version: 66.07
glider: 511
mission: 5
dive: 48
start: 11 21 110 18 55 46
data:
$ID,511
$MISSION,5
$DIVE,48
$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,-40879.285
$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,26
$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,47
$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
$GPS1,211110,184301,2054.862,12701.243,55,1.0,55,-2.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.0
$GPS2,211110,185450,2055.175,12701.274,16,1.1,16,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,-0.261
$KALMAN_X,-435.8,299.0,791.1,-60760.3,-2620.1
$KALMAN_Y,149642.8,-975.5,-440.0,-113521.8,9090.9
$MHEAD_RNG_PITCHd_Wd,200.6,54714,-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,25,-0.86,-165.5,0.0,0.0,0,88,0.00,0.00,-61.22,0.000,2,0.000,0.000,44,2054,2898,0,0,0,0,0,0
$GC,91,-0.86,-165.5,3.6,-9.2,12,127,9.95,2.20,-19.30,0.000,4,0.268,0.064,2314,664,3962,0,0,0,0,0,0
$GC,288,-0.86,-165.5,74.6,-30.0,40,294,0.00,2.28,0.00,0.000,6,0.000,0.057,2304,2084,3964,0,0,0,0,0,0
$GC,548,-0.86,-165.5,157.4,-32.5,65,552,0.00,2.22,0.00,0.000,4,0.000,0.055,2305,670,3966,0,0,0,0,0,0
$GC,584,-0.86,-165.5,168.8,-29.3,68,589,0.00,2.22,0.00,0.000,6,0.000,0.053,2294,2079,3966,0,0,0,0,0,0
$GC,839,-0.86,-165.5,243.7,-27.8,86,841,0.10,0.00,0.00,0.000,6,0.219,0.000,2316,2079,3967,0,0,0,0,0,0
$GC,1168,-0.86,-165.5,323.5,-23.5,100,1172,0.00,2.22,0.00,0.000,4,0.000,0.061,2307,3496,3967,0,0,0,0,0,0
$GC,1194,-0.86,-165.5,330.0,-23.4,100,1198,0.00,2.15,0.00,0.000,6,0.000,0.042,2307,2074,3969,0,0,0,0,0,0
$GC,1533,-0.86,-165.5,405.5,-21.7,109,1537,0.00,2.15,0.00,0.000,4,0.000,0.051,2307,672,3967,0,0,0,0,0,0
$GC,1578,-0.86,-165.5,414.5,-17.2,110,1582,0.00,2.17,0.00,0.000,6,0.000,0.051,2296,2086,3967,0,0,1,0,0,0
$GC,1904,-0.86,-165.5,477.1,-18.5,118,1909,0.10,2.22,0.00,0.000,4,0.204,0.061,2311,3491,3966,0,0,0,0,0,0
$GC,2051,-0.86,-165.5,499.3,-14.2,121,2056,0.00,2.17,0.00,0.000,6,0.000,0.042,2311,2049,3966,0,0,0,0,0,0
$GC,2368,-0.86,-165.5,552.7,-17.3,129,2372,0.00,2.28,0.00,0.000,4,0.000,0.061,2301,3489,3963,0,0,0,0,0,0
$GC,2413,-0.86,-165.5,560.5,-16.3,130,2417,0.00,2.15,0.00,0.000,6,0.000,0.044,2301,2064,3962,0,0,0,0,0,0
$GC,2739,-0.86,-165.5,617.6,-17.3,138,2743,0.00,2.12,0.00,0.000,4,0.000,0.055,2301,674,3960,0,0,0,0,0,0
$GC,2775,-0.86,-165.5,623.8,-16.4,138,2781,0.00,2.20,0.00,0.000,6,0.000,0.054,2296,2078,3960,0,0,0,0,0,0
$GC,3105,-0.86,-165.5,679.4,-17.0,147,3109,0.00,2.22,0.00,0.000,4,0.000,0.064,2286,3494,3955,0,0,0,0,0,0
$GC,3146,-0.86,-165.5,686.3,-16.6,147,3153,0.12,2.15,0.00,0.000,6,0.174,0.045,2318,2076,3955,0,0,0,0,0,0
$GC,3476,-0.86,-165.5,732.2,-13.7,156,3480,0.00,2.25,0.00,0.000,4,0.000,0.064,2310,3491,3952,0,0,0,0,0,0
$GC,3512,-0.86,-165.5,737.0,-12.2,156,3518,0.00,2.17,0.00,0.000,6,0.000,0.045,2309,2073,3951,0,0,0,0,0,0
$GC,3842,-0.86,-165.5,782.9,-14.0,165,3846,0.00,2.25,0.00,0.000,4,0.000,0.064,2305,3494,3947,0,0,0,0,0,0
$GC,3892,-0.86,-165.5,789.9,-13.2,166,3896,0.00,2.15,0.00,0.000,6,0.000,0.046,2297,2080,3947,0,0,1,0,0,0
$GC,4218,-0.86,-165.5,836.0,-14.2,174,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2075,3943,0,0,0,0,0,0
$GC,4543,-0.86,-165.5,883.6,-14.7,182,4547,0.00,2.25,0.00,0.000,4,0.000,0.067,2291,3490,3940,0,0,0,0,0,0
$GC,4566,-0.86,-165.5,887.0,-15.3,182,4570,0.12,2.15,0.00,0.000,6,0.175,0.048,2326,2081,3940,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4704,-0.28,0.0,903.8,12.3,186,4833,0.57,0.00,126.05,1.252,6,0.140,0.000,2508,2077,3301,0,0,0,0,0,0
$STATE,4836,end apogee,CONTROL_FINISHED_OK
$STATE,4836,begin climb
$GC,4837,0.86,165.5,911.1,0.0,189,4985,1.00,2.45,138.18,1.217,4,0.059,0.058,2890,640,2624,0,0,1,0,0,0
$GC,5247,0.87,177.6,903.0,9.5,198,5264,0.00,2.28,9.55,1.051,6,0.000,0.051,2893,2057,2576,0,0,0,0,0,0
$GC,5598,0.87,177.6,866.3,10.7,207,5602,0.00,2.28,0.00,0.000,4,0.000,0.060,2900,644,2572,0,0,0,0,0,0
$GC,5754,0.87,177.6,849.5,11.2,210,5758,0.00,2.22,0.00,0.000,6,0.000,0.052,2900,2054,2570,0,0,0,0,0,0
$GC,6102,0.87,177.6,810.4,11.5,219,6106,0.00,2.25,0.00,0.000,4,0.000,0.060,2911,645,2567,0,0,0,0,0,0
$GC,6166,0.87,177.6,802.9,11.7,220,6170,0.12,2.22,0.00,0.000,6,0.242,0.053,2890,2048,2569,0,0,0,0,0,0
$GC,6515,0.88,184.5,767.1,9.7,229,6527,0.00,2.33,5.70,0.917,4,0.000,0.066,2885,3470,2548,0,0,0,0,0,0
$GC,6791,0.88,184.5,737.7,11.6,235,6795,0.00,2.20,0.00,0.000,6,0.000,0.051,2893,2058,2547,0,0,0,0,0,0
$GC,7117,0.89,195.6,706.1,9.5,243,7133,0.00,2.30,10.43,1.052,4,0.000,0.061,2904,644,2504,0,0,0,0,0,0
$GC,7165,0.89,195.6,701.1,11.0,244,7169,0.00,2.25,0.00,0.000,6,0.000,0.054,2905,2050,2500,0,0,0,0,0,0
$GC,7491,0.89,195.6,666.8,10.5,252,7495,0.00,2.30,0.00,0.000,4,0.000,0.067,2905,3466,2499,0,0,0,0,0,0
$GC,7757,0.89,195.6,635.8,12.8,257,7763,0.00,2.20,0.00,0.000,6,0.000,0.051,2915,2044,2498,0,0,0,0,0,0
$GC,8088,0.89,195.6,600.9,10.3,266,8092,0.00,2.28,0.00,0.000,4,0.000,0.064,2916,3466,2497,0,0,0,0,0,0
$GC,8355,0.90,198.7,573.8,9.9,271,8362,0.15,2.17,0.00,0.000,6,0.248,0.051,2894,2050,2496,0,0,1,0,0,0
$GC,8685,0.97,258.5,548.3,7.6,280,8744,0.00,2.30,52.42,1.045,4,0.000,0.059,2903,644,2246,0,0,0,0,0,0
$GC,8758,0.97,258.5,540.5,13.5,281,8762,0.00,2.33,0.00,0.000,6,0.000,0.054,2903,2058,2244,0,0,0,0,0,0
$GC,9093,0.97,258.5,483.4,17.3,290,9097,0.00,2.30,0.00,0.000,4,0.000,0.066,2903,3465,2240,0,0,0,0,0,0
$GC,9272,0.97,258.5,449.5,15.6,294,9276,0.00,2.22,0.00,0.000,6,0.000,0.052,2914,2053,2235,0,0,0,0,0,0
$GC,9598,0.97,258.5,401.0,14.5,302,9602,0.00,2.28,0.00,0.000,4,0.000,0.066,2916,3461,2233,0,0,0,0,0,0
$GC,9865,0.97,258.5,357.3,15.8,307,9871,0.00,2.20,0.00,0.000,6,0.000,0.051,2924,2052,2233,0,0,0,0,0,0
$GC,10195,0.97,258.5,307.6,15.3,316,10199,0.00,2.22,0.00,0.000,4,0.000,0.058,2935,628,2231,0,0,0,0,0,0
$GC,10352,0.97,258.5,284.6,14.5,321,10357,0.00,2.25,0.00,0.000,6,0.000,0.053,2936,2055,2230,0,0,0,0,0,0
$GC,10680,0.97,258.5,242.2,11.5,337,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2055,2230,0,0,0,0,0,0
$GC,10990,0.97,258.5,202.9,13.5,352,10994,0.00,2.22,0.00,0.000,4,0.000,0.063,2935,3464,2231,0,0,0,0,0,0
$GC,11081,0.97,258.5,189.6,12.8,359,11088,0.12,2.20,0.00,0.000,6,0.242,0.049,2920,2039,2229,0,0,0,0,0,0
$GC,11341,0.97,258.5,160.4,10.1,384,11345,0.00,2.25,0.00,0.000,4,0.000,0.066,2924,3458,2232,0,0,0,0,0,0
$GC,11359,0.97,258.5,158.5,10.6,385,11364,0.00,2.20,0.00,0.000,6,0.000,0.048,2928,2038,2231,0,0,0,0,0,0
$GC,11619,1.05,325.8,136.7,7.3,410,11676,0.00,2.25,51.35,0.703,4,0.000,0.056,2939,639,1970,0,0,0,0,0,0
$GC,11686,1.05,325.8,130.3,12.1,417,11690,0.00,2.25,0.00,0.000,6,0.000,0.050,2939,2058,1969,0,0,1,0,0,0
$GC,11946,1.05,325.8,84.9,16.9,441,11950,0.00,2.25,0.00,0.000,4,0.000,0.061,2939,3472,1964,0,0,0,0,0,0
$GC,12214,1.18,430.7,53.6,5.7,470,12298,0.00,2.17,77.88,0.625,6,0.000,0.047,2949,2047,1547,0,0,1,0,0,0
$STATE,12558,end climb,SURFACE_DEPTH_REACHED
$STATE,12558,begin surface coast
$FINISH,-0.0,1.012695
$STATE,12576,end surface coast,CONTROL_FINISHED_OK
$STATE,12576,begin surface
$SM_CCo,12592,36.08,0.568,0,0,1261,500.16
$SM_GC,0.76,0.00,0.00,36.08,0.000,0.000,0.568,58,2088,1261,-7.95,0.34,500.16
$IRIDIUM_FIX,2045.60,12700.50,160512,090935
$TT8_MAMPS,0.056758
$HUMID,1078829023
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416559104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59263778816
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,10.995
$10V_AH,10.2,6.097
$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,20.200,116.075,471.550,36.075,0.000,22.938,34.682,500.974,0.000,0.000,18.338,1115.598,9194.093,555.371,2343.026,122.207,33.352,1511.470,0.000,1706.719,0.000,0.541,0.000
$DEVICE_MAMPS,268.450,121.953,1251.744,568.347,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.205,0.000,0.000,0.000,0.000,0.000,0.000,12284.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.319,0.000,0.000
$MEM,355248
$DATA_FILE_SIZE,20158,520
$CAP_FILE_SIZE,132815,0
$CFSIZE,260165632,254857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,211110,222737,2055.056,12701.041,34,1.4,34,-2.8