version: 66.07
glider: 511
mission: 5
dive: 29
start: 11 18 110 22 41 11
data:
$ID,511
$MISSION,5
$DIVE,29
$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,-40486.895
$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,30
$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,28
$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
$GPS1,181110,221845,2057.591,12710.423,36,2.4,55,-2.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.5
$GPS2,181110,224016,2057.959,12710.201,11,2.1,30,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.127,-0.229
$KALMAN_X,8831.2,-126.3,94.4,-53422.6,-41.3
$KALMAN_Y,85999.8,-1365.3,-573.4,-44199.5,11410.0
$MHEAD_RNG_PITCHd_Wd,211.9,66713,-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,-165.5,0.0,0.0,0,93,0.00,0.00,-66.72,0.000,2,0.000,0.000,42,2076,3038,0,0,0,0,0,0
$GC,95,-0.78,-165.5,4.1,-10.0,13,128,10.27,2.20,-15.70,0.000,4,0.277,0.073,2338,688,3947,0,0,0,0,0,0
$GC,172,-0.78,-165.5,43.2,-44.2,26,176,0.00,2.25,0.00,0.000,6,0.000,0.058,2330,2088,3949,0,0,0,0,0,0
$GC,432,-0.78,-165.5,123.9,-28.8,50,436,0.00,2.20,0.00,0.000,4,0.000,0.060,2331,688,3951,0,0,0,0,0,0
$GC,510,-0.78,-165.5,144.6,-23.1,58,514,0.00,2.22,0.00,0.000,6,0.000,0.052,2320,2101,3952,0,0,0,0,0,0
$GC,768,-0.78,-165.5,211.9,-25.0,80,772,0.00,2.22,0.00,0.000,4,0.000,0.063,2310,3511,3955,0,0,0,0,0,0
$GC,790,-0.78,-165.5,217.4,-23.8,81,795,0.15,2.20,0.00,0.000,6,0.177,0.048,2349,2107,3953,0,0,0,0,0,0
$GC,1118,-0.78,-165.5,283.1,-19.3,97,1122,0.00,2.17,0.00,0.000,4,0.000,0.057,2349,692,3952,0,0,0,0,0,0
$GC,1196,-0.78,-165.5,296.1,-14.4,100,1200,0.00,2.20,0.00,0.000,6,0.000,0.051,2342,2105,3953,0,0,0,0,0,0
$GC,1510,-0.78,-165.5,350.5,-17.5,109,1514,0.00,2.17,0.00,0.000,4,0.000,0.062,2332,3512,3950,0,0,0,0,0,0
$GC,1527,-0.78,-165.5,353.7,-17.7,109,1531,0.00,2.17,0.00,0.000,6,0.000,0.047,2332,2097,3947,0,0,0,0,0,0
$GC,1875,-0.78,-165.5,413.6,-16.7,118,1879,0.00,2.17,0.00,0.000,4,0.000,0.055,2332,688,3954,0,0,0,0,0,0
$GC,1911,-0.78,-165.5,419.5,-14.8,118,1917,0.00,2.22,0.00,0.000,6,0.000,0.054,2323,2095,3950,0,0,0,0,0,0
$GC,2241,-0.78,-165.5,472.8,-16.1,127,2245,0.00,2.20,0.00,0.000,4,0.000,0.061,2324,679,3948,0,0,0,0,0,0
$GC,2263,-0.78,-165.5,476.3,-16.5,127,2267,0.10,2.22,0.00,0.000,6,0.193,0.055,2346,2096,3948,0,0,0,0,0,0
$GC,2606,-0.78,-165.5,520.8,-12.5,136,2610,0.00,2.22,0.00,0.000,4,0.000,0.064,2337,3513,3947,0,0,0,0,0,0
$GC,2637,-0.78,-165.5,524.7,-11.2,136,2642,0.00,2.22,0.00,0.000,6,0.000,0.049,2337,2101,3944,0,0,0,0,0,0
$GC,2977,-0.78,-165.5,567.8,-13.0,145,2980,0.00,2.17,0.00,0.000,4,0.000,0.056,2337,676,3941,0,0,0,0,0,0
$GC,3032,-0.78,-165.5,574.7,-12.7,146,3036,0.00,2.25,0.00,0.000,6,0.000,0.057,2337,2101,3940,0,0,0,0,0,0
$GC,3344,-0.78,-165.5,616.8,-13.7,154,3348,0.00,2.22,0.00,0.000,4,0.000,0.065,2328,3513,3936,0,0,0,0,0,0
$GC,3389,-0.78,-165.5,622.7,-11.9,155,3393,0.00,2.20,0.00,0.000,6,0.000,0.051,2328,2090,3936,0,0,0,0,0,0
$GC,3714,-0.78,-165.5,665.6,-13.2,163,3718,0.00,2.17,0.00,0.000,4,0.000,0.058,2324,688,3931,0,0,0,0,0,0
$GC,3760,-0.78,-165.5,671.5,-11.9,164,3764,0.00,2.25,0.00,0.000,6,0.000,0.058,2328,2108,3933,0,0,0,0,0,0
$STATE,4003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4003,begin apogee
$GC,4007,-0.28,0.0,702.7,12.9,170,4137,0.55,0.00,126.12,1.081,6,0.139,0.000,2504,2054,3271,0,0,0,0,0,0
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4161,0.78,165.5,709.5,0.0,173,4303,0.93,2.40,134.52,1.058,4,0.051,0.065,2870,660,2594,0,0,0,0,0,0
$GC,4312,1.14,462.9,723.3,-1.9,176,4560,0.28,2.35,239.12,1.037,6,0.090,0.052,2965,2066,1383,0,0,0,0,0,0
$GC,4896,1.14,462.9,548.0,34.6,191,4900,0.00,2.25,0.00,0.000,4,0.000,0.065,2965,3464,1373,0,0,0,0,0,0
$GC,5005,1.14,462.9,508.9,34.6,193,5010,0.00,2.25,0.00,0.000,6,0.000,0.058,2974,2076,1371,0,0,0,0,0,0
$GC,5354,1.14,462.9,387.5,34.3,202,5358,0.00,2.28,0.00,0.000,4,0.000,0.069,2975,3473,1368,0,0,0,0,0,0
$GC,5389,1.14,462.9,373.8,37.2,202,5395,0.00,2.30,0.00,0.000,6,0.000,0.059,2986,2035,1369,0,0,0,0,0,0
$GC,5701,1.14,462.9,262.2,35.8,213,5705,0.00,2.30,0.00,0.000,4,0.000,0.069,2986,3467,1366,0,0,0,0,0,0
$GC,5742,1.14,462.9,246.0,38.5,215,5746,0.00,2.22,0.00,0.000,6,0.000,0.051,2996,2054,1365,0,0,0,0,0,0
$GC,6065,1.14,462.9,131.7,35.7,239,6070,0.12,2.28,0.00,0.000,4,0.260,0.064,2966,3471,1364,0,0,0,0,0,0
$GC,6220,1.14,462.9,79.1,29.2,255,6226,0.00,2.25,0.00,0.000,6,0.000,0.052,2975,2054,1363,0,0,0,0,0,0
$GC,6483,1.14,462.9,18.6,18.3,285,6489,0.00,2.20,0.00,0.000,4,0.000,0.061,2986,647,1365,0,0,0,0,0,0
$GC,6512,1.14,462.9,12.7,20.1,291,6518,0.00,2.22,0.00,0.000,6,0.000,0.051,2986,2067,1362,0,0,0,0,0,0
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6562,begin surface coast
$FINISH,-0.2,1.022063
$STATE,6578,end surface coast,CONTROL_FINISHED_OK
$STATE,6579,begin surface
$SM_CCo,6599,116.05,0.588,0,0,499,679.72
$SM_GC,0.35,0.00,0.00,116.05,0.000,0.000,0.588,57,2073,499,-7.94,-0.85,679.72
$IRIDIUM_FIX,2050.21,12710.20,130512,161652
$TT8_MAMPS,0.056758
$HUMID,1079021702
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,22.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8427634688
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59741274112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,7.300
$10V_AH,10.4,4.049
$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,20.275,75.950,499.775,116.050,0.000,141.955,180.844,547.812,0.000,0.000,33.194,622.667,4874.480,600.468,1835.716,87.616,33.352,1155.981,0.000,830.451,0.000,0.541,0.000
$DEVICE_MAMPS,276.887,115.050,1081.470,587.522,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,201.101,0.000,0.000,0.000,0.000,0.000,0.000,7550.030,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.434,0.000,0.000
$MEM,355196
$DATA_FILE_SIZE,10118,303
$CAP_FILE_SIZE,90652,0
$CFSIZE,260165632,256184320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,003430,2057.324,12709.662,37,1.6,37,-2.8