version: 66.07
glider: 511
mission: 5
dive: 127
start: 12 8 110 14 51 58
data:
$ID,511
$MISSION,5
$DIVE,127
$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,-43140.746
$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,29
$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,126
$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
$GPS1,081210,143457,2028.937,12643.776,39,2.1,58,-2.7
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.9
$GPS2,081210,145104,2029.089,12643.764,14,2.4,33,-2.7
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,-0.054
$KALMAN_X,-79956.0,-1179.1,-712.7,-8569.5,2882.7
$KALMAN_Y,459769.5,-81.5,280.3,-473610.8,-633.9
$MHEAD_RNG_PITCHd_Wd,105.1,8873,-15.9,-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,-0.81,-146.0,0.0,0.0,0,114,0.00,0.00,-85.90,0.000,2,0.000,0.000,39,2157,2862,0,0,0,0,0,0
$GC,116,-0.81,-146.0,3.9,-7.0,17,153,10.20,2.25,-19.00,0.000,4,0.262,0.068,2381,737,3875,0,0,0,0,0,0
$GC,264,-0.81,-146.0,50.9,-25.4,41,268,0.00,2.28,0.00,0.000,6,0.000,0.056,2373,2152,3876,0,0,0,0,0,0
$GC,525,-0.81,-146.0,129.1,-25.4,65,529,0.00,2.22,0.00,0.000,4,0.000,0.064,2362,3558,3878,0,0,0,0,0,0
$GC,551,-0.81,-146.0,136.3,-25.5,67,557,0.00,2.17,0.00,0.000,6,0.000,0.043,2362,2150,3877,0,0,0,0,0,0
$GC,812,-0.81,-146.0,197.9,-21.8,92,816,0.00,2.17,0.00,0.000,4,0.000,0.056,2362,743,3878,0,0,0,0,0,0
$GC,881,-0.81,-146.0,210.9,-16.9,97,886,0.12,2.22,0.00,0.000,6,0.165,0.053,2388,2152,3879,0,0,0,0,0,0
$GC,1210,-0.81,-146.0,261.0,-14.4,113,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2152,3879,0,0,0,0,0,0
$GC,1520,-0.81,-146.0,301.3,-12.0,128,1524,0.00,2.20,0.00,0.000,4,0.000,0.056,2388,740,3880,0,0,0,0,0,0
$GC,1542,-0.81,-146.0,304.2,-12.6,128,1546,0.00,2.20,0.00,0.000,6,0.000,0.054,2389,2152,3878,0,0,0,0,0,0
$GC,1886,-0.81,-146.0,343.8,-11.4,137,1890,0.00,2.25,0.00,0.000,4,0.000,0.069,2389,3563,3876,0,0,0,0,0,0
$GC,1917,-0.81,-146.0,347.3,-10.1,137,1921,0.00,2.17,0.00,0.000,6,0.000,0.042,2389,2145,3876,0,0,0,0,0,0
$GC,2256,-0.81,-146.0,382.8,-10.3,146,2260,0.00,2.15,0.00,0.000,4,0.000,0.051,2388,731,3874,0,0,0,0,0,0
$GC,2273,-0.81,-146.0,384.9,-11.3,146,2277,0.00,2.25,0.00,0.000,6,0.000,0.053,2388,2160,3874,0,0,0,0,0,0
$GC,2622,-0.81,-146.0,420.5,-10.1,155,2626,0.00,2.20,0.00,0.000,4,0.000,0.065,2388,3560,3871,0,0,0,0,0,0
$GC,2676,-0.81,-146.0,425.4,-8.5,156,2681,0.00,2.15,0.00,0.000,6,0.000,0.043,2392,2148,3871,0,0,0,0,0,0
$GC,2993,-0.81,-146.0,455.6,-9.6,164,2997,0.00,2.15,0.00,0.000,4,0.000,0.050,2388,739,3868,0,0,0,0,0,0
$GC,3026,-0.81,-146.0,458.6,-9.7,164,3030,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2149,3868,0,0,0,0,0,0
$GC,3356,-0.81,-146.0,487.8,-8.7,172,3360,0.00,2.25,0.00,0.000,4,0.000,0.065,2389,3563,3865,0,0,0,0,0,0
$GC,3388,-0.81,-146.0,490.8,-8.2,172,3392,0.00,2.15,0.00,0.000,6,0.000,0.044,2389,2152,3864,0,0,0,0,0,0
$GC,3722,-0.81,-146.0,521.0,-9.5,181,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2146,3862,0,0,0,0,0,0
$GC,4047,-0.81,-146.0,550.1,-8.4,189,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2146,3858,0,0,0,0,0,0
$GC,4372,-0.81,-146.0,576.8,-8.3,197,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2146,3856,0,0,0,0,0,0
$GC,4698,-0.81,-146.0,605.0,-8.7,205,4702,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,740,3854,0,0,0,0,0,0
$GC,4729,-0.81,-146.0,608.0,-9.0,205,4733,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2156,3853,0,0,0,0,0,0
$GC,5064,-0.81,-146.0,635.1,-8.0,214,5068,0.00,2.22,0.00,0.000,4,0.000,0.067,2389,3560,3850,0,0,0,0,0,0
$GC,5115,-0.81,-146.0,639.0,-7.7,215,5119,0.00,2.17,0.00,0.000,6,0.000,0.046,2389,2138,3849,0,0,0,0,0,0
$GC,5432,-0.81,-146.0,664.8,-8.4,223,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2134,3847,0,0,0,0,0,0
$GC,5756,-0.81,-146.0,694.4,-9.3,231,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2134,3844,0,0,0,0,0,0
$GC,6082,-0.81,-146.0,723.7,-8.6,239,6086,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,746,3845,0,0,0,0,0,0
$GC,6104,-0.81,-146.0,725.9,-9.4,239,6108,0.00,2.22,0.00,0.000,6,0.000,0.056,2388,2152,3842,0,0,0,0,0,0
$GC,6448,-0.81,-146.0,751.0,-7.0,248,6452,0.00,2.25,0.00,0.000,4,0.000,0.069,2388,3558,3840,0,0,0,0,0,0
$GC,6475,-0.81,-146.0,752.8,-6.5,248,6479,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,2148,3837,0,0,0,0,0,0
$GC,6814,-0.81,-146.0,775.5,-6.5,257,6818,0.00,2.17,0.00,0.000,4,0.000,0.056,2386,747,3836,0,0,0,0,0,0
$GC,6841,-0.81,-146.0,777.4,-6.5,257,6845,0.00,2.22,0.00,0.000,6,0.000,0.053,2389,2152,3836,0,0,0,0,0,0
$GC,7176,-0.81,-146.0,797.3,-6.0,266,7180,0.00,2.25,0.00,0.000,4,0.000,0.070,2389,3558,3834,0,0,0,0,0,0
$GC,7218,-0.81,-146.0,799.8,-5.6,267,7222,0.00,2.15,0.00,0.000,6,0.000,0.047,2389,2154,3838,0,0,0,0,0,0
$GC,7545,-0.81,-146.0,820.9,-6.6,275,7549,0.00,2.20,0.00,0.000,4,0.000,0.058,2388,747,3832,0,0,0,0,0,0
$GC,7587,-0.81,-146.0,823.8,-6.5,276,7591,0.00,2.17,0.00,0.000,6,0.000,0.054,2389,2149,3832,0,0,1,0,0,0
$GC,7913,-0.81,-146.0,845.3,-6.5,284,7917,0.00,2.30,0.00,0.000,4,0.000,0.071,2389,3560,3830,0,0,0,0,0,0
$GC,7950,-0.81,-146.0,847.7,-7.0,284,7955,0.00,2.20,0.00,0.000,6,0.000,0.048,2389,2149,3830,0,0,0,0,0,0
$GC,8280,-0.81,-146.0,868.3,-6.1,293,8284,0.00,2.22,0.00,0.000,4,0.000,0.058,2389,746,3829,0,0,0,0,0,0
$GC,8312,-0.81,-146.0,870.3,-6.8,293,8316,0.00,2.25,0.00,0.000,6,0.000,0.054,2389,2154,3829,0,0,0,0,0,0
$GC,8642,-0.81,-146.0,888.7,-5.5,301,8646,0.00,2.30,0.00,0.000,4,0.000,0.071,2388,3563,3827,0,0,0,0,0,0
$GC,8679,-0.81,-146.0,890.6,-5.3,301,8684,0.00,2.22,0.00,0.000,6,0.000,0.048,2388,2140,3827,0,0,0,0,0,0
$GC,9009,-0.81,-146.0,916.7,-9.1,310,9013,0.00,2.33,0.00,0.000,4,0.000,0.073,2393,3564,3829,0,0,0,0,0,0
$GC,9045,-0.81,-146.0,920.2,-10.4,310,9050,0.00,2.22,0.00,0.000,6,0.000,0.051,2389,2146,3826,0,0,0,0,0,0
$GC,9375,-0.81,-146.0,953.5,-10.3,319,9379,0.00,2.33,0.00,0.000,4,0.000,0.073,2389,3565,3824,0,0,0,0,0,0
$GC,9439,-0.81,-146.0,960.6,-11.9,320,9443,0.00,2.22,0.00,0.000,6,0.000,0.051,2389,2164,3823,0,0,0,0,0,0
$STATE,9745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9745,begin apogee
$GC,9750,-0.28,0.0,993.9,11.0,328,9868,0.45,0.00,111.30,1.353,6,0.062,0.000,2571,2039,3277,0,0,0,0,0,0
$STATE,9870,end apogee,CONTROL_FINISHED_OK
$STATE,9870,begin climb
$GC,9872,0.81,146.0,1003.6,0.0,331,10006,0.95,2.53,124.85,1.322,4,0.060,0.065,2919,3455,2682,0,0,0,0,0,0
$GC,10270,0.81,146.0,997.4,9.6,340,10275,0.00,2.25,0.00,0.000,6,0.000,0.049,2930,2051,2671,0,0,0,0,0,0
$GC,10597,0.84,163.8,969.6,8.3,348,10617,0.00,2.38,14.50,1.214,4,0.000,0.064,2930,3464,2611,0,0,0,0,0,0
$GC,10688,0.84,163.8,960.1,11.3,350,10692,0.00,2.25,0.00,0.000,6,0.000,0.050,2941,2054,2608,0,0,0,0,0,0
$GC,11014,0.84,163.8,925.6,10.1,358,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2049,2607,0,0,0,0,0,0
$GC,11339,0.84,167.9,895.8,8.8,366,11348,0.00,2.28,4.30,0.851,4,0.000,0.063,2939,3462,2595,0,0,0,0,0,0
$GC,11593,0.84,167.9,870.0,10.2,371,11597,0.00,2.28,0.00,0.000,6,0.000,0.051,2949,2047,2596,0,0,0,0,0,0
$GC,11937,0.84,167.9,837.2,9.5,380,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2041,2590,0,0,0,0,0,0
$GC,12262,0.86,182.0,808.8,8.4,388,12277,0.00,0.00,13.25,1.163,6,0.000,0.000,2948,2041,2536,0,0,0,0,0,0
$GC,12586,0.86,182.0,776.4,10.1,396,12591,0.00,2.33,0.00,0.000,4,0.000,0.065,2953,3468,2533,0,0,0,0,0,0
$GC,12622,0.86,182.0,772.6,10.2,396,12629,0.12,2.25,0.00,0.000,6,0.265,0.051,2935,2043,2533,0,0,0,0,0,0
$GC,12953,0.86,182.0,740.4,9.8,405,12957,0.00,2.22,0.00,0.000,4,0.000,0.060,2943,637,2532,0,0,0,0,0,0
$GC,13220,0.86,182.0,714.0,9.8,410,13226,0.00,2.25,0.00,0.000,6,0.000,0.053,2935,2054,2531,0,0,0,0,0,0
$GC,13550,0.88,197.2,686.3,8.4,419,13571,0.00,2.33,13.73,1.101,4,0.000,0.061,2944,642,2473,0,0,0,0,0,0
$GC,13700,0.88,197.2,670.1,11.3,422,13704,0.00,2.28,0.00,0.000,6,0.000,0.053,2939,2058,2469,0,0,0,0,0,0
$GC,14016,0.88,197.2,635.0,10.9,430,14020,0.00,2.25,0.00,0.000,4,0.000,0.065,2939,3459,2469,0,0,0,0,0,0
$GC,14098,0.88,197.2,625.7,10.6,431,14102,0.00,2.25,0.00,0.000,6,0.000,0.051,2948,2040,2469,0,0,0,0,0,0
$GC,14433,0.88,197.2,592.1,9.6,440,14437,0.00,2.22,0.00,0.000,4,0.000,0.061,2959,640,2468,0,0,0,0,0,0
$GC,14700,0.88,197.2,568.2,9.3,445,14705,0.00,2.25,0.00,0.000,6,0.000,0.053,2959,2050,2467,0,0,0,0,0,0
$GC,15030,0.92,233.1,542.7,7.5,454,15066,0.00,2.33,30.15,1.044,4,0.000,0.059,2969,639,2328,0,0,1,0,0,0
$GC,15125,0.92,233.1,532.2,12.9,456,15129,0.00,2.28,0.00,0.000,6,0.000,0.052,2969,2055,2324,0,0,0,0,0,0
$GC,15447,0.92,233.1,483.7,15.8,464,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2055,2320,0,0,0,0,0,0
$GC,15772,0.92,233.1,436.4,14.5,472,15776,0.00,2.25,0.00,0.000,4,0.000,0.065,2969,3456,2320,0,0,0,0,0,0
$GC,15836,0.92,233.1,426.8,15.7,473,15840,0.15,2.22,0.00,0.000,6,0.257,0.049,2953,2047,2317,0,0,0,0,0,0
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$GC,19137,1.09,370.0,66.7,21.2,666,19141,0.00,2.22,0.00,0.000,6,0.000,0.044,3010,2050,1765,0,0,0,0,0,0
$GC,19401,1.09,370.0,15.3,22.0,696,19406,0.00,2.25,0.00,0.000,4,0.000,0.058,3010,3466,1763,0,0,0,0,0,0
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$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FINISH,0.3,1.022478
$STATE,19488,end surface coast,CONTROL_FINISHED_OK
$STATE,19488,begin surface
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$TT8_MAMPS,0.056758
$HUMID,1078711603
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$TCM_TEMP,25.80
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8388476928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,57274040320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,28.198
$10V_AH,10.2,16.595
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.925,170.550,422.100,69.675,0.000,30.319,32.717,734.960,0.250,0.000,35.878,1503.930,15247.527,603.654,2950.795,234.657,33.370,1792.353,0.000,2093.204,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.395,0.000,0.000
$MEM,354944
$DATA_FILE_SIZE,26779,712
$CAP_FILE_SIZE,179350,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,081210,202006,2028.541,12646.642,64,1.4,64,-2.7