version: 66.07
glider: 511
mission: 5
dive: 234
start: 1 3 111 14 55 17
data:
$ID,511
$MISSION,5
$DIVE,234
$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,-46447.531
$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,34
$R_STBD_OVSHOOT,19
$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,233
$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
$GPS1,030111,143857,1811.336,12704.919,126,4.4,145,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.2
$GPS2,030111,145422,1811.191,12704.698,13,7.1,32,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,-0.214
$KALMAN_X,-496804.9,-625.5,6068.2,437196.8,-43428.1
$KALMAN_Y,546995.8,359.5,-4907.9,-811470.7,25690.2
$MHEAD_RNG_PITCHd_Wd,177.2,112756,-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,24,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.38,0.000,2,0.000,0.000,52,2147,2735,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.1,-2.2,14,134,10.55,2.30,-16.62,0.000,4,0.254,0.071,2453,745,3487,0,0,0,0,0,0
$GC,335,-0.58,-146.0,45.1,-15.7,54,339,0.00,2.22,0.00,0.000,6,0.000,0.054,2445,2152,3490,0,0,0,0,0,0
$GC,596,-0.58,-146.0,90.1,-17.0,78,600,0.00,2.22,0.00,0.000,4,0.000,0.054,2449,743,3490,0,0,0,0,0,0
$GC,622,-0.58,-146.0,94.4,-14.8,80,628,0.00,2.22,0.00,0.000,6,0.000,0.054,2445,2145,3490,0,0,0,0,0,0
$GC,883,-0.58,-146.0,132.2,-13.4,105,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2148,3490,0,0,0,0,0,0
$GC,1138,-0.58,-146.0,161.0,-10.5,129,1142,0.00,2.25,0.00,0.000,4,0.000,0.068,2444,3560,3490,0,0,0,0,0,0
$GC,1180,-0.58,-146.0,165.3,-9.9,133,1184,0.00,2.15,0.00,0.000,6,0.000,0.041,2444,2149,3491,0,0,0,0,0,0
$GC,1441,-0.58,-146.0,190.6,-9.1,157,1445,0.00,2.22,0.00,0.000,4,0.000,0.058,2444,731,3491,0,0,0,0,0,0
$GC,1492,-0.58,-146.0,195.5,-9.3,162,1496,0.00,2.20,0.00,0.000,6,0.000,0.050,2444,2149,3491,0,0,0,0,0,0
$GC,1757,-0.58,-146.0,220.5,-9.5,177,1761,0.00,2.20,0.00,0.000,4,0.000,0.055,2440,740,3491,0,0,0,0,0,0
$GC,1781,-0.58,-146.0,222.7,-9.8,178,1785,0.00,2.20,0.00,0.000,6,0.000,0.052,2444,2148,3491,0,0,0,0,0,0
$GC,2105,-0.58,-146.0,249.8,-8.4,194,2109,0.00,2.22,0.00,0.000,4,0.000,0.058,2444,735,3490,0,0,0,0,0,0
$GC,2127,-0.58,-146.0,251.8,-8.7,195,2131,0.00,2.20,0.00,0.000,6,0.000,0.052,2444,2151,3488,0,0,0,0,0,0
$GC,2451,-0.58,-146.0,278.1,-8.7,211,2455,0.00,2.28,0.00,0.000,4,0.000,0.068,2440,3561,3491,0,0,0,0,0,0
$GC,2497,-0.58,-146.0,282.2,-8.2,213,2501,0.00,2.17,0.00,0.000,6,0.000,0.041,2444,2136,3489,0,0,0,0,0,0
$GC,2839,-0.58,-146.0,310.0,-7.1,227,2843,0.00,2.17,0.00,0.000,4,0.000,0.051,2444,729,3487,0,0,0,0,0,0
$GC,2881,-0.58,-146.0,312.6,-6.3,228,2885,0.00,2.20,0.00,0.000,6,0.000,0.051,2443,2146,3487,0,0,0,0,0,0
$GC,3208,-0.58,-146.0,329.7,-5.6,236,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2146,3489,0,0,0,0,0,0
$GC,3533,-0.58,-146.0,354.8,-7.8,244,3537,0.00,2.25,0.00,0.000,4,0.000,0.065,2444,3559,3483,0,0,0,0,0,0
$GC,3560,-0.58,-146.0,356.6,-6.2,244,3564,0.00,2.17,0.00,0.000,6,0.000,0.043,2444,2139,3483,0,0,0,0,0,0
$GC,3894,-0.58,-146.0,378.5,-6.7,253,3898,0.00,2.15,0.00,0.000,4,0.000,0.051,2442,735,3483,0,0,0,0,0,0
$GC,3926,-0.58,-146.0,380.8,-6.9,253,3930,0.00,2.20,0.00,0.000,6,0.000,0.051,2444,2146,3482,0,0,0,0,0,0
$GC,4257,-0.58,-146.0,401.0,-5.3,261,4261,0.00,2.28,0.00,0.000,4,0.000,0.066,2449,3562,3479,0,0,0,0,0,0
$GC,4279,-0.58,-146.0,402.2,-4.4,261,4283,0.00,2.20,0.00,0.000,6,0.000,0.043,2444,2139,3480,0,0,0,0,0,0
$GC,4624,-0.58,-146.0,415.2,-3.7,270,4628,0.00,2.17,0.00,0.000,4,0.000,0.051,2444,725,3476,0,0,0,0,0,0
$GC,4651,-0.58,-146.0,416.3,-4.1,270,4655,0.00,2.25,0.00,0.000,6,0.000,0.054,2444,2148,3478,0,0,0,0,0,0
$GC,4991,-0.58,-146.0,435.8,-6.5,279,4996,0.00,2.30,-0.10,0.000,4,0.000,0.080,2444,3558,3497,0,0,0,0,0,0
$GC,5019,-0.58,-146.0,437.5,-6.3,279,5023,0.00,2.17,0.00,0.000,6,0.000,0.045,2444,2145,3497,0,0,0,0,0,0
$GC,5358,-0.58,-146.0,459.7,-6.3,288,5362,0.00,2.17,0.00,0.000,4,0.000,0.052,2444,733,3495,0,0,0,0,0,0
$GC,5626,-0.58,-146.0,477.9,-7.4,293,5631,0.00,2.25,0.00,0.000,6,0.000,0.054,2444,2152,3494,0,0,0,0,0,0
$GC,5956,-0.58,-146.0,503.4,-8.0,302,5960,0.00,2.25,0.00,0.000,4,0.000,0.059,2444,726,3495,0,0,0,0,0,0
$GC,6011,-0.58,-146.0,508.2,-7.8,303,6015,0.00,2.22,0.00,0.000,6,0.000,0.053,2444,2146,3491,0,0,0,0,0,0
$GC,6324,-0.58,-146.0,533.5,-8.1,311,6327,0.00,2.25,0.00,0.000,4,0.000,0.066,2444,3553,3489,0,0,0,0,0,0
$GC,6355,-0.58,-146.0,536.3,-9.3,311,6359,0.00,2.17,0.00,0.000,6,0.000,0.046,2444,2136,3489,0,0,0,0,0,0
$GC,6690,-0.58,-146.0,562.1,-7.6,320,6694,0.00,2.33,0.00,0.000,4,0.000,0.070,2444,3555,3487,0,0,0,0,0,0
$GC,6820,-0.58,-146.0,572.5,-8.6,322,6825,0.00,2.20,0.00,0.000,6,0.000,0.048,2444,2142,3486,0,0,0,0,0,0
$GC,7150,-0.58,-146.0,598.9,-8.1,331,7154,0.00,2.28,0.00,0.000,4,0.000,0.066,2444,3555,3484,0,0,0,0,0,0
$GC,7239,-0.58,-146.0,606.1,-8.7,333,7243,0.00,2.15,0.00,0.000,6,0.000,0.044,2444,2154,3483,0,0,0,0,0,0
$GC,7565,-0.58,-146.0,631.2,-7.7,341,7569,0.00,2.33,0.00,0.000,4,0.000,0.073,2444,3558,3482,0,0,0,0,0,0
$GC,7625,-0.58,-146.0,636.0,-8.0,342,7629,0.00,2.17,0.00,0.000,6,0.000,0.044,2450,2139,3481,0,0,0,0,0,0
$GC,7938,-0.58,-146.0,659.7,-7.5,350,7942,0.00,2.33,0.00,0.000,4,0.000,0.067,2443,3559,3480,0,0,0,0,0,0
$GC,8073,-0.58,-146.0,670.5,-8.1,353,8077,0.00,2.17,0.00,0.000,6,0.000,0.044,2444,2144,3479,0,0,0,0,0,0
$GC,8400,-0.58,-146.0,694.8,-7.4,361,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2137,3478,0,0,0,0,0,0
$GC,8724,-0.58,-146.0,719.3,-7.7,369,8728,0.00,2.33,0.00,0.000,4,0.000,0.067,2444,3559,3476,0,0,0,0,0,0
$GC,8933,-0.58,-146.0,737.4,-8.1,373,8937,0.00,2.17,0.00,0.000,6,0.000,0.044,2444,2142,3475,0,0,0,0,0,0
$GC,9272,-0.58,-146.0,764.0,-7.5,382,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2139,3474,0,0,0,0,0,0
$GC,9597,-0.58,-146.0,789.0,-7.7,390,9601,0.00,2.30,0.00,0.000,4,0.000,0.068,2444,3555,3472,0,0,0,0,0,0
$GC,9647,-0.58,-146.0,793.2,-9.4,391,9652,0.00,2.20,0.00,0.000,6,0.000,0.046,2445,2144,3471,0,0,0,0,0,0
$GC,9969,-0.58,-146.0,819.9,-8.4,399,9973,0.00,2.33,0.00,0.000,4,0.000,0.068,2443,3558,3470,0,0,0,0,0,0
$GC,10005,-0.58,-146.0,823.0,-8.9,399,10011,0.00,2.17,0.00,0.000,6,0.000,0.046,2444,2141,3467,0,0,0,0,0,0
$GC,10336,-0.58,-146.0,851.9,-9.0,408,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2139,3467,0,0,0,0,0,0
$GC,10661,-0.58,-146.0,881.1,-9.1,416,10665,0.00,2.33,0.00,0.000,4,0.000,0.067,2444,3559,3467,0,0,0,0,0,0
$GC,10775,-0.58,-146.0,892.3,-10.0,418,10779,0.00,2.20,0.00,0.000,6,0.000,0.046,2444,2142,3467,0,0,0,0,0,0
$GC,11119,-0.58,-146.0,924.1,-9.0,427,11123,0.00,2.30,0.00,0.000,4,0.000,0.068,2444,3549,3467,0,0,0,0,0,0
$GC,11151,-0.58,-146.0,927.0,-9.0,427,11155,0.00,2.17,0.00,0.000,6,0.000,0.047,2444,2144,3466,0,0,0,0,0,0
$GC,11481,-0.58,-146.0,953.1,-7.4,435,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2140,3466,0,0,0,0,0,0
$GC,11806,-0.58,-146.0,974.2,-6.2,443,11810,0.00,2.33,0.00,0.000,4,0.000,0.069,2444,3553,3467,0,0,0,0,0,0
$GC,11848,-0.58,-146.0,976.7,-6.8,443,11854,0.00,2.17,0.00,0.000,6,0.000,0.048,2444,2142,3463,0,0,1,0,0,0
$STATE,12095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12096,begin apogee
$GC,12101,-0.28,0.0,990.6,5.6,450,12228,0.32,0.00,123.62,1.358,6,0.066,0.000,2581,2034,2892,0,0,0,0,0,0
$STATE,12236,end apogee,CONTROL_FINISHED_OK
$STATE,12236,begin climb
$GC,12238,0.58,146.0,994.7,0.0,453,12377,0.68,2.42,130.45,1.317,4,0.053,0.056,2851,649,2293,0,0,0,0,0,0
$GC,12608,0.58,146.0,947.5,17.1,461,12612,0.00,2.28,0.00,0.000,6,0.000,0.055,2851,2047,2279,0,0,0,0,0,0
$GC,12952,0.58,146.0,892.3,15.8,470,12956,0.00,2.33,0.00,0.000,4,0.000,0.069,2851,3463,2274,0,0,0,0,0,0
$GC,12975,0.58,146.0,888.3,17.3,470,12979,0.00,2.22,0.00,0.000,6,0.000,0.049,2862,2049,2280,0,0,0,0,0,0
$GC,13319,0.58,146.0,830.9,16.5,479,13323,0.00,2.30,0.00,0.000,4,0.000,0.068,2861,3457,2274,0,0,0,0,0,0
$GC,13383,0.58,146.0,819.6,16.9,480,13388,0.15,2.22,0.00,0.000,6,0.231,0.049,2840,2044,2275,0,0,1,0,0,0
$GC,13732,0.58,146.0,772.0,13.2,489,13736,0.00,2.35,0.00,0.000,4,0.000,0.070,2839,3469,2273,0,0,0,0,0,0
$GC,13755,0.58,146.0,768.8,14.1,489,13759,0.00,2.22,0.00,0.000,6,0.000,0.050,2849,2049,2271,0,0,0,0,0,0
$GC,14099,0.58,146.0,725.5,12.7,498,14103,0.00,2.25,0.00,0.000,4,0.000,0.058,2860,632,2272,0,0,0,0,0,0
$GC,14116,0.58,146.0,723.0,12.2,498,14120,0.00,2.25,0.00,0.000,6,0.000,0.054,2859,2049,2272,0,0,0,0,0,0
$GC,14465,0.58,146.0,674.6,14.5,507,14469,0.00,2.30,0.00,0.000,4,0.000,0.070,2859,3455,2272,0,0,0,0,0,0
$GC,14580,0.58,146.0,655.9,16.4,509,14585,0.15,2.25,0.00,0.000,6,0.228,0.050,2836,2039,2272,0,0,0,0,0,0
$GC,14925,0.58,146.0,609.5,13.2,518,14929,0.00,2.35,0.00,0.000,4,0.000,0.070,2827,3463,2271,0,0,0,0,0,0
$GC,14985,0.58,146.0,601.2,14.4,519,14989,0.00,2.25,0.00,0.000,6,0.000,0.051,2836,2037,2272,0,0,0,0,0,0
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$STATE,21510,end climb,SURFACE_DEPTH_REACHED
$STATE,21510,begin surface coast
$FINISH,0.7,1.022886
$STATE,21537,end surface coast,CONTROL_FINISHED_OK
$STATE,21537,begin surface
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$IRIDIUM_FIX,1805.50,12706.72,280612,090936
$TT8_MAMPS,0.056758
$HUMID,1078696119
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$TCM_TEMP,25.40
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8401354752
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53904998400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,49.400
$10V_AH,9.9,32.549
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.850,215.750,329.900,142.650,0.000,54.321,74.778,518.200,0.250,0.000,34.912,1838.897,16716.885,616.795,3132.632,314.557,33.400,1946.265,0.000,2380.019,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.102,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,33331,910
$CAP_FILE_SIZE,199945,0
$CFSIZE,260165632,238284800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030111,205825,1809.137,12703.587,38,1.4,38,-2.1