version: 66.07
glider: 511
mission: 5
dive: 43
start: 11 20 110 23 33 40
data:
$ID,511
$MISSION,5
$DIVE,43
$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,-40799.219
$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,24
$R_STBD_OVSHOOT,25
$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,42
$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
$GPS1,201110,231437,2055.344,12702.365,69,0.8,69,-2.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.3
$GPS2,201110,233244,2055.797,12702.270,10,1.6,10,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.210
$KALMAN_X,3667.4,227.8,-400.5,-61854.5,-807.0
$KALMAN_Y,130836.7,-696.4,-315.5,-93975.4,8994.7
$MHEAD_RNG_PITCHd_Wd,142.7,56468,-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,-61.60,0.000,2,0.000,0.000,39,2061,2929,0,0,0,0,0,0
$GC,91,-0.86,-165.5,3.9,-9.8,12,127,10.00,2.25,-18.38,0.000,4,0.268,0.067,2314,658,3963,0,0,0,0,0,0
$GC,247,-0.86,-165.5,63.0,-29.7,35,252,0.00,2.25,0.00,0.000,6,0.000,0.056,2305,2064,3965,0,0,0,0,0,0
$GC,507,-0.86,-165.5,148.4,-32.3,59,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2065,3966,0,0,0,0,0,0
$GC,759,-0.86,-165.5,223.2,-27.6,79,763,0.00,2.17,0.00,0.000,4,0.000,0.054,2305,657,3968,0,0,0,0,0,0
$GC,804,-0.86,-165.5,234.1,-23.1,81,809,0.12,2.22,0.00,0.000,6,0.192,0.050,2326,2081,3967,0,0,0,0,0,0
$GC,1148,-0.86,-165.5,309.1,-21.7,97,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2082,3967,0,0,0,0,0,0
$GC,1473,-0.86,-165.5,374.7,-19.8,105,1477,0.00,2.17,0.00,0.000,4,0.000,0.061,2322,3482,3967,0,0,0,0,0,0
$GC,1551,-0.86,-165.5,388.2,-15.9,106,1555,0.00,2.20,0.00,0.000,6,0.000,0.045,2317,2035,3967,0,0,0,0,0,0
$GC,1889,-0.86,-165.5,450.6,-18.5,115,1893,0.00,2.12,0.00,0.000,4,0.000,0.053,2317,652,3965,0,0,0,0,0,0
$GC,1907,-0.86,-165.5,453.7,-17.5,115,1911,0.00,2.20,0.00,0.000,6,0.000,0.050,2307,2071,3965,0,0,0,0,0,0
$GC,2254,-0.86,-165.5,516.3,-18.5,124,2258,0.00,2.22,0.00,0.000,4,0.000,0.063,2298,3485,3962,0,0,0,0,0,0
$GC,2322,-0.86,-165.5,528.4,-17.1,125,2327,0.00,2.15,0.00,0.000,6,0.000,0.043,2297,2060,3962,0,0,0,0,0,0
$GC,2666,-0.86,-165.5,589.6,-17.6,134,2670,0.00,2.15,0.00,0.000,4,0.000,0.054,2302,666,3959,0,0,0,0,0,0
$GC,2689,-0.86,-165.5,593.5,-16.5,134,2694,0.12,2.17,0.00,0.000,6,0.179,0.049,2320,2079,3958,0,0,0,0,0,0
$GC,3029,-0.86,-165.5,642.1,-14.2,143,3033,0.00,2.20,0.00,0.000,4,0.000,0.063,2312,3478,3953,0,0,0,0,0,0
$GC,3129,-0.86,-165.5,655.6,-11.8,145,3133,0.00,2.15,0.00,0.000,6,0.000,0.044,2312,2069,3953,0,0,0,0,0,0
$GC,3445,-0.86,-165.5,702.2,-14.7,153,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2064,3950,0,0,0,0,0,0
$GC,3770,-0.86,-165.5,748.4,-14.0,161,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2064,3950,0,0,0,0,0,0
$GC,4096,-0.86,-165.5,793.7,-13.9,169,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2060,3943,0,0,0,0,0,0
$GC,4421,-0.86,-165.5,839.8,-14.3,177,4425,0.00,2.25,0.00,0.000,4,0.000,0.069,2301,3484,3939,0,0,0,0,0,0
$GC,4466,-0.86,-165.5,846.4,-13.7,178,4470,0.00,2.20,0.00,0.000,6,0.000,0.048,2301,2060,3938,0,0,0,0,0,0
$GC,4792,-0.86,-165.5,894.5,-14.6,186,4796,0.00,2.25,0.00,0.000,4,0.000,0.067,2291,3476,3936,0,0,0,0,0,0
$STATE,4832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4832,begin apogee
$GC,4838,-0.28,0.0,900.4,14.2,187,4967,0.68,0.00,125.03,1.246,6,0.143,0.000,2505,2023,3302,0,0,0,0,0,0
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4971,0.86,165.5,907.6,0.0,190,5117,1.02,2.40,137.30,1.213,4,0.059,0.057,2894,625,2627,0,0,1,0,0,0
$GC,5172,0.92,213.2,917.4,8.1,194,5223,0.00,2.30,40.83,1.180,6,0.000,0.050,2895,2032,2430,0,0,0,0,0,0
$GC,5546,0.92,213.2,858.3,16.5,204,5550,0.00,2.28,0.00,0.000,4,0.000,0.064,2895,3439,2422,0,0,0,0,0,0
$GC,5642,0.92,213.2,841.9,18.0,206,5646,0.00,2.22,0.00,0.000,6,0.000,0.051,2906,2038,2420,0,0,0,0,0,0
$GC,5963,0.92,213.2,792.6,15.0,214,5967,0.00,2.28,0.00,0.000,4,0.000,0.069,2905,3439,2420,0,0,0,0,0,0
$GC,6059,0.92,213.2,777.1,16.4,216,6063,0.00,2.22,0.00,0.000,6,0.000,0.051,2916,2015,2417,0,0,0,0,0,0
$GC,6385,0.92,213.2,728.2,14.9,224,6389,0.00,2.22,0.00,0.000,4,0.000,0.061,2931,615,2417,0,0,0,0,0,0
$GC,6416,0.92,213.2,723.5,14.9,224,6420,0.12,2.22,0.00,0.000,6,0.243,0.054,2901,2031,2414,0,0,0,0,0,0
$GC,6750,0.92,213.2,675.6,14.1,233,6754,0.00,2.22,0.00,0.000,4,0.000,0.062,2911,621,2413,0,0,0,0,0,0
$GC,6777,0.92,213.2,671.8,13.4,233,6781,0.00,2.22,0.00,0.000,6,0.000,0.054,2910,2031,2411,0,0,0,0,0,0
$GC,7116,0.92,213.2,627.0,13.4,242,7120,0.00,2.22,0.00,0.000,4,0.000,0.064,2910,3444,2411,0,0,0,0,0,0
$GC,7123,0.92,213.2,625.7,13.2,242,7128,0.00,2.22,0.00,0.000,6,0.000,0.051,2921,2040,2411,0,0,0,0,0,0
$GC,7441,0.92,213.2,587.0,12.2,250,7445,0.00,2.22,0.00,0.000,4,0.000,0.065,2922,3442,2411,0,0,0,0,0,0
$GC,7582,0.92,213.2,568.9,13.4,253,7587,0.15,2.22,0.00,0.000,6,0.262,0.051,2900,2038,2410,0,0,0,0,0,0
$GC,7904,0.92,213.2,533.8,10.1,261,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2035,2408,0,0,0,0,0,0
$GC,8229,0.94,232.8,503.3,9.2,269,8249,0.00,2.25,13.20,0.968,4,0.000,0.061,2909,618,2352,0,0,0,0,0,0
$GC,8281,0.94,232.8,497.8,11.4,270,8285,0.00,2.25,0.00,0.000,6,0.000,0.054,2909,2033,2350,0,0,0,0,0,0
$GC,8602,0.94,232.8,460.0,12.0,278,8606,0.00,2.25,0.00,0.000,4,0.000,0.065,2908,3446,2349,0,0,0,0,0,0
$GC,8869,0.94,232.8,424.7,14.5,283,8873,0.00,2.20,0.00,0.000,6,0.000,0.050,2921,2028,2349,0,0,0,0,0,0
$GC,9203,0.94,232.8,382.3,12.2,292,9207,0.00,2.25,0.00,0.000,4,0.000,0.063,2920,3449,2351,0,0,0,0,0,0
$GC,9470,0.94,232.8,352.3,11.2,297,9475,0.00,2.22,0.00,0.000,6,0.000,0.051,2931,2026,2347,0,0,0,0,0,0
$GC,9800,0.94,232.8,317.0,10.6,306,9804,0.00,2.25,0.00,0.000,4,0.000,0.064,2931,3443,2347,0,0,0,0,0,0
$GC,10053,0.94,232.8,284.1,14.0,314,10058,0.15,2.17,0.00,0.000,6,0.246,0.050,2909,2029,2348,0,0,0,0,0,0
$GC,10382,0.99,275.1,252.8,8.3,330,10424,0.00,2.28,34.35,0.804,4,0.000,0.058,2918,607,2179,0,0,0,0,0,0
$GC,10456,0.99,275.1,244.7,14.8,333,10460,0.00,2.28,0.00,0.000,6,0.000,0.051,2918,2039,2175,0,0,0,0,0,0
$GC,10779,0.99,275.1,200.1,14.3,349,10783,0.00,2.20,0.00,0.000,4,0.000,0.062,2919,3433,2170,0,0,0,0,0,0
$GC,11045,0.99,275.1,162.4,14.2,377,11051,0.00,2.22,0.00,0.000,6,0.000,0.049,2929,2011,2173,0,0,0,0,0,0
$GC,11307,0.99,275.1,123.9,15.6,402,11311,0.00,2.28,0.00,0.000,4,0.000,0.062,2926,3439,2170,0,0,0,0,0,0
$GC,11487,0.99,275.1,97.2,12.9,421,11491,0.00,2.17,0.00,0.000,6,0.000,0.047,2939,2027,2173,0,0,0,0,0,0
$GC,11747,1.11,372.0,74.0,6.0,445,11831,0.00,2.33,73.93,0.648,4,0.000,0.059,2939,3451,1780,0,0,0,0,0,0
$GC,12076,1.11,372.0,26.2,15.1,484,12081,0.00,2.22,0.00,0.000,6,0.000,0.045,2949,2030,1774,0,0,0,0,0,0
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12248,begin surface coast
$FINISH,-0.2,1.013796
$STATE,12277,end surface coast,CONTROL_FINISHED_OK
$STATE,12278,begin surface
$SM_CCo,12294,72.18,0.574,0,0,1261,500.16
$SM_GC,1.09,0.00,0.00,72.18,0.000,0.000,0.574,52,2069,1261,-7.96,-0.03,500.16
$IRIDIUM_FIX,2045.60,12700.50,150512,171736
$TT8_MAMPS,0.056758
$HUMID,1078869023
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416722944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59390033920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,10.084
$10V_AH,10.3,5.552
$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,20.225,107.025,424.625,72.175,0.000,48.351,91.707,731.114,0.250,0.000,12.507,1079.407,9211.824,539.879,2494.442,118.587,33.356,1418.022,0.000,1546.956,0.000,0.542,0.000
$DEVICE_MAMPS,268.450,127.322,1246.375,574.483,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,348.239,0.000,0.000,0.000,0.000,0.000,0.000,12438.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.331,0.000,0.000
$MEM,355176
$DATA_FILE_SIZE,20134,520
$CAP_FILE_SIZE,131670,0
$CFSIZE,260165632,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,211110,030137,2055.498,12703.229,62,1.1,62,-2.8