version: 66.07
glider: 511
mission: 5
dive: 179
start: 12 20 110 15 57 18
data:
$ID,511
$MISSION,5
$DIVE,179
$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,-45140.52
$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,33
$R_STBD_OVSHOOT,30
$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,178
$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
$GPS1,201210,152054,1924.368,12700.719,38,1.8,47,-2.4
$_CALLS,5
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.7
$GPS2,201210,155623,1924.578,12660.000,15,1.4,15,-2.4
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.191
$KALMAN_X,-253093.8,-68.0,830.9,189993.4,-12280.4
$KALMAN_Y,518069.9,-303.0,-441.7,-650427.7,5231.3
$MHEAD_RNG_PITCHd_Wd,149.0,212181,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-56.17,0.000,2,0.000,0.000,35,2160,2718,0,0,0,0,0,0
$GC,87,-0.66,-146.0,3.1,-3.7,11,128,10.18,2.33,-24.92,0.000,4,0.255,0.071,2374,744,3876,0,0,0,0,0,0
$GC,230,-0.66,-146.0,40.0,-24.4,37,235,0.00,2.22,0.00,0.000,6,0.000,0.057,2365,2134,3878,0,0,0,0,0,0
$GC,490,-0.66,-146.0,121.6,-27.7,62,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2134,3877,0,0,0,0,0,0
$GC,745,-0.66,-146.0,182.5,-22.2,86,749,0.00,2.30,0.00,0.000,4,0.000,0.066,2354,3565,3878,0,0,0,0,0,0
$GC,799,-0.66,-146.0,193.6,-18.4,91,806,0.12,2.17,0.00,0.000,6,0.157,0.042,2388,2145,3878,0,0,0,0,0,0
$GC,1053,-0.66,-146.0,233.4,-15.3,106,1057,0.00,2.17,0.00,0.000,4,0.000,0.055,2385,738,3879,0,0,0,0,0,0
$GC,1103,-0.66,-146.0,240.3,-12.9,108,1107,0.00,2.22,0.00,0.000,6,0.000,0.053,2388,2152,3878,0,0,0,0,0,0
$GC,1427,-0.66,-146.0,282.4,-12.2,124,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2152,3877,0,0,0,0,0,0
$GC,1733,-0.66,-146.0,323.3,-14.3,135,1737,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,740,3877,0,0,0,0,0,0
$GC,1769,-0.66,-146.0,328.4,-13.2,135,1775,0.00,2.22,0.00,0.000,6,0.000,0.052,2388,2152,3877,0,0,0,0,0,0
$GC,2100,-0.66,-146.0,370.3,-12.2,144,2104,0.00,2.20,0.00,0.000,4,0.000,0.058,2388,741,3875,0,0,0,0,0,0
$GC,2127,-0.66,-146.0,373.6,-10.5,144,2131,0.00,2.20,0.00,0.000,6,0.000,0.053,2388,2152,3875,0,0,0,0,0,0
$GC,2461,-0.66,-146.0,408.9,-10.9,153,2465,0.00,2.22,0.00,0.000,4,0.000,0.068,2387,3556,3873,0,0,0,0,0,0
$GC,2497,-0.66,-146.0,412.5,-9.6,153,2503,0.00,2.15,0.00,0.000,6,0.000,0.043,2388,2145,3873,0,0,0,0,0,0
$GC,2827,-0.66,-146.0,445.7,-10.3,162,2831,0.00,2.28,0.00,0.000,4,0.000,0.068,2386,3560,3870,0,0,0,0,0,0
$GC,2863,-0.66,-146.0,449.5,-8.9,162,2869,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2147,3870,0,0,0,0,0,0
$GC,3194,-0.66,-146.0,479.1,-8.5,171,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2141,3867,0,0,0,0,0,0
$GC,3519,-0.66,-146.0,508.3,-9.6,179,3522,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,731,3865,0,0,0,0,0,0
$GC,3565,-0.66,-146.0,513.0,-10.1,180,3569,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2148,3863,0,0,0,0,0,0
$GC,3891,-0.66,-146.0,543.8,-9.6,188,3895,0.00,2.25,0.00,0.000,4,0.000,0.067,2388,3555,3862,0,0,0,0,0,0
$GC,3936,-0.66,-146.0,548.0,-8.6,189,3940,0.00,2.17,0.00,0.000,6,0.000,0.045,2393,2142,3860,0,0,0,0,0,0
$GC,4258,-0.66,-146.0,575.1,-8.1,197,4262,0.00,2.17,0.00,0.000,4,0.000,0.054,2387,737,3858,0,0,0,0,0,0
$GC,4308,-0.66,-146.0,579.1,-8.0,198,4312,0.00,2.25,0.00,0.000,6,0.000,0.057,2388,2143,3858,0,0,0,0,0,0
$GC,4630,-0.66,-146.0,600.7,-6.7,206,4634,0.00,2.30,0.00,0.000,4,0.000,0.070,2388,3560,3855,0,0,0,0,0,0
$GC,4676,-0.66,-146.0,603.9,-6.5,207,4680,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2134,3855,0,0,0,0,0,0
$GC,4998,-0.66,-146.0,627.8,-7.6,215,5002,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,735,3851,0,0,0,0,0,0
$GC,5020,-0.66,-146.0,629.6,-7.9,215,5024,0.00,2.20,0.00,0.000,6,0.000,0.051,2387,2153,3851,0,0,1,0,0,0
$GC,5364,-0.66,-146.0,654.3,-6.6,224,5368,0.00,2.25,0.00,0.000,4,0.000,0.068,2388,3556,3849,0,0,0,0,0,0
$GC,5406,-0.66,-146.0,656.7,-5.4,225,5410,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2143,3848,0,0,0,0,0,0
$GC,5732,-0.66,-146.0,679.0,-7.4,233,5736,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,741,3845,0,0,0,0,0,0
$GC,5759,-0.66,-146.0,681.4,-8.6,233,5763,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2146,3845,0,0,0,0,0,0
$GC,6098,-0.66,-146.0,709.9,-8.6,242,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2144,3842,0,0,0,0,0,0
$GC,6423,-0.66,-146.0,737.7,-8.5,250,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2147,3841,0,0,0,0,0,0
$GC,6748,-0.66,-146.0,765.6,-8.5,258,6752,0.00,2.30,0.00,0.000,4,0.000,0.070,2388,3553,3839,0,0,0,0,0,0
$GC,6799,-0.66,-146.0,769.8,-8.2,259,6803,0.00,2.17,0.00,0.000,6,0.000,0.047,2388,2147,3838,0,0,0,0,0,0
$GC,7116,-0.66,-146.0,792.8,-6.9,267,7120,0.00,2.20,0.00,0.000,4,0.000,0.057,2388,743,3835,0,0,0,0,0,0
$GC,7134,-0.66,-146.0,793.9,-6.4,267,7138,0.00,2.22,0.00,0.000,6,0.000,0.054,2388,2149,3836,0,0,0,0,0,0
$GC,7478,-0.66,-146.0,815.8,-6.4,276,7482,0.00,2.30,0.00,0.000,4,0.000,0.071,2388,3563,3834,0,0,0,0,0,0
$GC,7505,-0.66,-146.0,817.5,-6.2,276,7509,0.00,2.20,0.00,0.000,6,0.000,0.047,2387,2141,3833,0,0,0,0,0,0
$GC,7840,-0.66,-146.0,840.8,-7.3,285,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2137,3832,0,0,0,0,0,0
$GC,8165,-0.66,-146.0,868.9,-9.0,293,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2138,3830,0,0,0,0,0,0
$GC,8490,-0.66,-146.0,895.0,-7.6,301,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2138,3829,0,0,0,0,0,0
$GC,8815,-0.66,-146.0,918.0,-7.0,309,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2138,3827,0,0,0,0,0,0
$GC,9140,-0.66,-146.0,942.0,-7.4,317,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2138,3827,0,0,0,0,0,0
$GC,9466,-0.66,-146.0,965.0,-7.0,325,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2137,3826,0,0,0,0,0,0
$GC,9790,-0.66,-146.0,984.6,-5.7,333,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2137,3824,0,0,0,0,0,0
$STATE,9910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9910,begin apogee
$GC,9915,-0.28,0.0,990.8,5.1,336,10033,0.38,0.00,113.05,1.352,6,0.117,0.000,2512,2031,3275,0,0,0,0,0,0
$STATE,10041,end apogee,CONTROL_FINISHED_OK
$STATE,10042,begin climb
$GC,10044,0.66,146.0,996.2,0.0,339,10178,0.82,2.53,126.28,1.318,4,0.061,0.066,2811,3452,2681,0,0,1,0,0,0
$GC,10184,1.02,438.0,1004.8,-2.5,342,10450,0.32,2.35,254.18,1.294,6,0.086,0.049,2927,2053,1490,0,0,1,0,0,0
$GC,10773,1.02,438.0,840.4,33.6,357,10777,0.00,2.35,0.00,0.000,4,0.000,0.069,2929,3452,1481,0,0,0,0,0,0
$GC,10870,1.02,438.0,808.4,33.3,359,10874,0.00,2.28,0.00,0.000,6,0.000,0.052,2939,2032,1479,0,0,1,0,0,0
$GC,11187,1.02,438.0,706.2,32.9,367,11191,0.00,2.35,0.00,0.000,4,0.000,0.070,2940,3452,1478,0,0,0,0,0,0
$GC,11233,1.02,438.0,689.8,36.2,368,11238,0.00,2.22,0.00,0.000,6,0.000,0.053,2950,2051,1478,0,0,0,0,0,0
$GC,11560,1.02,438.0,582.4,32.4,376,11564,0.00,2.30,0.00,0.000,4,0.000,0.069,2950,3449,1477,0,0,0,0,0,0
$GC,11672,1.02,438.0,545.0,33.6,378,11677,0.12,2.22,0.00,0.000,6,0.235,0.053,2935,2031,1477,0,0,1,0,0,0
$GC,12016,1.02,438.0,445.5,28.3,387,12020,0.00,2.35,0.00,0.000,4,0.000,0.068,2935,3457,1475,0,0,0,0,0,0
$GC,12066,1.02,438.0,430.7,29.7,388,12071,0.00,2.22,0.00,0.000,6,0.000,0.053,2939,2050,1475,0,0,0,0,0,0
$GC,12384,1.02,438.0,332.4,31.4,396,12388,0.00,2.33,0.00,0.000,4,0.000,0.068,2944,3460,1474,0,0,0,0,0,0
$GC,12434,1.02,438.0,314.5,35.0,397,12438,0.00,2.25,0.00,0.000,6,0.000,0.053,2951,2036,1473,0,0,0,0,0,0
$GC,12759,1.02,438.0,216.9,28.2,411,12764,0.00,2.33,0.00,0.000,4,0.000,0.067,2954,3460,1476,0,0,0,0,0,0
$GC,12880,1.02,438.0,183.5,25.6,420,12886,0.15,2.25,0.00,0.000,6,0.225,0.051,2931,2042,1473,0,0,0,0,0,0
$GC,13142,1.02,438.0,125.7,21.5,445,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2036,1473,0,0,0,0,0,0
$GC,13395,1.02,438.0,80.4,16.1,469,13399,0.00,2.33,0.00,0.000,4,0.000,0.070,2931,3464,1473,0,0,0,0,0,0
$GC,13569,1.02,438.0,46.9,18.9,487,13575,0.00,2.22,0.00,0.000,6,0.000,0.048,2939,2040,1473,0,0,0,0,0,0
$STATE,13793,end climb,SURFACE_DEPTH_REACHED
$STATE,13793,begin surface coast
$FINISH,0.2,1.013607
$STATE,13811,end surface coast,CONTROL_FINISHED_OK
$STATE,13811,begin surface
$SM_CCo,13829,129.35,0.588,0,0,498,681.43
$SM_GC,1.05,0.00,0.00,129.35,0.000,0.000,0.588,53,2169,498,-7.96,0.68,681.43
$IRIDIUM_FIX,1918.37,12701.79,140612,101037
$TT8_MAMPS,0.057525
$HUMID,1078942571
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416559104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55629545472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,39.110
$10V_AH,10.1,24.071
$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,19.800,112.700,493.500,129.350,0.000,137.599,184.356,1357.360,0.000,0.000,17.198,1053.137,11094.562,632.136,2914.941,389.793,33.376,1458.740,0.000,1335.096,0.000,0.543,0.000
$DEVICE_MAMPS,254.644,86.671,1352.221,587.522,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,351.287,0.000,0.000,0.000,0.000,0.000,0.000,14906.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.397,0.000,0.000
$MEM,354936
$DATA_FILE_SIZE,16809,523
$CAP_FILE_SIZE,149924,0
$CFSIZE,260165632,243380224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,201210,195127,1923.182,12700.300,34,1.0,40,-2.4