version: 66.07
glider: 511
mission: 5
dive: 225
start: 1 1 111 6 25 11
data:
$ID,511
$MISSION,5
$DIVE,225
$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,-46220.781
$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,2650
$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,33
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$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,224
$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
$GPS1,010111,060450,1822.560,12701.169,43,2.3,62,-2.1
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.4
$GPS2,010111,062415,1822.613,12701.052,11,2.0,30,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,-0.208
$KALMAN_X,-467086.2,-649.9,13057.4,394211.8,8084.5
$KALMAN_Y,545165.8,403.3,43.8,-793479.8,862.6
$MHEAD_RNG_PITCHd_Wd,167.2,128106,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-70.88,0.000,2,0.000,0.000,34,2146,2754,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.5,-2.8,14,134,10.57,2.33,-15.18,0.000,4,0.254,0.078,2445,3565,3487,0,0,0,0,0,0
$GC,306,-0.58,-146.0,38.0,-11.8,51,310,0.00,2.20,0.00,0.000,6,0.000,0.044,2445,2143,3491,0,0,0,0,0,0
$GC,566,-0.58,-146.0,85.4,-19.7,75,570,0.00,2.20,0.00,0.000,4,0.000,0.056,2445,737,3489,0,0,0,0,0,0
$GC,599,-0.58,-146.0,91.6,-17.7,78,603,0.00,2.22,0.00,0.000,6,0.000,0.052,2435,2154,3490,0,0,0,0,0,0
$GC,860,-0.58,-146.0,136.0,-12.5,102,864,0.00,2.22,0.00,0.000,4,0.000,0.055,2435,731,3490,0,0,0,0,0,0
$GC,929,-0.58,-146.0,145.0,-12.4,109,934,0.10,2.22,0.00,0.000,6,0.170,0.051,2461,2156,3488,0,0,0,0,0,0
$GC,1189,-0.58,-146.0,167.6,-7.6,133,1193,0.00,2.25,0.00,0.000,4,0.000,0.067,2460,3558,3492,0,0,0,0,0,0
$GC,1213,-0.58,-146.0,169.5,-7.4,135,1217,0.00,2.15,0.00,0.000,6,0.000,0.041,2460,2142,3490,0,0,0,0,0,0
$GC,1474,-0.58,-146.0,187.8,-6.6,159,1478,0.00,2.20,0.00,0.000,4,0.000,0.054,2461,732,3492,0,0,0,0,0,0
$GC,1516,-0.58,-146.0,190.7,-6.7,163,1520,0.00,2.20,0.00,0.000,6,0.000,0.051,2460,2148,3492,0,0,0,0,0,0
$GC,1773,-0.58,-146.0,210.2,-7.9,181,1777,0.00,2.25,0.00,0.000,4,0.000,0.068,2460,3556,3491,0,0,0,0,0,0
$GC,1795,-0.58,-146.0,212.1,-7.9,182,1799,0.00,2.15,0.00,0.000,6,0.000,0.041,2456,2144,3491,0,0,0,0,0,0
$GC,2119,-0.58,-146.0,235.2,-6.9,198,2123,0.00,2.20,0.00,0.000,4,0.000,0.054,2460,727,3490,0,0,0,0,0,0
$GC,2155,-0.58,-146.0,237.9,-7.0,199,2161,0.00,2.22,0.00,0.000,6,0.000,0.051,2460,2146,3490,0,0,0,0,0,0
$GC,2471,-0.58,-146.0,257.9,-6.2,215,2475,0.00,2.25,0.00,0.000,4,0.000,0.068,2460,3555,3489,0,0,0,0,0,0
$GC,2508,-0.58,-146.0,260.1,-5.5,216,2514,0.00,2.17,0.00,0.000,6,0.000,0.042,2460,2140,3486,0,0,0,0,0,0
$GC,2823,-0.58,-146.0,279.2,-5.8,232,2827,0.00,2.17,0.00,0.000,4,0.000,0.053,2460,734,3488,0,0,0,0,0,0
$GC,2873,-0.58,-146.0,282.1,-5.3,234,2877,0.00,2.20,0.00,0.000,6,0.000,0.051,2460,2149,3488,0,0,0,0,0,0
$GC,3197,-0.58,-146.0,300.6,-6.1,250,3201,0.00,2.25,0.00,0.000,4,0.000,0.064,2460,3552,3483,0,0,0,0,0,0
$GC,3233,-0.58,-146.0,302.9,-6.0,250,3239,0.00,2.17,0.00,0.000,6,0.000,0.041,2460,2136,3486,0,0,0,0,0,0
$GC,3564,-0.58,-146.0,323.5,-6.6,259,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2135,3485,0,0,0,0,0,0
$GC,3889,-0.58,-146.0,346.0,-6.6,267,3893,0.00,2.17,0.00,0.000,4,0.000,0.051,2460,731,3483,0,0,0,0,0,0
$GC,3915,-0.58,-146.0,348.0,-7.4,267,3920,0.00,2.20,0.00,0.000,6,0.000,0.050,2460,2148,3483,0,0,0,0,0,0
$GC,4251,-0.58,-146.0,364.7,-4.3,276,4255,0.00,2.25,0.00,0.000,4,0.000,0.064,2460,3558,3482,0,0,0,0,0,0
$GC,4293,-0.58,-146.0,366.6,-4.8,277,4297,0.00,2.17,0.00,0.000,6,0.000,0.042,2460,2146,3482,0,0,0,0,0,0
$GC,4620,-0.58,-146.0,389.6,-8.3,285,4624,0.00,2.28,0.00,0.000,4,0.000,0.067,2462,3559,3479,0,0,0,0,0,0
$GC,4637,-0.58,-146.0,391.4,-9.1,285,4641,0.00,2.17,0.00,0.000,6,0.000,0.042,2460,2129,3480,0,0,0,0,0,0
$GC,4982,-0.58,-146.0,422.9,-8.9,294,4986,0.00,2.33,0.00,0.000,4,0.000,0.067,2460,3564,3481,0,0,0,0,0,0
$GC,4999,-0.58,-146.0,424.4,-7.8,294,5003,0.00,2.20,0.00,0.000,6,0.000,0.045,2460,2147,3478,0,0,0,0,0,0
$GC,5348,-0.58,-146.0,449.7,-7.2,303,5353,0.00,2.33,-0.10,0.000,4,0.000,0.084,2460,3565,3500,0,0,1,0,0,0
$GC,5615,-0.58,-146.0,474.3,-9.4,308,5621,0.00,2.20,0.00,0.000,6,0.000,0.045,2460,2145,3498,0,0,0,0,0,0
$GC,5946,-0.58,-146.0,502.6,-8.4,317,5950,0.00,2.30,0.00,0.000,4,0.000,0.069,2460,3554,3496,0,0,0,0,0,0
$GC,6081,-0.58,-146.0,513.2,-7.6,320,6085,0.00,2.17,0.00,0.000,6,0.000,0.046,2460,2148,3495,0,0,0,0,0,0
$GC,6408,-0.58,-146.0,538.1,-7.7,328,6412,0.00,2.20,0.00,0.000,4,0.000,0.052,2460,728,3492,0,0,0,0,0,0
$GC,6490,-0.58,-146.0,545.0,-8.2,329,6494,0.00,2.22,0.00,0.000,6,0.000,0.050,2457,2155,3490,0,0,0,0,0,0
$GC,6820,-0.58,-146.0,573.6,-8.8,337,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2155,3491,0,0,0,0,0,0
$GC,7146,-0.58,-146.0,598.8,-7.4,345,7150,0.00,2.28,0.00,0.000,4,0.000,0.055,2460,720,3489,0,0,0,0,0,0
$GC,7210,-0.58,-146.0,603.7,-8.2,346,7214,0.00,2.22,0.00,0.000,6,0.000,0.052,2460,2139,3489,0,0,0,0,0,0
$GC,7554,-0.58,-146.0,630.6,-8.4,355,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2139,3486,0,0,0,0,0,0
$GC,7879,-0.58,-146.0,660.6,-9.4,363,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2139,3484,0,0,0,0,0,0
$GC,8204,-0.58,-146.0,689.6,-8.6,371,8208,0.00,2.30,0.00,0.000,4,0.000,0.067,2460,3560,3484,0,0,0,0,0,0
$GC,8300,-0.58,-146.0,698.4,-8.4,373,8304,0.00,2.20,0.00,0.000,6,0.000,0.044,2460,2126,3481,0,0,0,0,0,0
$GC,8617,-0.58,-146.0,723.3,-7.3,381,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2124,3481,0,0,0,0,0,0
$GC,8942,-0.58,-146.0,749.2,-8.3,389,8946,0.00,2.20,0.00,0.000,4,0.000,0.056,2460,738,3479,0,0,0,0,0,0
$GC,8978,-0.58,-146.0,752.4,-8.9,389,8984,0.00,2.22,0.00,0.000,6,0.000,0.050,2460,2157,3477,0,0,0,0,0,0
$GC,9309,-0.58,-146.0,784.0,-10.1,398,9313,0.00,2.25,0.00,0.000,4,0.000,0.067,2460,3558,3477,0,0,0,0,0,0
$GC,9354,-0.58,-146.0,789.0,-10.5,399,9358,0.00,2.17,0.00,0.000,6,0.000,0.044,2460,2143,3477,0,0,0,0,0,0
$GC,9676,-0.58,-146.0,822.8,-10.4,407,9680,0.00,2.22,0.00,0.000,4,0.000,0.055,2460,736,3476,0,0,0,0,0,0
$GC,9740,-0.58,-146.0,829.0,-10.2,408,9744,0.00,2.20,0.00,0.000,6,0.000,0.049,2460,2146,3476,0,0,0,0,0,0
$GC,10084,-0.58,-146.0,856.3,-7.4,417,10088,0.00,2.28,0.00,0.000,4,0.000,0.068,2460,3555,3474,0,0,0,0,0,0
$GC,10115,-0.58,-146.0,858.4,-7.2,417,10119,0.00,2.17,0.00,0.000,6,0.000,0.046,2460,2145,3471,0,0,0,0,0,0
$GC,10446,-0.58,-146.0,877.6,-5.9,425,10450,0.00,2.30,0.00,0.000,4,0.000,0.067,2460,3561,3472,0,0,0,0,0,0
$GC,10497,-0.58,-146.0,880.7,-5.9,426,10501,0.00,2.20,0.00,0.000,6,0.000,0.045,2460,2138,3472,0,0,0,0,0,0
$GC,10814,-0.58,-146.0,899.9,-6.4,434,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2135,3471,0,0,0,0,0,0
$GC,11139,-0.58,-146.0,925.2,-8.1,442,11143,0.00,2.20,0.00,0.000,4,0.000,0.057,2460,740,3469,0,0,0,0,0,0
$GC,11162,-0.58,-146.0,927.3,-8.9,442,11166,0.00,2.22,0.00,0.000,6,0.000,0.051,2460,2149,3467,0,0,0,0,0,0
$GC,11501,-0.58,-146.0,957.6,-9.1,451,11505,0.00,2.33,0.00,0.000,4,0.000,0.069,2460,3564,3467,0,0,0,0,0,0
$GC,11570,-0.58,-146.0,963.6,-8.7,452,11574,0.00,2.20,0.00,0.000,6,0.000,0.047,2460,2145,3466,0,0,0,0,0,0
$STATE,11908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11908,begin apogee
$GC,11913,-0.28,0.0,992.0,8.4,461,12040,0.28,0.00,124.28,1.351,6,0.075,0.000,2572,2033,2890,0,0,0,0,0,0
$STATE,12048,end apogee,CONTROL_FINISHED_OK
$STATE,12049,begin climb
$GC,12051,0.58,146.0,998.1,0.0,464,12189,0.70,2.42,128.73,1.315,4,0.051,0.057,2851,657,2291,0,0,0,0,0,0
$GC,12452,0.58,146.0,948.0,16.4,473,12456,0.00,2.25,0.00,0.000,6,0.000,0.053,2851,2055,2279,0,0,0,0,0,0
$GC,12774,0.58,146.0,896.4,15.7,481,12779,0.00,2.28,0.00,0.000,4,0.000,0.068,2851,3452,2277,0,0,0,0,0,0
$GC,12820,0.58,146.0,888.6,16.4,482,12824,0.00,2.20,0.00,0.000,6,0.000,0.048,2861,2056,2277,0,0,1,0,0,0
$GC,13142,0.58,146.0,836.8,15.8,490,13146,0.00,2.30,0.00,0.000,4,0.000,0.067,2861,3459,2276,0,0,0,0,0,0
$GC,13164,0.58,146.0,832.8,17.8,490,13169,0.15,2.20,0.00,0.000,6,0.231,0.049,2839,2045,2275,0,0,1,0,0,0
$GC,13509,0.58,146.0,781.9,14.8,499,13513,0.00,2.25,0.00,0.000,4,0.000,0.060,2849,633,2276,0,0,0,0,0,0
$GC,13556,0.58,146.0,775.1,16.2,500,13560,0.00,2.25,0.00,0.000,6,0.000,0.054,2849,2049,2274,0,0,0,0,0,0
$GC,13882,0.58,146.0,728.1,14.1,508,13886,0.00,2.28,0.00,0.000,4,0.000,0.069,2849,3451,2273,0,0,0,0,0,0
$GC,13993,0.58,146.0,710.5,15.5,510,13997,0.00,2.20,0.00,0.000,6,0.000,0.050,2859,2040,2273,0,0,0,0,0,0
$GC,14337,0.58,146.0,663.4,13.2,519,14341,0.00,2.35,0.00,0.000,4,0.000,0.068,2855,3464,2273,0,0,0,0,0,0
$GC,14429,0.58,146.0,649.5,15.0,521,14434,0.15,2.22,0.00,0.000,6,0.239,0.050,2838,2052,2271,0,0,0,0,0,0
$GC,14752,0.58,146.0,606.4,13.5,529,14756,0.00,2.30,0.00,0.000,4,0.000,0.067,2827,3458,2272,0,0,0,0,0,0
$GC,14783,0.58,146.0,601.6,15.9,529,14788,0.00,2.20,0.00,0.000,6,0.000,0.050,2836,2039,2272,0,0,1,0,0,0
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$STATE,21122,end climb,SURFACE_DEPTH_REACHED
$STATE,21122,begin surface coast
$FINISH,0.7,1.022857
$STATE,21153,end surface coast,CONTROL_FINISHED_OK
$STATE,21153,begin surface
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$TCM_TEMP,25.50
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8405680128
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54333931520
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,47.889
$10V_AH,10.0,31.012
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.800,206.025,325.625,140.925,0.000,91.737,112.347,631.120,0.000,0.000,34.421,1829.160,16428.510,604.356,3316.803,303.744,33.360,1919.903,0.000,2371.004,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.258,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,33365,905
$CAP_FILE_SIZE,202958,0
$CFSIZE,260165632,239177728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,010111,122207,1820.407,12700.797,46,1.1,46,-2.1