version: 66.07
glider: 511
mission: 5
dive: 123
start: 12 8 110 0 5 45
data:
$ID,511
$MISSION,5
$DIVE,123
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-43011.805
$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,27
$R_STBD_OVSHOOT,23
$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,122
$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
$GPS1,071210,232401,2026.726,12650.537,60,1.2,60,-2.6
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.1
$GPS2,081210,000449,2026.870,12650.423,9,1.7,14,-2.6
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.170,0.009
$KALMAN_X,-81786.5,1178.7,-189.2,1873.2,864.5
$KALMAN_Y,463264.8,162.3,-120.6,-481037.2,1980.2
$MHEAD_RNG_PITCHd_Wd,275.8,3632,-24.8,-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,25,-1.07,-63.8,0.0,0.0,0,109,0.00,0.00,-80.82,0.000,2,0.000,0.000,23,2157,2718,0,0,0,0,0,0
$GC,111,-1.11,-95.9,3.6,-6.0,16,147,9.77,2.25,-19.15,0.000,4,0.260,0.073,2272,3562,3670,0,0,0,0,0,0
$GC,286,-1.11,-95.9,75.9,-35.5,42,290,0.00,2.20,0.00,0.000,6,0.000,0.046,2272,2146,3672,0,0,0,0,0,0
$GC,547,-1.11,-95.9,181.2,-37.0,66,551,0.00,2.15,0.00,0.000,4,0.000,0.052,2273,740,3672,0,0,0,0,0,0
$GC,666,-1.11,-95.9,217.2,-28.3,75,671,0.12,2.20,0.00,0.000,6,0.201,0.053,2292,2155,3670,0,0,0,0,0,0
$GC,986,-1.11,-95.9,299.0,-23.8,91,990,0.00,2.17,0.00,0.000,4,0.000,0.053,2289,738,3672,0,0,0,0,0,0
$GC,1059,-1.11,-95.9,316.2,-23.0,93,1063,0.00,2.17,0.00,0.000,6,0.000,0.050,2282,2148,3672,0,0,0,0,0,0
$GC,1402,-1.11,-95.9,397.1,-22.7,102,1406,0.00,2.20,0.00,0.000,4,0.000,0.053,2283,731,3672,0,0,0,0,0,0
$GC,1447,-1.11,-95.9,407.0,-20.5,103,1451,0.00,2.20,0.00,0.000,6,0.000,0.051,2271,2157,3675,0,0,1,0,0,0
$GC,1769,-1.11,-95.9,476.3,-21.2,111,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2156,3670,0,0,0,0,0,0
$GC,2094,-1.11,-95.9,541.0,-19.6,119,2098,0.00,2.20,0.00,0.000,4,0.000,0.055,2275,740,3667,0,0,0,0,0,0
$GC,2231,-1.11,-95.9,565.2,-16.6,122,2234,0.00,2.20,0.00,0.000,6,0.000,0.052,2265,2154,3666,0,0,0,0,0,0
$GC,2557,-1.11,-95.9,622.4,-17.2,130,2561,0.10,2.20,0.00,0.000,4,0.207,0.057,2288,742,3659,0,0,1,0,0,0
$GC,2621,-1.11,-95.9,632.6,-14.4,131,2625,0.00,2.22,0.00,0.000,6,0.000,0.056,2276,2149,3660,0,0,0,0,0,0
$GC,2969,-1.11,-95.9,687.2,-15.8,140,2973,0.00,2.22,0.00,0.000,4,0.000,0.058,2279,738,3656,0,0,0,0,0,0
$GC,2996,-1.11,-95.9,691.5,-16.2,140,3000,0.00,2.22,0.00,0.000,6,0.000,0.054,2269,2148,3654,0,0,0,0,0,0
$GC,3335,-1.11,-95.9,749.7,-17.4,149,3339,0.00,2.20,0.00,0.000,4,0.000,0.054,2275,739,3651,0,0,0,0,0,0
$GC,3395,-1.11,-95.9,760.4,-16.7,150,3400,0.12,2.22,0.00,0.000,6,0.184,0.051,2291,2157,3650,0,0,0,0,0,0
$GC,3744,-1.11,-95.9,815.0,-15.3,159,3748,0.00,2.22,0.00,0.000,4,0.000,0.053,2291,733,3644,0,0,0,0,0,0
$GC,3808,-1.11,-95.9,825.1,-15.9,160,3812,0.00,2.22,0.00,0.000,6,0.000,0.049,2282,2152,3644,0,0,0,0,0,0
$GC,4152,-1.11,-95.9,878.9,-15.7,169,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2152,3640,0,0,0,0,0,0
$GC,4477,-1.11,-95.9,926.0,-14.3,177,4481,0.00,2.22,0.00,0.000,4,0.000,0.053,2282,733,3637,0,0,0,0,0,0
$GC,4559,-1.11,-95.9,938.0,-13.6,178,4565,0.00,2.22,0.00,0.000,6,0.000,0.051,2273,2149,3635,0,0,0,0,0,0
$GC,4889,-1.11,-95.9,985.6,-14.5,187,4893,0.00,2.22,0.00,0.000,4,0.000,0.055,2274,736,3632,0,0,1,0,0,0
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4926,-0.28,0.0,990.2,13.9,187,5001,0.93,0.00,71.90,1.319,6,0.154,0.000,2553,2049,3278,0,0,0,0,0,0
$STATE,5004,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5005,1.11,95.9,991.5,0.0,189,5098,1.23,2.42,81.93,1.289,4,0.046,0.061,3029,642,2888,0,0,1,0,0,0
$GC,5150,1.35,290.9,1008.3,-9.5,193,5324,0.17,2.33,164.62,1.292,6,0.117,0.054,3085,2051,2094,0,0,0,0,0,0
$GC,5638,1.35,290.9,878.0,35.2,205,5642,0.00,2.30,0.00,0.000,4,0.000,0.065,3084,3468,2081,0,0,0,0,0,0
$GC,5757,1.35,290.9,834.5,34.9,207,5761,0.00,2.28,0.00,0.000,6,0.000,0.054,3102,2056,2079,0,0,0,0,0,0
$GC,6097,1.35,290.9,718.5,33.7,216,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2049,2077,0,0,0,0,0,0
$GC,6421,1.35,290.9,612.6,31.6,224,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2048,2075,0,0,0,0,0,0
$GC,6746,1.35,290.9,513.3,29.7,232,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2047,2074,0,0,0,0,0,0
$GC,7072,1.35,290.9,425.2,27.2,240,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2048,2074,0,0,0,0,0,0
$GC,7396,1.35,290.9,336.8,26.7,248,7400,0.00,2.25,0.00,0.000,4,0.000,0.066,3094,3462,2068,0,0,0,0,0,0
$GC,7588,1.35,290.9,286.9,26.7,252,7592,0.00,2.22,0.00,0.000,6,0.000,0.051,3107,2039,2067,0,0,0,0,0,0
$GC,7904,1.35,290.9,215.0,22.6,267,7908,0.00,2.17,0.00,0.000,4,0.000,0.058,3118,638,2065,0,0,0,0,0,0
$GC,7954,1.35,290.9,204.1,20.7,269,7959,0.10,2.20,0.00,0.000,6,0.262,0.051,3094,2055,2066,0,0,0,0,0,0
$GC,8282,1.35,290.9,154.0,13.1,299,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2055,2066,0,0,0,0,0,0
$GC,8537,1.35,290.9,123.4,11.5,323,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2052,2066,0,0,0,0,0,0
$GC,8792,1.41,340.5,102.6,4.3,347,8831,0.00,0.00,36.03,0.659,6,0.000,0.000,3094,2055,1885,0,0,0,0,0,0
$GC,9080,1.41,340.5,65.6,16.6,375,9084,0.00,2.20,0.00,0.000,4,0.000,0.058,3087,3456,1883,0,0,0,0,0,0
$GC,9104,1.41,340.5,61.4,18.5,377,9108,0.00,2.20,0.00,0.000,6,0.000,0.049,3102,2047,1882,0,0,0,0,0,0
$GC,9368,1.41,340.5,15.5,18.1,408,9373,0.00,2.20,0.00,0.000,4,0.000,0.054,3108,625,1884,0,0,0,0,0,0
$STATE,9432,end climb,SURFACE_DEPTH_REACHED
$STATE,9432,begin surface coast
$FINISH,0.3,1.000303
$STATE,9451,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9485,87.28,0.563,0,0,1237,500.16
$SM_GC,1.13,0.00,0.00,87.28,0.000,0.000,0.563,47,2147,1237,-8.13,0.03,500.16
$IRIDIUM_FIX,2020.26,12647.13,010612,181855
$TT8_MAMPS,0.057525
$HUMID,1078870313
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.60
$XPDR_PINGS,7
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8439889920
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57299795968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,27.325
$10V_AH,10.4,16.160
$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,20.575,75.700,354.475,87.275,0.000,142.572,222.110,1670.829,1.750,0.000,16.577,842.311,7346.598,479.344,3063.038,292.612,33.392,1133.941,0.000,1096.649,0.000,0.544,0.000
$DEVICE_MAMPS,262.314,72.865,1319.240,562.978,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,283.619,0.000,0.000,0.000,0.000,0.000,0.000,11294.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.212,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,13423,426
$CAP_FILE_SIZE,127008,0
$CFSIZE,260165632,248336384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,081210,024637,2026.579,12648.983,30,1.0,31,-2.6