version: 66.07
glider: 511
mission: 5
dive: 21
start: 11 17 110 19 2 16
data:
$ID,511
$MISSION,5
$DIVE,21
$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,687.0741
$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,-40265.98
$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,27
$R_STBD_OVSHOOT,24
$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,20
$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
$GPS1,171110,183336,2054.311,12720.570,69,0.9,69,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,171110,190120,2054.946,12720.250,16,1.3,16,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.179,-0.192
$KALMAN_X,9145.7,-35.1,196.0,-36504.3,-677.9
$KALMAN_Y,54570.1,-1455.5,-388.6,-18462.7,7985.6
$MHEAD_RNG_PITCHd_Wd,225.8,73927,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.78,-165.5,0.0,0.0,0,82,0.00,0.00,-55.95,0.000,2,0.000,0.000,34,2103,2784,0,0,0,0,0,0
$GC,85,-0.78,-165.5,3.5,-7.9,11,125,10.30,2.30,-21.35,0.000,4,0.276,0.080,2331,3500,3963,0,0,0,0,0,0
$GC,272,-0.78,-165.5,71.3,-23.0,38,278,0.00,2.17,0.00,0.000,6,0.000,0.048,2331,2102,3964,0,0,0,0,0,0
$GC,532,-0.78,-165.5,139.3,-22.8,63,536,0.00,2.22,0.00,0.000,4,0.000,0.060,2331,687,3966,0,0,0,0,0,0
$GC,620,-0.78,-165.5,157.0,-19.7,72,624,0.00,2.20,0.00,0.000,6,0.000,0.053,2322,2098,3966,0,0,1,0,0,0
$GC,877,-0.78,-165.5,215.6,-22.4,93,881,0.00,2.25,0.00,0.000,4,0.000,0.066,2312,3517,3967,0,0,0,0,0,0
$GC,899,-0.78,-165.5,220.9,-22.3,94,904,0.08,2.20,0.00,0.000,6,0.168,0.046,2344,2107,3966,0,0,0,0,0,0
$GC,1228,-0.78,-165.5,279.1,-16.8,110,1232,0.00,2.22,0.00,0.000,4,0.000,0.059,2345,674,3963,0,0,0,0,0,0
$GC,1305,-0.78,-165.5,290.6,-13.3,113,1309,0.00,2.22,0.00,0.000,6,0.000,0.054,2339,2098,3966,0,0,0,0,0,0
$GC,1619,-0.78,-165.5,341.9,-16.2,123,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2099,3963,0,0,0,0,0,0
$GC,1945,-0.78,-165.5,393.2,-15.4,131,1949,0.00,2.22,0.00,0.000,4,0.000,0.065,2329,3518,3961,0,0,0,0,0,0
$GC,1994,-0.78,-165.5,400.6,-13.5,132,1998,0.00,2.22,0.00,0.000,6,0.000,0.048,2329,2061,3960,0,0,0,0,0,0
$GC,2320,-0.78,-165.5,449.7,-14.8,140,2325,0.00,2.15,-0.08,0.000,4,0.000,0.073,2327,682,3972,0,0,0,0,0,0
$GC,2370,-0.78,-165.5,456.6,-11.8,141,2374,0.00,2.25,0.00,0.000,6,0.000,0.057,2321,2097,3972,0,0,0,0,0,0
$GC,2691,-0.78,-165.5,503.1,-14.5,149,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2098,3968,0,0,0,0,0,0
$GC,3016,-0.78,-165.5,548.8,-13.7,157,3020,0.00,2.22,0.00,0.000,4,0.000,0.066,2310,3513,3966,0,0,0,0,0,0
$GC,3052,-0.78,-165.5,554.1,-13.4,157,3057,0.10,2.17,0.00,0.000,6,0.143,0.045,2344,2104,3966,0,0,0,0,0,0
$GC,3387,-0.78,-165.5,593.9,-12.1,166,3391,0.00,2.17,0.00,0.000,4,0.000,0.057,2344,693,3962,0,0,0,0,0,0
$GC,3460,-0.78,-165.5,602.5,-11.3,167,3464,0.00,2.22,0.00,0.000,6,0.000,0.058,2337,2101,3961,0,0,0,0,0,0
$GC,3803,-0.78,-165.5,645.7,-12.3,176,3807,0.00,2.22,0.00,0.000,4,0.000,0.066,2325,3514,3959,0,0,0,0,0,0
$GC,3849,-0.78,-165.5,651.0,-10.2,177,3853,0.00,2.17,0.00,0.000,6,0.000,0.047,2328,2095,3957,0,0,0,0,0,0
$GC,4175,-0.78,-165.5,688.4,-11.2,185,4179,0.00,2.17,0.00,0.000,4,0.000,0.058,2328,693,3952,0,0,0,0,0,0
$GC,4197,-0.78,-165.5,691.2,-11.6,185,4201,0.00,2.22,0.00,0.000,6,0.000,0.053,2322,2101,3953,0,0,0,0,0,0
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4296,begin apogee
$GC,4299,-0.28,0.0,702.9,11.9,188,4563,0.57,0.00,204.93,0.882,6,0.145,0.000,2504,2102,3301,0,0,0,0,11,0
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4565,begin climb
$GC,4567,0.78,165.5,720.5,0.0,194,4863,0.93,2.35,220.62,0.853,4,0.053,0.062,2857,3484,2626,0,0,0,0,13,0
$GC,5098,0.80,180.0,731.5,8.2,206,5131,0.00,2.28,19.83,0.827,6,0.000,0.053,2867,2060,2567,0,0,0,0,1,0
$GC,5448,0.80,180.0,696.9,10.1,215,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2059,2561,0,0,0,0,0,0
$GC,5773,0.80,180.0,665.7,9.0,223,5777,0.00,2.28,0.00,0.000,4,0.000,0.067,2872,3482,2559,0,0,0,0,0,0
$GC,5846,0.81,191.0,659.5,8.4,224,5863,0.00,2.22,12.88,0.899,6,0.000,0.055,2878,2058,2522,0,0,0,0,0,0
$GC,6186,0.82,202.4,631.2,8.4,233,6214,0.00,2.30,16.67,0.819,4,0.000,0.067,2878,3472,2475,0,0,0,0,1,0
$GC,6477,0.82,202.4,601.3,11.0,239,6481,0.00,2.22,0.00,0.000,6,0.000,0.055,2888,2060,2472,0,0,0,0,0,0
$GC,6825,0.82,202.4,566.7,10.1,248,6829,0.00,2.28,0.00,0.000,4,0.000,0.068,2889,3480,2470,0,0,0,0,0,0
$GC,6885,0.82,202.4,560.1,11.1,249,6890,0.15,2.25,0.00,0.000,6,0.251,0.056,2868,2060,2469,0,0,0,0,0,0
$GC,7234,0.82,202.4,526.5,9.5,258,7238,0.00,2.25,0.00,0.000,4,0.000,0.064,2877,640,2467,0,0,0,0,0,0
$GC,7334,0.82,202.4,516.9,9.2,260,7339,0.00,2.25,0.00,0.000,6,0.000,0.055,2877,2068,2466,0,0,0,0,0,0
$GC,7651,0.82,203.4,488.9,8.7,268,7655,0.00,2.22,0.00,0.000,4,0.000,0.065,2877,3470,2463,0,0,0,0,0,0
$GC,7729,0.82,203.4,481.7,9.2,269,7733,0.00,2.22,0.00,0.000,6,0.000,0.052,2888,2059,2466,0,0,0,0,0,0
$GC,8068,0.84,214.4,452.3,8.4,278,8093,0.00,2.28,13.18,0.843,4,0.000,0.063,2899,658,2427,0,0,0,0,1,0
$GC,8355,0.84,214.4,425.2,9.7,284,8359,0.00,2.22,0.00,0.000,6,0.000,0.054,2899,2067,2425,0,0,0,0,0,0
$GC,8672,0.87,244.0,399.4,7.7,292,8737,0.00,2.33,42.30,0.765,4,0.000,0.064,2909,644,2306,0,0,0,0,3,0
$GC,8745,0.87,244.0,392.2,10.6,293,8750,0.12,2.30,0.00,0.000,6,0.233,0.053,2884,2052,2305,0,0,0,0,0,0
$GC,9080,0.87,244.0,351.4,12.1,302,9084,0.00,2.28,0.00,0.000,4,0.000,0.065,2884,3484,2303,0,0,0,0,0,0
$GC,9347,0.87,244.0,320.0,11.1,307,9353,0.00,2.22,0.00,0.000,6,0.000,0.051,2893,2060,2300,0,0,0,0,0,0
$GC,9658,0.87,244.0,288.8,10.6,318,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2056,2299,0,0,0,0,0,0
$GC,9968,0.87,244.0,253.3,11.2,333,9972,0.00,2.22,0.00,0.000,4,0.000,0.061,2903,643,2298,0,0,0,0,0,0
$GC,10224,0.87,244.0,228.4,9.6,344,10229,0.00,2.25,0.00,0.000,6,0.000,0.054,2904,2079,2298,0,0,0,0,0,0
$GC,10549,0.87,244.0,195.2,11.0,362,10553,0.00,2.17,0.00,0.000,4,0.000,0.061,2903,3478,2298,0,0,0,0,0,0
$GC,10659,0.87,244.0,184.3,9.0,373,10665,0.12,2.20,0.00,0.000,6,0.242,0.049,2888,2054,2297,0,0,0,0,0,0
$GC,10919,0.91,276.6,168.1,7.6,398,10973,0.00,0.00,42.42,0.654,6,0.000,0.000,2888,2050,2170,0,0,0,0,2,0
$GC,11223,0.91,276.6,136.1,10.6,427,11227,0.00,2.20,0.00,0.000,4,0.000,0.057,2897,639,2169,0,0,0,0,0,0
$GC,11342,0.94,299.2,125.6,8.0,439,11389,0.00,2.25,30.35,0.594,6,0.000,0.051,2897,2068,2082,0,0,0,0,2,0
$GC,11642,0.94,299.2,95.1,10.7,469,11646,0.00,2.25,0.00,0.000,4,0.000,0.058,2908,646,2078,0,0,0,0,0,0
$GC,11909,1.17,482.7,80.6,2.2,497,12180,0.20,2.20,219.68,0.577,6,0.089,0.050,2986,2069,1334,0,0,0,0,8,0
$STATE,12361,end climb,SURFACE_DEPTH_REACHED
$STATE,12361,begin surface coast
$FINISH,0.1,1.021876
$STATE,12373,end surface coast,CONTROL_FINISHED_OK
$STATE,12374,begin surface
$SM_CCo,12390,112.32,0.539,0,0,499,687.32
$SM_GC,0.75,0.00,0.00,112.32,0.000,0.000,0.539,59,2072,499,-7.94,-0.82,687.32
$IRIDIUM_FIX,2050.21,12719.90,120512,131319
$TT8_MAMPS,0.058292
$HUMID,1078799345
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.80
$XPDR_PINGS,4
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8417443840
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59864088576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,5.519
$10V_AH,10.3,3.297
$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,20.650,102.750,822.850,112.325,0.000,143.381,190.345,904.513,1.000,0.000,18.111,1094.656,8803.369,1024.879,3115.019,121.204,33.373,2092.299,0.000,1762.669,0.000,0.543,0.000
$DEVICE_MAMPS,276.120,79.768,898.924,539.201,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.304,0.000,0.000,0.000,0.000,0.000,0.000,13185.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.993,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,20079,560
$CAP_FILE_SIZE,150115,0
$CFSIZE,260165632,256720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,42,0
$GPS,171110,223206,2055.141,12718.797,35,1.4,40,-2.8