version: 66.07
glider: 23
mission: 5
dive: 183
start: 12 26 110 17 27 40
data:
$ID,23
$MISSION,5
$DIVE,183
$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,-55168.492
$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,25
$R_STBD_OVSHOOT,23
$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,182
$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
$GPS1,261210,171353,1851.586,12442.797,24,1.7,42,-2.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-50.2
$GPS2,261210,172649,1851.511,12442.805,29,1.7,29,-2.2
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.033,-0.179
$KALMAN_X,-314885.5,878.7,-435.1,179615.7,-2342.9
$KALMAN_Y,145212.9,839.2,462.5,-424142.7,1483.6
$MHEAD_RNG_PITCHd_Wd,192.8,71952,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-71.10,0.000,2,0.000,0.000,367,2538,2683,0,0,0,0,0,0
$GC,101,-0.94,-116.8,3.1,-1.3,14,153,10.10,1.77,-35.25,0.000,4,0.152,0.054,2159,3639,3548,0,0,0,0,0,0
$GC,164,-0.94,-116.8,5.1,-2.7,26,170,0.00,1.73,0.00,0.000,6,0.000,0.021,2159,2545,3548,0,0,0,0,0,0
$GC,369,-0.94,-116.8,37.8,-16.3,59,373,0.00,2.15,0.00,0.000,4,0.000,0.040,2159,1513,3548,0,0,0,0,0,0
$GC,604,-0.94,-116.8,78.6,-18.3,79,610,0.00,2.20,0.00,0.000,6,0.000,0.023,2159,2578,3548,0,0,0,0,0,0
$GC,865,-0.94,-116.8,120.6,-13.9,104,869,0.00,1.70,0.00,0.000,4,0.000,0.038,2159,3642,3549,0,0,0,0,0,0
$GC,1123,-0.94,-116.8,157.6,-14.2,127,1127,0.00,1.70,0.00,0.000,6,0.000,0.023,2159,2568,3549,0,0,0,0,0,0
$GC,1390,-0.94,-116.8,187.2,-11.8,152,1393,0.00,1.73,0.00,0.000,4,0.000,0.038,2159,3637,3549,0,0,0,0,0,0
$GC,1647,-0.94,-116.8,215.4,-10.1,168,1651,0.00,1.67,0.00,0.000,6,0.000,0.021,2159,2581,3549,0,0,0,0,0,0
$GC,1968,-0.94,-116.8,241.8,-7.7,184,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2581,3549,0,0,0,0,0,0
$GC,2277,-0.94,-116.8,263.7,-6.2,199,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2581,3549,0,0,0,0,0,0
$GC,2588,-0.94,-116.8,282.1,-6.5,214,2592,0.00,2.22,0.00,0.000,4,0.000,0.037,2159,1509,3548,0,0,0,0,0,0
$GC,2717,-0.94,-116.8,291.9,-7.7,220,2721,0.00,2.17,0.00,0.000,6,0.000,0.028,2159,2576,3547,0,0,0,0,0,0
$GC,3039,-0.94,-116.8,315.6,-7.2,231,3043,0.00,2.20,0.00,0.000,4,0.000,0.037,2159,1519,3547,0,0,0,0,0,0
$GC,3285,-0.94,-116.8,330.9,-5.9,236,3290,0.00,2.20,0.00,0.000,6,0.000,0.028,2159,2570,3545,0,0,0,0,0,0
$GC,3634,-0.94,-116.8,348.1,-4.3,245,3637,0.00,2.17,0.00,0.000,4,0.000,0.037,2159,1520,3543,0,0,0,0,0,0
$GC,3891,-0.94,-116.8,361.0,-5.8,250,3897,0.00,2.17,0.00,0.000,6,0.000,0.028,2159,2556,3541,0,0,0,0,0,0
$GC,4222,-0.94,-116.8,378.3,-5.5,259,4226,0.00,2.17,0.00,0.000,4,0.000,0.038,2159,1506,3539,0,0,0,0,0,0
$GC,4310,-0.94,-116.8,383.8,-5.8,261,4314,0.00,2.17,0.00,0.000,6,0.000,0.028,2159,2570,3539,0,0,0,0,0,0
$GC,4634,-0.94,-116.8,403.7,-6.0,269,4638,0.00,2.17,0.00,0.000,4,0.000,0.036,2159,1519,3536,0,0,0,0,0,0
$GC,4750,-0.94,-116.8,410.3,-5.7,271,4755,0.00,2.17,0.00,0.000,6,0.000,0.029,2159,2557,3536,0,0,0,0,0,0
$GC,5087,-0.94,-116.8,427.1,-5.1,280,5091,0.00,1.77,0.00,0.000,4,0.000,0.046,2159,3638,3534,0,0,0,0,0,0
$GC,5215,-0.94,-116.8,434.6,-5.8,282,5221,0.00,1.73,0.00,0.000,6,0.000,0.024,2159,2559,3533,0,0,0,0,0,0
$GC,5546,-0.94,-116.8,453.0,-5.6,291,5550,0.00,1.83,0.00,0.000,4,0.000,0.045,2159,3648,3531,0,0,0,0,0,0
$GC,5573,-0.94,-116.8,454.7,-6.0,291,5578,0.00,1.77,0.00,0.000,6,0.000,0.025,2159,2547,3531,0,0,0,0,0,0
$GC,5916,-0.94,-116.8,469.8,-4.0,300,5920,0.00,2.15,0.00,0.000,4,0.000,0.038,2159,1514,3529,0,0,0,0,0,0
$GC,6156,-0.94,-116.8,478.5,-4.3,305,6161,0.00,2.20,0.00,0.000,6,0.000,0.031,2159,2557,3527,0,0,0,0,0,0
$GC,6504,-0.94,-116.8,493.5,-5.0,314,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2557,3525,0,0,0,0,0,0
$GC,6829,-0.94,-116.8,511.9,-5.9,322,6833,0.00,2.22,0.00,0.000,4,0.000,0.038,2159,1500,3523,0,0,0,0,0,0
$GC,7085,-0.94,-116.8,527.6,-6.1,327,7092,0.00,2.20,0.00,0.000,6,0.000,0.031,2159,2542,3521,0,0,0,0,0,0
$GC,7417,-0.94,-116.8,543.8,-4.5,336,7421,0.00,2.17,0.00,0.000,4,0.000,0.038,2159,1509,3519,0,0,0,0,0,0
$GC,7675,-0.94,-116.8,553.6,-3.2,341,7680,0.00,2.17,0.00,0.000,6,0.000,0.031,2159,2539,3518,0,0,0,0,0,0
$GC,8006,-0.94,-116.8,564.7,-3.6,350,8010,0.00,2.17,0.00,0.000,4,0.000,0.039,2159,1506,3517,0,0,0,0,0,0
$GC,8128,-0.94,-116.8,570.3,-5.1,352,8132,0.00,2.17,0.00,0.000,6,0.000,0.031,2159,2536,3516,0,0,0,0,0,0
$GC,8465,-0.94,-116.8,587.6,-5.3,361,8469,0.00,2.17,0.00,0.000,4,0.000,0.038,2159,1503,3514,0,0,0,0,0,0
$GC,8671,-0.94,-116.8,598.4,-4.8,365,8676,0.00,2.17,0.00,0.000,6,0.000,0.032,2159,2532,3513,0,0,0,0,0,0
$GC,9009,-0.94,-116.8,611.2,-3.4,374,9012,0.00,1.85,0.00,0.000,4,0.000,0.052,2159,3634,3512,0,0,0,0,0,0
$GC,9266,-0.94,-116.8,620.9,-4.0,379,9270,0.00,1.80,0.00,0.000,6,0.000,0.026,2159,2527,3511,0,0,0,0,0,0
$GC,9603,-0.94,-116.8,629.1,-2.2,388,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2527,3509,0,0,0,0,0,0
$GC,9927,-0.94,-116.8,637.8,-2.8,396,9931,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,1507,3508,0,0,0,0,0,0
$GC,10117,-0.94,-116.8,645.9,-5.0,400,10122,0.00,2.17,0.00,0.000,6,0.000,0.035,2159,2530,3507,0,0,0,0,0,0
$GC,10430,-0.94,-116.8,661.5,-5.0,408,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2530,3506,0,0,0,0,0,0
$GC,10755,-0.94,-116.8,676.0,-4.1,416,10759,0.00,2.15,0.00,0.000,4,0.000,0.040,2160,1505,3505,0,0,0,0,0,0
$GC,10940,-0.94,-116.8,682.2,-3.1,420,10944,0.00,2.17,0.00,0.000,6,0.000,0.036,2159,2536,3504,0,0,0,0,0,0
$GC,11252,-0.94,-116.8,692.2,-3.2,428,11256,0.00,2.17,0.00,0.000,4,0.000,0.041,2159,1498,3504,0,0,0,0,0,0
$GC,11329,-0.94,-116.8,694.8,-3.4,429,11335,0.00,2.15,0.00,0.000,6,0.000,0.036,2159,2529,3503,0,0,0,0,0,0
$GC,11660,-0.94,-116.8,707.0,-3.9,438,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2529,3502,0,0,0,0,0,0
$GC,11985,-0.94,-116.8,718.6,-3.5,446,11989,0.00,2.17,0.00,0.000,4,0.000,0.041,2159,1505,3501,0,0,0,0,0,0
$GC,12225,-0.94,-116.8,727.6,-3.9,451,12229,0.00,2.17,0.00,0.000,6,0.000,0.037,2159,2521,3500,0,0,0,0,0,0
$GC,12573,-0.94,-116.8,742.0,-4.4,460,12577,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,1508,3500,0,0,0,0,0,0
$GC,12830,-0.94,-116.8,753.6,-4.6,465,12836,0.00,2.15,0.00,0.000,6,0.000,0.037,2159,2511,3498,0,0,0,0,0,0
$GC,13162,-0.94,-116.8,765.1,-3.0,474,13166,0.00,2.12,0.00,0.000,4,0.000,0.041,2159,1510,3497,0,0,0,0,0,0
$GC,13419,-0.94,-116.8,771.3,-1.5,479,13425,0.00,2.12,0.00,0.000,6,0.000,0.038,2159,2513,3497,0,0,0,0,0,0
$GC,13750,-0.94,-116.8,778.2,-2.2,488,13754,0.00,2.15,0.00,0.000,4,0.000,0.041,2159,1496,3496,0,0,0,0,0,0
$GC,14007,-0.94,-116.8,785.4,-3.0,493,14011,0.00,2.15,0.00,0.000,6,0.000,0.038,2159,2514,3496,0,0,0,0,0,0
$GC,14343,-0.94,-116.8,795.7,-3.1,502,14347,0.00,2.15,0.00,0.000,4,0.000,0.040,2159,1497,3495,0,0,0,0,0,0
$GC,14567,-0.94,-116.8,802.6,-2.4,507,14571,0.00,2.15,0.00,0.000,6,0.000,0.038,2159,2498,3494,0,0,0,0,0,0
$GC,14891,-0.94,-116.8,811.7,-2.8,515,14895,0.00,1.95,0.00,0.000,4,0.000,0.058,2159,3629,3494,0,0,0,0,0,0
$GC,15008,-0.94,-116.8,815.7,-3.5,517,15012,0.00,1.88,0.00,0.000,6,0.000,0.030,2159,2496,3494,0,0,0,0,0,0
$GC,15350,-0.94,-116.8,826.3,-3.2,526,15354,0.00,2.10,0.00,0.000,4,0.000,0.042,2159,1504,3494,0,0,0,0,0,0
$GC,15608,-0.94,-116.8,833.2,-2.5,531,15614,0.00,2.12,0.00,0.000,6,0.000,0.038,2158,2492,3493,0,0,0,0,0,0
$GC,15939,-0.94,-116.8,838.9,-1.4,540,15943,0.00,2.10,0.00,0.000,4,0.000,0.040,2159,1503,3492,0,0,0,0,0,0
$GC,16195,-0.94,-116.8,841.3,-1.1,545,16200,0.00,2.12,0.00,0.000,6,0.000,0.038,2159,2491,3491,0,0,0,0,0,0
$STATE,16327,end dive,NO_VERTICAL_VELOCITY
$STATE,16328,begin apogee
$GC,16333,-0.33,0.0,842.4,0.0,549,16424,0.68,0.00,87.85,1.395,6,0.100,0.000,2296,1872,3071,0,0,0,0,0,0
$STATE,16428,end apogee,CONTROL_FINISHED_OK
$STATE,16428,begin climb
$GC,16430,0.94,116.8,840.7,0.0,551,16533,1.30,0.00,99.82,1.351,6,0.064,0.000,2572,1872,2594,0,0,0,0,0,0
$GC,16854,0.94,116.8,804.8,8.1,562,16858,0.00,2.28,0.00,0.000,4,0.000,0.046,2571,777,2588,0,0,0,0,0,0
$GC,16897,0.94,116.8,801.2,8.6,563,16902,0.00,2.20,0.00,0.000,6,0.000,0.029,2572,1859,2588,0,0,0,0,0,0
$GC,17221,0.94,116.8,774.1,8.3,571,17225,0.00,2.10,0.00,0.000,4,0.000,0.041,2572,2920,2587,0,0,0,0,0,0
$GC,17326,0.94,116.8,765.4,8.0,573,17331,0.00,2.10,0.00,0.000,6,0.000,0.035,2571,1863,2587,0,0,0,0,0,0
$GC,17640,0.94,116.8,740.6,8.0,581,17643,0.00,2.05,0.00,0.000,4,0.000,0.038,2572,2922,2587,0,0,0,0,0,0
$GC,17677,0.94,116.8,737.5,8.7,581,17684,0.00,2.10,0.00,0.000,6,0.000,0.035,2572,1864,2587,0,0,0,0,0,0
$GC,18009,0.94,116.8,710.8,8.2,590,18012,0.00,2.10,0.00,0.000,4,0.000,0.039,2572,2925,2587,0,0,0,0,0,0
$GC,18064,0.94,116.8,706.1,7.8,591,18068,0.00,2.08,0.00,0.000,6,0.000,0.034,2572,1870,2586,0,0,0,0,0,0
$GC,18382,0.94,116.8,680.2,8.1,599,18386,0.00,2.05,0.00,0.000,4,0.000,0.038,2572,2926,2586,0,0,0,0,0,0
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$STATE,27863,end climb,SURFACE_DEPTH_REACHED
$STATE,27863,begin surface coast
$FINISH,3.1,1.022271
$STATE,27899,end surface coast,CONTROL_FINISHED_OK
$STATE,27899,begin surface
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59256143872
$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.0,17.127
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354712
$DATA_FILE_SIZE,40013,1092
$CAP_FILE_SIZE,240135,0
$CFSIZE,260034560,244502528
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$GPS,271210,011626,1849.389,12441.794,33,2.3,52,-2.2