version: 66.07
glider: 511
mission: 5
dive: 56
start: 11 23 110 0 27 52
data:
$ID,511
$MISSION,5
$DIVE,56
$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,-41070.691
$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,27
$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,55
$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
$GPS1,231110,001307,2055.160,12700.793,42,1.5,42,-2.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.6
$GPS2,231110,002655,2055.500,12700.650,11,1.5,11,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.140
$KALMAN_X,-1976.1,610.5,336.2,-60158.4,-1813.0
$KALMAN_Y,180284.3,-377.3,-240.2,-144364.3,8531.8
$MHEAD_RNG_PITCHd_Wd,123.6,54850,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.86,-165.4,0.0,0.0,0,113,0.00,0.00,-85.93,0.000,2,0.000,0.000,43,2080,2838,0,0,0,0,0,0
$GC,115,-0.86,-165.5,3.3,-7.6,17,155,10.05,2.25,-21.33,0.000,4,0.272,0.065,2312,674,3966,0,0,0,0,0,0
$GC,198,-0.86,-165.5,33.2,-31.1,34,202,0.00,2.22,0.00,0.000,6,0.000,0.058,2303,2078,3965,0,0,0,0,0,0
$GC,457,-0.86,-165.5,126.7,-33.6,58,461,0.00,2.25,0.00,0.000,4,0.000,0.064,2293,3500,3969,0,0,0,0,0,0
$GC,502,-0.86,-165.5,141.6,-30.1,62,509,0.12,2.20,0.00,0.000,6,0.197,0.046,2322,2081,3967,0,0,0,0,0,0
$GC,761,-0.86,-165.5,213.8,-27.2,85,765,0.00,2.20,0.00,0.000,4,0.000,0.060,2322,664,3967,0,0,0,0,0,0
$GC,843,-0.86,-165.5,232.0,-18.9,88,849,0.00,2.25,0.00,0.000,6,0.000,0.053,2314,2087,3971,0,0,0,0,0,0
$GC,1178,-0.86,-165.5,310.7,-23.7,104,1182,0.00,2.22,0.00,0.000,4,0.000,0.065,2302,3491,3967,0,0,0,0,0,0
$GC,1195,-0.86,-165.5,314.7,-22.1,104,1199,0.00,2.17,0.00,0.000,6,0.000,0.044,2303,2076,3967,0,0,0,0,0,0
$GC,1543,-0.86,-165.5,391.9,-21.8,113,1547,0.00,2.15,0.00,0.000,4,0.000,0.054,2303,672,3966,0,0,0,0,0,0
$GC,1611,-0.86,-165.5,405.4,-18.3,114,1616,0.10,2.22,0.00,0.000,6,0.189,0.054,2317,2088,3964,0,0,0,0,0,0
$GC,1960,-0.86,-165.5,470.0,-18.7,123,1964,0.00,2.20,0.00,0.000,4,0.000,0.062,2308,3491,3961,0,0,0,0,0,0
$GC,2060,-0.86,-165.5,486.5,-14.9,125,2064,0.00,2.15,0.00,0.000,6,0.000,0.043,2308,2076,3965,0,0,0,0,0,0
$GC,2382,-0.86,-165.5,542.3,-17.7,133,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2070,3959,0,0,0,0,0,0
$GC,2706,-0.86,-165.5,599.1,-17.0,141,2710,0.00,2.22,0.00,0.000,4,0.000,0.064,2298,3491,3956,0,0,0,0,0,0
$GC,2733,-0.86,-165.5,603.8,-17.2,141,2737,0.00,2.17,0.00,0.000,6,0.000,0.043,2298,2080,3956,0,0,0,0,0,0
$GC,3072,-0.86,-165.5,661.5,-16.9,150,3076,0.00,2.25,0.00,0.000,4,0.000,0.064,2287,3498,3952,0,0,0,0,0,0
$GC,3089,-0.86,-165.5,664.7,-17.0,150,3094,0.12,2.20,0.00,0.000,6,0.182,0.044,2320,2079,3955,0,0,0,0,0,0
$GC,3401,-0.86,-165.5,708.8,-13.9,158,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2071,3949,0,0,0,0,0,0
$GC,3726,-0.86,-165.5,750.7,-12.2,166,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2072,3943,0,0,0,0,0,0
$GC,4051,-0.86,-165.5,788.1,-11.4,174,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2072,3941,0,0,0,0,0,0
$GC,4376,-0.86,-165.5,826.6,-11.9,182,4380,0.00,2.25,0.00,0.000,4,0.000,0.066,2308,3496,3937,0,0,0,0,0,0
$GC,4398,-0.86,-165.5,829.5,-12.7,182,4402,0.00,2.20,0.00,0.000,6,0.000,0.047,2311,2071,3934,0,0,0,0,0,0
$GC,4742,-0.86,-165.5,874.2,-13.1,191,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2066,3933,0,0,0,0,0,0
$STATE,4943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4943,begin apogee
$GC,4947,-0.28,0.0,900.9,13.1,196,5075,0.62,0.00,124.75,1.252,6,0.141,0.000,2509,2100,3301,0,0,0,0,0,0
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5099,0.86,165.5,908.0,0.0,199,5243,1.00,0.00,138.20,1.223,6,0.062,0.000,2880,2100,2626,0,0,0,0,0,0
$GC,5546,0.86,165.5,894.0,10.6,210,5550,0.00,2.30,0.00,0.000,4,0.000,0.066,2879,3514,2614,0,0,0,0,0,0
$GC,5715,0.86,165.5,874.7,10.8,213,5719,0.00,2.25,0.00,0.000,6,0.000,0.050,2890,2103,2613,0,0,0,0,0,0
$GC,6049,0.86,165.5,839.9,10.3,222,6053,0.00,2.28,0.00,0.000,4,0.000,0.064,2890,3518,2609,0,0,0,0,0,0
$GC,6154,0.86,165.5,828.7,10.2,224,6158,0.00,2.25,0.00,0.000,6,0.000,0.049,2902,2089,2609,0,0,0,0,0,0
$GC,6467,0.88,185.4,800.5,9.2,232,6487,0.00,2.30,14.98,1.131,4,0.000,0.061,2914,689,2546,0,0,0,0,0,0
$GC,6616,0.88,185.4,784.9,10.2,235,6620,0.00,2.25,0.00,0.000,6,0.000,0.055,2912,2106,2541,0,0,0,0,0,0
$GC,6932,0.88,185.4,752.2,10.4,243,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2107,2538,0,0,0,0,0,0
$GC,7258,0.89,195.6,720.6,9.6,251,7274,0.00,2.28,9.25,1.037,4,0.000,0.063,2922,692,2501,0,0,0,0,0,0
$GC,7357,0.89,195.6,710.6,10.1,253,7362,0.15,2.25,0.00,0.000,6,0.238,0.056,2889,2100,2500,0,0,0,0,0,0
$GC,7674,0.89,195.6,678.8,10.1,261,7678,0.00,2.28,0.00,0.000,4,0.000,0.067,2883,3511,2498,0,0,0,0,0,0
$GC,7770,0.89,195.6,668.0,12.2,263,7773,0.00,2.22,0.00,0.000,6,0.000,0.052,2891,2101,2498,0,0,0,0,0,0
$GC,8095,0.89,195.6,632.6,10.8,271,8099,0.00,2.28,0.00,0.000,4,0.000,0.067,2891,3510,2496,0,0,0,0,0,0
$GC,8288,0.89,195.6,612.0,10.1,275,8292,0.00,2.20,0.00,0.000,6,0.000,0.051,2902,2095,2494,0,0,0,0,0,0
$GC,8605,0.93,227.9,582.6,8.7,283,8635,0.00,0.00,27.62,1.062,6,0.000,0.000,2902,2089,2370,0,0,0,0,0,0
$GC,8930,0.93,227.9,543.4,12.6,291,8934,0.00,2.28,0.00,0.000,4,0.000,0.066,2902,3509,2363,0,0,0,0,0,0
$GC,9197,0.93,227.9,506.1,15.5,296,9203,0.00,2.20,0.00,0.000,6,0.000,0.051,2913,2102,2362,0,0,0,0,0,0
$GC,9527,0.93,227.9,463.7,12.5,305,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2098,2359,0,0,0,0,0,0
$GC,9852,0.93,227.9,423.4,12.7,313,9856,0.00,2.25,0.00,0.000,4,0.000,0.066,2913,3513,2359,0,0,0,0,0,0
$GC,9980,0.93,227.9,405.1,14.1,315,9986,0.00,2.22,0.00,0.000,6,0.000,0.050,2924,2094,2359,0,0,0,0,0,0
$GC,10310,0.93,227.9,369.9,10.2,324,10314,0.00,2.20,0.00,0.000,4,0.000,0.058,2934,686,2358,0,0,0,0,0,0
$GC,10393,0.96,249.9,362.4,9.1,325,10417,0.00,2.22,17.10,0.886,6,0.000,0.052,2934,2100,2282,0,0,0,0,0,0
$GC,10725,0.96,249.9,318.4,13.6,334,10729,0.00,2.28,0.00,0.000,4,0.000,0.065,2934,3514,2279,0,0,0,0,0,0
$GC,10821,0.96,249.9,304.6,14.7,336,10825,0.15,2.20,0.00,0.000,6,0.238,0.049,2912,2094,2279,0,0,0,0,0,0
$GC,11152,0.96,249.9,266.4,10.3,351,11156,0.00,2.25,0.00,0.000,4,0.000,0.063,2912,3514,2278,0,0,0,0,0,0
$GC,11183,0.96,249.9,262.8,11.2,352,11187,0.00,2.20,0.00,0.000,6,0.000,0.048,2921,2100,2280,0,0,0,0,0,0
$GC,11502,0.96,249.9,226.1,11.7,368,11506,0.00,2.17,0.00,0.000,4,0.000,0.057,2932,692,2278,0,0,0,0,0,0
$GC,11602,0.96,249.9,214.3,10.8,372,11606,0.00,2.22,0.00,0.000,6,0.000,0.051,2932,2103,2277,0,0,0,0,0,0
$GC,11926,0.96,252.6,181.3,9.9,396,11930,0.00,2.20,0.00,0.000,4,0.000,0.062,2932,3513,2278,0,0,0,0,0,0
$GC,11981,0.96,252.6,175.5,10.1,401,11990,0.12,2.20,3.35,0.439,6,0.240,0.050,2912,2101,2271,0,0,0,0,0,0
$GC,12251,1.00,284.5,151.0,8.7,427,12286,0.00,2.33,26.90,0.709,4,0.000,0.064,2916,3506,2139,0,0,0,0,0,0
$GC,12465,1.00,284.5,121.7,14.1,450,12471,0.00,2.20,0.00,0.000,6,0.000,0.046,2925,2099,2136,0,0,0,0,0,0
$GC,12725,1.00,284.5,88.9,10.7,475,12729,0.00,2.22,0.00,0.000,4,0.000,0.061,2924,3509,2134,0,0,0,0,0,0
$GC,12784,1.02,302.1,83.1,9.3,481,12807,0.00,2.20,14.90,0.633,6,0.000,0.046,2935,2098,2066,0,0,0,0,0,0
$GC,13061,1.19,437.6,63.2,4.5,508,13170,0.15,2.30,101.40,0.625,4,0.100,0.053,3003,679,1514,0,0,0,0,0,0
$GC,13264,1.19,437.6,30.9,23.9,531,13268,0.00,2.28,0.00,0.000,6,0.000,0.050,3002,2101,1506,0,0,0,0,0,0
$STATE,13380,end climb,SURFACE_DEPTH_REACHED
$STATE,13381,begin surface coast
$FINISH,0.1,1.021992
$STATE,13392,end surface coast,CONTROL_FINISHED_OK
$STATE,13392,begin surface
$SM_CCo,13408,35.62,0.565,0,0,1261,500.16
$SM_GC,1.23,0.00,0.00,35.62,0.000,0.000,0.565,53,2106,1261,-7.97,0.71,500.16
$IRIDIUM_FIX,2047.91,12703.73,170512,141409
$TT8_MAMPS,0.062894
$HUMID,1078866442
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416296960
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59110719488
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,12.492
$10V_AH,10.3,6.877
$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,20.675,111.600,478.450,35.625,0.000,31.022,35.864,612.945,0.500,0.000,13.190,1117.870,10103.385,589.767,2326.594,125.267,33.355,1485.493,0.000,1559.167,0.000,0.542,0.000
$DEVICE_MAMPS,271.518,158.769,1251.744,564.512,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.136,0.000,0.000,0.000,0.000,0.000,0.000,13142.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.213,0.000,0.000
$MEM,355216
$DATA_FILE_SIZE,20061,553
$CAP_FILE_SIZE,132738,0
$CFSIZE,260165632,254275584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,041345,2055.313,12701.927,41,2.1,60,-2.8