version: 66.07
glider: 511
mission: 5
dive: 85
start: 11 29 110 9 8 2
data:
$ID,511
$MISSION,5
$DIVE,85
$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,681.43231
$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,-42232.242
$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,24
$R_STBD_OVSHOOT,30
$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,84
$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
$GPS1,291110,084206,2100.503,12657.147,38,1.2,38,-2.8
$_CALLS,5
$_XMS_NAKs,33
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.0
$GPS2,291110,090708,2100.796,12657.252,14,1.2,14,-2.8
$SPEED_LIMITS,0.156,0.265
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.263
$KALMAN_X,-40610.7,1486.5,1020.7,-28991.6,-6217.7
$KALMAN_Y,337710.9,-1662.5,-975.4,-289963.9,11570.4
$MHEAD_RNG_PITCHd_Wd,189.5,62396,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.79,-165.5,0.0,0.0,0,113,0.00,0.00,-85.82,0.000,2,0.000,0.000,36,2044,2847,0,0,0,0,0,0
$GC,115,-0.79,-165.5,3.5,-6.3,17,151,10.18,2.22,-20.83,0.000,4,0.264,0.067,2386,666,3954,0,0,0,0,0,0
$GC,276,-0.79,-165.5,51.7,-24.8,42,282,0.00,2.22,0.00,0.000,6,0.000,0.053,2377,2079,3955,0,0,0,0,0,0
$GC,536,-0.79,-165.5,121.4,-22.8,67,540,0.00,2.25,0.00,0.000,4,0.000,0.061,2367,3499,3955,0,0,0,0,0,0
$GC,636,-0.79,-165.5,143.5,-20.0,77,642,0.00,2.15,0.00,0.000,6,0.000,0.040,2367,2070,3954,0,0,0,0,0,0
$GC,896,-0.79,-165.5,200.5,-22.6,102,900,0.00,2.12,0.00,0.000,4,0.000,0.048,2367,671,3955,0,0,0,0,0,0
$GC,919,-0.79,-165.5,205.2,-21.5,103,924,0.12,2.17,0.00,0.000,6,0.177,0.047,2393,2088,3955,0,0,0,0,0,0
$GC,1248,-0.79,-165.5,255.5,-14.4,119,1251,0.00,2.17,0.00,0.000,4,0.000,0.059,2386,3494,3958,0,0,0,0,0,0
$GC,1384,-0.79,-165.5,272.9,-11.1,125,1388,0.00,2.15,0.00,0.000,6,0.000,0.041,2386,2079,3954,0,0,0,0,0,0
$GC,1710,-0.79,-165.5,316.8,-13.2,138,1714,0.00,2.12,0.00,0.000,4,0.000,0.049,2386,670,3954,0,0,0,0,0,0
$GC,1734,-0.79,-165.5,319.7,-12.6,138,1738,0.00,2.20,0.00,0.000,6,0.000,0.051,2386,2079,3954,0,0,0,0,0,0
$GC,2073,-0.79,-165.5,360.2,-12.2,147,2077,0.00,2.20,0.00,0.000,4,0.000,0.060,2376,3498,3952,0,0,0,0,0,0
$GC,2150,-0.79,-165.5,368.3,-9.9,148,2154,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,2082,3949,0,0,0,0,0,0
$GC,2485,-0.79,-165.5,407.4,-11.4,157,2489,0.00,2.22,0.00,0.000,4,0.000,0.066,2372,3490,3949,0,0,0,0,0,0
$GC,2527,-0.79,-165.5,412.0,-10.5,157,2532,0.00,2.15,0.00,0.000,6,0.000,0.044,2375,2080,3949,0,0,0,0,0,0
$GC,2856,-0.79,-165.5,450.2,-11.6,166,2860,0.00,2.25,0.00,0.000,4,0.000,0.067,2373,3496,3947,0,0,0,0,0,0
$GC,2898,-0.79,-165.5,454.8,-10.1,166,2904,0.00,2.12,0.00,0.000,6,0.000,0.044,2373,2082,3946,0,0,1,0,0,0
$GC,3228,-0.79,-165.5,492.1,-11.0,175,3233,0.00,2.28,-0.10,0.000,4,0.000,0.084,2373,3488,3965,0,0,0,0,0,0
$GC,3255,-0.79,-165.5,495.2,-10.9,175,3259,0.00,2.17,0.00,0.000,6,0.000,0.046,2373,2071,3965,0,0,0,0,0,0
$GC,3599,-0.79,-165.5,528.8,-9.6,184,3603,0.00,2.28,0.00,0.000,4,0.000,0.069,2379,3493,3961,0,0,0,0,0,0
$GC,3621,-0.79,-165.5,530.9,-8.9,184,3625,0.00,2.15,0.00,0.000,6,0.000,0.041,2373,2061,3961,0,0,0,0,0,0
$GC,3965,-0.79,-165.5,562.4,-9.3,193,3969,0.00,2.25,0.00,0.000,4,0.000,0.064,2373,3490,3960,0,0,0,0,0,0
$GC,4007,-0.79,-165.5,566.2,-8.8,193,4012,0.00,2.12,0.00,0.000,6,0.000,0.042,2372,2073,3959,0,0,0,0,0,0
$GC,4337,-0.79,-165.5,597.0,-9.2,202,4341,0.00,2.22,0.00,0.000,4,0.000,0.064,2374,3490,3955,0,0,0,0,0,0
$GC,4424,-0.79,-165.5,604.3,-7.9,203,4429,0.00,2.12,0.00,0.000,6,0.000,0.043,2373,2076,3955,0,0,0,0,0,0
$GC,4754,-0.79,-165.5,632.0,-8.3,212,4758,0.00,2.25,0.00,0.000,4,0.000,0.065,2372,3488,3951,0,0,0,0,0,0
$GC,4781,-0.79,-165.5,634.4,-8.7,212,4785,0.00,2.12,0.00,0.000,6,0.000,0.044,2373,2080,3951,0,0,0,0,0,0
$GC,5120,-0.79,-165.5,660.6,-7.8,221,5124,0.00,2.25,0.00,0.000,4,0.000,0.067,2373,3493,3948,0,0,0,0,0,0
$GC,5170,-0.79,-165.5,664.4,-7.5,222,5174,0.00,2.15,0.00,0.000,6,0.000,0.044,2373,2075,3948,0,0,0,0,0,0
$GC,5492,-0.79,-165.5,689.8,-8.2,230,5496,0.00,2.25,0.00,0.000,4,0.000,0.066,2373,3492,3944,0,0,0,0,0,0
$GC,5570,-0.79,-165.5,696.0,-7.4,231,5574,0.00,2.15,0.00,0.000,6,0.000,0.045,2373,2073,3944,0,0,0,0,0,0
$GC,5900,-0.79,-165.5,722.8,-8.1,239,5904,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,3491,3941,0,0,0,0,0,0
$GC,5942,-0.79,-165.5,726.0,-7.3,240,5946,0.00,2.15,0.00,0.000,6,0.000,0.046,2373,2077,3940,0,0,0,0,0,0
$GC,6269,-0.79,-165.5,750.3,-7.6,248,6273,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,3490,3937,0,0,0,0,0,0
$GC,6314,-0.79,-165.5,753.7,-7.7,249,6318,0.00,2.17,0.00,0.000,6,0.000,0.046,2373,2069,3937,0,0,0,0,0,0
$GC,6636,-0.79,-165.5,778.7,-7.9,257,6640,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,3491,3935,0,0,0,0,0,0
$GC,6683,-0.79,-165.5,782.0,-7.0,258,6687,0.00,2.15,0.00,0.000,6,0.000,0.047,2373,2082,3935,0,0,0,0,0,0
$GC,7009,-0.79,-165.5,807.8,-7.8,266,7013,0.00,2.25,0.00,0.000,4,0.000,0.069,2373,3488,3933,0,0,0,0,0,0
$GC,7045,-0.79,-165.5,810.6,-6.9,266,7051,0.00,2.17,0.00,0.000,6,0.000,0.048,2372,2077,3933,0,0,0,0,0,0
$GC,7375,-0.79,-165.5,835.4,-7.5,275,7379,0.00,2.28,0.00,0.000,4,0.000,0.070,2373,3488,3929,0,0,0,0,0,0
$GC,7412,-0.79,-165.5,838.0,-6.7,275,7417,0.00,2.15,0.00,0.000,6,0.000,0.048,2373,2082,3930,0,0,0,0,0,0
$GC,7742,-0.79,-165.5,860.9,-6.9,284,7746,0.00,2.28,0.00,0.000,4,0.000,0.071,2373,3487,3927,0,0,0,0,0,0
$GC,7788,-0.79,-165.5,863.9,-7.4,285,7792,0.00,2.15,0.00,0.000,6,0.000,0.050,2373,2083,3927,0,0,0,0,0,0
$GC,8109,-0.79,-165.5,884.5,-6.5,293,8113,0.00,2.30,0.00,0.000,4,0.000,0.071,2373,3497,3925,0,0,0,0,0,0
$GC,8146,-0.79,-165.5,886.9,-5.8,293,8150,0.00,2.17,0.00,0.000,6,0.000,0.049,2373,2079,3926,0,0,0,0,0,0
$GC,8480,-0.79,-165.5,909.9,-7.0,302,8484,0.00,2.28,0.00,0.000,4,0.000,0.071,2373,3488,3924,0,0,0,0,0,0
$GC,8522,-0.79,-165.5,912.6,-6.6,302,8528,0.00,2.20,0.00,0.000,6,0.000,0.051,2373,2075,3925,0,0,0,0,0,0
$GC,8853,-0.79,-165.5,934.4,-6.7,311,8857,0.00,2.30,0.00,0.000,4,0.000,0.071,2373,3490,3922,0,0,0,0,0,0
$GC,8880,-0.79,-165.5,936.4,-6.7,311,8884,0.00,2.20,0.00,0.000,6,0.000,0.050,2373,2074,3924,0,0,0,0,0,0
$GC,9219,-0.79,-165.5,958.8,-6.6,320,9223,0.00,2.30,0.00,0.000,4,0.000,0.071,2373,3493,3921,0,0,0,0,0,0
$GC,9255,-0.79,-165.5,961.3,-7.1,320,9259,0.00,2.20,0.00,0.000,6,0.000,0.051,2373,2073,3920,0,0,0,0,0,0
$GC,9590,-0.79,-165.5,982.2,-6.2,329,9594,0.00,2.28,0.00,0.000,4,0.000,0.070,2373,3488,3919,0,0,0,0,0,0
$GC,9632,-0.79,-165.5,984.5,-5.8,329,9638,0.00,2.17,0.00,0.000,6,0.000,0.051,2373,2076,3919,0,0,0,0,0,0
$STATE,9758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9758,begin apogee
$GC,9762,-0.28,0.0,992.0,5.9,333,9895,0.50,0.00,130.02,1.345,6,0.065,0.000,2571,2075,3278,0,0,0,0,0,0
$STATE,9897,end apogee,CONTROL_FINISHED_OK
$STATE,9897,begin climb
$GC,9899,0.79,165.5,999.5,0.0,336,10049,0.93,2.47,142.30,1.309,4,0.061,0.059,2924,650,2604,0,0,0,0,0,0
$GC,10312,0.79,165.5,982.5,12.9,345,10316,0.00,2.28,0.00,0.000,6,0.000,0.053,2919,2056,2589,0,0,0,0,0,0
$GC,10660,0.79,165.5,939.6,12.2,354,10664,0.00,2.28,0.00,0.000,4,0.000,0.065,2919,3466,2586,0,0,0,0,0,0
$GC,10737,0.79,165.5,929.5,13.6,355,10742,0.00,2.22,0.00,0.000,6,0.000,0.051,2929,2057,2586,0,0,0,0,0,0
$GC,11072,0.79,165.5,889.2,11.9,364,11076,0.00,2.28,0.00,0.000,4,0.000,0.061,2940,638,2584,0,0,0,0,0,0
$GC,11122,0.79,165.5,883.2,11.8,365,11126,0.15,2.22,0.00,0.000,6,0.234,0.054,2907,2049,2584,0,0,0,0,0,0
$GC,11444,0.79,165.5,850.0,10.0,373,11448,0.00,2.28,0.00,0.000,4,0.000,0.066,2898,3468,2586,0,0,0,0,0,0
$GC,11540,0.79,165.5,840.5,9.6,375,11543,0.00,2.25,0.00,0.000,6,0.000,0.052,2906,2042,2583,0,0,0,0,0,0
$GC,11866,0.82,187.3,812.6,8.2,383,11887,0.00,2.33,16.23,1.181,4,0.000,0.065,2907,3461,2514,0,0,0,0,0,0
$GC,12030,0.82,187.3,793.1,12.9,386,12034,0.00,2.28,0.00,0.000,6,0.000,0.053,2917,2056,2513,0,0,0,0,0,0
$GC,12369,0.82,187.3,753.8,11.7,395,12373,0.00,2.25,0.00,0.000,4,0.000,0.061,2929,630,2510,0,0,0,0,0,0
$GC,12562,0.82,187.3,730.6,11.3,399,12566,0.00,2.25,0.00,0.000,6,0.000,0.055,2929,2049,2509,0,0,0,0,0,0
$GC,12883,0.82,187.3,694.1,11.2,407,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2049,2508,0,0,0,0,0,0
$GC,13208,0.82,187.3,661.3,9.8,415,13212,0.00,2.25,0.00,0.000,4,0.000,0.067,2929,3462,2508,0,0,0,0,0,0
$GC,13475,0.82,187.3,633.1,10.1,420,13481,0.00,2.25,0.00,0.000,6,0.000,0.052,2941,2034,2508,0,0,0,0,0,0
$GC,13805,0.82,187.3,602.1,9.0,429,13809,0.00,2.30,0.00,0.000,4,0.000,0.067,2945,3462,2508,0,0,0,0,0,0
$GC,14026,0.84,203.7,582.1,8.4,433,14047,0.00,2.20,13.85,1.038,6,0.000,0.052,2949,2046,2448,0,0,0,0,0,0
$GC,14360,0.84,203.7,550.2,9.8,442,14364,0.00,2.28,0.00,0.000,4,0.000,0.066,2949,3462,2445,0,0,0,0,0,0
$GC,14447,0.84,203.7,541.2,10.3,443,14453,0.15,2.20,0.00,0.000,6,0.248,0.051,2925,2053,2445,0,0,0,0,0,0
$GC,14777,0.84,203.7,510.0,9.5,452,14781,0.00,2.22,0.00,0.000,4,0.000,0.060,2938,638,2444,0,0,0,0,0,0
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$STATE,19420,end climb,SURFACE_DEPTH_REACHED
$STATE,19421,begin surface coast
$FINISH,0.2,1.022261
$STATE,19435,end surface coast,CONTROL_FINISHED_OK
$STATE,19435,begin surface
$SM_CCo,19453,157.02,0.555,0,0,499,681.43
$SM_GC,0.96,0.00,0.00,157.02,0.000,0.000,0.555,56,2083,499,-8.11,0.08,681.43
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$TT8_MAMPS,0.056758
$HUMID,1078672893
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$TCM_TEMP,25.20
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8415379456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58329202688
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,19.101
$10V_AH,10.2,10.831
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.050,208.900,449.525,157.025,0.000,132.906,189.497,713.451,0.000,0.000,16.061,1589.004,15083.749,717.293,3477.759,227.619,33.371,2041.912,0.000,2323.577,0.000,0.542,0.000
$DEVICE_MAMPS,263.848,83.603,1345.318,554.541,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.808,0.000,0.000
$MEM,355184
$DATA_FILE_SIZE,26757,724
$CAP_FILE_SIZE,206542,0
$CFSIZE,260165632,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291110,143624,2059.704,12656.363,26,1.0,43,-2.8