version: 66.07
glider: 511
mission: 5
dive: 164
start: 12 17 110 2 6 39
data:
$ID,511
$MISSION,5
$DIVE,164
$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,471
$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,-43866.457
$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,2600
$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,2145
$C_ROLL_CLIMB,2045
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,15
$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,163
$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
$GPS1,171210,014707,1946.912,12709.788,124,1.0,124,-2.5
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.9
$GPS2,171210,020544,1947.050,12709.508,10,1.3,10,-2.5
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,-0.208
$KALMAN_X,-189323.0,657.2,89.4,142719.5,-9526.8
$KALMAN_Y,495096.3,-603.4,-419.3,-585565.9,5176.2
$MHEAD_RNG_PITCHd_Wd,158.1,241414,-12.1,-7.006
$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,-0.66,-146.0,0.0,0.0,0,88,0.00,0.00,-60.45,0.000,2,0.000,0.000,37,2143,2828,0,0,0,0,0,0
$GC,91,-0.66,-146.0,3.3,-2.8,12,131,10.23,2.33,-20.88,0.000,4,0.259,0.071,2379,729,3876,0,0,0,0,0,0
$GC,247,-0.66,-146.0,46.3,-23.4,39,251,0.00,2.28,0.00,0.000,6,0.000,0.054,2371,2145,3878,0,0,0,0,0,0
$GC,507,-0.66,-146.0,123.9,-29.2,63,511,0.00,2.25,0.00,0.000,4,0.000,0.054,2371,728,3877,0,0,0,0,0,0
$GC,549,-0.66,-146.0,134.8,-22.1,67,553,0.00,2.25,0.00,0.000,6,0.000,0.054,2361,2150,3879,0,0,0,0,0,0
$GC,810,-0.66,-146.0,187.4,-20.1,91,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2150,3879,0,0,0,0,0,0
$GC,1069,-0.66,-146.0,237.5,-19.2,107,1073,0.00,2.22,0.00,0.000,4,0.000,0.054,2361,730,3878,0,0,0,0,0,0
$GC,1111,-0.66,-146.0,245.0,-16.2,108,1117,0.12,2.22,0.00,0.000,6,0.163,0.053,2386,2149,3879,0,0,0,0,0,0
$GC,1425,-0.66,-146.0,294.5,-16.8,124,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2149,3879,0,0,0,0,0,0
$GC,1751,-0.66,-146.0,347.1,-15.4,133,1755,0.00,2.22,0.00,0.000,4,0.000,0.066,2379,3553,3878,0,0,0,0,0,0
$GC,1773,-0.66,-146.0,350.4,-15.0,133,1777,0.00,2.15,0.00,0.000,6,0.000,0.041,2378,2136,3877,0,0,0,0,0,0
$GC,2112,-0.66,-146.0,399.0,-14.3,142,2116,0.00,2.15,0.00,0.000,4,0.000,0.054,2378,738,3877,0,0,0,0,0,0
$GC,2171,-0.66,-146.0,406.6,-11.3,143,2176,0.00,2.20,0.00,0.000,6,0.000,0.054,2378,2145,3877,0,0,0,0,0,0
$GC,2484,-0.66,-146.0,442.5,-11.0,151,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2145,3874,0,0,0,0,0,0
$GC,2809,-0.66,-146.0,478.6,-11.1,159,2813,0.00,2.30,0.00,0.000,4,0.000,0.066,2369,3563,3873,0,0,0,0,0,0
$GC,2897,-0.66,-146.0,488.1,-10.4,161,2901,0.00,2.17,0.00,0.000,6,0.000,0.042,2369,2145,3875,0,0,0,0,0,0
$GC,3223,-0.66,-146.0,525.3,-11.5,169,3227,0.00,2.28,0.00,0.000,4,0.000,0.070,2364,3556,3870,0,0,0,0,0,0
$GC,3250,-0.66,-146.0,528.6,-11.6,169,3254,0.00,2.17,0.00,0.000,6,0.000,0.044,2364,2142,3870,0,0,0,0,0,0
$GC,3589,-0.66,-146.0,569.7,-12.3,178,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2139,3868,0,0,0,0,0,0
$GC,3914,-0.66,-146.0,603.9,-9.8,186,3918,0.00,2.17,0.00,0.000,4,0.000,0.052,2364,739,3865,0,0,0,0,0,0
$GC,3959,-0.66,-146.0,608.1,-8.9,187,3963,0.00,2.22,0.00,0.000,6,0.000,0.056,2361,2146,3865,0,0,0,0,0,0
$GC,4281,-0.66,-146.0,637.4,-9.3,195,4285,0.00,2.28,0.00,0.000,4,0.000,0.068,2361,3557,3862,0,0,0,0,0,0
$GC,4317,-0.66,-146.0,640.7,-8.1,195,4321,0.00,2.17,0.00,0.000,6,0.000,0.046,2366,2149,3862,0,0,0,0,0,0
$GC,4652,-0.66,-146.0,672.1,-9.7,204,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2146,3858,0,0,0,0,0,0
$GC,4977,-0.66,-146.0,704.8,-10.3,212,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2142,3855,0,0,0,0,0,0
$GC,5302,-0.66,-146.0,740.1,-11.0,220,5306,0.00,2.20,0.00,0.000,4,0.000,0.054,2361,732,3851,0,0,0,0,0,0
$GC,5338,-0.66,-146.0,744.3,-11.4,220,5344,0.00,2.22,0.00,0.000,6,0.000,0.051,2362,2148,3852,0,0,0,0,0,0
$GC,5668,-0.66,-146.0,781.1,-11.2,229,5672,0.00,2.30,0.00,0.000,4,0.000,0.069,2361,3561,3849,0,0,0,0,0,0
$GC,5711,-0.66,-146.0,785.6,-10.7,229,5716,0.00,2.20,0.00,0.000,6,0.000,0.044,2361,2127,3849,0,0,0,0,0,0
$GC,6041,-0.66,-146.0,820.0,-10.0,238,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2124,3845,0,0,0,0,0,0
$GC,6366,-0.66,-146.0,849.1,-8.6,246,6370,0.00,2.20,0.00,0.000,4,0.000,0.056,2361,739,3843,0,0,0,0,0,0
$GC,6388,-0.66,-146.0,851.0,-8.2,246,6392,0.00,2.22,0.00,0.000,6,0.000,0.054,2361,2144,3843,0,0,0,0,0,0
$GC,6727,-0.66,-146.0,876.5,-7.4,255,6731,0.00,2.33,0.00,0.000,4,0.000,0.071,2361,3559,3841,0,0,0,0,0,0
$GC,6759,-0.66,-146.0,878.9,-7.7,255,6763,0.00,2.17,0.00,0.000,6,0.000,0.046,2361,2146,3841,0,0,0,0,0,0
$GC,7089,-0.66,-146.0,902.9,-7.4,263,7093,0.00,2.22,0.00,0.000,4,0.000,0.057,2357,746,3838,0,0,0,0,0,0
$GC,7113,-0.66,-146.0,904.8,-8.5,263,7117,0.00,2.22,0.00,0.000,6,0.000,0.054,2361,2148,3838,0,0,0,0,0,0
$GC,7452,-0.66,-146.0,930.3,-7.4,272,7456,0.00,2.30,0.00,0.000,4,0.000,0.072,2361,3558,3834,0,0,0,0,0,0
$GC,7479,-0.66,-146.0,932.3,-7.5,272,7483,0.00,2.20,0.00,0.000,6,0.000,0.048,2358,2142,3835,0,0,0,0,0,0
$GC,7818,-0.66,-146.0,958.1,-7.8,281,7822,0.00,2.22,0.00,0.000,4,0.000,0.056,2361,742,3834,0,0,0,0,0,0
$GC,7849,-0.66,-146.0,960.8,-8.5,281,7853,0.00,2.22,0.00,0.000,6,0.000,0.055,2361,2146,3834,0,0,0,0,0,0
$GC,8184,-0.66,-146.0,988.0,-8.4,290,8188,0.00,2.33,0.00,0.000,4,0.000,0.072,2361,3555,3834,0,0,0,0,0,0
$STATE,8210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8210,begin apogee
$GC,8217,-0.28,0.0,990.3,8.0,290,8334,0.43,0.00,114.38,1.346,6,0.122,0.000,2502,2041,3278,0,0,0,0,0,0
$STATE,8336,end apogee,CONTROL_FINISHED_OK
$STATE,8336,begin climb
$GC,8337,0.66,146.0,996.1,0.0,293,8472,0.85,2.53,126.40,1.314,4,0.060,0.067,2808,3462,2682,0,0,0,0,0,0
$GC,8486,1.11,510.3,1009.1,-4.9,296,8813,0.40,2.35,316.15,1.286,6,0.077,0.048,2956,2039,1197,0,0,1,0,0,0
$GC,9153,1.11,510.3,791.2,40.9,313,9157,0.00,2.38,0.00,0.000,4,0.000,0.073,2956,3454,1188,0,0,0,0,0,0
$GC,9304,1.11,510.3,729.8,40.5,316,9308,0.00,2.22,0.00,0.000,6,0.000,0.054,2966,2049,1187,0,0,1,0,0,0
$GC,9652,1.11,510.3,585.5,40.5,325,9656,0.00,2.33,0.00,0.000,4,0.000,0.073,2966,3454,1186,0,0,0,0,0,0
$GC,9716,1.11,510.3,559.3,37.8,326,9721,0.00,2.25,0.00,0.000,6,0.000,0.053,2976,2049,1187,0,0,0,0,0,0
$GC,10061,1.11,510.3,423.3,39.3,335,10065,0.00,2.30,0.00,0.000,4,0.000,0.069,2976,3455,1182,0,0,0,0,0,0
$GC,10272,1.11,510.3,340.7,37.8,339,10276,0.00,2.22,0.00,0.000,6,0.000,0.051,2986,2044,1182,0,0,0,0,0,0
$GC,10594,1.11,510.3,217.3,38.6,352,10598,0.00,2.30,0.00,0.000,4,0.000,0.067,2986,3462,1182,0,0,0,0,0,0
$GC,10643,1.11,510.3,197.5,38.9,354,10648,0.15,2.22,0.00,0.000,6,0.239,0.050,2965,2041,1182,0,0,0,0,0,0
$GC,10972,1.11,510.3,89.2,28.5,385,10976,0.00,2.33,0.00,0.000,4,0.000,0.072,2965,3463,1182,0,0,0,0,0,0
$GC,11060,1.11,510.3,64.9,29.3,394,11064,0.00,2.22,0.00,0.000,6,0.000,0.051,2970,2043,1181,0,0,0,0,0,0
$STATE,11286,end climb,SURFACE_DEPTH_REACHED
$STATE,11286,begin surface coast
$FINISH,0.0,1.022729
$STATE,11299,end surface coast,CONTROL_FINISHED_OK
$STATE,11299,begin surface
$SM_CCo,11316,93.18,0.599,0,0,499,681.43
$SM_GC,0.78,0.00,0.00,93.18,0.000,0.000,0.599,53,2162,499,-7.96,0.48,681.43
$IRIDIUM_FIX,1938.95,12707.31,100612,202006
$TT8_MAMPS,0.057525
$HUMID,1079039766
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.20
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8438546432
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56040521728
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,35.797
$10V_AH,10.2,21.914
$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,19.900,103.875,556.925,93.175,0.000,148.645,168.981,407.639,0.500,0.000,12.736,872.968,8929.697,617.976,1950.960,155.930,33.382,1374.679,0.000,1169.543,0.000,0.541,0.000
$DEVICE_MAMPS,259.246,92.807,1346.085,599.027,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,284.671,0.000,0.000,0.000,0.000,0.000,0.000,11714.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.630,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,13468,425
$CAP_FILE_SIZE,110808,0
$CFSIZE,260165632,244785152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171210,051807,1945.493,12709.809,28,1.2,28,-2.5