version: 66.07
glider: 511
mission: 5
dive: 231
start: 1 2 111 19 50 3
data:
$ID,511
$MISSION,5
$DIVE,231
$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,-46346.527
$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,27
$R_STBD_OVSHOOT,18
$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,230
$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
$GPS1,020111,193254,1816.514,12702.557,54,1.2,54,-2.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.0
$GPS2,020111,194908,1816.566,12702.362,9,1.9,9,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.075
$KALMAN_X,-481698.9,-937.3,3714.2,420700.5,-18530.4
$KALMAN_Y,540862.9,666.0,2417.0,-803019.2,-7654.3
$MHEAD_RNG_PITCHd_Wd,112.6,120691,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-65.97,0.000,2,0.000,0.000,45,2149,2629,0,0,0,0,0,0
$GC,98,-0.58,-146.0,3.0,-2.4,13,134,10.38,2.25,-19.95,0.000,4,0.249,0.067,2457,726,3487,0,0,0,0,0,0
$GC,277,-0.58,-146.0,33.5,-15.4,50,283,0.00,2.25,0.00,0.000,6,0.000,0.053,2450,2148,3489,0,0,0,0,0,0
$GC,537,-0.58,-146.0,77.7,-17.7,75,541,0.00,2.20,0.00,0.000,4,0.000,0.054,2449,738,3488,0,0,0,0,0,0
$GC,573,-0.58,-146.0,83.4,-15.2,78,579,0.00,2.25,0.00,0.000,6,0.000,0.054,2444,2151,3488,0,0,0,0,0,0
$GC,834,-0.58,-146.0,119.6,-12.5,103,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2156,3488,0,0,0,0,0,0
$GC,1088,-0.58,-146.0,147.3,-9.7,127,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2151,3489,0,0,0,0,0,0
$GC,1344,-0.58,-146.0,174.7,-11.3,151,1348,0.00,2.22,0.00,0.000,4,0.000,0.053,2444,732,3487,0,0,0,0,0,0
$GC,1407,-0.58,-146.0,181.1,-8.5,157,1413,0.00,2.22,0.00,0.000,6,0.000,0.051,2444,2143,3490,0,0,0,0,0,0
$GC,1677,-0.58,-146.0,205.7,-9.2,180,1681,0.00,2.28,0.00,0.000,4,0.000,0.068,2435,3567,3489,0,0,0,0,0,0
$GC,1713,-0.58,-146.0,209.1,-9.4,181,1718,0.00,2.17,0.00,0.000,6,0.000,0.041,2435,2133,3489,0,0,0,0,0,0
$GC,2027,-0.58,-146.0,237.7,-8.8,197,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2133,3490,0,0,0,0,0,0
$GC,2337,-0.58,-146.0,264.1,-8.3,212,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2132,3488,0,0,0,0,0,0
$GC,2646,-0.58,-146.0,289.2,-7.8,227,2650,0.00,2.20,0.00,0.000,4,0.000,0.058,2441,735,3487,0,0,0,0,0,0
$GC,2724,-0.58,-146.0,295.9,-8.1,230,2729,0.10,2.22,0.00,0.000,6,0.162,0.051,2461,2148,3486,0,0,0,0,0,0
$GC,3035,-0.58,-146.0,315.5,-6.1,239,3039,0.00,2.20,0.00,0.000,4,0.000,0.056,2462,741,3485,0,0,0,0,0,0
$GC,3057,-0.58,-146.0,317.1,-6.8,239,3061,0.00,2.22,0.00,0.000,6,0.000,0.053,2462,2148,3485,0,0,0,0,0,0
$GC,3397,-0.58,-146.0,338.0,-6.4,248,3401,0.00,2.25,0.00,0.000,4,0.000,0.068,2461,3555,3483,0,0,0,0,0,0
$GC,3456,-0.58,-146.0,342.5,-7.5,249,3460,0.00,2.15,0.00,0.000,6,0.000,0.043,2461,2146,3483,0,0,0,0,0,0
$GC,3804,-0.58,-146.0,372.1,-8.4,258,3808,0.00,2.17,0.00,0.000,4,0.000,0.052,2461,736,3482,0,0,0,0,0,0
$GC,3898,-0.58,-146.0,380.4,-9.8,260,3902,0.00,2.22,0.00,0.000,6,0.000,0.051,2461,2148,3480,0,0,0,0,0,0
$GC,4224,-0.58,-146.0,408.2,-8.6,268,4228,0.00,2.25,0.00,0.000,4,0.000,0.064,2461,3554,3479,0,0,0,0,0,0
$GC,4293,-0.58,-146.0,414.0,-8.4,269,4297,0.00,2.17,0.00,0.000,6,0.000,0.044,2461,2146,3478,0,0,0,0,0,0
$GC,4632,-0.58,-146.0,439.6,-7.5,278,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2144,3477,0,0,0,0,0,0
$GC,4957,-0.58,-146.0,466.7,-8.6,286,4961,0.00,2.33,-0.10,0.000,4,0.000,0.082,2461,3558,3497,0,0,1,0,0,0
$GC,5045,-0.58,-146.0,474.6,-8.2,287,5050,0.00,2.17,0.00,0.000,6,0.000,0.045,2461,2147,3498,0,0,0,0,0,0
$GC,5375,-0.58,-146.0,498.8,-6.7,296,5379,0.00,2.30,0.00,0.000,4,0.000,0.071,2461,3552,3496,0,0,0,0,0,0
$GC,5468,-0.58,-146.0,505.0,-6.4,298,5472,0.00,2.17,0.00,0.000,6,0.000,0.045,2461,2142,3495,0,0,0,0,0,0
$GC,5795,-0.58,-146.0,530.7,-8.5,306,5799,0.00,2.17,0.00,0.000,4,0.000,0.054,2461,736,3494,0,0,0,0,0,0
$GC,5849,-0.58,-146.0,536.1,-9.6,307,5853,0.00,2.22,0.00,0.000,6,0.000,0.052,2461,2144,3493,0,0,0,0,0,0
$GC,6166,-0.58,-146.0,563.4,-8.4,315,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2144,3491,0,0,0,0,0,0
$GC,6492,-0.58,-146.0,590.5,-8.6,323,6496,0.00,2.25,0.00,0.000,4,0.000,0.059,2461,735,3489,0,0,1,0,0,0
$GC,6534,-0.58,-146.0,594.3,-8.6,324,6538,0.00,2.22,0.00,0.000,6,0.000,0.048,2461,2149,3490,0,0,0,0,0,0
$GC,6860,-0.58,-146.0,623.7,-9.1,332,6864,0.00,2.28,0.00,0.000,4,0.000,0.067,2459,3551,3486,0,0,0,0,0,0
$GC,6915,-0.58,-146.0,628.7,-9.1,333,6919,0.00,2.20,0.00,0.000,6,0.000,0.047,2461,2136,3486,0,0,0,0,0,0
$GC,7228,-0.58,-146.0,655.1,-8.3,341,7232,0.00,2.20,0.00,0.000,4,0.000,0.054,2461,735,3483,0,0,0,0,0,0
$GC,7259,-0.58,-146.0,658.0,-9.5,341,7263,0.00,2.22,0.00,0.000,6,0.000,0.055,2461,2143,3484,0,0,1,0,0,0
$GC,7590,-0.58,-146.0,685.2,-8.5,349,7594,0.00,2.30,0.00,0.000,4,0.000,0.068,2461,3558,3482,0,0,0,0,0,0
$GC,7635,-0.58,-146.0,689.5,-9.0,350,7639,0.00,2.17,0.00,0.000,6,0.000,0.044,2464,2141,3481,0,0,0,0,0,0
$GC,7957,-0.58,-146.0,716.6,-8.5,358,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2137,3479,0,0,0,0,0,0
$GC,8282,-0.58,-146.0,745.3,-8.9,366,8286,0.00,2.17,0.00,0.000,4,0.000,0.054,2461,744,3478,0,0,0,0,0,0
$GC,8332,-0.58,-146.0,750.1,-10.1,367,8336,0.00,2.20,0.00,0.000,6,0.000,0.051,2461,2144,3478,0,0,1,0,0,0
$GC,8649,-0.58,-146.0,777.6,-8.7,375,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2144,3476,0,0,0,0,0,0
$GC,8974,-0.58,-146.0,803.1,-7.7,383,8978,0.00,2.30,0.00,0.000,4,0.000,0.069,2461,3553,3471,0,0,0,0,0,0
$GC,9039,-0.58,-146.0,808.3,-7.2,384,9043,0.00,2.17,0.00,0.000,6,0.000,0.044,2461,2139,3474,0,0,0,0,0,0
$GC,9382,-0.58,-146.0,834.6,-7.7,393,9386,0.00,2.17,0.00,0.000,4,0.000,0.054,2461,748,3471,0,0,0,0,0,0
$GC,9451,-0.58,-146.0,840.1,-7.8,394,9455,0.00,2.22,0.00,0.000,6,0.000,0.051,2461,2154,3472,0,0,0,0,0,0
$GC,9795,-0.58,-146.0,868.2,-8.3,403,9799,0.00,2.22,0.00,0.000,4,0.000,0.054,2460,742,3470,0,0,0,0,0,0
$GC,9855,-0.58,-146.0,873.3,-8.9,404,9859,0.00,2.25,0.00,0.000,6,0.000,0.051,2458,2149,3469,0,0,0,0,0,0
$GC,10203,-0.58,-146.0,901.3,-8.2,413,10207,0.00,2.30,0.00,0.000,4,0.000,0.069,2461,3563,3467,0,0,0,0,0,0
$GC,10258,-0.58,-146.0,906.0,-8.3,414,10262,0.00,2.20,0.00,0.000,6,0.000,0.045,2461,2138,3467,0,0,0,0,0,0
$GC,10575,-0.58,-146.0,932.9,-8.8,422,10580,0.00,2.35,0.00,0.000,4,0.000,0.070,2461,3561,3467,0,0,0,0,0,0
$GC,10612,-0.58,-146.0,936.4,-9.5,422,10617,0.00,2.22,0.00,0.000,6,0.000,0.045,2461,2133,3466,0,0,0,0,0,0
$GC,10942,-0.58,-146.0,966.4,-9.4,431,10946,0.00,2.17,0.00,0.000,4,0.000,0.057,2461,750,3466,0,0,0,0,0,0
$GC,10997,-0.58,-146.0,971.8,-9.0,432,11001,0.00,2.22,0.00,0.000,6,0.000,0.051,2461,2151,3465,0,0,0,0,0,0
$STATE,11231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11231,begin apogee
$GC,11236,-0.28,0.0,993.9,9.4,438,11363,0.28,0.00,123.85,1.356,6,0.071,0.000,2581,2042,2893,0,0,0,0,0,0
$STATE,11385,end apogee,CONTROL_FINISHED_OK
$STATE,11385,begin climb
$GC,11388,0.58,146.0,1002.1,0.0,441,11526,0.68,2.53,129.40,1.322,4,0.051,0.066,2842,3450,2296,0,0,0,0,0,0
$GC,11789,0.58,146.0,954.3,16.6,450,11793,0.00,2.22,0.00,0.000,6,0.000,0.051,2853,2052,2285,0,0,1,0,0,0
$GC,12111,0.58,146.0,901.7,16.2,458,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2046,2282,0,0,0,0,0,0
$GC,12436,0.58,146.0,848.1,16.4,466,12440,0.00,2.33,0.00,0.000,4,0.000,0.070,2853,3455,2279,0,0,0,0,0,0
$GC,12478,0.58,146.0,840.9,16.9,467,12483,0.12,2.22,0.00,0.000,6,0.232,0.048,2837,2047,2279,0,0,0,0,0,0
$GC,12806,0.58,146.0,791.8,14.5,475,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2042,2277,0,0,0,0,0,0
$GC,13130,0.58,146.0,744.1,14.3,483,13134,0.00,2.33,0.00,0.000,4,0.000,0.069,2837,3454,2280,0,0,0,0,0,0
$GC,13222,0.58,146.0,730.4,15.5,485,13226,0.00,2.25,0.00,0.000,6,0.000,0.048,2847,2029,2277,0,0,0,0,0,0
$GC,13544,0.58,146.0,686.3,13.6,493,13548,0.00,2.20,0.00,0.000,4,0.000,0.058,2856,639,2276,0,0,0,0,0,0
$GC,13562,0.58,146.0,683.8,12.8,493,13566,0.00,2.22,0.00,0.000,6,0.000,0.054,2856,2045,2275,0,0,0,0,0,0
$GC,13910,0.58,146.0,639.3,12.5,502,13914,0.00,2.28,0.00,0.000,4,0.000,0.068,2856,3459,2273,0,0,0,0,0,0
$GC,14026,0.58,146.0,622.6,13.8,504,14031,0.12,2.22,0.00,0.000,6,0.232,0.049,2841,2047,2273,0,0,0,0,0,0
$GC,14366,0.58,146.0,580.7,12.6,513,14371,0.00,2.33,0.00,0.000,4,0.000,0.070,2840,3461,2274,0,0,0,0,0,0
$GC,14463,0.58,146.0,566.1,14.9,515,14467,0.00,2.25,0.00,0.000,6,0.000,0.049,2849,2042,2274,0,0,0,0,0,0
$GC,14780,0.58,146.0,522.7,13.2,523,14784,0.00,2.25,0.00,0.000,4,0.000,0.058,2860,637,2272,0,0,0,0,0,0
$GC,14854,0.58,146.0,513.4,11.9,524,14858,0.00,2.25,0.00,0.000,6,0.000,0.054,2860,2051,2274,0,0,0,0,0,0
$GC,15193,0.58,146.0,472.5,11.5,533,15197,0.00,2.30,0.00,0.000,4,0.000,0.069,2856,3460,2272,0,0,0,0,0,0
$GC,15276,0.58,146.0,463.0,12.3,534,15282,0.15,2.25,0.00,0.000,6,0.220,0.048,2837,2036,2272,0,0,0,0,0,0
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$STATE,21187,end climb,SURFACE_DEPTH_REACHED
$STATE,21188,begin surface coast
$FINISH,1.0,1.022564
$STATE,21225,end surface coast,CONTROL_FINISHED_OK
$STATE,21225,begin surface
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$SM_GC,1.70,0.00,0.00,156.43,0.000,0.000,0.555,51,2148,850,-8.12,0.11,500.16
$IRIDIUM_FIX,1810.04,12704.91,270612,131319
$TT8_MAMPS,0.057525
$HUMID,1078669023
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.80
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8385200128
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54059139072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,48.905
$10V_AH,10.0,32.041
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.650,192.625,306.225,156.425,0.000,81.751,105.688,470.181,0.250,0.000,11.628,1903.316,16255.027,603.880,3321.301,291.658,33.368,1975.433,0.000,2548.395,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,82.836,1356.056,554.541,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.753,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,33373,949
$CAP_FILE_SIZE,197346,0
$CFSIZE,260165632,238592000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,030111,014854,1815.670,12703.442,61,1.7,78,-2.1