version: 66.07
glider: 511
mission: 5
dive: 204
start: 12 26 110 13 51 55
data:
$ID,511
$MISSION,5
$DIVE,204
$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,-45730.906
$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,26
$R_STBD_OVSHOOT,22
$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,203
$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
$GPS1,261210,132800,1848.713,12652.649,78,1.9,83,-2.2
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.5
$GPS2,261210,135101,1848.475,12652.533,12,2.0,29,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.139
$KALMAN_X,-359075.4,120.4,2359.1,281303.8,-15845.9
$KALMAN_Y,543095.1,-174.1,-1080.3,-741820.5,3680.6
$MHEAD_RNG_PITCHd_Wd,132.3,168852,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-55.72,0.000,2,0.000,0.000,31,2152,2613,0,0,0,0,0,0
$GC,87,-0.58,-146.0,3.2,-2.4,11,132,10.38,2.30,-25.83,0.000,4,0.258,0.071,2396,738,3775,0,0,0,0,0,0
$GC,216,-0.58,-146.0,27.7,-17.1,39,221,0.00,2.25,0.00,0.000,6,0.000,0.055,2388,2143,3779,0,0,0,0,0,0
$GC,413,-0.58,-146.0,80.9,-28.3,59,417,0.00,2.28,0.00,0.000,4,0.000,0.066,2377,3559,3776,0,0,0,0,0,0
$GC,437,-0.58,-146.0,87.5,-28.1,61,441,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,2147,3776,0,0,0,0,0,0
$GC,697,-0.58,-146.0,153.0,-23.4,85,701,0.00,2.20,0.00,0.000,4,0.000,0.054,2377,728,3775,0,0,0,0,0,0
$GC,833,-0.58,-146.0,176.0,-14.6,99,838,0.12,2.25,0.00,0.000,6,0.163,0.053,2401,2153,3777,0,0,0,0,0,0
$GC,1101,-0.58,-146.0,215.5,-14.4,119,1105,0.00,2.22,0.00,0.000,4,0.000,0.065,2391,3559,3777,0,0,0,0,0,0
$GC,1143,-0.58,-146.0,221.3,-12.9,121,1147,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,2138,3775,0,0,0,0,0,0
$GC,1471,-0.58,-146.0,267.4,-14.0,137,1475,0.00,2.20,0.00,0.000,4,0.000,0.057,2394,731,3776,0,0,0,0,0,0
$GC,1507,-0.58,-146.0,272.6,-13.6,138,1513,0.00,2.22,0.00,0.000,6,0.000,0.052,2388,2147,3777,0,0,0,0,0,0
$GC,1841,-0.58,-146.0,317.0,-12.6,152,1845,0.00,2.25,0.00,0.000,4,0.000,0.067,2380,3559,3775,0,0,0,0,0,0
$GC,1883,-0.58,-146.0,321.6,-9.8,152,1889,0.00,2.12,0.00,0.000,6,0.000,0.041,2381,2140,3775,0,0,1,0,0,0
$GC,2213,-0.58,-146.0,362.0,-12.3,161,2217,0.00,2.17,0.00,0.000,4,0.000,0.056,2378,742,3772,0,0,0,0,0,0
$GC,2307,-0.58,-146.0,371.8,-10.3,163,2311,0.00,2.20,0.00,0.000,6,0.000,0.054,2376,2147,3773,0,0,0,0,0,0
$GC,2633,-0.58,-146.0,404.4,-9.9,171,2637,0.00,2.25,0.00,0.000,4,0.000,0.067,2369,3560,3771,0,0,0,0,0,0
$GC,2664,-0.58,-146.0,407.6,-9.5,171,2669,0.12,2.17,0.00,0.000,6,0.146,0.044,2398,2148,3771,0,0,0,0,0,0
$GC,2995,-0.58,-146.0,430.8,-7.5,179,2999,0.00,2.17,0.00,0.000,4,0.000,0.052,2400,736,3769,0,0,0,0,0,0
$GC,3045,-0.58,-146.0,434.9,-7.2,180,3049,0.00,2.22,0.00,0.000,6,0.000,0.053,2401,2145,3769,0,0,0,0,0,0
$GC,3362,-0.58,-146.0,459.7,-7.8,188,3366,0.00,2.28,0.00,0.000,4,0.000,0.067,2400,3562,3767,0,0,0,0,0,0
$GC,3412,-0.58,-146.0,463.5,-6.9,189,3416,0.00,2.20,0.00,0.000,6,0.000,0.043,2399,2139,3767,0,0,0,0,0,0
$GC,3734,-0.58,-146.0,486.8,-7.0,197,3738,0.00,2.17,0.00,0.000,4,0.000,0.052,2400,738,3767,0,0,0,0,0,0
$GC,3789,-0.58,-146.0,491.0,-7.8,198,3793,0.00,2.22,0.00,0.000,6,0.000,0.054,2400,2149,3766,0,0,0,0,0,0
$GC,4106,-0.58,-146.0,512.2,-6.6,206,4110,0.00,2.28,0.00,0.000,4,0.000,0.066,2402,3561,3761,0,0,0,0,0,0
$GC,4151,-0.58,-146.0,515.0,-5.6,207,4155,0.00,2.20,0.00,0.000,6,0.000,0.044,2400,2144,3760,0,0,0,0,0,0
$GC,4473,-0.58,-146.0,534.6,-6.2,215,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2144,3758,0,0,0,0,0,0
$GC,4798,-0.58,-146.0,557.2,-7.1,223,4802,0.00,2.20,0.00,0.000,4,0.000,0.053,2400,736,3756,0,0,0,0,0,0
$GC,4840,-0.58,-146.0,560.2,-6.4,224,4844,0.00,2.22,0.00,0.000,6,0.000,0.055,2400,2146,3756,0,0,0,0,0,0
$GC,5166,-0.58,-146.0,584.2,-7.4,232,5170,0.00,2.30,0.00,0.000,4,0.000,0.068,2400,3554,3753,0,0,0,0,0,0
$GC,5209,-0.58,-146.0,587.3,-7.3,232,5214,0.00,2.20,0.00,0.000,6,0.000,0.047,2400,2147,3755,0,0,0,0,0,0
$GC,5539,-0.58,-146.0,611.5,-7.3,241,5543,0.00,2.20,0.00,0.000,4,0.000,0.054,2400,731,3750,0,0,0,0,0,0
$GC,5581,-0.58,-146.0,614.7,-7.7,242,5585,0.00,2.25,0.00,0.000,6,0.000,0.058,2405,2143,3750,0,0,0,0,0,0
$GC,5907,-0.58,-146.0,635.7,-6.1,250,5911,0.00,2.28,0.00,0.000,4,0.000,0.070,2400,3556,3746,0,0,0,0,0,0
$GC,5949,-0.58,-146.0,638.0,-5.0,251,5954,0.00,2.20,0.00,0.000,6,0.000,0.044,2400,2136,3747,0,0,0,0,0,0
$GC,6276,-0.58,-146.0,659.2,-7.1,259,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2130,3748,0,0,0,0,0,0
$GC,6601,-0.58,-146.0,687.7,-9.4,267,6605,0.00,2.33,0.00,0.000,4,0.000,0.067,2401,3561,3742,0,0,0,0,0,0
$GC,6844,-0.58,-146.0,715.5,-12.4,272,6848,0.00,2.20,0.00,0.000,6,0.000,0.048,2401,2143,3741,0,0,0,0,0,0
$GC,7157,-0.58,-146.0,747.1,-9.7,280,7161,0.00,2.33,0.00,0.000,4,0.000,0.069,2400,3559,3739,0,0,0,0,0,0
$GC,7283,-0.58,-146.0,759.0,-9.6,282,7288,0.00,2.20,0.00,0.000,6,0.000,0.047,2402,2140,3738,0,0,0,0,0,0
$GC,7614,-0.58,-146.0,787.1,-8.4,290,7617,0.00,2.20,0.00,0.000,4,0.000,0.058,2401,742,3736,0,0,0,0,0,0
$GC,7656,-0.58,-146.0,790.7,-8.6,290,7662,0.00,2.25,0.00,0.000,6,0.000,0.053,2400,2146,3736,0,0,0,0,0,0
$GC,7987,-0.58,-146.0,817.9,-8.3,299,7991,0.00,2.30,0.00,0.000,4,0.000,0.071,2401,3557,3735,0,0,0,0,0,0
$GC,8069,-0.58,-146.0,825.7,-10.6,300,8075,0.00,2.22,0.00,0.000,6,0.000,0.048,2400,2139,3730,0,0,0,0,0,0
$GC,8400,-0.58,-146.0,854.8,-8.8,309,8404,0.00,2.33,0.00,0.000,4,0.000,0.068,2400,3559,3731,0,0,0,0,0,0
$GC,8487,-0.58,-146.0,863.3,-9.8,310,8492,0.00,2.20,0.00,0.000,6,0.000,0.048,2401,2140,3731,0,0,0,0,0,0
$GC,8817,-0.58,-146.0,893.9,-9.3,319,8821,0.00,2.30,0.00,0.000,4,0.000,0.070,2400,3556,3728,0,0,0,0,0,0
$GC,8886,-0.58,-146.0,900.6,-10.0,320,8890,0.00,2.22,0.00,0.000,6,0.000,0.050,2400,2151,3730,0,0,0,0,0,0
$GC,9230,-0.58,-146.0,933.2,-9.5,329,9234,0.00,2.33,0.00,0.000,4,0.000,0.072,2400,3556,3729,0,0,0,0,0,0
$GC,9261,-0.58,-146.0,936.5,-9.7,329,9265,0.00,2.20,0.00,0.000,6,0.000,0.050,2400,2144,3728,0,0,0,0,0,0
$GC,9592,-0.58,-146.0,966.9,-9.4,337,9596,0.00,2.33,0.00,0.000,4,0.000,0.071,2400,3562,3727,0,0,0,0,0,0
$GC,9680,-0.58,-146.0,975.3,-9.1,339,9684,0.00,2.22,0.00,0.000,6,0.000,0.049,2400,2139,3727,0,0,0,0,0,0
$STATE,9883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9883,begin apogee
$GC,9888,-0.28,0.0,993.5,9.0,344,10006,0.28,0.00,114.93,1.358,6,0.084,0.000,2506,2027,3178,0,0,0,0,0,0
$STATE,10009,end apogee,CONTROL_FINISHED_OK
$STATE,10009,begin climb
$GC,10011,0.58,146.0,1002.1,0.0,347,10148,0.75,2.40,128.05,1.321,4,0.070,0.056,2788,644,2580,0,0,0,0,0,0
$GC,10412,0.58,146.0,986.5,9.3,356,10416,0.00,2.30,0.00,0.000,6,0.000,0.053,2788,2054,2568,0,0,0,0,0,0
$GC,10734,0.58,146.0,957.9,8.8,364,10738,0.00,2.28,0.00,0.000,4,0.000,0.068,2787,3452,2566,0,0,0,0,0,0
$GC,10798,0.58,146.0,951.8,9.4,365,10802,0.00,2.20,0.00,0.000,6,0.000,0.050,2796,2056,2564,0,0,0,0,0,0
$GC,11142,0.58,146.0,921.6,8.7,374,11146,0.00,2.33,0.00,0.000,4,0.000,0.069,2794,3458,2564,0,0,0,0,0,0
$GC,11192,0.58,146.0,916.8,9.4,375,11197,0.12,2.22,0.00,0.000,6,0.228,0.051,2782,2048,2564,0,0,0,0,0,0
$GC,11510,0.58,146.0,894.3,6.7,383,11514,0.00,2.28,0.00,0.000,4,0.000,0.061,2791,630,2562,0,0,0,0,0,0
$GC,11569,0.58,146.0,890.2,6.2,384,11574,0.00,2.28,0.00,0.000,6,0.000,0.058,2791,2042,2562,0,0,0,0,0,0
$GC,11882,0.58,148.7,871.4,5.9,392,11886,0.00,2.30,0.00,0.000,4,0.000,0.068,2791,3457,2563,0,0,0,0,0,0
$GC,11943,0.58,148.7,867.5,6.0,393,11947,0.00,2.22,0.00,0.000,6,0.000,0.051,2801,2040,2565,0,0,0,0,0,0
$GC,12292,0.58,148.7,846.6,6.3,402,12296,0.00,2.33,0.00,0.000,4,0.000,0.069,2802,3461,2558,0,0,0,0,0,0
$GC,12499,0.58,148.7,831.3,6.9,406,12504,0.15,2.22,0.00,0.000,6,0.226,0.051,2786,2046,2561,0,0,0,0,0,0
$GC,12839,0.58,148.7,810.2,6.3,415,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2042,2559,0,0,0,0,0,0
$GC,13164,0.58,148.7,789.2,6.7,423,13168,0.00,2.33,0.00,0.000,4,0.000,0.069,2779,3457,2559,0,0,0,0,0,0
$GC,13184,0.58,148.7,787.7,7.4,423,13188,0.00,2.25,0.00,0.000,6,0.000,0.053,2788,2046,2559,0,0,0,0,0,0
$GC,13527,0.58,148.7,764.5,6.6,432,13531,0.00,2.25,0.00,0.000,4,0.000,0.063,2799,633,2558,0,0,0,0,0,0
$GC,13693,0.60,163.7,752.9,5.6,435,13711,0.00,2.28,12.45,1.133,6,0.000,0.056,2798,2054,2510,0,0,0,0,0,0
$GC,14034,0.60,163.7,726.3,7.9,444,14038,0.00,2.28,0.00,0.000,4,0.000,0.070,2801,3450,2508,0,0,0,0,0,0
$GC,14301,0.60,163.7,703.6,8.3,449,14307,0.00,2.25,0.00,0.000,6,0.000,0.051,2810,2031,2507,0,0,0,0,0,0
$GC,14632,0.60,163.7,677.8,7.9,458,14636,0.00,2.33,0.00,0.000,4,0.000,0.070,2810,3452,2506,0,0,0,0,0,0
$GC,14853,0.60,163.7,659.9,7.7,462,14859,0.15,2.20,0.00,0.000,6,0.223,0.051,2786,2050,2506,0,0,0,0,0,0
$GC,15183,0.61,174.4,640.5,5.7,471,15200,0.00,2.35,10.32,1.039,4,0.000,0.069,2786,3449,2467,0,0,0,0,0,0
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$STATE,23852,end climb,SURFACE_DEPTH_REACHED
$STATE,23853,begin surface coast
$FINISH,0.8,1.022829
$STATE,23887,end surface coast,CONTROL_FINISHED_OK
$STATE,23887,begin surface
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$AR_CDRIVE_FREE,8386019328
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54730784768
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,44.363
$10V_AH,10.1,27.797
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.225,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,33367,921
$CAP_FILE_SIZE,238091,0
$CFSIZE,260165632,241004544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,261210,203325,1847.551,12651.469,56,1.2,56,-2.2