version: 66.07
glider: 511
mission: 5
dive: 194
start: 12 24 110 3 18 55
data:
$ID,511
$MISSION,5
$DIVE,194
$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,1100
$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,-45479.586
$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,2570
$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,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,193
$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
$GPS1,241210,024858,1904.645,12651.739,46,1.1,46,-2.3
$_CALLS,5
$_XMS_NAKs,44
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.7
$GPS2,241210,031759,1904.686,12651.481,9,1.9,9,-2.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.148
$KALMAN_X,-323676.0,1576.0,3798.6,241179.0,-28013.2
$KALMAN_Y,540687.6,607.7,-218.1,-711033.6,1309.6
$MHEAD_RNG_PITCHd_Wd,135.7,191539,-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,-146.0,0.0,0.0,0,114,0.00,0.00,-85.88,0.000,2,0.000,0.000,36,2156,2804,0,0,0,0,0,0
$GC,117,-0.58,-146.0,3.1,-2.3,17,157,10.18,2.30,-21.85,0.000,4,0.256,0.071,2373,732,3875,0,0,1,0,0,0
$GC,314,-0.58,-146.0,51.0,-20.3,49,319,0.00,2.22,0.00,0.000,6,0.000,0.053,2365,2141,3876,0,0,0,0,0,0
$GC,574,-0.58,-146.0,131.0,-32.4,74,578,0.00,2.30,0.00,0.000,4,0.000,0.068,2354,3563,3875,0,0,0,0,0,0
$GC,606,-0.58,-146.0,140.8,-29.4,77,611,0.12,2.20,0.00,0.000,6,0.167,0.044,2386,2145,3876,0,0,0,0,0,0
$GC,868,-0.58,-146.0,188.1,-17.7,101,872,0.00,2.20,0.00,0.000,4,0.000,0.057,2389,727,3877,0,0,0,0,0,0
$GC,993,-0.58,-146.0,207.0,-13.1,111,997,0.00,2.22,0.00,0.000,6,0.000,0.054,2386,2148,3876,0,0,0,0,0,0
$GC,1307,-0.58,-146.0,253.9,-15.3,126,1311,0.00,2.22,0.00,0.000,4,0.000,0.057,2386,731,3876,0,0,0,0,0,0
$GC,1339,-0.58,-146.0,258.9,-14.7,127,1343,0.00,2.20,0.00,0.000,6,0.000,0.054,2386,2146,3876,0,0,0,0,0,0
$GC,1654,-0.58,-146.0,300.0,-12.3,142,1658,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,736,3876,0,0,1,0,0,0
$GC,1690,-0.58,-146.0,304.3,-11.4,142,1695,0.00,2.22,0.00,0.000,6,0.000,0.056,2386,2150,3876,0,0,1,0,0,0
$GC,2020,-0.58,-146.0,341.7,-11.6,151,2024,0.00,2.25,0.00,0.000,4,0.000,0.071,2386,3558,3874,0,0,0,0,0,0
$GC,2062,-0.58,-146.0,345.9,-9.6,152,2066,0.00,2.17,0.00,0.000,6,0.000,0.043,2386,2139,3876,0,0,0,0,0,0
$GC,2389,-0.58,-146.0,380.3,-10.6,160,2392,0.00,2.17,0.00,0.000,4,0.000,0.052,2386,729,3872,0,0,0,0,0,0
$GC,2438,-0.58,-146.0,385.5,-9.5,161,2443,0.00,2.22,0.00,0.000,6,0.000,0.056,2386,2148,3872,0,0,0,0,0,0
$GC,2756,-0.58,-146.0,417.8,-10.2,169,2760,0.00,2.25,0.00,0.000,4,0.000,0.067,2386,3562,3870,0,0,0,0,0,0
$GC,2787,-0.58,-146.0,421.0,-8.9,169,2791,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,2135,3871,0,0,0,0,0,0
$GC,3118,-0.58,-146.0,450.3,-8.6,177,3121,0.00,2.17,0.00,0.000,4,0.000,0.052,2386,731,3865,0,0,0,0,0,0
$GC,3168,-0.58,-146.0,454.2,-7.5,178,3172,0.00,2.25,0.00,0.000,6,0.000,0.055,2386,2145,3867,0,0,0,0,0,0
$GC,3485,-0.58,-146.0,477.6,-7.5,186,3489,0.00,2.30,-0.10,0.000,4,0.000,0.081,2386,3555,3886,0,0,0,0,0,0
$GC,3532,-0.58,-146.0,480.8,-6.6,187,3536,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2139,3886,0,0,0,0,0,0
$GC,3858,-0.58,-146.0,507.7,-8.7,195,3862,0.00,2.30,0.00,0.000,4,0.000,0.072,2386,3554,3884,0,0,0,0,0,0
$GC,3880,-0.58,-146.0,509.8,-9.2,195,3884,0.00,2.20,0.00,0.000,6,0.000,0.045,2386,2139,3883,0,0,0,0,0,0
$GC,4219,-0.58,-146.0,537.3,-8.0,204,4223,0.00,2.17,0.00,0.000,4,0.000,0.053,2387,738,3881,0,0,0,0,0,0
$GC,4251,-0.58,-146.0,539.9,-8.4,204,4255,0.00,2.25,0.00,0.000,6,0.000,0.058,2386,2148,3881,0,0,0,0,0,0
$GC,4581,-0.58,-146.0,565.7,-8.1,212,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2148,3878,0,0,0,0,0,0
$GC,4906,-0.58,-146.0,593.2,-8.6,220,4910,0.00,2.25,0.00,0.000,4,0.000,0.068,2386,3554,3876,0,0,0,0,0,0
$GC,4938,-0.58,-146.0,595.9,-8.2,220,4942,0.00,2.20,0.00,0.000,6,0.000,0.047,2386,2140,3875,0,0,0,0,0,0
$GC,5268,-0.58,-146.0,625.1,-8.9,228,5272,0.00,2.20,0.00,0.000,4,0.000,0.054,2386,734,3872,0,0,0,0,0,0
$GC,5290,-0.58,-146.0,627.0,-8.5,228,5294,0.00,2.25,0.00,0.000,6,0.000,0.058,2386,2149,3872,0,0,0,0,0,0
$GC,5630,-0.58,-146.0,652.2,-7.1,237,5634,0.00,2.25,0.00,0.000,4,0.000,0.068,2385,3553,3870,0,0,0,0,0,0
$GC,5675,-0.58,-146.0,655.3,-6.6,238,5679,0.00,2.20,0.00,0.000,6,0.000,0.048,2386,2139,3869,0,0,0,0,0,0
$GC,5997,-0.58,-146.0,678.1,-7.1,246,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2134,3866,0,0,0,0,0,0
$GC,6322,-0.58,-146.0,699.3,-6.1,254,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2134,3865,0,0,0,0,0,0
$GC,6647,-0.58,-146.0,718.1,-5.9,262,6651,0.00,2.20,0.00,0.000,4,0.000,0.054,2386,740,3862,0,0,0,0,0,0
$GC,6669,-0.58,-146.0,719.6,-6.5,262,6673,0.00,2.25,0.00,0.000,6,0.000,0.054,2386,2151,3862,0,0,0,0,0,0
$GC,7008,-0.58,-146.0,740.0,-6.1,271,7012,0.00,2.28,0.00,0.000,4,0.000,0.070,2386,3560,3860,0,0,0,0,0,0
$GC,7036,-0.58,-146.0,741.7,-6.0,271,7040,0.00,2.20,0.00,0.000,6,0.000,0.046,2386,2145,3861,0,0,0,0,0,0
$GC,7370,-0.58,-146.0,763.9,-6.8,280,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2142,3858,0,0,0,0,0,0
$GC,7695,-0.58,-146.0,786.5,-7.1,288,7699,0.00,2.33,0.00,0.000,4,0.000,0.073,2386,3562,3853,0,0,0,0,0,0
$GC,7713,-0.58,-146.0,787.8,-6.7,288,7717,0.00,2.22,0.00,0.000,6,0.000,0.047,2386,2139,3855,0,0,0,0,0,0
$GC,8057,-0.58,-146.0,812.4,-7.2,297,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2135,3854,0,0,0,0,0,0
$GC,8382,-0.58,-146.0,835.3,-7.1,305,8386,0.00,2.22,0.00,0.000,4,0.000,0.056,2388,738,3852,0,0,0,0,0,0
$GC,8408,-0.58,-146.0,837.2,-7.3,305,8413,0.00,2.25,0.00,0.000,6,0.000,0.055,2386,2144,3852,0,0,0,0,0,0
$GC,8743,-0.58,-146.0,858.3,-6.1,314,8747,0.00,2.35,0.00,0.000,4,0.000,0.074,2386,3554,3851,0,0,0,0,0,0
$GC,8775,-0.58,-146.0,860.1,-5.6,314,8779,0.00,2.22,0.00,0.000,6,0.000,0.049,2386,2142,3850,0,0,0,0,0,0
$GC,9105,-0.58,-146.0,885.3,-8.6,322,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2138,3848,0,0,0,0,0,0
$GC,9431,-0.58,-146.0,912.8,-8.5,330,9435,0.00,2.33,0.00,0.000,4,0.000,0.073,2386,3554,3847,0,0,0,0,0,0
$GC,9467,-0.58,-146.0,916.4,-9.1,330,9472,0.00,2.22,0.00,0.000,6,0.000,0.051,2386,2147,3846,0,0,0,0,0,0
$GC,9797,-0.58,-146.0,947.7,-10.1,339,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2147,3842,0,0,0,0,0,0
$GC,10122,-0.58,-146.0,983.1,-11.2,347,10126,0.00,2.35,0.00,0.000,4,0.000,0.074,2387,3557,3844,0,0,0,0,0,0
$STATE,10180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10180,begin apogee
$GC,10187,-0.28,0.0,990.2,11.5,348,10308,0.25,0.00,117.40,1.359,6,0.082,0.000,2491,2040,3279,0,0,0,0,0,0
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10316,begin climb
$GC,10318,0.58,146.0,1000.8,0.0,351,10453,0.73,2.50,126.55,1.325,4,0.069,0.067,2756,3450,2681,0,0,0,0,0,0
$GC,10716,0.58,148.5,1004.0,5.9,360,10720,0.00,2.22,0.00,0.000,6,0.000,0.049,2766,2045,2670,0,0,1,0,0,0
$GC,11038,0.64,196.6,988.7,4.6,368,11087,0.00,2.40,43.00,1.310,4,0.000,0.069,2766,3452,2474,0,0,0,0,0,0
$GC,11350,0.64,196.6,957.7,11.6,374,11356,0.00,2.25,0.00,0.000,6,0.000,0.051,2782,2051,2471,0,0,0,0,0,0
$GC,11680,0.64,196.6,922.0,10.9,383,11684,0.00,2.33,0.00,0.000,4,0.000,0.068,2777,3457,2465,0,0,0,0,0,0
$GC,11802,0.64,196.6,908.3,11.2,385,11807,0.00,2.25,0.00,0.000,6,0.000,0.051,2787,2043,2464,0,0,0,0,0,0
$GC,12137,0.64,196.6,874.1,9.7,394,12141,0.00,2.33,0.00,0.000,4,0.000,0.070,2783,3452,2462,0,0,0,0,0,0
$GC,12173,0.64,196.6,870.4,10.4,394,12179,0.00,2.22,0.00,0.000,6,0.000,0.051,2797,2045,2463,0,0,0,0,0,0
$GC,12504,0.64,196.6,842.9,8.1,403,12508,0.00,2.33,0.00,0.000,4,0.000,0.071,2797,3452,2462,0,0,0,0,0,0
$GC,12619,0.64,196.6,832.4,8.5,405,12624,0.12,2.22,0.00,0.000,6,0.236,0.051,2782,2040,2461,0,0,0,0,0,0
$GC,12960,0.64,196.6,807.4,7.0,414,12964,0.00,2.25,0.00,0.000,4,0.000,0.064,2791,635,2460,0,0,0,0,0,0
$GC,13085,0.64,196.6,797.4,8.8,416,13089,0.00,2.28,0.00,0.000,6,0.000,0.057,2791,2042,2459,0,0,0,0,0,0
$GC,13415,0.64,196.6,769.2,8.8,424,13419,0.00,2.30,0.00,0.000,4,0.000,0.070,2791,3457,2458,0,0,0,0,0,0
$GC,13645,0.64,196.6,746.4,9.8,429,13649,0.00,2.25,0.00,0.000,6,0.000,0.052,2802,2046,2459,0,0,0,0,0,0
$GC,13967,0.64,196.6,716.2,9.3,437,13971,0.00,2.25,0.00,0.000,4,0.000,0.063,2813,630,2458,0,0,0,0,0,0
$GC,14092,0.64,196.6,704.1,10.4,439,14097,0.15,2.30,0.00,0.000,6,0.218,0.056,2779,2057,2457,0,0,0,0,0,0
$GC,14423,0.64,196.6,676.0,8.3,447,14427,0.00,2.30,0.00,0.000,4,0.000,0.063,2784,630,2457,0,0,0,0,0,0
$GC,14621,0.64,196.6,660.0,7.1,451,14625,0.00,2.28,0.00,0.000,6,0.000,0.056,2789,2045,2456,0,0,0,0,0,0
$GC,14970,0.64,196.6,633.7,7.3,460,14974,0.00,2.30,0.00,0.000,4,0.000,0.070,2788,3455,2456,0,0,0,0,0,0
$GC,15144,0.64,196.6,619.1,7.8,463,15148,0.00,2.25,0.00,0.000,6,0.000,0.051,2799,2035,2456,0,0,0,0,0,0
$GC,15474,0.64,196.6,597.1,6.4,471,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2032,2456,0,0,0,0,0,0
$GC,15799,0.64,196.6,575.6,6.7,479,15803,0.00,2.22,0.00,0.000,4,0.000,0.061,2810,640,2456,0,0,0,0,0,0
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$STATE,22581,end climb,SURFACE_DEPTH_REACHED
$STATE,22582,begin surface coast
$FINISH,0.8,1.022828
$STATE,22591,end surface coast,CONTROL_FINISHED_OK
$STATE,22591,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,42.463
$10V_AH,10.1,26.339
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,212.000,444.575,49.875,0.000,146.519,356.131,822.643,0.000,0.000,11.304,1802.270,17724.447,599.189,3995.860,282.089,33.360,2039.373,0.000,2574.769,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.213,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,30043,857
$CAP_FILE_SIZE,214088,0
$CFSIZE,260165632,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,241210,093827,1902.242,12650.981,55,1.5,55,-2.3