version: 66.07
glider: 511
mission: 5
dive: 215
start: 12 29 110 15 41 21
data:
$ID,511
$MISSION,5
$DIVE,215
$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,-45982.633
$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,25
$R_STBD_OVSHOOT,34
$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,214
$AR_SAMPLENUM,1
$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
$GPS1,291210,153206,1830.923,12655.947,39,1.0,44,-2.2
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.9
$GPS2,291210,154026,1830.884,12655.989,13,1.0,13,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.154
$KALMAN_X,-411506.2,-45.1,2485.3,339774.9,-15771.5
$KALMAN_Y,542780.1,-312.6,-661.0,-774356.5,2388.7
$MHEAD_RNG_PITCHd_Wd,46.6,143865,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-66.25,0.000,2,0.000,0.000,34,2168,2714,0,0,0,0,0,0
$GC,99,-0.58,-146.0,3.3,-2.9,13,134,10.00,2.28,-19.05,0.000,4,0.245,0.067,2398,735,3587,0,0,0,0,0,0
$GC,144,-0.58,-146.0,15.1,-24.6,22,149,0.00,2.22,0.00,0.000,6,0.000,0.052,2387,2131,3588,0,0,0,0,0,0
$GC,344,-0.58,-146.0,72.6,-30.3,46,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2131,3589,0,0,0,0,0,0
$GC,599,-0.58,-146.0,136.2,-20.9,70,603,0.00,2.20,0.00,0.000,4,0.000,0.055,2387,737,3589,0,0,0,0,0,0
$GC,737,-0.58,-146.0,160.2,-16.3,84,743,0.00,2.25,0.00,0.000,6,0.000,0.054,2377,2146,3590,0,0,0,0,0,0
$GC,1007,-0.58,-146.0,207.4,-17.1,108,1011,0.00,2.20,0.00,0.000,4,0.000,0.054,2377,736,3590,0,0,0,0,0,0
$GC,1026,-0.58,-146.0,210.8,-17.8,109,1031,0.12,2.25,0.00,0.000,6,0.169,0.055,2400,2149,3591,0,0,0,0,0,0
$GC,1355,-0.58,-146.0,257.3,-13.1,125,1359,0.00,2.22,0.00,0.000,4,0.000,0.056,2400,738,3591,0,0,0,0,0,0
$GC,1451,-0.58,-146.0,268.4,-10.3,129,1455,0.00,2.22,0.00,0.000,6,0.000,0.054,2394,2145,3591,0,0,0,0,0,0
$GC,1794,-0.58,-146.0,311.1,-13.3,144,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2146,3590,0,0,0,0,0,0
$GC,2119,-0.58,-146.0,350.4,-11.7,152,2123,0.00,2.20,0.00,0.000,4,0.000,0.058,2393,736,3590,0,0,0,0,0,0
$GC,2189,-0.58,-146.0,358.1,-10.3,153,2193,0.00,2.22,0.00,0.000,6,0.000,0.055,2385,2149,3586,0,0,0,0,0,0
$GC,2528,-0.58,-146.0,394.1,-10.2,162,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2149,3587,0,0,0,0,0,0
$GC,2854,-0.58,-146.0,427.0,-10.2,170,2858,0.00,2.22,0.00,0.000,4,0.000,0.058,2386,735,3586,0,0,0,0,0,0
$GC,2890,-0.58,-146.0,431.0,-10.5,170,2895,0.00,2.25,0.00,0.000,6,0.000,0.055,2384,2149,3586,0,0,0,0,0,0
$GC,3220,-0.58,-146.0,464.9,-10.1,179,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2149,3583,0,0,0,0,0,0
$GC,3545,-0.58,-146.0,497.2,-10.1,187,3550,0.00,2.25,0.00,0.000,4,0.000,0.060,2390,729,3581,0,0,0,0,0,0
$GC,3600,-0.58,-146.0,502.9,-10.3,188,3604,0.00,2.28,0.00,0.000,6,0.000,0.056,2384,2150,3581,0,0,0,0,0,0
$GC,3913,-0.58,-146.0,532.2,-9.0,196,3917,0.00,2.25,0.00,0.000,4,0.000,0.065,2374,3565,3582,0,0,0,0,0,0
$GC,3972,-0.58,-146.0,537.5,-9.0,197,3977,0.10,2.20,0.00,0.000,6,0.152,0.043,2402,2127,3579,0,0,0,0,0,0
$GC,4322,-0.58,-146.0,561.1,-6.4,206,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2125,3576,0,0,0,0,0,0
$GC,4647,-0.58,-146.0,581.7,-6.5,214,4651,0.00,2.15,0.00,0.000,4,0.000,0.054,2402,746,3573,0,0,0,0,0,0
$GC,4669,-0.58,-146.0,583.3,-7.1,214,4673,0.00,2.25,0.00,0.000,6,0.000,0.059,2403,2146,3573,0,0,0,0,0,0
$GC,5013,-0.58,-146.0,610.9,-8.5,223,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2146,3571,0,0,0,0,0,0
$GC,5338,-0.58,-146.0,640.0,-8.9,231,5342,0.00,2.22,0.00,0.000,4,0.000,0.057,2402,737,3568,0,0,0,0,0,0
$GC,5365,-0.58,-146.0,642.6,-9.3,231,5369,0.00,2.22,0.00,0.000,6,0.000,0.055,2402,2147,3568,0,0,0,0,0,0
$GC,5700,-0.58,-146.0,668.5,-7.1,240,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2148,3563,0,0,0,0,0,0
$GC,6025,-0.58,-146.0,687.3,-5.4,248,6029,0.00,2.22,0.00,0.000,4,0.000,0.058,2403,746,3563,0,0,0,0,0,0
$GC,6052,-0.58,-146.0,688.9,-5.8,248,6056,0.00,2.22,0.00,0.000,6,0.000,0.053,2402,2141,3563,0,0,0,0,0,0
$GC,6392,-0.58,-146.0,706.1,-5.1,257,6396,0.00,2.30,0.00,0.000,4,0.000,0.068,2392,3564,3560,0,0,0,0,0,0
$GC,6429,-0.58,-146.0,708.1,-5.6,257,6434,0.00,2.17,0.00,0.000,6,0.000,0.044,2392,2145,3559,0,0,0,0,0,0
$GC,6759,-0.58,-146.0,730.4,-7.3,266,6763,0.00,2.20,0.00,0.000,4,0.000,0.054,2392,737,3558,0,0,0,0,0,0
$GC,6824,-0.58,-146.0,735.9,-8.9,267,6828,0.00,2.25,0.00,0.000,6,0.000,0.052,2387,2155,3557,0,0,0,0,0,0
$GC,7167,-0.58,-146.0,766.7,-9.1,276,7171,0.00,2.22,0.00,0.000,4,0.000,0.054,2392,742,3555,0,0,0,0,0,0
$GC,7199,-0.58,-146.0,769.8,-9.6,276,7203,0.00,2.25,0.00,0.000,6,0.000,0.053,2392,2148,3553,0,0,0,0,0,0
$GC,7529,-0.58,-146.0,797.4,-8.2,284,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2151,3553,0,0,0,0,0,0
$GC,7854,-0.58,-146.0,821.3,-7.3,292,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2148,3551,0,0,0,0,0,0
$GC,8179,-0.58,-146.0,843.1,-6.7,300,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2148,3550,0,0,0,0,0,0
$GC,8504,-0.58,-146.0,864.5,-6.6,308,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2148,3550,0,0,0,0,0,0
$GC,8829,-0.58,-146.0,884.9,-6.2,316,8833,0.00,2.22,0.00,0.000,4,0.000,0.055,2392,745,3548,0,0,0,0,0,0
$GC,8865,-0.58,-146.0,887.2,-6.5,316,8871,0.00,2.25,0.00,0.000,6,0.000,0.054,2392,2144,3545,0,0,0,0,0,0
$GC,9196,-0.58,-146.0,905.5,-5.3,325,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2144,3546,0,0,0,0,0,0
$GC,9521,-0.58,-146.0,922.4,-5.3,333,9525,0.00,2.25,0.00,0.000,4,0.000,0.057,2392,744,3545,0,0,0,0,0,0
$GC,9544,-0.58,-146.0,923.8,-5.9,333,9548,0.00,2.28,0.00,0.000,6,0.000,0.055,2391,2151,3545,0,0,0,0,0,0
$GC,9883,-0.58,-146.0,941.9,-5.5,342,9887,0.00,2.33,0.00,0.000,4,0.000,0.073,2391,3561,3544,0,0,0,0,0,0
$GC,9915,-0.58,-146.0,943.9,-6.2,342,9919,0.00,2.20,0.00,0.000,6,0.000,0.048,2391,2146,3543,0,0,0,0,0,0
$GC,10245,-0.58,-146.0,964.0,-6.2,350,10249,0.00,2.22,0.00,0.000,4,0.000,0.057,2392,741,3543,0,0,0,0,0,0
$GC,10287,-0.58,-146.0,966.7,-6.4,351,10291,0.00,2.25,0.00,0.000,6,0.000,0.056,2391,2143,3542,0,0,0,0,0,0
$GC,10614,-0.58,-146.0,986.3,-5.9,359,10618,0.00,2.35,0.00,0.000,4,0.000,0.074,2391,3556,3542,0,0,0,0,0,0
$GC,10637,-0.58,-146.0,987.7,-6.1,359,10641,0.00,2.22,0.00,0.000,6,0.000,0.049,2392,2144,3541,0,0,0,0,0,0
$STATE,10694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10700,-0.28,0.0,991.2,6.0,361,10821,0.35,0.00,118.12,1.357,6,0.123,0.000,2504,2032,2993,0,0,0,0,0,0
$STATE,10822,end apogee,CONTROL_FINISHED_OK
$STATE,10822,begin climb
$GC,10824,0.58,146.0,996.2,0.0,364,10960,0.77,0.00,132.65,1.316,6,0.064,0.000,2782,2032,2395,0,0,0,0,0,0
$GC,11261,0.58,146.0,965.0,11.4,375,11265,0.00,2.40,0.00,0.000,4,0.000,0.071,2782,3470,2381,0,0,0,0,0,0
$GC,11293,0.58,146.0,961.1,12.3,375,11297,0.00,2.25,0.00,0.000,6,0.000,0.051,2792,2057,2383,0,0,0,0,0,0
$GC,11623,0.58,146.0,924.2,10.9,383,11627,0.00,2.30,0.00,0.000,4,0.000,0.069,2793,3457,2380,0,0,0,0,0,0
$GC,11715,0.58,146.0,912.9,14.0,385,11719,0.00,2.25,0.00,0.000,6,0.000,0.051,2803,2049,2382,0,0,0,0,0,0
$GC,12037,0.58,146.0,877.9,10.7,393,12041,0.00,2.28,0.00,0.000,4,0.000,0.060,2814,628,2378,0,0,0,0,0,0
$GC,12083,0.58,146.0,873.0,10.6,394,12088,0.15,2.28,0.00,0.000,6,0.211,0.056,2780,2046,2376,0,0,0,0,0,0
$GC,12411,0.58,146.0,845.2,8.3,402,12415,0.00,2.33,0.00,0.000,4,0.000,0.071,2779,3462,2375,0,0,0,0,0,0
$GC,12484,0.58,146.0,837.9,10.6,403,12488,0.00,2.28,0.00,0.000,6,0.000,0.052,2788,2037,2373,0,0,0,0,0,0
$GC,12819,0.58,146.0,803.2,10.9,412,12823,0.00,2.35,0.00,0.000,4,0.000,0.071,2788,3458,2375,0,0,0,0,0,0
$GC,12953,0.58,146.0,786.4,12.6,415,12957,0.00,2.25,0.00,0.000,6,0.000,0.051,2799,2053,2373,0,0,0,0,0,0
$GC,13279,0.58,146.0,751.0,10.3,423,13283,0.00,2.30,0.00,0.000,4,0.000,0.061,2809,625,2374,0,0,0,0,0,0
$GC,13362,0.58,146.0,742.3,10.6,424,13367,0.12,2.28,0.00,0.000,6,0.211,0.055,2782,2047,2373,0,0,0,0,0,0
$GC,13692,0.58,146.0,712.2,9.1,432,13696,0.00,2.30,0.00,0.000,4,0.000,0.070,2782,3455,2373,0,0,0,0,0,0
$GC,13839,0.58,146.0,697.9,10.2,435,13844,0.00,2.25,0.00,0.000,6,0.000,0.051,2791,2031,2373,0,0,0,0,0,0
$GC,14152,0.58,146.0,670.4,8.8,443,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2025,2373,0,0,0,0,0,0
$GC,14478,0.58,146.0,641.2,9.1,451,14479,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2025,2372,0,0,0,0,0,0
$GC,14802,0.58,146.0,611.7,8.9,459,14806,0.00,2.22,0.00,0.000,4,0.000,0.059,2801,633,2372,0,0,0,0,0,0
$GC,14881,0.58,146.0,604.6,8.8,460,14886,0.00,2.25,0.00,0.000,6,0.000,0.054,2802,2046,2371,0,0,0,0,0,0
$GC,15212,0.58,146.0,575.4,8.3,468,15216,0.00,2.33,0.00,0.000,4,0.000,0.068,2801,3455,2371,0,0,0,0,0,0
$GC,15337,0.58,146.0,564.0,9.6,470,15342,0.15,2.25,0.00,0.000,6,0.213,0.050,2778,2042,2371,0,0,0,0,0,0
$GC,15673,0.58,149.4,542.7,5.9,479,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2037,2369,0,0,0,0,0,0
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$STATE,22883,end climb,SURFACE_DEPTH_REACHED
$STATE,22883,begin surface coast
$FINISH,0.7,1.023114
$STATE,22918,end surface coast,CONTROL_FINISHED_OK
$STATE,22918,begin surface
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$SM_GC,1.73,0.00,0.00,108.43,0.000,0.000,0.556,50,2155,952,-7.95,0.25,500.16
$IRIDIUM_FIX,1825.94,12654.47,230612,030326
$TT8_MAMPS,0.056758
$HUMID,1078643216
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$TCM_TEMP,25.40
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8436908032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54335275008
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.9,46.302
$10V_AH,10.0,29.610
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.525,189.400,361.050,108.425,0.000,30.126,35.031,305.262,0.250,0.000,15.057,1822.073,18140.713,646.594,2689.270,241.247,33.359,1887.419,0.000,2259.927,0.000,0.544,0.000
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$SENSOR_SECS,616.680,0.000,0.000,0.000,0.000,0.000,0.000,21509.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.686,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,33316,915
$CAP_FILE_SIZE,186836,0
$CFSIZE,260165632,240009216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291210,220724,1832.481,12656.576,52,1.3,69,-2.2