version: 66.07
glider: 511
mission: 5
dive: 22
start: 11 17 110 23 1 10
data:
$ID,511
$MISSION,5
$DIVE,22
$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,-40283.355
$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,25
$R_STBD_OVSHOOT,30
$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,21
$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
$GPS1,171110,223206,2055.141,12718.797,35,1.4,40,-2.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.1
$GPS2,171110,230014,2055.861,12718.559,15,1.5,15,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.175,-0.195
$KALMAN_X,10005.3,-537.9,-207.5,-39394.1,1108.9
$KALMAN_Y,58573.4,-1303.2,16.1,-21323.3,7068.6
$MHEAD_RNG_PITCHd_Wd,224.8,72972,-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,22,begin dive
$GC,24,-0.78,-165.5,0.0,0.0,0,108,0.00,0.00,-81.07,0.000,2,0.000,0.000,35,2073,2741,0,0,0,0,0,0
$GC,110,-0.78,-165.5,3.1,-5.1,16,150,10.27,2.17,-23.75,0.000,4,0.275,0.069,2342,691,3962,0,0,0,0,0,0
$GC,277,-0.78,-165.5,56.5,-28.5,43,281,0.00,2.22,0.00,0.000,6,0.000,0.054,2338,2091,3963,0,0,0,0,0,0
$GC,537,-0.78,-165.5,135.1,-27.5,67,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2090,3964,0,0,0,0,0,0
$GC,791,-0.78,-165.5,194.6,-24.8,91,795,0.00,2.17,0.00,0.000,4,0.000,0.058,2339,692,3963,0,0,0,0,0,0
$GC,864,-0.78,-165.5,210.7,-19.5,95,868,0.00,2.22,0.00,0.000,6,0.000,0.054,2325,2112,3965,0,0,0,0,0,0
$GC,1182,-0.78,-165.5,281.1,-20.4,111,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2108,3965,0,0,0,0,0,0
$GC,1488,-0.78,-165.5,342.3,-19.5,121,1492,0.00,2.22,0.00,0.000,4,0.000,0.058,2325,688,3964,0,0,0,0,0,0
$GC,1510,-0.78,-165.5,346.5,-18.6,121,1515,0.12,2.20,0.00,0.000,6,0.186,0.052,2348,2100,3964,0,0,0,0,0,0
$GC,1854,-0.78,-165.5,397.3,-14.4,130,1858,0.00,2.20,0.00,0.000,4,0.000,0.064,2339,3507,3961,0,0,0,0,0,0
$GC,1914,-0.78,-165.5,405.8,-12.7,131,1918,0.00,2.17,0.00,0.000,6,0.000,0.047,2339,2100,3964,0,0,0,0,0,0
$GC,2262,-0.78,-165.5,458.2,-14.8,140,2267,0.00,2.20,-0.08,0.000,4,0.000,0.071,2339,688,3970,0,0,0,0,0,0
$GC,2326,-0.78,-165.5,466.8,-12.8,141,2331,0.00,2.22,0.00,0.000,6,0.000,0.054,2339,2099,3972,0,0,0,0,0,0
$GC,2674,-0.78,-165.5,515.7,-14.3,150,2678,0.00,2.20,0.00,0.000,4,0.000,0.064,2329,3513,3969,0,0,0,0,0,0
$GC,2738,-0.78,-165.5,524.6,-12.8,151,2742,0.00,2.17,0.00,0.000,6,0.000,0.048,2328,2093,3967,0,0,1,0,0,0
$GC,3086,-0.78,-165.5,578.6,-15.6,160,3090,0.00,2.17,0.00,0.000,4,0.000,0.057,2330,686,3964,0,0,0,0,0,0
$GC,3145,-0.78,-165.5,587.5,-14.6,161,3149,0.00,2.22,0.00,0.000,6,0.000,0.057,2322,2102,3963,0,0,0,0,0,0
$GC,3462,-0.78,-165.5,632.3,-13.7,169,3466,0.00,2.20,0.00,0.000,4,0.000,0.064,2313,3513,3960,0,0,0,0,0,0
$GC,3497,-0.78,-165.5,637.4,-13.6,169,3504,0.12,2.20,0.00,0.000,6,0.165,0.050,2348,2106,3960,0,0,0,0,0,0
$GC,3827,-0.78,-165.5,675.4,-11.4,178,3831,0.00,2.17,0.00,0.000,4,0.000,0.058,2348,691,3955,0,0,0,0,0,0
$GC,3881,-0.78,-165.5,681.4,-10.6,179,3886,0.00,2.25,0.00,0.000,6,0.000,0.058,2348,2099,3954,0,0,0,0,0,0
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4075,begin apogee
$GC,4079,-0.28,0.0,701.6,10.4,184,4328,0.50,0.00,200.23,0.890,6,0.131,0.000,2512,2044,3301,0,0,0,0,9,0
$STATE,4336,end apogee,CONTROL_FINISHED_OK
$STATE,4336,begin climb
$GC,4337,0.78,165.5,717.3,0.0,190,4637,0.93,0.00,221.90,0.842,6,0.062,0.000,2856,2044,2627,0,0,0,0,14,0
$GC,4945,0.82,197.2,718.3,7.6,205,5011,0.00,2.35,43.92,0.831,4,0.000,0.065,2866,661,2496,0,0,0,0,3,0
$GC,5102,0.82,197.2,702.7,10.7,208,5107,0.00,2.30,0.00,0.000,6,0.000,0.054,2866,2061,2492,0,0,0,0,0,0
$GC,5446,0.82,197.2,666.5,10.4,217,5450,0.00,2.28,0.00,0.000,4,0.000,0.064,2866,3480,2488,0,0,0,0,0,0
$GC,5463,0.82,197.2,664.5,10.9,217,5467,0.00,2.22,0.00,0.000,6,0.000,0.051,2877,2068,2488,0,0,0,0,0,0
$GC,5811,0.82,197.2,625.5,11.7,226,5815,0.00,2.25,0.00,0.000,4,0.000,0.064,2876,3473,2485,0,0,0,0,0,0
$GC,6036,0.82,197.2,597.2,12.4,230,6042,0.00,2.25,0.00,0.000,6,0.000,0.056,2887,2067,2484,0,0,0,0,0,0
$GC,6366,0.82,197.2,562.2,10.6,239,6370,0.00,2.25,0.00,0.000,4,0.000,0.062,2898,650,2482,0,0,0,0,0,0
$GC,6439,0.82,197.2,554.3,10.9,240,6444,0.15,2.20,0.00,0.000,6,0.239,0.054,2863,2061,2480,0,0,0,0,0,0
$GC,6778,0.84,214.2,525.0,8.2,249,6810,0.00,2.28,19.77,0.831,4,0.000,0.061,2874,641,2426,0,0,0,0,1,0
$GC,6862,0.84,219.4,518.5,8.6,250,6875,0.00,2.28,7.28,0.780,6,0.000,0.054,2875,2066,2407,0,0,0,0,0,0
$GC,7197,0.84,219.4,489.0,8.9,259,7201,0.00,2.22,0.00,0.000,4,0.000,0.064,2875,3469,2404,0,0,0,0,0,0
$GC,7444,0.84,219.4,461.9,12.2,264,7448,0.00,2.25,0.00,0.000,6,0.000,0.055,2885,2057,2404,0,0,0,0,0,0
$GC,7792,0.84,219.4,427.6,9.7,273,7796,0.00,2.22,0.00,0.000,4,0.000,0.061,2896,643,2402,0,0,0,0,0,0
$GC,7907,0.84,219.4,416.2,10.4,275,7911,0.00,2.22,0.00,0.000,6,0.000,0.052,2896,2061,2401,0,0,0,0,0,0
$GC,8250,0.85,226.3,385.2,8.5,284,8265,0.00,2.22,8.65,0.773,4,0.000,0.061,2896,3470,2378,0,0,0,0,0,0
$GC,8297,0.85,226.3,380.4,10.9,285,8302,0.12,2.22,0.00,0.000,6,0.249,0.050,2882,2027,2378,0,0,0,0,0,0
$GC,8624,0.86,228.9,353.4,8.7,293,8635,0.00,2.30,4.75,0.623,4,0.000,0.062,2881,3476,2367,0,0,0,0,0,0
$GC,8695,0.86,228.9,346.9,8.9,294,8699,0.00,2.22,0.00,0.000,6,0.000,0.051,2890,2058,2367,0,0,0,0,0,0
$GC,9039,0.87,242.5,318.4,8.3,303,9065,0.00,0.00,19.33,0.717,6,0.000,0.000,2890,2053,2314,0,0,0,0,1,0
$GC,9344,0.87,242.5,287.4,10.0,313,9348,0.00,2.25,0.00,0.000,4,0.000,0.064,2890,3474,2311,0,0,0,0,0,0
$GC,9611,0.87,242.5,257.5,12.2,324,9617,0.00,2.22,0.00,0.000,6,0.000,0.051,2901,2067,2312,0,0,0,0,0,0
$GC,9926,0.87,242.5,224.3,11.7,340,9930,0.00,2.20,0.00,0.000,4,0.000,0.061,2901,3471,2311,0,0,0,0,0,0
$GC,10105,0.87,242.5,202.4,11.8,348,10109,0.00,2.17,0.00,0.000,6,0.000,0.046,2911,2057,2312,0,0,0,0,0,0
$GC,10431,0.89,258.1,173.8,8.2,377,10465,0.00,2.22,22.45,0.639,4,0.000,0.056,2922,649,2245,0,0,0,0,1,0
$GC,10561,0.89,258.1,161.4,10.3,391,10567,0.15,2.25,0.00,0.000,6,0.223,0.053,2888,2062,2246,0,0,0,0,0,0
$GC,10821,0.89,258.1,135.8,10.4,416,10825,0.00,2.20,0.00,0.000,4,0.000,0.061,2888,3472,2245,0,0,0,0,0,0
$GC,11088,0.89,258.1,106.7,9.5,444,11093,0.00,2.20,0.00,0.000,6,0.000,0.049,2897,2050,2245,0,0,0,0,0,0
$GC,11348,0.97,325.0,88.0,6.4,469,11459,0.00,2.33,84.45,0.590,4,0.000,0.059,2897,3468,1973,0,0,0,0,4,0
$GC,11723,1.04,377.0,50.0,6.9,511,11809,0.00,2.17,64.10,0.554,6,0.000,0.044,2908,2058,1765,0,0,0,0,3,0
$GC,12076,1.04,377.0,13.8,13.9,557,12082,0.00,2.25,0.00,0.000,4,0.000,0.062,2907,3470,1758,0,0,0,0,0,0
$GC,12133,1.04,377.0,6.9,12.0,569,12138,0.00,2.20,0.00,0.000,6,0.000,0.044,2918,2056,1761,0,0,0,0,0,0
$STATE,12170,end climb,SURFACE_DEPTH_REACHED
$STATE,12170,begin surface coast
$FINISH,0.0,1.021937
$STATE,12199,end surface coast,CONTROL_FINISHED_OK
$STATE,12199,begin surface
$SM_CCo,12216,169.73,0.541,0,0,499,687.07
$SM_GC,0.82,0.00,0.00,169.73,0.000,0.000,0.541,51,2101,499,-7.96,0.03,687.07
$IRIDIUM_FIX,2047.91,12717.10,120512,171741
$TT8_MAMPS,0.055991
$HUMID,1078739990
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.00
$XPDR_PINGS,19
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8436252672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59838332928
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,5.771
$10V_AH,10.4,3.398
$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,20.100,107.000,696.825,169.725,0.000,129.289,195.426,942.994,4.750,0.000,16.748,1127.925,8742.040,1005.593,3072.277,118.212,33.345,2018.154,0.000,1695.916,0.000,0.544,0.000
$DEVICE_MAMPS,274.586,119.652,889.720,540.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,384.855,0.000,0.000,0.000,0.000,0.000,0.000,13083.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.932,0.000,0.000
$MEM,355264
$DATA_FILE_SIZE,20114,581
$CAP_FILE_SIZE,151158,0
$CFSIZE,260165632,256647168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,36,0
$GPS,181110,022901,2055.712,12717.415,38,1.5,38,-2.8