version: 66.07
glider: 511
mission: 5
dive: 185
start: 12 21 110 21 45 37
data:
$ID,511
$MISSION,5
$DIVE,185
$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,-45271.43
$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,22
$R_STBD_OVSHOOT,21
$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,184
$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
$GPS1,211210,213157,1915.074,12657.411,27,2.0,27,-2.3
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.7
$GPS2,211210,214443,1915.286,12657.341,11,3.0,30,-2.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.181
$KALMAN_X,-276816.4,2108.8,1126.9,206610.8,-16616.3
$KALMAN_Y,530099.4,0.7,-161.8,-680245.1,6104.3
$MHEAD_RNG_PITCHd_Wd,144.5,200463,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-60.65,0.000,2,0.000,0.000,43,2139,2837,0,0,0,0,0,0
$GC,92,-0.66,-146.0,3.7,-4.9,12,129,10.23,2.22,-20.12,0.000,4,0.258,0.062,2376,723,3880,0,0,0,0,0,0
$GC,222,-0.66,-146.0,40.2,-20.2,35,226,0.00,2.28,0.00,0.000,6,0.000,0.054,2368,2147,3876,0,0,0,0,0,0
$GC,482,-0.66,-146.0,116.9,-25.4,59,486,0.00,2.25,0.00,0.000,4,0.000,0.061,2357,3556,3875,0,0,0,0,0,0
$GC,556,-0.66,-146.0,135.0,-19.7,66,561,0.00,2.15,0.00,0.000,6,0.000,0.038,2357,2131,3878,0,0,0,0,0,0
$GC,816,-0.66,-146.0,185.2,-18.4,91,821,0.10,2.12,0.00,0.000,4,0.189,0.048,2381,741,3879,0,0,0,0,0,0
$GC,868,-0.66,-146.0,193.8,-14.9,96,872,0.00,2.20,0.00,0.000,6,0.000,0.049,2374,2146,3879,0,0,0,0,0,0
$GC,1122,-0.66,-146.0,239.5,-19.4,110,1126,0.00,2.25,0.00,0.000,4,0.000,0.061,2364,3560,3879,0,0,0,0,0,0
$GC,1187,-0.66,-146.0,250.9,-16.0,113,1191,0.00,2.12,0.00,0.000,6,0.000,0.038,2364,2143,3879,0,0,0,0,0,0
$GC,1535,-0.66,-146.0,308.1,-15.6,129,1539,0.00,2.15,0.00,0.000,4,0.000,0.046,2365,735,3878,0,0,0,0,0,0
$GC,1572,-0.66,-146.0,313.4,-14.4,129,1577,0.00,2.22,0.00,0.000,6,0.000,0.051,2357,2148,3878,0,0,0,0,0,0
$GC,1902,-0.66,-146.0,366.7,-16.9,138,1906,0.00,2.22,0.00,0.000,4,0.000,0.060,2347,3556,3878,0,0,0,0,0,0
$GC,2007,-0.66,-146.0,381.8,-13.2,140,2012,0.12,2.12,0.00,0.000,6,0.156,0.038,2381,2139,3878,0,0,0,0,0,0
$GC,2356,-0.66,-146.0,416.4,-9.2,149,2360,0.00,2.30,0.00,0.000,4,0.000,0.066,2372,3560,3876,0,0,0,0,0,0
$GC,2383,-0.66,-146.0,419.3,-10.6,149,2387,0.00,2.15,0.00,0.000,6,0.000,0.039,2372,2144,3876,0,0,0,0,0,0
$GC,2718,-0.66,-146.0,457.2,-11.6,158,2721,0.00,2.15,0.00,0.000,4,0.000,0.049,2372,746,3874,0,0,0,0,0,0
$GC,2749,-0.66,-146.0,461.0,-11.7,158,2753,0.00,2.20,0.00,0.000,6,0.000,0.052,2372,2145,3874,0,0,0,0,0,0
$GC,3079,-0.66,-146.0,498.3,-11.6,166,3083,0.00,2.25,0.00,0.000,4,0.000,0.063,2362,3556,3872,0,0,0,0,0,0
$GC,3149,-0.66,-146.0,506.3,-11.1,167,3153,0.00,2.15,0.00,0.000,6,0.000,0.041,2362,2134,3871,0,0,0,0,0,0
$GC,3488,-0.66,-146.0,548.9,-12.6,176,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2128,3870,0,0,0,0,0,0
$GC,3813,-0.66,-146.0,586.0,-10.8,184,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2127,3867,0,0,0,0,0,0
$GC,4138,-0.66,-146.0,620.5,-10.9,192,4142,0.00,2.17,0.00,0.000,4,0.000,0.051,2361,738,3861,0,0,0,0,0,0
$GC,4174,-0.66,-146.0,624.7,-11.5,192,4181,0.12,2.25,0.00,0.000,6,0.153,0.056,2389,2143,3864,0,0,0,0,0,0
$GC,4504,-0.66,-146.0,652.4,-8.4,201,4508,0.00,2.30,0.00,0.000,4,0.000,0.067,2382,3563,3860,0,0,0,0,0,0
$GC,4531,-0.66,-146.0,654.9,-8.7,201,4535,0.00,2.15,0.00,0.000,6,0.000,0.043,2381,2144,3859,0,0,0,0,0,0
$GC,4866,-0.66,-146.0,683.3,-8.4,210,4870,0.00,2.30,0.00,0.000,4,0.000,0.071,2378,3562,3856,0,0,0,0,0,0
$GC,4893,-0.66,-146.0,685.5,-8.1,210,4897,0.00,2.17,0.00,0.000,6,0.000,0.043,2381,2139,3857,0,0,0,0,0,0
$GC,5232,-0.66,-146.0,712.3,-8.1,219,5236,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,747,3854,0,0,0,0,0,0
$GC,5254,-0.66,-146.0,714.2,-8.9,219,5258,0.00,2.22,0.00,0.000,6,0.000,0.056,2378,2149,3854,0,0,0,0,0,0
$GC,5598,-0.66,-146.0,739.2,-7.1,228,5602,0.00,2.28,0.00,0.000,4,0.000,0.067,2370,3557,3849,0,0,0,0,0,0
$GC,5634,-0.66,-146.0,741.9,-7.0,228,5638,0.00,2.20,0.00,0.000,6,0.000,0.045,2370,2135,3849,0,0,0,0,0,0
$GC,5969,-0.66,-146.0,772.0,-9.4,237,5973,0.00,2.20,0.00,0.000,4,0.000,0.056,2370,740,3848,0,0,0,0,0,0
$GC,6005,-0.66,-146.0,775.8,-9.8,237,6009,0.00,2.22,0.00,0.000,6,0.000,0.057,2368,2143,3848,0,0,0,0,0,0
$GC,6335,-0.66,-146.0,803.6,-7.9,245,6339,0.00,2.30,0.00,0.000,4,0.000,0.071,2364,3557,3844,0,0,0,0,0,0
$GC,6363,-0.66,-146.0,805.6,-6.9,245,6367,0.00,2.20,0.00,0.000,6,0.000,0.047,2364,2146,3844,0,0,0,0,0,0
$GC,6698,-0.66,-146.0,829.3,-6.9,254,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2142,3842,0,0,0,0,0,0
$GC,7022,-0.66,-146.0,853.5,-7.7,262,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2141,3842,0,0,0,0,0,0
$GC,7347,-0.66,-146.0,881.4,-9.0,270,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2142,3840,0,0,0,0,0,0
$GC,7672,-0.66,-146.0,912.5,-9.7,278,7676,0.00,2.22,0.00,0.000,4,0.000,0.057,2364,746,3837,0,0,0,0,0,0
$GC,7704,-0.66,-146.0,915.7,-9.7,278,7708,0.00,2.22,0.00,0.000,6,0.000,0.055,2364,2145,3837,0,0,0,0,0,0
$GC,8034,-0.66,-146.0,945.3,-8.7,286,8038,0.00,2.35,0.00,0.000,4,0.000,0.073,2354,3556,3835,0,0,0,0,0,0
$GC,8061,-0.66,-146.0,947.7,-9.6,286,8066,0.10,2.22,0.00,0.000,6,0.151,0.050,2382,2144,3834,0,0,0,0,0,0
$GC,8401,-0.66,-146.0,970.0,-6.3,295,8405,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,746,3834,0,0,0,0,0,0
$GC,8428,-0.66,-146.0,971.7,-7.2,295,8432,0.00,2.22,0.00,0.000,6,0.000,0.056,2379,2145,3833,0,0,0,0,0,0
$STATE,8761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8761,begin apogee
$GC,8766,-0.28,0.0,991.7,5.9,304,8884,0.40,0.00,114.43,1.348,6,0.120,0.000,2512,2029,3278,0,0,0,0,0,0
$STATE,8891,end apogee,CONTROL_FINISHED_OK
$STATE,8892,begin climb
$GC,8893,0.66,146.0,998.2,0.0,307,9028,0.82,2.47,126.20,1.314,4,0.066,0.066,2826,640,2681,0,0,0,0,0,0
$GC,9175,0.66,146.0,1001.4,7.1,313,9179,0.00,2.33,0.00,0.000,6,0.000,0.055,2826,2046,2671,0,0,0,0,0,0
$GC,9519,0.66,146.0,974.8,7.7,322,9523,0.00,2.33,0.00,0.000,4,0.000,0.067,2822,3455,2667,0,0,0,0,0,0
$GC,9629,0.66,146.0,965.4,9.0,324,9633,0.00,2.25,0.00,0.000,6,0.000,0.051,2837,2050,2666,0,0,0,0,0,0
$GC,9973,0.66,146.0,938.6,7.9,333,9977,0.00,2.28,0.00,0.000,4,0.000,0.061,2847,630,2667,0,0,0,0,0,0
$GC,10240,0.66,146.0,917.7,7.6,338,10245,0.12,2.28,0.00,0.000,6,0.237,0.057,2822,2052,2663,0,0,0,0,0,0
$GC,10570,0.71,186.0,897.7,5.7,346,10612,0.00,2.35,32.72,1.262,4,0.000,0.063,2830,635,2517,0,0,0,0,0,0
$GC,10677,0.71,186.0,888.6,10.9,348,10681,0.00,2.33,0.00,0.000,6,0.000,0.056,2822,2050,2513,0,0,0,0,0,0
$GC,11025,0.71,186.0,856.3,8.9,357,11029,0.00,2.30,0.00,0.000,4,0.000,0.064,2831,640,2510,0,0,0,0,0,0
$GC,11057,0.71,186.0,853.6,8.7,357,11061,0.00,2.30,0.00,0.000,6,0.000,0.055,2826,2055,2510,0,0,0,0,0,0
$GC,11387,0.71,186.0,826.3,8.3,365,11391,0.00,2.33,0.00,0.000,4,0.000,0.071,2826,3462,2508,0,0,0,0,0,0
$GC,11503,0.71,186.0,815.4,8.5,367,11507,0.00,2.25,0.00,0.000,6,0.000,0.053,2836,2049,2506,0,0,0,0,0,0
$GC,11842,0.71,186.0,785.0,8.8,376,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2044,2507,0,0,0,0,0,0
$GC,12168,0.71,186.0,758.3,7.7,384,12172,0.00,2.28,0.00,0.000,4,0.000,0.063,2847,630,2510,0,0,0,0,0,0
$GC,12434,0.74,204.6,738.1,6.4,389,12455,0.00,2.30,15.32,1.136,6,0.000,0.058,2847,2051,2442,0,0,0,0,0,0
$GC,12773,0.74,204.6,711.5,8.1,398,12777,0.00,2.33,0.00,0.000,4,0.000,0.065,2856,622,2436,0,0,0,0,0,0
$GC,12791,0.74,204.6,709.9,7.6,398,12795,0.00,2.30,0.00,0.000,6,0.000,0.057,2857,2047,2441,0,0,0,0,0,0
$GC,13140,0.74,204.6,678.8,9.0,407,13144,0.00,2.33,0.00,0.000,4,0.000,0.069,2857,3456,2437,0,0,0,0,0,0
$GC,13397,0.74,204.6,651.6,10.1,412,13401,0.00,2.28,0.00,0.000,6,0.000,0.053,2867,2039,2437,0,0,0,0,0,0
$GC,13736,0.74,204.6,615.1,11.4,421,13741,0.12,2.30,0.00,0.000,4,0.247,0.063,2851,628,2436,0,0,0,0,0,0
$GC,14005,0.74,204.6,588.3,8.3,426,14011,0.00,2.30,0.00,0.000,6,0.000,0.058,2844,2048,2433,0,0,0,0,0,0
$GC,14335,0.75,219.4,565.9,6.5,435,14355,0.00,2.30,13.25,1.011,4,0.000,0.069,2844,3458,2382,0,0,0,0,0,0
$GC,14438,0.75,219.4,557.9,8.0,437,14442,0.00,2.25,0.00,0.000,6,0.000,0.051,2858,2040,2381,0,0,0,0,0,0
$GC,14750,0.75,219.4,533.1,8.0,445,14754,0.00,2.25,0.00,0.000,4,0.000,0.062,2864,632,2380,0,0,0,0,0,0
$GC,15008,0.75,219.4,509.1,9.5,450,15012,0.00,2.30,0.00,0.000,6,0.000,0.057,2863,2054,2382,0,0,0,0,0,0
$GC,15347,0.75,219.4,475.0,9.9,459,15351,0.00,2.30,0.00,0.000,4,0.000,0.068,2863,3461,2380,0,0,0,0,0,0
$GC,15379,0.75,219.4,471.7,10.2,459,15384,0.12,2.25,0.00,0.000,6,0.245,0.051,2849,2046,2378,0,0,0,0,0,0
$GC,15709,0.75,219.4,442.4,8.0,467,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2039,2378,0,0,0,0,0,0
$GC,16034,0.75,219.4,418.2,7.3,475,16038,0.00,2.30,0.00,0.000,4,0.000,0.069,2844,3455,2378,0,0,0,0,0,0
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$STATE,20573,end climb,SURFACE_DEPTH_REACHED
$STATE,20573,begin surface coast
$FINISH,0.6,1.022774
$STATE,20597,end surface coast,CONTROL_FINISHED_OK
$STATE,20597,begin surface
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$SM_GC,1.61,0.00,0.00,75.97,0.000,0.000,0.561,54,2168,1238,-7.96,0.57,500.40
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$TCM_TEMP,25.50
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8417017856
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55394795520
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,40.419
$10V_AH,10.1,24.946
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.050,194.150,413.075,75.975,0.000,22.819,34.142,531.810,0.250,0.000,33.579,1657.456,15901.934,576.728,3040.430,285.152,33.360,1903.842,0.000,2379.574,0.000,0.543,0.000
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$SENSOR_SECS,521.443,0.000,0.000,0.000,0.000,0.000,0.000,19622.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.620,0.000,0.000
$MEM,355028
$DATA_FILE_SIZE,26771,775
$CAP_FILE_SIZE,190398,0
$CFSIZE,260165632,242843648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221210,033157,1912.936,12657.300,33,1.6,33,-2.3