version: 66.07
glider: 511
mission: 5
dive: 20
start: 11 17 110 15 9 16
data:
$ID,511
$MISSION,5
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,850
$D_NO_BLEED,500
$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,266
$T_MISSION,475
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40247.238
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,19
$AR_SAMPLENUM,1
$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
$GPS1,171110,144306,2053.710,12722.439,66,1.0,66,-2.8
$_CALLS,4
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.5
$GPS2,171110,150820,2054.181,12722.180,13,1.4,13,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,-0.181
$KALMAN_X,8982.1,575.9,84.2,-33500.1,-2.1
$KALMAN_Y,50050.2,-857.1,-627.3,-15716.5,7087.0
$MHEAD_RNG_PITCHd_Wd,229.0,75520,-14.4,-8.772
$D_GRID,700
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.78,-165.5,0.0,0.0,0,108,0.00,0.00,-81.03,0.000,2,0.000,0.000,34,2073,2762,0,0,0,0,0,0
$GC,110,-0.78,-165.5,3.9,-9.0,16,150,10.32,2.33,-21.88,0.000,4,0.275,0.075,2338,3505,3960,0,0,0,0,0,0
$GC,303,-0.78,-165.5,69.1,-25.3,44,307,0.00,2.20,0.00,0.000,6,0.000,0.049,2338,2099,3964,0,0,0,0,0,0
$GC,562,-0.78,-165.5,138.3,-27.1,68,566,0.00,2.20,0.00,0.000,4,0.000,0.060,2338,681,3965,0,0,0,0,0,0
$GC,626,-0.78,-165.5,154.0,-21.1,74,632,0.00,2.22,0.00,0.000,6,0.000,0.052,2332,2099,3965,0,0,0,0,0,0
$GC,894,-0.78,-165.5,212.9,-20.7,97,898,0.00,2.20,0.00,0.000,4,0.000,0.058,2332,683,3966,0,0,0,0,0,0
$GC,939,-0.78,-165.5,221.6,-17.3,99,943,0.00,2.25,0.00,0.000,6,0.000,0.052,2323,2102,3968,0,0,0,0,0,0
$GC,1267,-0.78,-165.5,284.4,-19.7,115,1271,0.00,2.20,0.00,0.000,4,0.000,0.058,2323,686,3965,0,0,0,0,0,0
$GC,1317,-0.78,-165.5,293.6,-16.2,117,1321,0.12,2.22,0.00,0.000,6,0.183,0.053,2347,2096,3965,0,0,0,0,0,0
$GC,1657,-0.78,-165.5,348.7,-16.0,127,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2097,3962,0,0,0,0,0,0
$GC,1982,-0.78,-165.5,396.7,-14.5,135,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2094,3960,0,0,0,0,0,0
$GC,2307,-0.78,-165.5,442.2,-14.0,143,2311,0.00,2.22,0.00,0.000,4,0.000,0.066,2338,3519,3957,0,0,0,0,0,0
$GC,2361,-0.78,-165.5,449.3,-11.8,144,2365,0.00,2.20,-0.03,0.000,6,0.000,0.047,2338,2106,3975,0,0,0,0,0,0
$GC,2678,-0.78,-165.5,494.3,-14.3,152,2682,0.00,2.17,0.00,0.000,4,0.000,0.056,2339,686,3974,0,0,0,0,0,0
$GC,2760,-0.78,-165.5,505.6,-12.9,153,2766,0.00,2.25,0.00,0.000,6,0.000,0.056,2335,2116,3973,0,0,0,0,0,0
$GC,3090,-0.78,-165.5,552.4,-14.3,162,3094,0.00,2.17,0.00,0.000,4,0.000,0.066,2336,3511,3970,0,0,0,0,0,0
$GC,3135,-0.78,-165.5,558.7,-12.6,163,3139,0.00,2.20,0.00,0.000,6,0.000,0.049,2336,2102,3969,0,0,0,0,0,0
$GC,3461,-0.78,-165.5,605.3,-14.4,171,3465,0.00,2.17,0.00,0.000,4,0.000,0.056,2336,685,3966,0,0,0,0,0,0
$GC,3552,-0.78,-165.5,617.5,-12.6,173,3556,0.00,2.25,0.00,0.000,6,0.000,0.058,2336,2106,3965,0,0,0,0,0,0
$GC,3877,-0.78,-165.5,657.2,-11.9,181,3881,0.00,2.22,0.00,0.000,4,0.000,0.065,2327,3519,3962,0,0,0,0,0,0
$GC,3904,-0.78,-165.5,660.5,-11.9,181,3908,0.00,2.22,0.00,0.000,6,0.000,0.048,2327,2087,3961,0,0,0,0,0,0
$STATE,4242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4242,begin apogee
$GC,4245,-0.28,0.0,702.8,12.7,190,4510,0.57,0.00,205.60,0.879,6,0.143,0.000,2509,2081,3302,0,0,0,0,11,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4514,0.78,165.5,720.7,0.0,196,4826,0.90,2.45,223.93,0.839,4,0.053,0.058,2866,651,2625,0,0,0,0,15,0
$GC,5089,0.84,214.8,735.9,7.0,209,5191,0.00,2.28,68.65,0.833,6,0.000,0.054,2865,2064,2424,0,0,0,0,5,0
$GC,5521,0.84,214.8,685.1,13.0,220,5525,0.00,2.28,0.00,0.000,4,0.000,0.064,2873,645,2417,0,0,0,0,0,0
$GC,5787,0.84,214.8,648.5,12.8,225,5793,0.00,2.28,0.00,0.000,6,0.000,0.052,2876,2078,2413,0,0,0,0,0,0
$GC,6117,0.84,214.8,606.3,12.7,234,6121,0.00,2.25,0.00,0.000,4,0.000,0.063,2887,655,2410,0,0,0,0,0,0
$GC,6384,0.84,214.8,575.7,10.8,239,6390,0.00,2.22,0.00,0.000,6,0.000,0.053,2887,2066,2410,0,0,0,0,0,0
$GC,6714,0.84,214.8,537.2,12.1,248,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2066,2408,0,0,0,0,0,0
$GC,7039,0.84,214.8,500.5,11.0,256,7043,0.00,2.22,0.00,0.000,4,0.000,0.064,2886,3470,2408,0,0,0,0,0,0
$GC,7305,0.84,214.8,471.2,9.9,261,7312,0.12,2.22,0.00,0.000,6,0.255,0.053,2872,2065,2407,0,0,0,0,0,0
$GC,7635,0.85,220.4,443.5,8.6,270,7639,0.00,2.22,0.00,0.000,4,0.000,0.061,2882,643,2405,0,0,0,0,0,0
$GC,7694,0.85,220.4,438.1,9.4,271,7698,0.00,2.20,0.00,0.000,6,0.000,0.054,2882,2064,2408,0,0,0,0,0,0
$GC,8011,0.85,220.4,407.3,10.2,279,8015,0.00,2.22,0.00,0.000,4,0.000,0.064,2882,3471,2404,0,0,0,0,0,0
$GC,8277,0.85,220.4,377.5,11.2,284,8283,0.00,2.20,0.00,0.000,6,0.000,0.054,2892,2057,2404,0,0,1,0,0,0
$GC,8607,0.85,220.4,346.5,9.1,293,8611,0.00,2.22,0.00,0.000,4,0.000,0.064,2898,3474,2404,0,0,0,0,0,0
$GC,8873,0.85,227.3,320.9,8.5,298,8890,0.00,2.17,11.38,0.765,6,0.000,0.049,2903,2051,2372,0,0,0,0,0,0
$GC,9210,0.88,244.7,294.4,8.1,308,9242,0.00,0.00,23.30,0.724,6,0.000,0.000,2903,2050,2303,0,0,0,0,1,0
$GC,9561,0.88,244.7,254.5,12.3,325,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2050,2297,0,0,0,0,0,0
$GC,9872,0.88,248.0,224.5,8.7,340,9884,0.00,2.20,5.12,0.578,4,0.000,0.056,2914,644,2290,0,0,0,0,0,0
$GC,9967,0.88,248.0,214.0,11.0,344,9971,0.00,2.22,0.00,0.000,6,0.000,0.053,2914,2061,2289,0,0,0,0,0,0
$GC,10290,0.88,252.2,182.2,8.6,368,10303,0.00,2.28,6.80,0.610,4,0.000,0.060,2925,648,2272,0,0,0,0,0,0
$GC,10321,0.88,252.2,179.0,10.2,371,10327,0.15,2.25,0.00,0.000,6,0.229,0.051,2891,2062,2272,0,0,0,0,0,0
$GC,10581,0.88,252.2,155.3,9.6,396,10585,0.00,2.20,0.00,0.000,4,0.000,0.061,2890,3476,2272,0,0,0,0,0,0
$GC,10613,0.88,252.2,152.0,10.3,399,10618,0.00,2.20,0.00,0.000,6,0.000,0.048,2902,2056,2273,0,0,0,0,0,0
$GC,10873,0.91,270.1,128.9,8.1,423,10909,0.00,2.22,24.75,0.622,4,0.000,0.058,2911,642,2203,0,0,0,0,1,0
$GC,11048,0.92,283.1,113.7,8.3,442,11076,0.00,2.22,18.02,0.578,6,0.000,0.050,2911,2063,2146,0,0,0,0,1,0
$GC,11336,0.92,283.1,87.0,9.0,470,11340,0.00,2.25,0.00,0.000,4,0.000,0.057,2921,639,2146,0,0,0,0,0,0
$GC,11359,0.92,283.1,84.7,9.4,472,11363,0.00,2.22,0.00,0.000,6,0.000,0.048,2921,2063,2143,0,0,0,0,0,0
$GC,11619,1.14,461.3,67.6,2.4,496,11871,0.12,2.38,210.55,0.578,4,0.110,0.059,2980,657,1420,0,0,1,0,6,0
$STATE,12073,end climb,SURFACE_DEPTH_REACHED
$STATE,12074,begin surface coast
$FINISH,0.4,1.021773
$STATE,12092,end surface coast,CONTROL_FINISHED_OK
$STATE,12093,begin surface
$SM_CCo,12117,25.77,0.538,0,0,1261,500.16
$SM_GC,0.31,0.00,0.00,25.77,0.000,0.000,0.538,59,2106,1261,-7.94,0.17,500.16
$IRIDIUM_FIX,2045.60,12720.33,120512,090940
$TT8_MAMPS,0.056758
$HUMID,1078885797
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.70
$XPDR_PINGS,5
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8428126208
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59879227392
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,5.257
$10V_AH,10.3,3.172
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.300,98.350,798.100,25.775,0.000,116.657,138.989,909.497,1.250,0.000,15.250,1086.428,8497.097,911.441,3041.712,114.126,33.352,1987.931,0.000,1765.215,0.000,0.543,0.000
$DEVICE_MAMPS,274.586,75.166,878.982,538.434,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.824,0.000,0.000,0.000,0.000,0.000,0.000,12726.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.506,0.000,0.000
$MEM,355248
$DATA_FILE_SIZE,20083,568
$CAP_FILE_SIZE,147210,0
$CFSIZE,260165632,256823296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,40,0
$GPS,171110,183336,2054.311,12720.570,69,0.9,69,-2.8