version: 66.07
glider: 511
mission: 5
dive: 212
start: 12 28 110 19 32 26
data:
$ID,511
$MISSION,5
$DIVE,212
$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,-45925.156
$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,19
$R_STBD_OVSHOOT,29
$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,211
$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
$GPS1,281210,192506,1837.219,12652.947,42,1.1,47,-2.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.5
$GPS2,281210,193132,1837.156,12652.799,24,1.6,24,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.110
$KALMAN_X,-402196.1,-614.8,3750.0,324248.8,-29343.0
$KALMAN_Y,542263.2,-306.4,531.5,-763424.4,-2115.5
$MHEAD_RNG_PITCHd_Wd,122.9,155178,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-70.25,0.000,2,0.000,0.000,48,2164,2811,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.2,-2.8,14,134,10.18,2.30,-16.20,0.000,4,0.254,0.068,2392,722,3589,0,0,0,0,0,0
$GC,306,-0.58,-146.0,56.6,-23.0,46,310,0.00,2.28,0.00,0.000,6,0.000,0.054,2383,2143,3591,0,0,0,0,0,0
$GC,566,-0.58,-146.0,123.6,-23.0,70,570,0.00,2.22,0.00,0.000,4,0.000,0.055,2382,728,3594,0,0,0,0,0,0
$GC,650,-0.58,-146.0,139.5,-15.9,79,655,0.12,2.22,0.00,0.000,6,0.164,0.054,2404,2146,3591,0,0,0,0,0,0
$GC,911,-0.58,-146.0,178.7,-13.9,103,915,0.00,2.22,0.00,0.000,4,0.000,0.056,2406,728,3592,0,0,0,0,0,0
$GC,965,-0.58,-146.0,185.8,-11.5,108,971,0.00,2.22,0.00,0.000,6,0.000,0.054,2404,2148,3595,0,0,1,0,0,0
$GC,1232,-0.58,-146.0,219.3,-12.2,127,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2144,3593,0,0,0,0,0,0
$GC,1541,-0.58,-146.0,258.5,-12.6,142,1545,0.00,2.20,0.00,0.000,4,0.000,0.055,2405,725,3592,0,0,0,0,0,0
$GC,1606,-0.58,-146.0,266.2,-11.0,145,1611,0.00,2.25,0.00,0.000,6,0.000,0.057,2402,2139,3593,0,0,0,0,0,0
$GC,1934,-0.58,-146.0,305.2,-12.0,160,1938,0.00,2.20,0.00,0.000,4,0.000,0.056,2402,729,3592,0,0,0,0,0,0
$GC,1976,-0.58,-146.0,310.0,-11.4,161,1980,0.00,2.25,0.00,0.000,6,0.000,0.055,2401,2147,3592,0,0,0,0,0,0
$GC,2302,-0.58,-146.0,346.2,-11.2,169,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2148,3591,0,0,0,0,0,0
$GC,2627,-0.58,-146.0,379.7,-10.2,177,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2147,3589,0,0,0,0,0,0
$GC,2952,-0.58,-146.0,413.0,-10.3,185,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2147,3589,0,0,0,0,0,0
$GC,3277,-0.58,-146.0,446.7,-10.0,193,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2147,3585,0,0,0,0,0,0
$GC,3602,-0.58,-146.0,473.6,-7.8,201,3606,0.00,2.25,0.00,0.000,4,0.000,0.059,2402,725,3585,0,0,0,0,0,0
$GC,3657,-0.58,-146.0,478.1,-8.0,202,3661,0.00,2.28,0.00,0.000,6,0.000,0.056,2401,2148,3585,0,0,0,0,0,0
$GC,3969,-0.58,-146.0,500.9,-7.4,210,3973,0.00,2.25,0.00,0.000,4,0.000,0.065,2392,3561,3583,0,0,0,0,0,0
$GC,4026,-0.58,-146.0,505.1,-7.6,211,4030,0.00,2.20,0.00,0.000,6,0.000,0.043,2393,2125,3583,0,0,0,0,0,0
$GC,4338,-0.58,-146.0,530.5,-8.2,219,4342,0.00,2.15,0.00,0.000,4,0.000,0.052,2393,747,3581,0,0,0,0,0,0
$GC,4393,-0.58,-146.0,534.9,-7.6,220,4397,0.00,2.22,0.00,0.000,6,0.000,0.060,2391,2144,3581,0,0,0,0,0,0
$GC,4705,-0.58,-146.0,557.3,-7.1,228,4709,0.00,2.30,0.00,0.000,4,0.000,0.066,2382,3561,3578,0,0,0,0,0,0
$GC,4727,-0.58,-146.0,559.1,-7.5,228,4732,0.00,2.17,0.00,0.000,6,0.000,0.041,2382,2146,3577,0,0,0,0,0,0
$GC,5072,-0.58,-146.0,587.6,-8.6,237,5076,0.00,2.22,0.00,0.000,4,0.000,0.053,2382,738,3576,0,0,0,0,0,0
$GC,5172,-0.58,-146.0,596.7,-8.6,239,5176,0.00,2.22,0.00,0.000,6,0.000,0.054,2380,2146,3575,0,0,0,0,0,0
$GC,5490,-0.58,-146.0,622.1,-7.8,247,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2146,3573,0,0,0,0,0,0
$GC,5814,-0.58,-146.0,645.8,-7.2,255,5818,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,741,3571,0,0,0,0,0,0
$GC,5860,-0.58,-146.0,649.1,-7.3,256,5864,0.00,2.25,0.00,0.000,6,0.000,0.054,2381,2151,3571,0,0,0,0,0,0
$GC,6181,-0.58,-146.0,672.0,-7.1,264,6185,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,737,3568,0,0,0,0,0,0
$GC,6228,-0.58,-146.0,675.5,-8.1,265,6232,0.00,2.25,0.00,0.000,6,0.000,0.053,2381,2145,3569,0,0,0,0,0,0
$GC,6554,-0.58,-146.0,700.1,-7.7,273,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2147,3565,0,0,0,0,0,0
$GC,6879,-0.58,-146.0,724.7,-7.6,281,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2146,3563,0,0,0,0,0,0
$GC,7205,-0.58,-146.0,750.5,-8.0,289,7209,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,741,3561,0,0,0,0,0,0
$GC,7246,-0.58,-146.0,754.2,-8.4,290,7250,0.00,2.25,0.00,0.000,6,0.000,0.057,2381,2149,3562,0,0,0,0,0,0
$GC,7573,-0.58,-146.0,780.4,-8.0,298,7577,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,740,3560,0,0,0,0,0,0
$GC,7600,-0.58,-146.0,782.8,-8.5,298,7604,0.00,2.25,0.00,0.000,6,0.000,0.053,2381,2150,3559,0,0,0,0,0,0
$GC,7939,-0.58,-146.0,807.1,-7.0,307,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2150,3557,0,0,0,0,0,0
$GC,8264,-0.58,-146.0,828.8,-6.5,315,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2150,3556,0,0,0,0,0,0
$GC,8589,-0.58,-146.0,850.1,-6.6,323,8593,0.00,2.28,0.00,0.000,4,0.000,0.069,2371,3556,3554,0,0,0,0,0,0
$GC,8607,-0.58,-146.0,851.5,-6.8,323,8612,0.12,2.20,0.00,0.000,6,0.141,0.047,2408,2148,3554,0,0,0,0,0,0
$GC,8952,-0.58,-146.0,872.1,-6.3,332,8956,0.00,2.25,0.00,0.000,4,0.000,0.056,2408,737,3556,0,0,0,0,0,0
$GC,8979,-0.58,-146.0,873.9,-7.4,332,8983,0.00,2.25,0.00,0.000,6,0.000,0.054,2408,2148,3552,0,0,0,0,0,0
$GC,9318,-0.58,-146.0,899.4,-7.7,341,9322,0.00,2.28,0.00,0.000,4,0.000,0.057,2414,732,3551,0,0,0,0,0,0
$GC,9585,-0.58,-146.0,920.1,-8.1,346,9591,0.00,2.30,0.00,0.000,6,0.000,0.058,2413,2147,3551,0,0,0,0,0,0
$GC,9915,-0.58,-146.0,944.3,-7.2,355,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2148,3550,0,0,0,0,0,0
$GC,10240,-0.58,-146.0,966.9,-6.8,363,10244,0.00,2.33,0.00,0.000,4,0.000,0.073,2408,3553,3552,0,0,0,0,0,0
$GC,10305,-0.58,-146.0,971.3,-7.7,364,10309,0.00,2.22,0.00,0.000,6,0.000,0.051,2404,2143,3548,0,0,0,0,0,0
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10570,begin apogee
$GC,10575,-0.28,0.0,990.7,7.3,371,10697,0.25,0.00,119.38,1.356,6,0.075,0.000,2513,2034,2991,0,0,0,0,0,0
$STATE,10699,end apogee,CONTROL_FINISHED_OK
$STATE,10699,begin climb
$GC,10701,0.58,146.0,998.3,0.0,374,10839,0.73,2.55,129.98,1.318,4,0.066,0.067,2779,3451,2395,0,0,0,0,0,0
$GC,10890,0.58,146.0,993.5,13.2,378,10894,0.00,2.33,0.00,0.000,6,0.000,0.048,2789,2059,2390,0,0,1,0,0,0
$GC,11234,0.58,146.0,951.7,12.4,387,11238,0.00,2.30,0.00,0.000,4,0.000,0.060,2800,625,2380,0,0,0,0,0,0
$GC,11307,0.58,146.0,942.2,14.8,388,11312,0.00,2.30,0.00,0.000,6,0.000,0.055,2801,2042,2381,0,0,0,0,0,0
$GC,11642,0.58,146.0,899.3,12.8,397,11646,0.00,2.33,0.00,0.000,4,0.000,0.068,2800,3465,2380,0,0,0,0,0,0
$GC,11722,0.58,146.0,888.2,12.9,398,11727,0.15,2.28,0.00,0.000,6,0.219,0.051,2778,2045,2379,0,0,0,0,0,0
$GC,12052,0.58,146.0,852.4,10.4,406,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2034,2378,0,0,0,0,0,0
$GC,12377,0.58,146.0,821.9,9.2,414,12381,0.00,2.33,0.00,0.000,4,0.000,0.071,2778,3457,2376,0,0,0,0,0,0
$GC,12450,0.58,146.0,814.2,10.5,415,12454,0.00,2.25,0.00,0.000,6,0.000,0.051,2786,2037,2377,0,0,0,0,0,0
$GC,12785,0.58,146.0,784.2,8.6,424,12789,0.00,2.35,0.00,0.000,4,0.000,0.071,2787,3464,2376,0,0,0,0,0,0
$GC,12886,0.58,146.0,774.4,9.2,426,12890,0.00,2.28,0.00,0.000,6,0.000,0.052,2800,2037,2376,0,0,0,0,0,0
$GC,13198,0.58,146.0,747.2,8.8,434,13202,0.00,2.25,0.00,0.000,4,0.000,0.062,2807,637,2375,0,0,0,0,0,0
$GC,13267,0.58,146.0,740.4,11.0,435,13272,0.12,2.28,0.00,0.000,6,0.212,0.056,2781,2044,2374,0,0,0,0,0,0
$GC,13611,0.58,146.0,708.9,9.3,444,13615,0.00,2.33,0.00,0.000,4,0.000,0.071,2774,3462,2373,0,0,0,0,0,0
$GC,13639,0.58,146.0,706.0,9.5,444,13643,0.00,2.28,0.00,0.000,6,0.000,0.052,2785,2042,2371,0,0,0,0,0,0
$GC,13978,0.58,146.0,673.7,9.2,453,13982,0.00,2.35,0.00,0.000,4,0.000,0.071,2786,3457,2373,0,0,0,0,0,0
$GC,14046,0.58,146.0,666.5,9.9,454,14051,0.00,2.22,0.00,0.000,6,0.000,0.051,2795,2043,2371,0,0,0,0,0,0
$GC,14386,0.58,146.0,635.3,9.1,463,14390,0.00,2.25,0.00,0.000,4,0.000,0.060,2806,635,2373,0,0,0,0,0,0
$GC,14450,0.58,146.0,629.4,9.4,464,14455,0.12,2.28,0.00,0.000,6,0.216,0.055,2779,2046,2370,0,0,0,0,0,0
$GC,14799,0.58,146.0,601.7,7.7,473,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2046,2372,0,0,0,0,0,0
$GC,15124,0.58,146.0,576.1,7.7,481,15128,0.00,2.28,0.00,0.000,4,0.000,0.062,2788,634,2372,0,0,0,0,0,0
$GC,15217,0.58,146.0,568.6,8.8,483,15221,0.00,2.28,0.00,0.000,6,0.000,0.055,2788,2045,2369,0,0,0,0,0,0
$GC,15544,0.58,146.0,544.4,7.0,491,15548,0.00,2.30,0.00,0.000,4,0.000,0.069,2794,3457,2372,0,0,0,0,0,0
$GC,15673,0.58,146.0,534.7,6.4,493,15679,0.00,2.22,0.00,0.000,6,0.000,0.051,2798,2045,2371,0,0,1,0,0,0
$GC,16003,0.58,146.0,514.1,6.2,502,16007,0.00,2.25,0.00,0.000,4,0.000,0.060,2811,634,2371,0,0,0,0,0,0
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$STATE,22734,end climb,SURFACE_DEPTH_REACHED
$STATE,22734,begin surface coast
$FINISH,0.6,1.022954
$STATE,22753,end surface coast,CONTROL_FINISHED_OK
$STATE,22753,begin surface
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,45.824
$10V_AH,10.0,29.183
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.875,189.900,424.425,65.300,0.000,30.255,35.405,180.527,0.250,0.000,26.109,1776.808,17917.965,576.430,2714.327,233.964,33.355,1914.651,0.000,2386.024,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.930,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,30064,874
$CAP_FILE_SIZE,187187,0
$CFSIZE,260165632,240259072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,291210,015454,1835.733,12653.520,60,1.1,60,-2.2