version: 66.07
glider: 511
mission: 5
dive: 207
start: 12 27 110 10 51 21
data:
$ID,511
$MISSION,5
$DIVE,207
$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,-45802.48
$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,23
$R_STBD_OVSHOOT,40
$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,206
$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
$GPS1,271210,103454,1843.379,12652.056,93,0.9,93,-2.2
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.8
$GPS2,271210,105026,1843.354,12651.938,14,1.3,14,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,0.060
$KALMAN_X,-374858.5,399.7,2038.5,296100.0,-16573.1
$KALMAN_Y,547292.2,-152.2,-1311.5,-755288.0,6200.4
$MHEAD_RNG_PITCHd_Wd,76.1,163445,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,115,0.00,0.00,-85.32,0.000,2,0.000,0.000,35,2170,2795,0,0,0,0,0,0
$GC,118,-0.58,-146.0,3.2,-2.4,17,154,10.43,2.35,-20.75,0.000,4,0.259,0.068,2399,731,3777,0,0,0,0,0,0
$GC,188,-0.58,-146.0,21.4,-23.8,32,194,0.00,2.25,0.00,0.000,6,0.000,0.055,2390,2130,3774,0,0,0,0,0,0
$GC,392,-0.58,-146.0,74.4,-28.7,55,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2130,3774,0,0,0,0,0,0
$GC,648,-0.58,-146.0,136.6,-25.5,79,652,0.00,2.20,0.00,0.000,4,0.000,0.056,2390,721,3774,0,0,0,0,0,0
$GC,689,-0.58,-146.0,145.9,-20.4,83,693,0.00,2.22,0.00,0.000,6,0.000,0.052,2382,2141,3774,0,0,0,0,0,0
$GC,950,-0.58,-146.0,194.9,-17.3,107,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2142,3776,0,0,0,0,0,0
$GC,1208,-0.58,-146.0,236.3,-15.0,121,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2142,3775,0,0,0,0,0,0
$GC,1517,-0.58,-146.0,279.1,-13.4,136,1521,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,729,3774,0,0,0,0,0,0
$GC,1544,-0.58,-146.0,282.6,-12.6,137,1549,0.00,2.22,0.00,0.000,6,0.000,0.052,2381,2149,3778,0,0,0,0,0,0
$GC,1865,-0.58,-146.0,322.6,-12.9,149,1870,0.00,2.20,0.00,0.000,4,0.000,0.055,2381,734,3773,0,0,0,0,0,0
$GC,1902,-0.58,-146.0,327.2,-11.8,149,1907,0.00,2.22,0.00,0.000,6,0.000,0.052,2382,2148,3773,0,0,0,0,0,0
$GC,2232,-0.58,-146.0,366.4,-11.7,158,2236,0.00,2.22,0.00,0.000,4,0.000,0.063,2372,3561,3772,0,0,0,0,0,0
$GC,2264,-0.58,-146.0,370.6,-12.4,158,2269,0.12,2.17,0.00,0.000,6,0.142,0.041,2407,2130,3772,0,0,0,0,0,0
$GC,2594,-0.58,-146.0,402.8,-9.2,166,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2128,3771,0,0,0,0,0,0
$GC,2919,-0.58,-146.0,428.7,-7.5,174,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2126,3768,0,0,0,0,0,0
$GC,3244,-0.58,-146.0,454.4,-8.5,182,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2124,3766,0,0,0,0,0,0
$GC,3569,-0.58,-146.0,477.4,-6.5,190,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2124,3764,0,0,0,0,0,0
$GC,3894,-0.58,-146.0,498.2,-6.6,198,3899,0.00,2.33,-0.10,0.000,4,0.000,0.081,2405,3558,3783,0,0,1,0,0,0
$GC,3927,-0.58,-146.0,500.3,-6.6,198,3931,0.00,2.17,0.00,0.000,6,0.000,0.044,2405,2144,3783,0,0,0,0,0,0
$GC,4257,-0.58,-146.0,525.9,-8.3,206,4261,0.00,2.20,0.00,0.000,4,0.000,0.053,2405,735,3781,0,0,0,0,0,0
$GC,4290,-0.58,-146.0,529.0,-10.4,206,4294,0.00,2.22,0.00,0.000,6,0.000,0.054,2405,2145,3781,0,0,0,0,0,0
$GC,4620,-0.58,-146.0,561.7,-10.2,214,4624,0.00,2.30,0.00,0.000,4,0.000,0.068,2404,3561,3781,0,0,0,0,0,0
$GC,4656,-0.58,-146.0,565.5,-10.1,214,4660,0.00,2.20,0.00,0.000,6,0.000,0.044,2404,2139,3779,0,0,0,0,0,0
$GC,4991,-0.58,-146.0,595.5,-8.3,223,4995,0.00,2.17,0.00,0.000,4,0.000,0.053,2405,736,3776,0,0,0,0,0,0
$GC,5013,-0.58,-146.0,597.3,-8.7,223,5017,0.00,2.22,0.00,0.000,6,0.000,0.051,2405,2146,3776,0,0,0,0,0,0
$GC,5357,-0.58,-146.0,619.1,-5.9,232,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2145,3776,0,0,0,0,0,0
$GC,5682,-0.58,-146.0,638.8,-6.1,240,5686,0.00,2.33,0.00,0.000,4,0.000,0.071,2405,3555,3771,0,0,0,0,0,0
$GC,5704,-0.58,-146.0,640.3,-6.4,240,5708,0.00,2.17,0.00,0.000,6,0.000,0.045,2405,2136,3771,0,0,0,0,0,0
$GC,6044,-0.58,-146.0,662.3,-6.6,249,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2134,3769,0,0,0,0,0,0
$GC,6368,-0.58,-146.0,684.2,-6.8,257,6372,0.00,2.20,0.00,0.000,4,0.000,0.054,2405,743,3767,0,0,0,0,0,0
$GC,6390,-0.58,-146.0,685.9,-7.6,257,6394,0.00,2.20,0.00,0.000,6,0.000,0.051,2401,2144,3764,0,0,0,0,0,0
$GC,6730,-0.58,-146.0,709.0,-7.0,266,6734,0.00,2.30,0.00,0.000,4,0.000,0.071,2405,3558,3764,0,0,0,0,0,0
$GC,6757,-0.58,-146.0,710.8,-6.6,266,6761,0.00,2.20,0.00,0.000,6,0.000,0.048,2404,2149,3763,0,0,0,0,0,0
$GC,7091,-0.58,-146.0,739.0,-9.0,275,7095,0.00,2.22,0.00,0.000,4,0.000,0.058,2405,743,3762,0,0,0,0,0,0
$GC,7151,-0.58,-146.0,744.6,-9.2,276,7155,0.00,2.22,0.00,0.000,6,0.000,0.055,2404,2143,3762,0,0,0,0,0,0
$GC,7499,-0.58,-146.0,772.4,-7.8,285,7503,0.00,2.22,0.00,0.000,4,0.000,0.061,2406,742,3757,0,0,0,0,0,0
$GC,7592,-0.58,-146.0,780.0,-8.3,287,7596,0.00,2.22,0.00,0.000,6,0.000,0.054,2407,2145,3759,0,0,0,0,0,0
$GC,7919,-0.58,-146.0,808.0,-9.1,295,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2145,3757,0,0,0,0,0,0
$GC,8243,-0.58,-146.0,840.7,-10.3,303,8247,0.00,2.33,0.00,0.000,4,0.000,0.073,2407,3556,3755,0,0,0,0,0,0
$GC,8280,-0.58,-146.0,845.0,-11.2,303,8285,0.00,2.22,0.00,0.000,6,0.000,0.049,2406,2140,3755,0,0,0,0,0,0
$GC,8610,-0.58,-146.0,880.4,-10.9,312,8614,0.00,2.33,0.00,0.000,4,0.000,0.073,2403,3555,3753,0,0,0,0,0,0
$GC,8656,-0.58,-146.0,885.3,-11.8,313,8660,0.00,2.20,0.00,0.000,6,0.000,0.048,2406,2144,3753,0,0,0,0,0,0
$GC,8977,-0.58,-146.0,916.3,-9.4,321,8981,0.00,2.22,0.00,0.000,4,0.000,0.059,2406,740,3752,0,0,0,0,0,0
$GC,9009,-0.58,-146.0,919.5,-9.3,321,9013,0.00,2.25,0.00,0.000,6,0.000,0.054,2407,2145,3751,0,0,0,0,0,0
$GC,9339,-0.58,-146.0,946.2,-7.9,329,9343,0.00,2.35,0.00,0.000,4,0.000,0.074,2407,3562,3750,0,0,0,0,0,0
$GC,9389,-0.58,-146.0,950.2,-7.7,330,9393,0.00,2.22,0.00,0.000,6,0.000,0.050,2406,2144,3750,0,0,0,0,0,0
$GC,9707,-0.58,-146.0,975.6,-8.4,338,9711,0.00,2.22,0.00,0.000,4,0.000,0.058,2406,741,3748,0,0,0,0,0,0
$GC,9747,-0.58,-146.0,979.4,-7.6,338,9753,0.00,2.28,0.00,0.000,6,0.000,0.056,2406,2152,3749,0,0,0,0,0,0
$STATE,9873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9873,begin apogee
$GC,9878,-0.28,0.0,990.9,9.1,342,10000,0.25,0.00,119.93,1.358,6,0.077,0.000,2512,2033,3177,0,0,0,0,0,0
$STATE,10003,end apogee,CONTROL_FINISHED_OK
$STATE,10003,begin climb
$GC,10005,0.58,146.0,1000.4,0.0,345,10144,0.73,2.58,128.65,1.320,4,0.061,0.067,2783,3450,2581,0,0,0,0,0,0
$GC,10168,0.59,161.9,1006.7,5.6,348,10188,0.00,2.33,15.05,1.198,6,0.000,0.047,2794,2043,2518,0,0,1,0,0,0
$GC,10502,0.59,161.9,974.8,9.8,357,10506,0.00,2.35,0.00,0.000,4,0.000,0.070,2794,3455,2508,0,0,0,0,0,0
$GC,10552,0.59,161.9,969.2,11.6,358,10556,0.00,2.22,0.00,0.000,6,0.000,0.048,2804,2051,2507,0,0,0,0,0,0
$GC,10874,0.59,161.9,935.4,10.7,366,10878,0.00,2.33,0.00,0.000,4,0.000,0.068,2804,3454,2505,0,0,0,0,0,0
$GC,10929,0.59,161.9,929.1,12.0,367,10934,0.12,2.22,0.00,0.000,6,0.232,0.049,2789,2045,2505,0,0,0,0,0,0
$GC,11247,0.59,161.9,899.0,9.4,375,11251,0.00,2.33,0.00,0.000,4,0.000,0.070,2788,3458,2503,0,0,0,0,0,0
$GC,11348,0.59,161.9,888.4,10.2,377,11352,0.00,2.22,0.00,0.000,6,0.000,0.051,2797,2034,2507,0,0,0,0,0,0
$GC,11661,0.59,161.9,858.5,9.5,385,11665,0.00,2.35,0.00,0.000,4,0.000,0.070,2797,3459,2501,0,0,0,0,0,0
$GC,11693,0.59,161.9,855.1,9.8,385,11697,0.00,2.20,0.00,0.000,6,0.000,0.050,2808,2047,2503,0,0,1,0,0,0
$GC,12023,0.59,161.9,824.1,9.1,393,12027,0.00,2.25,0.00,0.000,4,0.000,0.060,2817,639,2501,0,0,0,0,0,0
$GC,12105,0.59,161.9,816.3,9.0,394,12112,0.15,2.25,0.00,0.000,6,0.219,0.056,2786,2052,2500,0,0,0,0,0,0
$GC,12436,0.59,161.9,791.8,7.1,403,12440,0.00,2.28,0.00,0.000,4,0.000,0.071,2791,3453,2500,0,0,0,0,0,0
$GC,12680,0.59,161.9,770.0,9.0,408,12684,0.00,2.20,0.00,0.000,6,0.000,0.050,2794,2047,2500,0,0,0,0,0,0
$GC,13029,0.59,161.9,736.4,10.2,417,13032,0.00,2.25,0.00,0.000,4,0.000,0.061,2805,637,2499,0,0,0,0,0,0
$GC,13179,0.59,161.9,719.9,10.1,420,13183,0.00,2.28,0.00,0.000,6,0.000,0.057,2804,2046,2498,0,0,0,0,0,0
$GC,13491,0.59,161.9,688.1,10.1,428,13495,0.00,2.30,0.00,0.000,4,0.000,0.071,2805,3462,2497,0,0,0,0,0,0
$GC,13703,0.59,161.9,668.4,7.4,432,13708,0.12,2.22,0.00,0.000,6,0.230,0.049,2789,2041,2498,0,0,0,0,0,0
$GC,14039,0.60,164.9,647.8,5.9,441,14043,0.00,2.25,0.00,0.000,4,0.000,0.061,2798,637,2497,0,0,0,0,0,0
$GC,14146,0.61,173.7,641.6,5.8,443,14159,0.00,2.25,7.90,0.992,6,0.000,0.056,2798,2044,2469,0,0,0,0,0,0
$GC,14494,0.61,173.7,617.2,7.4,452,14498,0.00,2.33,0.00,0.000,4,0.000,0.070,2798,3460,2467,0,0,0,0,0,0
$GC,14664,0.61,173.7,604.8,8.0,455,14668,0.00,2.22,0.00,0.000,6,0.000,0.050,2809,2043,2468,0,0,0,0,0,0
$GC,14994,0.61,173.7,582.8,6.6,463,14998,0.00,2.28,0.00,0.000,4,0.000,0.061,2820,627,2467,0,0,0,0,0,0
$GC,15183,0.61,173.7,568.8,7.1,467,15188,0.12,2.25,0.00,0.000,6,0.220,0.057,2793,2044,2466,0,0,0,0,0,0
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$STATE,22782,end climb,SURFACE_DEPTH_REACHED
$STATE,22782,begin surface coast
$FINISH,0.9,1.022945
$STATE,22811,end surface coast,CONTROL_FINISHED_OK
$STATE,22811,begin surface
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$AR_CDRIVE_SIZE,8453062656
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,44.955
$10V_AH,10.0,28.364
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.575,194.325,436.300,66.750,0.000,62.610,68.743,552.949,0.500,0.000,15.983,1814.155,17814.240,622.699,3281.976,286.266,33.364,2017.659,0.000,2513.408,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,14.781,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,30107,882
$CAP_FILE_SIZE,203598,0
$CFSIZE,260165632,240717824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,271210,171500,1843.175,12651.269,73,0.9,73,-2.2