version: 66.07
glider: 511
mission: 5
dive: 53
start: 11 22 110 12 38 58
data:
$ID,511
$MISSION,5
$DIVE,53
$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,-40962.648
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,52
$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
$GPS1,221110,122725,2054.531,12700.726,39,1.6,39,-2.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.0
$GPS2,221110,123802,2054.827,12700.739,12,1.7,12,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,-0.217
$KALMAN_X,-966.5,-236.5,-108.9,-59718.7,-212.6
$KALMAN_Y,168848.0,-1679.8,-497.0,-132611.0,10630.3
$MHEAD_RNG_PITCHd_Wd,145.0,53757,-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,-165.4,0.0,0.0,0,83,0.00,0.00,-56.53,0.000,2,0.000,0.000,52,2106,2779,0,0,0,0,0,0
$GC,86,-0.86,-165.5,3.4,-9.2,11,126,9.95,2.30,-21.83,0.000,4,0.268,0.064,2315,671,3964,0,0,0,0,0,0
$GC,264,-0.86,-165.5,67.7,-29.8,37,270,0.00,2.25,0.00,0.000,6,0.000,0.054,2306,2076,3966,0,0,0,0,0,0
$GC,524,-0.86,-165.5,148.6,-31.9,62,528,0.00,2.22,0.00,0.000,4,0.000,0.061,2295,3492,3969,0,0,0,0,0,0
$GC,556,-0.86,-165.5,158.4,-29.6,65,560,0.00,2.17,0.00,0.000,6,0.000,0.041,2293,2076,3968,0,0,0,0,0,0
$GC,823,-0.86,-165.5,238.6,-29.5,84,826,0.00,2.15,0.00,0.000,4,0.000,0.048,2297,672,3970,0,0,0,0,0,0
$GC,864,-0.86,-165.5,250.7,-27.4,86,869,0.12,2.20,0.00,0.000,6,0.185,0.049,2317,2083,3970,0,0,0,0,0,0
$GC,1211,-0.86,-165.5,329.1,-22.6,100,1215,0.00,2.20,0.00,0.000,4,0.000,0.059,2308,3497,3973,0,0,0,0,0,0
$GC,1247,-0.86,-165.5,337.3,-21.9,100,1251,0.00,2.15,0.00,0.000,6,0.000,0.041,2308,2078,3970,0,0,0,0,0,0
$GC,1581,-0.86,-165.5,407.4,-20.7,109,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2072,3970,0,0,0,0,0,0
$GC,1906,-0.86,-165.5,469.6,-18.7,117,1910,0.00,2.25,0.00,0.000,4,0.000,0.064,2297,3491,3967,0,0,0,0,0,0
$GC,1994,-0.86,-165.5,484.9,-15.8,119,1998,0.00,2.15,0.00,0.000,6,0.000,0.041,2301,2077,3968,0,0,0,0,0,0
$GC,2319,-0.86,-165.5,542.9,-17.8,127,2323,0.00,2.15,0.00,0.000,4,0.000,0.052,2293,676,3966,0,0,0,0,0,0
$GC,2355,-0.86,-165.5,549.1,-17.1,127,2361,0.00,2.17,0.00,0.000,6,0.000,0.054,2296,2080,3966,0,0,0,0,0,0
$GC,2685,-0.86,-165.5,605.0,-17.0,136,2689,0.00,2.22,0.00,0.000,4,0.000,0.061,2287,3492,3963,0,0,0,0,0,0
$GC,2712,-0.86,-165.5,609.8,-17.2,136,2716,0.12,2.17,0.00,0.000,6,0.171,0.044,2320,2055,3963,0,0,0,0,0,0
$GC,3051,-0.86,-165.5,659.3,-14.8,145,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2047,3961,0,0,0,0,0,0
$GC,3376,-0.86,-165.5,706.3,-14.3,153,3380,0.00,2.30,0.00,0.000,4,0.000,0.064,2310,3497,3956,0,0,0,0,0,0
$GC,3421,-0.86,-165.5,712.6,-13.1,154,3425,0.00,2.17,0.00,0.000,6,0.000,0.044,2311,2074,3956,0,0,0,0,0,0
$GC,3747,-0.86,-165.5,760.3,-14.8,162,3751,0.00,2.22,0.00,0.000,4,0.000,0.064,2301,3497,3952,0,0,0,0,0,0
$GC,3765,-0.86,-165.5,763.1,-15.5,162,3768,0.00,2.15,0.00,0.000,6,0.000,0.045,2301,2073,3951,0,0,0,0,0,0
$GC,4112,-0.86,-165.5,816.6,-15.5,171,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2067,3948,0,0,0,0,0,0
$GC,4438,-0.86,-165.5,865.9,-14.9,179,4442,0.00,2.25,0.00,0.000,4,0.000,0.066,2291,3491,3944,0,0,0,0,0,0
$GC,4474,-0.86,-165.5,871.3,-14.6,179,4480,0.10,2.17,0.00,0.000,6,0.181,0.048,2318,2081,3947,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4725,-0.28,0.0,901.5,11.9,186,4854,0.60,0.00,126.40,1.249,6,0.140,0.000,2511,2074,3302,0,0,0,0,0,0
$STATE,4857,end apogee,CONTROL_FINISHED_OK
$STATE,4857,begin climb
$GC,4858,0.86,165.5,907.7,0.0,189,5007,1.02,2.22,139.25,1.215,4,0.065,0.054,2892,697,2623,0,0,0,0,0,0
$GC,5044,0.94,236.0,917.0,7.1,193,5109,0.00,2.35,59.75,1.190,6,0.000,0.054,2892,2101,2339,0,0,0,0,0,0
$GC,5431,0.94,236.0,848.4,18.8,203,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2100,2327,0,0,0,0,0,0
$GC,5756,0.94,236.0,790.5,17.6,211,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2100,2325,0,0,0,0,0,0
$GC,6082,0.94,236.0,736.7,16.2,219,6086,0.00,2.28,0.00,0.000,4,0.000,0.066,2892,3519,2323,0,0,0,0,0,0
$GC,6113,0.94,236.0,731.1,18.2,219,6117,0.00,2.20,0.00,0.000,6,0.000,0.051,2903,2101,2322,0,0,1,0,0,0
$GC,6447,0.94,236.0,672.9,17.4,228,6451,0.00,2.25,0.00,0.000,4,0.000,0.066,2903,3511,2320,0,0,0,0,0,0
$GC,6516,0.94,236.0,660.3,18.7,229,6521,0.00,2.20,0.00,0.000,6,0.000,0.051,2914,2096,2322,0,0,0,0,0,0
$GC,6855,0.94,236.0,601.3,17.0,238,6859,0.00,2.20,0.00,0.000,4,0.000,0.060,2925,690,2319,0,0,0,0,0,0
$GC,7053,0.94,236.0,567.5,16.9,242,7057,0.00,2.22,0.00,0.000,6,0.000,0.059,2926,2100,2316,0,0,0,0,0,0
$GC,7365,0.94,236.0,518.3,15.5,250,7369,0.00,2.22,0.00,0.000,4,0.000,0.066,2925,3511,2316,0,0,0,0,0,0
$GC,7437,0.94,236.0,506.1,15.9,251,7442,0.12,2.22,0.00,0.000,6,0.247,0.051,2910,2091,2316,0,0,0,0,0,0
$GC,7777,0.94,236.0,462.2,13.0,260,7781,0.00,2.25,0.00,0.000,4,0.000,0.065,2909,3512,2315,0,0,0,0,0,0
$GC,8044,0.94,236.0,419.8,16.5,265,8049,0.00,2.20,0.00,0.000,6,0.000,0.049,2919,2099,2315,0,0,0,0,0,0
$GC,8374,0.94,236.0,377.7,12.1,274,8378,0.00,2.25,0.00,0.000,4,0.000,0.066,2918,3512,2310,0,0,0,0,0,0
$GC,8483,0.94,236.0,363.0,13.4,276,8487,0.00,2.17,0.00,0.000,6,0.000,0.048,2929,2100,2314,0,0,0,0,0,0
$GC,8795,0.94,236.0,325.8,11.5,284,8799,0.00,2.20,0.00,0.000,4,0.000,0.057,2940,679,2316,0,0,0,0,0,0
$GC,8863,0.94,236.0,317.5,11.8,285,8868,0.15,2.25,0.00,0.000,6,0.229,0.054,2906,2111,2313,0,0,0,0,0,0
$GC,9190,0.94,236.0,282.1,10.5,297,9194,0.00,2.20,0.00,0.000,4,0.000,0.064,2906,3516,2313,0,0,0,0,0,0
$GC,9383,0.97,255.2,260.3,9.2,305,9400,0.00,2.17,12.62,0.778,6,0.000,0.047,2915,2089,2259,0,0,1,0,0,0
$GC,9720,0.97,255.2,223.9,11.4,322,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2089,2257,0,0,0,0,0,0
$GC,10031,0.97,255.2,190.7,10.7,341,10035,0.00,2.25,0.00,0.000,4,0.000,0.063,2911,3508,2258,0,0,0,0,0,0
$GC,10128,0.97,255.2,178.3,13.1,351,10133,0.00,2.15,0.00,0.000,6,0.000,0.045,2926,2102,2258,0,0,0,0,0,0
$GC,10388,0.97,255.2,148.0,12.9,375,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2099,2258,0,0,0,0,0,0
$GC,10643,0.97,255.2,119.6,10.0,399,10647,0.00,2.20,0.00,0.000,4,0.000,0.061,2926,3509,2259,0,0,0,0,0,0
$GC,10688,0.97,255.2,114.8,11.2,403,10694,0.00,2.17,0.00,0.000,6,0.000,0.045,2936,2095,2258,0,0,0,0,0,0
$GC,10949,1.06,332.2,91.8,6.9,428,11017,0.00,2.28,60.00,0.656,4,0.000,0.057,2947,698,1945,0,0,0,0,0,0
$GC,11092,1.06,332.2,74.1,16.1,444,11096,0.00,2.25,0.00,0.000,6,0.000,0.056,2946,2100,1939,0,0,0,0,0,0
$GC,11352,1.06,332.2,41.8,11.7,468,11356,0.00,2.25,0.00,0.000,4,0.000,0.061,2947,3522,1937,0,0,0,0,0,0
$GC,11620,1.06,332.2,8.2,10.6,517,11625,0.00,2.20,0.00,0.000,6,0.000,0.047,2957,2099,1936,0,0,1,0,0,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FINISH,0.1,1.022028
$STATE,11749,end surface coast,CONTROL_FINISHED_OK
$STATE,11749,begin surface
$SM_CCo,11765,95.60,0.568,0,0,1259,500.16
$SM_GC,0.92,0.00,0.00,95.60,0.000,0.000,0.568,48,2093,1259,-7.97,0.37,500.16
$IRIDIUM_FIX,2050.21,12703.73,170512,020248
$TT8_MAMPS,0.057525
$HUMID,1078750313
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.60
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416428032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59189985280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,11.901
$10V_AH,10.3,6.527
$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,19.950,101.875,398.025,95.600,0.000,29.459,33.179,431.806,0.500,0.000,14.324,1063.521,8824.154,550.219,1943.726,108.149,33.382,1345.623,0.000,1386.812,0.000,0.541,0.000
$DEVICE_MAMPS,268.450,65.962,1248.676,567.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.263,0.000,0.000,0.000,0.000,0.000,0.000,11525.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.906,0.000,0.000
$MEM,355264
$DATA_FILE_SIZE,20169,540
$CAP_FILE_SIZE,116333,0
$CFSIZE,260165632,254517248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,221110,155758,2054.610,12701.475,11,3.2,30,-2.8