version: 66.07
glider: 511
mission: 5
dive: 197
start: 12 24 110 17 59 21
data:
$ID,511
$MISSION,5
$DIVE,197
$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,-45566.25
$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,32
$R_STBD_OVSHOOT,42
$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,196
$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
$GPS1,241210,175107,1858.877,12650.946,28,1.0,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.5
$GPS2,241210,175826,1858.885,12650.792,12,1.4,12,-2.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,-0.145
$KALMAN_X,-332622.9,1466.0,885.6,251936.2,-25240.9
$KALMAN_Y,544056.6,252.3,-94.7,-724889.9,5653.0
$MHEAD_RNG_PITCHd_Wd,134.7,184478,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-60.80,0.000,2,0.000,0.000,54,2182,2845,0,0,0,0,0,0
$GC,91,-0.58,-146.0,3.4,-3.7,12,128,10.30,2.28,-19.92,0.000,4,0.262,0.063,2380,735,3874,0,0,0,0,0,0
$GC,234,-0.58,-146.0,43.0,-19.1,36,239,0.00,2.20,0.00,0.000,6,0.000,0.051,2373,2125,3876,0,0,0,0,0,0
$GC,494,-0.58,-146.0,117.0,-23.3,61,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2125,3878,0,0,0,0,0,0
$GC,749,-0.58,-146.0,169.3,-20.6,85,753,0.00,2.25,0.00,0.000,4,0.000,0.060,2361,3553,3881,0,0,0,0,0,0
$GC,772,-0.58,-146.0,174.2,-20.6,87,776,0.00,2.15,0.00,0.000,6,0.000,0.038,2361,2140,3879,0,0,0,0,0,0
$GC,1040,-0.58,-146.0,226.4,-19.9,106,1043,0.00,2.12,0.00,0.000,4,0.000,0.047,2361,738,3880,0,0,0,0,0,0
$GC,1108,-0.58,-146.0,238.4,-15.1,109,1113,0.12,2.20,0.00,0.000,6,0.160,0.048,2383,2147,3881,0,0,0,0,0,0
$GC,1432,-0.58,-146.0,286.3,-14.9,125,1436,0.00,2.22,0.00,0.000,4,0.000,0.061,2380,3562,3881,0,0,0,0,0,0
$GC,1487,-0.58,-146.0,294.3,-13.0,127,1491,0.00,2.15,0.00,0.000,6,0.000,0.038,2377,2147,3881,0,0,0,0,0,0
$GC,1818,-0.58,-146.0,341.8,-14.1,136,1822,0.00,2.15,0.00,0.000,4,0.000,0.047,2377,732,3881,0,0,0,0,0,0
$GC,1877,-0.58,-146.0,348.9,-11.2,137,1881,0.00,2.17,0.00,0.000,6,0.000,0.045,2370,2146,3881,0,0,0,0,0,0
$GC,2189,-0.58,-146.0,387.9,-12.6,145,2193,0.00,2.22,0.00,0.000,4,0.000,0.062,2363,3556,3881,0,0,0,0,0,0
$GC,2262,-0.58,-146.0,396.1,-10.9,146,2267,0.00,2.15,0.00,0.000,6,0.000,0.042,2363,2149,3881,0,0,0,0,0,0
$GC,2597,-0.58,-146.0,439.0,-13.0,155,2601,0.00,2.28,0.00,0.000,4,0.000,0.068,2363,3559,3880,0,0,0,0,0,0
$GC,2615,-0.58,-146.0,441.5,-12.7,155,2619,0.00,2.17,0.00,0.000,6,0.000,0.042,2363,2142,3880,0,0,0,0,0,0
$GC,2959,-0.58,-146.0,484.6,-12.0,164,2963,0.00,2.17,0.00,0.000,4,0.000,0.049,2363,731,3880,0,0,0,0,0,0
$GC,2995,-0.58,-146.0,488.5,-10.6,164,3001,0.00,2.22,0.00,0.000,6,0.000,0.051,2363,2146,3880,0,0,0,0,0,0
$GC,3325,-0.58,-146.0,520.4,-9.2,173,3329,0.00,2.22,0.00,0.000,4,0.000,0.064,2363,3552,3877,0,0,0,0,0,0
$GC,3357,-0.58,-146.0,523.1,-8.3,173,3361,0.00,2.17,0.00,0.000,6,0.000,0.041,2363,2129,3877,0,0,0,0,0,0
$GC,3687,-0.58,-146.0,554.6,-10.0,181,3691,0.00,2.30,0.00,0.000,4,0.000,0.065,2363,3560,3875,0,0,0,0,0,0
$GC,3709,-0.58,-146.0,557.0,-9.7,181,3714,0.00,2.17,0.00,0.000,6,0.000,0.041,2363,2140,3873,0,0,0,0,0,0
$GC,4049,-0.58,-146.0,591.4,-10.3,190,4053,0.00,2.17,0.00,0.000,4,0.000,0.050,2363,739,3872,0,0,0,0,0,0
$GC,4080,-0.58,-146.0,594.8,-10.1,190,4084,0.00,2.20,0.00,0.000,6,0.000,0.050,2363,2144,3872,0,0,0,0,0,0
$GC,4411,-0.58,-146.0,626.2,-9.2,198,4415,0.00,2.25,0.00,0.000,4,0.000,0.067,2363,3550,3871,0,0,0,0,0,0
$GC,4465,-0.58,-146.0,631.0,-8.5,199,4469,0.00,2.17,0.00,0.000,6,0.000,0.044,2363,2139,3868,0,0,0,0,0,0
$GC,4782,-0.58,-146.0,658.1,-8.6,207,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2135,3867,0,0,0,0,0,0
$GC,5108,-0.58,-146.0,689.2,-9.9,215,5112,0.00,2.28,0.00,0.000,4,0.000,0.067,2363,3552,3861,0,0,0,0,0,0
$GC,5139,-0.58,-146.0,692.5,-10.2,215,5143,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2135,3862,0,0,0,0,0,0
$GC,5469,-0.58,-146.0,726.5,-10.3,223,5473,0.00,2.30,0.00,0.000,4,0.000,0.067,2363,3555,3860,0,0,0,0,0,0
$GC,5515,-0.58,-146.0,731.0,-9.4,224,5519,0.00,2.17,0.00,0.000,6,0.000,0.045,2363,2149,3860,0,0,0,0,0,0
$GC,5837,-0.58,-146.0,762.3,-9.8,232,5841,0.00,2.20,0.00,0.000,4,0.000,0.054,2363,744,3855,0,0,0,0,0,0
$GC,5877,-0.58,-146.0,766.5,-9.9,232,5883,0.00,2.22,0.00,0.000,6,0.000,0.052,2363,2143,3857,0,0,0,0,0,0
$GC,6208,-0.58,-146.0,797.9,-9.3,241,6212,0.00,2.30,0.00,0.000,4,0.000,0.070,2362,3559,3854,0,0,0,0,0,0
$GC,6244,-0.58,-146.0,801.4,-9.2,241,6248,0.00,2.20,0.00,0.000,6,0.000,0.046,2363,2141,3854,0,0,0,0,0,0
$GC,6578,-0.58,-146.0,831.6,-9.0,250,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2138,3851,0,0,0,0,0,0
$GC,6904,-0.58,-146.0,859.6,-8.6,258,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2138,3851,0,0,0,0,0,0
$GC,7228,-0.58,-146.0,886.0,-7.9,266,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2138,3849,0,0,0,0,0,0
$GC,7553,-0.58,-146.0,909.9,-7.0,274,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2138,3847,0,0,0,0,0,0
$GC,7878,-0.58,-146.0,932.3,-6.9,282,7882,0.00,2.30,0.00,0.000,4,0.000,0.069,2363,3555,3845,0,0,0,0,0,0
$GC,7906,-0.58,-146.0,934.1,-6.9,282,7910,0.00,2.20,0.00,0.000,6,0.000,0.049,2363,2148,3845,0,0,0,0,0,0
$GC,8241,-0.58,-146.0,955.0,-6.1,291,8245,0.00,2.28,0.00,0.000,4,0.000,0.058,2364,739,3847,0,0,0,0,0,0
$GC,8263,-0.58,-146.0,956.5,-5.9,291,8267,0.00,2.28,0.00,0.000,6,0.000,0.057,2363,2148,3843,0,0,0,0,0,0
$GC,8603,-0.58,-146.0,976.2,-5.8,300,8607,0.00,2.33,0.00,0.000,4,0.000,0.073,2363,3555,3842,0,0,0,0,0,0
$GC,8649,-0.58,-146.0,978.8,-5.5,301,8653,0.00,2.25,0.00,0.000,6,0.000,0.051,2363,2139,3842,0,0,0,0,0,0
$STATE,8847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8847,begin apogee
$GC,8852,-0.28,0.0,991.0,6.2,306,8972,0.35,0.00,117.15,1.351,6,0.127,0.000,2474,2039,3277,0,0,0,0,0,0
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8977,0.58,146.0,996.7,0.0,309,9112,0.77,2.45,127.12,1.314,4,0.066,0.056,2768,644,2682,0,0,0,0,0,0
$GC,9131,0.97,468.0,1006.2,-3.1,312,9426,0.35,2.42,283.70,1.292,6,0.081,0.052,2888,2043,1368,0,0,0,0,0,0
$GC,9748,0.97,468.0,869.3,27.0,328,9753,0.00,2.35,0.00,0.000,4,0.000,0.071,2888,3454,1361,0,0,0,0,0,0
$GC,9956,0.97,468.0,811.7,29.0,332,9961,0.00,2.25,0.00,0.000,6,0.000,0.053,2898,2046,1359,0,0,1,0,0,0
$GC,10296,0.97,468.0,716.0,27.8,341,10300,0.00,2.33,0.00,0.000,4,0.000,0.071,2898,3461,1356,0,0,0,0,0,0
$GC,10364,0.97,468.0,696.0,29.2,342,10369,0.00,2.22,0.00,0.000,6,0.000,0.054,2909,2046,1357,0,0,0,0,0,0
$GC,10704,0.97,468.0,595.3,29.9,351,10708,0.00,2.33,0.00,0.000,4,0.000,0.071,2909,3464,1357,0,0,0,0,0,0
$GC,10782,0.97,468.0,570.5,30.3,352,10787,0.15,2.28,0.00,0.000,6,0.221,0.054,2886,2044,1356,0,0,0,0,0,0
$GC,11112,0.97,468.0,481.3,27.1,360,11116,0.00,2.33,0.00,0.000,4,0.000,0.071,2885,3466,1355,0,0,0,0,0,0
$GC,11162,0.97,468.0,467.2,27.2,361,11167,0.00,2.28,0.00,0.000,6,0.000,0.053,2894,2042,1358,0,0,0,0,0,0
$GC,11479,0.97,468.0,385.8,25.8,369,11483,0.00,2.33,0.00,0.000,4,0.000,0.069,2889,3452,1355,0,0,0,0,0,0
$GC,11548,0.97,468.0,367.9,24.8,370,11552,0.00,2.25,0.00,0.000,6,0.000,0.052,2904,2044,1352,0,0,0,0,0,0
$GC,11872,0.97,468.0,286.2,25.5,379,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2039,1354,0,0,0,0,0,0
$GC,12181,0.97,468.0,209.1,25.0,394,12185,0.00,2.30,0.00,0.000,4,0.000,0.067,2905,3457,1354,0,0,0,0,0,0
$GC,12269,0.97,468.0,187.7,24.2,401,12274,0.12,2.25,0.00,0.000,6,0.219,0.049,2888,2032,1354,0,0,0,0,0,0
$GC,12529,0.97,468.0,136.1,18.1,425,12534,0.00,2.33,0.00,0.000,4,0.000,0.065,2885,3456,1355,0,0,0,0,0,0
$GC,12609,0.97,468.0,122.5,16.3,433,12613,0.00,2.20,0.00,0.000,6,0.000,0.048,2896,2044,1355,0,0,0,0,0,0
$GC,12871,0.97,468.0,82.3,14.2,457,12875,0.00,2.22,0.00,0.000,4,0.000,0.056,2908,625,1354,0,0,0,0,0,0
$GC,12904,0.97,468.0,77.9,12.1,460,12908,0.00,2.25,0.00,0.000,6,0.000,0.049,2908,2051,1355,0,0,0,0,0,0
$GC,13165,0.97,468.0,37.9,19.0,484,13169,0.00,2.25,0.00,0.000,4,0.000,0.063,2907,3461,1357,0,0,0,0,0,0
$GC,13235,0.97,468.0,24.1,19.8,494,13241,0.12,2.22,0.00,0.000,6,0.202,0.045,2888,2029,1357,0,0,0,0,0,0
$STATE,13364,end climb,SURFACE_DEPTH_REACHED
$STATE,13365,begin surface coast
$FINISH,0.3,1.022914
$STATE,13381,end surface coast,CONTROL_FINISHED_OK
$STATE,13381,begin surface
$SM_CCo,13404,16.30,0.559,0,0,1237,500.16
$SM_GC,1.04,0.00,0.00,16.30,0.000,0.000,0.559,56,2160,1237,-7.85,0.42,500.16
$IRIDIUM_FIX,1853.26,12649.91,180612,080837
$TT8_MAMPS,0.051389
$HUMID,1078938700
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8416886784
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55009902592
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,43.141
$10V_AH,10.1,26.624
$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,19.775,130.450,527.975,16.300,0.000,30.523,36.239,225.888,0.000,0.000,14.412,1063.761,10350.338,542.067,1725.611,187.048,33.368,1401.707,0.000,1370.513,0.000,0.540,0.000
$DEVICE_MAMPS,261.547,92.040,1350.687,559.143,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.331,0.000,0.000,0.000,0.000,0.000,0.000,12700.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.243,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,16793,520
$CAP_FILE_SIZE,122959,0
$CFSIZE,260165632,241815552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,241210,214436,1857.567,12651.567,38,1.2,43,-2.3