version: 66.07
glider: 511
mission: 5
dive: 70
start: 11 25 110 23 4 14
data:
$ID,511
$MISSION,5
$DIVE,70
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,366
$T_MISSION,725
$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,-41951.676
$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,2650
$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,37
$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,3277
$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,69
$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
$GPS1,251110,224936,2100.595,12657.443,37,1.1,42,-2.8
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.8
$GPS2,251110,230320,2100.936,12657.529,14,1.2,14,-2.8
$SPEED_LIMITS,0.156,0.265
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.224
$KALMAN_X,-21292.4,1556.0,306.9,-47155.5,-2995.6
$KALMAN_Y,254984.2,1006.2,156.3,-210786.8,5286.4
$MHEAD_RNG_PITCHd_Wd,150.7,62761,-14.8,-9.016
$D_GRID,990
$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,-0.79,-165.5,0.0,0.0,0,82,0.00,0.00,-55.72,0.000,2,0.000,0.000,43,2041,2744,0,0,0,0,0,0
$GC,85,-0.79,-165.5,3.6,-7.4,11,125,10.32,2.17,-22.42,0.000,4,0.268,0.066,2384,689,3954,0,0,0,0,0,0
$GC,281,-0.79,-165.5,60.5,-21.2,40,287,0.00,2.17,0.00,0.000,6,0.000,0.048,2376,2084,3957,0,0,0,0,0,0
$GC,542,-0.79,-165.5,120.3,-21.6,65,546,0.00,2.22,0.00,0.000,4,0.000,0.060,2371,3490,3958,0,0,0,0,0,0
$GC,610,-0.79,-165.5,134.7,-19.2,72,614,0.00,2.12,0.00,0.000,6,0.000,0.040,2369,2083,3959,0,0,0,0,0,0
$GC,871,-0.79,-165.5,189.3,-20.8,96,875,0.00,2.15,0.00,0.000,4,0.000,0.049,2365,674,3959,0,0,0,0,0,0
$GC,907,-0.79,-165.5,197.3,-19.3,100,912,0.12,2.17,0.00,0.000,6,0.176,0.048,2391,2080,3959,0,0,0,0,0,0
$GC,1175,-0.79,-165.5,236.8,-14.5,114,1179,0.00,2.22,0.00,0.000,4,0.000,0.060,2382,3493,3957,0,0,0,0,0,0
$GC,1263,-0.79,-165.5,248.1,-11.6,118,1267,0.00,2.15,0.00,0.000,6,0.000,0.039,2382,2073,3959,0,0,0,0,0,0
$GC,1590,-0.79,-165.5,295.4,-14.8,134,1594,0.00,2.22,0.00,0.000,4,0.000,0.059,2372,3496,3959,0,0,0,0,0,0
$GC,1640,-0.79,-165.5,302.0,-12.5,136,1644,0.00,2.15,0.00,0.000,6,0.000,0.039,2372,2079,3959,0,0,0,0,0,0
$GC,1961,-0.79,-165.5,347.5,-14.1,144,1965,0.00,2.12,0.00,0.000,4,0.000,0.049,2372,679,3955,0,0,0,0,0,0
$GC,1992,-0.79,-165.5,351.9,-13.2,144,1996,0.00,2.15,0.00,0.000,6,0.000,0.048,2368,2085,3958,0,0,0,0,0,0
$GC,2331,-0.79,-165.5,397.2,-12.9,153,2335,0.00,2.17,0.00,0.000,4,0.000,0.060,2359,3490,3957,0,0,0,0,0,0
$GC,2404,-0.79,-165.5,405.6,-10.3,154,2408,0.12,2.10,0.00,0.000,6,0.152,0.042,2394,2081,3956,0,0,0,0,0,0
$GC,2744,-0.79,-165.5,430.5,-6.8,163,2748,0.00,2.22,0.00,0.000,4,0.000,0.064,2391,3493,3954,0,0,0,0,0,0
$GC,2789,-0.79,-165.5,433.5,-6.4,164,2793,0.00,2.12,0.00,0.000,6,0.000,0.041,2389,2080,3953,0,0,0,0,0,0
$GC,3111,-0.79,-165.5,457.2,-7.7,172,3114,0.00,2.22,0.00,0.000,4,0.000,0.064,2390,3487,3953,0,0,0,0,0,0
$GC,3206,-0.79,-165.5,463.8,-6.6,174,3210,0.00,2.12,0.00,0.000,6,0.000,0.041,2389,2077,3951,0,0,0,0,0,0
$GC,3528,-0.79,-165.5,488.2,-7.9,182,3532,0.00,2.22,0.00,0.000,4,0.000,0.064,2389,3488,3950,0,0,0,0,0,0
$GC,3564,-0.79,-165.5,491.0,-7.3,182,3569,0.00,2.12,0.00,0.000,6,0.000,0.042,2389,2085,3948,0,0,0,0,0,0
$GC,3894,-0.79,-165.5,517.1,-8.1,191,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2080,3945,0,0,0,0,0,0
$GC,4219,-0.79,-165.5,543.2,-7.9,199,4223,0.00,2.25,0.00,0.000,4,0.000,0.066,2391,3490,3942,0,0,0,0,0,0
$GC,4252,-0.79,-165.5,545.5,-7.0,199,4256,0.00,2.12,0.00,0.000,6,0.000,0.044,2389,2079,3942,0,0,0,0,0,0
$GC,4582,-0.79,-165.5,569.9,-7.0,207,4586,0.00,2.22,0.00,0.000,4,0.000,0.065,2389,3485,3939,0,0,0,0,0,0
$GC,4641,-0.79,-165.5,573.7,-6.1,208,4645,0.00,2.15,0.00,0.000,6,0.000,0.045,2389,2078,3938,0,0,0,0,0,0
$GC,4954,-0.79,-165.5,595.0,-6.8,216,4958,0.00,2.22,0.00,0.000,4,0.000,0.065,2395,3487,3937,0,0,0,0,0,0
$GC,4999,-0.79,-165.5,598.1,-6.3,217,5003,0.00,2.12,0.00,0.000,6,0.000,0.045,2389,2078,3937,0,0,0,0,0,0
$GC,5321,-0.79,-165.5,620.3,-7.1,225,5325,0.00,2.25,0.00,0.000,4,0.000,0.067,2389,3488,3932,0,0,0,0,0,0
$GC,5357,-0.79,-165.5,622.9,-7.1,225,5361,0.00,2.12,0.00,0.000,6,0.000,0.045,2389,2083,3934,0,0,0,0,0,0
$GC,5691,-0.79,-165.5,647.3,-7.5,234,5695,0.00,2.25,0.00,0.000,4,0.000,0.068,2389,3486,3932,0,0,0,0,0,0
$GC,5738,-0.79,-165.5,650.7,-7.5,235,5742,0.00,2.17,0.00,0.000,6,0.000,0.047,2389,2072,3931,0,0,0,0,0,0
$GC,6064,-0.79,-165.5,674.5,-7.3,243,6068,0.00,2.25,0.00,0.000,4,0.000,0.067,2395,3488,3928,0,0,0,0,0,0
$GC,6100,-0.79,-165.5,677.2,-7.0,243,6106,0.00,2.15,0.00,0.000,6,0.000,0.048,2389,2072,3928,0,0,0,0,0,0
$GC,6430,-0.79,-165.5,700.0,-6.9,252,6434,0.00,2.25,0.00,0.000,4,0.000,0.068,2389,3488,3926,0,0,0,0,0,0
$GC,6457,-0.79,-165.5,701.8,-6.5,252,6461,0.00,2.15,0.00,0.000,6,0.000,0.048,2389,2090,3926,0,0,0,0,0,0
$GC,6792,-0.79,-165.5,724.1,-6.8,261,6796,0.00,2.22,0.00,0.000,4,0.000,0.068,2389,3484,3922,0,0,0,0,0,0
$GC,6834,-0.79,-165.5,726.9,-5.9,262,6838,0.00,2.17,0.00,0.000,6,0.000,0.049,2389,2066,3925,0,0,0,0,0,0
$GC,7161,-0.79,-165.5,750.6,-7.4,270,7165,0.00,2.28,0.00,0.000,4,0.000,0.068,2389,3485,3922,0,0,0,0,0,0
$GC,7192,-0.79,-165.5,753.1,-7.5,270,7196,0.00,2.15,0.00,0.000,6,0.000,0.049,2389,2080,3922,0,0,0,0,0,0
$GC,7527,-0.79,-165.5,775.0,-6.5,279,7531,0.00,2.25,0.00,0.000,4,0.000,0.070,2389,3487,3920,0,0,0,0,0,0
$GC,7558,-0.79,-165.5,777.1,-6.4,279,7562,0.00,2.20,0.00,0.000,6,0.000,0.049,2389,2071,3920,0,0,0,0,0,0
$GC,7888,-0.79,-165.5,803.7,-9.1,287,7892,0.00,2.30,0.00,0.000,4,0.000,0.070,2389,3492,3918,0,0,0,0,0,0
$GC,8035,-0.79,-165.5,818.5,-10.0,290,8039,0.00,2.17,0.00,0.000,6,0.000,0.051,2390,2091,3917,0,0,0,0,0,0
$GC,8351,-0.79,-165.5,848.8,-9.6,298,8355,0.00,2.25,0.00,0.000,4,0.000,0.068,2390,3491,3915,0,0,0,0,0,0
$GC,8497,-0.79,-165.5,863.3,-9.9,301,8501,0.00,2.20,0.00,0.000,6,0.000,0.051,2389,2066,3915,0,0,0,0,0,0
$GC,8818,-0.79,-165.5,895.2,-10.3,309,8822,0.00,2.28,0.00,0.000,4,0.000,0.069,2389,3487,3913,0,0,0,0,0,0
$GC,8882,-0.79,-165.5,901.9,-10.4,310,8886,0.00,2.17,0.00,0.000,6,0.000,0.052,2389,2079,3913,0,0,0,0,0,0
$GC,9225,-0.79,-165.5,939.0,-11.0,319,9229,0.00,2.22,0.00,0.000,4,0.000,0.062,2389,675,3912,0,0,0,0,0,0
$GC,9248,-0.79,-165.5,941.6,-12.2,319,9252,0.00,2.20,0.00,0.000,6,0.000,0.054,2389,2081,3912,0,0,0,0,0,0
$GC,9586,-0.79,-165.5,978.3,-11.0,328,9590,0.00,2.25,0.00,0.000,4,0.000,0.071,2392,3491,3912,0,0,0,0,0,0
$GC,9669,-0.79,-165.5,987.5,-11.0,329,9675,0.00,2.20,0.00,0.000,6,0.000,0.053,2390,2069,3910,0,0,0,0,0,0
$STATE,9713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9713,begin apogee
$GC,9717,-0.28,0.0,992.3,10.7,331,9848,0.47,0.00,127.82,1.338,6,0.073,0.000,2572,2071,3279,0,0,0,0,0,0
$STATE,9863,end apogee,CONTROL_FINISHED_OK
$STATE,9863,begin climb
$GC,9865,0.79,165.5,1001.8,0.0,334,10015,0.90,2.45,141.38,1.309,4,0.054,0.062,2912,3452,2603,0,0,0,0,0,0
$GC,10034,0.96,297.5,1014.9,4.2,338,10156,0.10,2.33,113.70,1.288,6,0.128,0.049,2953,2048,2065,0,0,1,0,0,0
$GC,10483,0.96,297.5,899.9,28.6,349,10487,0.00,2.33,0.00,0.000,4,0.000,0.066,2953,3461,2054,0,0,0,0,0,0
$GC,10542,0.96,297.5,882.0,30.5,350,10546,0.00,2.25,0.00,0.000,6,0.000,0.052,2963,2056,2053,0,0,0,0,0,0
$GC,10854,0.96,297.5,795.0,27.3,358,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2049,2056,0,0,0,0,0,0
$GC,11179,0.96,297.5,707.4,26.0,366,11183,0.00,2.28,0.00,0.000,4,0.000,0.066,2963,3463,2051,0,0,0,0,0,0
$GC,11238,0.96,297.5,690.9,26.6,367,11242,0.00,2.25,0.00,0.000,6,0.000,0.052,2973,2048,2051,0,0,0,0,0,0
$GC,11550,0.96,297.5,608.1,25.9,375,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2041,2047,0,0,0,0,0,0
$GC,11875,0.96,297.5,530.6,22.9,383,11879,0.00,2.28,0.00,0.000,4,0.000,0.067,2973,3461,2052,0,0,0,0,0,0
$GC,12142,0.96,297.5,462.5,24.9,388,12148,0.00,2.20,0.00,0.000,6,0.000,0.051,2983,2045,2048,0,0,0,0,0,0
$GC,12472,0.96,297.5,387.4,22.1,397,12476,0.00,2.28,0.00,0.000,4,0.000,0.067,2983,3461,2048,0,0,0,0,0,0
$GC,12647,0.96,297.5,345.0,24.7,400,12653,0.15,2.22,0.00,0.000,6,0.257,0.051,2964,2047,2047,0,0,0,0,0,0
$GC,12958,0.96,297.5,277.1,21.6,411,12962,0.00,2.20,0.00,0.000,4,0.000,0.060,2974,641,2047,0,0,0,0,0,0
$GC,13017,0.96,297.5,265.3,18.5,413,13023,0.00,2.22,0.00,0.000,6,0.000,0.051,2965,2058,2046,0,0,0,0,0,0
$GC,13332,0.96,297.5,201.8,19.9,429,13336,0.00,2.22,0.00,0.000,4,0.000,0.064,2965,3465,2046,0,0,0,0,0,0
$GC,13492,0.96,297.5,170.8,17.9,446,13496,0.00,2.20,0.00,0.000,6,0.000,0.048,2973,2040,2048,0,0,0,0,0,0
$GC,13752,0.96,297.5,123.4,15.5,470,13756,0.00,2.30,0.00,0.000,4,0.000,0.065,2973,3467,2046,0,0,0,0,0,0
$GC,13999,0.96,297.5,89.2,12.6,496,14005,0.00,2.20,0.00,0.000,6,0.000,0.046,2984,2047,2048,0,0,0,0,0,0
$GC,14262,1.17,474.4,65.2,2.5,521,14403,0.12,2.35,130.40,0.644,4,0.109,0.059,3031,3458,1341,0,0,0,0,0,0
$GC,14533,1.17,474.4,8.8,28.9,560,14539,0.00,2.22,0.00,0.000,6,0.000,0.044,3042,2042,1336,0,0,0,0,0,0
$STATE,14560,end climb,SURFACE_DEPTH_REACHED
$STATE,14560,begin surface coast
$FINISH,0.2,1.021959
$STATE,14572,end surface coast,CONTROL_FINISHED_OK
$STATE,14572,begin surface
$SM_CCo,14595,16.45,0.562,0,0,1238,500.16
$SM_GC,0.83,0.00,0.00,16.45,0.000,0.000,0.562,50,2082,1238,-8.12,0.06,500.16
$IRIDIUM_FIX,2052.52,12658.66,200512,111110
$TT8_MAMPS,0.056758
$HUMID,1078955474
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8412135424
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58777206784
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,15.615
$10V_AH,10.2,8.673
$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,20.575,150.450,513.300,16.450,0.000,31.450,37.997,588.242,0.000,0.000,16.460,1207.246,11028.069,557.786,2474.961,150.531,33.360,1579.258,0.000,1722.976,0.000,0.541,0.000
$DEVICE_MAMPS,268.450,124.254,1338.415,562.211,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.202,0.000,0.000,0.000,0.000,0.000,0.000,14196.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.274,0.000,0.000
$MEM,355196
$DATA_FILE_SIZE,20098,567
$CAP_FILE_SIZE,151640,0
$CFSIZE,260165632,253095936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,261110,031031,2100.153,12658.870,114,1.3,114,-2.8