version: 66.07
glider: 511
mission: 5
dive: 187
start: 12 22 110 7 22 1
data:
$ID,511
$MISSION,5
$DIVE,187
$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,-45317.098
$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,28
$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,186
$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
$GPS1,221210,070928,1911.154,12657.524,37,1.8,37,-2.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.2
$GPS2,221210,072106,1911.127,12657.386,10,2.2,29,-2.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.179
$KALMAN_X,-280310.5,422.2,860.6,212137.5,-14725.8
$KALMAN_Y,532651.4,-1033.9,-358.9,-689247.6,8670.6
$MHEAD_RNG_PITCHd_Wd,144.0,194203,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-61.05,0.000,2,0.000,0.000,51,2163,2856,0,0,0,0,0,0
$GC,91,-0.66,-146.0,3.2,-3.5,12,127,10.32,2.30,-19.73,0.000,4,0.264,0.071,2376,736,3874,0,0,0,0,0,0
$GC,270,-0.66,-146.0,52.5,-21.6,40,276,0.00,2.28,0.00,0.000,6,0.000,0.058,2368,2139,3877,0,0,0,0,0,0
$GC,531,-0.66,-146.0,137.1,-29.2,65,535,0.00,2.33,0.00,0.000,4,0.000,0.071,2357,3557,3875,0,0,0,0,0,0
$GC,632,-0.66,-146.0,165.8,-23.9,75,637,0.00,2.17,0.00,0.000,6,0.000,0.040,2359,2140,3878,0,0,0,0,0,0
$GC,890,-0.66,-146.0,222.5,-20.2,95,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2133,3879,0,0,0,0,0,0
$GC,1198,-0.66,-146.0,283.0,-18.1,110,1202,0.00,2.12,0.00,0.000,4,0.000,0.048,2358,740,3881,0,0,0,0,0,0
$GC,1253,-0.66,-146.0,291.4,-13.8,112,1258,0.12,2.22,0.00,0.000,6,0.162,0.051,2384,2154,3882,0,0,0,0,0,0
$GC,1590,-0.66,-146.0,332.7,-12.9,123,1594,0.00,2.20,0.00,0.000,4,0.000,0.061,2375,3557,3880,0,0,0,0,0,0
$GC,1649,-0.66,-146.0,339.3,-9.6,124,1653,0.00,2.15,0.00,0.000,6,0.000,0.038,2375,2141,3881,0,0,0,0,0,0
$GC,1997,-0.66,-146.0,384.7,-13.4,133,2001,0.00,2.15,0.00,0.000,4,0.000,0.048,2375,734,3878,0,0,0,0,0,0
$GC,2057,-0.66,-146.0,392.4,-11.6,134,2061,0.00,2.20,0.00,0.000,6,0.000,0.049,2367,2151,3878,0,0,0,0,0,0
$GC,2369,-0.66,-146.0,431.8,-12.4,142,2373,0.00,2.20,0.00,0.000,4,0.000,0.061,2357,3553,3883,0,0,0,0,0,0
$GC,2424,-0.66,-146.0,438.6,-11.3,143,2428,0.00,2.15,0.00,0.000,6,0.000,0.039,2358,2138,3879,0,0,0,0,0,0
$GC,2741,-0.66,-146.0,482.2,-13.4,151,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2132,3879,0,0,0,0,0,0
$GC,3066,-0.66,-146.0,522.6,-11.8,159,3069,0.00,2.12,0.00,0.000,4,0.000,0.050,2358,750,3877,0,0,0,0,0,0
$GC,3121,-0.66,-146.0,528.7,-10.6,160,3126,0.12,2.20,0.00,0.000,6,0.152,0.051,2387,2143,3878,0,0,0,0,0,0
$GC,3435,-0.66,-146.0,552.9,-7.4,168,3439,0.00,2.28,0.00,0.000,4,0.000,0.064,2379,3560,3875,0,0,0,0,0,0
$GC,3480,-0.66,-146.0,556.4,-7.4,169,3484,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,2147,3875,0,0,0,0,0,0
$GC,3802,-0.66,-146.0,584.9,-9.3,177,3806,0.00,2.30,0.00,0.000,4,0.000,0.071,2377,3554,3872,0,0,0,0,0,0
$GC,3834,-0.66,-146.0,587.9,-9.6,177,3838,0.00,2.17,0.00,0.000,6,0.000,0.042,2377,2136,3871,0,0,0,0,0,0
$GC,4168,-0.66,-146.0,618.4,-9.0,186,4172,0.00,2.30,0.00,0.000,4,0.000,0.066,2377,3554,3869,0,0,0,0,0,0
$GC,4210,-0.66,-146.0,622.0,-8.5,187,4214,0.00,2.17,0.00,0.000,6,0.000,0.043,2377,2141,3872,0,0,0,0,0,0
$GC,4536,-0.66,-146.0,648.0,-7.6,195,4541,0.00,2.28,0.00,0.000,4,0.000,0.064,2377,3557,3866,0,0,0,0,0,0
$GC,4582,-0.66,-146.0,651.2,-6.3,196,4586,0.00,2.15,0.00,0.000,6,0.000,0.043,2377,2144,3866,0,0,0,0,0,0
$GC,4904,-0.66,-146.0,673.7,-7.2,204,4908,0.00,2.28,0.00,0.000,4,0.000,0.066,2377,3556,3863,0,0,0,0,0,0
$GC,4960,-0.66,-146.0,677.8,-7.7,205,4964,0.00,2.17,0.00,0.000,6,0.000,0.044,2382,2147,3862,0,0,0,0,0,0
$GC,5273,-0.66,-146.0,705.2,-9.0,213,5277,0.00,2.20,0.00,0.000,4,0.000,0.053,2377,746,3860,0,0,0,0,0,0
$GC,5297,-0.66,-146.0,707.3,-9.8,213,5301,0.00,2.20,0.00,0.000,6,0.000,0.051,2377,2150,3860,0,0,0,0,0,0
$GC,5636,-0.66,-146.0,737.6,-8.8,222,5640,0.00,2.28,0.00,0.000,4,0.000,0.067,2367,3565,3858,0,0,0,0,0,0
$GC,5686,-0.66,-146.0,742.1,-8.8,223,5690,0.00,2.17,0.00,0.000,6,0.000,0.044,2368,2143,3859,0,0,0,0,0,0
$GC,6003,-0.66,-146.0,770.1,-8.8,231,6007,0.00,2.28,0.00,0.000,4,0.000,0.067,2363,3553,3855,0,0,0,0,0,0
$GC,6025,-0.66,-146.0,772.1,-8.9,231,6029,0.00,2.20,0.00,0.000,6,0.000,0.045,2363,2139,3854,0,0,0,0,0,0
$GC,6364,-0.66,-146.0,800.3,-8.2,240,6368,0.00,2.30,0.00,0.000,4,0.000,0.067,2355,3559,3852,0,0,0,0,0,0
$GC,6392,-0.66,-146.0,802.6,-9.4,240,6395,0.00,2.17,0.00,0.000,6,0.000,0.046,2355,2146,3852,0,0,0,0,0,0
$GC,6726,-0.66,-146.0,831.8,-8.8,249,6731,0.10,2.30,0.00,0.000,4,0.169,0.068,2372,3549,3851,0,0,0,0,0,0
$GC,6763,-0.66,-146.0,834.8,-7.9,249,6768,0.00,2.17,0.00,0.000,6,0.000,0.047,2372,2146,3851,0,0,0,0,0,0
$GC,7093,-0.66,-146.0,859.5,-7.7,258,7098,0.00,2.33,0.00,0.000,4,0.000,0.069,2365,3559,3848,0,0,0,0,0,0
$GC,7113,-0.66,-146.0,860.8,-7.7,258,7117,0.00,2.22,0.00,0.000,6,0.000,0.048,2365,2145,3848,0,0,0,0,0,0
$GC,7456,-0.66,-146.0,888.4,-7.8,267,7461,0.00,2.33,0.00,0.000,4,0.000,0.069,2361,3553,3845,0,0,0,0,0,0
$GC,7480,-0.66,-146.0,890.2,-8.0,267,7484,0.00,2.20,0.00,0.000,6,0.000,0.048,2361,2139,3846,0,0,0,0,0,0
$GC,7819,-0.66,-146.0,917.0,-8.0,276,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2135,3843,0,0,0,0,0,0
$GC,8144,-0.66,-146.0,945.5,-9.0,284,8148,0.00,2.30,0.00,0.000,4,0.000,0.068,2353,3553,3843,0,0,0,0,0,0
$GC,8166,-0.66,-146.0,947.7,-9.3,284,8171,0.12,2.22,0.00,0.000,6,0.145,0.049,2387,2139,3843,0,0,0,0,0,0
$GC,8507,-0.66,-146.0,972.9,-7.2,293,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2136,3842,0,0,0,0,0,0
$STATE,8789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8789,begin apogee
$GC,8794,-0.28,0.0,992.6,6.7,300,8913,0.38,0.00,116.18,1.347,6,0.115,0.000,2514,2028,3278,0,0,0,0,0,0
$STATE,8921,end apogee,CONTROL_FINISHED_OK
$STATE,8922,begin climb
$GC,8924,0.66,146.0,1000.4,0.0,303,9061,0.82,2.53,127.55,1.312,4,0.064,0.064,2812,3450,2682,0,0,0,0,0,0
$GC,9075,1.06,466.2,1011.5,-3.4,306,9367,0.35,2.35,280.17,1.287,6,0.082,0.048,2945,2050,1377,0,0,1,0,0,0
$GC,9697,1.06,466.2,826.7,35.7,322,9702,0.00,2.35,0.00,0.000,4,0.000,0.073,2945,3453,1368,0,0,0,0,0,0
$GC,9754,1.06,466.2,806.5,38.3,323,9758,0.00,2.22,0.00,0.000,6,0.000,0.051,2955,2055,1367,0,0,1,0,0,0
$GC,10066,1.06,466.2,694.0,35.7,331,10070,0.00,2.33,0.00,0.000,4,0.000,0.068,2956,3453,1371,0,0,0,0,0,0
$GC,10163,1.06,466.2,659.9,33.3,333,10167,0.00,2.25,0.00,0.000,6,0.000,0.052,2965,2031,1366,0,0,0,0,0,0
$GC,10480,1.06,466.2,558.0,32.0,341,10484,0.00,2.35,0.00,0.000,4,0.000,0.070,2965,3451,1365,0,0,0,0,0,0
$GC,10599,1.06,466.2,519.0,33.0,343,10604,0.15,2.25,0.00,0.000,6,0.237,0.051,2943,2037,1364,0,0,0,0,0,0
$GC,10939,1.06,466.2,420.0,29.4,352,10943,0.00,2.33,0.00,0.000,4,0.000,0.069,2943,3450,1364,0,0,0,0,0,0
$GC,10985,1.06,466.2,405.3,30.9,353,10989,0.00,2.22,0.00,0.000,6,0.000,0.051,2952,2047,1363,0,0,0,0,0,0
$GC,11307,1.06,466.2,302.6,31.9,361,11311,0.00,2.33,0.00,0.000,4,0.000,0.068,2952,3458,1360,0,0,0,0,0,0
$GC,11343,1.06,466.2,289.8,37.9,361,11349,0.00,2.22,0.00,0.000,6,0.000,0.051,2961,2042,1362,0,0,0,0,0,0
$GC,11658,1.06,466.2,192.3,28.1,378,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2036,1362,0,0,0,0,0,0
$GC,11914,1.06,466.2,129.8,21.7,402,11918,0.00,2.28,0.00,0.000,4,0.000,0.066,2961,3452,1362,0,0,0,0,0,0
$GC,11928,1.06,466.2,127.2,18.8,403,11932,0.12,2.22,0.00,0.000,6,0.222,0.048,2945,2036,1362,0,0,0,0,0,0
$GC,12193,1.06,466.2,76.5,19.3,428,12197,0.00,2.28,0.00,0.000,4,0.000,0.063,2945,3450,1362,0,0,0,0,0,0
$GC,12323,1.06,466.2,48.9,20.7,441,12329,0.00,2.20,0.00,0.000,6,0.000,0.047,2950,2039,1362,0,0,0,0,0,0
$STATE,12540,end climb,SURFACE_DEPTH_REACHED
$STATE,12540,begin surface coast
$FINISH,0.1,1.022775
$STATE,12553,end surface coast,CONTROL_FINISHED_OK
$STATE,12553,begin surface
$SM_CCo,12571,17.27,0.578,0,0,1237,500.16
$SM_GC,0.94,0.00,0.00,17.27,0.000,0.000,0.578,53,2174,1237,-7.96,0.82,500.16
$IRIDIUM_FIX,1906.95,12659.04,150612,212118
$TT8_MAMPS,0.057525
$HUMID,1079015250
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.00
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8413282304
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55366549504
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,40.878
$10V_AH,10.1,25.117
$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,20.275,126.000,523.900,17.275,0.000,31.483,35.677,469.074,0.000,0.000,33.228,998.162,9643.097,554.005,1881.188,218.105,33.357,1370.260,0.000,1307.043,0.000,0.540,0.000
$DEVICE_MAMPS,263.848,86.671,1346.852,578.318,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,318.756,0.000,0.000,0.000,0.000,0.000,0.000,12200.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.000,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,16767,475
$CAP_FILE_SIZE,121677,0
$CFSIZE,260165632,242757632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,221210,105321,1909.433,12657.088,37,1.0,42,-2.3