version: 66.07
glider: 511
mission: 5
dive: 140
start: 12 11 110 14 4 9
data:
$ID,511
$MISSION,5
$DIVE,140
$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,-43380.832
$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,28
$R_STBD_OVSHOOT,20
$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,139
$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
$GPS1,111210,134207,2011.852,12658.882,26,1.3,26,-2.6
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,111210,140314,2011.739,12658.212,13,1.5,13,-2.6
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.202
$KALMAN_X,-109751.1,-1119.3,-87.3,45547.1,-2508.8
$KALMAN_Y,466140.7,-1051.4,-640.6,-510191.1,2648.1
$MHEAD_RNG_PITCHd_Wd,146.2,291289,-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,24,begin dive
$GC,25,-0.81,-146.0,0.0,0.0,0,114,0.00,0.00,-85.55,0.000,2,0.000,0.000,40,2152,2802,0,0,0,0,0,0
$GC,116,-0.81,-146.0,3.1,-4.1,17,156,10.20,2.28,-21.80,0.000,4,0.261,0.071,2376,736,3876,0,0,1,0,0,0
$GC,220,-0.81,-146.0,36.1,-27.3,38,226,0.00,2.28,0.00,0.000,6,0.000,0.059,2368,2149,3876,0,0,0,0,0,0
$GC,480,-0.81,-146.0,119.2,-31.0,63,484,0.00,2.20,0.00,0.000,4,0.000,0.053,2367,739,3877,0,0,0,0,0,0
$GC,572,-0.81,-146.0,142.7,-24.4,72,577,0.00,2.25,0.00,0.000,6,0.000,0.053,2358,2155,3878,0,0,0,0,0,0
$GC,830,-0.81,-146.0,210.2,-24.6,95,834,0.00,2.22,0.00,0.000,4,0.000,0.064,2348,3563,3878,0,0,0,0,0,0
$GC,862,-0.81,-146.0,217.3,-21.8,96,867,0.15,2.17,0.00,0.000,6,0.156,0.042,2388,2149,3878,0,0,0,0,0,0
$GC,1177,-0.81,-146.0,265.3,-14.5,111,1181,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,740,3879,0,0,0,0,0,0
$GC,1249,-0.81,-146.0,274.8,-11.1,114,1253,0.00,2.20,0.00,0.000,6,0.000,0.053,2389,2149,3879,0,0,0,0,0,0
$GC,1571,-0.81,-146.0,319.4,-14.1,127,1575,0.00,2.25,0.00,0.000,4,0.000,0.067,2387,3561,3878,0,0,0,0,0,0
$GC,1613,-0.81,-146.0,324.7,-11.3,127,1619,0.00,2.15,0.00,0.000,6,0.000,0.042,2389,2148,3878,0,0,0,0,0,0
$GC,1943,-0.81,-146.0,365.3,-12.6,136,1947,0.00,2.15,0.00,0.000,4,0.000,0.051,2385,738,3877,0,0,0,0,0,0
$GC,2007,-0.81,-146.0,372.2,-9.5,137,2011,0.00,2.22,0.00,0.000,6,0.000,0.055,2389,2152,3877,0,0,0,0,0,0
$GC,2355,-0.81,-146.0,402.8,-8.4,146,2359,0.00,2.22,0.00,0.000,4,0.000,0.065,2389,3560,3878,0,0,0,0,0,0
$GC,2415,-0.81,-146.0,407.4,-8.0,147,2419,0.00,2.15,0.00,0.000,6,0.000,0.043,2388,2153,3874,0,0,0,0,0,0
$GC,2764,-0.81,-146.0,440.1,-9.8,156,2767,0.00,2.20,0.00,0.000,4,0.000,0.051,2389,722,3872,0,0,0,0,0,0
$GC,2795,-0.81,-146.0,443.3,-9.8,156,2799,0.00,2.25,0.00,0.000,6,0.000,0.054,2389,2151,3871,0,0,0,0,0,0
$GC,3125,-0.81,-146.0,473.6,-9.1,164,3129,0.00,2.25,0.00,0.000,4,0.000,0.066,2388,3561,3869,0,0,0,0,0,0
$GC,3171,-0.81,-146.0,477.6,-8.4,165,3175,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,2138,3868,0,0,0,0,0,0
$GC,3493,-0.81,-146.0,503.9,-8.0,173,3497,0.00,2.17,0.00,0.000,4,0.000,0.052,2389,732,3865,0,0,0,0,0,0
$GC,3520,-0.81,-146.0,506.3,-8.4,173,3524,0.00,2.25,0.00,0.000,6,0.000,0.055,2388,2152,3865,0,0,0,0,0,0
$GC,3855,-0.81,-146.0,536.4,-9.4,182,3859,0.00,2.22,0.00,0.000,4,0.000,0.066,2389,3558,3862,0,0,0,0,0,0
$GC,3905,-0.81,-146.0,540.9,-8.1,183,3909,0.00,2.17,0.00,0.000,6,0.000,0.041,2389,2136,3861,0,0,0,0,0,0
$GC,4222,-0.81,-146.0,570.1,-9.2,191,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2132,3858,0,0,0,0,0,0
$GC,4547,-0.81,-146.0,596.4,-7.5,199,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2131,3856,0,0,0,0,0,0
$GC,4872,-0.81,-146.0,619.2,-6.9,207,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2131,3852,0,0,0,0,0,0
$GC,5197,-0.81,-146.0,643.0,-7.4,215,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2131,3850,0,0,0,0,0,0
$GC,5522,-0.81,-146.0,667.7,-7.4,223,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2131,3849,0,0,0,0,0,0
$GC,5847,-0.81,-146.0,693.2,-7.9,231,5851,0.00,2.33,0.00,0.000,4,0.000,0.071,2388,3562,3844,0,0,0,0,0,0
$GC,5879,-0.81,-146.0,695.8,-7.4,231,5883,0.00,2.17,0.00,0.000,6,0.000,0.046,2388,2141,3844,0,0,0,0,0,0
$GC,6213,-0.81,-146.0,721.0,-7.5,240,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2138,3842,0,0,0,0,0,0
$GC,6538,-0.81,-146.0,743.4,-6.7,248,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2138,3841,0,0,0,0,0,0
$GC,6863,-0.81,-146.0,766.6,-7.4,256,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2138,3838,0,0,0,0,0,0
$GC,7189,-0.81,-146.0,791.7,-7.6,264,7193,0.00,2.33,0.00,0.000,4,0.000,0.069,2390,3561,3836,0,0,0,0,0,0
$GC,7220,-0.81,-146.0,794.2,-7.6,264,7225,0.00,2.17,0.00,0.000,6,0.000,0.048,2389,2153,3835,0,0,0,0,0,0
$GC,7551,-0.81,-146.0,823.4,-9.8,272,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2150,3832,0,0,0,0,0,0
$GC,7876,-0.81,-146.0,854.8,-9.5,280,7880,0.00,2.33,0.00,0.000,4,0.000,0.073,2385,3558,3832,0,0,0,0,0,0
$GC,8069,-0.81,-146.0,874.1,-9.1,284,8073,0.00,2.20,0.00,0.000,6,0.000,0.050,2389,2150,3831,0,0,0,0,0,0
$GC,8386,-0.81,-146.0,904.1,-9.4,292,8390,0.00,2.33,0.00,0.000,4,0.000,0.071,2389,3560,3830,0,0,0,0,0,0
$GC,8436,-0.81,-146.0,909.0,-10.4,293,8440,0.00,2.22,0.00,0.000,6,0.000,0.050,2388,2143,3829,0,0,0,0,0,0
$GC,8757,-0.81,-146.0,940.7,-9.9,301,8761,0.00,2.30,0.00,0.000,4,0.000,0.071,2389,3558,3829,0,0,0,0,0,0
$GC,8800,-0.81,-146.0,945.0,-9.9,301,8805,0.00,2.20,0.00,0.000,6,0.000,0.051,2389,2140,3828,0,0,0,0,0,0
$GC,9130,-0.81,-146.0,977.0,-9.5,310,9134,0.00,2.30,0.00,0.000,4,0.000,0.070,2389,3562,3827,0,0,0,0,0,0
$GC,9231,-0.81,-146.0,986.7,-9.2,312,9235,0.00,2.20,0.00,0.000,6,0.000,0.051,2389,2155,3826,0,0,0,0,0,0
$STATE,9298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9298,begin apogee
$GC,9302,-0.28,0.0,993.0,9.2,314,9420,0.45,0.00,112.15,1.355,6,0.059,0.000,2573,2042,3277,0,0,0,0,0,0
$STATE,9423,end apogee,CONTROL_FINISHED_OK
$STATE,9423,begin climb
$GC,9424,0.81,146.0,1000.5,0.0,317,9559,0.90,2.42,125.53,1.320,4,0.050,0.058,2927,656,2681,0,0,1,0,0,0
$GC,9596,0.95,254.7,1010.6,4.5,321,9699,0.00,2.33,94.62,1.299,6,0.000,0.051,2922,2047,2239,0,0,0,0,0,0
$GC,10043,0.95,254.7,916.4,23.1,332,10047,0.00,2.35,0.00,0.000,4,0.000,0.067,2922,3461,2225,0,0,0,0,0,0
$GC,10098,0.95,254.7,903.5,23.2,333,10102,0.00,2.22,0.00,0.000,6,0.000,0.050,2931,2064,2225,0,0,0,0,0,0
$GC,10414,0.95,254.7,832.0,22.3,341,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2059,2222,0,0,0,0,0,0
$GC,10739,0.95,254.7,763.3,21.1,349,10744,0.00,2.28,0.00,0.000,4,0.000,0.069,2931,3462,2222,0,0,0,0,0,0
$GC,10799,0.95,254.7,750.3,20.8,350,10803,0.00,2.25,0.00,0.000,6,0.000,0.052,2941,2053,2221,0,0,0,0,0,0
$GC,11147,0.95,254.7,675.3,21.4,359,11151,0.00,2.30,0.00,0.000,4,0.000,0.067,2941,3463,2220,0,0,0,0,0,0
$GC,11178,0.95,254.7,668.4,21.1,359,11183,0.00,2.22,0.00,0.000,6,0.000,0.052,2952,2047,2220,0,0,0,0,0,0
$GC,11513,0.95,254.7,598.4,20.4,368,11517,0.00,2.22,0.00,0.000,4,0.000,0.062,2962,638,2219,0,0,0,0,0,0
$GC,11628,0.95,254.7,574.9,20.7,370,11633,0.00,2.28,0.00,0.000,6,0.000,0.057,2962,2057,2218,0,0,0,0,0,0
$GC,11968,0.95,254.7,511.9,18.2,379,11972,0.00,2.28,0.00,0.000,4,0.000,0.067,2962,3459,2218,0,0,0,0,0,0
$GC,11990,0.95,254.7,507.5,20.5,379,11994,0.00,2.22,0.00,0.000,6,0.000,0.052,2972,2043,2217,0,0,0,0,0,0
$GC,12329,0.95,254.7,445.8,18.0,388,12333,0.00,2.33,0.00,0.000,4,0.000,0.068,2973,3462,2217,0,0,0,0,0,0
$GC,12439,0.95,254.7,424.1,21.2,390,12444,0.00,2.25,0.00,0.000,6,0.000,0.051,2983,2040,2216,0,0,0,0,0,0
$GC,12783,0.95,254.7,362.8,16.6,399,12787,0.00,2.30,0.00,0.000,4,0.000,0.067,2983,3463,2216,0,0,0,0,0,0
$GC,12815,0.95,254.7,357.2,18.1,399,12819,0.17,2.22,0.00,0.000,6,0.262,0.051,2959,2044,2214,0,0,0,0,0,0
$GC,13145,0.95,254.7,307.5,14.2,407,13149,0.00,2.25,0.00,0.000,4,0.000,0.061,2967,636,2216,0,0,0,0,0,0
$GC,13306,0.95,254.7,285.8,13.6,412,13310,0.00,2.25,0.00,0.000,6,0.000,0.053,2966,2050,2210,0,0,0,0,0,0
$GC,13631,0.95,254.7,242.7,12.6,428,13635,0.00,2.22,0.00,0.000,4,0.000,0.058,2975,637,2215,0,0,0,0,0,0
$GC,13649,0.95,254.7,240.1,12.0,429,13654,0.00,2.22,0.00,0.000,6,0.000,0.053,2975,2056,2215,0,0,0,0,0,0
$GC,13978,0.95,254.7,198.7,11.5,445,13982,0.00,2.22,0.00,0.000,4,0.000,0.063,2974,3464,2216,0,0,0,0,0,0
$GC,14180,1.00,298.8,175.5,7.2,466,14219,0.00,2.17,32.33,0.737,6,0.000,0.046,2985,2046,2061,0,0,0,0,0,0
$GC,14473,1.00,298.8,136.1,14.4,495,14477,0.00,2.25,0.00,0.000,4,0.000,0.061,2985,3454,2056,0,0,0,0,0,0
$GC,14518,1.00,298.8,129.4,14.0,499,14523,0.00,2.20,0.00,0.000,6,0.000,0.044,2995,2054,2057,0,0,0,0,0,0
$GC,14779,1.00,298.8,98.8,10.2,524,14783,0.00,2.22,0.00,0.000,4,0.000,0.054,3006,636,2055,0,0,0,0,0,0
$GC,15046,1.01,308.3,70.7,8.6,552,15061,0.00,2.22,8.62,0.574,6,0.000,0.051,3006,2047,2021,0,0,0,0,0,0
$GC,15315,1.01,308.3,43.2,10.9,578,15319,0.00,2.22,0.00,0.000,4,0.000,0.052,3016,627,2021,0,0,0,0,0,0
$GC,15582,1.01,308.3,10.1,10.8,623,15588,0.15,2.22,0.00,0.000,6,0.225,0.050,2985,2058,2021,0,0,0,0,0,0
$STATE,15648,end climb,SURFACE_DEPTH_REACHED
$STATE,15648,begin surface coast
$FINISH,0.4,1.011328
$STATE,15680,end surface coast,CONTROL_FINISHED_OK
$STATE,15680,begin surface
$SM_CCo,15703,102.65,0.571,0,0,1234,500.16
$SM_GC,1.35,0.00,0.00,102.65,0.000,0.000,0.571,47,2165,1234,-8.13,0.37,500.16
$IRIDIUM_FIX,2006.47,12700.92,050612,080816
$TT8_MAMPS,0.055224
$HUMID,1078733539
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,25.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8401092608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56717279232
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,31.068
$10V_AH,10.2,18.623
$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,19.850,139.200,373.250,102.650,0.000,55.330,84.651,904.780,0.000,0.000,15.606,1288.512,12254.531,563.952,2708.508,260.691,33.370,1528.860,0.000,1657.206,0.000,0.541,0.000
$DEVICE_MAMPS,262.314,102.011,1354.522,571.415,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,428.860,0.000,0.000,0.000,0.000,0.000,0.000,15717.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.365,0.000,0.000
$MEM,354964
$DATA_FILE_SIZE,23420,640
$CAP_FILE_SIZE,156006,0
$CFSIZE,260165632,246820864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,111210,182906,2010.747,12657.804,40,1.8,40,-2.6