version: 66.07
glider: 511
mission: 5
dive: 200
start: 12 25 110 10 42 47
data:
$ID,511
$MISSION,5
$DIVE,200
$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,-45630.84
$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,33
$R_STBD_OVSHOOT,30
$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,199
$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
$GPS1,251210,103227,1855.186,12652.290,50,3.1,69,-2.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.9
$GPS2,251210,104152,1855.013,12652.232,14,3.5,33,-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,-0.144
$KALMAN_X,-340935.6,1757.4,793.0,262568.3,-22182.7
$KALMAN_Y,543563.3,-1932.1,-814.0,-728631.7,6426.6
$MHEAD_RNG_PITCHd_Wd,134.5,177585,-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,-146.0,0.0,0.0,0,83,0.00,0.00,-56.05,0.000,2,0.000,0.000,50,2161,2609,0,0,0,0,0,0
$GC,86,-0.58,-146.0,3.1,-2.3,11,131,10.10,2.28,-26.50,0.000,4,0.252,0.062,2391,737,3777,0,0,0,0,0,0
$GC,261,-0.58,-146.0,39.9,-20.9,44,265,0.00,2.20,0.00,0.000,6,0.000,0.051,2383,2140,3779,0,0,1,0,0,0
$GC,522,-0.58,-146.0,117.4,-31.5,68,526,0.00,2.22,0.00,0.000,4,0.000,0.058,2372,3559,3778,0,0,0,0,0,0
$GC,536,-0.58,-146.0,122.2,-32.0,69,541,0.12,2.17,0.00,0.000,6,0.186,0.040,2402,2145,3781,0,0,0,0,0,0
$GC,797,-0.58,-146.0,176.0,-17.9,93,801,0.00,2.17,0.00,0.000,4,0.000,0.048,2402,731,3779,0,0,0,0,0,0
$GC,898,-0.58,-146.0,191.8,-13.3,103,903,0.00,2.22,0.00,0.000,6,0.000,0.053,2402,2147,3780,0,0,0,0,0,0
$GC,1153,-0.58,-146.0,225.9,-13.7,119,1157,0.00,2.20,0.00,0.000,4,0.000,0.061,2401,3555,3778,0,0,0,0,0,0
$GC,1198,-0.58,-146.0,231.6,-10.6,121,1202,0.00,2.17,0.00,0.000,6,0.000,0.043,2402,2140,3780,0,0,0,0,0,0
$GC,1521,-0.58,-146.0,271.3,-12.3,137,1525,0.00,2.15,0.00,0.000,4,0.000,0.048,2402,734,3780,0,0,0,0,0,0
$GC,1595,-0.58,-146.0,279.6,-10.8,140,1599,0.00,2.17,0.00,0.000,6,0.000,0.052,2401,2147,3778,0,0,0,0,0,0
$GC,1912,-0.58,-146.0,317.1,-12.1,153,1916,0.00,2.20,0.00,0.000,4,0.000,0.062,2402,3556,3780,0,0,0,0,0,0
$GC,1994,-0.58,-146.0,326.4,-10.1,154,2000,0.00,2.17,0.00,0.000,6,0.000,0.041,2401,2126,3780,0,0,0,0,0,0
$GC,2324,-0.58,-146.0,361.9,-10.4,163,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2126,3778,0,0,0,0,0,0
$GC,2649,-0.58,-146.0,387.8,-7.2,171,2653,0.00,2.12,0.00,0.000,4,0.000,0.050,2401,747,3776,0,0,0,0,0,0
$GC,2686,-0.58,-146.0,390.3,-6.9,171,2691,0.00,2.20,0.00,0.000,6,0.000,0.054,2401,2143,3776,0,0,0,0,0,0
$GC,3016,-0.58,-146.0,411.8,-6.9,180,3020,0.00,2.22,0.00,0.000,4,0.000,0.064,2401,3556,3774,0,0,0,0,0,0
$GC,3071,-0.58,-146.0,415.5,-6.3,181,3075,0.00,2.12,0.00,0.000,6,0.000,0.038,2398,2148,3773,0,0,0,0,0,0
$GC,3384,-0.58,-146.0,438.5,-7.6,189,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2143,3775,0,0,0,0,0,0
$GC,3708,-0.58,-146.0,466.1,-8.5,197,3712,0.00,2.15,0.00,0.000,4,0.000,0.050,2402,739,3770,0,0,0,0,0,0
$GC,3758,-0.58,-146.0,470.5,-8.5,198,3762,0.00,2.20,0.00,0.000,6,0.000,0.048,2401,2148,3770,0,0,0,0,0,0
$GC,4075,-0.58,-146.0,496.6,-8.2,206,4079,0.00,2.25,0.00,0.000,4,0.000,0.064,2401,3550,3768,0,0,0,0,0,0
$GC,4130,-0.58,-146.0,500.9,-7.2,207,4134,0.00,2.15,0.00,0.000,6,0.000,0.041,2401,2144,3767,0,0,0,0,0,0
$GC,4447,-0.58,-146.0,524.7,-7.3,215,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2139,3763,0,0,0,0,0,0
$GC,4772,-0.58,-146.0,546.0,-6.6,223,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2139,3764,0,0,0,0,0,0
$GC,5098,-0.58,-146.0,565.4,-5.8,231,5102,0.00,2.25,0.00,0.000,4,0.000,0.064,2401,3553,3762,0,0,0,0,0,0
$GC,5129,-0.58,-146.0,567.3,-6.0,231,5133,0.00,2.15,0.00,0.000,6,0.000,0.041,2402,2146,3761,0,0,0,0,0,0
$GC,5459,-0.58,-146.0,587.2,-6.1,239,5463,0.00,2.20,0.00,0.000,4,0.000,0.052,2401,737,3758,0,0,0,0,0,0
$GC,5477,-0.58,-146.0,588.3,-6.4,239,5481,0.00,2.20,0.00,0.000,6,0.000,0.049,2397,2149,3759,0,0,0,0,0,0
$GC,5825,-0.58,-146.0,611.1,-6.7,248,5829,0.00,2.25,0.00,0.000,4,0.000,0.067,2401,3553,3756,0,0,0,0,0,0
$GC,5871,-0.58,-146.0,614.1,-6.8,249,5875,0.00,2.17,0.00,0.000,6,0.000,0.044,2401,2143,3755,0,0,0,0,0,0
$GC,6193,-0.58,-146.0,636.8,-7.1,257,6197,0.00,2.17,0.00,0.000,4,0.000,0.052,2401,746,3754,0,0,0,0,0,0
$GC,6215,-0.58,-146.0,638.6,-8.4,257,6219,0.00,2.20,0.00,0.000,6,0.000,0.050,2401,2152,3753,0,0,0,0,0,0
$GC,6554,-0.58,-146.0,660.7,-6.3,266,6558,0.00,2.25,0.00,0.000,4,0.000,0.067,2401,3556,3751,0,0,0,0,0,0
$GC,6590,-0.58,-146.0,662.7,-6.2,266,6596,0.00,2.17,0.00,0.000,6,0.000,0.044,2401,2144,3752,0,0,0,0,0,0
$GC,6922,-0.58,-146.0,681.2,-5.2,275,6926,0.00,2.17,0.00,0.000,4,0.000,0.054,2401,748,3748,0,0,0,0,0,0
$GC,6953,-0.58,-146.0,683.0,-5.7,275,6958,0.00,2.22,0.00,0.000,6,0.000,0.051,2403,2149,3749,0,0,0,0,0,0
$GC,7284,-0.58,-146.0,700.4,-5.4,283,7288,0.00,2.30,0.00,0.000,4,0.000,0.069,2401,3559,3746,0,0,0,0,0,0
$GC,7339,-0.58,-146.0,703.5,-5.6,284,7343,0.00,2.20,0.00,0.000,6,0.000,0.046,2401,2146,3745,0,0,0,0,0,0
$GC,7652,-0.58,-146.0,727.8,-8.6,292,7656,0.00,2.22,0.00,0.000,4,0.000,0.058,2401,741,3742,0,0,0,0,0,0
$GC,7707,-0.58,-146.0,733.4,-10.1,293,7711,0.00,2.25,0.00,0.000,6,0.000,0.054,2402,2145,3744,0,0,0,0,0,0
$GC,8024,-0.58,-146.0,764.1,-9.9,301,8028,0.00,2.33,0.00,0.000,4,0.000,0.071,2401,3563,3742,0,0,0,0,0,0
$GC,8107,-0.58,-146.0,772.9,-10.6,302,8112,0.00,2.22,0.00,0.000,6,0.000,0.049,2401,2147,3742,0,0,0,0,0,0
$GC,8437,-0.58,-146.0,804.7,-9.6,311,8441,0.00,2.30,0.00,0.000,4,0.000,0.071,2402,3556,3738,0,0,0,0,0,0
$GC,8496,-0.58,-146.0,810.7,-10.7,312,8500,0.00,2.20,0.00,0.000,6,0.000,0.051,2402,2148,3739,0,0,0,0,0,0
$GC,8845,-0.58,-146.0,839.5,-7.8,321,8849,0.00,2.33,0.00,0.000,4,0.000,0.072,2398,3555,3737,0,0,0,0,0,0
$GC,8964,-0.58,-146.0,848.9,-7.7,323,8968,0.00,2.20,0.00,0.000,6,0.000,0.051,2401,2144,3737,0,0,0,0,0,0
$GC,9303,-0.58,-146.0,873.9,-7.7,332,9307,0.00,2.33,0.00,0.000,4,0.000,0.071,2401,3556,3735,0,0,0,0,0,0
$GC,9335,-0.58,-146.0,876.8,-9.7,332,9339,0.00,2.22,0.00,0.000,6,0.000,0.051,2402,2134,3735,0,0,0,0,0,0
$GC,9665,-0.58,-146.0,907.6,-10.0,340,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2133,3734,0,0,0,0,0,0
$GC,9990,-0.58,-146.0,939.6,-9.8,348,9994,0.00,2.33,0.00,0.000,4,0.000,0.070,2401,3556,3733,0,0,0,0,0,0
$GC,10040,-0.58,-146.0,944.5,-9.4,349,10045,0.00,2.20,0.00,0.000,6,0.000,0.051,2402,2150,3733,0,0,0,0,0,0
$GC,10357,-0.58,-146.0,971.1,-8.1,357,10362,0.00,2.30,0.00,0.000,4,0.000,0.071,2401,3558,3731,0,0,0,0,0,0
$GC,10417,-0.58,-146.0,975.6,-8.4,358,10422,0.00,2.25,0.00,0.000,6,0.000,0.051,2401,2141,3731,0,0,0,0,0,0
$STATE,10642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10642,begin apogee
$GC,10647,-0.28,0.0,992.8,7.6,364,10766,0.28,0.00,115.88,1.351,6,0.074,0.000,2515,2026,3182,0,0,0,0,0,0
$STATE,10769,end apogee,CONTROL_FINISHED_OK
$STATE,10769,begin climb
$GC,10771,0.58,146.0,999.3,0.0,367,10908,0.70,2.40,128.05,1.315,4,0.064,0.056,2787,649,2581,0,0,0,0,0,0
$GC,11172,0.58,146.0,979.8,10.3,376,11176,0.00,2.28,0.00,0.000,6,0.000,0.053,2787,2044,2569,0,0,0,0,0,0
$GC,11493,0.58,146.0,951.8,8.5,384,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2044,2566,0,0,0,0,0,0
$GC,11819,0.58,146.0,926.3,7.5,392,11823,0.00,2.30,0.00,0.000,4,0.000,0.070,2786,3457,2568,0,0,0,0,0,0
$GC,11888,0.58,146.0,920.6,8.1,393,11893,0.00,2.25,0.00,0.000,6,0.000,0.051,2799,2051,2565,0,0,0,0,0,0
$GC,12228,0.58,146.0,895.0,7.3,402,12232,0.00,2.33,0.00,0.000,4,0.000,0.068,2797,3463,2564,0,0,0,0,0,0
$GC,12255,0.58,146.0,892.8,8.2,402,12260,0.12,2.25,0.00,0.000,6,0.232,0.052,2782,2046,2564,0,0,0,0,0,0
$GC,12591,0.58,146.0,870.5,6.4,411,12594,0.00,2.28,0.00,0.000,4,0.000,0.063,2791,629,2563,0,0,0,0,0,0
$GC,12856,0.58,146.0,851.6,6.6,416,12861,0.00,2.25,0.00,0.000,6,0.000,0.056,2789,2045,2561,0,0,0,0,0,0
$GC,13187,0.58,146.0,826.9,7.8,424,13191,0.00,2.28,0.00,0.000,4,0.000,0.061,2798,626,2561,0,0,0,0,0,0
$GC,13343,0.58,146.0,813.5,8.8,427,13347,0.00,2.28,0.00,0.000,6,0.000,0.056,2798,2045,2561,0,0,0,0,0,0
$GC,13691,0.58,146.0,786.1,7.7,436,13695,0.00,2.33,0.00,0.000,4,0.000,0.070,2798,3452,2561,0,0,0,0,0,0
$GC,13788,0.58,146.0,778.1,8.2,438,13793,0.12,2.22,0.00,0.000,6,0.228,0.051,2782,2042,2560,0,0,0,0,0,0
$GC,14106,0.59,155.5,758.8,5.7,446,14118,0.00,2.35,5.85,0.963,4,0.000,0.069,2782,3449,2542,0,0,0,0,0,0
$GC,14199,0.66,211.6,753.8,4.4,448,14256,0.00,2.22,49.55,1.192,6,0.000,0.051,2791,2032,2315,0,0,0,0,0,0
$GC,14569,0.66,211.6,722.0,9.2,457,14573,0.00,2.28,0.00,0.000,4,0.000,0.062,2801,643,2306,0,0,0,0,0,0
$GC,14596,0.66,211.6,719.2,10.5,457,14600,0.00,2.25,0.00,0.000,6,0.000,0.055,2802,2042,2304,0,0,0,0,0,0
$GC,14936,0.66,211.6,683.4,10.8,466,14940,0.00,2.33,0.00,0.000,4,0.000,0.071,2802,3461,2303,0,0,0,0,0,0
$GC,15061,0.66,211.6,666.5,15.2,468,15065,0.00,2.25,0.00,0.000,6,0.000,0.053,2812,2050,2303,0,0,0,0,0,0
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$STATE,22579,end climb,SURFACE_DEPTH_REACHED
$STATE,22579,begin surface coast
$FINISH,0.7,1.005034
$STATE,22614,end surface coast,CONTROL_FINISHED_OK
$STATE,22614,begin surface
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$TT8_MAMPS,0.056758
$HUMID,1078671603
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$TCM_TEMP,25.50
$XPDR_PINGS,3
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$AR_CDRIVE_FREE,8386150400
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54897147904
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,43.638
$10V_AH,10.1,27.117
$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
$DEVICE_SECS,19.350,224.450,384.350,89.950,0.000,30.236,34.404,310.204,0.750,0.000,35.831,1861.712,17465.312,596.414,3083.371,276.651,33.362,2040.072,0.000,2596.018,0.000,0.544,0.000
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$SENSOR_SECS,592.678,0.000,0.000,0.000,0.000,0.000,0.000,21347.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.791,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,30094,880
$CAP_FILE_SIZE,206229,0
$CFSIZE,260165632,241455104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251210,170301,1852.858,12650.953,41,1.6,41,-2.2