,0
$GC,2489,-1.00,-146.0,310.8,-9.9,202,2496,0.00,2.10,0.00,0.000,6,0.000,0.028,2137,2668,3670,0,0,0,0,0,0
$GC,2820,-1.00,-146.0,344.0,-10.1,211,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2668,3668,0,0,0,0,0,0
$GC,3145,-1.00,-146.0,375.8,-9.9,219,3149,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1628,3666,0,0,0,0,0,0
$GC,3234,-1.00,-146.0,384.1,-8.8,221,3238,0.00,2.05,0.00,0.000,6,0.000,0.029,2137,2675,3666,0,0,0,0,0,0
$GC,3564,-1.00,-146.0,412.6,-8.1,229,3567,0.00,1.77,0.00,0.000,4,0.000,0.047,2137,3738,3665,0,0,0,0,0,0
$GC,3595,-1.00,-146.0,415.5,-8.8,229,3600,0.00,1.73,0.00,0.000,6,0.000,0.023,2137,2663,3665,0,0,0,0,0,0
$GC,3932,-1.00,-146.0,441.9,-8.0,238,3936,0.00,2.08,0.00,0.000,4,0.000,0.036,2136,1624,3663,0,0,0,0,0,0
$GC,4189,-1.00,-146.0,463.3,-8.0,243,4196,0.00,2.10,0.00,0.000,6,0.000,0.030,2137,2665,3660,0,0,0,0,0,0
$GC,4520,-1.00,-146.0,488.3,-7.3,252,4524,0.00,2.10,0.00,0.000,4,0.000,0.037,2136,1620,3659,0,0,0,0,0,0
$GC,4614,-1.00,-146.0,495.9,-7.9,254,4619,0.00,2.12,0.00,0.000,6,0.000,0.031,2137,2674,3659,0,0,0,0,0,0
$GC,4933,-1.00,-146.0,523.7,-8.7,262,4937,0.00,2.10,0.00,0.000,4,0.000,0.037,2137,1629,3656,0,0,0,0,0,0
$GC,5026,-1.00,-146.0,532.4,-8.5,264,5031,0.00,2.10,0.00,0.000,6,0.000,0.031,2137,2668,3655,0,0,0,0,0,0
$GC,5345,-1.00,-146.0,554.7,-6.3,272,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2668,3653,0,0,0,0,0,0
$GC,5670,-1.00,-146.0,571.1,-5.0,280,5674,0.00,2.08,0.00,0.000,4,0.000,0.037,2137,1630,3650,0,0,0,0,0,0
$GC,5747,-1.00,-146.0,575.1,-5.2,281,5751,0.00,2.08,0.00,0.000,6,0.000,0.032,2137,2654,3649,0,0,0,0,0,0
$GC,6084,-1.00,-146.0,596.0,-6.7,290,6087,0.00,2.08,0.00,0.000,4,0.000,0.038,2137,1625,3647,0,0,0,0,0,0
$GC,6178,-1.00,-146.0,603.2,-7.4,292,6182,0.00,2.08,0.00,0.000,6,0.000,0.033,2137,2647,3646,0,0,0,0,0,0
$GC,6496,-1.00,-146.0,626.8,-7.4,300,6499,0.00,2.05,0.00,0.000,4,0.000,0.038,2137,1621,3644,0,0,0,0,0,0
$GC,6753,-1.00,-146.0,644.1,-5.9,305,6758,0.00,2.08,0.00,0.000,6,0.000,0.035,2137,2642,3643,0,0,0,0,0,0
$GC,7090,-1.00,-146.0,662.1,-5.0,314,7094,0.00,2.05,0.00,0.000,4,0.000,0.039,2137,1620,3641,0,0,0,0,0,0
$GC,7296,-1.00,-146.0,671.9,-4.9,318,7300,0.00,2.08,0.00,0.000,6,0.000,0.036,2137,2630,3640,0,0,0,0,0,0
$GC,7633,-1.00,-146.0,690.6,-5.9,327,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2629,3638,0,0,0,0,0,0
$GC,7958,-1.00,-146.0,712.2,-6.7,335,7961,0.00,2.05,0.00,0.000,4,0.000,0.041,2137,1625,3635,0,0,0,0,0,0
$GC,8052,-1.00,-146.0,718.4,-6.2,337,8056,0.00,2.08,0.00,0.000,6,0.000,0.038,2137,2629,3635,0,0,0,0,0,0
$GC,8376,-1.00,-146.0,735.8,-4.8,345,8380,0.00,1.88,0.00,0.000,4,0.000,0.058,2137,3742,3633,0,0,0,0,0,0
$GC,8421,-1.00,-146.0,737.8,-4.7,346,8424,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2616,3633,0,0,0,0,0,0
$GC,8750,-1.00,-146.0,749.6,-3.3,354,8754,0.00,2.00,0.00,0.000,4,0.000,0.041,2137,1623,3631,0,0,0,0,0,0
$GC,8815,-1.00,-146.0,751.9,-3.1,355,8820,0.00,2.08,0.00,0.000,6,0.000,0.039,2136,2630,3630,0,0,0,0,0,0
$GC,9164,-1.00,-146.0,767.1,-4.6,364,9167,0.00,2.05,0.00,0.000,4,0.000,0.040,2137,1623,3629,0,0,0,0,0,0
$GC,9337,-1.00,-146.0,776.3,-5.3,367,9343,0.00,2.03,0.00,0.000,6,0.000,0.039,2137,2625,3628,0,0,0,0,0,0
$GC,9668,-1.00,-146.0,793.9,-5.4,376,9672,0.00,2.03,0.00,0.000,4,0.000,0.039,2137,1619,3627,0,0,0,0,0,0
$GC,9903,-1.00,-146.0,806.1,-4.8,381,9907,0.00,2.05,0.00,0.000,6,0.000,0.039,2137,2604,3626,0,0,0,0,0,0
$GC,10222,-1.00,-146.0,819.4,-3.9,389,10226,0.00,2.00,0.00,0.000,4,0.000,0.039,2137,1620,3624,0,0,0,0,0,0
$GC,10361,-1.00,-146.0,824.2,-3.5,392,10365,0.00,2.03,0.00,0.000,6,0.000,0.039,2137,2610,3624,0,0,0,0,0,0
$GC,10685,-1.00,-146.0,834.4,-3.3,400,10689,0.00,2.03,0.00,0.000,4,0.000,0.039,2137,1610,3623,0,0,0,0,0,0
$GC,10717,-1.00,-146.0,835.8,-4.2,400,10721,0.00,2.05,0.00,0.000,6,0.000,0.039,2136,2592,3623,0,0,0,0,0,0
$GC,11054,-1.00,-146.0,850.0,-4.7,409,11057,0.00,2.00,0.00,0.000,4,0.000,0.039,2137,1617,3622,0,0,0,0,0,0
$GC,11114,-1.00,-146.0,853.1,-4.9,410,11119,0.00,2.05,0.00,0.000,6,0.000,0.040,2137,2598,3621,0,0,0,0,0,0
$GC,11427,-1.00,-146.0,870.0,-5.7,418,11431,0.00,2.00,0.00,0.000,4,0.000,0.039,2137,1617,3621,0,0,0,0,0,0
$GC,11487,-1.00,-146.0,873.4,-5.0,419,11491,0.00,2.03,0.00,0.000,6,0.000,0.040,2137,2584,3621,0,0,0,0,0,0
$GC,11800,-1.00,-146.0,892.3,-6.1,427,11804,0.00,1.95,0.00,0.000,4,0.000,0.038,2137,1627,3620,0,0,0,0,0,0
$GC,11995,-1.00,-146.0,904.2,-5.7,431,12000,0.00,2.00,0.00,0.000,6,0.000,0.040,2136,2579,3620,0,0,0,0,0,0
$GC,12309,-1.00,-146.0,921.1,-5.4,439,12313,0.00,1.98,0.00,0.000,4,0.000,0.039,2137,1614,3619,0,0,0,0,0,0
$GC,12538,-1.00,-146.0,932.5,-4.8,444,12542,0.00,2.00,0.00,0.000,6,0.000,0.040,2136,2564,3618,0,0,0,0,0,0
$GC,12862,-1.00,-146.0,947.5,-4.5,452,12865,0.00,1.92,0.00,0.000,4,0.000,0.040,2137,1631,3618,0,0,0,0,0,0
$GC,13024,-1.00,-146.0,954.7,-4.3,455,13028,0.00,1.92,0.00,0.000,6,0.000,0.039,2137,2569,3618,0,0,0,0,0,0
$GC,13366,-1.00,-146.0,970.9,-4.9,464,13370,0.00,1.95,0.00,0.000,4,0.000,0.041,2137,1629,3618,0,0,0,0,0,0
$GC,13456,-1.00,-146.0,975.1,-4.2,466,13459,0.00,1.92,0.00,0.000,6,0.000,0.039,2137,2564,3617,0,0,0,0,0,0
$STATE,13783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13783,begin apogee
$GC,13789,-0.33,0.0,991.3,4.9,474,13908,0.73,0.00,115.45,1.503,6,0.096,0.000,2285,1945,3071,0,0,0,0,0,0
$STATE,13911,end apogee,CONTROL_FINISHED_OK
$STATE,13911,begin climb
$GC,13913,1.00,146.0,990.9,0.0,477,14045,1.38,0.00,125.62,1.444,6,0.065,0.000,2577,1944,2475,0,0,0,0,0,0
$GC,14358,1.00,146.0,953.1,9.1,488,14362,0.00,2.30,0.00,0.000,4,0.000,0.049,2577,876,2469,0,0,0,0,0,0
$GC,14525,1.00,146.0,934.4,11.2,491,14532,0.00,2.28,0.00,0.000,6,0.000,0.030,2577,1953,2469,0,0,0,0,0,0
$GC,14857,1.00,146.0,899.9,10.1,500,14861,0.00,2.33,0.00,0.000,4,0.000,0.049,2577,878,2468,0,0,0,0,0,0
$GC,14877,1.00,146.0,897.6,10.6,500,14882,0.00,2.22,0.00,0.000,6,0.000,0.029,2577,1939,2469,0,0,0,0,0,0
$GC,15220,1.00,146.0,865.5,9.2,509,15224,0.00,2.28,0.00,0.000,4,0.000,0.049,2577,876,2467,0,0,0,0,0,0
$GC,15247,1.00,146.0,863.0,9.3,509,15251,0.00,2.20,0.00,0.000,6,0.000,0.030,2577,1945,2467,0,0,0,0,0,0
$GC,15577,1.00,146.0,834.7,8.3,517,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1949,2466,0,0,0,0,0,0
$GC,15902,1.00,146.0,808.1,8.2,525,15906,0.00,2.28,0.00,0.000,4,0.000,0.050,2576,884,2466,0,0,0,0,0,0
$GC,15945,1.00,146.0,804.5,8.8,526,15949,0.00,2.20,0.00,0.000,6,0.000,0.029,2577,1925,2466,0,0,0,0,0,0
$GC,16269,1.00,146.0,779.1,7.9,534,16270,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1931,2465,0,0,0,0,0,0
$GC,16594,1.00,146.0,752.2,8.4,542,16598,0.00,2.25,0.00,0.000,4,0.000,0.049,2576,873,2466,0,0,0,0,0,0
$GC,16632,1.00,146.0,748.4,11.4,543,16636,0.00,2.20,0.00,0.000,6,0.000,0.030,2577,1947,2466,0,0,0,0,0,0
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$STATE,25082,end climb,SURFACE_DEPTH_REACHED
$STATE,25083,begin surface coast
$FINISH,1.8,1.010586
$STATE,25104,end surface coast,CONTROL_FINISHED_OK
$STATE,25105,begin surface
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$IRIDIUM_FIX,1911.51,12517.66,130612,161633
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59516682240
$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.0,14.448
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,210.600,524.525,19.075,0.000,27.085,33.604,265.372,107.000,0.000,30.756,1952.396,19644.068,687.643,3094.279,222.777,33.370,2182.244,0.000,2678.164,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.232,0.000,0.000
$MEM,354888
$DATA_FILE_SIZE,33345,948
$CAP_FILE_SIZE,211378,0
$CFSIZE,260034560,246620160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201210,125706,1917.354,12517.126,29,1.4,30,-2.4