version: 66.07
glider: 511
mission: 5
dive: 216
start: 12 29 110 22 15 3
data:
$ID,511
$MISSION,5
$DIVE,216
$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,-45995.664
$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,30
$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,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,215
$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
$GPS1,291210,220724,1832.481,12656.576,52,1.3,69,-2.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.5
$GPS2,291210,221408,1832.411,12656.499,10,1.8,10,-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,-0.117
$KALMAN_X,-413921.4,-122.0,1585.9,344055.1,-12477.2
$KALMAN_Y,539923.1,202.7,-821.0,-769016.6,66.0
$MHEAD_RNG_PITCHd_Wd,125.3,144737,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-66.05,0.000,2,0.000,0.000,50,2152,2696,0,0,0,0,0,0
$GC,98,-0.58,-146.0,3.0,-2.5,13,134,10.07,2.25,-20.75,0.000,4,0.250,0.066,2398,743,3591,0,0,0,0,0,0
$GC,213,-0.58,-146.0,26.8,-19.1,38,219,0.00,2.25,0.00,0.000,6,0.000,0.054,2387,2143,3592,0,0,0,0,0,0
$GC,411,-0.58,-146.0,76.9,-25.0,58,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2144,3591,0,0,0,0,0,0
$GC,665,-0.58,-146.0,130.1,-18.0,82,669,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,739,3595,0,0,0,0,0,0
$GC,781,-0.58,-146.0,149.0,-16.3,94,785,0.00,2.22,0.00,0.000,6,0.000,0.053,2380,2147,3594,0,0,0,0,0,0
$GC,1042,-0.58,-146.0,193.2,-17.1,118,1046,0.00,2.20,0.00,0.000,4,0.000,0.056,2380,740,3593,0,0,0,0,0,0
$GC,1088,-0.58,-146.0,200.8,-14.8,122,1093,0.12,2.20,0.00,0.000,6,0.163,0.054,2404,2148,3594,0,0,0,0,0,0
$GC,1412,-0.58,-146.0,243.1,-12.3,138,1416,0.00,2.20,0.00,0.000,4,0.000,0.057,2404,741,3594,0,0,0,0,0,0
$GC,1444,-0.58,-146.0,247.0,-11.6,139,1448,0.00,2.22,0.00,0.000,6,0.000,0.054,2398,2144,3597,0,0,0,0,0,0
$GC,1758,-0.58,-146.0,282.0,-11.1,154,1763,0.00,2.28,0.00,0.000,4,0.000,0.067,2387,3558,3593,0,0,0,0,0,0
$GC,1787,-0.58,-146.0,285.3,-11.6,155,1791,0.00,2.17,0.00,0.000,6,0.000,0.043,2387,2148,3591,0,0,0,0,0,0
$GC,2124,-0.58,-146.0,325.8,-11.9,167,2128,0.00,2.17,0.00,0.000,4,0.000,0.052,2387,738,3592,0,0,0,0,0,0
$GC,2261,-0.58,-146.0,341.0,-10.9,170,2265,0.00,2.22,0.00,0.000,6,0.000,0.053,2379,2147,3591,0,0,0,0,0,0
$GC,2583,-0.58,-146.0,378.8,-11.9,178,2587,0.00,2.22,0.00,0.000,4,0.000,0.064,2370,3555,3590,0,0,0,0,0,0
$GC,2614,-0.58,-146.0,382.6,-10.7,178,2619,0.12,2.17,0.00,0.000,6,0.147,0.044,2405,2139,3588,0,0,0,0,0,0
$GC,2945,-0.58,-146.0,412.3,-8.8,186,2949,0.00,2.15,0.00,0.000,4,0.000,0.051,2405,736,3589,0,0,0,0,0,0
$GC,2990,-0.58,-146.0,416.4,-9.1,187,2994,0.00,2.25,0.00,0.000,6,0.000,0.054,2405,2152,3589,0,0,0,0,0,0
$GC,3312,-0.58,-146.0,443.9,-8.7,195,3316,0.00,2.22,0.00,0.000,4,0.000,0.064,2397,3556,3588,0,0,0,0,0,0
$GC,3376,-0.58,-146.0,449.5,-8.7,196,3380,0.00,2.20,0.00,0.000,6,0.000,0.044,2397,2134,3587,0,0,0,0,0,0
$GC,3724,-0.58,-146.0,479.4,-8.3,205,3728,0.00,2.15,0.00,0.000,4,0.000,0.052,2397,737,3587,0,0,0,0,0,0
$GC,3854,-0.58,-146.0,490.6,-8.8,207,3859,0.00,2.25,0.00,0.000,6,0.000,0.056,2395,2142,3585,0,0,0,0,0,0
$GC,4184,-0.58,-146.0,514.8,-7.0,216,4188,0.00,2.28,0.00,0.000,4,0.000,0.066,2385,3565,3583,0,0,0,0,0,0
$GC,4220,-0.58,-146.0,517.4,-6.5,216,4226,0.00,2.15,0.00,0.000,6,0.000,0.040,2385,2130,3583,0,0,1,0,0,0
$GC,4551,-0.58,-146.0,542.4,-7.6,225,4555,0.00,2.15,0.00,0.000,4,0.000,0.052,2385,740,3581,0,0,0,0,0,0
$GC,4612,-0.58,-146.0,547.5,-8.4,226,4616,0.00,2.22,0.00,0.000,6,0.000,0.050,2378,2148,3580,0,0,0,0,0,0
$GC,4960,-0.58,-146.0,579.3,-9.4,235,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2148,3578,0,0,0,0,0,0
$GC,5285,-0.58,-146.0,610.4,-9.7,243,5289,0.00,2.22,0.00,0.000,4,0.000,0.058,2378,746,3574,0,0,0,0,0,0
$GC,5321,-0.58,-146.0,614.0,-10.1,243,5325,0.00,2.25,0.00,0.000,6,0.000,0.058,2377,2148,3574,0,0,0,0,0,0
$GC,5656,-0.58,-146.0,648.2,-10.5,252,5660,0.00,2.28,0.00,0.000,4,0.000,0.067,2368,3561,3572,0,0,0,0,0,0
$GC,5678,-0.58,-146.0,650.9,-11.8,252,5683,0.12,2.20,0.00,0.000,6,0.145,0.042,2404,2142,3570,0,0,0,0,0,0
$GC,6023,-0.58,-146.0,679.1,-7.8,261,6027,0.00,2.17,0.00,0.000,4,0.000,0.053,2404,742,3570,0,0,0,0,0,0
$GC,6060,-0.58,-146.0,681.9,-8.4,261,6064,0.00,2.25,0.00,0.000,6,0.000,0.054,2405,2152,3569,0,0,0,0,0,0
$GC,6394,-0.58,-146.0,700.8,-5.2,270,6398,0.00,2.28,0.00,0.000,4,0.000,0.068,2404,3553,3567,0,0,0,0,0,0
$GC,6426,-0.58,-146.0,702.5,-5.2,270,6430,0.00,2.20,0.00,0.000,6,0.000,0.044,2404,2136,3566,0,0,0,0,0,0
$GC,6762,-0.58,-146.0,716.5,-4.1,279,6766,0.00,2.17,0.00,0.000,4,0.000,0.054,2405,743,3564,0,0,0,0,0,0
$GC,6784,-0.58,-146.0,717.4,-4.7,279,6788,0.00,2.20,0.00,0.000,6,0.000,0.051,2404,2144,3564,0,0,0,0,0,0
$GC,7124,-0.58,-146.0,734.4,-5.5,288,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2141,3561,0,0,0,0,0,0
$GC,7449,-0.58,-146.0,755.5,-6.8,296,7453,0.00,2.25,0.00,0.000,4,0.000,0.056,2404,739,3560,0,0,1,0,0,0
$GC,7471,-0.58,-146.0,757.2,-7.3,296,7475,0.00,2.25,0.00,0.000,6,0.000,0.052,2405,2145,3560,0,0,0,0,0,0
$GC,7811,-0.58,-146.0,779.4,-6.7,305,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2145,3558,0,0,0,0,0,0
$GC,8136,-0.58,-146.0,800.4,-6.6,313,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2145,3556,0,0,0,0,0,0
$GC,8461,-0.58,-146.0,821.1,-6.4,321,8464,0.00,2.35,0.00,0.000,4,0.000,0.072,2405,3553,3555,0,0,0,0,0,0
$GC,8483,-0.58,-146.0,822.4,-6.0,321,8487,0.00,2.20,0.00,0.000,6,0.000,0.048,2404,2155,3555,0,0,0,0,0,0
$GC,8828,-0.58,-146.0,841.6,-5.3,330,8832,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,738,3553,0,0,0,0,0,0
$GC,8864,-0.58,-146.0,843.7,-5.5,330,8868,0.00,2.25,0.00,0.000,6,0.000,0.054,2405,2147,3555,0,0,0,0,0,0
$GC,9199,-0.58,-146.0,862.1,-5.5,339,9203,0.00,2.33,0.00,0.000,4,0.000,0.071,2404,3560,3551,0,0,0,0,0,0
$GC,9231,-0.58,-146.0,863.9,-5.6,339,9235,0.00,2.22,0.00,0.000,6,0.000,0.048,2404,2143,3550,0,0,0,0,0,0
$GC,9566,-0.58,-146.0,890.1,-8.5,348,9570,0.00,2.35,0.00,0.000,4,0.000,0.071,2404,3557,3550,0,0,0,0,0,0
$GC,9833,-0.58,-146.0,917.9,-11.0,353,9838,0.00,2.25,0.00,0.000,6,0.000,0.049,2404,2133,3550,0,0,0,0,0,0
$GC,10163,-0.58,-146.0,950.6,-9.6,362,10167,0.00,2.33,0.00,0.000,4,0.000,0.071,2404,3555,3549,0,0,0,0,0,0
$GC,10430,-0.58,-146.0,977.3,-9.4,367,10435,0.00,2.22,0.00,0.000,6,0.000,0.050,2405,2150,3548,0,0,0,0,0,0
$STATE,10596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10596,begin apogee
$GC,10601,-0.28,0.0,991.3,8.4,372,10723,0.28,0.00,119.22,1.355,6,0.078,0.000,2513,2043,2992,0,0,0,0,0,0
$STATE,10724,end apogee,CONTROL_FINISHED_OK
$STATE,10724,begin climb
$GC,10727,0.58,146.0,999.2,0.0,375,10865,0.73,2.47,130.68,1.318,4,0.066,0.060,2790,641,2394,0,0,1,0,0,0
$GC,10981,0.58,146.0,987.4,12.0,381,10986,0.00,2.35,0.00,0.000,6,0.000,0.053,2790,2043,2384,0,0,0,0,0,0
$GC,11308,0.58,146.0,949.2,11.5,389,11312,0.00,2.35,0.00,0.000,4,0.000,0.068,2795,3464,2380,0,0,0,0,0,0
$GC,11372,0.58,146.0,941.0,12.2,390,11376,0.00,2.28,0.00,0.000,6,0.000,0.051,2800,2052,2382,0,0,0,0,0,0
$GC,11720,0.58,146.0,900.2,11.6,399,11725,0.00,2.33,0.00,0.000,4,0.000,0.067,2800,3451,2378,0,0,0,0,0,0
$GC,11785,0.58,146.0,891.7,11.8,400,11790,0.15,2.25,0.00,0.000,6,0.223,0.049,2778,2045,2378,0,0,0,0,0,0
$GC,12129,0.58,146.0,856.9,9.8,409,12133,0.00,2.35,0.00,0.000,4,0.000,0.070,2776,3463,2376,0,0,0,0,0,0
$GC,12184,0.58,146.0,851.1,10.9,410,12188,0.00,2.25,0.00,0.000,6,0.000,0.051,2785,2045,2376,0,0,0,0,0,0
$GC,12501,0.58,146.0,819.4,9.8,418,12505,0.00,2.33,0.00,0.000,4,0.000,0.070,2785,3458,2375,0,0,0,0,0,0
$GC,12543,0.58,146.0,814.7,11.8,419,12547,0.00,2.25,0.00,0.000,6,0.000,0.051,2795,2040,2375,0,0,0,0,0,0
$GC,12870,0.58,146.0,779.9,10.6,427,12874,0.00,2.33,0.00,0.000,4,0.000,0.071,2795,3456,2374,0,0,0,0,0,0
$GC,12906,0.58,146.0,775.8,11.6,427,12912,0.12,2.25,0.00,0.000,6,0.223,0.050,2780,2043,2374,0,0,0,0,0,0
$GC,13236,0.58,146.0,749.0,7.7,436,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2037,2373,0,0,0,0,0,0
$GC,13561,0.58,146.0,723.8,7.8,444,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2037,2373,0,0,0,0,0,0
$GC,13886,0.58,146.0,700.8,7.0,452,13890,0.00,2.35,0.00,0.000,4,0.000,0.070,2776,3460,2373,0,0,0,0,0,0
$GC,14038,0.58,146.0,686.9,8.9,455,14042,0.00,2.25,0.00,0.000,6,0.000,0.051,2788,2042,2371,0,0,0,0,0,0
$GC,14351,0.58,146.0,658.2,9.4,463,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2035,2372,0,0,0,0,0,0
$GC,14676,0.58,146.0,627.3,9.5,471,14680,0.00,2.28,0.00,0.000,4,0.000,0.062,2799,625,2372,0,0,0,0,0,0
$GC,14764,0.58,146.0,619.0,9.0,473,14768,0.00,2.30,0.00,0.000,6,0.000,0.055,2799,2050,2371,0,0,0,0,0,0
$GC,15090,0.58,146.0,592.0,8.0,481,15095,0.00,2.30,0.00,0.000,4,0.000,0.071,2798,3453,2370,0,0,0,0,0,0
$GC,15261,0.58,146.0,577.4,9.1,484,15265,0.12,2.25,0.00,0.000,6,0.214,0.050,2782,2042,2371,0,0,0,0,0,0
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$STATE,22620,end climb,SURFACE_DEPTH_REACHED
$STATE,22620,begin surface coast
$FINISH,1.7,1.022984
$STATE,22629,end surface coast,CONTROL_FINISHED_OK
$STATE,22629,begin surface
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$AR_CDRIVE_FREE,8436875264
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$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,46.455
$10V_AH,10.0,29.757
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.500,211.500,357.875,116.950,0.000,40.479,37.465,200.043,0.000,0.000,12.404,1883.691,17497.883,601.815,2925.742,257.094,33.359,2020.795,0.000,2578.263,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.490,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,33359,903
$CAP_FILE_SIZE,198836,0
$CFSIZE,260165632,239919104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301210,043606,1830.925,12657.754,42,0.9,47,-2.2