version: 66.07
glider: 511
mission: 5
dive: 191
start: 12 23 110 7 7 39
data:
$ID,511
$MISSION,5
$DIVE,191
$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,-45434.672
$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,23
$R_STBD_OVSHOOT,41
$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,190
$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
$GPS1,231210,063458,1905.126,12654.340,25,1.8,25,-2.3
$_CALLS,5
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.8
$GPS2,231210,070645,1905.201,12654.162,41,1.9,41,-2.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,0.074
$KALMAN_X,-298663.9,817.8,975.6,224381.0,-15900.1
$KALMAN_Y,540204.4,-789.9,-773.1,-707597.4,8645.1
$MHEAD_RNG_PITCHd_Wd,72.1,189165,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,114,0.00,0.00,-85.32,0.000,2,0.000,0.000,25,2177,2804,0,0,0,0,0,0
$GC,116,-0.58,-146.0,3.5,-2.7,17,157,10.62,2.35,-20.85,0.000,4,0.265,0.067,2406,728,3875,0,0,0,0,0,0
$GC,249,-0.58,-146.0,36.2,-18.5,42,255,0.00,2.20,0.00,0.000,6,0.000,0.053,2400,2131,3876,0,0,0,0,0,0
$GC,509,-0.58,-146.0,98.0,-23.5,67,513,0.00,2.30,0.00,0.000,4,0.000,0.066,2389,3561,3876,0,0,0,0,0,0
$GC,573,-0.58,-146.0,111.8,-17.9,73,579,0.00,2.15,0.00,0.000,6,0.000,0.038,2389,2123,3875,0,0,0,0,0,0
$GC,833,-0.58,-146.0,164.1,-19.1,98,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2117,3876,0,0,0,0,0,0
$GC,1087,-0.58,-146.0,207.9,-17.2,120,1091,0.00,2.28,0.00,0.000,4,0.000,0.061,2379,3559,3876,0,0,0,0,0,0
$GC,1111,-0.58,-146.0,212.1,-19.0,121,1115,0.12,2.15,0.00,0.000,6,0.153,0.040,2413,2153,3877,0,0,0,0,0,0
$GC,1440,-0.58,-146.0,255.3,-11.4,137,1444,0.00,2.17,0.00,0.000,4,0.000,0.048,2413,726,3879,0,0,0,0,0,0
$GC,1485,-0.58,-146.0,259.9,-8.6,139,1489,0.00,2.20,0.00,0.000,6,0.000,0.051,2414,2148,3876,0,0,0,0,0,0
$GC,1809,-0.58,-146.0,291.8,-10.5,155,1813,0.00,2.22,0.00,0.000,4,0.000,0.062,2414,3555,3876,0,0,0,0,0,0
$GC,1859,-0.58,-146.0,297.0,-9.9,157,1863,0.00,2.15,0.00,0.000,6,0.000,0.041,2414,2139,3875,0,0,0,0,0,0
$GC,2194,-0.58,-146.0,328.4,-8.6,167,2198,0.00,2.28,0.00,0.000,4,0.000,0.067,2414,3560,3874,0,0,0,0,0,0
$GC,2216,-0.58,-146.0,330.4,-7.6,167,2220,0.00,2.17,0.00,0.000,6,0.000,0.042,2414,2143,3877,0,0,0,0,0,0
$GC,2556,-0.58,-146.0,355.5,-7.1,176,2560,0.00,2.28,0.00,0.000,4,0.000,0.067,2414,3553,3872,0,0,0,0,0,0
$GC,2601,-0.58,-146.0,358.4,-5.7,177,2606,0.00,2.17,0.00,0.000,6,0.000,0.043,2414,2137,3873,0,0,0,0,0,0
$GC,2923,-0.58,-146.0,380.6,-7.1,185,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2136,3869,0,0,0,0,0,0
$GC,3248,-0.58,-146.0,403.7,-7.0,193,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2134,3868,0,0,0,0,0,0
$GC,3573,-0.58,-146.0,429.6,-8.2,201,3577,0.00,2.28,0.00,0.000,4,0.000,0.069,2414,3552,3865,0,0,0,0,0,0
$GC,3615,-0.58,-146.0,433.0,-8.3,202,3619,0.00,2.17,0.00,0.000,6,0.000,0.044,2413,2142,3866,0,0,0,0,0,0
$GC,3941,-0.58,-146.0,462.2,-9.3,210,3943,0.00,0.00,-0.10,0.000,6,0.000,0.000,2414,2142,3884,0,0,0,0,0,0
$GC,4266,-0.58,-146.0,487.7,-7.1,218,4270,0.00,2.28,0.00,0.000,4,0.000,0.070,2414,3557,3880,0,0,0,0,0,0
$GC,4297,-0.58,-146.0,490.5,-8.5,218,4302,0.00,2.15,0.00,0.000,6,0.000,0.044,2413,2139,3882,0,0,0,0,0,0
$GC,4628,-0.58,-146.0,518.7,-8.8,226,4632,0.00,2.15,0.00,0.000,4,0.000,0.053,2413,743,3882,0,0,0,0,0,0
$GC,4682,-0.58,-146.0,524.1,-9.7,227,4686,0.00,2.17,0.00,0.000,6,0.000,0.048,2414,2147,3879,0,0,0,0,0,0
$GC,4995,-0.58,-146.0,555.2,-10.4,235,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2147,3877,0,0,0,0,0,0
$GC,5320,-0.58,-146.0,592.6,-11.7,243,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2148,3874,0,0,0,0,0,0
$GC,5645,-0.58,-146.0,629.9,-11.3,251,5649,0.00,2.28,0.00,0.000,4,0.000,0.067,2418,3557,3871,0,0,0,0,0,0
$GC,5759,-0.58,-146.0,642.8,-12.4,253,5763,0.00,2.17,0.00,0.000,6,0.000,0.046,2414,2144,3872,0,0,0,0,0,0
$GC,6103,-0.58,-146.0,679.4,-10.9,262,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2141,3869,0,0,0,0,0,0
$GC,6427,-0.58,-146.0,714.3,-10.7,270,6431,0.00,2.28,0.00,0.000,4,0.000,0.069,2414,3553,3866,0,0,0,0,0,0
$GC,6459,-0.58,-146.0,717.6,-11.1,270,6463,0.00,2.17,0.00,0.000,6,0.000,0.044,2414,2144,3865,0,0,0,0,0,0
$GC,6789,-0.58,-146.0,752.7,-10.9,278,6793,0.00,2.30,0.00,0.000,4,0.000,0.067,2413,3557,3862,0,0,0,0,0,0
$GC,6831,-0.58,-146.0,757.5,-11.6,279,6835,0.00,2.20,0.00,0.000,6,0.000,0.048,2414,2144,3862,0,0,0,0,0,0
$GC,7157,-0.58,-146.0,796.0,-12.2,287,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2140,3860,0,0,0,0,0,0
$GC,7482,-0.58,-146.0,834.4,-11.7,295,7486,0.00,2.22,0.00,0.000,4,0.000,0.056,2414,736,3858,0,0,0,0,0,0
$GC,7524,-0.58,-146.0,839.3,-11.8,296,7528,0.00,2.22,0.00,0.000,6,0.000,0.052,2414,2150,3858,0,0,0,0,0,0
$GC,7851,-0.58,-146.0,872.8,-10.0,304,7854,0.00,2.28,0.00,0.000,4,0.000,0.069,2414,3555,3855,0,0,0,0,0,0
$GC,7901,-0.58,-146.0,877.9,-9.6,305,7905,0.00,2.20,0.00,0.000,6,0.000,0.047,2414,2140,3855,0,0,0,0,0,0
$GC,8222,-0.58,-146.0,908.4,-9.6,313,8226,0.00,2.20,0.00,0.000,4,0.000,0.057,2414,744,3857,0,0,0,0,0,0
$GC,8254,-0.58,-146.0,911.5,-10.0,313,8258,0.00,2.20,0.00,0.000,6,0.000,0.052,2414,2145,3853,0,0,0,0,0,0
$GC,8585,-0.58,-146.0,943.8,-10.1,321,8589,0.00,2.35,0.00,0.000,4,0.000,0.071,2412,3563,3849,0,0,0,0,0,0
$GC,8644,-0.58,-146.0,950.2,-11.7,322,8648,0.00,2.20,0.00,0.000,6,0.000,0.048,2414,2143,3852,0,0,0,0,0,0
$GC,8992,-0.58,-146.0,988.5,-11.4,331,8996,0.00,2.33,0.00,0.000,4,0.000,0.069,2414,3560,3849,0,0,0,0,0,0
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9011,-0.28,0.0,990.0,11.2,331,9131,0.28,0.00,117.05,1.342,6,0.081,0.000,2525,2042,3278,0,0,0,0,0,0
$STATE,9140,end apogee,CONTROL_FINISHED_OK
$STATE,9141,begin climb
$GC,9142,0.58,146.0,1000.1,0.0,334,9272,0.70,0.00,125.05,1.313,6,0.057,0.000,2795,2042,2681,0,0,0,0,0,0
$GC,9590,0.58,148.4,997.4,5.9,345,9594,0.00,2.30,0.00,0.000,4,0.000,0.067,2795,3454,2669,0,0,0,0,0,0
$GC,9726,0.58,151.6,988.3,5.9,348,9734,0.00,2.22,3.75,0.755,6,0.000,0.048,2806,2036,2659,0,0,0,0,0,0
$GC,10052,0.60,169.4,969.6,5.5,356,10071,0.00,0.00,16.92,1.240,6,0.000,0.000,2806,2034,2588,0,0,0,0,0,0
$GC,10377,0.60,169.4,946.4,7.2,364,10381,0.00,2.22,0.00,0.000,4,0.000,0.060,2816,638,2583,0,0,0,0,0,0
$GC,10579,0.60,169.4,930.6,7.4,368,10583,0.00,2.25,0.00,0.000,6,0.000,0.057,2817,2049,2580,0,0,0,0,0,0
$GC,10928,0.60,169.4,900.3,8.9,377,10932,0.00,2.33,0.00,0.000,4,0.000,0.070,2813,3458,2577,0,0,0,0,0,0
$GC,10941,0.60,169.4,898.9,8.9,377,10946,0.12,2.20,0.00,0.000,6,0.243,0.051,2802,2049,2580,0,0,0,0,0,0
$GC,11290,0.60,169.4,869.3,8.3,386,11294,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,630,2579,0,0,0,0,0,0
$GC,11411,0.60,169.4,859.1,8.8,388,11415,0.00,2.25,0.00,0.000,6,0.000,0.056,2802,2043,2578,0,0,0,0,0,0
$GC,11750,0.60,169.4,835.1,6.5,397,11754,0.00,2.28,0.00,0.000,4,0.000,0.069,2802,3452,2577,0,0,0,0,0,0
$GC,12017,0.60,169.4,816.2,7.5,402,12023,0.00,2.20,0.00,0.000,6,0.000,0.051,2810,2042,2577,0,0,0,0,0,0
$GC,12347,0.60,169.4,791.7,7.3,411,12351,0.00,2.30,0.00,0.000,4,0.000,0.068,2812,3457,2576,0,0,0,0,0,0
$GC,12468,0.60,169.4,782.1,8.1,413,12472,0.00,2.22,0.00,0.000,6,0.000,0.051,2822,2039,2578,0,0,0,0,0,0
$GC,12802,0.60,169.4,760.6,6.2,422,12806,0.00,2.22,0.00,0.000,4,0.000,0.061,2833,637,2576,0,0,0,0,0,0
$GC,13070,0.63,191.6,744.5,5.4,427,13094,0.00,2.28,18.58,1.157,6,0.000,0.056,2836,2055,2497,0,0,0,0,0,0
$GC,13404,0.63,191.6,718.1,8.3,436,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2056,2493,0,0,0,0,0,0
$GC,13728,0.63,191.6,689.6,8.8,444,13732,0.00,2.28,0.00,0.000,4,0.000,0.061,2843,637,2492,0,0,0,0,0,0
$GC,13853,0.63,191.6,678.6,8.6,446,13858,0.15,2.25,0.00,0.000,6,0.220,0.056,2810,2041,2490,0,0,0,0,0,0
$GC,14183,0.63,191.6,654.6,6.9,454,14188,0.00,2.33,0.00,0.000,4,0.000,0.071,2809,3461,2490,0,0,0,0,0,0
$GC,14410,0.63,191.6,635.9,7.7,459,14414,0.00,2.25,0.00,0.000,6,0.000,0.051,2820,2045,2490,0,0,0,0,0,0
$GC,14737,0.63,191.6,611.8,7.1,467,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2041,2490,0,0,0,0,0,0
$GC,15062,0.63,191.6,588.7,6.8,475,15066,0.00,2.30,0.00,0.000,4,0.000,0.069,2819,3458,2487,0,0,0,0,0,0
$GC,15324,0.63,191.6,570.0,6.3,480,15328,0.00,2.22,0.00,0.000,6,0.000,0.051,2829,2048,2490,0,0,0,0,0,0
$GC,15659,0.67,222.0,551.3,5.1,489,15688,0.00,0.00,26.92,1.046,6,0.000,0.000,2829,2044,2371,0,0,0,0,0,0
$GC,15984,0.67,222.0,525.7,7.9,497,15988,0.00,2.30,0.00,0.000,4,0.000,0.061,2840,625,2365,0,0,0,0,0,0
$GC,16029,0.67,222.0,521.6,8.9,498,16033,0.00,2.30,0.00,0.000,6,0.000,0.055,2840,2048,2364,0,0,0,0,0,0
$GC,16351,0.67,222.0,489.5,10.3,506,16355,0.00,2.33,0.00,0.000,4,0.000,0.069,2846,3462,2363,0,0,0,0,0,0
$GC,16493,0.67,222.0,473.1,10.6,509,16498,0.15,2.25,0.00,0.000,6,0.227,0.051,2818,2040,2364,0,0,0,0,0,0
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$STATE,22248,end climb,SURFACE_DEPTH_REACHED
$STATE,22248,begin surface coast
$FINISH,0.7,1.022770
$STATE,22277,end surface coast,CONTROL_FINISHED_OK
$STATE,22277,begin surface
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$AR_CDRIVE_FREE,8392736768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55221649408
$AR_DDRIVE_SIZE,59996930048
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$10V_AH,10.1,25.806
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,13.421,0.000,0.000
$MEM,355100
$DATA_FILE_SIZE,30035,861
$CAP_FILE_SIZE,219095,0
$CFSIZE,260165632,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,132328,1905.532,12652.497,39,1.1,39,-2.3