version: 66.07
glider: 23
mission: 5
dive: 209
start: 1 4 111 5 3 5
data:
$ID,23
$MISSION,5
$DIVE,209
$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,471
$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,-55862.066
$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,2570
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,208
$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
$GPS1,040111,044636,1820.586,12416.267,42,1.2,47,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-54.7
$GPS2,040111,050214,1820.724,12416.131,13,1.8,13,-2.1
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.144
$KALMAN_X,-354899.8,-1054.8,-278.2,175408.7,-774.0
$KALMAN_Y,218067.8,939.3,-187.3,-553454.3,4728.5
$MHEAD_RNG_PITCHd_Wd,146.8,2256,-16.6,-7.006
$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,-1.21,-96.7,0.0,0.0,0,93,0.00,0.00,-65.97,0.000,2,0.000,0.000,364,2553,2575,0,0,0,0,0,0
$GC,96,-1.24,-116.8,3.1,-1.1,13,153,9.73,2.25,-39.33,0.000,4,0.152,0.044,2084,1492,3548,0,0,0,0,0,0
$GC,298,-1.24,-116.8,35.6,-21.9,48,304,0.00,2.25,0.00,0.000,6,0.000,0.022,2084,2575,3550,0,0,0,0,0,0
$GC,559,-1.24,-116.8,93.8,-22.1,73,563,0.00,1.70,0.00,0.000,4,0.000,0.035,2084,3632,3549,0,0,0,0,0,0
$GC,807,-1.24,-116.8,147.4,-18.5,95,811,0.00,1.67,0.00,0.000,6,0.000,0.021,2084,2554,3550,0,0,0,0,0,0
$GC,1073,-1.24,-116.8,186.7,-12.4,120,1077,0.00,1.75,0.00,0.000,4,0.000,0.036,2084,3646,3552,0,0,0,0,0,0
$GC,1330,-1.24,-116.8,221.1,-11.2,136,1335,0.00,1.70,0.00,0.000,6,0.000,0.020,2084,2564,3551,0,0,0,0,0,0
$GC,1652,-1.24,-116.8,253.3,-11.0,152,1655,0.00,1.73,0.00,0.000,4,0.000,0.038,2084,3639,3552,0,0,0,0,0,0
$GC,1908,-1.24,-116.8,282.8,-12.1,163,1913,0.00,1.70,0.00,0.000,6,0.000,0.021,2084,2565,3552,0,0,0,0,0,0
$GC,2248,-1.24,-116.8,316.9,-10.1,176,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2565,3551,0,0,0,0,0,0
$GC,2573,-1.24,-116.8,347.4,-8.9,184,2577,0.00,2.20,0.00,0.000,4,0.000,0.036,2084,1515,3550,0,0,0,0,0,0
$GC,2656,-1.24,-116.8,354.6,-7.9,186,2660,0.00,2.22,0.00,0.000,6,0.000,0.028,2084,2586,3550,0,0,0,0,0,0
$GC,2980,-1.24,-116.8,382.6,-8.1,194,2984,0.00,1.73,0.00,0.000,4,0.000,0.043,2083,3635,3547,0,0,0,0,0,0
$GC,3237,-1.24,-116.8,400.2,-5.9,199,3241,0.00,1.70,0.00,0.000,6,0.000,0.024,2084,2563,3547,0,0,0,0,0,0
$GC,3574,-1.24,-116.8,423.6,-7.8,208,3577,0.00,1.73,0.00,0.000,4,0.000,0.044,2084,3633,3544,0,0,0,0,0,0
$GC,3730,-1.24,-116.8,438.1,-9.7,211,3734,0.00,1.70,0.00,0.000,6,0.000,0.024,2081,2561,3543,0,0,0,0,0,0
$GC,4078,-1.24,-116.8,466.4,-7.7,220,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2561,3540,0,0,0,0,0,0
$GC,4403,-1.24,-116.8,485.1,-5.3,228,4407,0.00,2.20,0.00,0.000,4,0.000,0.037,2083,1513,3539,0,0,0,0,0,0
$GC,4660,-1.24,-116.8,499.2,-5.2,233,4666,0.00,2.22,0.00,0.000,6,0.000,0.031,2083,2567,3537,0,0,0,0,0,0
$GC,4991,-1.24,-116.8,517.6,-5.7,242,4995,0.00,1.75,0.00,0.000,4,0.000,0.047,2084,3637,3534,0,0,0,0,0,0
$GC,5248,-1.24,-116.8,534.4,-6.5,247,5253,0.00,1.73,0.00,0.000,6,0.000,0.025,2073,2562,3532,0,0,0,0,0,0
$GC,5585,-1.24,-116.8,553.5,-5.5,256,5589,0.00,1.75,0.00,0.000,4,0.000,0.047,2084,3637,3531,0,0,0,0,0,0
$GC,5696,-1.24,-116.8,560.1,-5.5,258,5700,0.00,1.73,0.00,0.000,6,0.000,0.026,2076,2559,3530,0,0,0,0,0,0
$GC,6044,-1.24,-116.8,582.3,-6.8,267,6048,0.00,2.22,0.00,0.000,4,0.000,0.039,2083,1505,3527,0,0,0,0,0,0
$GC,6195,-1.24,-116.8,592.1,-6.5,270,6199,0.00,2.22,0.00,0.000,6,0.000,0.033,2083,2572,3526,0,0,0,0,0,0
$GC,6542,-1.24,-116.8,611.1,-5.0,279,6546,0.00,2.25,0.00,0.000,4,0.000,0.038,2083,1513,3523,0,0,0,0,0,0
$GC,6580,-1.24,-116.8,613.0,-4.8,279,6586,0.00,2.28,0.00,0.000,6,0.000,0.035,2083,2580,3523,0,0,0,0,0,0
$GC,6911,-1.24,-116.8,628.6,-4.6,288,6915,0.00,1.75,0.00,0.000,4,0.000,0.051,2083,3641,3522,0,0,0,0,0,0
$GC,7168,-1.24,-116.8,642.8,-6.1,293,7173,0.00,1.73,0.00,0.000,6,0.000,0.028,2073,2568,3520,0,0,0,0,0,0
$GC,7505,-1.24,-116.8,661.3,-5.5,302,7509,0.00,2.22,0.00,0.000,4,0.000,0.041,2083,1511,3518,0,0,0,0,0,0
$GC,7763,-1.24,-116.8,675.6,-4.8,307,7769,0.00,2.25,0.00,0.000,6,0.000,0.036,2084,2572,3516,0,0,0,0,0,0
$GC,8094,-1.24,-116.8,692.3,-5.0,316,8098,0.00,2.25,0.00,0.000,4,0.000,0.041,2083,1520,3515,0,0,0,0,0,0
$GC,8205,-1.24,-116.8,697.7,-5.0,318,8209,0.00,2.22,0.00,0.000,6,0.000,0.038,2083,2572,3515,0,0,0,0,0,0
$GC,8553,-1.24,-116.8,714.9,-5.1,327,8557,0.00,2.28,0.00,0.000,4,0.000,0.041,2083,1511,3512,0,0,0,0,0,0
$GC,8652,-1.24,-116.8,719.9,-5.2,329,8656,0.00,2.30,0.00,0.000,6,0.000,0.038,2084,2572,3512,0,0,0,0,0,0
$GC,8965,-1.24,-116.8,735.6,-5.0,337,8969,0.00,1.77,0.00,0.000,4,0.000,0.054,2084,3639,3511,0,0,0,0,0,0
$GC,9223,-1.24,-116.8,749.7,-5.6,342,9227,0.00,1.75,0.00,0.000,6,0.000,0.030,2075,2559,3510,0,0,0,0,0,0
$GC,9559,-1.24,-116.8,764.0,-3.8,351,9563,0.00,2.22,0.00,0.000,4,0.000,0.042,2083,1515,3509,0,0,0,0,0,0
$GC,9699,-1.24,-116.8,768.1,-3.0,354,9703,0.00,2.28,0.00,0.000,6,0.000,0.039,2083,2579,3508,0,0,0,0,0,0
$GC,10012,-1.24,-116.8,775.2,-2.2,362,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2579,3507,0,0,0,0,0,0
$GC,10337,-1.24,-116.8,783.9,-2.9,370,10341,0.00,2.28,0.00,0.000,4,0.000,0.040,2083,1513,3506,0,0,0,0,0,0
$GC,10459,-1.24,-116.8,788.3,-4.2,372,10465,0.00,2.28,0.00,0.000,6,0.000,0.039,2083,2575,3505,0,0,0,0,0,0
$GC,10790,-1.24,-116.8,801.0,-4.0,381,10794,0.00,2.28,0.00,0.000,4,0.000,0.040,2083,1511,3504,0,0,0,0,0,0
$GC,10997,-1.24,-116.8,809.4,-3.4,385,11001,0.00,2.30,0.00,0.000,6,0.000,0.039,2083,2574,3504,0,0,0,0,0,0
$GC,11334,-1.24,-116.8,821.7,-3.7,394,11338,0.00,2.25,0.00,0.000,4,0.000,0.040,2083,1512,3504,0,0,0,0,0,0
$GC,11591,-1.24,-116.8,831.3,-3.9,399,11597,0.00,2.30,0.00,0.000,6,0.000,0.039,2083,2570,3503,0,0,0,0,0,0
$GC,11922,-1.24,-116.8,844.7,-4.0,408,11926,0.00,2.28,0.00,0.000,4,0.000,0.041,2083,1507,3502,0,0,0,0,0,0
$GC,12179,-1.24,-116.8,853.9,-3.3,413,12185,0.00,2.30,0.00,0.000,6,0.000,0.040,2083,2586,3501,0,0,0,0,0,0
$GC,12510,-1.24,-116.8,863.7,-2.8,422,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2586,3501,0,0,0,0,0,0
$GC,12835,-1.24,-116.8,871.0,-2.1,430,12838,0.00,1.75,0.00,0.000,4,0.000,0.056,2083,3641,3499,0,0,0,0,0,0
$GC,13092,-1.24,-116.8,876.9,-2.0,435,13096,0.00,1.75,0.00,0.000,6,0.000,0.030,2065,2557,3499,0,0,0,0,0,0
$GC,13429,-1.24,-116.8,884.7,-2.6,444,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2558,3498,0,0,0,0,0,0
$GC,13754,-1.24,-116.8,894.1,-2.9,452,13758,0.00,2.22,0.00,0.000,4,0.000,0.042,2083,1505,3498,0,0,0,0,0,0
$GC,14011,-1.24,-116.8,902.2,-3.3,457,14016,0.00,2.30,0.00,0.000,6,0.000,0.039,2083,2565,3497,0,0,0,0,0,0
$GC,14349,-1.24,-116.8,911.4,-2.5,466,14353,0.00,2.28,0.00,0.000,4,0.000,0.040,2083,1501,3497,0,0,0,0,0,0
$GC,14606,-1.24,-116.8,917.1,-2.2,471,14612,0.00,2.30,0.00,0.000,6,0.000,0.040,2083,2577,3496,0,0,0,0,0,0
$GC,14937,-1.24,-116.8,922.4,-1.3,480,14941,0.00,2.28,0.00,0.000,4,0.000,0.040,2083,1513,3496,0,0,0,0,0,0
$GC,15194,-1.24,-116.8,926.6,-2.0,485,15200,0.00,2.25,0.00,0.000,6,0.000,0.040,2083,2570,3495,0,0,0,0,0,0
$GC,15525,-1.24,-116.8,931.9,-1.7,494,15529,0.00,2.30,0.00,0.000,4,0.000,0.041,2083,1501,3496,0,0,0,0,0,0
$GC,15782,-1.24,-116.8,935.9,-1.5,499,15786,0.00,2.33,0.00,0.000,6,0.000,0.040,2083,2572,3494,0,0,0,0,0,0
$GC,16119,-1.24,-116.8,941.6,-1.8,508,16123,0.00,2.28,0.00,0.000,4,0.000,0.040,2084,1506,3495,0,0,0,0,0,0
$GC,16375,-1.24,-116.8,945.7,-1.6,513,16381,0.00,2.33,0.00,0.000,6,0.000,0.041,2083,2575,3494,0,0,0,0,0,0
$GC,16707,-1.24,-116.8,950.1,-1.3,522,16711,0.00,2.28,0.00,0.000,4,0.000,0.040,2083,1513,3494,0,0,0,0,0,0
$GC,16964,-1.24,-116.8,952.9,-0.8,527,16970,0.00,2.28,0.00,0.000,6,0.000,0.040,2083,2572,3494,0,0,0,0,0,0
$STATE,17092,end dive,NO_VERTICAL_VELOCITY
$STATE,17092,begin apogee
$GC,17098,-0.33,0.0,954.0,0.0,531,17191,1.00,0.00,90.15,1.486,6,0.106,0.000,2283,1882,3071,0,0,0,0,0,0
$STATE,17195,end apogee,CONTROL_FINISHED_OK
$STATE,17195,begin climb
$GC,17196,1.24,116.8,952.3,0.0,533,17308,1.60,2.15,101.35,1.429,4,0.064,0.038,2626,2920,2593,0,0,0,0,0,0
$GC,17441,1.24,116.8,922.4,14.0,538,17446,0.00,2.17,0.00,0.000,6,0.000,0.038,2626,1853,2588,0,0,0,0,0,0
$GC,17778,1.24,116.8,877.8,13.0,547,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1853,2587,0,0,0,0,0,0
$GC,18103,1.24,116.8,835.8,13.1,555,18107,0.00,2.10,0.00,0.000,4,0.000,0.037,2625,2920,2586,0,0,0,0,0,0
$GC,18180,1.24,116.8,825.8,13.2,556,18185,0.00,2.15,0.00,0.000,6,0.000,0.037,2625,1857,2586,0,0,0,0,0,0
$GC,18517,1.24,116.8,780.8,13.5,565,18518,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1858,2586,0,0,0,0,0,0
$GC,18842,1.24,116.8,737.8,13.1,573,18846,0.00,2.08,0.00,0.000,4,0.000,0.037,2626,2921,2585,0,0,0,0,0,0
$GC,18925,1.24,116.8,727.4,12.6,575,18929,0.00,2.10,0.00,0.000,6,0.000,0.036,2625,1855,2586,0,0,0,0,0,0
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$STATE,26759,end climb,SURFACE_DEPTH_REACHED
$STATE,26759,begin surface coast
$FINISH,2.3,1.022529
$STATE,26820,end surface coast,CONTROL_FINISHED_OK
$STATE,26820,begin surface
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$XPDR_PINGS,478
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$AR_CDRIVE_FREE,2091876352
$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077885952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,36.528
$10V_AH,10.0,20.839
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.523,0.000,0.000
$MEM,354944
$DATA_FILE_SIZE,36649,1032
$CAP_FILE_SIZE,234705,0
$CFSIZE,260034560,241840128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,123337,1819.784,12416.535,31,1.0,31,-2.1