version: 66.07
glider: 511
mission: 5
dive: 38
start: 11 20 110 5 38 46
data:
$ID,511
$MISSION,5
$DIVE,38
$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,687.0741
$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,-40679.059
$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,2070
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,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,37
$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
$GPS1,201110,051624,2056.587,12704.812,23,0.8,40,-2.8
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.8
$GPS2,201110,053750,2056.853,12704.720,11,1.2,11,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.244
$KALMAN_X,6176.5,578.3,-43.8,-60849.3,-292.3
$KALMAN_Y,113043.2,-820.7,-583.9,-73824.4,8210.8
$MHEAD_RNG_PITCHd_Wd,155.4,60089,-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,-165.5,0.0,0.0,0,88,0.00,0.00,-61.67,0.000,2,0.000,0.000,44,2069,2936,0,0,0,0,0,0
$GC,90,-0.86,-165.5,4.0,-10.7,12,126,10.00,2.22,-18.40,0.000,4,0.271,0.073,2314,665,3964,0,0,0,0,0,0
$GC,302,-0.86,-165.5,76.4,-30.3,42,306,0.00,2.20,0.00,0.000,6,0.000,0.053,2304,2067,3964,0,0,0,0,0,0
$GC,562,-0.86,-165.5,154.7,-30.7,66,566,0.00,2.22,0.00,0.000,4,0.000,0.061,2293,3484,3968,0,0,0,0,0,0
$GC,593,-0.86,-165.5,164.2,-30.0,69,599,0.12,2.17,0.00,0.000,6,0.191,0.048,2322,2079,3968,0,0,0,0,0,0
$GC,851,-0.86,-165.5,227.0,-23.8,89,855,0.00,2.22,0.00,0.000,4,0.000,0.058,2324,643,3968,0,0,0,0,0,0
$GC,905,-0.86,-165.5,240.0,-21.5,91,909,0.00,2.22,0.00,0.000,6,0.000,0.052,2315,2076,3968,0,0,0,0,0,0
$GC,1223,-0.86,-165.5,309.1,-21.3,106,1227,0.00,2.22,0.00,0.000,4,0.000,0.062,2315,658,3968,0,0,0,0,0,0
$GC,1301,-0.86,-165.5,324.7,-19.4,107,1305,0.00,2.22,0.00,0.000,6,0.000,0.054,2306,2061,3968,0,0,0,0,0,0
$GC,1635,-0.86,-165.5,394.6,-20.7,116,1639,0.00,2.22,0.00,0.000,4,0.000,0.062,2306,653,3966,0,0,0,0,0,0
$GC,1661,-0.86,-165.5,400.2,-20.0,116,1665,0.00,2.20,0.00,0.000,6,0.000,0.054,2297,2071,3969,0,0,0,0,0,0
$GC,2005,-0.86,-165.5,469.1,-20.0,125,2008,0.00,2.22,0.00,0.000,4,0.000,0.064,2295,660,3963,0,0,0,0,0,0
$GC,2050,-0.86,-165.5,477.0,-17.2,126,2055,0.12,2.22,0.00,0.000,6,0.182,0.054,2320,2073,3964,0,0,0,0,0,0
$GC,2377,-0.86,-165.5,525.6,-14.9,134,2381,0.00,2.20,0.00,0.000,4,0.000,0.064,2310,3484,3961,0,0,0,0,0,0
$GC,2394,-0.86,-165.5,528.4,-15.3,134,2398,0.00,2.17,0.00,0.000,6,0.000,0.050,2307,2068,3960,0,0,0,0,0,0
$GC,2742,-0.86,-165.5,583.5,-15.9,143,2746,0.00,2.20,0.00,0.000,4,0.000,0.057,2311,651,3957,0,0,0,0,0,0
$GC,2769,-0.86,-165.5,587.8,-16.7,143,2773,0.00,2.22,0.00,0.000,6,0.000,0.058,2301,2076,3957,0,0,0,0,0,0
$GC,3107,-0.86,-165.5,641.5,-15.7,152,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2072,3953,0,0,0,0,0,0
$GC,3432,-0.86,-165.5,690.5,-14.8,160,3436,0.00,2.22,0.00,0.000,4,0.000,0.058,2300,651,3949,0,0,0,0,0,0
$GC,3459,-0.86,-165.5,694.6,-14.6,160,3463,0.00,2.20,0.00,0.000,6,0.000,0.053,2294,2071,3950,0,0,0,0,0,0
$GC,3803,-0.86,-165.5,744.1,-14.2,169,3807,0.00,2.22,0.00,0.000,4,0.000,0.067,2284,3486,3945,0,0,0,0,0,0
$GC,3825,-0.86,-165.5,747.5,-15.3,169,3829,0.15,2.17,0.00,0.000,6,0.170,0.051,2324,2064,3945,0,0,0,0,0,0
$GC,4174,-0.86,-165.5,789.0,-12.0,178,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2059,3941,0,0,0,0,0,0
$GC,4498,-0.86,-165.5,828.4,-11.9,186,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2058,3938,0,0,0,0,0,0
$GC,4823,-0.86,-165.5,867.7,-12.3,194,4827,0.00,2.28,0.00,0.000,4,0.000,0.074,2312,3476,3935,0,0,0,0,0,0
$GC,4865,-0.86,-165.5,872.8,-12.1,195,4869,0.00,2.20,0.00,0.000,6,0.000,0.049,2316,2055,3934,0,0,0,0,0,0
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5111,-0.28,0.0,904.3,12.9,201,5239,0.60,0.00,124.45,1.250,6,0.143,0.000,2512,2048,3301,0,0,0,0,0,0
$STATE,5242,end apogee,CONTROL_FINISHED_OK
$STATE,5242,begin climb
$GC,5243,0.86,165.5,911.6,0.0,204,5392,1.05,2.47,138.30,1.216,4,0.061,0.058,2897,626,2623,0,0,0,0,0,0
$GC,5397,1.22,457.3,925.1,-1.9,208,5648,0.28,2.38,241.95,1.191,6,0.094,0.054,2986,2031,1438,0,0,0,0,0,0
$GC,5965,1.22,457.3,735.2,39.9,222,5969,0.00,2.33,0.00,0.000,4,0.000,0.070,2989,3436,1427,0,0,0,0,0,0
$GC,6105,1.22,457.3,678.2,42.6,225,6109,0.00,2.25,0.00,0.000,6,0.000,0.054,3000,2023,1425,0,0,0,0,0,0
$GC,6431,1.22,457.3,545.4,40.3,233,6435,0.00,2.33,0.00,0.000,4,0.000,0.068,3000,3442,1424,0,0,0,0,0,0
$GC,6473,1.22,457.3,528.3,43.0,234,6477,0.00,2.20,0.00,0.000,6,0.000,0.054,3010,2032,1423,0,0,1,0,0,0
$GC,6799,1.22,457.3,397.3,38.7,242,6803,0.00,2.30,0.00,0.000,4,0.000,0.071,3010,3437,1422,0,0,0,0,0,0
$GC,6858,1.22,457.3,372.5,45.0,243,6862,0.12,2.22,0.00,0.000,6,0.270,0.054,2998,2025,1421,0,0,0,0,0,0
$GC,7171,1.22,457.3,253.3,39.3,253,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2019,1420,0,0,0,0,0,0
$GC,7485,1.22,457.3,140.2,35.4,275,7489,0.00,2.30,0.00,0.000,4,0.000,0.071,2997,3440,1419,0,0,0,0,0,0
$GC,7632,1.22,457.3,87.8,35.4,290,7638,0.00,2.22,0.00,0.000,6,0.000,0.050,3006,2031,1419,0,0,0,0,0,0
$GC,7895,1.22,457.3,18.7,18.4,320,7900,0.00,2.25,0.00,0.000,4,0.000,0.064,3006,3440,1418,0,0,0,0,0,0
$GC,7910,1.22,457.3,15.8,19.3,323,7916,0.00,2.17,0.00,0.000,6,0.000,0.049,3019,2026,1418,0,0,0,0,0,0
$STATE,7970,end climb,SURFACE_DEPTH_REACHED
$STATE,7970,begin surface coast
$FINISH,-0.4,1.022150
$STATE,7984,end surface coast,CONTROL_FINISHED_OK
$STATE,7984,begin surface
$SM_CCo,8000,125.22,0.601,0,0,500,687.07
$SM_GC,0.55,0.00,0.00,125.22,0.000,0.000,0.601,56,2078,500,-7.95,0.23,687.07
$IRIDIUM_FIX,2050.21,12703.73,140512,232345
$TT8_MAMPS,0.057525
$HUMID,1079038476
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416886784
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59523497984
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,9.112
$10V_AH,10.4,4.994
$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,20.400,76.200,504.700,125.225,0.000,138.092,165.183,562.652,0.000,0.000,13.903,690.729,6127.586,619.395,1859.223,107.940,33.352,1216.259,0.000,918.242,0.000,0.542,0.000
$DEVICE_MAMPS,270.751,121.953,1250.210,601.328,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,224.059,0.000,0.000,0.000,0.000,0.000,0.000,8792.330,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,19.943,0.000,0.000
$MEM,355124
$DATA_FILE_SIZE,10168,336
$CAP_FILE_SIZE,100996,0
$CFSIZE,260165632,255574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,201110,075528,2055.804,12705.191,8,2.3,28,-2.8