version: 66.07
glider: 511
mission: 5
dive: 199
start: 12 25 110 4 23 45
data:
$ID,511
$MISSION,5
$DIVE,199
$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,-45594.379
$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,2590
$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,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,3177
$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,198
$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
$GPS1,251210,041337,1855.517,12651.814,33,1.3,33,-2.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.4
$GPS2,251210,042250,1855.445,12651.756,9,1.6,9,-2.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.109
$KALMAN_X,-335811.6,934.4,688.8,257529.1,-15939.1
$KALMAN_Y,547384.1,-795.3,-323.0,-733310.2,6377.7
$MHEAD_RNG_PITCHd_Wd,62.0,178744,-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,-60.95,0.000,2,0.000,0.000,51,2165,2840,0,0,0,0,0,0
$GC,91,-0.58,-146.0,3.7,-3.5,12,128,10.10,2.20,-18.67,0.000,4,0.252,0.063,2392,736,3779,0,0,1,0,0,0
$GC,184,-0.58,-146.0,29.9,-23.5,32,190,0.00,2.25,0.00,0.000,6,0.000,0.053,2383,2145,3781,0,0,0,0,0,0
$GC,381,-0.58,-146.0,86.2,-30.0,51,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2145,3781,0,0,0,0,0,0
$GC,635,-0.58,-146.0,147.9,-18.9,75,639,0.00,2.15,0.00,0.000,4,0.000,0.047,2389,737,3781,0,0,0,0,0,0
$GC,671,-0.58,-146.0,155.2,-19.2,78,676,0.00,2.20,0.00,0.000,6,0.000,0.048,2376,2146,3782,0,0,0,0,0,0
$GC,941,-0.58,-146.0,204.6,-17.9,103,945,0.00,2.17,0.00,0.000,4,0.000,0.049,2375,727,3782,0,0,0,0,0,0
$GC,963,-0.58,-146.0,208.5,-16.7,104,968,0.12,2.17,0.00,0.000,6,0.161,0.047,2401,2148,3783,0,0,0,0,0,0
$GC,1288,-0.58,-146.0,253.8,-14.2,120,1292,0.00,2.20,0.00,0.000,4,0.000,0.061,2391,3555,3783,0,0,0,0,0,0
$GC,1333,-0.58,-146.0,260.1,-12.6,122,1337,0.00,2.15,0.00,0.000,6,0.000,0.042,2392,2138,3783,0,0,0,0,0,0
$GC,1676,-0.58,-146.0,306.6,-12.4,138,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2132,3782,0,0,0,0,0,0
$GC,2002,-0.58,-146.0,341.0,-10.3,146,2006,0.00,2.30,0.00,0.000,4,0.000,0.067,2382,3559,3781,0,0,0,0,0,0
$GC,2024,-0.58,-146.0,343.5,-11.8,146,2028,0.00,2.15,0.00,0.000,6,0.000,0.042,2384,2144,3781,0,0,0,0,0,0
$GC,2367,-0.58,-146.0,387.4,-13.8,155,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2138,3781,0,0,0,0,0,0
$GC,2692,-0.58,-146.0,427.2,-11.7,163,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2138,3779,0,0,0,0,0,0
$GC,3018,-0.58,-146.0,458.2,-8.6,171,3022,0.00,2.28,0.00,0.000,4,0.000,0.067,2370,3551,3776,0,0,0,0,0,0
$GC,3035,-0.58,-146.0,459.8,-8.2,171,3039,0.00,2.17,0.00,0.000,6,0.000,0.043,2374,2141,3778,0,0,0,0,0,0
$GC,3384,-0.58,-146.0,489.0,-8.5,180,3388,0.10,2.20,0.00,0.000,4,0.163,0.050,2402,730,3774,0,0,0,0,0,0
$GC,3435,-0.58,-146.0,492.9,-6.9,181,3439,0.00,2.22,0.00,0.000,6,0.000,0.051,2402,2149,3774,0,0,0,0,0,0
$GC,3756,-0.58,-146.0,520.3,-8.9,189,3760,0.00,2.22,0.00,0.000,4,0.000,0.062,2394,3560,3772,0,0,0,0,0,0
$GC,3820,-0.58,-146.0,525.9,-8.4,190,3824,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,2128,3771,0,0,0,0,0,0
$GC,4169,-0.58,-146.0,555.4,-8.1,199,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2123,3770,0,0,0,0,0,0
$GC,4493,-0.58,-146.0,577.6,-6.3,207,4497,0.00,2.33,0.00,0.000,4,0.000,0.067,2386,3557,3766,0,0,0,0,0,0
$GC,4516,-0.58,-146.0,579.0,-5.8,207,4520,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,2139,3766,0,0,0,0,0,0
$GC,4855,-0.58,-146.0,601.9,-7.3,216,4859,0.00,2.15,0.00,0.000,4,0.000,0.051,2386,743,3763,0,0,0,0,0,0
$GC,4882,-0.58,-146.0,604.2,-8.0,216,4886,0.00,2.17,0.00,0.000,6,0.000,0.049,2379,2143,3763,0,0,1,0,0,0
$GC,5217,-0.58,-146.0,634.7,-9.3,225,5221,0.00,2.25,0.00,0.000,4,0.000,0.066,2370,3554,3761,0,0,0,0,0,0
$GC,5276,-0.58,-146.0,640.4,-8.8,226,5281,0.12,2.17,0.00,0.000,6,0.144,0.044,2406,2148,3760,0,0,0,0,0,0
$GC,5626,-0.58,-146.0,665.9,-7.2,235,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2142,3757,0,0,0,0,0,0
$GC,5950,-0.58,-146.0,690.1,-7.4,243,5955,0.00,2.28,0.00,0.000,4,0.000,0.068,2402,3553,3754,0,0,0,0,0,0
$GC,5982,-0.58,-146.0,692.4,-7.1,243,5986,0.00,2.20,0.00,0.000,6,0.000,0.045,2402,2138,3754,0,0,0,0,0,0
$GC,6312,-0.58,-146.0,714.3,-6.4,251,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2135,3752,0,0,0,0,0,0
$GC,6638,-0.58,-146.0,733.3,-5.5,259,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2135,3750,0,0,0,0,0,0
$GC,6963,-0.58,-146.0,748.8,-4.8,267,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2135,3747,0,0,0,0,0,0
$GC,7287,-0.58,-146.0,768.4,-6.5,275,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2135,3745,0,0,0,0,0,0
$GC,7612,-0.58,-146.0,790.8,-6.9,283,7616,0.00,2.22,0.00,0.000,4,0.000,0.055,2402,736,3743,0,0,0,0,0,0
$GC,7630,-0.58,-146.0,792.1,-8.0,283,7634,0.00,2.22,0.00,0.000,6,0.000,0.051,2402,2149,3743,0,0,0,0,0,0
$GC,7974,-0.58,-146.0,816.3,-7.1,292,7978,0.00,2.28,0.00,0.000,4,0.000,0.070,2402,3553,3742,0,0,0,0,0,0
$GC,8006,-0.58,-146.0,818.5,-7.3,292,8010,0.00,2.20,0.00,0.000,6,0.000,0.048,2402,2144,3745,0,0,0,0,0,0
$GC,8336,-0.58,-146.0,847.5,-9.5,300,8340,0.00,2.20,0.00,0.000,4,0.000,0.058,2401,750,3740,0,0,0,0,0,0
$GC,8386,-0.58,-146.0,852.4,-9.7,301,8391,0.00,2.25,0.00,0.000,6,0.000,0.054,2397,2150,3739,0,0,0,0,0,0
$GC,8703,-0.58,-146.0,878.2,-7.9,309,8707,0.00,2.30,0.00,0.000,4,0.000,0.071,2402,3559,3738,0,0,0,0,0,0
$GC,8882,-0.58,-146.0,893.5,-9.3,312,8888,0.00,2.20,0.00,0.000,6,0.000,0.050,2402,2145,3737,0,0,1,0,0,0
$GC,9212,-0.58,-146.0,919.6,-8.0,321,9216,0.00,2.30,0.00,0.000,4,0.000,0.071,2402,3554,3733,0,0,0,0,0,0
$GC,9254,-0.58,-146.0,923.2,-8.6,322,9258,0.00,2.20,0.00,0.000,6,0.000,0.051,2402,2145,3736,0,0,0,0,0,0
$GC,9581,-0.58,-146.0,951.2,-8.9,330,9585,0.00,2.33,0.00,0.000,4,0.000,0.071,2402,3555,3734,0,0,0,0,0,0
$GC,9622,-0.58,-146.0,954.9,-8.2,331,9627,0.00,2.22,0.00,0.000,6,0.000,0.051,2401,2148,3734,0,0,0,0,0,0
$GC,9949,-0.58,-146.0,983.4,-8.8,339,9953,0.00,2.30,0.00,0.000,4,0.000,0.071,2402,3556,3732,0,0,0,0,0,0
$GC,10018,-0.58,-146.0,989.7,-9.0,340,10021,0.00,2.08,0.00,0.000,3,0.000,0.051,2402,2223,3733,0,0,0,0,0,0
$STATE,10022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10022,begin apogee
$GC,10027,-0.28,0.0,990.1,9.3,340,10146,0.25,0.00,116.32,1.346,6,0.082,0.000,2506,2039,3178,0,0,0,0,0,0
$STATE,10149,end apogee,CONTROL_FINISHED_OK
$STATE,10149,begin climb
$GC,10151,0.58,146.0,997.8,0.0,343,10285,0.75,0.00,128.55,1.313,6,0.061,0.000,2781,2039,2583,0,0,0,0,0,0
$GC,10606,0.58,146.0,978.0,9.7,355,10610,0.00,2.35,0.00,0.000,4,0.000,0.067,2781,3459,2570,0,0,0,0,0,0
$GC,10689,0.58,146.0,968.6,12.3,356,10695,0.00,2.28,0.00,0.000,6,0.000,0.049,2792,2052,2570,0,0,0,0,0,0
$GC,11019,0.58,146.0,931.6,11.1,365,11023,0.00,2.33,0.00,0.000,4,0.000,0.068,2790,3455,2567,0,0,0,0,0,0
$GC,11116,0.58,146.0,920.1,10.6,367,11120,0.00,2.25,0.00,0.000,6,0.000,0.050,2802,2037,2568,0,0,0,0,0,0
$GC,11433,0.58,146.0,889.4,9.2,375,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2032,2566,0,0,0,0,0,0
$GC,11758,0.58,146.0,863.5,7.6,383,11763,0.12,2.33,0.00,0.000,4,0.237,0.070,2776,3453,2565,0,0,0,0,0,0
$GC,12026,0.58,146.0,845.1,6.6,388,12031,0.00,2.25,0.00,0.000,6,0.000,0.051,2785,2037,2565,0,0,0,0,0,0
$GC,12356,0.58,146.0,826.1,6.0,397,12360,0.00,2.33,0.00,0.000,4,0.000,0.071,2785,3454,2563,0,0,0,0,0,0
$GC,12462,0.58,146.0,818.4,7.9,399,12466,0.00,2.22,0.00,0.000,6,0.000,0.051,2795,2043,2563,0,0,0,0,0,0
$GC,12810,0.58,146.0,792.9,7.8,408,12814,0.00,2.33,0.00,0.000,4,0.000,0.071,2795,3461,2562,0,0,0,0,0,0
$GC,12921,0.58,146.0,782.5,8.8,410,12926,0.12,2.25,0.00,0.000,6,0.233,0.052,2780,2048,2561,0,0,0,0,0,0
$GC,13270,0.58,146.0,753.0,8.8,419,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2042,2559,0,0,0,0,0,0
$GC,13595,0.58,146.0,728.6,6.6,427,13599,0.00,2.30,0.00,0.000,4,0.000,0.069,2780,3454,2561,0,0,0,0,0,0
$GC,13613,0.58,146.0,727.4,6.1,427,13617,0.00,2.22,0.00,0.000,6,0.000,0.051,2789,2039,2561,0,0,1,0,0,0
$GC,13957,0.68,231.5,712.6,3.6,436,14035,0.00,2.40,70.30,1.167,4,0.000,0.063,2799,638,2230,0,0,0,0,0,0
$GC,14151,0.68,231.5,697.6,9.2,440,14155,0.00,2.30,0.00,0.000,6,0.000,0.055,2799,2049,2222,0,0,0,0,0,0
$GC,14500,0.68,231.5,661.9,10.6,449,14504,0.00,2.35,0.00,0.000,4,0.000,0.071,2800,3465,2219,0,0,0,0,0,0
$GC,14591,0.68,231.5,650.8,11.0,451,14596,0.00,2.30,0.00,0.000,6,0.000,0.053,2810,2043,2219,0,0,0,0,0,0
$GC,14913,0.68,231.5,617.1,10.6,459,14917,0.00,2.35,0.00,0.000,4,0.000,0.071,2810,3454,2216,0,0,0,0,0,0
$GC,15028,0.68,231.5,603.4,12.1,461,15032,0.00,2.25,0.00,0.000,6,0.000,0.053,2820,2044,2218,0,0,0,0,0,0
$GC,15372,0.68,231.5,563.8,11.9,470,15376,0.00,2.30,0.00,0.000,4,0.000,0.061,2831,623,2216,0,0,0,0,0,0
$GC,15395,0.68,231.5,560.9,13.1,470,15399,0.00,2.30,0.00,0.000,6,0.000,0.055,2828,2047,2216,0,0,0,0,0,0
$GC,15734,0.68,231.5,513.5,14.0,479,15738,0.00,2.30,0.00,0.000,4,0.000,0.071,2831,3455,2215,0,0,0,0,0,0
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$STATE,21826,end climb,SURFACE_DEPTH_REACHED
$STATE,21826,begin surface coast
$FINISH,0.7,1.009889
$STATE,21889,end surface coast,CONTROL_FINISHED_OK
$STATE,21890,begin surface
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$SM_GC,1.53,0.00,0.00,93.35,0.000,0.000,0.549,53,2161,1138,-7.93,0.45,500.40
$IRIDIUM_FIX,1848.70,12651.74,180612,161633
$TT8_MAMPS,0.056758
$HUMID,1078626442
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$TCM_TEMP,25.80
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8386183168
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54948528128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,43.473
$10V_AH,10.1,26.943
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.500,189.325,373.875,93.350,0.000,28.393,41.340,317.403,0.000,0.000,11.855,1810.181,17016.205,597.658,2857.673,270.376,33.376,1913.140,0.000,2395.649,0.000,0.543,0.000
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$SENSOR_SECS,604.778,0.000,0.000,0.000,0.000,0.000,0.000,20655.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.024,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,30033,899
$CAP_FILE_SIZE,188655,0
$CFSIZE,260165632,241573888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,251210,103227,1855.186,12652.290,50,3.1,69,-2.3