version: 66.07
glider: 511
mission: 5
dive: 31
start: 11 19 110 4 31 8
data:
$ID,511
$MISSION,5
$DIVE,31
$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,-40522.801
$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,34
$R_STBD_OVSHOOT,20
$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,30
$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
$GPS1,191110,040730,2057.396,12708.392,41,1.0,41,-2.8
$_CALLS,3
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.2
$GPS2,191110,043013,2057.892,12708.000,12,1.4,17,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.118,-0.234
$KALMAN_X,8578.9,442.8,-101.1,-57350.5,-293.6
$KALMAN_Y,91387.4,-942.9,-1093.0,-49600.7,10391.8
$MHEAD_RNG_PITCHd_Wd,209.5,64554,-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,-86.47,0.000,2,0.000,0.000,43,2102,2873,0,0,0,0,0,0
$GC,115,-0.78,-165.5,3.6,-7.5,17,151,10.18,2.22,-19.92,0.000,4,0.273,0.067,2339,692,3943,0,0,0,0,0,0
$GC,262,-0.78,-165.5,54.5,-26.4,41,267,0.00,2.25,0.00,0.000,6,0.000,0.055,2331,2105,3945,0,0,0,0,0,0
$GC,522,-0.78,-165.5,123.5,-26.0,65,526,0.00,2.22,0.00,0.000,4,0.000,0.059,2331,698,3946,0,0,0,0,0,0
$GC,563,-0.78,-165.5,133.3,-22.2,69,567,0.00,2.22,0.00,0.000,6,0.000,0.054,2321,2102,3946,0,0,0,0,0,0
$GC,823,-0.78,-165.5,199.9,-26.5,93,827,0.00,2.20,0.00,0.000,4,0.000,0.060,2321,697,3944,0,0,0,0,0,0
$GC,865,-0.78,-165.5,210.1,-21.9,95,869,0.12,2.22,0.00,0.000,6,0.187,0.054,2343,2107,3946,0,0,0,0,0,0
$GC,1193,-0.78,-165.5,272.8,-18.3,111,1197,0.00,2.20,0.00,0.000,4,0.000,0.060,2343,701,3949,0,0,0,0,0,0
$GC,1238,-0.78,-165.5,281.0,-16.1,113,1242,0.00,2.20,0.00,0.000,6,0.000,0.054,2336,2103,3949,0,0,0,0,0,0
$GC,1563,-0.78,-165.5,341.6,-18.8,124,1567,0.00,2.20,0.00,0.000,4,0.000,0.061,2338,699,3944,0,0,0,0,0,0
$GC,1595,-0.78,-165.5,347.1,-16.9,124,1600,0.00,2.22,0.00,0.000,6,0.000,0.056,2327,2106,3944,0,0,0,0,0,0
$GC,1925,-0.78,-165.5,406.8,-18.2,132,1929,0.00,2.22,0.00,0.000,4,0.000,0.062,2326,694,3942,0,0,0,0,0,0
$GC,1975,-0.78,-165.5,415.3,-15.5,133,1979,0.10,2.22,0.00,0.000,6,0.187,0.056,2344,2109,3942,0,0,0,0,0,0
$GC,2301,-0.78,-165.5,462.1,-14.1,141,2305,0.00,2.20,0.00,0.000,4,0.000,0.061,2345,697,3940,0,0,0,0,0,0
$GC,2323,-0.78,-165.5,465.3,-13.8,141,2327,0.00,2.22,0.00,0.000,6,0.000,0.056,2344,2110,3940,0,0,0,0,0,0
$GC,2666,-0.78,-165.5,508.4,-12.6,150,2670,0.00,2.17,0.00,0.000,4,0.000,0.063,2336,3514,3936,0,0,0,0,0,0
$GC,2711,-0.78,-165.5,514.1,-11.5,151,2715,0.00,2.20,0.00,0.000,6,0.000,0.048,2333,2107,3935,0,0,0,0,0,0
$GC,3037,-0.78,-165.5,556.8,-13.6,159,3041,0.00,2.17,0.00,0.000,4,0.000,0.057,2336,689,3932,0,0,0,0,0,0
$GC,3082,-0.78,-165.5,563.0,-13.4,160,3086,0.00,2.22,0.00,0.000,6,0.000,0.058,2336,2097,3932,0,0,0,0,0,0
$GC,3408,-0.78,-165.5,605.6,-12.9,168,3412,0.00,2.25,0.00,0.000,4,0.000,0.066,2326,3521,3928,0,0,0,0,0,0
$GC,3467,-0.78,-165.5,612.9,-10.8,169,3471,0.00,2.15,0.00,0.000,6,0.000,0.046,2326,2094,3928,0,0,0,0,0,0
$GC,3779,-0.78,-165.5,652.2,-12.7,177,3783,0.00,2.15,0.00,0.000,4,0.000,0.057,2330,694,3925,0,0,0,0,0,0
$GC,3829,-0.78,-165.5,658.6,-11.9,178,3833,0.00,2.22,0.00,0.000,6,0.000,0.056,2322,2109,3925,0,0,0,0,0,0
$STATE,4149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4149,begin apogee
$GC,4153,-0.28,0.0,701.4,13.5,186,4280,0.57,0.00,124.47,1.080,6,0.141,0.000,2505,2052,3271,0,0,0,0,0,0
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4284,0.78,165.5,708.6,0.0,189,4427,0.95,2.42,134.38,1.052,4,0.061,0.067,2869,653,2596,0,0,0,0,0,0
$GC,4440,1.12,441.8,720.8,-1.1,192,4671,0.25,2.33,222.38,1.035,6,0.092,0.054,2961,2059,1468,0,0,1,0,0,0
$GC,4979,1.12,441.8,569.2,32.9,206,4984,0.00,2.30,0.00,0.000,4,0.000,0.066,2956,3484,1459,0,0,0,0,0,0
$GC,5099,1.12,441.8,528.4,33.8,208,5103,0.00,2.30,0.00,0.000,6,0.000,0.058,2967,2062,1457,0,0,0,0,0,0
$GC,5433,1.12,441.8,411.7,35.6,217,5437,0.00,2.28,0.00,0.000,4,0.000,0.066,2969,3475,1454,0,0,0,0,0,0
$GC,5557,1.12,441.8,368.0,33.7,219,5561,0.00,2.25,0.00,0.000,6,0.000,0.057,2977,2062,1452,0,0,0,0,0,0
$GC,5868,1.12,441.8,258.2,35.3,229,5872,0.00,2.25,0.00,0.000,4,0.000,0.067,2977,3476,1450,0,0,0,0,0,0
$GC,5880,1.12,441.8,253.3,35.2,229,5887,0.00,2.25,0.00,0.000,6,0.000,0.054,2987,2063,1450,0,0,0,0,0,0
$GC,6199,1.12,441.8,148.2,33.8,252,6203,0.00,2.25,0.00,0.000,4,0.000,0.067,2989,3479,1449,0,0,0,0,0,0
$GC,6296,1.12,441.8,114.1,34.9,262,6301,0.15,2.25,0.00,0.000,6,0.248,0.056,2967,2059,1449,0,0,0,0,0,0
$GC,6556,1.12,441.8,42.4,19.7,286,6560,0.00,2.28,0.00,0.000,4,0.000,0.064,2967,3483,1448,0,0,0,0,0,0
$GC,6611,1.12,441.8,31.3,20.5,291,6616,0.00,2.25,0.00,0.000,6,0.000,0.054,2975,2047,1448,0,0,0,0,0,0
$STATE,6766,end climb,SURFACE_DEPTH_REACHED
$STATE,6766,begin surface coast
$FINISH,-0.1,1.022126
$STATE,6785,end surface coast,CONTROL_FINISHED_OK
$STATE,6785,begin surface
$SM_CCo,6808,31.05,0.597,0,0,1232,500.40
$SM_GC,1.04,0.00,0.00,31.05,0.000,0.000,0.597,60,2111,1232,-7.94,0.45,500.40
$IRIDIUM_FIX,2047.91,12708.80,130512,191933
$TT8_MAMPS,0.056758
$HUMID,1079074605
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,22.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8430747648
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59700183040
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,7.714
$10V_AH,10.3,4.234
$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,20.225,76.175,481.225,31.050,0.000,90.108,93.658,916.595,0.000,0.000,19.654,654.922,4878.030,528.595,2050.760,83.364,33.359,1098.508,0.000,884.463,0.000,0.542,0.000
$DEVICE_MAMPS,273.052,116.584,1079.936,597.493,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,212.861,0.000,0.000,0.000,0.000,0.000,0.000,7735.250,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.135,0.000,0.000
$MEM,355176
$DATA_FILE_SIZE,10149,321
$CAP_FILE_SIZE,95465,0
$CFSIZE,260165632,256110592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191110,062608,2057.143,12707.330,11,1.4,11,-2.8