version: 66.07
glider: 23
mission: 5
dive: 169
start: 12 21 110 12 35 2
data:
$ID,23
$MISSION,5
$DIVE,169
$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,550
$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,-54817.953
$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,19
$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,168
$AR_SAMPLENUM,3
$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
$GPS1,211210,121737,1913.852,12510.038,36,1.5,36,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-55.8
$GPS2,211210,123410,1913.835,12510.036,12,2.2,31,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,-0.198
$KALMAN_X,-286069.0,378.0,83.9,197711.4,-2313.9
$KALMAN_Y,105056.6,561.8,270.1,-342158.8,2900.7
$MHEAD_RNG_PITCHd_Wd,191.5,134612,-10.2,-6.000
$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,-0.84,-146.0,0.0,0.0,0,105,0.00,0.00,-76.43,0.000,2,0.000,0.000,360,2700,2796,0,0,0,0,0,0
$GC,107,-0.84,-146.0,3.2,-1.5,15,159,10.27,2.22,-33.33,0.000,4,0.155,0.050,2170,1616,3670,0,0,0,0,0,0
$GC,383,-0.84,-146.0,45.2,-17.2,58,387,0.00,2.08,0.00,0.000,6,0.000,0.026,2170,2688,3669,0,0,0,0,0,0
$GC,649,-0.84,-146.0,94.1,-18.5,83,653,0.00,1.73,0.00,0.000,4,0.000,0.038,2170,3745,3669,0,0,0,0,0,0
$GC,693,-0.84,-146.0,101.6,-15.5,87,697,0.00,1.73,0.00,0.000,6,0.000,0.028,2170,2677,3669,0,0,0,0,0,0
$GC,960,-0.84,-146.0,136.2,-11.7,112,964,0.00,1.75,0.00,0.000,4,0.000,0.039,2170,3737,3669,0,0,0,0,0,0
$GC,1195,-0.84,-146.0,165.2,-12.3,133,1199,0.00,1.67,0.00,0.000,6,0.000,0.024,2170,2693,3670,0,0,0,0,0,0
$GC,1462,-0.84,-146.0,193.7,-9.6,158,1466,0.00,2.15,0.00,0.000,4,0.000,0.038,2170,1618,3670,0,0,0,0,0,0
$GC,1528,-0.84,-146.0,200.6,-10.0,163,1534,0.00,2.15,0.00,0.000,6,0.000,0.028,2170,2700,3670,0,0,0,0,0,0
$GC,1782,-0.84,-146.0,226.5,-10.3,176,1786,0.00,2.17,0.00,0.000,4,0.000,0.038,2170,1615,3670,0,0,0,0,0,0
$GC,1820,-0.84,-146.0,230.2,-9.7,178,1824,0.00,2.10,0.00,0.000,6,0.000,0.028,2170,2700,3670,0,0,0,0,0,0
$GC,2152,-0.84,-146.0,259.9,-8.6,194,2156,0.00,2.17,0.00,0.000,4,0.000,0.040,2170,1620,3669,0,0,0,0,0,0
$GC,2235,-0.84,-146.0,267.5,-8.5,198,2239,0.00,2.10,0.00,0.000,6,0.000,0.029,2170,2699,3669,0,0,0,0,0,0
$GC,2561,-0.84,-146.0,297.1,-9.6,214,2565,0.00,2.17,0.00,0.000,4,0.000,0.040,2170,1617,3667,0,0,0,0,0,0
$GC,2817,-0.84,-146.0,320.2,-8.5,220,2824,0.00,2.12,0.00,0.000,6,0.000,0.029,2170,2676,3666,0,0,0,0,0,0
$GC,3148,-0.84,-146.0,346.9,-8.1,229,3152,0.00,2.10,0.00,0.000,4,0.000,0.040,2170,1623,3665,0,0,0,0,0,0
$GC,3354,-0.84,-146.0,362.4,-7.4,233,3359,0.00,2.15,0.00,0.000,6,0.000,0.031,2170,2694,3664,0,0,0,0,0,0
$GC,3692,-0.84,-146.0,388.9,-7.9,242,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2694,3662,0,0,0,0,0,0
$GC,4016,-0.84,-146.0,412.5,-7.0,250,4020,0.00,2.17,0.00,0.000,4,0.000,0.041,2170,1617,3660,0,0,0,0,0,0
$GC,4273,-0.84,-146.0,429.7,-6.1,255,4280,0.00,2.15,0.00,0.000,6,0.000,0.031,2170,2685,3660,0,0,0,0,0,0
$GC,4604,-0.84,-146.0,451.9,-6.7,264,4608,0.00,2.12,0.00,0.000,4,0.000,0.040,2170,1620,3658,0,0,0,0,0,0
$GC,4861,-0.84,-146.0,469.5,-6.3,269,4868,0.00,2.12,0.00,0.000,6,0.000,0.032,2170,2669,3655,0,0,0,0,0,0
$GC,5193,-0.84,-146.0,489.5,-5.8,278,5197,0.00,2.12,0.00,0.000,4,0.000,0.040,2170,1619,3652,0,0,0,0,0,0
$GC,5450,-0.84,-146.0,504.2,-5.0,283,5456,0.00,2.12,0.00,0.000,6,0.000,0.033,2170,2669,3650,0,0,0,0,0,0
$GC,5781,-0.84,-146.0,524.1,-6.1,292,5785,0.00,2.12,0.00,0.000,4,0.000,0.041,2170,1618,3648,0,0,0,0,0,0
$GC,5943,-0.84,-146.0,533.3,-5.4,295,5947,0.00,2.12,0.00,0.000,6,0.000,0.034,2170,2667,3646,0,0,0,0,0,0
$GC,6285,-0.84,-146.0,550.5,-5.0,304,6289,0.00,2.12,0.00,0.000,4,0.000,0.041,2170,1617,3645,0,0,0,0,0,0
$GC,6491,-0.84,-146.0,560.8,-5.1,308,6495,0.00,2.10,0.00,0.000,6,0.000,0.034,2170,2651,3643,0,0,0,0,0,0
$GC,6834,-0.84,-146.0,577.8,-5.1,317,6838,0.00,2.08,0.00,0.000,4,0.000,0.041,2170,1619,3641,0,0,0,0,0,0
$GC,6900,-0.84,-146.0,581.4,-5.3,318,6904,0.00,2.10,0.00,0.000,6,0.000,0.035,2170,2651,3640,0,0,0,0,0,0
$GC,7242,-0.84,-146.0,602.8,-6.7,327,7246,0.00,2.10,0.00,0.000,4,0.000,0.042,2170,1619,3638,0,0,0,0,0,0
$GC,7454,-0.84,-146.0,617.9,-7.0,331,7460,0.00,2.10,0.00,0.000,6,0.000,0.035,2170,2653,3637,0,0,0,0,0,0
$GC,7785,-0.84,-146.0,640.3,-6.5,340,7789,0.00,2.10,0.00,0.000,4,0.000,0.042,2170,1616,3635,0,0,0,0,0,0
$GC,7974,-0.84,-146.0,650.2,-4.5,344,7978,0.00,2.10,0.00,0.000,6,0.000,0.038,2170,2645,3634,0,0,0,0,0,0
$GC,8293,-0.84,-146.0,663.6,-4.1,352,8297,0.00,2.08,0.00,0.000,4,0.000,0.044,2170,1623,3631,0,0,0,0,0,0
$GC,8393,-0.84,-146.0,667.9,-4.7,354,8397,0.00,2.08,0.00,0.000,6,0.000,0.038,2170,2635,3630,0,0,0,0,0,0
$GC,8706,-0.84,-146.0,682.0,-4.7,362,8710,0.00,2.08,0.00,0.000,4,0.000,0.046,2170,1615,3630,0,0,0,0,0,0
$GC,8800,-0.84,-146.0,686.8,-5.2,364,8804,0.00,2.10,0.00,0.000,6,0.000,0.039,2170,2641,3630,0,0,0,0,0,0
$GC,9118,-0.84,-146.0,703.3,-5.3,372,9122,0.00,2.08,0.00,0.000,4,0.000,0.046,2170,1622,3628,0,0,0,0,0,0
$GC,9247,-0.84,-146.0,710.3,-5.5,375,9251,0.00,2.03,0.00,0.000,6,0.000,0.039,2170,2626,3627,0,0,0,0,0,0
$GC,9571,-0.84,-146.0,730.1,-6.3,383,9575,0.00,2.05,0.00,0.000,4,0.000,0.047,2170,1623,3625,0,0,0,0,0,0
$GC,9648,-0.84,-146.0,735.1,-6.4,384,9654,0.00,2.08,0.00,0.000,6,0.000,0.038,2170,2631,3625,0,0,0,0,0,0
$GC,9980,-0.84,-146.0,754.9,-5.8,393,9983,0.00,2.08,0.00,0.000,4,0.000,0.046,2170,1622,3624,0,0,0,0,0,0
$GC,10180,-0.84,-146.0,765.1,-4.4,397,10185,0.00,2.05,0.00,0.000,6,0.000,0.038,2170,2610,3623,0,0,0,0,0,0
$GC,10529,-0.84,-146.0,778.9,-3.7,406,10533,0.00,2.05,0.00,0.000,4,0.000,0.045,2170,1618,3622,0,0,0,0,0,0
$GC,10611,-0.84,-146.0,781.9,-3.7,407,10617,0.00,2.05,0.00,0.000,6,0.000,0.038,2170,2609,3621,0,0,0,0,0,0
$GC,10942,-0.84,-146.0,793.2,-3.5,416,10946,0.00,2.03,0.00,0.000,4,0.000,0.045,2170,1620,3620,0,0,0,0,0,0
$GC,11059,-0.84,-146.0,797.7,-4.5,418,11063,0.00,2.05,0.00,0.000,6,0.000,0.039,2170,2611,3619,0,0,0,0,0,0
$GC,11402,-0.84,-146.0,812.8,-4.5,427,11405,0.00,2.05,0.00,0.000,4,0.000,0.045,2170,1620,3618,0,0,0,0,0,0
$GC,11608,-0.84,-146.0,823.9,-5.2,431,11612,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2593,3618,0,0,0,0,0,0
$GC,11951,-0.84,-146.0,843.5,-5.8,440,11954,0.00,2.03,0.00,0.000,4,0.000,0.045,2170,1618,3618,0,0,0,0,0,0
$GC,12113,-0.84,-146.0,852.2,-5.5,443,12117,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2602,3618,0,0,0,0,0,0
$GC,12455,-0.84,-146.0,867.3,-3.8,452,12458,0.00,2.03,0.00,0.000,4,0.000,0.044,2170,1616,3618,0,0,0,0,0,0
$GC,12712,-0.84,-146.0,874.3,-2.4,457,12716,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2585,3617,0,0,0,0,0,0
$GC,13049,-0.84,-146.0,882.6,-2.6,466,13052,0.00,1.98,0.00,0.000,4,0.000,0.044,2170,1626,3615,0,0,0,0,0,0
$GC,13184,-0.84,-146.0,886.8,-2.2,469,13188,0.00,1.95,0.00,0.000,6,0.000,0.039,2170,2579,3615,0,0,0,0,0,0
$GC,13514,-0.84,-146.0,899.0,-3.8,477,13517,0.00,1.98,0.00,0.000,4,0.000,0.044,2170,1619,3614,0,0,0,0,0,0
$GC,13771,-0.84,-146.0,910.2,-4.7,482,13775,0.00,1.98,0.00,0.000,6,0.000,0.038,2170,2565,3614,0,0,0,0,0,0
$GC,14108,-0.84,-146.0,927.9,-5.4,491,14111,0.00,1.95,0.00,0.000,4,0.000,0.044,2170,1615,3613,0,0,0,0,0,0
$GC,14198,-0.84,-146.0,932.8,-5.0,493,14201,0.00,1.98,0.00,0.000,6,0.000,0.039,2170,2571,3613,0,0,0,0,0,0
$GC,14527,-0.84,-146.0,950.6,-5.2,501,14530,0.00,1.95,0.00,0.000,4,0.000,0.044,2170,1624,3612,0,0,0,0,0,0
$GC,14784,-0.84,-146.0,961.3,-4.3,506,14788,0.00,1.95,0.00,0.000,6,0.000,0.038,2170,2556,3612,0,0,0,0,0,0
$GC,15121,-0.84,-146.0,972.1,-3.0,515,15124,0.00,1.95,0.00,0.000,4,0.000,0.044,2170,1619,3611,0,0,0,0,0,0
$GC,15278,-0.84,-146.0,976.6,-3.0,518,15281,0.00,1.92,0.00,0.000,6,0.000,0.039,2170,2561,3611,0,0,0,0,0,0
$GC,15625,-0.84,-146.0,988.7,-3.8,527,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2561,3610,0,0,0,0,0,0
$STATE,15664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15664,begin apogee
$GC,15670,-0.33,0.0,990.4,3.9,528,15787,0.55,0.00,113.97,1.505,6,0.094,0.000,2283,1945,3071,0,0,0,0,0,0
$STATE,15790,end apogee,CONTROL_FINISHED_OK
$STATE,15790,begin climb
$GC,15792,0.84,146.0,990.1,0.0,531,15925,1.25,2.42,126.25,1.444,4,0.069,0.057,2542,875,2474,0,0,0,0,0,0
$GC,15959,0.84,146.0,979.6,6.5,535,15964,0.00,2.28,0.00,0.000,6,0.000,0.031,2541,1944,2472,0,0,0,0,0,0
$GC,16278,0.84,146.0,958.1,6.9,543,16281,0.00,2.08,0.00,0.000,4,0.000,0.046,2542,2995,2469,0,0,0,0,0,0
$GC,16401,0.84,146.0,948.9,8.8,545,16405,0.00,2.12,0.00,0.000,6,0.000,0.037,2541,1904,2469,0,0,0,0,0,0
$GC,16731,0.84,146.0,921.7,8.5,553,16735,0.00,2.25,0.00,0.000,4,0.000,0.058,2542,871,2468,0,0,0,0,0,0
$GC,16768,0.84,146.0,918.2,8.9,553,16775,0.00,2.17,0.00,0.000,6,0.000,0.029,2542,1907,2468,0,0,0,0,0,0
$GC,17099,0.84,146.0,890.6,8.1,562,17103,0.00,2.25,0.00,0.000,4,0.000,0.056,2541,868,2467,0,0,0,0,0,0
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$STATE,29058,end climb,SURFACE_DEPTH_REACHED
$STATE,29058,begin surface coast
$FINISH,1.7,1.010267
$STATE,29087,end surface coast,CONTROL_FINISHED_OK
$STATE,29087,begin surface
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$IRIDIUM_FIX,1904.66,12511.30,150612,060648
$TT8_MAMPS,0.049088
$HUMID,1078823861
$TCM_TEMP,24.50
$XPDR_PINGS,498
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,2041708544
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59419918336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,29.343
$10V_AH,9.9,15.099
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.775,239.625,379.975,103.475,0.000,56.539,69.334,620.276,124.500,0.000,33.731,2250.989,22873.004,709.685,4066.949,289.192,33.410,2421.879,0.000,3222.386,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,715.508,0.000,0.000,0.000,0.000,0.000,0.000,25873.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.992,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,36680,1050
$CAP_FILE_SIZE,248665,0
$CFSIZE,260034560,246165504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,204336,1911.259,12509.051,53,1.3,53,-2.3