version: 66.07
glider: 511
mission: 5
dive: 190
start: 12 23 110 0 20 59
data:
$ID,511
$MISSION,5
$DIVE,190
$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,550
$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,-45390.469
$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,30
$R_STBD_OVSHOOT,22
$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,189
$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
$GPS1,221210,235300,1907.370,12655.232,43,1.5,45,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-67.1
$GPS2,231210,002004,1907.578,12654.847,18,1.6,29,-2.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.162
$KALMAN_X,-295369.2,1590.8,1052.2,221434.9,-17897.0
$KALMAN_Y,539489.6,-564.5,-220.6,-703290.3,8274.3
$MHEAD_RNG_PITCHd_Wd,141.2,191782,-9.9,-6.000
$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,-0.58,-146.0,0.0,0.0,0,109,0.00,0.00,-80.62,0.000,2,0.000,0.000,27,2141,2683,0,0,0,0,0,0
$GC,111,-0.58,-146.0,3.2,-2.8,16,156,10.20,2.25,-26.33,0.000,4,0.252,0.069,2404,743,3880,0,0,0,0,0,0
$GC,243,-0.58,-146.0,32.8,-21.6,43,249,0.00,2.22,0.00,0.000,6,0.000,0.053,2404,2149,3876,0,0,0,0,0,0
$GC,503,-0.58,-146.0,97.4,-24.9,68,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2149,3876,0,0,0,0,0,0
$GC,759,-0.58,-146.0,146.5,-15.3,92,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2149,3875,0,0,0,0,0,0
$GC,1013,-0.58,-146.0,183.9,-14.0,116,1017,0.00,2.17,0.00,0.000,4,0.000,0.048,2404,730,3876,0,0,0,0,0,0
$GC,1050,-0.58,-146.0,188.4,-11.7,120,1054,0.00,2.20,0.00,0.000,6,0.000,0.051,2404,2149,3876,0,0,0,0,0,0
$GC,1321,-0.58,-146.0,222.2,-12.8,138,1324,0.00,2.22,0.00,0.000,4,0.000,0.061,2395,3557,3877,0,0,0,0,0,0
$GC,1380,-0.58,-146.0,229.4,-10.5,140,1385,0.00,2.15,0.00,0.000,6,0.000,0.040,2395,2142,3877,0,0,0,0,0,0
$GC,1695,-0.58,-146.0,269.5,-13.0,156,1698,0.00,2.12,0.00,0.000,4,0.000,0.048,2395,738,3876,0,0,0,0,0,0
$GC,1726,-0.58,-146.0,273.5,-12.2,157,1730,0.00,2.17,0.00,0.000,6,0.000,0.053,2394,2144,3876,0,0,0,0,0,0
$GC,2043,-0.58,-146.0,312.6,-12.6,171,2048,0.00,2.22,0.00,0.000,4,0.000,0.061,2385,3554,3875,0,0,0,0,0,0
$GC,2086,-0.58,-146.0,317.5,-11.3,172,2090,0.00,2.12,0.00,0.000,6,0.000,0.041,2385,2147,3874,0,0,0,0,0,0
$GC,2412,-0.58,-146.0,356.7,-11.6,180,2416,0.10,2.17,0.00,0.000,4,0.171,0.048,2415,736,3873,0,0,0,0,0,0
$GC,2453,-0.58,-146.0,360.7,-8.6,180,2459,0.00,2.17,0.00,0.000,6,0.000,0.051,2411,2143,3872,0,0,0,0,0,0
$GC,2784,-0.58,-146.0,384.3,-6.9,189,2787,0.00,2.22,0.00,0.000,4,0.000,0.061,2405,3561,3870,0,0,0,0,0,0
$GC,2856,-0.58,-146.0,389.0,-6.3,190,2860,0.00,2.15,0.00,0.000,6,0.000,0.041,2405,2144,3869,0,0,0,0,0,0
$GC,3196,-0.58,-146.0,413.2,-7.2,199,3200,0.00,2.15,0.00,0.000,4,0.000,0.048,2405,737,3868,0,0,0,0,0,0
$GC,3237,-0.58,-146.0,416.3,-6.7,200,3242,0.00,2.20,0.00,0.000,6,0.000,0.051,2405,2148,3867,0,0,0,0,0,0
$GC,3564,-0.58,-146.0,439.3,-7.0,208,3568,0.00,2.22,0.00,0.000,4,0.000,0.063,2405,3551,3865,0,0,0,0,0,0
$GC,3648,-0.58,-146.0,444.7,-6.2,209,3653,0.00,2.15,0.00,0.000,6,0.000,0.042,2404,2136,3865,0,0,0,0,0,0
$GC,3978,-0.58,-146.0,468.7,-7.5,218,3982,0.00,2.15,0.00,0.000,4,0.000,0.050,2405,741,3862,0,0,0,0,0,0
$GC,4000,-0.58,-146.0,470.4,-8.0,218,4005,0.00,2.17,-0.10,0.000,6,0.000,0.050,2406,2146,3884,0,0,0,0,0,0
$GC,4340,-0.58,-146.0,497.6,-8.2,227,4344,0.00,2.22,0.00,0.000,4,0.000,0.064,2405,3553,3882,0,0,0,0,0,0
$GC,4399,-0.58,-146.0,502.2,-7.2,228,4403,0.00,2.12,0.00,0.000,6,0.000,0.042,2405,2147,3881,0,0,0,0,0,0
$GC,4748,-0.58,-146.0,527.3,-7.3,237,4752,0.00,2.15,0.00,0.000,4,0.000,0.051,2405,740,3879,0,0,0,0,0,0
$GC,4772,-0.58,-146.0,529.2,-8.0,237,4776,0.00,2.17,0.00,0.000,6,0.000,0.049,2405,2142,3879,0,0,0,0,0,0
$GC,5111,-0.58,-146.0,558.0,-8.9,246,5115,0.00,2.28,0.00,0.000,4,0.000,0.067,2405,3557,3877,0,0,0,0,0,0
$GC,5147,-0.58,-146.0,561.1,-9.2,246,5152,0.00,2.15,0.00,0.000,6,0.000,0.044,2405,2152,3877,0,0,0,0,0,0
$GC,5477,-0.58,-146.0,590.0,-8.5,255,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2151,3875,0,0,0,0,0,0
$GC,5802,-0.58,-146.0,615.5,-7.7,263,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2149,3872,0,0,0,0,0,0
$GC,6127,-0.58,-146.0,638.3,-7.1,271,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2148,3870,0,0,0,0,0,0
$GC,6452,-0.58,-146.0,662.2,-7.4,279,6456,0.00,2.33,0.00,0.000,4,0.000,0.074,2405,3558,3867,0,0,0,0,0,0
$GC,6479,-0.58,-146.0,664.2,-7.6,279,6483,0.00,2.20,0.00,0.000,6,0.000,0.047,2405,2146,3867,0,0,0,0,0,0
$GC,6818,-0.58,-146.0,697.4,-10.6,288,6822,0.00,2.30,0.00,0.000,4,0.000,0.073,2405,3558,3865,0,0,0,0,0,0
$GC,6863,-0.58,-146.0,701.9,-9.6,289,6868,0.00,2.22,0.00,0.000,6,0.000,0.050,2405,2138,3866,0,0,0,0,0,0
$GC,7185,-0.58,-146.0,733.1,-10.1,297,7189,0.00,2.20,0.00,0.000,4,0.000,0.058,2405,739,3861,0,0,0,0,0,0
$GC,7217,-0.58,-146.0,736.6,-11.5,297,7221,0.00,2.22,0.00,0.000,6,0.000,0.054,2405,2151,3862,0,0,0,0,0,0
$GC,7551,-0.58,-146.0,773.2,-11.3,306,7556,0.00,2.28,0.00,0.000,4,0.000,0.071,2411,3558,3860,0,0,0,0,0,0
$GC,7693,-0.58,-146.0,790.0,-12.0,309,7698,0.00,2.20,0.00,0.000,6,0.000,0.048,2405,2143,3859,0,0,0,0,0,0
$GC,8011,-0.58,-146.0,823.0,-9.9,317,8015,0.00,2.20,0.00,0.000,4,0.000,0.058,2405,744,3857,0,0,0,0,0,0
$GC,8038,-0.58,-146.0,825.7,-10.0,317,8042,0.00,2.20,0.00,0.000,6,0.000,0.053,2405,2146,3857,0,0,0,0,0,0
$GC,8377,-0.58,-146.0,857.8,-9.6,326,8381,0.00,2.28,0.00,0.000,4,0.000,0.071,2401,3554,3854,0,0,0,0,0,0
$GC,8419,-0.58,-146.0,862.0,-10.1,327,8423,0.00,2.20,0.00,0.000,6,0.000,0.049,2405,2139,3854,0,0,0,0,0,0
$GC,8745,-0.58,-146.0,894.4,-10.0,335,8749,0.00,2.22,0.00,0.000,4,0.000,0.058,2405,738,3853,0,0,0,0,0,0
$GC,8777,-0.58,-146.0,898.0,-10.5,335,8781,0.00,2.22,0.00,0.000,6,0.000,0.054,2405,2145,3853,0,0,0,0,0,0
$GC,9107,-0.58,-146.0,930.1,-9.9,343,9111,0.00,2.35,0.00,0.000,4,0.000,0.073,2401,3560,3851,0,0,0,0,0,0
$GC,9154,-0.58,-146.0,934.9,-11.2,344,9158,0.00,2.22,0.00,0.000,6,0.000,0.048,2401,2139,3851,0,0,0,0,0,0
$GC,9480,-0.58,-146.0,968.7,-10.7,352,9484,0.00,2.22,0.00,0.000,4,0.000,0.058,2405,739,3849,0,0,0,0,0,0
$GC,9534,-0.58,-146.0,974.8,-10.5,353,9538,0.00,2.22,0.00,0.000,6,0.000,0.054,2402,2147,3849,0,0,0,0,0,0
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9692,-0.28,0.0,991.1,10.7,357,9813,0.30,0.00,117.30,1.343,6,0.069,0.000,2533,2041,3278,0,0,0,0,0,0
$STATE,9820,end apogee,CONTROL_FINISHED_OK
$STATE,9820,begin climb
$GC,9822,0.58,146.0,1001.1,0.0,360,9957,0.68,2.45,124.85,1.312,4,0.050,0.064,2795,3454,2679,0,0,0,0,0,0
$GC,10221,0.58,146.0,997.4,7.4,369,10225,0.00,2.22,0.00,0.000,6,0.000,0.048,2810,2046,2671,0,0,0,0,0,0
$GC,10548,0.58,146.0,975.7,6.7,377,10552,0.00,2.30,0.00,0.000,4,0.000,0.067,2809,3458,2667,0,0,0,0,0,0
$GC,10802,0.58,146.0,958.3,6.6,382,10807,0.15,2.22,0.00,0.000,6,0.239,0.050,2788,2047,2667,0,0,0,0,0,0
$GC,11143,0.64,196.2,941.9,4.6,391,11192,0.00,2.38,41.70,1.289,4,0.000,0.060,2797,637,2477,0,0,0,0,0,0
$GC,11206,0.64,196.2,938.2,6.9,392,11210,0.00,2.30,0.00,0.000,6,0.000,0.054,2797,2045,2474,0,0,1,0,0,0
$GC,11550,0.64,196.2,904.7,9.9,401,11554,0.00,2.33,0.00,0.000,4,0.000,0.068,2797,3461,2468,0,0,0,0,0,0
$GC,11715,0.64,196.2,886.1,10.6,404,11720,0.00,2.22,0.00,0.000,6,0.000,0.051,2808,2049,2468,0,0,1,0,0,0
$GC,12050,0.64,196.2,850.5,10.7,413,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2043,2464,0,0,0,0,0,0
$GC,12375,0.64,196.2,816.7,10.4,421,12379,0.00,2.28,0.00,0.000,4,0.000,0.061,2819,634,2464,0,0,0,0,0,0
$GC,12467,0.64,196.2,806.7,11.4,423,12471,0.00,2.28,0.00,0.000,6,0.000,0.055,2819,2057,2463,0,0,0,0,0,0
$GC,12789,0.64,196.2,771.6,10.8,431,12793,0.00,2.28,0.00,0.000,4,0.000,0.061,2829,635,2466,0,0,0,0,0,0
$GC,12820,0.64,196.2,768.1,11.5,431,12824,0.00,2.22,0.00,0.000,6,0.000,0.055,2825,2042,2462,0,0,0,0,0,0
$GC,13155,0.64,196.2,733.1,10.3,440,13159,0.00,2.33,0.00,0.000,4,0.000,0.069,2830,3463,2462,0,0,0,0,0,0
$GC,13316,0.64,196.2,715.9,10.7,443,13321,0.15,2.22,0.00,0.000,6,0.234,0.052,2807,2046,2461,0,0,1,0,0,0
$GC,13656,0.64,196.2,688.0,7.9,452,13660,0.00,2.30,0.00,0.000,4,0.000,0.070,2803,3455,2461,0,0,0,0,0,0
$GC,13882,0.64,196.2,668.1,9.5,457,13886,0.00,2.25,0.00,0.000,6,0.000,0.051,2808,2039,2462,0,0,0,0,0,0
$GC,14209,0.64,196.2,640.3,8.7,465,14213,0.00,2.22,0.00,0.000,4,0.000,0.063,2823,636,2460,0,0,0,0,0,0
$GC,14291,0.64,196.2,633.0,8.9,466,14297,0.00,2.28,0.00,0.000,6,0.000,0.056,2823,2051,2460,0,0,0,0,0,0
$GC,14621,0.64,196.2,607.9,7.1,475,14625,0.00,2.30,0.00,0.000,4,0.000,0.061,2833,626,2459,0,0,0,0,0,0
$GC,14718,0.64,196.2,600.2,8.2,477,14722,0.00,2.30,0.00,0.000,6,0.000,0.056,2833,2055,2459,0,0,0,0,0,0
$GC,15035,0.64,196.2,577.2,7.3,485,15039,0.00,2.30,0.00,0.000,4,0.000,0.061,2843,633,2459,0,0,0,0,0,0
$GC,15104,0.64,196.2,571.9,8.9,486,15108,0.15,2.28,0.00,0.000,6,0.221,0.054,2816,2049,2462,0,0,0,0,0,0
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$STATE,22155,end climb,SURFACE_DEPTH_REACHED
$STATE,22155,begin surface coast
$FINISH,0.6,1.022768
$STATE,22180,end surface coast,CONTROL_FINISHED_OK
$STATE,22180,begin surface
$SM_CCo,22203,159.05,0.561,0,0,500,681.43
$SM_GC,1.46,0.00,0.00,159.05,0.000,0.000,0.561,41,2178,500,-7.99,0.93,681.43
$IRIDIUM_FIX,1857.82,12656.30,160612,181856
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$TCM_TEMP,25.60
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8420392960
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55239114752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,41.508
$10V_AH,10.1,25.625
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.450,210.900,429.125,159.050,0.000,151.699,235.026,781.693,0.000,0.000,31.274,1868.778,17040.213,703.523,3947.621,421.120,33.368,2230.584,0.000,2781.559,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.208,0.000,0.000
$MEM,354936
$DATA_FILE_SIZE,30075,873
$CAP_FILE_SIZE,221388,0
$CFSIZE,260165632,242307072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231210,063458,1905.126,12654.340,25,1.8,25,-2.3