version: 66.07
glider: 511
mission: 5
dive: 236
start: 1 4 111 4 5 29
data:
$ID,511
$MISSION,5
$DIVE,236
$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,-46501.773
$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,24
$R_STBD_OVSHOOT,30
$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,235
$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
$GPS1,040111,032600,1807.697,12705.263,52,2.0,57,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.9
$GPS2,040111,040434,1807.340,12705.656,13,2.1,32,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.001
$KALMAN_X,-500178.4,186.1,5001.0,442466.4,-27135.8
$KALMAN_Y,545596.2,899.2,-2879.9,-819781.3,7472.5
$MHEAD_RNG_PITCHd_Wd,92.5,108559,-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,-70.68,0.000,2,0.000,0.000,36,2166,2725,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.1,-2.2,14,138,10.45,2.33,-17.77,0.000,4,0.249,0.070,2459,739,3488,0,0,0,0,0,0
$GC,249,-0.58,-146.0,25.9,-14.3,46,255,0.00,2.20,0.00,0.000,6,0.000,0.054,2460,2134,3489,0,0,1,0,0,0
$GC,453,-0.58,-146.0,58.7,-17.0,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2134,3489,0,0,0,0,0,0
$GC,708,-0.58,-146.0,98.8,-15.9,92,712,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,736,3489,0,0,0,0,0,0
$GC,769,-0.58,-146.0,108.5,-13.1,98,773,0.00,2.22,0.00,0.000,6,0.000,0.052,2460,2146,3487,0,0,0,0,0,0
$GC,1029,-0.58,-146.0,142.0,-13.1,122,1033,0.00,2.25,0.00,0.000,4,0.000,0.070,2460,3558,3489,0,0,0,0,0,0
$GC,1051,-0.58,-146.0,144.7,-11.7,124,1056,0.00,2.17,0.00,0.000,6,0.000,0.041,2460,2145,3489,0,0,0,0,0,0
$GC,1312,-0.58,-146.0,172.2,-10.4,149,1316,0.00,2.20,0.00,0.000,4,0.000,0.055,2460,730,3488,0,0,0,0,0,0
$GC,1394,-0.58,-146.0,180.3,-9.6,157,1399,0.00,2.25,0.00,0.000,6,0.000,0.054,2460,2154,3488,0,0,0,0,0,0
$GC,1655,-0.58,-146.0,200.0,-6.6,182,1659,0.00,2.22,0.00,0.000,4,0.000,0.064,2459,3568,3489,0,0,0,0,0,0
$GC,1700,-0.58,-146.0,202.9,-6.0,184,1704,0.00,2.20,0.00,0.000,6,0.000,0.041,2459,2127,3488,0,0,0,0,0,0
$GC,2024,-0.58,-146.0,227.7,-7.6,200,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2126,3488,0,0,0,0,0,0
$GC,2334,-0.58,-146.0,247.5,-6.3,215,2338,0.00,2.12,0.00,0.000,4,0.000,0.053,2459,740,3485,0,0,0,0,0,0
$GC,2376,-0.58,-146.0,250.5,-6.7,217,2380,0.00,2.20,0.00,0.000,6,0.000,0.051,2460,2152,3488,0,0,0,0,0,0
$GC,2705,-0.58,-146.0,275.2,-7.7,233,2709,0.00,2.22,0.00,0.000,4,0.000,0.063,2460,3564,3486,0,0,0,0,0,0
$GC,2733,-0.58,-146.0,277.3,-7.6,234,2737,0.00,2.15,0.00,0.000,6,0.000,0.040,2460,2144,3486,0,0,0,0,0,0
$GC,3053,-0.58,-146.0,297.0,-5.7,250,3057,0.00,2.15,0.00,0.000,4,0.000,0.051,2459,739,3485,0,0,0,0,0,0
$GC,3103,-0.58,-146.0,300.0,-5.8,252,3108,0.00,2.22,0.00,0.000,6,0.000,0.054,2460,2145,3484,0,0,0,0,0,0
$GC,3443,-0.58,-146.0,320.7,-6.7,261,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2145,3485,0,0,0,0,0,0
$GC,3768,-0.58,-146.0,341.9,-6.0,269,3772,0.00,2.28,0.00,0.000,4,0.000,0.064,2460,3558,3481,0,0,0,0,0,0
$GC,3800,-0.58,-146.0,343.4,-4.4,269,3804,0.00,2.17,0.00,0.000,6,0.000,0.041,2459,2146,3482,0,0,0,0,0,0
$GC,4135,-0.58,-146.0,355.5,-3.5,278,4139,0.00,2.20,0.00,0.000,4,0.000,0.051,2460,737,3480,0,0,0,0,0,0
$GC,4181,-0.58,-146.0,358.0,-6.0,279,4185,0.00,2.22,0.00,0.000,6,0.000,0.053,2458,2150,3480,0,0,0,0,0,0
$GC,4503,-0.58,-146.0,376.4,-6.0,287,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2149,3478,0,0,0,0,0,0
$GC,4828,-0.58,-146.0,389.4,-3.4,295,4833,0.00,2.28,-0.10,0.000,4,0.000,0.077,2456,3552,3499,0,0,0,0,0,0
$GC,4856,-0.58,-146.0,390.3,-3.3,295,4860,0.00,2.15,0.00,0.000,6,0.000,0.042,2465,2135,3500,0,0,0,0,0,0
$GC,5191,-0.58,-146.0,412.7,-8.1,304,5195,0.00,2.28,0.00,0.000,4,0.000,0.067,2460,3554,3495,0,0,0,0,0,0
$GC,5237,-0.58,-146.0,417.0,-8.6,305,5241,0.00,2.15,0.00,0.000,6,0.000,0.043,2460,2144,3497,0,0,0,0,0,0
$GC,5559,-0.58,-146.0,443.9,-8.3,313,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2140,3493,0,0,0,0,0,0
$GC,5883,-0.58,-146.0,473.3,-9.7,321,5887,0.00,2.15,0.00,0.000,4,0.000,0.052,2459,746,3492,0,0,0,0,0,0
$GC,5920,-0.58,-146.0,477.1,-10.1,321,5925,0.00,2.22,0.00,0.000,6,0.000,0.052,2460,2149,3491,0,0,0,0,0,0
$GC,6250,-0.58,-146.0,509.2,-9.4,330,6254,0.00,2.22,0.00,0.000,4,0.000,0.064,2460,3552,3490,0,0,0,0,0,0
$GC,6351,-0.58,-146.0,518.2,-8.7,332,6355,0.00,2.17,0.00,0.000,6,0.000,0.042,2459,2139,3487,0,0,0,0,0,0
$GC,6664,-0.58,-146.0,542.0,-7.9,340,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2134,3488,0,0,0,0,0,0
$GC,6989,-0.58,-146.0,570.1,-8.8,348,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2133,3486,0,0,0,0,0,0
$GC,7314,-0.58,-146.0,599.4,-9.0,356,7318,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,736,3483,0,0,0,0,0,0
$GC,7382,-0.58,-146.0,605.8,-9.2,357,7386,0.00,2.22,0.00,0.000,6,0.000,0.051,2460,2145,3483,0,0,0,0,0,0
$GC,7721,-0.58,-146.0,635.8,-9.0,366,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2145,3482,0,0,0,0,0,0
$GC,8047,-0.58,-146.0,661.6,-7.6,374,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2145,3479,0,0,0,0,0,0
$GC,8371,-0.58,-146.0,683.2,-6.6,382,8375,0.00,2.22,0.00,0.000,4,0.000,0.055,2460,744,3478,0,0,1,0,0,0
$GC,8431,-0.58,-146.0,687.7,-7.6,383,8435,0.00,2.20,0.00,0.000,6,0.000,0.048,2460,2151,3477,0,0,0,0,0,0
$GC,8780,-0.58,-146.0,716.2,-8.8,392,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2151,3475,0,0,0,0,0,0
$GC,9104,-0.58,-146.0,748.2,-9.9,400,9108,0.00,2.28,0.00,0.000,4,0.000,0.067,2460,3554,3474,0,0,0,0,0,0
$GC,9154,-0.58,-146.0,753.5,-11.4,401,9158,0.00,2.17,0.00,0.000,6,0.000,0.045,2460,2141,3473,0,0,0,0,0,0
$GC,9472,-0.58,-146.0,782.7,-9.1,409,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2136,3472,0,0,0,0,0,0
$GC,9796,-0.58,-146.0,810.6,-8.8,417,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2136,3468,0,0,0,0,0,0
$GC,10121,-0.58,-146.0,839.3,-8.9,425,10125,0.00,2.20,0.00,0.000,4,0.000,0.055,2459,737,3468,0,0,0,0,0,0
$GC,10155,-0.58,-146.0,842.3,-9.1,425,10159,0.00,2.22,0.00,0.000,6,0.000,0.050,2460,2147,3468,0,0,0,0,0,0
$GC,10485,-0.58,-146.0,871.3,-8.7,433,10489,0.00,2.28,0.00,0.000,4,0.000,0.067,2460,3559,3467,0,0,0,0,0,0
$GC,10535,-0.58,-146.0,876.1,-8.7,434,10540,0.00,2.17,0.00,0.000,6,0.000,0.045,2459,2143,3466,0,0,0,0,0,0
$GC,10858,-0.58,-146.0,905.3,-9.4,442,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2139,3466,0,0,0,0,0,0
$GC,11182,-0.58,-146.0,934.6,-8.8,450,11186,0.00,2.30,0.00,0.000,4,0.000,0.067,2460,3559,3465,0,0,0,0,0,0
$GC,11224,-0.58,-146.0,938.2,-8.9,451,11228,0.00,2.20,0.00,0.000,6,0.000,0.046,2460,2142,3464,0,0,0,0,0,0
$GC,11551,-0.58,-146.0,965.1,-8.3,459,11555,0.00,2.22,0.00,0.000,4,0.000,0.056,2460,743,3462,0,0,0,0,0,0
$GC,11593,-0.58,-146.0,968.5,-8.9,460,11597,0.00,2.22,0.00,0.000,6,0.000,0.052,2459,2148,3463,0,0,0,0,0,0
$STATE,11877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11877,begin apogee
$GC,11882,-0.28,0.0,990.1,7.6,467,12008,0.28,0.00,123.07,1.350,6,0.070,0.000,2579,2043,2890,0,0,0,0,0,0
$STATE,12011,end apogee,CONTROL_FINISHED_OK
$STATE,12011,begin climb
$GC,12013,0.58,146.0,995.9,0.0,470,12151,0.68,2.53,129.32,1.311,4,0.052,0.065,2838,3449,2293,0,0,0,0,0,0
$GC,12415,0.58,146.0,941.8,18.3,479,12419,0.00,2.20,0.00,0.000,6,0.000,0.048,2849,2055,2282,0,0,0,0,0,0
$GC,12736,0.58,146.0,888.9,16.8,487,12741,0.00,2.30,0.00,0.000,4,0.000,0.067,2849,3459,2278,0,0,0,0,0,0
$GC,12787,0.58,146.0,879.9,18.0,488,12791,0.00,2.22,0.00,0.000,6,0.000,0.048,2860,2043,2278,0,0,0,0,0,0
$GC,13109,0.58,146.0,826.9,16.4,496,13113,0.00,2.33,0.00,0.000,4,0.000,0.068,2860,3462,2276,0,0,0,0,0,0
$GC,13128,0.58,146.0,823.9,14.9,496,13133,0.15,2.22,0.00,0.000,6,0.232,0.048,2838,2042,2276,0,0,0,0,0,0
$GC,13473,0.58,146.0,774.5,13.9,505,13477,0.00,2.25,0.00,0.000,4,0.000,0.060,2847,635,2275,0,0,0,0,0,0
$GC,13491,0.58,146.0,771.8,14.2,505,13495,0.00,2.25,0.00,0.000,6,0.000,0.055,2838,2046,2274,0,0,0,0,0,0
$GC,13839,0.58,146.0,725.6,13.1,514,13844,0.00,2.33,0.00,0.000,4,0.000,0.069,2838,3461,2274,0,0,0,0,0,0
$GC,13894,0.58,146.0,717.8,13.6,515,13898,0.00,2.22,0.00,0.000,6,0.000,0.050,2844,2045,2274,0,0,0,0,0,0
$GC,14207,0.58,146.0,675.4,13.8,523,14211,0.00,2.28,0.00,0.000,4,0.000,0.059,2858,625,2272,0,0,0,0,0,0
$GC,14220,0.58,146.0,673.3,14.1,523,14225,0.00,2.28,0.00,0.000,6,0.000,0.054,2858,2045,2271,0,0,0,0,0,0
$GC,14569,0.58,146.0,622.0,15.1,532,14573,0.00,2.28,0.00,0.000,4,0.000,0.068,2858,3454,2271,0,0,0,0,0,0
$GC,14624,0.58,146.0,613.1,15.9,533,14629,0.12,2.22,0.00,0.000,6,0.235,0.049,2842,2038,2271,0,0,0,0,0,0
$GC,14942,0.58,146.0,572.3,12.4,541,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2032,2270,0,0,0,0,0,0
$GC,15267,0.58,146.0,533.2,11.0,549,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2032,2270,0,0,0,0,0,0
$GC,15592,0.58,146.0,498.0,10.9,557,15596,0.00,2.35,0.00,0.000,4,0.000,0.067,2842,3454,2269,0,0,0,0,0,0
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$STATE,21384,end climb,SURFACE_DEPTH_REACHED
$STATE,21384,begin surface coast
$FINISH,0.9,1.023022
$STATE,21419,end surface coast,CONTROL_FINISHED_OK
$STATE,21419,begin surface
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$AR_CDRIVE_FREE,8385036288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53839593472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,49.802
$10V_AH,10.0,32.890
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.496,0.000,0.000
$MEM,354952
$DATA_FILE_SIZE,33284,954
$CAP_FILE_SIZE,213703,0
$CFSIZE,260165632,238067712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040111,100725,1805.776,12707.211,69,1.6,69,-2.1