version: 66.07
glider: 511
mission: 5
dive: 146
start: 12 12 110 22 38 33
data:
$ID,511
$MISSION,5
$DIVE,146
$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,-43550.418
$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,38
$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,145
$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
$GPS1,121210,220036,2005.170,12700.177,39,0.9,44,-2.5
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.5
$GPS2,121210,223738,2005.058,12659.702,15,1.7,15,-2.5
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.171
$KALMAN_X,-127444.6,-523.9,59.3,65095.9,-2197.6
$KALMAN_Y,472855.2,815.4,346.2,-532146.6,-435.4
$MHEAD_RNG_PITCHd_Wd,135.6,278895,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.81,-146.0,0.0,0.0,0,89,0.00,0.00,-61.33,0.000,2,0.000,0.000,43,2175,2874,0,0,0,0,0,0
$GC,92,-0.81,-146.0,3.4,-4.9,12,128,10.12,2.28,-19.73,0.000,4,0.258,0.067,2375,739,3873,0,0,0,0,0,0
$GC,202,-0.81,-146.0,37.0,-24.6,33,207,0.00,2.22,0.00,0.000,6,0.000,0.054,2365,2135,3875,0,0,0,0,0,0
$GC,467,-0.81,-146.0,118.6,-26.5,58,471,0.00,2.17,0.00,0.000,4,0.000,0.055,2367,744,3879,0,0,0,0,0,0
$GC,546,-0.81,-146.0,135.9,-19.2,66,550,0.00,2.25,0.00,0.000,6,0.000,0.054,2358,2158,3875,0,0,0,0,0,0
$GC,806,-0.81,-146.0,198.4,-22.5,90,809,0.00,2.20,0.00,0.000,4,0.000,0.054,2361,742,3875,0,0,0,0,0,0
$GC,871,-0.81,-146.0,211.7,-18.8,94,875,0.12,2.22,0.00,0.000,6,0.173,0.054,2383,2152,3877,0,0,0,0,0,0
$GC,1199,-0.81,-146.0,268.4,-16.4,110,1203,0.00,2.17,0.00,0.000,4,0.000,0.054,2384,742,3877,0,0,0,0,0,0
$GC,1254,-0.81,-146.0,276.5,-13.5,112,1258,0.00,2.22,0.00,0.000,6,0.000,0.054,2378,2149,3877,0,0,0,0,0,0
$GC,1586,-0.81,-146.0,329.7,-16.6,124,1590,0.00,2.25,0.00,0.000,4,0.000,0.067,2369,3566,3876,0,0,0,0,0,0
$GC,1609,-0.81,-146.0,333.7,-16.7,124,1612,0.00,2.17,0.00,0.000,6,0.000,0.042,2369,2142,3876,0,0,0,0,0,0
$GC,1957,-0.81,-146.0,388.4,-15.0,133,1961,0.00,2.17,0.00,0.000,4,0.000,0.056,2372,737,3874,0,0,0,0,0,0
$GC,2030,-0.81,-146.0,398.0,-11.6,134,2034,0.00,2.25,0.00,0.000,6,0.000,0.056,2365,2152,3874,0,0,0,0,0,0
$GC,2369,-0.81,-146.0,442.3,-12.9,143,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2152,3872,0,0,0,0,0,0
$GC,2694,-0.81,-146.0,484.5,-12.9,151,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2152,3870,0,0,0,0,0,0
$GC,3019,-0.81,-146.0,524.3,-12.0,159,3023,0.00,2.25,0.00,0.000,4,0.000,0.067,2363,3567,3868,0,0,0,0,0,0
$GC,3046,-0.81,-146.0,527.6,-12.7,159,3049,0.00,2.15,0.00,0.000,6,0.000,0.044,2363,2150,3865,0,0,0,0,0,0
$GC,3389,-0.81,-146.0,566.8,-11.4,168,3393,0.00,2.17,0.00,0.000,4,0.000,0.052,2363,741,3865,0,0,0,0,0,0
$GC,3425,-0.81,-146.0,570.9,-10.5,168,3429,0.00,2.25,0.00,0.000,6,0.000,0.056,2363,2152,3864,0,0,0,0,0,0
$GC,3755,-0.81,-146.0,603.9,-9.9,176,3759,0.00,2.22,0.00,0.000,4,0.000,0.066,2363,3564,3862,0,0,0,0,0,0
$GC,3792,-0.81,-146.0,607.5,-8.9,176,3797,0.00,2.20,0.00,0.000,6,0.000,0.046,2362,2146,3861,0,0,0,0,0,0
$GC,4122,-0.81,-146.0,641.0,-10.5,185,4126,0.00,2.17,0.00,0.000,4,0.000,0.052,2363,738,3858,0,0,0,0,0,0
$GC,4153,-0.81,-146.0,644.6,-9.9,185,4157,0.00,2.25,0.00,0.000,6,0.000,0.058,2363,2150,3857,0,0,0,0,0,0
$GC,4483,-0.81,-146.0,677.4,-9.6,193,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2150,3855,0,0,0,0,0,0
$GC,4809,-0.81,-146.0,708.2,-9.4,201,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2150,3851,0,0,0,0,0,0
$GC,5134,-0.81,-146.0,736.4,-8.6,209,5138,0.00,2.28,0.00,0.000,4,0.000,0.068,2363,3561,3849,0,0,0,0,0,0
$GC,5161,-0.81,-146.0,738.7,-7.8,209,5165,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2138,3848,0,0,0,0,0,0
$GC,5495,-0.81,-146.0,770.4,-9.9,218,5499,0.00,2.17,0.00,0.000,4,0.000,0.054,2362,748,3844,0,0,0,0,0,0
$GC,5527,-0.81,-146.0,773.9,-10.5,218,5531,0.00,2.22,0.00,0.000,6,0.000,0.052,2364,2154,3844,0,0,0,0,0,0
$GC,5857,-0.81,-146.0,807.0,-10.1,226,5861,0.00,2.25,0.00,0.000,4,0.000,0.069,2363,3559,3843,0,0,0,0,0,0
$GC,5899,-0.81,-146.0,810.8,-8.7,227,5903,0.00,2.17,0.00,0.000,6,0.000,0.044,2363,2151,3846,0,0,0,0,0,0
$GC,6226,-0.81,-146.0,840.6,-8.9,235,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2145,3840,0,0,0,0,0,0
$GC,6550,-0.81,-146.0,868.6,-8.5,243,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2145,3834,0,0,0,0,0,0
$GC,6875,-0.81,-146.0,896.5,-8.6,251,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2149,3835,0,0,0,0,0,0
$GC,7201,-0.81,-146.0,924.3,-8.6,259,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2145,3833,0,0,0,0,0,0
$GC,7525,-0.81,-146.0,951.4,-8.2,267,7529,0.00,2.22,0.00,0.000,4,0.000,0.057,2363,743,3831,0,0,0,0,0,0
$GC,7552,-0.81,-146.0,953.8,-8.9,267,7556,0.00,2.25,0.00,0.000,6,0.000,0.055,2363,2149,3831,0,0,0,0,0,0
$GC,7892,-0.81,-146.0,979.9,-7.7,276,7896,0.00,2.30,0.00,0.000,4,0.000,0.071,2363,3555,3829,0,0,0,0,0,0
$GC,7923,-0.81,-146.0,982.3,-7.3,276,7927,0.00,2.20,0.00,0.000,6,0.000,0.048,2364,2150,3829,0,0,0,0,0,0
$STATE,8053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8053,begin apogee
$GC,8058,-0.28,0.0,992.2,7.6,280,8175,0.60,0.00,112.43,1.345,6,0.120,0.000,2560,2039,3278,0,0,0,0,0,0
$STATE,8178,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8180,0.81,146.0,998.2,0.0,283,8315,0.98,2.47,124.95,1.312,4,0.044,0.064,2932,3458,2682,0,0,0,0,0,0
$GC,8551,0.81,146.0,996.0,9.9,291,8555,0.00,2.25,0.00,0.000,6,0.000,0.048,2942,2055,2673,0,0,0,0,0,0
$GC,8890,0.88,200.1,971.8,6.8,300,8943,0.00,2.40,45.55,1.290,4,0.000,0.058,2953,636,2462,0,0,0,0,0,0
$GC,9063,0.88,200.1,949.1,18.1,303,9068,0.00,2.30,0.00,0.000,6,0.000,0.053,2948,2059,2453,0,0,0,0,0,0
$GC,9393,0.88,200.1,897.7,15.8,312,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2058,2449,0,0,0,0,0,0
$GC,9718,0.88,200.1,846.4,15.7,320,9722,0.00,2.25,0.00,0.000,4,0.000,0.064,2944,3453,2445,0,0,0,0,0,0
$GC,9852,0.88,200.1,824.6,16.2,322,9857,0.00,2.25,0.00,0.000,6,0.000,0.050,2957,2045,2447,0,0,0,0,0,0
$GC,10182,0.88,200.1,774.5,14.6,331,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2040,2446,0,0,0,0,0,0
$GC,10507,0.88,200.1,729.3,13.2,339,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2040,2445,0,0,0,0,0,0
$GC,10832,0.88,200.1,688.6,12.6,347,10836,0.00,2.22,0.00,0.000,4,0.000,0.059,2966,636,2444,0,0,0,0,0,0
$GC,11099,0.88,200.1,653.5,14.0,352,11104,0.00,2.25,0.00,0.000,6,0.000,0.052,2963,2048,2443,0,0,0,0,0,0
$GC,11429,0.88,200.1,611.4,12.6,361,11433,0.00,2.30,0.00,0.000,4,0.000,0.066,2963,3462,2443,0,0,0,0,0,0
$GC,11645,0.88,200.1,584.2,12.6,365,11650,0.15,2.20,0.00,0.000,6,0.264,0.051,2941,2046,2441,0,0,0,0,0,0
$GC,11975,0.88,200.1,549.5,10.5,373,11979,0.00,2.30,0.00,0.000,4,0.000,0.066,2939,3462,2442,0,0,0,0,0,0
$GC,12243,0.90,211.9,521.2,8.5,378,12256,0.00,2.22,7.85,0.907,6,0.000,0.050,2949,2032,2414,0,0,0,0,0,0
$GC,12578,0.90,211.9,489.1,9.8,387,12582,0.00,2.30,0.00,0.000,4,0.000,0.066,2946,3460,2412,0,0,0,0,0,0
$GC,12799,0.90,211.9,465.0,10.0,391,12804,0.00,2.20,0.00,0.000,6,0.000,0.049,2959,2048,2413,0,0,0,0,0,0
$GC,13129,0.90,211.9,434.4,9.3,400,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2043,2411,0,0,0,0,0,0
$GC,13454,0.93,242.5,407.9,7.7,408,13486,0.00,2.30,26.12,0.913,4,0.000,0.058,2970,638,2289,0,0,0,0,0,0
$GC,13749,0.93,242.5,370.5,13.1,414,13753,0.00,2.25,0.00,0.000,6,0.000,0.051,2967,2047,2284,0,0,0,0,0,0
$GC,14093,0.93,242.5,330.6,11.7,423,14097,0.00,2.25,0.00,0.000,4,0.000,0.057,2975,640,2284,0,0,0,0,0,0
$GC,14153,0.93,242.5,323.4,12.2,424,14158,0.00,2.25,0.00,0.000,6,0.000,0.051,2976,2066,2283,0,0,0,0,0,0
$GC,14483,0.93,242.5,286.2,10.7,435,14487,0.00,2.22,0.00,0.000,4,0.000,0.062,2972,3465,2283,0,0,0,0,0,0
$GC,14548,0.93,242.5,279.0,10.5,438,14553,0.15,2.22,0.00,0.000,6,0.256,0.046,2956,2042,2284,0,0,0,0,0,0
$GC,14877,0.93,242.5,247.6,9.1,454,14881,0.00,2.17,0.00,0.000,4,0.000,0.054,2965,638,2282,0,0,0,0,0,0
$GC,15145,0.95,260.1,221.4,8.3,465,15165,0.00,2.25,15.07,0.728,6,0.000,0.053,2966,2059,2216,0,0,0,0,0,0
$GC,15482,0.95,260.1,190.7,9.6,486,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2059,2214,0,0,0,0,0,0
$GC,15738,0.97,274.7,170.9,8.4,510,15756,0.00,2.25,12.98,0.671,4,0.000,0.054,2976,628,2158,0,0,0,0,0,0
$GC,16020,0.97,274.7,141.4,9.9,540,16026,0.00,2.25,0.00,0.000,6,0.000,0.050,2976,2053,2156,0,0,0,0,0,0
$GC,16281,1.13,398.9,121.7,3.8,565,16386,0.10,2.33,94.62,0.663,4,0.125,0.054,3024,646,1650,0,0,1,0,0,0
$GC,16515,1.13,398.9,82.3,26.4,591,16521,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2053,1640,0,0,0,0,0,0
$GC,16777,1.13,398.9,18.7,22.8,620,16783,0.00,2.28,0.00,0.000,4,0.000,0.061,3021,3463,1640,0,0,0,0,0,0
$GC,16798,1.13,398.9,13.7,22.4,624,16803,0.00,2.22,0.00,0.000,6,0.000,0.046,3030,2046,1637,0,0,0,0,0,0
$STATE,16841,end climb,SURFACE_DEPTH_REACHED
$STATE,16841,begin surface coast
$FINISH,0.6,1.022741
$STATE,16853,end surface coast,CONTROL_FINISHED_OK
$STATE,16853,begin surface
$SM_CCo,16877,49.95,0.568,0,0,1238,500.40
$SM_GC,1.56,0.00,0.00,49.95,0.000,0.000,0.568,53,2174,1238,-8.12,0.68,500.40
$IRIDIUM_FIX,1955.00,12701.37,060612,161614
$TT8_MAMPS,0.056758
$HUMID,1078750313
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8403943424
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56488493056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,32.316
$10V_AH,10.2,19.511
$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,20.200,130.325,439.575,49.950,0.000,141.553,174.484,1477.396,0.000,0.000,17.288,1322.500,13304.601,548.588,3573.835,398.147,33.368,1606.958,0.000,1881.212,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,86.671,1344.551,567.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,424.919,0.000,0.000,0.000,0.000,0.000,0.000,17647.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.815,0.000,0.000
$MEM,355096
$DATA_FILE_SIZE,23456,634
$CAP_FILE_SIZE,178459,0
$CFSIZE,260165632,246251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131210,032207,2003.297,12701.336,35,1.1,35,-2.5