version: 66.07
glider: 23
mission: 5
dive: 180
start: 12 25 110 15 50 22
data:
$ID,23
$MISSION,5
$DIVE,180
$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,1100
$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,120
$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,-55065.77
$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,2370
$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,2570
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,30
$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,179
$AR_SAMPLENUM,4
$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
$GPS1,251210,152206,1854.292,12452.086,41,1.4,41,-2.3
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-55.1
$GPS2,251210,154931,1854.108,12452.266,29,1.4,35,-2.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,-0.145
$KALMAN_X,-308062.5,-111.2,-38.0,189693.4,-808.4
$KALMAN_Y,135685.0,1100.5,-235.4,-409351.6,247.7
$MHEAD_RNG_PITCHd_Wd,219.7,86642,-12.1,-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,-0.94,-116.8,0.0,0.0,0,119,0.00,0.00,-90.45,0.000,2,0.000,0.000,366,2592,2751,0,0,0,0,0,0
$GC,121,-0.94,-116.8,3.1,-1.1,18,168,10.15,1.67,-30.20,0.000,4,0.153,0.057,2161,3631,3548,0,0,0,0,0,0
$GC,421,-0.94,-116.8,46.0,-17.1,64,425,0.00,1.73,0.00,0.000,6,0.000,0.029,2161,2544,3548,0,0,0,0,0,0
$GC,687,-0.94,-116.8,89.7,-15.2,89,691,0.00,1.77,0.00,0.000,4,0.000,0.037,2161,3638,3547,0,0,0,0,0,0
$GC,945,-0.94,-116.8,126.4,-15.5,112,949,0.00,1.75,0.00,0.000,6,0.000,0.025,2161,2549,3548,0,0,0,0,0,0
$GC,1212,-0.94,-116.8,161.0,-10.5,137,1215,0.00,1.75,0.00,0.000,4,0.000,0.037,2161,3632,3548,0,0,0,0,0,0
$GC,1470,-0.94,-116.8,190.1,-10.7,160,1473,0.00,1.73,0.00,0.000,6,0.000,0.024,2161,2551,3548,0,0,0,0,0,0
$GC,1731,-0.94,-116.8,213.6,-9.1,178,1735,0.00,1.75,0.00,0.000,4,0.000,0.038,2161,3631,3548,0,0,0,0,0,0
$GC,1988,-0.94,-116.8,235.3,-7.7,189,1993,0.00,1.73,0.00,0.000,6,0.000,0.023,2161,2554,3548,0,0,0,0,0,0
$GC,2310,-0.94,-116.8,261.5,-8.5,205,2314,0.00,2.20,0.00,0.000,4,0.000,0.039,2161,1500,3547,0,0,0,0,0,0
$GC,2376,-0.94,-116.8,267.0,-8.1,208,2380,0.00,2.17,0.00,0.000,6,0.000,0.027,2161,2553,3546,0,0,0,0,0,0
$GC,2708,-0.94,-116.8,289.5,-6.4,224,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2552,3546,0,0,0,0,0,0
$GC,3035,-0.94,-116.8,312.1,-6.6,236,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2552,3543,0,0,0,0,0,0
$GC,3360,-0.94,-116.8,332.6,-6.2,244,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2552,3542,0,0,0,0,0,0
$GC,3685,-0.94,-116.8,352.8,-6.1,252,3689,0.00,2.20,0.00,0.000,4,0.000,0.039,2161,1509,3540,0,0,0,0,0,0
$GC,3942,-0.94,-116.8,368.0,-6.1,257,3949,0.00,2.17,0.00,0.000,6,0.000,0.030,2161,2546,3539,0,0,0,0,0,0
$GC,4274,-0.94,-116.8,385.8,-5.3,266,4278,0.00,2.17,0.00,0.000,4,0.000,0.039,2161,1504,3537,0,0,0,0,0,0
$GC,4530,-0.94,-116.8,400.8,-5.9,271,4535,0.00,2.20,0.00,0.000,6,0.000,0.030,2161,2549,3536,0,0,0,0,0,0
$GC,4868,-0.94,-116.8,419.3,-5.3,280,4871,0.00,2.20,0.00,0.000,4,0.000,0.039,2161,1512,3534,0,0,0,0,0,0
$GC,5125,-0.94,-116.8,432.2,-4.7,285,5131,0.00,2.17,0.00,0.000,6,0.000,0.031,2161,2539,3531,0,0,0,0,0,0
$GC,5456,-0.94,-116.8,447.1,-4.6,294,5460,0.00,2.20,0.00,0.000,4,0.000,0.040,2160,1501,3530,0,0,0,0,0,0
$GC,5714,-0.94,-116.8,461.0,-6.3,299,5719,0.00,2.20,0.00,0.000,6,0.000,0.031,2161,2540,3527,0,0,0,0,0,0
$GC,6045,-0.94,-116.8,479.7,-5.3,308,6049,0.00,2.20,0.00,0.000,4,0.000,0.040,2161,1503,3526,0,0,0,0,0,0
$GC,6089,-0.94,-116.8,481.9,-4.9,309,6093,0.00,2.17,0.00,0.000,6,0.000,0.032,2161,2543,3526,0,0,0,0,0,0
$GC,6419,-0.94,-116.8,497.9,-4.8,317,6423,0.00,2.20,0.00,0.000,4,0.000,0.041,2161,1507,3524,0,0,0,0,0,0
$GC,6676,-0.94,-116.8,509.3,-4.6,322,6682,0.00,2.17,0.00,0.000,6,0.000,0.032,2161,2530,3521,0,0,0,0,0,0
$GC,7007,-0.94,-116.8,523.4,-4.3,331,7011,0.00,2.17,0.00,0.000,4,0.000,0.041,2161,1506,3519,0,0,0,0,0,0
$GC,7264,-0.94,-116.8,534.5,-4.4,336,7269,0.00,2.15,0.00,0.000,6,0.000,0.034,2160,2518,3517,0,0,0,0,0,0
$GC,7602,-0.94,-116.8,547.2,-3.5,345,7605,0.00,1.88,0.00,0.000,4,0.000,0.051,2161,3632,3516,0,0,0,0,0,0
$GC,7679,-0.94,-116.8,550.3,-4.4,346,7683,0.00,1.83,0.00,0.000,6,0.000,0.027,2160,2514,3515,0,0,0,0,0,0
$GC,8016,-0.94,-116.8,564.4,-4.6,355,8020,0.00,2.10,0.00,0.000,4,0.000,0.041,2160,1509,3514,0,0,0,0,0,0
$GC,8273,-0.94,-116.8,577.3,-4.9,360,8279,0.00,2.15,0.00,0.000,6,0.000,0.035,2161,2516,3512,0,0,0,0,0,0
$GC,8605,-0.94,-116.8,590.4,-3.5,369,8609,0.00,1.90,0.00,0.000,4,0.000,0.051,2161,3630,3510,0,0,0,0,0,0
$GC,8862,-0.94,-116.8,599.3,-3.2,374,8866,0.00,1.83,0.00,0.000,6,0.000,0.027,2160,2515,3509,0,0,0,0,0,0
$GC,9199,-0.94,-116.8,611.3,-3.9,383,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2516,3507,0,0,0,0,0,0
$GC,9523,-0.94,-116.8,624.8,-4.3,391,9527,0.00,2.12,0.00,0.000,4,0.000,0.043,2161,1503,3507,0,0,0,0,0,0
$GC,9725,-0.94,-116.8,632.6,-4.0,395,9729,0.00,2.15,0.00,0.000,6,0.000,0.035,2161,2512,3505,0,0,0,0,0,0
$GC,10067,-0.94,-116.8,644.5,-3.3,404,10071,0.00,2.15,0.00,0.000,4,0.000,0.042,2160,1505,3504,0,0,0,0,0,0
$GC,10250,-0.94,-116.8,650.4,-2.7,408,10255,0.00,2.12,0.00,0.000,6,0.000,0.034,2160,2502,3503,0,0,0,0,0,0
$GC,10569,-0.94,-116.8,659.2,-2.8,416,10573,0.00,2.10,0.00,0.000,4,0.000,0.042,2161,1511,3502,0,0,0,0,0,0
$GC,10826,-0.94,-116.8,667.5,-3.8,421,10833,0.00,2.12,0.00,0.000,6,0.000,0.035,2161,2501,3501,0,0,0,0,0,0
$GC,11158,-0.94,-116.8,680.6,-4.3,430,11162,0.00,2.12,0.00,0.000,4,0.000,0.044,2160,1511,3499,0,0,0,0,0,0
$GC,11191,-0.94,-116.8,682.3,-5.1,430,11196,0.00,2.10,0.00,0.000,6,0.000,0.035,2161,2504,3499,0,0,0,0,0,0
$GC,11521,-0.94,-116.8,700.2,-5.9,439,11525,0.00,2.12,0.00,0.000,4,0.000,0.044,2161,1513,3499,0,0,0,0,0,0
$GC,11587,-0.94,-116.8,704.4,-6.4,440,11592,0.00,2.12,0.00,0.000,6,0.000,0.036,2160,2498,3498,0,0,0,0,0,0
$GC,11936,-0.94,-116.8,723.4,-5.2,449,11940,0.00,2.12,0.00,0.000,4,0.000,0.044,2160,1512,3498,0,0,0,0,0,0
$GC,12155,-0.94,-116.8,732.9,-3.4,454,12158,0.00,2.10,0.00,0.000,6,0.000,0.037,2160,2499,3497,0,0,0,0,0,0
$GC,12478,-0.94,-116.8,744.7,-3.4,462,12482,0.00,2.12,0.00,0.000,4,0.000,0.044,2161,1501,3497,0,0,0,0,0,0
$GC,12662,-0.94,-116.8,750.8,-3.4,466,12667,0.00,2.12,0.00,0.000,6,0.000,0.037,2161,2489,3495,0,0,0,0,0,0
$GC,12987,-0.94,-116.8,759.9,-2.5,474,12991,0.00,1.95,0.00,0.000,4,0.000,0.057,2161,3635,3495,0,0,0,0,0,0
$GC,13167,-0.94,-116.8,764.4,-2.7,478,13170,0.00,1.88,0.00,0.000,6,0.000,0.028,2161,2482,3494,0,0,0,0,0,0
$GC,13496,-0.94,-116.8,771.6,-2.2,486,13500,0.00,2.08,0.00,0.000,4,0.000,0.046,2160,1506,3493,0,0,0,0,0,0
$GC,13670,-0.94,-116.8,775.9,-2.7,490,13674,0.00,2.10,0.00,0.000,6,0.000,0.038,2160,2501,3492,0,0,0,0,0,0
$GC,13999,-0.94,-116.8,784.2,-2.6,498,14002,0.00,1.92,0.00,0.000,4,0.000,0.056,2161,3631,3492,0,0,0,0,0,0
$GC,14257,-0.94,-116.8,794.3,-3.8,503,14260,0.00,1.88,0.00,0.000,6,0.000,0.029,2161,2476,3492,0,0,0,0,0,0
$GC,14593,-0.94,-116.8,807.4,-3.7,512,14597,0.00,1.98,0.00,0.000,4,0.000,0.054,2160,3636,3491,0,0,0,0,0,0
$GC,14665,-0.94,-116.8,810.0,-3.6,513,14669,0.00,1.90,0.00,0.000,6,0.000,0.030,2161,2477,3491,0,0,0,0,0,0
$GC,15007,-0.94,-116.8,819.8,-2.7,522,15011,0.00,2.05,0.00,0.000,4,0.000,0.046,2160,1509,3491,0,0,0,0,0,0
$GC,15265,-0.94,-116.8,825.6,-1.9,527,15269,0.00,2.12,0.00,0.000,6,0.000,0.038,2161,2494,3490,0,0,0,0,0,0
$GC,15601,-0.94,-116.8,833.5,-2.5,536,15605,0.00,2.10,0.00,0.000,4,0.000,0.043,2161,1499,3489,0,0,0,0,0,0
$GC,15792,-0.94,-116.8,839.7,-4.0,540,15795,0.00,2.10,0.00,0.000,6,0.000,0.037,2160,2491,3489,0,0,0,0,0,0
$GC,16104,-0.94,-116.8,850.7,-3.5,548,16108,0.00,2.08,0.00,0.000,4,0.000,0.042,2161,1509,3489,0,0,0,0,0,0
$GC,16361,-0.94,-116.8,858.1,-2.1,553,16368,0.00,2.10,0.00,0.000,6,0.000,0.037,2161,2480,3489,0,0,0,0,0,0
$GC,16693,-0.94,-116.8,863.5,-1.3,562,16696,0.00,2.08,0.00,0.000,4,0.000,0.043,2160,1512,3488,0,0,0,0,0,0
$GC,16950,-0.94,-116.8,866.0,-0.8,567,16954,0.00,2.08,0.00,0.000,6,0.000,0.037,2160,2469,3488,0,0,0,0,0,0
$STATE,17041,end dive,NO_VERTICAL_VELOCITY
$STATE,17041,begin apogee
$GC,17047,-0.33,0.0,866.8,0.0,570,17138,0.65,0.00,87.47,1.418,6,0.097,0.000,2293,1873,3071,0,0,0,0,0,0
$STATE,17141,end apogee,CONTROL_FINISHED_OK
$STATE,17141,begin climb
$GC,17143,0.94,116.8,865.3,0.0,572,17251,1.30,2.17,99.75,1.364,4,0.067,0.041,2570,2922,2593,0,0,0,0,0,0
$GC,17301,0.94,116.8,851.7,8.3,575,17308,0.00,2.12,0.00,0.000,6,0.000,0.035,2570,1858,2590,0,0,0,0,0,0
$GC,17632,0.94,116.8,823.9,8.3,584,17636,0.00,2.10,0.00,0.000,4,0.000,0.039,2570,2925,2587,0,0,0,0,0,0
$GC,17692,0.94,116.8,818.7,8.4,585,17698,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,1868,2587,0,0,0,0,0,0
$GC,18041,0.94,116.8,791.7,7.6,594,18044,0.00,2.08,0.00,0.000,4,0.000,0.039,2570,2925,2587,0,0,0,0,0,0
$GC,18101,0.94,116.8,786.9,9.4,595,18106,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,1864,2587,0,0,0,0,0,0
$GC,18414,0.94,116.8,764.1,7.2,603,18418,0.00,2.08,0.00,0.000,4,0.000,0.038,2569,2921,2586,0,0,0,0,0,0
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$STATE,29193,end climb,SURFACE_DEPTH_REACHED
$STATE,29193,begin surface coast
$FINISH,1.8,1.010453
$STATE,29239,end surface coast,CONTROL_FINISHED_OK
$STATE,29239,begin surface
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$XPDR_PINGS,602
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$AR_CDRIVE_FREE,2041446400
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59307524096
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,31.573
$10V_AH,10.0,16.718
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.875,236.175,338.075,109.825,0.000,148.232,182.121,814.717,150.500,0.000,36.523,2404.940,22848.240,659.286,4769.883,316.871,33.389,2480.404,0.000,3449.259,0.000,0.547,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.214,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,39999,1139
$CAP_FILE_SIZE,268084,0
$CFSIZE,260034560,244834304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261210,000125,1852.199,12450.044,41,1.2,41,-2.2