version: 66.07
glider: 23
mission: 5
dive: 182
start: 12 26 110 9 53 46
data:
$ID,23
$MISSION,5
$DIVE,182
$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,-55136.531
$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,15
$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,181
$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
$GPS1,261210,092736,1851.669,12444.613,29,1.2,29,-2.2
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-50.6
$GPS2,261210,095255,1851.724,12444.537,15,1.3,33,-2.2
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.078,-0.164
$KALMAN_X,-312359.4,-1395.9,-268.4,182189.6,232.9
$KALMAN_Y,141115.5,285.3,111.6,-418722.0,2594.2
$MHEAD_RNG_PITCHd_Wd,207.6,74187,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.94,-116.8,0.0,0.0,0,109,0.00,0.00,-81.15,0.000,2,0.000,0.000,366,2561,2903,0,0,0,0,0,0
$GC,111,-0.94,-116.8,3.4,-1.5,16,148,10.27,2.30,-19.48,0.000,4,0.160,0.054,2159,1490,3549,0,0,0,0,0,0
$GC,326,-0.94,-116.8,43.0,-23.1,50,333,0.00,2.22,0.00,0.000,6,0.000,0.025,2159,2565,3550,0,0,0,0,0,0
$GC,588,-0.94,-116.8,89.2,-16.0,75,592,0.00,1.73,0.00,0.000,4,0.000,0.037,2159,3644,3550,0,0,0,0,0,0
$GC,835,-0.94,-116.8,124.1,-13.4,97,838,0.00,1.73,0.00,0.000,6,0.000,0.025,2159,2567,3550,0,0,0,0,0,0
$GC,1101,-0.94,-116.8,159.4,-13.4,122,1105,0.00,1.73,0.00,0.000,4,0.000,0.037,2159,3639,3550,0,0,0,0,0,0
$GC,1292,-0.94,-116.8,180.8,-9.7,139,1296,0.00,1.70,0.00,0.000,6,0.000,0.024,2159,2568,3550,0,0,0,0,0,0
$GC,1557,-0.94,-116.8,206.6,-9.5,161,1561,0.00,2.20,0.00,0.000,4,0.000,0.038,2159,1518,3551,0,0,0,0,0,0
$GC,1597,-0.94,-116.8,210.3,-9.0,163,1601,0.00,2.20,0.00,0.000,6,0.000,0.027,2159,2590,3551,0,0,0,0,0,0
$GC,1923,-0.94,-116.8,238.4,-8.6,179,1927,0.00,2.25,0.00,0.000,4,0.000,0.038,2159,1515,3550,0,0,0,0,0,0
$GC,2057,-0.94,-116.8,249.2,-7.3,185,2062,0.00,2.20,0.00,0.000,6,0.000,0.027,2159,2582,3550,0,0,0,0,0,0
$GC,2384,-0.94,-116.8,273.9,-7.5,201,2388,0.00,2.22,0.00,0.000,4,0.000,0.038,2159,1512,3549,0,0,0,0,0,0
$GC,2455,-0.94,-116.8,279.8,-8.6,204,2460,0.00,2.20,0.00,0.000,6,0.000,0.027,2159,2567,3548,0,0,0,0,0,0
$GC,2775,-0.94,-116.8,308.8,-9.2,218,2779,0.00,2.20,0.00,0.000,4,0.000,0.040,2160,1514,3547,0,0,0,0,0,0
$GC,2840,-0.94,-116.8,314.2,-7.3,219,2845,0.00,2.20,0.00,0.000,6,0.000,0.028,2159,2566,3547,0,0,0,0,0,0
$GC,3183,-0.94,-116.8,334.8,-5.9,228,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2565,3545,0,0,0,0,0,0
$GC,3508,-0.94,-116.8,356.1,-6.5,236,3511,0.00,1.75,0.00,0.000,4,0.000,0.044,2159,3638,3543,0,0,0,0,0,0
$GC,3759,-0.94,-116.8,371.4,-4.8,241,3764,0.00,1.73,0.00,0.000,6,0.000,0.025,2159,2562,3541,0,0,0,0,0,0
$GC,4102,-0.94,-116.8,388.8,-5.3,250,4105,0.00,2.20,0.00,0.000,4,0.000,0.041,2159,1508,3540,0,0,0,0,0,0
$GC,4281,-0.94,-116.8,400.0,-6.0,254,4285,0.00,2.20,0.00,0.000,6,0.000,0.031,2159,2566,3538,0,0,0,0,0,0
$GC,4604,-0.94,-116.8,418.8,-5.6,262,4608,0.00,1.77,0.00,0.000,4,0.000,0.046,2159,3635,3537,0,0,0,0,0,0
$GC,4636,-0.94,-116.8,420.7,-5.7,262,4641,0.00,1.73,0.00,0.000,6,0.000,0.025,2159,2563,3536,0,0,0,0,0,0
$GC,4973,-0.94,-116.8,435.7,-4.5,271,4977,0.00,2.22,0.00,0.000,4,0.000,0.041,2159,1502,3535,0,0,0,0,0,0
$GC,5157,-0.94,-116.8,445.2,-4.8,275,5162,0.00,2.22,0.00,0.000,6,0.000,0.031,2159,2557,3533,0,0,0,0,0,0
$GC,5476,-0.94,-116.8,462.3,-5.7,283,5480,0.00,2.20,0.00,0.000,4,0.000,0.040,2159,1511,3531,0,0,0,0,0,0
$GC,5733,-0.94,-116.8,476.4,-5.7,288,5738,0.00,2.17,0.00,0.000,6,0.000,0.030,2159,2545,3528,0,0,0,0,0,0
$GC,6071,-0.94,-116.8,493.3,-4.8,297,6075,0.00,2.20,0.00,0.000,4,0.000,0.041,2159,1505,3527,0,0,0,0,0,0
$GC,6328,-0.94,-116.8,505.4,-4.5,302,6334,0.00,2.17,0.00,0.000,6,0.000,0.030,2159,2540,3526,0,0,0,0,0,0
$GC,6659,-0.94,-116.8,516.6,-3.0,311,6663,0.00,1.85,0.00,0.000,4,0.000,0.049,2159,3641,3524,0,0,0,0,0,0
$GC,6742,-0.94,-116.8,519.1,-3.1,312,6748,0.00,1.80,0.00,0.000,6,0.000,0.026,2159,2530,3523,0,0,0,0,0,0
$GC,7073,-0.94,-116.8,530.1,-3.8,321,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2530,3521,0,0,0,0,0,0
$GC,7398,-0.94,-116.8,542.1,-3.5,329,7402,0.00,1.85,0.00,0.000,4,0.000,0.048,2159,3634,3519,0,0,0,0,0,0
$GC,7448,-0.94,-116.8,544.1,-4.0,330,7452,0.00,1.80,0.00,0.000,6,0.000,0.027,2159,2528,3519,0,0,0,0,0,0
$GC,7772,-0.94,-116.8,554.2,-2.9,338,7776,0.00,2.15,0.00,0.000,4,0.000,0.042,2159,1507,3517,0,0,0,0,0,0
$GC,8029,-0.94,-116.8,562.6,-3.9,343,8035,0.00,2.15,0.00,0.000,6,0.000,0.031,2159,2527,3516,0,0,0,0,0,0
$GC,8360,-0.94,-116.8,575.4,-4.0,352,8364,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,1499,3515,0,0,0,0,0,0
$GC,8550,-0.94,-116.8,583.7,-4.9,356,8555,0.00,2.17,0.00,0.000,6,0.000,0.032,2159,2527,3514,0,0,0,0,0,0
$GC,8863,-0.94,-116.8,597.5,-4.5,364,8867,0.00,2.17,0.00,0.000,4,0.000,0.041,2159,1498,3512,0,0,0,0,0,0
$GC,8946,-0.94,-116.8,601.4,-4.5,365,8952,0.00,2.17,0.00,0.000,6,0.000,0.033,2159,2527,3511,0,0,0,0,0,0
$GC,9277,-0.94,-116.8,614.7,-3.9,374,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2527,3509,0,0,0,0,0,0
$GC,9603,-0.94,-116.8,625.9,-3.7,382,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2527,3508,0,0,0,0,0,0
$GC,9927,-0.94,-116.8,639.5,-4.5,390,9931,0.00,2.17,0.00,0.000,4,0.000,0.042,2159,1506,3508,0,0,0,0,0,0
$GC,9999,-0.94,-116.8,643.1,-5.2,391,10003,0.00,2.15,0.00,0.000,6,0.000,0.034,2159,2518,3507,0,0,0,0,0,0
$GC,10336,-0.94,-116.8,661.4,-5.7,400,10340,0.00,2.15,0.00,0.000,4,0.000,0.043,2159,1498,3506,0,0,0,0,0,0
$GC,10471,-0.94,-116.8,669.2,-5.8,403,10475,0.00,2.15,0.00,0.000,6,0.000,0.035,2159,2522,3506,0,0,0,0,0,0
$GC,10789,-0.94,-116.8,684.1,-4.3,411,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2522,3505,0,0,0,0,0,0
$GC,11113,-0.94,-116.8,695.1,-3.3,419,11117,0.00,2.15,0.00,0.000,4,0.000,0.044,2159,1509,3503,0,0,0,0,0,0
$GC,11371,-0.94,-116.8,701.9,-2.5,424,11377,0.00,2.15,0.00,0.000,6,0.000,0.037,2159,2511,3502,0,0,0,0,0,0
$GC,11702,-0.94,-116.8,708.7,-1.9,433,11706,0.00,2.12,0.00,0.000,4,0.000,0.044,2159,1508,3501,0,0,0,0,0,0
$GC,11958,-0.94,-116.8,713.1,-1.7,438,11965,0.00,2.12,0.00,0.000,6,0.000,0.037,2159,2496,3500,0,0,0,0,0,0
$GC,12290,-0.94,-116.8,720.0,-2.2,447,12294,0.00,2.12,0.00,0.000,4,0.000,0.044,2159,1505,3499,0,0,0,0,0,0
$GC,12547,-0.94,-116.8,727.2,-3.5,452,12553,0.00,2.12,0.00,0.000,6,0.000,0.037,2159,2497,3499,0,0,0,0,0,0
$GC,12878,-0.94,-116.8,737.5,-3.0,461,12882,0.00,2.12,0.00,0.000,4,0.000,0.044,2159,1507,3498,0,0,0,0,0,0
$GC,13136,-0.94,-116.8,744.5,-2.7,466,13141,0.00,2.12,0.00,0.000,6,0.000,0.038,2159,2498,3497,0,0,0,0,0,0
$GC,13467,-0.94,-116.8,754.1,-3.2,475,13471,0.00,2.12,0.00,0.000,4,0.000,0.044,2159,1503,3496,0,0,0,0,0,0
$GC,13724,-0.94,-116.8,764.9,-4.7,480,13728,0.00,2.12,0.00,0.000,6,0.000,0.038,2159,2494,3496,0,0,0,0,0,0
$GC,14061,-0.94,-116.8,780.0,-4.6,489,14065,0.00,2.10,0.00,0.000,4,0.000,0.043,2159,1502,3496,0,0,0,0,0,0
$GC,14318,-0.94,-116.8,789.6,-2.8,494,14324,0.00,2.15,0.00,0.000,6,0.000,0.038,2159,2502,3495,0,0,0,0,0,0
$GC,14649,-0.94,-116.8,795.9,-1.4,503,14653,0.00,2.10,0.00,0.000,4,0.000,0.043,2159,1510,3494,0,0,0,0,0,0
$GC,14755,-0.94,-116.8,796.9,-1.0,505,14759,0.00,2.12,0.00,0.000,6,0.000,0.038,2159,2495,3495,0,0,0,0,0,0
$STATE,14898,end dive,NO_VERTICAL_VELOCITY
$STATE,14898,begin apogee
$GC,14904,-0.33,0.0,797.6,0.0,509,14995,0.65,0.00,87.60,1.359,6,0.097,0.000,2293,1869,3071,0,0,0,0,0,0
$STATE,14998,end apogee,CONTROL_FINISHED_OK
$STATE,14998,begin climb
$GC,15000,0.94,116.8,795.5,0.0,511,15103,1.30,0.00,98.82,1.305,6,0.065,0.000,2570,1869,2594,0,0,0,0,0,0
$GC,15406,0.94,116.8,759.1,8.5,521,15410,0.00,2.28,0.00,0.000,4,0.000,0.051,2570,780,2589,0,0,0,0,0,0
$GC,15432,0.94,116.8,756.8,7.9,521,15437,0.00,2.20,0.00,0.000,6,0.000,0.028,2570,1863,2588,0,0,0,0,0,0
$GC,15769,0.94,116.8,730.7,7.4,530,15772,0.00,2.08,0.00,0.000,4,0.000,0.041,2570,2924,2587,0,0,0,0,0,0
$GC,15834,0.94,116.8,725.9,6.8,531,15839,0.00,2.12,0.00,0.000,6,0.000,0.035,2570,1854,2588,0,0,0,0,0,0
$GC,16183,0.94,116.8,703.2,6.5,540,16184,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1854,2588,0,0,0,0,0,0
$GC,16508,0.94,116.8,679.6,7.7,548,16512,0.00,2.08,0.00,0.000,4,0.000,0.038,2570,2925,2587,0,0,0,0,0,0
$GC,16568,0.94,116.8,674.4,8.2,549,16572,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,1861,2587,0,0,0,0,0,0
$GC,16916,0.94,116.8,646.7,7.7,558,16920,0.00,2.08,0.00,0.000,4,0.000,0.038,2570,2923,2588,0,0,0,0,0,0
$GC,16960,0.94,116.8,643.3,6.6,559,16964,0.00,2.08,0.00,0.000,6,0.000,0.034,2570,1854,2587,0,0,0,0,0,0
$GC,17290,0.94,116.8,618.8,7.7,567,17293,0.00,2.08,0.00,0.000,4,0.000,0.038,2570,2922,2586,0,0,0,0,0,0
$GC,17355,0.94,116.8,613.3,7.8,568,17360,0.00,2.05,0.00,0.000,6,0.000,0.032,2570,1873,2586,0,0,0,0,0,0
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$STATE,26173,end climb,SURFACE_DEPTH_REACHED
$STATE,26173,begin surface coast
$FINISH,1.8,1.020682
$STATE,26190,end surface coast,CONTROL_FINISHED_OK
$STATE,26190,begin surface
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$TCM_TEMP,25.20
$XPDR_PINGS,569
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$AR_CDRIVE_FREE,2092662784
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59256143872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,31.969
$10V_AH,10.0,17.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,201.775,352.975,104.100,0.000,158.587,236.896,681.558,142.250,0.000,34.798,2133.323,20702.693,656.324,4059.951,265.309,33.381,2180.807,0.000,2866.461,0.000,0.547,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.821,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,36671,1043
$CAP_FILE_SIZE,231107,0
$CFSIZE,260034560,244621312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261210,171353,1851.586,12442.797,24,1.7,42,-2.2