version: 66.07
glider: 511
mission: 5
dive: 25
start: 11 18 110 10 20 2
data:
$ID,511
$MISSION,5
$DIVE,25
$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,679.71521
$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,-40362.445
$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,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3270
$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,24
$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
$GPS1,181110,094946,2057.109,12714.672,12,3.0,31,-2.8
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.9
$GPS2,181110,101907,2057.766,12714.489,27,1.5,27,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.258
$KALMAN_X,10002.7,257.4,-101.9,-47345.6,721.6
$KALMAN_Y,69965.2,-104.4,97.0,-30465.9,5884.9
$MHEAD_RNG_PITCHd_Wd,173.1,70854,-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,-165.5,0.0,0.0,0,113,0.00,0.00,-86.20,0.000,2,0.000,0.000,29,2100,2877,0,0,0,0,0,0
$GC,115,-0.78,-165.5,3.5,-6.6,17,151,10.15,2.22,-19.42,0.000,4,0.271,0.071,2328,3512,3944,0,0,0,0,0,0
$GC,271,-0.78,-165.5,59.1,-29.8,41,275,0.00,2.20,0.00,0.000,6,0.000,0.049,2328,2100,3948,0,0,0,0,0,0
$GC,535,-0.78,-165.5,135.8,-27.4,66,539,0.00,2.20,0.00,0.000,4,0.000,0.058,2328,691,3947,0,0,0,0,0,0
$GC,641,-0.78,-165.5,161.8,-21.8,77,645,0.00,2.22,0.00,0.000,6,0.000,0.054,2328,2103,3948,0,0,0,0,0,0
$GC,898,-0.78,-165.5,222.1,-24.0,97,902,0.00,2.22,0.00,0.000,4,0.000,0.058,2328,686,3952,0,0,0,0,0,0
$GC,933,-0.78,-165.5,231.2,-24.5,98,939,0.00,2.22,0.00,0.000,6,0.000,0.052,2328,2099,3949,0,0,0,0,0,0
$GC,1248,-0.78,-165.5,304.1,-22.0,114,1252,0.00,2.17,0.00,0.000,4,0.000,0.061,2325,692,3949,0,0,0,0,0,0
$GC,1265,-0.78,-165.5,308.3,-22.4,114,1269,0.00,2.22,0.00,0.000,6,0.000,0.053,2328,2096,3950,0,0,0,0,0,0
$GC,1613,-0.78,-165.5,376.7,-19.0,123,1617,0.00,2.22,0.00,0.000,4,0.000,0.065,2322,3518,3949,0,0,0,0,0,0
$GC,1630,-0.78,-165.5,379.9,-17.2,123,1635,0.00,2.15,0.00,0.000,6,0.000,0.046,2322,2104,3947,0,0,0,0,0,0
$GC,1978,-0.78,-165.5,439.3,-16.8,132,1982,0.00,2.17,0.00,0.000,4,0.000,0.054,2323,692,3944,0,0,0,0,0,0
$GC,1995,-0.78,-165.5,442.3,-16.4,132,2000,0.05,2.22,0.00,0.000,6,0.176,0.051,2347,2098,3947,0,0,0,0,0,0
$GC,2308,-0.78,-165.5,481.3,-12.1,140,2312,0.00,2.20,0.00,0.000,4,0.000,0.064,2338,3511,3941,0,0,0,0,0,0
$GC,2385,-0.78,-165.5,489.7,-10.0,141,2389,0.00,2.20,0.00,0.000,6,0.000,0.048,2338,2099,3939,0,0,0,0,0,0
$GC,2719,-0.78,-165.5,532.4,-13.1,150,2723,0.00,2.20,0.00,0.000,4,0.000,0.056,2338,676,3936,0,0,0,0,0,0
$GC,2787,-0.78,-165.5,540.9,-11.9,151,2791,0.00,2.20,0.00,0.000,6,0.000,0.054,2338,2098,3937,0,0,0,0,0,0
$GC,3130,-0.78,-165.5,583.5,-12.5,160,3135,0.00,2.22,0.00,0.000,4,0.000,0.066,2329,3519,3931,0,0,0,0,0,0
$GC,3175,-0.78,-165.5,589.2,-11.7,161,3179,0.00,2.22,0.00,0.000,6,0.000,0.050,2329,2101,3928,0,0,0,0,0,0
$GC,3501,-0.78,-165.5,635.2,-14.6,169,3505,0.00,2.20,0.00,0.000,4,0.000,0.058,2329,682,3927,0,0,0,0,0,0
$GC,3537,-0.78,-165.5,640.5,-13.8,169,3541,0.00,2.25,0.00,0.000,6,0.000,0.057,2324,2122,3927,0,0,0,0,0,0
$GC,3871,-0.78,-165.5,688.0,-14.0,178,3875,0.00,2.17,0.00,0.000,4,0.000,0.067,2314,3512,3924,0,0,0,0,0,0
$GC,3897,-0.78,-165.5,692.0,-15.2,178,3902,0.12,2.17,0.00,0.000,6,0.166,0.051,2348,2093,3923,0,0,0,0,0,0
$STATE,3992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3992,begin apogee
$GC,3995,-0.28,0.0,702.8,11.3,181,4251,0.47,0.00,202.15,0.882,6,0.133,0.000,2504,2087,3270,0,0,0,0,10,0
$STATE,4253,end apogee,CONTROL_FINISHED_OK
$STATE,4253,begin climb
$GC,4255,0.78,165.5,721.2,0.0,187,4551,0.93,2.45,219.77,0.847,4,0.051,0.058,2868,649,2597,0,0,0,0,13,0
$GC,4638,0.78,165.5,736.1,9.8,196,4642,0.00,2.30,0.00,0.000,6,0.000,0.053,2868,2063,2592,0,0,0,0,0,0
$GC,4960,0.78,167.4,707.6,8.7,204,4964,0.00,2.28,0.00,0.000,4,0.000,0.064,2869,3479,2591,0,0,0,0,0,0
$GC,5093,0.81,191.6,696.5,7.9,206,5121,0.00,2.22,21.42,1.031,6,0.000,0.053,2880,2058,2491,0,0,0,0,0,0
$GC,5466,0.81,191.6,656.8,11.2,216,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2058,2483,0,0,0,0,0,0
$GC,5790,0.81,191.6,620.5,11.5,224,5794,0.00,2.28,0.00,0.000,4,0.000,0.069,2879,3471,2481,0,0,0,0,0,0
$GC,5863,0.81,191.6,611.1,13.0,225,5867,0.00,2.20,0.00,0.000,6,0.000,0.054,2891,2062,2481,0,0,0,0,0,0
$GC,6202,0.81,191.6,573.0,10.7,234,6206,0.00,2.28,0.00,0.000,4,0.000,0.067,2889,3470,2479,0,0,0,0,0,0
$GC,6382,0.81,191.6,555.0,9.6,238,6386,0.15,2.17,0.00,0.000,6,0.245,0.052,2868,2063,2480,0,0,0,0,0,0
$GC,6708,0.87,236.9,530.8,7.1,246,6751,0.00,2.33,35.80,1.001,4,0.000,0.064,2873,646,2305,0,0,0,0,0,0
$GC,6890,0.87,236.9,509.7,13.1,250,6894,0.00,2.25,0.00,0.000,6,0.000,0.055,2877,2060,2298,0,0,0,0,0,0
$GC,7215,0.87,236.9,463.8,14.1,258,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2060,2295,0,0,0,0,0,0
$GC,7540,0.87,236.9,418.5,13.6,266,7544,0.00,2.25,0.00,0.000,4,0.000,0.065,2877,3470,2293,0,0,0,0,0,0
$GC,7807,0.87,236.9,378.6,14.1,271,7813,0.00,2.22,0.00,0.000,6,0.000,0.051,2888,2063,2293,0,0,0,0,0,0
$GC,8137,0.87,236.9,341.1,11.2,280,8141,0.00,2.28,0.00,0.000,4,0.000,0.067,2890,3473,2293,0,0,0,0,0,0
$GC,8288,0.87,236.9,323.8,11.9,283,8292,0.00,2.22,0.00,0.000,6,0.000,0.050,2897,2060,2292,0,0,0,0,0,0
$GC,8602,0.87,236.9,289.5,11.8,293,8606,0.00,2.25,0.00,0.000,4,0.000,0.064,2897,3474,2291,0,0,0,0,0,0
$GC,8748,0.87,236.9,270.6,11.9,299,8753,0.08,2.22,0.00,0.000,6,0.231,0.049,2877,2060,2292,0,0,0,0,0,0
$GC,9072,0.87,236.9,238.8,9.9,315,9076,0.00,2.25,0.00,0.000,4,0.000,0.064,2876,3474,2291,0,0,0,0,0,0
$GC,9117,0.87,236.9,233.8,11.4,317,9121,0.00,2.22,0.00,0.000,6,0.000,0.049,2885,2053,2291,0,0,0,0,0,0
$GC,9444,0.87,236.9,198.3,10.2,333,9448,0.00,2.20,0.00,0.000,4,0.000,0.058,2896,640,2292,0,0,0,0,0,0
$GC,9646,0.87,236.9,177.9,9.6,354,9652,0.00,2.22,0.00,0.000,6,0.000,0.054,2896,2049,2291,0,0,0,0,0,0
$GC,9906,0.93,289.8,157.2,6.9,379,9952,0.00,2.28,40.55,0.715,4,0.000,0.060,2907,645,2088,0,0,0,0,0,0
$GC,10021,0.93,289.8,144.6,13.8,391,10027,0.00,2.28,0.00,0.000,6,0.000,0.050,2907,2066,2083,0,0,0,0,0,0
$GC,10281,0.93,289.8,109.2,11.5,416,10285,0.00,2.22,0.00,0.000,4,0.000,0.058,2917,646,2080,0,0,0,0,0,0
$GC,10382,0.93,289.8,98.8,10.0,426,10388,0.00,2.20,0.00,0.000,6,0.000,0.049,2917,2066,2080,0,0,0,0,0,0
$GC,10642,0.97,319.7,76.3,7.7,451,10668,0.00,0.00,22.92,0.630,6,0.000,0.000,2922,2066,1969,0,0,0,0,0,0
$GC,10923,1.01,355.6,57.9,7.5,478,10957,0.00,2.28,27.92,0.608,4,0.000,0.061,2917,3473,1821,0,0,0,0,0,0
$GC,11063,1.01,355.6,43.3,12.0,493,11069,0.00,2.25,0.00,0.000,6,0.000,0.050,2927,2066,1818,0,0,0,0,0,0
$GC,11332,1.01,355.6,15.3,10.3,532,11337,0.00,2.28,0.00,0.000,4,0.000,0.066,2927,3473,1817,0,0,0,0,0,0
$STATE,11443,end climb,SURFACE_DEPTH_REACHED
$STATE,11443,begin surface coast
$FINISH,-0.0,1.007966
$STATE,11466,end surface coast,CONTROL_FINISHED_OK
$STATE,11466,begin surface
$SM_CCo,11484,165.15,0.541,0,0,499,679.72
$SM_GC,0.79,0.00,0.00,165.15,0.000,0.000,0.541,54,2080,499,-7.95,-0.57,679.72
$IRIDIUM_FIX,2052.52,12716.66,130512,040454
$TT8_MAMPS,0.056758
$HUMID,1078761926
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.20
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8417312768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59781578752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,6.522
$10V_AH,10.3,3.759
$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,19.675,111.600,570.550,165.150,0.000,155.130,192.373,982.865,1.500,0.000,29.807,1098.397,8304.177,856.367,3030.610,111.071,33.349,1795.657,0.000,1588.773,0.000,0.544,0.000
$DEVICE_MAMPS,270.751,71.331,1030.848,540.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.821,0.000,0.000,0.000,0.000,0.000,0.000,12485.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.021,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,20073,561
$CAP_FILE_SIZE,146416,0
$CFSIZE,260165632,256405504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,23,0
$GPS,181110,133600,2057.480,12714.219,61,1.3,61,-2.8