version: 66.07
glider: 511
mission: 5
dive: 58
start: 11 23 110 8 31 28
data:
$ID,511
$MISSION,5
$DIVE,58
$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,-41122.5
$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,32
$R_STBD_OVSHOOT,27
$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,57
$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
$GPS1,231110,081001,2054.964,12701.757,84,1.5,84,-2.8
$_CALLS,3
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.6
$GPS2,231110,083032,2055.471,12701.291,10,1.5,10,-2.8
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.086,-0.261
$KALMAN_X,-5198.7,-825.7,200.9,-54226.9,-2015.3
$KALMAN_Y,187888.9,-1150.9,-482.1,-151007.3,9068.5
$MHEAD_RNG_PITCHd_Wd,201.0,55229,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-56.62,0.000,2,0.000,0.000,42,2079,2789,0,0,0,0,0,0
$GC,86,-0.86,-165.5,3.4,-8.5,11,126,9.82,2.25,-21.83,0.000,4,0.263,0.067,2312,676,3964,0,0,0,0,0,0
$GC,208,-0.86,-165.5,47.6,-32.8,32,214,0.00,2.20,0.00,0.000,6,0.000,0.054,2303,2073,3965,0,0,1,0,0,0
$GC,468,-0.86,-165.5,139.2,-32.8,57,472,0.00,2.17,0.00,0.000,4,0.000,0.054,2303,670,3965,0,0,0,0,0,0
$GC,513,-0.86,-165.5,152.9,-27.8,61,520,0.10,2.22,0.00,0.000,6,0.343,0.054,2316,2081,3967,0,0,0,0,0,0
$GC,771,-0.86,-165.5,222.9,-27.6,82,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2081,3967,0,0,0,0,0,0
$GC,1080,-0.86,-165.5,297.2,-22.6,97,1084,0.00,2.15,0.00,0.000,4,0.000,0.049,2317,670,3968,0,0,0,0,0,0
$GC,1139,-0.86,-165.5,308.9,-17.1,99,1143,0.00,2.20,0.00,0.000,6,0.000,0.046,2308,2090,3968,0,0,0,0,0,0
$GC,1451,-0.86,-165.5,374.0,-21.0,107,1455,0.00,2.20,0.00,0.000,4,0.000,0.060,2300,3496,3967,0,0,0,0,0,0
$GC,1468,-0.86,-165.5,377.9,-22.0,107,1473,0.00,2.17,0.00,0.000,6,0.000,0.040,2294,2073,3967,0,0,0,0,0,0
$GC,1816,-0.86,-165.5,452.7,-22.5,116,1820,0.00,2.15,0.00,0.000,4,0.000,0.051,2297,668,3965,0,0,0,0,0,0
$GC,1900,-0.86,-165.5,468.6,-17.5,117,1905,0.00,2.17,0.00,0.000,6,0.000,0.048,2296,2087,3963,0,0,1,0,0,0
$GC,2229,-0.86,-165.5,530.4,-18.4,126,2233,0.00,2.20,0.00,0.000,4,0.000,0.061,2285,3495,3961,0,0,0,0,0,0
$GC,2283,-0.86,-165.5,539.7,-15.4,127,2288,0.12,2.17,0.00,0.000,6,0.167,0.041,2320,2063,3961,0,0,0,0,0,0
$GC,2605,-0.86,-165.5,584.6,-13.9,135,2609,0.00,2.12,0.00,0.000,4,0.000,0.053,2320,675,3958,0,0,0,0,0,0
$GC,2678,-0.86,-165.5,593.8,-11.8,136,2682,0.00,2.17,0.00,0.000,6,0.000,0.051,2312,2084,3960,0,0,0,0,0,0
$GC,3017,-0.86,-165.5,639.5,-13.5,145,3021,0.00,2.22,0.00,0.000,4,0.000,0.064,2302,3490,3952,0,0,0,0,0,0
$GC,3090,-0.86,-165.5,649.2,-12.1,146,3093,0.00,2.12,0.00,0.000,6,0.000,0.044,2301,2078,3952,0,0,0,0,0,0
$GC,3428,-0.86,-165.5,700.3,-15.4,155,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2072,3949,0,0,0,0,0,0
$GC,3753,-0.86,-165.5,750.9,-15.3,163,3757,0.00,2.15,0.00,0.000,4,0.000,0.055,2302,676,3943,0,0,0,0,0,0
$GC,3799,-0.86,-165.5,757.7,-13.7,164,3803,0.00,2.17,0.00,0.000,6,0.000,0.051,2296,2076,3942,0,0,0,0,0,0
$GC,4125,-0.86,-165.5,807.2,-15.1,172,4129,0.00,2.22,0.00,0.000,4,0.000,0.066,2286,3489,3940,0,0,0,0,0,0
$GC,4166,-0.86,-165.5,813.3,-14.0,173,4171,0.12,2.15,0.00,0.000,6,0.167,0.046,2320,2076,3939,0,0,0,0,0,0
$GC,4493,-0.86,-165.5,854.1,-12.5,181,4497,0.00,2.17,0.00,0.000,4,0.000,0.057,2320,673,3936,0,0,0,0,0,0
$GC,4529,-0.86,-165.5,859.0,-12.0,181,4535,0.00,2.22,0.00,0.000,6,0.000,0.053,2315,2088,3935,0,0,0,0,0,0
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4861,-0.28,0.0,903.6,13.8,190,4989,0.60,0.00,125.03,1.254,6,0.142,0.000,2503,2087,3300,0,0,0,0,0,0
$STATE,4991,end apogee,CONTROL_FINISHED_OK
$STATE,4991,begin climb
$GC,4992,0.86,165.5,911.9,0.0,193,5138,1.02,2.50,137.38,1.222,4,0.062,0.060,2890,642,2625,0,0,1,0,0,0
$GC,5313,0.86,165.5,912.5,10.5,200,5317,0.00,2.30,0.00,0.000,6,0.000,0.052,2890,2054,2614,0,0,0,0,0,0
$GC,5626,0.86,165.5,880.3,10.4,208,5630,0.00,2.25,0.00,0.000,4,0.000,0.064,2890,3458,2611,0,0,0,0,0,0
$GC,5661,0.86,165.5,876.4,10.7,208,5667,0.00,2.22,0.00,0.000,6,0.000,0.050,2902,2049,2610,0,0,0,0,0,0
$GC,5991,0.86,165.5,842.6,10.1,217,5995,0.00,2.25,0.00,0.000,4,0.000,0.063,2901,3458,2608,0,0,0,0,0,0
$GC,6041,0.86,165.5,837.4,10.4,218,6046,0.15,2.22,0.00,0.000,6,0.243,0.050,2880,2048,2608,0,0,0,0,0,0
$GC,6363,0.89,193.6,809.2,8.9,226,6392,0.00,2.33,21.65,1.165,4,0.000,0.059,2888,642,2510,0,0,0,0,0,0
$GC,6553,0.89,193.6,786.6,12.1,230,6557,0.00,2.22,0.00,0.000,6,0.000,0.052,2889,2047,2505,0,0,0,0,0,0
$GC,6874,0.89,193.6,748.8,11.7,238,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2047,2502,0,0,0,0,0,0
$GC,7199,0.89,193.6,711.1,11.3,246,7203,0.00,2.28,0.00,0.000,4,0.000,0.062,2899,632,2501,0,0,0,0,0,0
$GC,7337,0.89,193.6,694.7,11.4,249,7341,0.00,2.22,0.00,0.000,6,0.000,0.054,2899,2049,2500,0,0,0,0,0,0
$GC,7663,0.89,193.6,656.4,11.7,257,7667,0.00,2.25,0.00,0.000,4,0.000,0.067,2899,3469,2500,0,0,0,0,0,0
$GC,7832,0.89,193.6,635.4,12.2,260,7836,0.00,2.20,0.00,0.000,6,0.000,0.051,2910,2054,2499,0,0,0,0,0,0
$GC,8166,0.91,204.5,601.1,9.6,269,8179,0.00,2.25,8.15,0.965,4,0.000,0.064,2909,3462,2468,0,0,0,0,0,0
$GC,8231,0.91,204.5,593.9,11.8,270,8235,0.00,2.22,0.00,0.000,6,0.000,0.051,2920,2049,2467,0,0,0,0,0,0
$GC,8574,0.91,204.5,557.2,10.4,279,8578,0.00,2.22,0.00,0.000,4,0.000,0.060,2932,635,2464,0,0,0,0,0,0
$GC,8712,0.91,204.5,542.1,11.8,282,8716,0.15,2.22,0.00,0.000,6,0.231,0.054,2898,2059,2463,0,0,0,0,0,0
$GC,9038,0.94,235.6,513.1,8.7,290,9071,0.00,2.33,26.80,1.017,4,0.000,0.066,2897,3454,2340,0,0,0,0,0,0
$GC,9334,0.94,235.6,472.8,14.4,296,9339,0.00,2.20,0.00,0.000,6,0.000,0.051,2907,2047,2335,0,0,0,0,0,0
$GC,9678,0.94,235.6,426.2,13.0,305,9682,0.00,2.25,0.00,0.000,4,0.000,0.059,2918,629,2332,0,0,0,0,0,0
$GC,9828,0.94,235.6,408.1,12.0,308,9833,0.00,2.22,0.00,0.000,6,0.000,0.053,2917,2050,2330,0,0,0,0,0,0
$GC,10141,0.94,235.6,371.8,11.3,316,10145,0.00,2.22,0.00,0.000,4,0.000,0.065,2918,3461,2330,0,0,0,0,0,0
$GC,10408,0.94,235.6,336.3,14.0,321,10413,0.00,2.20,0.00,0.000,6,0.000,0.050,2928,2051,2330,0,0,0,0,0,0
$GC,10738,0.94,235.6,295.9,12.0,330,10742,0.00,2.25,0.00,0.000,4,0.000,0.063,2928,3462,2330,0,0,0,0,0,0
$GC,11005,0.94,235.6,262.8,12.5,341,11011,0.15,2.17,0.00,0.000,6,0.237,0.048,2906,2047,2330,0,0,0,0,0,0
$GC,11319,0.99,270.6,234.0,8.6,357,11352,0.00,2.28,27.50,0.799,4,0.000,0.063,2905,3461,2200,0,0,0,0,0,0
$GC,11615,0.99,270.6,190.7,15.0,373,11621,0.00,2.20,0.00,0.000,6,0.000,0.048,2915,2058,2194,0,0,1,0,0,0
$GC,11875,0.99,270.6,156.0,12.8,398,11880,0.00,2.25,0.00,0.000,4,0.000,0.061,2911,3463,2192,0,0,0,0,0,0
$GC,12142,0.99,270.6,124.5,11.3,426,12148,0.00,2.20,0.00,0.000,6,0.000,0.045,2925,2045,2192,0,0,0,0,0,0
$GC,12403,1.03,304.5,101.5,8.6,451,12437,0.00,2.33,27.12,0.676,4,0.000,0.061,2925,3460,2058,0,0,0,0,0,0
$GC,12698,1.18,428.2,72.6,5.0,483,12799,0.12,2.20,92.65,0.639,6,0.107,0.044,2983,2038,1554,0,0,0,0,0,0
$GC,13057,1.18,428.2,14.8,14.4,527,13063,0.00,2.17,0.00,0.000,4,0.000,0.052,2993,646,1543,0,0,0,0,0,0
$STATE,13122,end climb,SURFACE_DEPTH_REACHED
$STATE,13122,begin surface coast
$FINISH,-0.2,1.021920
$STATE,13142,end surface coast,CONTROL_FINISHED_OK
$STATE,13142,begin surface
$SM_CCo,13160,40.83,0.569,0,0,1264,500.16
$SM_GC,1.37,0.00,0.00,40.83,0.000,0.000,0.569,50,2080,1264,-7.97,0.00,500.16
$IRIDIUM_FIX,2047.91,12703.73,180512,020224
$TT8_MAMPS,0.056758
$HUMID,1078910313
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.50
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8441856000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59059273728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,12.882
$10V_AH,10.2,7.094
$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,20.500,120.025,466.275,40.825,0.000,85.352,106.604,778.550,0.500,0.000,12.740,1170.621,9723.500,542.813,2862.497,124.060,33.362,1560.964,0.000,1823.029,0.000,0.542,0.000
$DEVICE_MAMPS,342.849,67.496,1254.045,569.114,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,364.329,0.000,0.000,0.000,0.000,0.000,0.000,13333.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.726,0.000,0.000
$MEM,355264
$DATA_FILE_SIZE,20077,545
$CAP_FILE_SIZE,148036,0
$CFSIZE,260165632,254128128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,231110,121331,2055.512,12700.045,74,1.7,74,-2.8