version: 66.07
glider: 511
mission: 5
dive: 36
start: 11 19 110 21 44 52
data:
$ID,511
$MISSION,5
$DIVE,36
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$T_MISSION,675
$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,-40629.648
$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,2090
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,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,35
$AR_SAMPLENUM,2
$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
$GPS1,191110,212430,2057.139,12704.552,36,1.5,41,-2.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.6
$GPS2,191110,214356,2057.527,12704.667,10,1.7,10,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.227
$KALMAN_X,7456.5,-157.6,143.3,-61664.9,207.9
$KALMAN_Y,107029.8,-1201.9,-604.8,-66152.1,10019.6
$MHEAD_RNG_PITCHd_Wd,148.4,61159,-16.3,-10.000
$D_GRID,900
$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,-0.86,-165.5,0.0,0.0,0,92,0.00,0.00,-65.90,0.000,2,0.000,0.000,50,2090,2838,0,0,0,0,0,0
$GC,95,-0.86,-165.5,3.1,-7.4,13,135,9.95,2.33,-21.30,0.000,4,0.271,0.072,2304,3510,3963,0,0,0,0,0,0
$GC,233,-0.86,-165.5,53.9,-29.1,36,237,0.00,2.25,0.00,0.000,6,0.000,0.051,2302,2095,3965,0,0,0,0,0,0
$GC,492,-0.86,-165.5,137.2,-29.9,60,496,0.00,2.25,0.00,0.000,4,0.000,0.060,2302,670,3966,0,0,0,0,0,0
$GC,561,-0.86,-165.5,157.5,-24.8,67,566,0.12,2.22,0.00,0.000,6,0.199,0.053,2322,2089,3967,0,0,0,0,0,0
$GC,823,-0.86,-165.5,221.7,-23.7,88,827,0.00,2.28,0.00,0.000,4,0.000,0.066,2322,671,3967,0,0,1,0,0,0
$GC,845,-0.86,-165.5,226.9,-22.5,89,850,0.00,2.25,0.00,0.000,6,0.000,0.053,2315,2082,3967,0,0,0,0,0,0
$GC,1173,-0.86,-165.5,302.8,-22.8,105,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2083,3967,0,0,0,0,0,0
$GC,1498,-0.86,-165.5,369.5,-20.0,113,1502,0.00,2.22,0.00,0.000,4,0.000,0.065,2315,673,3965,0,0,0,0,0,0
$GC,1575,-0.86,-165.5,383.5,-16.6,114,1580,0.00,2.20,0.00,0.000,6,0.000,0.053,2305,2092,3966,0,0,0,0,0,0
$GC,1910,-0.86,-165.5,449.2,-19.7,123,1914,0.00,2.20,0.00,0.000,4,0.000,0.063,2295,3504,3963,0,0,0,0,0,0
$GC,1945,-0.86,-165.5,456.3,-18.3,123,1951,0.00,2.22,0.00,0.000,6,0.000,0.051,2295,2076,3964,0,0,0,0,0,0
$GC,2275,-0.86,-165.5,518.6,-19.2,132,2279,0.00,2.15,0.00,0.000,4,0.000,0.058,2295,676,3961,0,0,0,0,0,0
$GC,2367,-0.86,-165.5,535.0,-17.5,134,2371,0.12,2.22,0.00,0.000,6,0.183,0.055,2324,2091,3960,0,0,0,0,0,0
$GC,2693,-0.86,-165.5,587.5,-16.0,142,2697,0.00,2.22,0.00,0.000,4,0.000,0.064,2306,3497,3957,0,0,0,0,0,0
$GC,2719,-0.86,-165.5,591.9,-16.9,142,2723,0.00,2.22,0.00,0.000,6,0.000,0.051,2309,2067,3957,0,0,0,0,0,0
$GC,3058,-0.86,-165.5,646.1,-15.8,151,3062,0.00,2.12,0.00,0.000,4,0.000,0.059,2310,686,3954,0,0,0,0,0,0
$GC,3131,-0.86,-165.5,656.7,-13.8,152,3135,0.00,2.20,0.00,0.000,6,0.000,0.056,2301,2094,3953,0,0,0,0,0,0
$GC,3470,-0.86,-165.5,707.6,-14.9,161,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2094,3949,0,0,0,0,0,0
$GC,3795,-0.86,-165.5,755.1,-14.8,169,3799,0.00,2.22,0.00,0.000,4,0.000,0.061,2301,675,3945,0,0,0,0,0,0
$GC,3831,-0.86,-165.5,760.5,-14.6,169,3835,0.00,2.22,0.00,0.000,6,0.000,0.059,2299,2098,3946,0,0,0,0,0,0
$GC,4166,-0.86,-165.5,811.1,-15.4,178,4170,0.00,2.20,0.00,0.000,4,0.000,0.067,2288,3498,3941,0,0,0,0,0,0
$GC,4192,-0.86,-165.5,815.6,-16.0,178,4197,0.12,2.17,0.00,0.000,6,0.174,0.048,2321,2090,3940,0,0,0,0,0,0
$GC,4531,-0.86,-165.5,859.3,-12.7,187,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3941,0,0,0,0,0,0
$GC,4856,-0.86,-165.5,898.5,-11.9,195,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2085,3933,0,0,0,0,0,0
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4896,begin apogee
$GC,4899,-0.28,0.0,903.2,11.8,196,5027,0.57,0.00,125.07,1.246,6,0.142,0.000,2506,2085,3300,0,0,0,0,0,0
$STATE,5030,end apogee,CONTROL_FINISHED_OK
$STATE,5030,begin climb
$GC,5031,0.86,165.5,910.2,0.0,199,5175,1.02,0.00,137.35,1.214,6,0.060,0.000,2884,2085,2628,0,0,0,0,0,0
$GC,5478,0.86,165.5,895.3,10.5,210,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2085,2616,0,0,0,0,0,0
$GC,5803,0.86,165.5,861.6,10.0,218,5807,0.00,2.25,0.00,0.000,4,0.000,0.065,2884,3476,2612,0,0,0,0,0,0
$GC,5825,0.86,165.5,859.1,10.8,218,5829,0.00,2.25,0.00,0.000,6,0.000,0.054,2894,2061,2612,0,0,0,0,0,0
$GC,6169,0.89,191.2,827.0,9.0,227,6194,0.00,2.33,20.33,1.155,4,0.000,0.067,2894,3470,2523,0,0,0,0,0,0
$GC,6337,0.89,191.2,806.3,14.0,230,6341,0.00,2.30,0.00,0.000,6,0.000,0.057,2905,2064,2518,0,0,0,0,0,0
$GC,6671,0.89,191.2,766.5,11.6,239,6675,0.00,2.30,0.00,0.000,4,0.000,0.070,2905,3478,2513,0,0,0,0,0,0
$GC,6758,0.89,191.2,755.6,11.8,240,6764,0.00,2.28,0.00,0.000,6,0.000,0.058,2916,2050,2514,0,0,0,0,0,0
$GC,7088,0.89,191.2,718.3,11.1,249,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2047,2511,0,0,0,0,0,0
$GC,7413,0.89,191.2,683.5,10.5,257,7417,0.00,2.22,0.00,0.000,4,0.000,0.066,2927,653,2510,0,0,0,0,0,0
$GC,7444,0.89,191.2,680.1,10.5,257,7449,0.15,2.22,0.00,0.000,6,0.241,0.056,2894,2067,2509,0,0,0,0,0,0
$GC,7779,0.92,216.7,649.2,9.0,266,7801,0.00,0.00,20.70,1.086,6,0.000,0.000,2894,2068,2418,0,0,0,0,0,0
$GC,8104,0.92,216.7,611.7,11.7,274,8108,0.00,2.30,0.00,0.000,4,0.000,0.070,2903,648,2414,0,0,0,0,0,0
$GC,8158,0.92,216.7,605.2,11.7,275,8163,0.00,2.28,0.00,0.000,6,0.000,0.056,2898,2050,2408,0,0,0,0,0,0
$GC,8475,0.92,216.7,568.8,11.4,283,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2050,2410,0,0,0,0,0,0
$GC,8800,0.92,216.7,531.3,11.7,291,8804,0.00,2.25,0.00,0.000,4,0.000,0.067,2897,3475,2409,0,0,0,0,0,0
$GC,8947,0.92,216.7,512.7,11.3,294,8951,0.00,2.25,0.00,0.000,6,0.000,0.058,2907,2049,2409,0,0,0,0,0,0
$GC,9264,0.92,216.7,476.4,11.1,302,9268,0.00,2.22,0.00,0.000,4,0.000,0.068,2918,644,2408,0,0,0,0,0,0
$GC,9531,0.97,261.2,451.1,8.2,307,9572,0.00,2.22,35.78,0.970,6,0.000,0.054,2918,2070,2236,0,0,0,0,0,0
$GC,9902,0.97,261.2,397.1,15.6,317,9906,0.00,2.25,0.00,0.000,4,0.000,0.066,2913,3479,2228,0,0,0,0,0,0
$GC,10071,0.97,261.2,367.7,16.2,320,10075,0.00,2.25,0.00,0.000,6,0.000,0.054,2928,2061,2228,0,0,0,0,0,0
$GC,10405,0.97,261.2,315.4,15.4,329,10409,0.00,2.28,0.00,0.000,4,0.000,0.065,2939,645,2226,0,0,0,0,0,0
$GC,10478,0.97,261.2,305.1,13.8,330,10482,0.00,2.25,0.00,0.000,6,0.000,0.052,2939,2067,2224,0,0,0,0,0,0
$GC,10796,0.97,261.2,262.0,14.4,345,10800,0.00,2.30,0.00,0.000,4,0.000,0.064,2950,639,2223,0,0,0,0,0,0
$GC,10938,0.97,261.2,241.4,14.2,351,10943,0.10,2.25,0.00,0.000,6,0.224,0.051,2913,2059,2224,0,0,0,0,0,0
$GC,11262,0.97,261.2,199.5,13.2,367,11266,0.00,2.25,0.00,0.000,4,0.000,0.063,2913,3476,2224,0,0,0,0,0,0
$GC,11515,0.97,261.2,165.3,14.5,394,11519,0.00,2.22,0.00,0.000,6,0.000,0.053,2922,2047,2230,0,0,0,0,0,0
$GC,11780,1.02,296.6,136.1,8.6,419,11815,0.00,2.25,28.02,0.703,4,0.000,0.061,2933,647,2090,0,0,0,0,0,0
$GC,11901,1.02,296.6,121.0,14.2,432,11907,0.00,2.25,0.00,0.000,6,0.000,0.052,2933,2065,2085,0,0,0,0,0,0
$GC,12161,1.02,296.6,86.4,11.5,457,12165,0.00,2.22,0.00,0.000,4,0.000,0.061,2933,3479,2083,0,0,0,0,0,0
$GC,12317,1.03,304.0,69.0,9.7,473,12332,0.00,2.22,6.38,0.552,6,0.000,0.048,2941,2059,2060,0,0,0,0,0,0
$GC,12586,1.27,499.1,58.4,2.0,499,12739,0.17,2.40,144.95,0.615,4,0.093,0.064,3012,3477,1266,0,0,1,0,0,0
$GC,12855,1.27,499.1,5.7,28.7,538,12860,0.00,2.33,0.00,0.000,6,0.000,0.055,3021,2048,1261,0,0,0,0,0,0
$STATE,12864,end climb,SURFACE_DEPTH_REACHED
$STATE,12864,begin surface coast
$FINISH,-0.1,1.022181
$STATE,12877,end surface coast,CONTROL_FINISHED_OK
$STATE,12877,begin surface
$SM_CCo,12954,0.00,0.000,0,0,1256,501.39
$SM_GC,0.95,8.07,0.00,0.00,0.058,0.000,0.000,56,2097,1256,-7.91,0.20,501.39
$IRIDIUM_FIX,2050.21,12624.04,140512,151538
$TT8_MAMPS,0.056758
$HUMID,1078892248
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.20
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416952320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59575009280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,8.698
$10V_AH,10.3,4.790
$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,20.425,107.875,518.575,0.000,0.000,107.663,239.911,490.650,0.250,0.000,11.932,1074.231,9993.109,542.913,2387.905,113.295,33.359,1414.319,0.000,1478.016,0.000,0.542,0.000
$DEVICE_MAMPS,270.751,110.448,1246.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.958,0.000,0.000,0.000,0.000,0.000,0.000,13001.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.968,0.000,0.000
$MEM,355172
$DATA_FILE_SIZE,20132,542
$CAP_FILE_SIZE,128926,0
$CFSIZE,260165632,255725568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,201110,012207,2057.184,12705.371,35,2.0,35,-2.8