version: 66.07
glider: 23
mission: 5
dive: 230
start: 1 10 111 0 28 25
data:
$ID,23
$MISSION,5
$DIVE,230
$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,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,624.53381
$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,-56386.953
$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,2150
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,50
$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,0.00167
$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,229
$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
$GPS1,100111,000100,1843.735,12419.386,41,1.4,42,-2.2
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-56.4
$GPS2,100111,002732,1843.649,12419.131,12,1.1,12,-2.2
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.072,0.200
$KALMAN_X,-397360.8,109.1,160.3,221420.2,-2681.8
$KALMAN_Y,177437.3,-890.1,-207.6,-468517.8,-74.4
$MHEAD_RNG_PITCHd_Wd,21.9,295256,-12.6,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.08,-146.0,0.0,0.0,0,49,0.00,0.00,-21.30,0.000,2,0.000,0.000,356,2170,1940,0,0,0,0,0,0
$GC,52,-1.08,-146.0,3.0,-0.5,4,159,9.50,0.00,-89.07,0.000,6,0.132,0.000,2123,2170,3668,0,0,0,0,0,0
$GC,357,-1.08,-146.0,42.7,-20.1,55,360,0.00,1.77,0.00,0.000,4,0.000,0.029,2123,3193,3668,0,0,0,0,0,0
$GC,615,-1.08,-146.0,94.9,-19.9,78,619,0.00,1.92,0.00,0.000,6,0.000,0.030,2123,2127,3668,0,0,0,0,0,0
$GC,881,-1.08,-146.0,144.6,-16.2,103,884,0.00,1.90,0.00,0.000,4,0.000,0.030,2123,3201,3668,0,0,0,0,0,0
$GC,1140,-1.08,-146.0,183.0,-13.1,126,1144,0.00,1.85,0.00,0.000,6,0.000,0.025,2123,2154,3669,0,0,0,0,0,0
$GC,1412,-1.08,-146.0,219.6,-12.8,145,1416,0.00,1.85,0.00,0.000,4,0.000,0.031,2123,3199,3669,0,0,0,0,0,0
$GC,1669,-1.08,-146.0,252.8,-11.7,156,1674,0.00,1.90,0.00,0.000,6,0.000,0.025,2099,2136,3669,0,0,0,0,0,0
$GC,1990,-1.08,-146.0,284.9,-9.2,172,1993,0.00,1.88,0.00,0.000,4,0.000,0.034,2123,3202,3669,0,0,0,0,0,0
$GC,2247,-1.08,-146.0,309.7,-9.9,181,2251,0.00,1.88,0.00,0.000,6,0.000,0.027,2101,2158,3668,0,0,0,0,0,0
$GC,2584,-1.08,-146.0,342.8,-9.6,190,2587,0.00,1.88,0.00,0.000,4,0.000,0.036,2123,3206,3667,0,0,0,0,0,0
$GC,2763,-1.08,-146.0,361.2,-10.4,194,2767,0.00,1.90,0.00,0.000,6,0.000,0.029,2117,2139,3666,0,0,0,0,0,0
$GC,3092,-1.08,-146.0,391.7,-9.0,202,3096,0.00,2.28,0.00,0.000,4,0.000,0.044,2123,1091,3664,0,0,0,0,0,0
$GC,3349,-1.08,-146.0,414.1,-8.8,207,3356,0.00,2.28,0.00,0.000,6,0.000,0.025,2123,2146,3662,0,0,0,0,0,0
$GC,3681,-1.08,-146.0,438.7,-7.1,216,3684,0.00,1.90,0.00,0.000,4,0.000,0.039,2123,3209,3660,0,0,0,0,0,0
$GC,3938,-1.08,-146.0,458.6,-7.6,221,3942,0.00,1.90,0.00,0.000,6,0.000,0.029,2098,2157,3657,0,0,0,0,0,0
$GC,4275,-1.08,-146.0,486.3,-8.2,230,4279,0.00,2.33,0.00,0.000,4,0.000,0.044,2123,1085,3655,0,0,0,0,0,0
$GC,4329,-1.08,-146.0,491.7,-9.7,231,4333,0.00,2.33,0.00,0.000,6,0.000,0.028,2123,2158,3654,0,0,0,0,0,0
$GC,4642,-1.08,-146.0,517.8,-7.9,239,4645,0.00,1.88,0.00,0.000,4,0.000,0.041,2123,3211,3652,0,0,0,0,0,0
$GC,4866,-1.08,-146.0,533.4,-6.3,244,4870,0.00,1.95,0.00,0.000,6,0.000,0.030,2111,2137,3650,0,0,0,0,0,0
$GC,5195,-1.08,-146.0,554.6,-6.9,252,5199,0.00,2.30,0.00,0.000,4,0.000,0.044,2123,1084,3648,0,0,0,0,0,0
$GC,5217,-1.08,-146.0,556.3,-7.4,252,5221,0.00,2.33,0.00,0.000,6,0.000,0.029,2123,2156,3647,0,0,0,0,0,0
$GC,5559,-1.08,-146.0,582.0,-7.1,261,5562,0.00,1.92,0.00,0.000,4,0.000,0.043,2123,3208,3644,0,0,0,0,0,0
$GC,5816,-1.08,-146.0,600.5,-7.0,266,5820,0.00,1.90,0.00,0.000,6,0.000,0.030,2102,2157,3642,0,0,0,0,0,0
$GC,6153,-1.08,-146.0,618.5,-5.0,275,6156,0.00,1.90,0.00,0.000,4,0.000,0.043,2123,3209,3639,0,0,0,0,0,0
$GC,6321,-1.08,-146.0,627.5,-5.5,278,6325,0.00,1.95,0.00,0.000,6,0.000,0.031,2109,2135,3637,0,0,0,0,0,0
$GC,6657,-1.08,-146.0,643.9,-4.9,287,6660,0.00,1.98,0.00,0.000,4,0.000,0.044,2122,3202,3636,0,0,0,0,0,0
$GC,6826,-1.08,-146.0,653.6,-6.2,290,6829,0.00,1.88,0.00,0.000,6,0.000,0.031,2114,2146,3634,0,0,0,0,0,0
$GC,7162,-1.08,-146.0,672.9,-5.9,299,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2147,3633,0,0,0,0,0,0
$GC,7487,-1.08,-146.0,693.0,-6.3,307,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2146,3630,0,0,0,0,0,0
$GC,7812,-1.08,-146.0,715.3,-7.1,315,7815,0.00,1.95,0.00,0.000,4,0.000,0.048,2122,3219,3628,0,0,0,0,0,0
$GC,7889,-1.08,-146.0,721.1,-7.6,316,7893,0.00,1.95,0.00,0.000,6,0.000,0.032,2092,2148,3628,0,0,0,0,0,0
$GC,8226,-1.08,-146.0,740.9,-5.3,325,8230,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3204,3625,0,0,0,0,0,0
$GC,8372,-1.08,-146.0,749.2,-5.4,328,8375,0.00,1.88,0.00,0.000,6,0.000,0.032,2114,2149,3624,0,0,0,0,0,0
$GC,8690,-1.08,-146.0,764.7,-4.9,336,8694,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3207,3623,0,0,0,0,0,0
$GC,8790,-1.08,-146.0,770.0,-4.9,338,8794,0.00,1.92,0.00,0.000,6,0.000,0.032,2103,2149,3623,0,0,0,0,0,0
$GC,9108,-1.08,-146.0,785.0,-4.6,346,9112,0.00,1.95,0.00,0.000,4,0.000,0.048,2122,3208,3621,0,0,0,0,0,0
$GC,9214,-1.08,-146.0,790.4,-4.9,348,9218,0.00,1.92,0.00,0.000,6,0.000,0.032,2103,2150,3620,0,0,0,0,0,0
$GC,9527,-1.08,-146.0,806.8,-5.5,356,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2150,3619,0,0,0,0,0,0
$GC,9852,-1.08,-146.0,824.9,-5.6,364,9856,0.00,2.35,0.00,0.000,4,0.000,0.048,2123,1088,3618,0,0,0,0,0,0
$GC,9907,-1.08,-146.0,828.3,-6.7,365,9911,0.00,2.30,0.00,0.000,6,0.000,0.035,2122,2153,3618,0,0,0,0,0,0
$GC,10226,-1.08,-146.0,846.0,-5.5,373,10229,0.00,1.92,0.00,0.000,4,0.000,0.049,2123,3220,3616,0,0,0,0,0,0
$GC,10271,-1.08,-146.0,848.6,-6.4,374,10274,0.00,1.92,0.00,0.000,6,0.000,0.032,2115,2143,3616,0,0,0,0,0,0
$GC,10600,-1.08,-146.0,867.1,-5.6,382,10603,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3215,3615,0,0,0,0,0,0
$GC,10818,-1.08,-146.0,878.9,-5.4,386,10824,0.00,1.92,0.00,0.000,6,0.000,0.032,2087,2158,3615,0,0,0,0,0,0
$GC,11149,-1.08,-146.0,893.6,-4.3,395,11153,0.00,1.95,0.00,0.000,4,0.000,0.048,2122,3215,3614,0,0,0,0,0,0
$GC,11317,-1.08,-146.0,901.5,-4.7,398,11321,0.00,1.95,0.00,0.000,6,0.000,0.033,2113,2127,3613,0,0,0,0,0,0
$GC,11653,-1.08,-146.0,912.9,-3.2,407,11657,0.00,2.00,0.00,0.000,4,0.000,0.048,2122,3211,3612,0,0,0,0,0,0
$GC,11828,-1.08,-146.0,918.8,-3.3,410,11833,0.00,1.88,0.00,0.000,6,0.000,0.033,2097,2156,3612,0,0,0,0,0,0
$GC,12158,-1.08,-146.0,929.7,-3.4,419,12162,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3211,3612,0,0,0,0,0,0
$GC,12416,-1.08,-146.0,940.0,-4.1,424,12420,0.00,1.95,0.00,0.000,6,0.000,0.034,2101,2144,3610,0,0,0,0,0,0
$GC,12753,-1.08,-146.0,953.4,-4.2,433,12756,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3213,3611,0,0,0,0,0,0
$GC,12870,-1.08,-146.0,959.0,-4.5,435,12874,0.00,1.92,0.00,0.000,6,0.000,0.033,2096,2157,3610,0,0,0,0,0,0
$GC,13212,-1.08,-146.0,974.0,-4.3,444,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2161,3610,0,0,0,0,0,0
$GC,13537,-1.08,-146.0,987.3,-4.1,452,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2157,3609,0,0,0,0,0,0
$STATE,13618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13618,begin apogee
$GC,13622,-0.33,0.0,990.6,4.1,454,13740,0.80,0.00,114.22,1.508,6,0.099,0.000,2285,1862,3071,0,0,0,0,0,0
$STATE,13743,end apogee,CONTROL_FINISHED_OK
$STATE,13743,begin climb
$GC,13745,1.08,146.0,989.6,0.0,457,13875,1.48,0.00,126.60,1.450,6,0.063,0.000,2597,1862,2475,0,0,0,0,0,0
$GC,14183,1.08,146.0,945.9,10.9,468,14187,0.00,2.22,0.00,0.000,4,0.000,0.052,2597,782,2469,0,0,0,0,0,0
$GC,14222,1.08,146.0,941.4,11.8,469,14226,0.00,2.15,0.00,0.000,6,0.000,0.029,2597,1868,2469,0,0,0,0,0,0
$GC,14545,1.08,146.0,906.7,10.7,477,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1870,2468,0,0,0,0,0,0
$GC,14870,1.08,146.0,871.1,10.9,485,14874,0.00,2.25,0.00,0.000,4,0.000,0.051,2597,777,2466,0,0,0,0,0,0
$GC,14896,1.08,146.0,868.0,11.5,485,14900,0.00,2.20,0.00,0.000,6,0.000,0.029,2597,1868,2466,0,0,0,0,0,0
$GC,15232,1.08,146.0,831.8,10.7,494,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1870,2466,0,0,0,0,0,0
$GC,15558,1.08,146.0,798.8,10.2,502,15562,0.00,2.28,0.00,0.000,4,0.000,0.050,2597,777,2465,0,0,0,0,0,0
$GC,15596,1.08,146.0,794.7,11.8,503,15600,0.00,2.15,0.00,0.000,6,0.000,0.029,2597,1870,2466,0,0,0,0,0,0
$GC,15919,1.08,146.0,762.9,9.8,511,15920,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1874,2465,0,0,0,0,0,0
$GC,16244,1.08,146.0,728.0,11.0,519,16247,0.00,2.00,0.00,0.000,4,0.000,0.038,2597,2911,2465,0,0,0,0,0,0
$GC,16276,1.08,146.0,724.2,11.1,519,16280,0.00,2.10,0.00,0.000,6,0.000,0.036,2597,1861,2466,0,0,0,0,0,0
$GC,16613,1.08,146.0,686.6,11.3,528,16617,0.00,2.20,0.00,0.000,4,0.000,0.051,2597,776,2466,0,0,0,0,0,0
$GC,16633,1.08,146.0,684.1,10.9,528,16638,0.00,2.17,0.00,0.000,6,0.000,0.028,2597,1864,2465,0,0,0,0,0,0
$GC,16976,1.08,146.0,647.8,10.3,537,16980,0.00,2.22,0.00,0.000,4,0.000,0.049,2597,778,2466,0,0,0,0,0,0
$GC,17013,1.08,146.0,643.7,10.3,537,17020,0.00,2.17,0.00,0.000,6,0.000,0.028,2598,1866,2465,0,0,0,0,0,0
$GC,17344,1.08,146.0,611.6,9.6,546,17348,0.00,2.00,0.00,0.000,4,0.000,0.036,2597,2911,2465,0,0,0,0,0,0
$GC,17405,1.08,146.0,605.9,9.3,547,17409,0.00,2.10,0.00,0.000,6,0.000,0.035,2596,1856,2465,0,0,0,0,0,0
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$STATE,24845,end climb,SURFACE_DEPTH_REACHED
$STATE,24846,begin surface coast
$FINISH,2.2,1.022207
$STATE,24850,end surface coast,CONTROL_FINISHED_OK
$STATE,24850,begin surface
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$XPDR_PINGS,462
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$AR_CDRIVE_SIZE,2098135040
$AR_DDRIVE_FREE,59077230592
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,40.726
$10V_AH,9.9,23.311
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354968
$DATA_FILE_SIZE,33336,968
$CAP_FILE_SIZE,215536,0
$CFSIZE,260034560,240066560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,072601,1846.896,12419.080,41,1.8,42,-2.2