version: 66.07
glider: 511
mission: 5
dive: 47
start: 11 21 110 14 56 33
data:
$ID,511
$MISSION,5
$DIVE,47
$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,-40860.316
$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,2080
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$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,46
$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
$GPS1,211110,144437,2055.002,12701.686,28,1.0,28,-2.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.0
$GPS2,211110,145537,2055.195,12701.699,10,1.2,15,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,-0.259
$KALMAN_X,-278.1,449.9,-534.7,-58986.0,-1299.8
$KALMAN_Y,146059.4,-1293.7,-839.9,-109180.9,9817.7
$MHEAD_RNG_PITCHd_Wd,202.2,55044,-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,-165.5,0.0,0.0,0,87,0.00,0.00,-60.83,0.000,2,0.000,0.000,54,2055,2910,0,0,0,0,0,0
$GC,89,-0.86,-165.5,3.9,-10.4,12,125,10.02,2.20,-19.00,0.000,4,0.272,0.065,2312,662,3963,0,0,0,0,0,0
$GC,222,-0.86,-165.5,53.1,-33.4,34,228,0.00,2.30,0.00,0.000,6,0.000,0.057,2303,2090,3970,0,0,0,0,0,0
$GC,482,-0.86,-165.5,134.8,-31.1,59,486,0.00,2.22,0.00,0.000,4,0.000,0.054,2302,662,3969,0,0,0,0,0,0
$GC,505,-0.86,-165.5,141.5,-28.8,61,510,0.12,2.25,0.00,0.000,6,0.201,0.049,2322,2091,3969,0,0,0,0,0,0
$GC,764,-0.86,-165.5,207.5,-24.5,84,768,0.00,2.22,0.00,0.000,4,0.000,0.063,2313,3491,3970,0,0,0,0,0,0
$GC,786,-0.86,-165.5,213.5,-25.3,85,790,0.00,2.15,0.00,0.000,6,0.000,0.041,2313,2063,3970,0,0,0,0,0,0
$GC,1115,-0.86,-165.5,296.5,-25.0,101,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2058,3970,0,0,0,0,0,0
$GC,1419,-0.86,-165.5,369.4,-23.6,109,1423,0.00,2.12,0.00,0.000,4,0.000,0.052,2313,675,3970,0,0,0,0,0,0
$GC,1455,-0.86,-165.5,377.1,-19.6,109,1460,0.00,2.20,0.00,0.000,6,0.000,0.050,2303,2087,3970,0,0,0,0,0,0
$GC,1785,-0.86,-165.5,448.2,-21.1,118,1789,0.00,2.20,0.00,0.000,4,0.000,0.061,2294,3490,3969,0,0,0,0,0,0
$GC,1853,-0.86,-165.5,462.0,-18.4,119,1857,0.12,2.15,0.00,0.000,6,0.176,0.041,2324,2077,3969,0,0,0,0,0,0
$GC,2197,-0.86,-165.5,520.7,-16.5,128,2201,0.00,2.12,0.00,0.000,4,0.000,0.051,2330,674,3967,0,0,0,0,0,0
$GC,2238,-0.86,-165.5,526.9,-14.1,129,2242,0.00,2.20,0.00,0.000,6,0.000,0.052,2318,2085,3968,0,0,0,0,0,0
$GC,2564,-0.86,-165.5,575.8,-14.7,137,2568,0.00,2.20,0.00,0.000,4,0.000,0.062,2312,3488,3965,0,0,0,0,0,0
$GC,2636,-0.86,-165.5,586.1,-13.5,138,2641,0.00,2.17,0.00,0.000,6,0.000,0.043,2312,2062,3963,0,0,0,0,0,0
$GC,2975,-0.86,-165.5,637.5,-15.3,147,2979,0.00,2.15,0.00,0.000,4,0.000,0.054,2311,670,3963,0,0,0,0,0,0
$GC,3002,-0.86,-165.5,641.9,-16.0,147,3006,0.00,2.20,0.00,0.000,6,0.000,0.052,2310,2078,3960,0,0,0,0,0,0
$GC,3341,-0.86,-165.5,693.2,-15.1,156,3345,0.00,2.25,0.00,0.000,4,0.000,0.065,2299,3497,3953,0,0,0,0,0,0
$GC,3404,-0.86,-165.5,701.9,-12.7,157,3408,0.00,2.15,0.00,0.000,6,0.000,0.045,2299,2077,3956,0,0,0,0,0,0
$GC,3752,-0.86,-165.5,752.0,-14.3,166,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2068,3950,0,0,0,0,0,0
$GC,4077,-0.86,-165.5,799.7,-14.8,174,4081,0.00,2.28,0.00,0.000,4,0.000,0.067,2290,3494,3948,0,0,0,0,0,0
$GC,4131,-0.86,-165.5,807.8,-14.0,175,4136,0.10,2.20,0.00,0.000,6,0.153,0.047,2335,2081,3949,0,0,0,0,0,0
$GC,4449,-0.86,-165.5,843.1,-10.7,183,4453,0.00,2.22,0.00,0.000,4,0.000,0.067,2327,3490,3946,0,0,0,0,0,0
$GC,4481,-0.86,-165.5,846.5,-10.1,183,4485,0.00,2.15,0.00,0.000,6,0.000,0.048,2328,2078,3945,0,0,0,0,0,0
$GC,4811,-0.86,-165.5,882.1,-10.7,191,4815,0.00,2.25,0.00,0.000,4,0.000,0.067,2317,3489,3942,0,0,0,0,0,0
$GC,4828,-0.86,-165.5,884.0,-10.8,191,4832,0.00,2.20,0.00,0.000,6,0.000,0.048,2317,2076,3942,0,0,0,0,0,0
$STATE,4976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4977,begin apogee
$GC,4980,-0.28,0.0,901.1,11.6,195,5110,0.60,0.00,126.88,1.254,6,0.144,0.000,2505,2071,3298,0,0,0,0,0,0
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5114,0.86,165.5,907.5,0.0,198,5261,1.02,2.45,138.57,1.217,4,0.061,0.055,2893,639,2624,0,0,0,0,0,0
$GC,5390,0.86,165.5,910.2,10.2,204,5394,0.00,2.28,0.00,0.000,6,0.000,0.051,2892,2048,2611,0,0,0,0,0,0
$GC,5738,0.89,190.8,877.2,9.0,213,5764,0.00,2.33,20.10,1.154,4,0.000,0.064,2904,643,2523,0,0,0,0,0,0
$GC,5920,0.89,190.8,855.8,12.9,217,5924,0.00,2.25,0.00,0.000,6,0.000,0.054,2903,2054,2517,0,0,0,0,0,0
$GC,6246,0.89,190.8,818.0,11.6,225,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2054,2513,0,0,0,0,0,0
$GC,6571,0.89,190.8,780.1,11.6,233,6575,0.00,2.28,0.00,0.000,4,0.000,0.066,2903,3467,2514,0,0,0,0,0,0
$GC,6731,0.89,190.8,760.7,12.2,236,6736,0.00,2.22,0.00,0.000,6,0.000,0.051,2915,2043,2512,0,0,0,0,0,0
$GC,7075,0.89,190.8,722.2,11.2,245,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2037,2510,0,0,0,0,0,0
$GC,7400,0.89,190.8,686.6,10.8,253,7404,0.00,2.28,0.00,0.000,4,0.000,0.067,2914,3466,2509,0,0,0,0,0,0
$GC,7667,0.89,190.8,655.0,11.0,258,7674,0.15,2.20,0.00,0.000,6,0.250,0.053,2893,2049,2509,0,0,0,0,0,0
$GC,7997,0.90,197.3,622.5,9.7,267,8006,0.00,2.22,4.15,0.749,4,0.000,0.061,2902,636,2497,0,0,0,0,0,0
$GC,8270,0.92,219.2,597.3,9.1,273,8295,0.00,2.25,19.88,1.055,6,0.000,0.055,2895,2056,2407,0,0,0,0,0,0
$GC,8636,0.93,225.4,560.5,9.7,282,8648,0.00,2.33,6.35,0.862,4,0.000,0.061,2904,644,2381,0,0,0,0,0,0
$GC,8652,0.93,225.4,558.7,10.0,282,8656,0.00,2.25,0.00,0.000,6,0.000,0.054,2905,2059,2381,0,0,0,0,0,0
$GC,9000,0.93,225.4,519.2,11.7,291,9004,0.00,2.22,0.00,0.000,4,0.000,0.065,2904,3460,2378,0,0,0,0,0,0
$GC,9267,0.93,225.4,484.9,12.3,296,9273,0.00,2.20,0.00,0.000,6,0.000,0.052,2915,2049,2378,0,0,0,0,0,0
$GC,9597,0.93,225.4,449.1,10.6,305,9601,0.00,2.25,0.00,0.000,4,0.000,0.064,2915,3460,2376,0,0,0,0,0,0
$GC,9863,0.93,225.4,419.8,11.0,310,9867,0.00,2.20,0.00,0.000,6,0.000,0.051,2926,2043,2377,0,0,0,0,0,0
$GC,10198,0.95,241.5,387.4,9.3,319,10218,0.00,2.33,13.95,0.888,4,0.000,0.064,2927,3456,2315,0,0,0,0,0,0
$GC,10418,0.95,241.5,358.2,13.4,323,10422,0.00,2.22,0.00,0.000,6,0.000,0.051,2936,2043,2313,0,0,0,0,0,0
$GC,10747,0.95,241.5,315.4,13.0,331,10751,0.00,2.20,0.00,0.000,4,0.000,0.058,2947,636,2311,0,0,0,0,0,0
$GC,11014,0.95,241.5,280.5,12.1,339,11019,0.15,2.22,0.00,0.000,6,0.230,0.052,2913,2054,2310,0,0,0,0,0,0
$GC,11328,0.98,262.8,249.5,9.1,354,11353,0.00,2.33,17.95,0.785,4,0.000,0.063,2917,3467,2229,0,0,0,0,0,0
$GC,11616,0.98,262.8,210.0,13.6,366,11620,0.00,2.20,0.00,0.000,6,0.000,0.048,2926,2041,2229,0,0,0,0,0,0
$GC,11937,0.98,262.8,171.0,11.6,392,11941,0.00,2.25,0.00,0.000,4,0.000,0.063,2922,3463,2225,0,0,0,0,0,0
$GC,11982,0.98,262.8,164.9,13.1,396,11988,0.00,2.20,0.00,0.000,6,0.000,0.047,2933,2041,2226,0,0,0,0,0,0
$GC,12243,0.98,262.8,135.6,10.3,421,12247,0.00,2.22,0.00,0.000,4,0.000,0.061,2933,3460,2227,0,0,0,0,0,0
$GC,12362,0.98,262.8,121.4,10.7,433,12368,0.00,2.17,0.00,0.000,6,0.000,0.049,2941,2047,2226,0,0,1,0,0,0
$GC,12622,0.98,262.8,94.8,11.0,458,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2045,2224,0,0,0,0,0,0
$GC,12877,1.14,393.2,77.1,4.7,482,12985,0.00,2.20,98.75,0.643,4,0.000,0.054,2954,647,1695,0,0,0,0,0,0
$GC,13248,1.14,393.2,27.2,15.1,525,13254,0.00,2.22,0.00,0.000,6,0.000,0.049,2954,2047,1686,0,0,0,0,0,0
$STATE,13388,end climb,SURFACE_DEPTH_REACHED
$STATE,13388,begin surface coast
$FINISH,0.1,1.022320
$STATE,13405,end surface coast,CONTROL_FINISHED_OK
$STATE,13405,begin surface
$SM_CCo,13427,57.65,0.568,0,0,1261,500.40
$SM_GC,1.14,0.00,0.00,57.65,0.000,0.000,0.568,56,2051,1261,-7.95,-0.82,500.40
$IRIDIUM_FIX,2045.60,12700.50,160512,050504
$TT8_MAMPS,0.056758
$HUMID,1078782571
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8397127680
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59308998656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,10.816
$10V_AH,10.3,5.988
$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,20.125,115.750,446.575,57.650,0.000,29.725,33.456,449.997,0.250,0.000,17.021,1184.289,9878.637,540.209,2408.341,126.127,33.353,1546.874,0.000,1807.654,0.000,0.542,0.000
$DEVICE_MAMPS,271.518,67.496,1254.045,567.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.419,0.000,0.000,0.000,0.000,0.000,0.000,12985.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,19.826,0.000,0.000
$MEM,355272
$DATA_FILE_SIZE,20088,553
$CAP_FILE_SIZE,137035,0
$CFSIZE,260165632,254926848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,211110,184301,2054.862,12701.243,55,1.0,55,-2.8