version: 66.07
glider: 511
mission: 5
dive: 202
start: 12 26 110 0 32 46
data:
$ID,511
$MISSION,5
$DIVE,202
$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,-45682.637
$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,31
$R_STBD_OVSHOOT,37
$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,201
$AR_SAMPLENUM,3
$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
$GPS1,261210,001126,1852.537,12651.739,54,2.5,73,-2.2
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.6
$GPS2,261210,003152,1852.636,12651.894,15,2.7,34,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.130
$KALMAN_X,-355459.2,-405.3,6791.9,272719.4,-29211.6
$KALMAN_Y,539427.7,913.5,-100.8,-732511.0,-4126.2
$MHEAD_RNG_PITCHd_Wd,129.5,174933,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,94,0.00,0.00,-66.00,0.000,2,0.000,0.000,36,2167,2890,0,0,0,0,0,0
$GC,97,-0.58,-146.0,3.6,-3.4,13,134,10.50,2.25,-17.58,0.000,4,0.262,0.061,2396,747,3774,0,0,0,0,0,0
$GC,189,-0.58,-146.0,30.5,-23.0,33,194,0.00,2.20,0.00,0.000,6,0.000,0.053,2388,2129,3775,0,0,0,0,0,0
$GC,450,-0.58,-146.0,98.7,-22.6,57,454,0.00,2.22,0.00,0.000,4,0.000,0.058,2377,3554,3777,0,0,0,0,0,0
$GC,510,-0.58,-146.0,112.1,-21.0,63,514,0.00,2.17,0.00,0.000,6,0.000,0.041,2381,2136,3776,0,0,0,0,0,0
$GC,771,-0.58,-146.0,169.4,-21.1,87,775,0.00,2.15,0.00,0.000,4,0.000,0.047,2377,732,3776,0,0,0,0,0,0
$GC,795,-0.58,-146.0,174.6,-21.5,89,800,0.12,2.22,0.00,0.000,6,0.164,0.049,2401,2153,3776,0,0,0,0,0,0
$GC,1063,-0.58,-146.0,216.4,-15.2,109,1067,0.00,2.20,0.00,0.000,4,0.000,0.059,2392,3562,3776,0,0,0,0,0,0
$GC,1095,-0.58,-146.0,221.4,-15.3,110,1099,0.00,2.12,0.00,0.000,6,0.000,0.037,2391,2141,3776,0,0,0,0,0,0
$GC,1411,-0.58,-146.0,267.5,-14.5,125,1415,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,740,3776,0,0,0,0,0,0
$GC,1470,-0.58,-146.0,275.3,-11.5,127,1476,0.00,2.20,0.00,0.000,6,0.000,0.051,2382,2142,3776,0,0,0,0,0,0
$GC,1783,-0.58,-146.0,316.5,-13.2,140,1787,0.00,2.22,0.00,0.000,4,0.000,0.060,2375,3560,3775,0,0,0,0,0,0
$GC,1829,-0.58,-146.0,322.8,-12.1,141,1834,0.10,2.15,0.00,0.000,6,0.157,0.038,2402,2139,3774,0,0,0,0,0,0
$GC,2156,-0.58,-146.0,358.8,-10.9,149,2160,0.00,2.15,0.00,0.000,4,0.000,0.048,2402,740,3772,0,0,0,0,0,0
$GC,2257,-0.58,-146.0,370.5,-11.6,151,2262,0.00,2.22,0.00,0.000,6,0.000,0.052,2401,2149,3773,0,0,0,0,0,0
$GC,2570,-0.58,-146.0,403.5,-10.0,159,2574,0.00,2.22,0.00,0.000,4,0.000,0.062,2398,3560,3771,0,0,0,0,0,0
$GC,2592,-0.58,-146.0,405.5,-8.2,159,2596,0.00,2.15,0.00,0.000,6,0.000,0.039,2393,2145,3771,0,0,0,0,0,0
$GC,2936,-0.58,-146.0,434.9,-8.1,168,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2138,3770,0,0,0,0,0,0
$GC,3261,-0.58,-146.0,465.8,-10.2,176,3265,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3559,3768,0,0,0,0,0,0
$GC,3287,-0.58,-146.0,468.8,-10.4,176,3291,0.00,2.15,0.00,0.000,6,0.000,0.039,2387,2143,3771,0,0,0,0,0,0
$GC,3622,-0.58,-146.0,503.5,-10.2,185,3626,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3557,3766,0,0,0,0,0,0
$GC,3682,-0.58,-146.0,509.2,-9.4,186,3686,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,2148,3765,0,0,0,0,0,0
$GC,4030,-0.58,-146.0,540.0,-8.6,195,4034,0.00,2.17,0.00,0.000,4,0.000,0.052,2387,743,3762,0,0,0,0,0,0
$GC,4066,-0.58,-146.0,543.1,-8.1,195,4070,0.00,2.17,0.00,0.000,6,0.000,0.054,2387,2137,3763,0,0,1,0,0,0
$GC,4396,-0.58,-146.0,569.4,-7.8,203,4400,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3559,3761,0,0,0,0,0,0
$GC,4442,-0.58,-146.0,572.8,-7.2,204,4446,0.00,2.15,0.00,0.000,6,0.000,0.042,2387,2144,3761,0,0,0,0,0,0
$GC,4764,-0.58,-146.0,595.2,-6.9,212,4768,0.00,2.17,0.00,0.000,4,0.000,0.053,2384,742,3757,0,0,0,0,0,0
$GC,4795,-0.58,-146.0,597.7,-7.5,212,4799,0.00,2.25,0.00,0.000,6,0.000,0.057,2386,2159,3757,0,0,0,0,0,0
$GC,5130,-0.58,-146.0,622.7,-7.8,221,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2160,3755,0,0,0,0,0,0
$GC,5455,-0.58,-146.0,649.2,-8.3,229,5459,0.00,2.25,0.00,0.000,4,0.000,0.069,2387,3556,3753,0,0,0,0,0,0
$GC,5487,-0.58,-146.0,652.1,-8.8,229,5490,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,2145,3752,0,0,0,0,0,0
$GC,5817,-0.58,-146.0,682.7,-9.7,237,5821,0.00,2.17,0.00,0.000,4,0.000,0.054,2387,743,3750,0,0,0,0,0,0
$GC,5853,-0.58,-146.0,686.5,-10.5,237,5859,0.00,2.28,0.00,0.000,6,0.000,0.059,2387,2151,3749,0,0,0,0,0,0
$GC,6183,-0.58,-146.0,714.4,-7.9,246,6188,0.00,2.28,0.00,0.000,4,0.000,0.069,2378,3562,3746,0,0,0,0,0,0
$GC,6225,-0.58,-146.0,717.5,-7.2,247,6229,0.00,2.20,0.00,0.000,6,0.000,0.046,2378,2146,3746,0,0,0,0,0,0
$GC,6552,-0.58,-146.0,741.6,-7.1,255,6556,0.00,2.20,0.00,0.000,4,0.000,0.055,2378,737,3742,0,0,0,0,0,0
$GC,6594,-0.58,-146.0,744.8,-7.2,256,6598,0.00,2.25,0.00,0.000,6,0.000,0.059,2374,2146,3743,0,0,0,0,0,0
$GC,6920,-0.58,-146.0,768.4,-7.4,264,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2146,3741,0,0,0,0,0,0
$GC,7246,-0.58,-146.0,792.7,-7.5,272,7250,0.00,2.30,0.00,0.000,4,0.000,0.071,2369,3563,3740,0,0,0,0,0,0
$GC,7268,-0.58,-146.0,794.5,-8.0,272,7273,0.12,2.20,0.00,0.000,6,0.142,0.046,2404,2147,3739,0,0,0,0,0,0
$GC,7608,-0.58,-146.0,815.1,-6.1,281,7612,0.00,2.20,0.00,0.000,4,0.000,0.055,2405,741,3737,0,0,0,0,0,0
$GC,7631,-0.58,-146.0,816.7,-6.8,281,7635,0.00,2.25,0.00,0.000,6,0.000,0.054,2405,2147,3737,0,0,0,0,0,0
$GC,7970,-0.58,-146.0,845.5,-9.7,290,7974,0.00,2.30,0.00,0.000,4,0.000,0.074,2405,3555,3735,0,0,0,0,0,0
$GC,8121,-0.58,-146.0,861.3,-10.2,293,8126,0.00,2.22,0.00,0.000,6,0.000,0.050,2405,2139,3735,0,0,0,0,0,0
$GC,8470,-0.58,-146.0,896.4,-10.3,302,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2135,3731,0,0,0,0,0,0
$GC,8795,-0.58,-146.0,931.4,-10.9,310,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2135,3731,0,0,0,0,0,0
$GC,9120,-0.58,-146.0,967.4,-11.0,318,9124,0.00,2.35,0.00,0.000,4,0.000,0.071,2405,3558,3730,0,0,0,0,0,0
$GC,9156,-0.58,-146.0,971.5,-11.6,318,9162,0.00,2.25,0.00,0.000,6,0.000,0.050,2405,2129,3730,0,0,0,0,0,0
$STATE,9363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9363,begin apogee
$GC,9368,-0.28,0.0,992.4,10.0,324,9486,0.25,0.00,115.38,1.350,6,0.075,0.000,2511,2040,3179,0,0,0,0,0,0
$STATE,9495,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9498,0.58,146.0,1001.5,0.0,327,9635,0.70,2.40,127.90,1.317,4,0.054,0.056,2791,653,2580,0,0,0,0,0,0
$GC,9734,0.58,146.0,1001.1,9.4,332,9738,0.00,2.33,0.00,0.000,6,0.000,0.057,2792,2040,2572,0,0,0,0,0,0
$GC,10078,0.58,146.0,967.4,9.6,341,10082,0.00,2.33,0.00,0.000,4,0.000,0.068,2791,3460,2568,0,0,0,0,0,0
$GC,10271,0.58,146.0,946.9,10.8,345,10275,0.00,2.22,0.00,0.000,6,0.000,0.051,2802,2048,2568,0,0,0,0,0,0
$GC,10583,0.58,146.0,918.0,9.2,353,10587,0.00,2.30,0.00,0.000,4,0.000,0.068,2802,3458,2566,0,0,0,0,0,0
$GC,10640,0.58,146.0,912.2,11.1,354,10645,0.15,2.25,0.00,0.000,6,0.228,0.050,2779,2046,2566,0,0,0,0,0,0
$GC,10953,0.58,146.0,886.5,8.1,362,10957,0.00,2.28,0.00,0.000,4,0.000,0.061,2788,633,2564,0,0,0,0,0,0
$GC,10985,0.58,146.0,884.0,8.6,362,10989,0.00,2.28,0.00,0.000,6,0.000,0.057,2788,2048,2563,0,0,0,0,0,0
$GC,11315,0.58,146.0,861.4,6.3,370,11319,0.00,2.28,0.00,0.000,4,0.000,0.061,2798,631,2562,0,0,0,0,0,0
$GC,11490,0.63,190.0,851.1,4.8,373,11531,0.00,2.30,35.55,1.243,6,0.000,0.058,2798,2051,2404,0,0,0,0,0,0
$GC,11861,0.63,190.0,821.5,8.5,383,11865,0.00,2.30,0.00,0.000,4,0.000,0.061,2808,627,2397,0,0,0,0,0,0
$GC,11925,0.63,190.0,815.7,8.9,384,11930,0.00,2.28,0.00,0.000,6,0.000,0.057,2809,2042,2394,0,0,1,0,0,0
$GC,12270,0.63,190.0,781.4,10.3,393,12274,0.00,2.33,0.00,0.000,4,0.000,0.070,2809,3460,2398,0,0,0,0,0,0
$GC,12385,0.63,190.0,766.6,12.8,395,12389,0.00,2.25,0.00,0.000,6,0.000,0.051,2819,2047,2394,0,0,0,0,0,0
$GC,12729,0.63,190.0,725.7,11.7,404,12733,0.00,2.25,0.00,0.000,4,0.000,0.061,2830,632,2393,0,0,0,0,0,0
$GC,12835,0.63,190.0,713.8,10.5,406,12840,0.15,2.28,0.00,0.000,6,0.219,0.055,2796,2043,2392,0,0,0,0,0,0
$GC,13184,0.63,190.0,680.4,9.3,415,13188,0.00,2.33,0.00,0.000,4,0.000,0.071,2796,3461,2391,0,0,0,0,0,0
$GC,13319,0.63,190.0,666.6,10.3,417,13324,0.00,2.25,0.00,0.000,6,0.000,0.051,2805,2044,2393,0,0,0,0,0,0
$GC,13649,0.63,190.0,636.3,9.0,426,13653,0.00,2.35,0.00,0.000,4,0.000,0.071,2805,3465,2391,0,0,0,0,0,0
$GC,13722,0.63,190.0,628.8,10.2,427,13726,0.00,2.25,0.00,0.000,6,0.000,0.050,2815,2035,2391,0,0,0,0,0,0
$GC,14061,0.63,190.0,596.7,9.3,436,14065,0.00,2.22,0.00,0.000,4,0.000,0.061,2826,634,2390,0,0,0,0,0,0
$GC,14139,0.63,190.0,589.0,9.1,437,14144,0.12,2.28,0.00,0.000,6,0.221,0.057,2799,2050,2390,0,0,0,0,0,0
$GC,14469,0.63,190.0,563.3,7.5,445,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2050,2393,0,0,0,0,0,0
$GC,14794,0.63,190.0,541.2,6.4,453,14798,0.00,2.33,0.00,0.000,4,0.000,0.070,2799,3458,2390,0,0,0,0,0,0
$GC,15006,0.63,190.0,526.3,7.5,457,15010,0.00,2.22,0.00,0.000,6,0.000,0.050,2807,2049,2391,0,0,0,0,0,0
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$STATE,21017,end climb,SURFACE_DEPTH_REACHED
$STATE,21017,begin surface coast
$FINISH,0.8,1.022799
$STATE,21052,end surface coast,CONTROL_FINISHED_OK
$STATE,21052,begin surface
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$TCM_TEMP,25.50
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$AR_CDRIVE_FREE,8420392960
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54790750208
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,43.984
$10V_AH,10.1,27.434
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.050,211.750,378.300,96.750,0.000,157.317,173.977,442.635,0.000,0.000,36.681,1735.990,16539.348,592.984,3241.630,285.405,33.372,1914.906,0.000,2347.543,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.236,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,30083,830
$CAP_FILE_SIZE,198866,0
$CFSIZE,260165632,241262592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,261210,062706,1851.125,12652.587,34,0.8,34,-2.2