version: 66.07
glider: 511
mission: 5
dive: 171
start: 12 18 110 17 38 55
data:
$ID,511
$MISSION,5
$DIVE,171
$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,-45004.977
$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,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,170
$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
$GPS1,181210,170728,1939.529,12706.707,35,1.1,35,-2.4
$_CALLS,5
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.7
$GPS2,181210,173758,1939.719,12706.387,10,1.0,16,-2.4
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,-0.201
$KALMAN_X,-217433.8,258.5,1152.6,164762.9,-14756.9
$KALMAN_Y,506994.6,171.3,144.7,-612359.5,525.8
$MHEAD_RNG_PITCHd_Wd,153.8,231343,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.66,-146.0,0.0,0.0,0,113,0.00,0.00,-85.95,0.000,2,0.000,0.000,40,2160,2814,0,0,0,0,0,0
$GC,115,-0.66,-146.0,3.2,-3.6,17,156,10.00,2.30,-21.55,0.000,4,0.252,0.067,2370,734,3875,0,0,0,0,0,0
$GC,262,-0.66,-146.0,42.6,-23.6,44,266,0.00,2.22,0.00,0.000,6,0.000,0.054,2365,2141,3876,0,0,0,0,0,0
$GC,522,-0.66,-146.0,119.0,-26.7,68,526,0.00,2.22,0.00,0.000,4,0.000,0.056,2365,732,3876,0,0,0,0,0,0
$GC,555,-0.66,-146.0,127.3,-24.0,71,560,0.10,2.22,0.00,0.000,6,0.191,0.053,2379,2147,3876,0,0,0,0,0,0
$GC,816,-0.66,-146.0,175.0,-15.9,95,820,0.00,2.28,0.00,0.000,4,0.000,0.066,2371,3563,3876,0,0,0,0,0,0
$GC,912,-0.66,-146.0,188.8,-13.1,105,917,0.00,2.17,0.00,0.000,6,0.000,0.041,2371,2134,3876,0,0,0,0,0,0
$GC,1177,-0.66,-146.0,233.4,-17.5,121,1181,0.00,2.15,0.00,0.000,4,0.000,0.055,2370,740,3876,0,0,0,0,0,0
$GC,1260,-0.66,-146.0,247.0,-15.4,124,1265,0.00,2.20,0.00,0.000,6,0.000,0.052,2362,2147,3877,0,0,0,0,0,0
$GC,1576,-0.66,-146.0,301.8,-17.6,140,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2147,3876,0,0,0,0,0,0
$GC,1899,-0.66,-146.0,355.8,-16.1,148,1903,0.00,2.25,0.00,0.000,4,0.000,0.066,2352,3568,3875,0,0,0,0,0,0
$GC,1945,-0.66,-146.0,362.8,-14.3,149,1949,0.12,2.17,0.00,0.000,6,0.150,0.043,2387,2140,3875,0,0,1,0,0,0
$GC,2267,-0.66,-146.0,398.0,-9.9,157,2271,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,738,3872,0,0,0,0,0,0
$GC,2367,-0.66,-146.0,407.7,-9.6,159,2372,0.00,2.20,0.00,0.000,6,0.000,0.053,2387,2151,3873,0,0,0,0,0,0
$GC,2685,-0.66,-146.0,443.6,-11.9,167,2689,0.00,2.22,0.00,0.000,4,0.000,0.065,2379,3559,3870,0,0,0,0,0,0
$GC,2716,-0.66,-146.0,447.5,-11.8,167,2720,0.00,2.17,0.00,0.000,6,0.000,0.042,2379,2142,3870,0,0,0,0,0,0
$GC,3050,-0.66,-146.0,486.5,-11.3,176,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2136,3868,0,0,0,0,0,0
$GC,3376,-0.66,-146.0,518.3,-9.5,184,3380,0.00,2.20,0.00,0.000,4,0.000,0.056,2379,734,3866,0,0,0,0,0,0
$GC,3398,-0.66,-146.0,520.6,-9.6,184,3401,0.00,2.20,0.00,0.000,6,0.000,0.053,2379,2145,3866,0,0,0,0,0,0
$GC,3741,-0.66,-146.0,548.6,-7.8,193,3745,0.00,2.28,0.00,0.000,4,0.000,0.067,2369,3562,3863,0,0,0,0,0,0
$GC,3810,-0.66,-146.0,553.9,-7.8,194,3814,0.00,2.20,0.00,0.000,6,0.000,0.044,2370,2139,3862,0,0,0,0,0,0
$GC,4153,-0.66,-146.0,588.5,-11.0,203,4157,0.00,2.17,0.00,0.000,4,0.000,0.053,2369,740,3859,0,0,0,0,0,0
$GC,4203,-0.66,-146.0,594.3,-11.8,204,4207,0.00,2.22,0.00,0.000,6,0.000,0.055,2364,2142,3858,0,0,0,0,0,0
$GC,4525,-0.66,-146.0,628.7,-10.2,212,4529,0.00,2.28,0.00,0.000,4,0.000,0.067,2355,3566,3856,0,0,0,0,0,0
$GC,4561,-0.66,-146.0,632.0,-9.1,212,4567,0.10,2.20,0.00,0.000,6,0.155,0.042,2383,2137,3855,0,0,0,0,0,0
$GC,4892,-0.66,-146.0,652.5,-5.6,221,4896,0.00,2.17,0.00,0.000,4,0.000,0.053,2383,741,3853,0,0,0,0,0,0
$GC,4928,-0.66,-146.0,654.5,-5.8,221,4934,0.00,2.22,0.00,0.000,6,0.000,0.056,2383,2149,3850,0,0,0,0,0,0
$GC,5258,-0.66,-146.0,671.9,-5.7,230,5262,0.00,2.28,0.00,0.000,4,0.000,0.066,2375,3559,3849,0,0,0,0,0,0
$GC,5313,-0.66,-146.0,675.5,-7.0,231,5317,0.00,2.20,0.00,0.000,6,0.000,0.047,2371,2145,3851,0,0,0,0,0,0
$GC,5625,-0.66,-146.0,699.5,-7.9,239,5629,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,740,3845,0,0,0,0,0,0
$GC,5671,-0.66,-146.0,703.2,-7.5,240,5675,0.00,2.22,0.00,0.000,6,0.000,0.056,2375,2150,3844,0,0,0,0,0,0
$GC,5993,-0.66,-146.0,729.1,-8.3,248,5997,0.00,2.28,0.00,0.000,4,0.000,0.068,2366,3559,3843,0,0,0,0,0,0
$GC,6056,-0.66,-146.0,734.6,-8.5,249,6060,0.00,2.20,0.00,0.000,6,0.000,0.045,2366,2138,3840,0,0,0,0,0,0
$GC,6405,-0.66,-146.0,764.8,-8.7,258,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2134,3840,0,0,0,0,0,0
$GC,6730,-0.66,-146.0,792.2,-8.5,266,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2131,3838,0,0,0,0,0,0
$GC,7054,-0.66,-146.0,819.5,-8.3,274,7058,0.00,2.33,0.00,0.000,4,0.000,0.070,2362,3560,3835,0,0,0,0,0,0
$GC,7081,-0.66,-146.0,821.7,-7.5,274,7085,0.00,2.17,0.00,0.000,6,0.000,0.047,2363,2146,3835,0,0,0,0,0,0
$GC,7420,-0.66,-146.0,849.3,-8.3,283,7424,0.00,2.22,0.00,0.000,4,0.000,0.057,2362,741,3833,0,0,0,0,0,0
$GC,7462,-0.66,-146.0,852.9,-8.7,284,7466,0.00,2.25,0.00,0.000,6,0.000,0.054,2363,2148,3833,0,0,0,0,0,0
$GC,7788,-0.66,-146.0,880.1,-8.4,292,7792,0.00,2.30,0.00,0.000,4,0.000,0.070,2353,3555,3831,0,0,0,0,0,0
$GC,7834,-0.66,-146.0,884.2,-8.6,293,7839,0.12,2.20,0.00,0.000,6,0.145,0.048,2389,2145,3831,0,0,0,0,0,0
$GC,8157,-0.66,-146.0,906.2,-6.8,301,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2138,3830,0,0,0,0,0,0
$GC,8481,-0.66,-146.0,930.0,-7.4,309,8485,0.00,2.20,0.00,0.000,4,0.000,0.058,2388,747,3828,0,0,0,0,0,0
$GC,8505,-0.66,-146.0,932.0,-8.5,309,8509,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2148,3828,0,0,0,0,0,0
$GC,8844,-0.66,-146.0,958.7,-8.0,318,8848,0.00,2.30,0.00,0.000,4,0.000,0.071,2385,3558,3824,0,0,0,0,0,0
$GC,8880,-0.66,-146.0,961.7,-8.4,318,8886,0.00,2.22,0.00,0.000,6,0.000,0.049,2380,2138,3826,0,0,0,0,0,0
$STATE,9209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9209,begin apogee
$GC,9214,-0.28,0.0,990.7,8.8,327,9331,0.38,0.00,112.28,1.356,6,0.068,0.000,2530,2043,3277,0,0,0,0,0,0
$STATE,9334,end apogee,CONTROL_FINISHED_OK
$STATE,9334,begin climb
$GC,9335,0.66,146.0,999.5,0.0,330,9470,0.77,2.53,125.72,1.318,4,0.064,0.065,2812,3459,2682,0,0,0,0,0,0
$GC,9692,0.67,151.6,997.8,6.8,338,9703,0.00,2.25,4.53,0.855,6,0.000,0.050,2825,2043,2657,0,0,1,0,0,0
$GC,10016,0.68,156.2,975.1,6.9,346,10028,0.00,2.28,5.10,0.935,4,0.000,0.060,2835,635,2641,0,0,0,0,0,0
$GC,10064,0.68,156.2,971.5,7.9,347,10069,0.00,2.30,0.00,0.000,6,0.000,0.055,2832,2046,2640,0,0,0,0,0,0
$GC,10387,0.70,178.3,950.7,6.3,355,10414,0.00,2.33,20.65,1.262,4,0.000,0.067,2836,3452,2551,0,0,0,0,0,0
$GC,10437,0.70,178.3,946.9,9.8,356,10441,0.00,2.25,0.00,0.000,6,0.000,0.050,2846,2043,2550,0,0,0,0,0,0
$GC,10754,0.70,178.3,916.9,9.4,364,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2038,2546,0,0,0,0,0,0
$GC,11079,0.70,178.3,888.3,8.6,372,11083,0.00,2.33,0.00,0.000,4,0.000,0.071,2846,3461,2544,0,0,0,0,0,0
$GC,11175,0.70,178.3,879.3,9.8,374,11179,0.00,2.25,0.00,0.000,6,0.000,0.052,2857,2037,2544,0,0,0,0,0,0
$GC,11492,0.70,178.3,853.2,8.0,382,11496,0.00,2.22,0.00,0.000,4,0.000,0.061,2867,634,2543,0,0,0,0,0,0
$GC,11585,0.70,178.3,844.9,8.7,384,11590,0.17,2.25,0.00,0.000,6,0.232,0.054,2829,2049,2541,0,0,0,0,0,0
$GC,11913,0.70,178.3,815.4,9.4,392,11917,0.00,2.28,0.00,0.000,4,0.000,0.069,2818,3453,2541,0,0,0,0,0,0
$GC,12024,0.70,178.3,804.1,9.8,394,12028,0.00,2.22,0.00,0.000,6,0.000,0.052,2827,2043,2541,0,0,0,0,0,0
$GC,12368,0.70,178.3,768.8,10.2,403,12372,0.00,2.33,0.00,0.000,4,0.000,0.069,2818,3450,2539,0,0,0,0,0,0
$GC,12387,0.70,178.3,766.7,10.9,403,12391,0.00,2.22,0.00,0.000,6,0.000,0.051,2828,2043,2540,0,0,0,0,0,0
$GC,12731,0.70,178.3,733.3,9.2,412,12735,0.00,2.33,0.00,0.000,4,0.000,0.069,2828,3453,2539,0,0,0,0,0,0
$GC,12915,0.70,178.3,718.3,7.0,416,12919,0.00,2.22,0.00,0.000,6,0.000,0.051,2842,2037,2539,0,0,0,0,0,0
$GC,13237,0.74,206.5,697.8,6.1,424,13265,0.00,2.28,23.20,1.149,4,0.000,0.062,2849,627,2437,0,0,0,0,0,0
$GC,13385,0.74,206.5,685.4,9.5,427,13389,0.00,2.30,0.00,0.000,6,0.000,0.055,2849,2045,2432,0,0,0,0,0,0
$GC,13697,0.74,206.5,657.5,9.0,435,13701,0.00,2.30,0.00,0.000,4,0.000,0.070,2849,3453,2430,0,0,0,0,0,0
$GC,13729,0.74,206.5,654.2,10.1,435,13733,0.00,2.25,0.00,0.000,6,0.000,0.052,2859,2051,2428,0,0,0,0,0,0
$GC,14060,0.74,206.5,623.4,9.0,443,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2046,2429,0,0,0,0,0,0
$GC,14384,0.74,206.5,592.3,9.5,451,14388,0.00,2.28,0.00,0.000,4,0.000,0.061,2870,625,2429,0,0,0,0,0,0
$GC,14490,0.74,206.5,583.0,8.2,453,14495,0.12,2.30,0.00,0.000,6,0.230,0.054,2845,2049,2426,0,0,0,0,0,0
$GC,14839,0.74,206.5,557.8,7.3,462,14840,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2049,2427,0,0,0,0,0,0
$GC,15164,0.74,206.5,531.2,8.4,470,15168,0.00,2.30,0.00,0.000,4,0.000,0.063,2849,618,2428,0,0,0,0,0,0
$GC,15326,0.75,212.4,519.4,6.8,473,15337,0.00,2.30,5.12,0.792,6,0.000,0.054,2854,2051,2412,0,0,0,0,0,0
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$STATE,20602,end climb,SURFACE_DEPTH_REACHED
$STATE,20603,begin surface coast
$FINISH,0.8,1.022844
$STATE,20626,end surface coast,CONTROL_FINISHED_OK
$STATE,20626,begin surface
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$SM_GC,1.36,0.00,0.00,169.93,0.000,0.000,0.567,47,2154,498,-7.97,0.23,681.43
$IRIDIUM_FIX,1929.80,12705.93,120612,111127
$TT8_MAMPS,0.056758
$HUMID,1078681926
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$TCM_TEMP,25.20
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8387100672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55937400832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.4,37.368
$10V_AH,10.2,22.902
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.575,189.175,422.550,169.925,0.000,146.332,237.439,1005.722,0.250,0.000,18.333,1656.489,16275.261,697.375,3663.279,348.552,33.370,1986.852,0.000,2273.285,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,16.279,0.000,0.000
$MEM,355036
$DATA_FILE_SIZE,26721,794
$CAP_FILE_SIZE,207020,0
$CFSIZE,260165632,244097024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,181210,232722,1937.418,12706.332,43,1.2,43,-2.4