version: 66.07
glider: 511
mission: 5
dive: 211
start: 12 28 110 13 21 4
data:
$ID,511
$MISSION,5
$DIVE,211
$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,-45898.418
$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,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2990
$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,210
$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
$GPS1,281210,130936,1839.014,12652.943,56,1.9,61,-2.2
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.8
$GPS2,281210,132008,1838.949,12652.819,11,1.6,11,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,-0.118
$KALMAN_X,-397589.8,323.3,3445.6,319020.3,-22887.8
$KALMAN_Y,542423.6,-248.5,-304.7,-759497.8,-38.6
$MHEAD_RNG_PITCHd_Wd,125.5,157149,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-75.40,0.000,2,0.000,0.000,37,2178,2967,0,0,0,0,0,0
$GC,107,-0.58,-146.0,3.7,-3.5,15,136,10.43,2.17,-12.02,0.000,4,0.260,0.073,2386,3534,3590,0,0,0,0,0,0
$GC,160,-0.58,-146.0,23.9,-36.5,26,166,0.00,2.20,0.00,0.000,6,0.000,0.044,2386,2137,3591,0,0,0,0,0,0
$GC,358,-0.58,-146.0,78.3,-29.3,47,362,0.00,2.22,0.00,0.000,4,0.000,0.056,2386,729,3592,0,0,0,0,0,0
$GC,455,-0.58,-146.0,102.6,-23.5,57,460,0.00,2.22,0.00,0.000,6,0.000,0.053,2376,2127,3591,0,0,0,0,0,0
$GC,716,-0.58,-146.0,161.6,-19.6,81,720,0.00,2.17,0.00,0.000,4,0.000,0.053,2376,730,3592,0,0,0,0,0,0
$GC,739,-0.58,-146.0,166.1,-18.6,83,745,0.12,2.22,0.00,0.000,6,0.166,0.053,2399,2149,3592,0,0,0,0,0,0
$GC,1009,-0.58,-146.0,205.9,-13.1,107,1013,0.00,2.25,0.00,0.000,4,0.000,0.066,2390,3562,3593,0,0,0,0,0,0
$GC,1078,-0.58,-146.0,214.0,-10.5,110,1082,0.00,2.17,0.00,0.000,6,0.000,0.042,2390,2143,3593,0,0,0,0,0,0
$GC,1402,-0.58,-146.0,260.5,-16.3,126,1406,0.00,2.17,0.00,0.000,4,0.000,0.054,2390,737,3593,0,0,0,0,0,0
$GC,1558,-0.58,-146.0,283.5,-13.9,132,1564,0.00,2.22,0.00,0.000,6,0.000,0.053,2380,2143,3593,0,0,0,0,0,0
$GC,1890,-0.58,-146.0,327.4,-12.1,144,1894,0.00,2.20,0.00,0.000,4,0.000,0.055,2380,736,3592,0,0,0,0,0,0
$GC,1986,-0.58,-146.0,337.6,-9.6,146,1990,0.00,2.25,0.00,0.000,6,0.000,0.056,2374,2147,3592,0,0,0,0,0,0
$GC,2307,-0.58,-146.0,374.4,-11.7,154,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2148,3594,0,0,0,0,0,0
$GC,2633,-0.58,-146.0,413.2,-12.0,162,2637,0.00,2.22,0.00,0.000,4,0.000,0.057,2375,740,3590,0,0,0,0,0,0
$GC,2660,-0.58,-146.0,416.6,-12.0,162,2664,0.00,2.22,0.00,0.000,6,0.000,0.055,2375,2150,3590,0,0,0,0,0,0
$GC,2999,-0.58,-146.0,454.7,-11.3,171,3003,0.00,2.22,0.00,0.000,4,0.000,0.057,2375,738,3588,0,0,0,0,0,0
$GC,3049,-0.58,-146.0,460.3,-10.4,172,3053,0.00,2.25,0.00,0.000,6,0.000,0.054,2375,2149,3586,0,0,0,0,0,0
$GC,3371,-0.58,-146.0,492.0,-9.9,180,3375,0.00,2.25,0.00,0.000,4,0.000,0.065,2374,3564,3586,0,0,0,0,0,0
$GC,3416,-0.58,-146.0,496.3,-9.1,181,3421,0.10,2.17,0.00,0.000,6,0.157,0.043,2401,2140,3585,0,0,0,0,0,0
$GC,3739,-0.58,-146.0,519.5,-6.9,189,3743,0.00,2.17,0.00,0.000,4,0.000,0.052,2402,732,3583,0,0,0,0,0,0
$GC,3785,-0.58,-146.0,522.8,-7.1,190,3789,0.00,2.25,0.00,0.000,6,0.000,0.054,2397,2149,3582,0,0,0,0,0,0
$GC,4112,-0.58,-146.0,546.7,-7.6,198,4116,0.00,2.25,0.00,0.000,4,0.000,0.064,2388,3554,3581,0,0,0,0,0,0
$GC,4143,-0.58,-146.0,549.3,-8.6,198,4147,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2139,3581,0,0,0,0,0,0
$GC,4474,-0.58,-146.0,580.2,-9.7,206,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2141,3577,0,0,0,0,0,0
$GC,4798,-0.58,-146.0,611.0,-9.1,214,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2136,3575,0,0,0,0,0,0
$GC,5124,-0.58,-146.0,636.8,-7.7,222,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2135,3572,0,0,0,0,0,0
$GC,5448,-0.58,-146.0,661.7,-7.7,230,5452,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,744,3569,0,0,0,0,0,0
$GC,5494,-0.58,-146.0,665.5,-7.6,231,5498,0.00,2.22,0.00,0.000,6,0.000,0.055,2380,2150,3570,0,0,0,0,0,0
$GC,5816,-0.58,-146.0,691.4,-8.0,239,5820,0.00,2.25,0.00,0.000,4,0.000,0.066,2371,3557,3567,0,0,0,0,0,0
$GC,5861,-0.58,-146.0,695.2,-8.5,240,5866,0.12,2.20,0.00,0.000,6,0.151,0.044,2405,2140,3566,0,0,0,0,0,0
$GC,6184,-0.58,-146.0,715.1,-6.0,248,6187,0.00,2.20,0.00,0.000,4,0.000,0.055,2406,742,3563,0,0,0,0,0,0
$GC,6220,-0.58,-146.0,717.3,-6.7,248,6224,0.00,2.22,0.00,0.000,6,0.000,0.053,2404,2144,3563,0,0,0,0,0,0
$GC,6555,-0.58,-146.0,735.1,-5.1,257,6559,0.00,2.30,0.00,0.000,4,0.000,0.069,2396,3556,3561,0,0,0,0,0,0
$GC,6586,-0.58,-146.0,736.7,-5.2,257,6591,0.00,2.20,0.00,0.000,6,0.000,0.045,2395,2139,3561,0,0,0,0,0,0
$GC,6921,-0.58,-146.0,756.8,-6.3,266,6925,0.00,2.22,0.00,0.000,4,0.000,0.055,2395,736,3558,0,0,0,0,0,0
$GC,6981,-0.58,-146.0,761.2,-7.9,267,6985,0.00,2.22,0.00,0.000,6,0.000,0.052,2388,2145,3557,0,0,0,0,0,0
$GC,7329,-0.58,-146.0,787.4,-8.0,276,7333,0.00,2.33,0.00,0.000,4,0.000,0.070,2382,3563,3557,0,0,0,0,0,0
$GC,7361,-0.58,-146.0,790.1,-8.6,276,7365,0.00,2.20,0.00,0.000,6,0.000,0.045,2382,2145,3556,0,0,0,0,0,0
$GC,7691,-0.58,-146.0,820.9,-9.7,284,7695,0.00,2.20,0.00,0.000,4,0.000,0.055,2382,745,3554,0,0,0,0,0,0
$GC,7718,-0.58,-146.0,823.6,-10.2,284,7723,0.00,2.25,0.00,0.000,6,0.000,0.054,2374,2150,3554,0,0,0,0,0,0
$GC,8058,-0.58,-146.0,857.0,-9.6,293,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2150,3553,0,0,0,0,0,0
$GC,8383,-0.58,-146.0,886.6,-9.0,301,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2149,3549,0,0,0,0,0,0
$GC,8708,-0.58,-146.0,912.8,-7.9,309,8712,0.00,2.25,0.00,0.000,4,0.000,0.058,2377,739,3551,0,0,0,0,0,0
$GC,8753,-0.58,-146.0,916.4,-7.7,310,8758,0.12,2.25,0.00,0.000,6,0.153,0.054,2404,2150,3551,0,0,0,0,0,0
$GC,9076,-0.58,-146.0,933.6,-5.0,318,9080,0.00,2.30,0.00,0.000,4,0.000,0.070,2397,3558,3549,0,0,0,0,0,0
$GC,9099,-0.58,-146.0,934.9,-5.6,318,9103,0.00,2.22,0.00,0.000,6,0.000,0.048,2397,2147,3549,0,0,0,0,0,0
$GC,9439,-0.58,-146.0,951.5,-4.9,327,9443,0.00,2.22,0.00,0.000,4,0.000,0.058,2397,742,3551,0,0,0,0,0,0
$GC,9471,-0.58,-146.0,953.2,-4.7,327,9475,0.00,2.25,0.00,0.000,6,0.000,0.055,2392,2148,3548,0,0,0,0,0,0
$GC,9802,-0.58,-146.0,969.7,-4.9,335,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2149,3550,0,0,0,0,0,0
$GC,10127,-0.58,-146.0,985.8,-4.8,343,10131,0.00,2.25,0.00,0.000,4,0.000,0.058,2391,743,3546,0,0,0,0,0,0
$GC,10159,-0.58,-146.0,987.4,-4.5,343,10163,0.00,2.25,0.00,0.000,6,0.000,0.055,2387,2149,3542,0,0,0,0,0,0
$STATE,10248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10248,begin apogee
$GC,10253,-0.28,0.0,991.6,4.5,346,10375,0.35,0.00,119.07,1.357,6,0.130,0.000,2499,2030,2992,0,0,0,0,0,0
$STATE,10378,end apogee,CONTROL_FINISHED_OK
$STATE,10378,begin climb
$GC,10380,0.58,146.0,994.1,0.0,349,10518,0.75,2.42,129.93,1.315,4,0.065,0.060,2786,652,2395,0,0,0,0,0,0
$GC,10593,0.58,146.0,982.8,13.5,354,10597,0.00,2.38,0.00,0.000,6,0.000,0.058,2785,2041,2386,0,0,0,0,0,0
$GC,10920,0.58,146.0,940.9,12.7,362,10923,0.00,2.30,0.00,0.000,4,0.000,0.064,2796,645,2382,0,0,0,0,0,0
$GC,10933,0.58,146.0,939.3,12.2,362,10937,0.00,2.30,0.00,0.000,6,0.000,0.056,2796,2051,2380,0,0,0,0,0,0
$GC,11245,0.58,146.0,898.8,13.1,370,11249,0.00,2.33,0.00,0.000,4,0.000,0.069,2796,3458,2379,0,0,0,0,0,0
$GC,11287,0.58,146.0,893.1,14.4,371,11292,0.00,2.22,0.00,0.000,6,0.000,0.051,2812,2055,2379,0,0,0,0,0,0
$GC,11614,0.58,146.0,851.2,12.5,379,11619,0.12,2.33,0.00,0.000,4,0.224,0.068,2779,3457,2377,0,0,0,0,0,0
$GC,11657,0.58,146.0,845.9,12.8,380,11661,0.00,2.25,0.00,0.000,6,0.000,0.052,2788,2053,2378,0,0,0,0,0,0
$GC,11983,0.58,146.0,810.4,10.4,388,11988,0.00,2.30,0.00,0.000,4,0.000,0.069,2789,3457,2376,0,0,0,0,0,0
$GC,12108,0.58,146.0,795.4,11.9,390,12113,0.00,2.25,0.00,0.000,6,0.000,0.051,2798,2034,2377,0,0,0,0,0,0
$GC,12439,0.58,146.0,759.8,10.7,398,12443,0.00,2.25,0.00,0.000,4,0.000,0.062,2809,631,2375,0,0,0,0,0,0
$GC,12493,0.58,146.0,753.7,9.9,399,12498,0.12,2.28,0.00,0.000,6,0.213,0.055,2782,2045,2374,0,0,0,0,0,0
$GC,12807,0.58,146.0,722.9,10.0,407,12811,0.00,2.30,0.00,0.000,4,0.000,0.063,2790,631,2372,0,0,0,0,0,0
$GC,12820,0.58,146.0,721.6,10.1,407,12824,0.00,2.28,0.00,0.000,6,0.000,0.056,2790,2042,2373,0,0,0,0,0,0
$GC,13132,0.58,146.0,688.8,10.5,415,13137,0.00,2.30,0.00,0.000,4,0.000,0.068,2790,3460,2373,0,0,0,0,0,0
$GC,13196,0.58,146.0,681.5,11.4,416,13200,0.00,2.25,0.00,0.000,6,0.000,0.051,2797,2045,2373,0,0,0,0,0,0
$GC,13541,0.58,146.0,646.6,10.2,425,13545,0.00,2.33,0.00,0.000,4,0.000,0.069,2801,3466,2373,0,0,0,0,0,0
$GC,13666,0.58,146.0,633.8,9.1,427,13671,0.15,2.28,0.00,0.000,6,0.218,0.051,2778,2040,2373,0,0,0,0,0,0
$GC,13996,0.58,146.0,608.9,7.3,435,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2035,2372,0,0,0,0,0,0
$GC,14322,0.58,152.6,587.9,5.8,443,14326,0.00,2.28,0.00,0.000,4,0.000,0.062,2787,628,2372,0,0,0,0,0,0
$GC,14378,0.58,152.6,584.4,6.8,444,14382,0.00,2.30,0.00,0.000,6,0.000,0.057,2787,2046,2370,0,0,0,0,0,0
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$STATE,21645,begin surface coast
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$STATE,21663,end surface coast,CONTROL_FINISHED_OK
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$MEM,354672
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$CFSIZE,260165632,240324608
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