version: 66.07
glider: 511
mission: 5
dive: 178
start: 12 20 110 9 20 36
data:
$ID,511
$MISSION,5
$DIVE,178
$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,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,-45122.691
$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,18
$R_STBD_OVSHOOT,27
$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,177
$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
$GPS1,201210,085121,1926.169,12702.843,88,1.0,88,-2.4
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-73.4
$GPS2,201210,091941,1925.981,12702.323,12,1.4,12,-2.4
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.193
$KALMAN_X,-247676.3,-125.8,2481.6,187018.4,-12864.8
$KALMAN_Y,516495.5,-747.9,-1163.0,-645075.9,3872.5
$MHEAD_RNG_PITCHd_Wd,149.9,212282,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.66,-146.0,0.0,0.0,0,83,0.00,0.00,-56.25,0.000,2,0.000,0.000,40,2154,2714,0,0,0,0,0,0
$GC,86,-0.66,-146.0,3.1,-3.0,11,127,10.15,2.28,-24.30,0.000,4,0.255,0.067,2373,719,3871,0,0,0,0,0,0
$GC,298,-0.66,-146.0,55.4,-20.8,45,303,0.00,2.28,0.00,0.000,6,0.000,0.056,2365,2137,3873,0,0,0,0,0,0
$GC,558,-0.66,-146.0,126.4,-26.2,69,562,0.00,2.25,0.00,0.000,4,0.000,0.063,2354,3559,3873,0,0,0,0,0,0
$GC,590,-0.66,-146.0,135.0,-24.9,72,596,0.12,2.20,0.00,0.000,6,0.167,0.044,2385,2133,3874,0,0,0,0,0,0
$GC,851,-0.66,-146.0,179.5,-15.7,97,855,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,737,3874,0,0,0,0,0,0
$GC,893,-0.66,-146.0,185.6,-14.8,101,897,0.00,2.22,0.00,0.000,6,0.000,0.055,2385,2149,3874,0,0,0,0,0,0
$GC,1159,-0.66,-146.0,227.3,-15.8,118,1163,0.00,2.22,0.00,0.000,4,0.000,0.064,2377,3560,3874,0,0,0,0,0,0
$GC,1185,-0.66,-146.0,231.8,-15.4,119,1189,0.00,2.15,0.00,0.000,6,0.000,0.042,2374,2144,3874,0,0,0,0,0,0
$GC,1505,-0.66,-146.0,281.9,-15.3,135,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2138,3874,0,0,0,0,0,0
$GC,1811,-0.66,-146.0,324.5,-13.6,146,1815,0.00,2.20,0.00,0.000,4,0.000,0.055,2378,734,3872,0,0,0,0,0,0
$GC,1838,-0.66,-146.0,328.1,-12.7,146,1842,0.00,2.22,0.00,0.000,6,0.000,0.054,2378,2147,3872,0,0,0,0,0,0
$GC,2177,-0.66,-146.0,371.3,-12.5,155,2181,0.00,2.25,0.00,0.000,4,0.000,0.065,2368,3559,3871,0,0,0,0,0,0
$GC,2219,-0.66,-146.0,376.3,-11.4,155,2225,0.00,2.15,0.00,0.000,6,0.000,0.044,2368,2144,3871,0,0,0,0,0,0
$GC,2549,-0.66,-146.0,423.1,-14.0,164,2553,0.00,2.20,0.00,0.000,4,0.000,0.059,2368,739,3869,0,0,0,0,0,0
$GC,2581,-0.66,-146.0,427.7,-13.9,164,2585,0.00,2.22,0.00,0.000,6,0.000,0.054,2367,2147,3866,0,0,0,0,0,0
$GC,2916,-0.66,-146.0,469.3,-11.6,173,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2147,3867,0,0,0,0,0,0
$GC,3241,-0.66,-146.0,505.1,-10.5,181,3245,0.00,2.25,0.00,0.000,4,0.000,0.068,2357,3556,3864,0,0,0,0,0,0
$GC,3268,-0.66,-146.0,508.0,-10.8,181,3272,0.00,2.17,0.00,0.000,6,0.000,0.045,2355,2140,3864,0,0,0,0,0,0
$GC,3602,-0.66,-146.0,542.1,-10.2,190,3606,0.00,2.20,0.00,0.000,4,0.000,0.054,2358,735,3862,0,0,0,0,0,0
$GC,3635,-0.66,-146.0,545.2,-9.7,190,3640,0.12,2.22,0.00,0.000,6,0.152,0.055,2386,2143,3862,0,0,0,0,0,0
$GC,3965,-0.66,-146.0,570.9,-8.3,198,3969,0.00,2.28,0.00,0.000,4,0.000,0.067,2378,3557,3858,0,0,0,0,0,0
$GC,4015,-0.66,-146.0,575.5,-9.3,199,4019,0.00,2.20,0.00,0.000,6,0.000,0.046,2378,2142,3858,0,0,0,0,0,0
$GC,4332,-0.66,-146.0,605.0,-9.3,207,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2136,3855,0,0,0,0,0,0
$GC,4657,-0.66,-146.0,637.2,-10.1,215,4661,0.00,2.33,0.00,0.000,4,0.000,0.072,2376,3556,3852,0,0,0,0,0,0
$GC,4679,-0.66,-146.0,639.5,-9.7,215,4684,0.00,2.20,0.00,0.000,6,0.000,0.048,2377,2148,3852,0,0,0,0,0,0
$GC,5019,-0.66,-146.0,671.1,-8.9,224,5023,0.00,2.22,0.00,0.000,4,0.000,0.056,2376,734,3849,0,0,0,0,0,0
$GC,5041,-0.66,-146.0,673.1,-9.0,224,5045,0.00,2.22,0.00,0.000,6,0.000,0.051,2376,2154,3847,0,0,0,0,0,0
$GC,5380,-0.66,-146.0,701.4,-8.2,233,5384,0.00,2.25,0.00,0.000,4,0.000,0.061,2379,735,3845,0,0,0,0,0,0
$GC,5403,-0.66,-146.0,703.5,-9.3,233,5407,0.00,2.22,0.00,0.000,6,0.000,0.056,2376,2146,3845,0,0,0,0,0,0
$GC,5742,-0.66,-146.0,728.8,-7.4,242,5746,0.00,2.28,0.00,0.000,4,0.000,0.068,2367,3560,3840,0,0,0,0,0,0
$GC,5792,-0.66,-146.0,732.6,-7.6,243,5796,0.00,2.20,0.00,0.000,6,0.000,0.044,2367,2138,3842,0,0,0,0,0,0
$GC,6109,-0.66,-146.0,756.4,-7.4,251,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2134,3838,0,0,0,0,0,0
$GC,6434,-0.66,-146.0,779.8,-7.4,259,6438,0.00,2.30,0.00,0.000,4,0.000,0.070,2364,3554,3837,0,0,0,0,0,0
$GC,6451,-0.66,-146.0,781.1,-7.1,259,6455,0.00,2.22,0.00,0.000,6,0.000,0.051,2366,2150,3837,0,0,0,0,0,0
$GC,6795,-0.66,-146.0,812.0,-9.4,268,6799,0.00,2.25,0.00,0.000,4,0.000,0.058,2365,732,3834,0,0,0,0,0,0
$GC,6837,-0.66,-146.0,816.0,-9.7,269,6841,0.00,2.22,0.00,0.000,6,0.000,0.053,2364,2144,3834,0,0,0,0,0,0
$GC,7163,-0.66,-146.0,845.0,-8.6,277,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2144,3832,0,0,0,0,0,0
$GC,7488,-0.66,-146.0,870.0,-7.6,285,7492,0.00,2.30,0.00,0.000,4,0.000,0.072,2356,3560,3830,0,0,0,0,0,0
$GC,7530,-0.66,-146.0,873.2,-7.4,286,7534,0.00,2.20,0.00,0.000,6,0.000,0.048,2356,2138,3830,0,0,0,0,0,0
$GC,7857,-0.66,-146.0,898.9,-8.0,294,7862,0.10,2.25,0.00,0.000,4,0.168,0.058,2383,742,3828,0,0,0,0,0,0
$GC,7894,-0.66,-146.0,901.4,-7.1,294,7899,0.00,2.25,0.00,0.000,6,0.000,0.057,2383,2150,3829,0,0,0,0,0,0
$GC,8224,-0.66,-146.0,919.5,-5.4,303,8228,0.00,2.30,0.00,0.000,4,0.000,0.072,2376,3559,3825,0,0,0,0,0,0
$GC,8261,-0.66,-146.0,921.5,-5.6,303,8266,0.00,2.22,0.00,0.000,6,0.000,0.049,2376,2142,3826,0,0,0,0,0,0
$GC,8591,-0.66,-146.0,940.9,-5.9,312,8595,0.00,2.25,0.00,0.000,4,0.000,0.059,2377,741,3824,0,0,0,0,0,0
$GC,8623,-0.66,-146.0,943.0,-6.5,312,8628,0.00,2.25,0.00,0.000,6,0.000,0.057,2376,2145,3825,0,0,0,0,0,0
$GC,8954,-0.66,-146.0,963.4,-6.2,320,8958,0.00,2.33,0.00,0.000,4,0.000,0.072,2372,3560,3823,0,0,0,0,0,0
$GC,8986,-0.66,-146.0,965.5,-6.6,320,8990,0.00,2.20,0.00,0.000,6,0.000,0.049,2366,2146,3822,0,0,0,0,0,0
$GC,9321,-0.66,-146.0,988.2,-6.7,329,9325,0.00,2.25,0.00,0.000,4,0.000,0.059,2367,743,3821,0,0,0,0,0,0
$STATE,9346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9346,begin apogee
$GC,9353,-0.28,0.0,990.3,7.6,329,9468,0.43,0.00,112.12,1.348,6,0.122,0.000,2508,2044,3277,0,0,0,0,0,0
$STATE,9471,end apogee,CONTROL_FINISHED_OK
$STATE,9471,begin climb
$GC,9472,0.66,146.0,995.1,0.0,332,9603,0.82,0.00,125.78,1.314,6,0.054,0.000,2823,2044,2683,0,0,0,0,0,0
$GC,9920,0.67,154.1,988.6,6.7,343,9928,0.00,0.00,6.40,1.018,6,0.000,0.000,2823,2044,2653,0,0,0,0,0,0
$GC,10245,0.69,168.9,966.5,6.5,351,10265,0.00,2.35,14.62,1.220,4,0.000,0.070,2833,651,2587,0,0,1,0,0,0
$GC,10302,0.69,168.9,962.3,8.1,352,10306,0.00,2.33,0.00,0.000,6,0.000,0.059,2833,2057,2584,0,0,0,0,0,0
$GC,10614,0.69,168.9,935.4,8.6,360,10619,0.00,2.28,0.00,0.000,4,0.000,0.069,2833,3452,2582,0,0,0,0,0,0
$GC,10664,0.69,168.9,930.6,9.9,361,10669,0.00,2.25,0.00,0.000,6,0.000,0.054,2844,2043,2582,0,0,0,0,0,0
$GC,10986,0.69,168.9,903.2,8.5,369,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2037,2581,0,0,0,0,0,0
$GC,11311,0.69,168.9,878.0,7.5,377,11315,0.00,2.28,0.00,0.000,4,0.000,0.065,2854,633,2580,0,0,0,0,0,0
$GC,11481,0.72,192.7,865.5,6.2,380,11509,0.00,2.28,20.65,1.229,6,0.000,0.055,2854,2044,2492,0,0,0,0,0,0
$GC,11823,0.72,192.7,832.7,10.3,389,11826,0.00,2.33,0.00,0.000,4,0.000,0.069,2854,3469,2486,0,0,0,0,0,0
$GC,11835,0.72,192.7,830.9,10.9,389,11840,0.12,2.30,0.00,0.000,6,0.243,0.054,2840,2041,2484,0,0,0,0,0,0
$GC,12149,0.72,192.7,798.7,10.3,397,12153,0.00,2.30,0.00,0.000,4,0.000,0.067,2849,633,2485,0,0,0,0,0,0
$GC,12283,0.72,192.7,784.5,10.4,400,12287,0.00,2.28,0.00,0.000,6,0.000,0.057,2840,2052,2483,0,0,0,0,0,0
$GC,12610,0.72,192.7,754.2,9.2,408,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2052,2483,0,0,0,0,0,0
$GC,12934,0.72,192.7,723.7,9.4,416,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2052,2480,0,0,0,0,0,0
$GC,13259,0.72,192.7,693.7,9.2,424,13263,0.00,2.33,0.00,0.000,4,0.000,0.069,2853,630,2482,0,0,0,0,0,0
$GC,13314,0.72,192.7,688.3,10.7,425,13319,0.00,2.30,0.00,0.000,6,0.000,0.058,2853,2049,2479,0,0,0,0,0,0
$GC,13627,0.72,192.7,658.0,10.2,433,13631,0.00,2.30,0.00,0.000,4,0.000,0.067,2863,631,2481,0,0,0,0,0,0
$GC,13853,0.72,192.7,636.8,8.0,438,13858,0.12,2.28,0.00,0.000,6,0.229,0.056,2837,2055,2481,0,0,0,0,0,0
$GC,14181,0.72,192.7,612.0,7.6,446,14185,0.00,2.30,0.00,0.000,4,0.000,0.071,2827,3458,2480,0,0,0,0,0,0
$GC,14254,0.72,192.7,606.1,7.9,447,14259,0.00,2.25,0.00,0.000,6,0.000,0.055,2836,2040,2481,0,0,0,0,0,0
$GC,14594,0.72,195.0,582.7,6.9,456,14598,0.00,2.33,0.00,0.000,4,0.000,0.071,2830,3455,2480,0,0,0,0,0,0
$GC,14798,0.72,195.0,568.0,7.0,460,14802,0.00,2.22,0.00,0.000,6,0.000,0.054,2837,2042,2479,0,0,1,0,0,0
$GC,15142,0.76,226.8,547.5,6.0,469,15175,0.00,2.30,28.23,1.046,4,0.000,0.064,2850,631,2353,0,0,0,0,0,0
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$STATE,21377,end climb,SURFACE_DEPTH_REACHED
$STATE,21377,begin surface coast
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$STATE,21407,end surface coast,CONTROL_FINISHED_OK
$STATE,21408,begin surface
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$10V_AH,10.2,23.951
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$FG_AHR_10Vo,0.000
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$MEM,354916
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$CAP_FILE_SIZE,209179,0
$CFSIZE,260165632,243433472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,201210,152054,1924.368,12700.719,38,1.8,47,-2.4