version: 66.07
glider: 511
mission: 5
dive: 41
start: 11 20 110 15 34 38
data:
$ID,511
$MISSION,5
$DIVE,41
$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,-40770.656
$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,36
$R_STBD_OVSHOOT,27
$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,40
$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
$GPS1,201110,152237,2054.984,12702.896,28,1.4,28,-2.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.1
$GPS2,201110,153343,2055.067,12702.707,13,1.5,30,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,-0.256
$KALMAN_X,4800.5,-109.5,261.8,-62568.6,-1015.5
$KALMAN_Y,122078.0,-1001.8,-772.9,-85794.4,9589.8
$MHEAD_RNG_PITCHd_Wd,204.0,55568,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-56.72,0.000,2,0.000,0.000,53,2036,2769,0,0,0,0,0,0
$GC,86,-0.86,-165.5,3.3,-9.1,11,126,10.15,2.30,-22.73,0.000,4,0.275,0.073,2303,3476,3963,0,0,0,0,0,0
$GC,301,-0.86,-165.5,81.1,-21.7,42,307,0.00,2.15,0.00,0.000,6,0.000,0.044,2303,2071,3966,0,0,0,0,0,0
$GC,561,-0.86,-165.5,155.4,-30.2,67,565,0.00,2.17,0.00,0.000,4,0.000,0.051,2303,664,3968,0,0,0,0,0,0
$GC,601,-0.86,-165.5,167.6,-27.4,71,608,0.12,2.20,0.00,0.000,6,0.193,0.046,2324,2077,3968,0,0,0,0,0,0
$GC,868,-0.86,-165.5,231.5,-24.1,91,872,0.00,2.17,0.00,0.000,4,0.000,0.058,2314,3476,3968,0,0,0,0,0,0
$GC,933,-0.86,-165.5,245.4,-19.0,94,937,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2067,3968,0,0,0,0,0,0
$GC,1259,-0.86,-165.5,319.5,-22.5,108,1263,0.00,2.15,0.00,0.000,4,0.000,0.051,2314,653,3968,0,0,0,0,0,0
$GC,1286,-0.86,-165.5,325.6,-22.4,108,1290,0.00,2.17,0.00,0.000,6,0.000,0.048,2307,2068,3968,0,0,0,0,0,0
$GC,1624,-0.86,-165.5,398.3,-21.6,117,1628,0.00,2.20,0.00,0.000,4,0.000,0.059,2296,3478,3968,0,0,0,0,0,0
$GC,1678,-0.86,-165.5,409.6,-18.3,118,1682,0.00,2.15,0.00,0.000,6,0.000,0.044,2297,2068,3967,0,0,0,0,0,0
$GC,1995,-0.86,-165.5,471.2,-19.4,126,1999,0.00,2.17,0.00,0.000,4,0.000,0.053,2299,654,3965,0,0,0,0,0,0
$GC,2095,-0.86,-165.5,488.7,-15.7,128,2100,0.10,2.22,0.00,0.000,6,0.156,0.050,2320,2068,3966,0,0,0,0,0,0
$GC,2413,-0.86,-165.5,537.2,-15.2,136,2417,0.00,2.22,0.00,0.000,4,0.000,0.062,2310,3484,3964,0,0,0,0,0,0
$GC,2485,-0.86,-165.5,548.2,-14.6,137,2490,0.00,2.17,0.00,0.000,6,0.000,0.043,2310,2056,3965,0,0,0,0,0,0
$GC,2824,-0.86,-165.5,602.1,-15.7,146,2828,0.00,2.12,0.00,0.000,4,0.000,0.054,2314,662,3960,0,0,0,0,0,0
$GC,2874,-0.86,-165.5,609.8,-15.1,147,2878,0.00,2.22,0.00,0.000,6,0.000,0.053,2310,2073,3960,0,0,0,0,0,0
$GC,3195,-0.86,-165.5,657.0,-14.7,155,3199,0.00,2.22,0.00,0.000,4,0.000,0.064,2299,3483,3956,0,0,0,0,0,0
$GC,3254,-0.86,-165.5,665.5,-14.6,156,3258,0.00,2.15,0.00,0.000,6,0.000,0.045,2299,2070,3955,0,0,0,0,0,0
$GC,3566,-0.86,-165.5,714.7,-16.2,164,3570,0.00,2.17,0.00,0.000,4,0.000,0.055,2300,666,3952,0,0,0,0,0,0
$GC,3593,-0.86,-165.5,719.1,-15.6,164,3597,0.00,2.20,0.00,0.000,6,0.000,0.051,2296,2073,3952,0,0,0,0,0,0
$GC,3932,-0.86,-165.5,772.4,-15.7,173,3936,0.00,2.20,0.00,0.000,4,0.000,0.065,2287,3482,3949,0,0,0,0,0,0
$GC,3996,-0.86,-165.5,782.2,-13.9,174,4001,0.12,2.17,0.00,0.000,6,0.178,0.046,2322,2064,3947,0,0,0,0,0,0
$GC,4344,-0.86,-165.5,825.4,-12.0,183,4348,0.00,2.25,0.00,0.000,4,0.000,0.068,2309,3484,3944,0,0,0,0,0,0
$GC,4376,-0.86,-165.5,829.2,-11.7,183,4380,0.00,2.17,0.00,0.000,6,0.000,0.048,2310,2070,3943,0,0,0,0,0,0
$GC,4710,-0.86,-165.5,867.9,-11.7,192,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2066,3941,0,0,0,0,0,0
$STATE,4993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4993,begin apogee
$GC,4996,-0.28,0.0,901.4,11.9,199,5125,0.62,0.00,125.75,1.246,6,0.146,0.000,2506,2066,3301,0,0,0,0,0,0
$STATE,5128,end apogee,CONTROL_FINISHED_OK
$STATE,5128,begin climb
$GC,5129,0.86,165.5,907.4,0.0,202,5275,1.02,2.38,137.77,1.213,4,0.061,0.062,2883,3439,2626,0,0,0,0,0,0
$GC,5381,0.86,165.5,911.3,10.8,207,5387,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,2025,2621,0,0,1,0,0,0
$GC,5711,0.86,165.5,876.9,10.4,216,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2023,2612,0,0,0,0,0,0
$GC,6037,0.88,181.1,844.9,9.4,224,6054,0.00,2.30,12.35,1.107,4,0.000,0.064,2893,3440,2560,0,0,0,0,0,0
$GC,6067,0.88,186.2,841.4,9.8,224,6078,0.00,2.25,5.82,0.901,6,0.000,0.051,2904,2025,2541,0,0,0,0,0,0
$GC,6401,0.88,186.2,803.3,11.0,233,6405,0.00,2.25,0.00,0.000,4,0.000,0.060,2915,615,2535,0,0,0,0,0,0
$GC,6443,0.88,186.2,798.6,11.3,234,6448,0.12,2.25,0.00,0.000,6,0.246,0.056,2889,2034,2538,0,0,0,0,0,0
$GC,6770,0.90,204.5,767.4,9.3,242,6790,0.00,2.28,15.77,1.118,4,0.000,0.064,2883,3442,2467,0,0,0,0,0,0
$GC,6831,0.90,204.5,760.5,11.5,243,6835,0.00,2.25,0.00,0.000,6,0.000,0.051,2897,2029,2468,0,0,0,0,0,0
$GC,7179,0.90,204.5,718.8,12.0,252,7183,0.00,2.28,0.00,0.000,4,0.000,0.067,2891,3440,2460,0,0,0,0,0,0
$GC,7385,0.90,204.5,691.2,12.8,256,7390,0.00,2.22,0.00,0.000,6,0.000,0.052,2900,2035,2460,0,0,0,0,0,0
$GC,7733,0.90,204.5,649.5,11.5,265,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2030,2458,0,0,0,0,0,0
$GC,8058,0.90,204.5,613.5,11.0,273,8062,0.00,2.25,0.00,0.000,4,0.000,0.069,2902,3441,2457,0,0,0,0,0,0
$GC,8326,0.90,204.5,579.7,11.3,278,8332,0.00,2.22,0.00,0.000,6,0.000,0.052,2913,2024,2457,0,0,0,0,0,0
$GC,8656,0.92,218.6,546.8,9.4,287,8671,0.00,0.00,11.15,0.976,6,0.000,0.000,2918,2020,2410,0,0,0,0,0,0
$GC,8984,0.92,218.6,512.4,10.5,295,8988,0.00,2.28,0.00,0.000,4,0.000,0.066,2913,3446,2407,0,0,0,0,0,0
$GC,9250,0.92,218.6,478.5,13.7,300,9255,0.00,2.20,0.00,0.000,6,0.000,0.051,2923,2028,2407,0,0,0,0,0,0
$GC,9584,0.92,218.6,440.5,10.9,309,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2025,2406,0,0,0,0,0,0
$GC,9910,0.94,235.8,410.4,9.3,317,9930,0.00,2.28,14.88,0.915,4,0.000,0.060,2934,626,2338,0,0,0,0,0,0
$GC,10170,0.94,235.8,381.5,11.8,322,10174,0.12,2.20,0.00,0.000,6,0.235,0.057,2908,2031,2336,0,0,0,0,0,0
$GC,10509,0.94,235.8,343.9,11.4,331,10513,0.00,2.22,0.00,0.000,4,0.000,0.064,2907,3440,2335,0,0,0,0,0,0
$GC,10776,0.94,235.8,309.5,12.0,336,10782,0.00,2.20,0.00,0.000,6,0.000,0.048,2916,2027,2335,0,0,0,0,0,0
$GC,11089,1.01,287.0,279.5,7.9,350,11138,0.00,2.35,41.88,0.827,4,0.000,0.064,2916,3431,2129,0,0,0,0,0,0
$GC,11332,1.01,287.0,240.3,19.5,360,11337,0.00,2.20,0.00,0.000,6,0.000,0.048,2927,2029,2124,0,0,0,0,0,0
$GC,11648,1.01,287.0,186.6,16.9,379,11652,0.00,2.28,0.00,0.000,4,0.000,0.064,2927,3446,2120,0,0,0,0,0,0
$GC,11708,1.01,287.0,176.0,18.8,385,11712,0.00,2.22,0.00,0.000,6,0.000,0.046,2937,2025,2121,0,0,0,0,0,0
$GC,11968,1.01,287.0,137.0,15.7,409,11972,0.00,2.22,0.00,0.000,4,0.000,0.058,2949,610,2119,0,0,0,0,0,0
$GC,12019,1.01,287.0,128.7,16.2,414,12023,0.00,2.22,0.00,0.000,6,0.000,0.054,2948,2029,2119,0,0,0,0,0,0
$GC,12279,1.01,287.0,92.5,11.7,438,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2029,2122,0,0,0,0,0,0
$GC,12534,1.08,348.2,69.8,7.5,462,12587,0.00,2.33,46.92,0.644,4,0.000,0.061,2949,3440,1879,0,0,0,0,0,0
$GC,12850,1.08,348.2,28.7,11.8,498,12855,0.00,2.20,0.00,0.000,6,0.000,0.050,2959,2028,1873,0,0,0,0,0,0
$GC,13057,1.08,348.2,5.9,11.6,535,13063,0.00,2.20,0.00,0.000,4,0.000,0.058,2969,623,1872,0,0,0,0,0,0
$STATE,13085,end climb,SURFACE_DEPTH_REACHED
$STATE,13085,begin surface coast
$FINISH,-0.1,1.003286
$STATE,13118,end surface coast,CONTROL_FINISHED_OK
$STATE,13118,begin surface
$SM_CCo,13137,78.07,0.568,0,0,1260,500.40
$SM_GC,0.64,0.00,0.00,78.07,0.000,0.000,0.568,49,2072,1260,-7.97,0.06,500.40
$IRIDIUM_FIX,2047.91,12703.73,150512,060612
$TT8_MAMPS,0.055991
$HUMID,1078830313
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416788480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59441545216
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,9.711
$10V_AH,10.2,5.333
$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,20.150,115.625,412.300,78.075,0.000,25.594,37.770,443.492,0.000,0.000,32.237,1150.808,9792.001,537.845,2277.379,112.596,33.353,1479.786,0.000,1677.922,0.000,0.541,0.000
$DEVICE_MAMPS,275.353,72.865,1246.375,568.347,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.333,0.000,0.000,0.000,0.000,0.000,0.000,12752.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.573,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,20103,548
$CAP_FILE_SIZE,131282,0
$CFSIZE,260165632,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,201110,191636,2054.899,12702.057,50,1.3,55,-2.8