version: 66.07
glider: 23
mission: 5
dive: 171
start: 12 22 110 5 48 49
data:
$ID,23
$MISSION,5
$DIVE,171
$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,-54864.945
$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,15
$R_STBD_OVSHOOT,35
$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,170
$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
$GPS1,221210,053800,1910.518,12507.999,70,1.2,70,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-55.5
$GPS2,221210,054756,1910.540,12507.884,11,1.4,11,-2.3
$SPEED_LIMITS,0.104,0.200
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,-0.200
$KALMAN_X,-290741.5,-839.8,-516.4,200531.1,-1636.9
$KALMAN_Y,111947.8,36.6,-375.8,-353974.8,5106.9
$MHEAD_RNG_PITCHd_Wd,180.5,127588,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.84,-146.0,0.0,0.0,0,108,0.00,0.00,-80.68,0.000,2,0.000,0.000,366,2702,2878,0,0,0,0,0,0
$GC,110,-0.84,-146.0,3.5,-1.4,16,152,10.25,2.20,-25.88,0.000,4,0.155,0.048,2168,1611,3668,0,0,0,0,0,0
$GC,404,-0.84,-146.0,48.2,-16.7,59,410,0.00,2.15,0.00,0.000,6,0.000,0.026,2168,2679,3668,0,0,0,0,0,0
$GC,665,-0.84,-146.0,92.4,-16.2,84,669,0.00,2.17,0.00,0.000,4,0.000,0.041,2168,1614,3668,0,0,0,0,0,0
$GC,686,-0.84,-146.0,96.0,-16.7,86,690,0.00,2.10,0.00,0.000,6,0.000,0.026,2168,2688,3669,0,0,0,0,0,0
$GC,952,-0.84,-146.0,135.4,-13.1,111,956,0.00,1.73,0.00,0.000,4,0.000,0.041,2168,3741,3669,0,0,0,0,0,0
$GC,1210,-0.84,-146.0,169.9,-12.9,134,1214,0.00,1.73,0.00,0.000,6,0.000,0.024,2168,2646,3669,0,0,0,0,0,0
$GC,1476,-0.84,-146.0,197.7,-10.2,159,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2645,3670,0,0,0,0,0,0
$GC,1735,-0.84,-146.0,224.9,-10.6,173,1738,0.00,2.05,0.00,0.000,4,0.000,0.039,2168,1623,3669,0,0,0,0,0,0
$GC,1834,-0.84,-146.0,235.2,-10.3,177,1841,0.00,2.10,0.00,0.000,6,0.000,0.028,2168,2666,3670,0,0,0,0,0,0
$GC,2150,-0.84,-146.0,265.1,-9.4,193,2153,0.00,2.10,0.00,0.000,4,0.000,0.038,2168,1621,3670,0,0,0,0,0,0
$GC,2356,-0.84,-146.0,283.8,-8.3,202,2360,0.00,2.10,0.00,0.000,6,0.000,0.029,2168,2663,3668,0,0,0,0,0,0
$GC,2675,-0.84,-146.0,312.7,-8.9,215,2679,0.00,2.10,0.00,0.000,4,0.000,0.038,2168,1627,3667,0,0,0,0,0,0
$GC,2831,-0.84,-146.0,326.4,-8.4,218,2835,0.00,2.03,0.00,0.000,6,0.000,0.029,2168,2655,3667,0,0,0,0,0,0
$GC,3173,-0.84,-146.0,354.2,-8.3,227,3176,0.00,2.10,0.00,0.000,4,0.000,0.039,2168,1622,3665,0,0,0,0,0,0
$GC,3256,-0.84,-146.0,360.4,-7.3,229,3260,0.00,2.03,0.00,0.000,6,0.000,0.031,2168,2646,3664,0,0,0,0,0,0
$GC,3579,-0.84,-146.0,384.2,-7.2,237,3583,0.00,2.05,0.00,0.000,4,0.000,0.040,2168,1629,3663,0,0,0,0,0,0
$GC,3836,-0.84,-146.0,400.6,-5.3,242,3843,0.00,2.05,0.00,0.000,6,0.000,0.031,2168,2633,3661,0,0,0,0,0,0
$GC,4168,-0.84,-146.0,417.1,-5.2,251,4171,0.00,2.03,0.00,0.000,4,0.000,0.040,2168,1631,3659,0,0,0,0,0,0
$GC,4251,-0.84,-146.0,422.2,-5.8,252,4257,0.00,2.05,0.00,0.000,6,0.000,0.032,2168,2636,3659,0,0,0,0,0,0
$GC,4581,-0.84,-146.0,443.7,-6.7,261,4585,0.00,2.05,0.00,0.000,4,0.000,0.041,2168,1624,3658,0,0,0,0,0,0
$GC,4681,-0.84,-146.0,450.2,-6.3,263,4685,0.00,2.05,0.00,0.000,6,0.000,0.032,2168,2625,3656,0,0,0,0,0,0
$GC,4994,-0.84,-146.0,468.3,-5.4,271,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2625,3654,0,0,0,0,0,0
$GC,5319,-0.84,-146.0,484.6,-5.1,279,5323,0.00,2.05,0.00,0.000,4,0.000,0.041,2168,1628,3651,0,0,0,0,0,0
$GC,5520,-0.84,-146.0,496.0,-6.1,283,5525,0.00,2.03,0.00,0.000,6,0.000,0.033,2168,2610,3649,0,0,0,0,0,0
$GC,5868,-0.84,-146.0,518.4,-6.4,292,5871,0.00,2.03,0.00,0.000,4,0.000,0.041,2168,1628,3646,0,0,0,0,0,0
$GC,5979,-0.84,-146.0,524.9,-5.6,294,5983,0.00,2.03,0.00,0.000,6,0.000,0.034,2168,2610,3645,0,0,0,0,0,0
$GC,6327,-0.84,-146.0,544.4,-5.7,303,6331,0.00,2.00,0.00,0.000,4,0.000,0.041,2168,1627,3643,0,0,0,0,0,0
$GC,6585,-0.84,-146.0,559.5,-5.8,308,6589,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2596,3642,0,0,0,0,0,0
$GC,6921,-0.84,-146.0,578.3,-5.2,317,6925,0.00,2.00,0.00,0.000,4,0.000,0.043,2168,1629,3639,0,0,0,0,0,0
$GC,7083,-0.84,-146.0,586.2,-5.0,320,7087,0.00,1.95,0.00,0.000,6,0.000,0.036,2168,2593,3638,0,0,0,0,0,0
$GC,7426,-0.84,-146.0,602.0,-4.7,329,7429,0.00,2.00,0.00,0.000,4,0.000,0.044,2168,1632,3636,0,0,0,0,0,0
$GC,7520,-0.84,-146.0,606.7,-5.2,331,7524,0.00,1.98,0.00,0.000,6,0.000,0.035,2168,2582,3636,0,0,0,0,0,0
$GC,7844,-0.84,-146.0,623.8,-5.7,339,7848,0.00,1.98,0.00,0.000,4,0.000,0.044,2168,1623,3633,0,0,0,0,0,0
$GC,8051,-0.84,-146.0,636.4,-5.6,343,8055,0.00,1.98,0.00,0.000,6,0.000,0.037,2169,2574,3632,0,0,0,0,0,0
$GC,8394,-0.84,-146.0,656.1,-5.5,352,8397,0.00,1.98,0.00,0.000,4,0.000,0.045,2168,1625,3630,0,0,0,0,0,0
$GC,8493,-0.84,-146.0,661.6,-5.8,354,8498,0.00,1.98,0.00,0.000,6,0.000,0.037,2168,2571,3630,0,0,0,0,0,0
$GC,8812,-0.84,-146.0,678.1,-5.2,362,8816,0.00,2.00,0.00,0.000,4,0.000,0.046,2168,1611,3629,0,0,0,0,0,0
$GC,8878,-0.84,-146.0,681.6,-5.4,363,8882,0.00,2.00,0.00,0.000,6,0.000,0.038,2168,2567,3628,0,0,0,0,0,0
$GC,9226,-0.84,-146.0,697.8,-4.7,372,9230,0.00,1.98,0.00,0.000,4,0.000,0.046,2168,1621,3627,0,0,0,0,0,0
$GC,9366,-0.84,-146.0,704.5,-4.7,375,9370,0.00,1.95,0.00,0.000,6,0.000,0.038,2168,2567,3626,0,0,0,0,0,0
$GC,9690,-0.84,-146.0,722.4,-5.9,383,9693,0.00,1.98,0.00,0.000,4,0.000,0.045,2168,1621,3624,0,0,0,0,0,0
$GC,9947,-0.84,-146.0,738.6,-6.1,388,9951,0.00,1.95,0.00,0.000,6,0.000,0.038,2168,2554,3624,0,0,0,0,0,0
$GC,10284,-0.84,-146.0,758.4,-5.8,397,10288,0.00,1.95,0.00,0.000,4,0.000,0.044,2168,1620,3622,0,0,0,0,0,0
$GC,10473,-0.84,-146.0,768.9,-5.5,401,10478,0.00,1.92,0.00,0.000,6,0.000,0.038,2168,2543,3622,0,0,0,0,0,0
$GC,10792,-0.84,-146.0,785.3,-4.9,409,10796,0.00,1.90,0.00,0.000,4,0.000,0.044,2168,1620,3620,0,0,0,0,0,0
$GC,10859,-0.84,-146.0,788.8,-4.9,410,10863,0.00,1.92,0.00,0.000,6,0.000,0.038,2168,2541,3620,0,0,0,0,0,0
$GC,11207,-0.84,-146.0,806.4,-5.1,419,11210,0.00,1.90,0.00,0.000,4,0.000,0.044,2168,1630,3619,0,0,0,0,0,0
$GC,11323,-0.84,-146.0,812.1,-4.6,421,11328,0.00,1.90,0.00,0.000,6,0.000,0.038,2167,2539,3619,0,0,0,0,0,0
$GC,11666,-0.84,-146.0,826.8,-4.0,430,11670,0.00,1.92,0.00,0.000,4,0.000,0.044,2168,1628,3618,0,0,0,0,0,0
$GC,11811,-0.84,-146.0,832.5,-4.4,433,11814,0.00,1.85,0.00,0.000,6,0.000,0.038,2168,2538,3618,0,0,0,0,0,0
$GC,12129,-0.84,-146.0,842.8,-3.0,441,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2537,3618,0,0,0,0,0,0
$GC,12454,-0.84,-146.0,851.1,-2.6,449,12457,0.00,1.90,0.00,0.000,4,0.000,0.044,2168,1624,3618,0,0,0,0,0,0
$GC,12582,-0.84,-146.0,854.5,-2.5,451,12588,0.00,1.90,0.00,0.000,6,0.000,0.038,2168,2535,3617,0,0,0,0,0,0
$GC,12913,-0.84,-146.0,865.0,-3.4,460,12917,0.00,1.92,0.00,0.000,4,0.000,0.044,2168,1624,3616,0,0,0,0,0,0
$GC,13097,-0.84,-146.0,872.3,-3.9,464,13101,0.00,1.90,0.00,0.000,6,0.000,0.038,2168,2530,3616,0,0,0,0,0,0
$GC,13421,-0.84,-146.0,886.8,-4.6,472,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2529,3615,0,0,0,0,0,0
$GC,13746,-0.84,-146.0,902.7,-4.9,480,13750,0.00,1.88,0.00,0.000,4,0.000,0.044,2168,1631,3614,0,0,0,0,0,0
$GC,14003,-0.84,-146.0,915.6,-5.3,485,14007,0.00,1.90,0.00,0.000,6,0.000,0.038,2168,2533,3614,0,0,0,0,0,0
$GC,14340,-0.84,-146.0,932.4,-5.1,494,14344,0.00,1.90,0.00,0.000,4,0.000,0.043,2168,1619,3613,0,0,0,0,0,0
$GC,14457,-0.84,-146.0,938.5,-5.5,496,14461,0.00,1.90,0.00,0.000,6,0.000,0.038,2168,2525,3613,0,0,0,0,0,0
$GC,14799,-0.84,-146.0,956.2,-5.3,505,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2525,3613,0,0,0,0,0,0
$GC,15124,-0.84,-146.0,973.6,-5.3,513,15128,0.00,1.85,0.00,0.000,4,0.000,0.044,2168,1629,3612,0,0,0,0,0,0
$GC,15179,-0.84,-146.0,976.4,-5.2,514,15183,0.00,1.90,0.00,0.000,6,0.000,0.038,2168,2533,3611,0,0,0,0,0,0
$GC,15498,-0.84,-146.0,989.0,-3.5,522,15501,0.00,1.90,0.00,0.000,4,0.000,0.044,2168,1622,3611,0,0,0,0,0,0
$STATE,15528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15528,begin apogee
$GC,15534,-0.33,0.0,990.1,2.5,522,15651,0.55,0.00,114.55,1.502,6,0.099,0.000,2282,1957,3071,0,0,0,0,0,0
$STATE,15655,end apogee,CONTROL_FINISHED_OK
$STATE,15655,begin climb
$GC,15656,0.84,146.0,989.7,0.0,525,15788,1.20,0.00,125.53,1.444,6,0.067,0.000,2538,1957,2475,0,0,0,0,0,0
$GC,16102,0.84,146.0,952.1,8.0,536,16105,0.00,2.03,0.00,0.000,4,0.000,0.044,2538,3001,2470,0,0,0,0,0,0
$GC,16146,0.84,146.0,948.5,7.6,537,16150,0.00,2.00,0.00,0.000,6,0.000,0.033,2538,1950,2470,0,0,0,0,0,0
$GC,16475,0.84,146.0,923.6,7.5,545,16479,0.00,2.03,0.00,0.000,4,0.000,0.043,2538,2988,2469,0,0,0,0,0,0
$GC,16535,0.84,146.0,919.1,7.3,546,16541,0.00,2.12,0.00,0.000,6,0.000,0.033,2538,1899,2468,0,0,0,0,0,0
$GC,16849,0.84,146.0,896.8,7.0,554,16852,0.00,2.12,0.00,0.000,4,0.000,0.044,2538,2996,2468,0,0,0,0,0,0
$GC,16960,0.84,148.6,889.1,5.9,556,16964,0.00,2.15,0.00,0.000,6,0.000,0.035,2537,1882,2468,0,0,0,0,0,0
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$STATE,28705,begin surface coast
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$STATE,28735,end surface coast,CONTROL_FINISHED_OK
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$MEM,354860
$DATA_FILE_SIZE,36725,1024
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$CFSIZE,260034560,245927936
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