version: 66.07
glider: 511
mission: 5
dive: 32
start: 11 19 110 6 52 8
data:
$ID,511
$MISSION,5
$DIVE,32
$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,-40569.938
$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,26
$R_STBD_OVSHOOT,21
$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,31
$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
$GPS1,191110,062608,2057.143,12707.330,11,1.4,11,-2.8
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.9
$GPS2,191110,065113,2057.787,12707.092,33,1.5,44,-2.8
$SPEED_LIMITS,0.152,0.262
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,-0.238
$KALMAN_X,8834.3,310.7,127.7,-59284.9,-444.7
$KALMAN_Y,94108.5,-1089.2,-753.7,-52716.7,12536.5
$MHEAD_RNG_PITCHd_Wd,207.7,63586,-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,23,begin dive
$GC,24,-0.78,-165.5,0.0,0.0,0,87,0.00,0.00,-60.97,0.000,2,0.000,0.000,50,2109,2874,0,0,0,0,0,0
$GC,90,-0.78,-165.5,3.5,-7.0,12,126,10.07,2.25,-19.80,0.000,4,0.272,0.071,2338,688,3945,0,0,0,0,0,0
$GC,241,-0.78,-165.5,54.6,-25.5,36,246,0.00,2.25,0.00,0.000,6,0.000,0.054,2329,2100,3948,0,0,0,0,0,0
$GC,501,-0.78,-165.5,122.2,-26.4,61,505,0.00,2.22,0.00,0.000,4,0.000,0.062,2333,689,3950,0,0,1,0,0,0
$GC,514,-0.78,-165.5,125.6,-25.5,62,519,0.10,2.22,0.00,0.000,6,0.207,0.053,2343,2104,3950,0,0,0,0,0,0
$GC,779,-0.78,-165.5,183.3,-21.2,87,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2105,3951,0,0,0,0,0,0
$GC,1029,-0.78,-165.5,231.4,-18.9,103,1033,0.00,2.25,0.00,0.000,4,0.000,0.064,2343,688,3951,0,0,0,0,0,0
$GC,1061,-0.78,-165.5,237.3,-17.4,104,1065,0.00,2.22,0.00,0.000,6,0.000,0.055,2339,2100,3951,0,0,0,0,0,0
$GC,1375,-0.78,-165.5,295.5,-18.4,119,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2100,3950,0,0,0,0,0,0
$GC,1701,-0.78,-165.5,353.9,-17.1,128,1705,0.00,2.22,0.00,0.000,4,0.000,0.067,2339,695,3949,0,0,1,0,0,0
$GC,1723,-0.78,-165.5,357.9,-17.5,128,1727,0.00,2.22,0.00,0.000,6,0.000,0.056,2336,2100,3949,0,0,0,0,0,0
$GC,2067,-0.78,-165.5,413.7,-15.9,137,2071,0.00,2.25,0.00,0.000,4,0.000,0.066,2336,689,3947,0,0,1,0,0,0
$GC,2093,-0.78,-165.5,418.2,-16.6,137,2097,0.00,2.22,0.00,0.000,6,0.000,0.057,2336,2100,3946,0,0,0,0,0,0
$GC,2432,-0.78,-165.5,468.0,-14.8,146,2436,0.00,2.22,0.00,0.000,4,0.000,0.066,2336,3511,3944,0,0,0,0,0,0
$GC,2463,-0.78,-165.5,472.7,-14.4,146,2467,0.00,2.20,0.00,0.000,6,0.000,0.050,2336,2087,3944,0,0,0,0,0,0
$GC,2797,-0.78,-165.5,519.9,-14.3,155,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2087,3942,0,0,0,0,0,0
$GC,3122,-0.78,-165.5,565.9,-14.0,163,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2087,3939,0,0,0,0,0,0
$GC,3447,-0.78,-165.5,608.8,-13.0,171,3451,0.00,2.30,0.00,0.000,4,0.000,0.071,2341,3516,3936,0,0,0,0,0,0
$GC,3465,-0.78,-165.5,611.3,-14.0,171,3469,0.00,2.17,0.00,0.000,6,0.000,0.047,2336,2086,3936,0,0,0,0,0,0
$GC,3813,-0.78,-165.5,655.1,-12.7,180,3817,0.00,2.15,0.00,0.000,4,0.000,0.060,2338,694,3932,0,0,0,0,0,0
$GC,3848,-0.78,-165.5,659.7,-12.4,180,3854,0.00,2.22,0.00,0.000,6,0.000,0.059,2336,2102,3935,0,0,0,0,0,0
$GC,4178,-0.78,-165.5,699.8,-12.2,189,4182,0.00,2.05,0.00,0.000,3,0.000,0.067,2336,3415,3928,0,0,0,0,0,0
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4189,-0.28,0.0,700.2,12.1,189,4317,0.52,0.00,125.40,1.082,6,0.136,0.000,2509,2045,3270,0,0,0,0,0,0
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4321,0.78,165.5,707.6,0.0,192,4463,0.93,0.00,134.23,1.053,6,0.059,0.000,2858,2044,2595,0,0,0,0,0,0
$GC,4771,0.79,178.6,696.6,8.3,203,4784,0.00,0.00,10.60,0.940,6,0.000,0.000,2855,2047,2542,0,0,0,0,0,0
$GC,5096,0.79,178.6,667.7,8.8,211,5100,0.00,2.28,0.00,0.000,4,0.000,0.065,2856,3470,2537,0,0,0,0,0,0
$GC,5145,0.79,178.6,662.7,10.2,212,5150,0.00,2.22,0.00,0.000,6,0.000,0.050,2867,2061,2533,0,0,0,0,0,0
$GC,5467,0.79,178.6,634.1,9.0,220,5471,0.00,2.22,0.00,0.000,4,0.000,0.064,2875,649,2533,0,0,0,0,0,0
$GC,5733,0.79,178.6,608.9,10.6,225,5738,0.00,2.22,0.00,0.000,6,0.000,0.054,2878,2059,2531,0,0,0,0,0,0
$GC,6068,0.81,189.6,579.2,8.4,234,6081,0.00,2.28,8.27,0.911,4,0.000,0.062,2888,649,2499,0,0,0,0,0,0
$GC,6113,0.82,200.1,575.2,8.4,235,6130,0.00,2.22,10.52,0.937,6,0.000,0.053,2888,2067,2455,0,0,0,0,0,0
$GC,6438,0.82,200.1,543.3,9.5,243,6442,0.00,2.25,0.00,0.000,4,0.000,0.064,2888,3474,2449,0,0,0,0,0,0
$GC,6459,0.82,200.1,541.0,9.9,243,6464,0.12,2.22,0.00,0.000,6,0.249,0.052,2872,2061,2449,0,0,0,0,0,0
$GC,6804,0.86,228.6,513.4,7.8,252,6832,0.00,2.33,23.60,0.981,4,0.000,0.067,2868,3466,2339,0,0,0,0,0,0
$GC,6942,0.86,228.6,496.3,15.1,255,6947,0.00,2.25,0.00,0.000,6,0.000,0.055,2882,2046,2337,0,0,0,0,0,0
$GC,7264,0.86,228.6,454.6,12.8,263,7268,0.00,2.28,0.00,0.000,4,0.000,0.065,2880,3470,2332,0,0,0,0,0,0
$GC,7493,0.86,228.6,421.8,14.5,268,7497,0.00,2.22,0.00,0.000,6,0.000,0.054,2890,2060,2332,0,0,0,0,0,0
$GC,7819,0.86,228.6,383.6,12.1,276,7823,0.00,2.25,0.00,0.000,4,0.000,0.063,2902,637,2330,0,0,0,0,0,0
$GC,7841,0.86,228.6,380.9,11.9,276,7845,0.00,2.22,0.00,0.000,6,0.000,0.054,2902,2062,2329,0,0,0,0,0,0
$GC,8189,0.86,228.6,340.2,11.2,285,8193,0.00,2.28,0.00,0.000,4,0.000,0.064,2913,631,2328,0,0,0,0,0,0
$GC,8456,0.86,228.6,309.8,10.7,290,8461,0.12,2.25,0.00,0.000,6,0.233,0.053,2883,2067,2327,0,0,0,0,0,0
$GC,8773,0.86,228.6,277.4,9.8,303,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2067,2327,0,0,0,0,0,0
$GC,9082,0.86,228.6,246.5,10.1,318,9086,0.00,2.17,0.00,0.000,4,0.000,0.062,2883,3470,2328,0,0,0,0,0,0
$GC,9147,0.86,228.6,239.3,11.2,321,9151,0.00,2.20,0.00,0.000,6,0.000,0.049,2893,2054,2326,0,0,0,0,0,0
$GC,9475,0.86,228.6,207.6,10.3,337,9479,0.00,2.20,0.00,0.000,4,0.000,0.063,2903,646,2328,0,0,0,0,0,0
$GC,9600,0.86,228.6,194.8,10.3,345,9604,0.00,2.20,0.00,0.000,6,0.000,0.050,2903,2061,2328,0,0,0,0,0,0
$GC,9860,0.90,264.4,173.7,7.5,369,9895,0.00,2.30,27.52,0.723,4,0.000,0.064,2913,642,2194,0,0,0,0,0,0
$GC,9987,0.90,264.4,159.8,12.3,383,9991,0.00,2.22,0.00,0.000,6,0.000,0.050,2918,2060,2190,0,0,0,0,0,0
$GC,10248,0.90,264.4,127.7,12.3,407,10252,0.00,2.22,0.00,0.000,4,0.000,0.061,2909,3470,2188,0,0,0,0,0,0
$GC,10492,0.90,264.4,95.8,10.8,433,10497,0.15,2.17,0.00,0.000,6,0.233,0.049,2891,2061,2188,0,0,1,0,0,0
$GC,10752,0.93,291.2,73.0,7.8,457,10779,0.00,2.33,21.75,0.630,4,0.000,0.063,2890,3470,2086,0,0,0,0,0,0
$GC,10829,0.93,291.2,64.9,11.6,465,10835,0.00,2.22,0.00,0.000,6,0.000,0.051,2899,2054,2082,0,0,0,0,0,0
$GC,11090,1.13,450.4,46.7,3.1,490,11217,0.17,2.40,117.60,0.602,4,0.091,0.064,2969,3461,1432,0,0,0,0,0,0
$GC,11250,1.13,450.4,26.0,23.1,510,11255,0.00,2.28,0.00,0.000,6,0.000,0.050,2979,2055,1431,0,0,0,0,0,0
$STATE,11360,end climb,SURFACE_DEPTH_REACHED
$STATE,11360,begin surface coast
$FINISH,0.4,1.022156
$STATE,11374,end surface coast,CONTROL_FINISHED_OK
$STATE,11374,begin surface
$SM_CCo,11390,125.32,0.551,0,0,499,679.96
$SM_GC,0.61,0.00,0.00,125.32,0.000,0.000,0.551,53,2094,499,-7.96,-0.14,679.96
$IRIDIUM_FIX,2047.91,12708.80,140512,010139
$TT8_MAMPS,0.056758
$HUMID,1078810958
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8417083392
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59688026112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,7.916
$10V_AH,10.3,4.344
$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,20.200,102.800,479.500,125.325,0.000,131.480,185.937,768.699,0.000,0.000,46.510,1039.824,8647.129,630.526,2600.190,117.322,33.344,1448.042,0.000,1396.409,0.000,0.541,0.000
$DEVICE_MAMPS,272.285,122.720,1082.237,550.706,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.805,0.000,0.000,0.000,0.000,0.000,0.000,12072.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.804,0.000,0.000
$MEM,355216
$DATA_FILE_SIZE,20087,532
$CAP_FILE_SIZE,131254,0
$CFSIZE,260165632,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,191110,100530,2057.396,12705.799,38,1.2,38,-2.8