version: 66.07
glider: 511
mission: 5
dive: 122
start: 12 7 110 18 52 53
data:
$ID,511
$MISSION,5
$DIVE,122
$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,150
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42994.598
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,18
$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,121
$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
$GPS1,071210,182327,2027.408,12651.317,33,3.5,52,-2.6
$_CALLS,5
$_XMS_NAKs,36
$_XMS_TOUTs,2
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.3
$GPS2,071210,185158,2027.429,12651.346,19,4.9,38,-2.6
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,-0.112
$KALMAN_X,-83755.6,-121.8,840.4,5720.6,-698.3
$KALMAN_Y,462412.1,-92.6,-394.1,-478628.2,3622.8
$MHEAD_RNG_PITCHd_Wd,239.5,4639,-20.3,-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,-0.93,-94.0,0.0,0.0,0,113,0.00,0.00,-85.62,0.000,2,0.000,0.000,26,2149,2840,0,0,0,0,0,0
$GC,115,-0.99,-146.0,3.5,-5.6,17,151,9.82,2.28,-20.00,0.000,4,0.257,0.074,2311,3569,3874,0,0,0,0,0,0
$GC,282,-0.99,-146.0,70.8,-36.8,42,286,0.00,2.20,0.00,0.000,6,0.000,0.042,2311,2143,3875,0,0,0,0,0,0
$GC,542,-0.99,-146.0,171.9,-36.9,66,546,0.00,2.12,0.00,0.000,4,0.000,0.048,2311,749,3875,0,0,0,0,0,0
$GC,639,-0.99,-146.0,198.1,-25.3,76,644,0.10,2.20,0.00,0.000,6,0.193,0.048,2321,2155,3874,0,0,0,0,0,0
$GC,902,-0.99,-146.0,257.1,-23.1,89,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2156,3877,0,0,0,0,0,0
$GC,1231,-0.99,-146.0,324.1,-19.7,102,1234,0.00,2.15,0.00,0.000,4,0.000,0.048,2325,743,3876,0,0,0,0,0,0
$GC,1299,-0.99,-146.0,336.4,-15.2,103,1303,0.00,2.20,0.00,0.000,6,0.000,0.048,2318,2159,3876,0,0,0,0,0,0
$GC,1642,-0.99,-146.0,400.1,-18.8,112,1646,0.00,2.20,0.00,0.000,4,0.000,0.053,2319,746,3874,0,0,0,0,0,0
$GC,1684,-0.99,-146.0,407.8,-18.0,113,1688,0.00,2.20,0.00,0.000,6,0.000,0.053,2310,2149,3874,0,0,0,0,0,0
$GC,2010,-0.99,-146.0,470.5,-18.2,121,2014,0.00,2.22,0.00,0.000,4,0.000,0.061,2300,3566,3871,0,0,0,0,0,0
$GC,2051,-0.99,-146.0,477.7,-16.6,121,2057,0.10,2.15,0.00,0.000,6,0.172,0.039,2325,2142,3870,0,0,0,0,0,0
$GC,2381,-0.99,-146.0,527.5,-15.0,130,2385,0.00,2.12,0.00,0.000,4,0.000,0.049,2326,749,3867,0,0,0,0,0,0
$GC,2430,-0.99,-146.0,535.1,-13.9,131,2434,0.00,2.20,0.00,0.000,6,0.000,0.049,2319,2155,3866,0,0,0,0,0,0
$GC,2757,-0.99,-146.0,583.8,-15.2,139,2761,0.00,2.20,0.00,0.000,4,0.000,0.061,2309,3566,3863,0,0,0,0,0,0
$GC,2788,-0.99,-146.0,588.7,-14.6,139,2792,0.00,2.15,0.00,0.000,6,0.000,0.043,2308,2157,3863,0,0,0,0,0,0
$GC,3122,-0.99,-146.0,640.2,-15.4,148,3126,0.00,2.17,0.00,0.000,4,0.000,0.051,2308,742,3859,0,0,0,0,0,0
$GC,3153,-0.99,-146.0,645.2,-15.1,148,3158,0.12,2.22,0.00,0.000,6,0.168,0.053,2332,2154,3858,0,0,0,0,0,0
$GC,3483,-0.99,-146.0,687.3,-12.7,156,3487,0.00,2.22,0.00,0.000,4,0.000,0.058,2333,746,3855,0,0,0,0,0,0
$GC,3510,-0.99,-146.0,691.0,-13.5,156,3514,0.00,2.22,0.00,0.000,6,0.000,0.054,2325,2156,3852,0,0,0,0,0,0
$GC,3845,-0.99,-146.0,735.6,-13.4,165,3849,0.00,2.20,0.00,0.000,4,0.000,0.064,2316,3560,3851,0,0,0,0,0,0
$GC,3881,-0.99,-146.0,740.5,-12.8,165,3887,0.00,2.17,0.00,0.000,6,0.000,0.043,2315,2137,3849,0,0,0,0,0,0
$GC,4211,-0.99,-146.0,784.9,-13.5,174,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2131,3847,0,0,0,0,0,0
$GC,4536,-0.99,-146.0,827.1,-12.7,182,4540,0.00,2.17,0.00,0.000,4,0.000,0.054,2315,738,3842,0,0,0,0,0,0
$GC,4581,-0.99,-146.0,832.7,-10.8,183,4585,0.00,2.22,0.00,0.000,6,0.000,0.051,2307,2152,3843,0,0,0,0,0,0
$GC,4903,-0.99,-146.0,872.1,-12.1,191,4907,0.00,2.22,0.00,0.000,4,0.000,0.065,2296,3558,3839,0,0,0,0,0,0
$GC,4929,-0.99,-146.0,875.5,-13.3,191,4934,0.12,2.17,0.00,0.000,6,0.166,0.044,2329,2139,3838,0,0,0,0,0,0
$GC,5274,-0.99,-146.0,913.1,-11.4,200,5278,0.00,2.15,0.00,0.000,4,0.000,0.054,2330,752,3833,0,0,0,0,0,0
$GC,5342,-0.99,-146.0,921.1,-11.4,201,5346,0.00,2.20,0.00,0.000,6,0.000,0.051,2320,2150,3835,0,0,0,0,0,0
$GC,5690,-0.99,-146.0,964.6,-12.6,210,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2151,3831,0,0,0,0,0,0
$STATE,5932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5932,begin apogee
$GC,5937,-0.28,0.0,994.1,12.0,216,6055,0.73,0.00,111.45,1.330,6,0.133,0.000,2555,2033,3279,0,0,0,0,0,0
$STATE,6057,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6059,0.99,146.0,1001.0,0.0,219,6190,1.12,0.00,125.28,1.301,6,0.054,0.000,2972,2032,2685,0,0,0,0,0,0
$GC,6506,0.99,146.0,991.4,9.6,230,6510,0.00,2.33,0.00,0.000,4,0.000,0.064,2972,3462,2666,0,0,0,0,0,0
$GC,6772,0.99,146.0,964.1,10.0,235,6778,0.00,2.22,0.00,0.000,6,0.000,0.051,2983,2056,2666,0,0,0,0,0,0
$GC,7102,1.00,151.4,935.0,8.7,244,7107,0.00,2.30,0.00,0.000,4,0.000,0.067,2983,3469,2663,0,0,0,0,0,0
$GC,7369,1.03,176.5,912.3,7.4,249,7399,0.00,2.22,24.35,1.243,6,0.000,0.050,2993,2048,2557,0,0,0,0,0,0
$GC,7739,1.03,176.5,869.6,12.1,259,7743,0.00,2.25,0.00,0.000,4,0.000,0.058,3000,643,2551,0,0,0,0,0,0
$GC,7766,1.03,176.5,866.1,12.3,259,7770,0.00,2.25,0.00,0.000,6,0.000,0.052,3004,2050,2549,0,0,0,0,0,0
$GC,8109,1.03,176.5,821.4,13.3,268,8113,0.00,2.25,0.00,0.000,4,0.000,0.063,3015,645,2546,0,0,0,0,0,0
$GC,8362,1.03,176.5,786.3,13.0,273,8367,0.15,2.25,0.00,0.000,6,0.265,0.054,2986,2058,2546,0,0,0,0,0,0
$GC,8707,1.03,176.5,744.5,11.4,282,8711,0.00,2.22,0.00,0.000,4,0.000,0.066,2981,3456,2545,0,0,0,0,0,0
$GC,8836,1.03,176.5,729.9,11.2,284,8841,0.00,2.20,0.00,0.000,6,0.000,0.052,2989,2064,2544,0,0,0,0,0,0
$GC,9166,1.03,176.5,697.3,9.2,293,9170,0.00,2.22,0.00,0.000,4,0.000,0.058,3000,633,2544,0,0,0,0,0,0
$GC,9198,1.03,180.6,694.5,8.8,293,9202,0.00,2.25,0.00,0.000,6,0.000,0.054,2992,2045,2543,0,0,0,0,0,0
$GC,9528,1.05,193.5,666.9,8.2,301,9548,0.00,2.28,13.23,1.078,4,0.000,0.064,2981,3465,2487,0,0,0,0,0,0
$GC,9589,1.05,193.5,661.1,9.9,302,9593,0.00,2.25,0.00,0.000,6,0.000,0.051,2989,2047,2488,0,0,0,0,0,0
$GC,9901,1.05,193.5,628.2,10.2,310,9905,0.00,2.22,0.00,0.000,4,0.000,0.059,3001,636,2485,0,0,0,0,0,0
$GC,9997,1.05,193.5,618.2,10.4,312,10001,0.00,2.28,0.00,0.000,6,0.000,0.054,2994,2063,2484,0,0,0,0,0,0
$GC,10324,1.06,200.8,589.3,8.5,320,10333,0.00,0.00,7.35,0.934,6,0.000,0.000,2994,2063,2457,0,0,0,0,0,0
$GC,10648,1.06,200.8,555.8,10.6,328,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2064,2456,0,0,0,0,0,0
$GC,10973,1.06,200.8,520.6,10.7,336,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2064,2458,0,0,0,0,0,0
$GC,11299,1.07,214.2,491.1,8.2,344,11316,0.00,2.28,12.10,0.951,4,0.000,0.056,3003,630,2405,0,0,0,0,0,0
$GC,11454,1.08,216.5,476.6,8.9,347,11458,0.00,2.25,0.00,0.000,6,0.000,0.054,3003,2053,2402,0,0,0,0,0,0
$GC,11802,1.08,216.5,440.6,10.5,356,11810,0.00,2.28,3.28,0.534,4,0.000,0.065,3003,3460,2395,0,0,0,0,0,0
$GC,11916,1.08,216.5,427.9,10.6,358,11921,0.00,2.25,0.00,0.000,6,0.000,0.053,3013,2044,2395,0,0,0,0,0,0
$GC,12260,1.08,216.5,390.5,10.5,367,12264,0.00,2.30,0.00,0.000,4,0.000,0.066,3015,3459,2395,0,0,0,0,0,0
$GC,12529,1.08,216.5,361.4,10.1,372,12535,0.00,2.20,0.00,0.000,6,0.000,0.048,3024,2042,2395,0,0,0,0,0,0
$GC,12859,1.08,220.0,331.1,8.8,381,12871,0.00,2.25,5.07,0.665,4,0.000,0.061,3015,3460,2380,0,0,0,0,0,0
$GC,13136,1.08,220.4,303.2,9.0,387,13140,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2051,2381,0,0,0,0,0,0
$GC,13467,1.10,238.0,276.5,7.9,402,13489,0.00,2.20,16.50,0.790,4,0.000,0.053,3035,638,2308,0,0,0,0,0,0
$GC,13753,1.10,238.0,244.1,9.6,414,13757,0.00,2.25,0.00,0.000,6,0.000,0.052,3032,2058,2302,0,0,0,0,0,0
$GC,14072,1.11,242.2,213.4,8.7,430,14081,0.00,2.20,4.50,0.548,4,0.000,0.059,3032,3456,2290,0,0,0,0,0,0
$GC,14346,1.18,304.7,195.8,5.0,447,14405,0.00,2.20,50.05,0.738,6,0.000,0.050,3041,2052,2035,0,0,0,0,0,0
$GC,14659,1.18,304.7,145.8,16.6,478,14663,0.00,2.22,0.00,0.000,4,0.000,0.054,3052,630,2028,0,0,0,0,0,0
$GC,14926,1.18,304.7,108.2,10.7,506,14932,0.00,2.25,0.00,0.000,6,0.000,0.051,3047,2054,2027,0,0,0,0,0,0
$GC,15187,1.18,304.7,85.1,10.3,531,15191,0.00,2.22,0.00,0.000,4,0.000,0.055,3057,627,2026,0,0,0,0,0,0
$GC,15454,1.20,318.6,58.9,8.1,559,15470,0.00,2.22,11.45,0.571,6,0.000,0.048,3059,2055,1976,0,0,0,0,0,0
$GC,15731,1.20,318.6,28.1,10.5,587,15736,0.00,2.20,0.00,0.000,4,0.000,0.052,3069,631,1974,0,0,0,0,0,0
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,0.6,1.022118
$STATE,15944,end surface coast,CONTROL_FINISHED_OK
$STATE,15944,begin surface
$SM_CCo,15964,193.90,0.552,0,0,498,681.43
$SM_GC,1.22,0.00,0.00,193.90,0.000,0.000,0.552,54,2160,498,-8.12,0.28,681.43
$IRIDIUM_FIX,2022.56,12648.51,010612,121234
$TT8_MAMPS,0.056758
$HUMID,1078627732
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.10
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8414265344
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57325551616
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,27.070
$10V_AH,10.2,16.075
$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,20.125,133.500,384.600,193.900,0.000,146.275,185.124,926.174,0.250,0.000,41.216,1346.677,12257.137,680.889,3300.724,283.266,33.396,1770.212,0.000,2000.951,0.000,0.546,0.000
$DEVICE_MAMPS,264.615,82.069,1329.978,552.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,423.470,0.000,0.000,0.000,0.000,0.000,0.000,16507.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.029,0.000,0.000
$MEM,355104
$DATA_FILE_SIZE,23403,633
$CAP_FILE_SIZE,171118,0
$CFSIZE,260165632,248324096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071210,232401,2026.726,12650.537,60,1.2,60,-2.6