version: 66.07
glider: 511
mission: 5
dive: 196
start: 12 24 110 13 58 29
data:
$ID,511
$MISSION,5
$DIVE,196
$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,-45551.207
$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,27
$R_STBD_OVSHOOT,29
$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,195
$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
$GPS1,241210,134537,1900.361,12650.853,37,1.0,37,-2.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.3
$GPS2,241210,135734,1900.352,12650.562,12,3.1,31,-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,-330129.8,-490.8,3014.6,248894.8,-22624.2
$KALMAN_Y,543575.1,-285.5,-728.4,-720523.0,6690.4
$MHEAD_RNG_PITCHd_Wd,135.9,186720,-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,-86.03,0.000,2,0.000,0.000,48,2159,2791,0,0,0,0,0,0
$GC,117,-0.58,-146.0,3.2,-3.0,17,157,10.10,2.30,-22.12,0.000,4,0.255,0.064,2372,735,3877,0,0,0,0,0,0
$GC,191,-0.58,-146.0,26.5,-32.1,33,197,0.00,2.22,0.00,0.000,6,0.000,0.048,2364,2136,3878,0,0,0,0,0,0
$GC,389,-0.58,-146.0,92.3,-34.6,53,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2136,3878,0,0,0,0,0,0
$GC,643,-0.58,-146.0,153.3,-22.6,77,647,0.00,2.17,0.00,0.000,4,0.000,0.048,2364,725,3879,0,0,0,0,0,0
$GC,704,-0.58,-146.0,165.6,-17.1,83,708,0.10,2.25,0.00,0.000,6,0.176,0.048,2380,2159,3877,0,0,0,0,0,0
$GC,968,-0.58,-146.0,211.0,-17.0,105,972,0.00,2.22,0.00,0.000,4,0.000,0.061,2370,3562,3881,0,0,0,0,0,0
$GC,1018,-0.58,-146.0,218.9,-13.4,107,1022,0.00,2.17,0.00,0.000,6,0.000,0.041,2370,2133,3880,0,0,0,0,0,0
$GC,1337,-0.58,-146.0,268.8,-15.5,123,1341,0.00,2.15,0.00,0.000,4,0.000,0.048,2371,737,3881,0,0,0,0,0,0
$GC,1364,-0.58,-146.0,272.9,-14.1,124,1368,0.00,2.22,0.00,0.000,6,0.000,0.051,2361,2148,3881,0,0,0,0,0,0
$GC,1701,-0.58,-146.0,327.3,-16.4,137,1705,0.00,2.22,0.00,0.000,4,0.000,0.061,2351,3553,3878,0,0,0,0,0,0
$GC,1760,-0.58,-146.0,336.7,-13.4,138,1765,0.12,2.17,0.00,0.000,6,0.146,0.041,2387,2141,3880,0,0,0,0,0,0
$GC,2074,-0.58,-146.0,373.3,-11.4,146,2078,0.00,2.30,0.00,0.000,4,0.000,0.068,2377,3561,3879,0,0,0,0,0,0
$GC,2124,-0.58,-146.0,379.1,-11.1,147,2128,0.00,2.17,0.00,0.000,6,0.000,0.042,2378,2144,3879,0,0,0,0,0,0
$GC,2441,-0.58,-146.0,414.3,-11.0,155,2445,0.00,2.30,0.00,0.000,4,0.000,0.067,2370,3559,3878,0,0,0,0,0,0
$GC,2463,-0.58,-146.0,416.6,-10.4,155,2467,0.00,2.17,0.00,0.000,6,0.000,0.042,2370,2145,3879,0,0,0,0,0,0
$GC,2807,-0.58,-146.0,452.1,-10.4,164,2811,0.00,2.17,0.00,0.000,4,0.000,0.049,2370,733,3878,0,0,0,0,0,0
$GC,2843,-0.58,-146.0,456.1,-10.3,164,2848,0.00,2.22,0.00,0.000,6,0.000,0.051,2367,2149,3876,0,0,0,0,0,0
$GC,3173,-0.58,-146.0,491.4,-10.7,173,3177,0.00,2.25,0.00,0.000,4,0.000,0.063,2357,3556,3874,0,0,0,0,0,0
$GC,3270,-0.58,-146.0,501.2,-9.9,175,3274,0.00,2.17,0.00,0.000,6,0.000,0.040,2357,2135,3873,0,0,0,0,0,0
$GC,3587,-0.58,-146.0,536.3,-11.3,183,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2130,3871,0,0,0,0,0,0
$GC,3912,-0.58,-146.0,572.0,-10.9,191,3916,0.00,2.28,0.00,0.000,4,0.000,0.065,2357,3550,3868,0,0,0,0,0,0
$GC,3962,-0.58,-146.0,577.1,-9.1,192,3966,0.00,2.15,0.00,0.000,6,0.000,0.041,2357,2143,3868,0,0,0,0,0,0
$GC,4279,-0.58,-146.0,607.2,-9.4,200,4283,0.00,2.17,0.00,0.000,4,0.000,0.051,2357,743,3866,0,0,0,0,0,0
$GC,4310,-0.58,-146.0,610.2,-9.1,200,4314,0.00,2.20,0.00,0.000,6,0.000,0.051,2357,2140,3865,0,0,0,0,0,0
$GC,4645,-0.58,-146.0,640.7,-9.1,209,4647,0.10,0.00,0.00,0.000,6,0.176,0.000,2384,2141,3862,0,0,0,0,0,0
$GC,4970,-0.58,-146.0,665.9,-7.9,217,4974,0.00,2.30,0.00,0.000,4,0.000,0.067,2376,3559,3859,0,0,0,0,0,0
$GC,5015,-0.58,-146.0,669.8,-8.7,218,5019,0.00,2.20,0.00,0.000,6,0.000,0.044,2376,2135,3860,0,0,0,0,0,0
$GC,5337,-0.58,-146.0,697.0,-8.5,226,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2132,3855,0,0,0,0,0,0
$GC,5662,-0.58,-146.0,721.4,-7.2,234,5666,0.00,2.30,0.00,0.000,4,0.000,0.068,2376,3557,3853,0,0,0,0,0,0
$GC,5698,-0.58,-146.0,723.8,-6.0,234,5703,0.00,2.20,0.00,0.000,6,0.000,0.045,2376,2137,3856,0,0,0,0,0,0
$GC,6028,-0.58,-146.0,744.7,-6.2,243,6032,0.00,2.20,0.00,0.000,4,0.000,0.054,2376,744,3851,0,0,0,0,0,0
$GC,6051,-0.58,-146.0,746.3,-7.0,243,6055,0.00,2.22,0.00,0.000,6,0.000,0.051,2375,2147,3850,0,0,0,0,0,0
$GC,6390,-0.58,-146.0,768.5,-6.9,252,6394,0.00,2.28,0.00,0.000,4,0.000,0.068,2364,3556,3848,0,0,0,0,0,0
$GC,6445,-0.58,-146.0,772.7,-7.5,253,6449,0.00,2.20,0.00,0.000,6,0.000,0.047,2367,2145,3848,0,0,0,0,0,0
$GC,6757,-0.58,-146.0,797.7,-8.1,261,6761,0.00,2.20,0.00,0.000,4,0.000,0.054,2367,744,3847,0,0,0,0,0,0
$GC,6784,-0.58,-146.0,800.1,-8.7,261,6788,0.00,2.25,0.00,0.000,6,0.000,0.054,2363,2150,3847,0,0,0,0,0,0
$GC,7124,-0.58,-146.0,824.7,-7.0,270,7128,0.00,2.28,0.00,0.000,4,0.000,0.070,2365,3555,3843,0,0,0,0,0,0
$GC,7151,-0.58,-146.0,826.5,-6.1,270,7155,0.00,2.20,0.00,0.000,6,0.000,0.048,2365,2151,3843,0,0,0,0,0,0
$GC,7485,-0.58,-146.0,849.5,-7.2,279,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2148,3842,0,0,0,0,0,0
$GC,7810,-0.58,-146.0,872.8,-7.2,287,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2148,3841,0,0,0,0,0,0
$GC,8136,-0.58,-146.0,897.2,-7.5,295,8140,0.00,2.33,0.00,0.000,4,0.000,0.071,2365,3556,3840,0,0,0,0,0,0
$GC,8163,-0.58,-146.0,899.2,-7.9,295,8167,0.00,2.22,0.00,0.000,6,0.000,0.049,2365,2144,3838,0,0,0,0,0,0
$GC,8497,-0.58,-146.0,924.9,-7.9,304,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2141,3836,0,0,0,0,0,0
$GC,8823,-0.58,-146.0,951.7,-8.3,312,8827,0.00,2.33,0.00,0.000,4,0.000,0.071,2364,3556,3835,0,0,0,0,0,0
$GC,8845,-0.58,-146.0,953.7,-7.9,312,8849,0.00,2.22,0.00,0.000,6,0.000,0.051,2365,2146,3834,0,0,0,0,0,0
$GC,9189,-0.58,-146.0,983.9,-8.7,321,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2140,3834,0,0,0,0,0,0
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9273,-0.28,0.0,990.7,8.5,323,9391,0.35,0.00,115.12,1.358,6,0.129,0.000,2476,2036,3279,0,0,0,0,0,0
$STATE,9394,end apogee,CONTROL_FINISHED_OK
$STATE,9394,begin climb
$GC,9396,0.58,146.0,998.8,0.0,326,9533,0.75,2.42,127.18,1.322,4,0.061,0.057,2768,648,2682,0,0,0,0,0,0
$GC,9552,0.95,454.8,1009.4,-2.7,329,9835,0.32,2.40,270.83,1.298,6,0.082,0.054,2879,2050,1422,0,0,1,0,0,0
$GC,10171,0.95,454.8,864.8,28.5,345,10175,0.00,2.35,0.00,0.000,4,0.000,0.071,2879,3454,1414,0,0,0,0,0,0
$GC,10332,0.95,454.8,820.0,27.7,348,10336,0.00,2.25,0.00,0.000,6,0.000,0.054,2894,2057,1413,0,0,0,0,0,0
$GC,10672,0.95,454.8,723.7,28.4,357,10676,0.00,2.33,0.00,0.000,4,0.000,0.071,2889,3456,1412,0,0,0,0,0,0
$GC,10703,0.95,454.8,713.7,33.7,357,10708,0.00,2.28,0.00,0.000,6,0.000,0.054,2900,2036,1412,0,0,0,0,0,0
$GC,11033,0.95,454.8,613.6,29.9,365,11038,0.00,2.35,0.00,0.000,4,0.000,0.074,2900,3459,1411,0,0,0,0,0,0
$GC,11139,0.95,454.8,580.9,30.2,367,11144,0.12,2.28,0.00,0.000,6,0.225,0.054,2884,2039,1410,0,0,0,0,0,0
$GC,11489,0.95,454.8,490.3,25.7,376,11493,0.00,2.35,0.00,0.000,4,0.000,0.071,2883,3461,1409,0,0,0,0,0,0
$GC,11516,0.95,454.8,482.6,26.5,376,11520,0.00,2.28,0.00,0.000,6,0.000,0.054,2892,2036,1408,0,0,0,0,0,0
$GC,11855,0.95,454.8,397.2,25.4,385,11859,0.00,2.33,0.00,0.000,4,0.000,0.069,2892,3453,1409,0,0,0,0,0,0
$GC,11951,0.95,454.8,372.1,26.2,387,11956,0.00,2.25,0.00,0.000,6,0.000,0.051,2903,2035,1407,0,0,0,0,0,0
$GC,12269,0.95,454.8,291.3,25.2,395,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2026,1407,0,0,0,0,0,0
$GC,12578,0.95,454.8,216.0,24.3,410,12582,0.00,2.30,0.00,0.000,4,0.000,0.066,2903,3455,1407,0,0,0,0,0,0
$GC,12660,0.95,454.8,196.6,23.0,413,12667,0.15,2.22,0.00,0.000,6,0.209,0.050,2879,2051,1407,0,0,0,0,0,0
$GC,12984,0.95,454.8,133.0,19.8,444,12988,0.00,2.30,0.00,0.000,4,0.000,0.065,2883,3461,1408,0,0,0,0,0,0
$GC,13034,0.95,454.8,122.8,21.2,449,13040,0.00,2.20,0.00,0.000,6,0.000,0.048,2887,2046,1408,0,0,0,0,0,0
$GC,13295,0.95,454.8,78.9,14.2,474,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2041,1408,0,0,0,0,0,0
$GC,13549,0.95,454.8,46.8,13.3,498,13553,0.00,2.28,0.00,0.000,4,0.000,0.062,2887,3456,1409,0,0,0,0,0,0
$GC,13586,0.95,454.8,41.4,15.5,501,13591,0.00,2.22,0.00,0.000,6,0.000,0.046,2897,2027,1410,0,0,0,0,0,0
$STATE,13821,end climb,SURFACE_DEPTH_REACHED
$STATE,13821,begin surface coast
$FINISH,0.3,1.022816
$STATE,13839,end surface coast,CONTROL_FINISHED_OK
$STATE,13839,begin surface
$SM_CCo,13857,21.83,0.575,0,0,1237,500.16
$SM_GC,1.45,0.00,0.00,21.83,0.000,0.000,0.575,57,2181,1237,-7.86,1.07,500.16
$IRIDIUM_FIX,1855.54,12649.91,180612,040451
$TT8_MAMPS,0.05369
$HUMID,1078993960
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8411906048
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55035658240
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,42.927
$10V_AH,10.0,26.533
$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,19.675,126.375,513.125,21.825,0.000,29.014,33.254,489.016,0.000,0.000,34.205,1077.099,10767.452,559.749,2007.434,194.129,33.361,1428.801,0.000,1382.319,0.000,0.542,0.000
$DEVICE_MAMPS,254.644,85.904,1358.357,575.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.198,0.000,0.000,0.000,0.000,0.000,0.000,13394.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.710,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,20156,540
$CAP_FILE_SIZE,129159,0
$CFSIZE,260165632,241885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,241210,175107,1858.877,12650.946,28,1.0,28,-2.3