version: 66.07
glider: 511
mission: 5
dive: 237
start: 1 4 111 10 41 34
data:
$ID,511
$MISSION,5
$DIVE,237
$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,586.50275
$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,-46520.258
$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,29
$R_STBD_OVSHOOT,23
$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,236
$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
$GPS1,040111,100725,1805.776,12707.211,69,1.6,69,-2.1
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,3
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.1
$GPS2,040111,104038,1805.453,12707.046,16,1.7,16,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.019
$KALMAN_X,-500130.5,-485.2,1920.1,448584.3,-13196.7
$KALMAN_Y,541439.1,-1391.4,-336.3,-819349.3,1478.4
$MHEAD_RNG_PITCHd_Wd,87.0,105087,-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,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.43,0.000,2,0.000,0.000,45,2154,2731,0,0,0,0,0,0
$GC,102,-0.58,-146.0,3.1,-2.3,14,138,10.43,2.33,-17.15,0.000,4,0.249,0.071,2454,740,3488,0,0,0,0,0,0
$GC,245,-0.58,-146.0,25.3,-12.5,45,251,0.00,2.20,0.00,0.000,6,0.000,0.052,2446,2147,3488,0,0,1,0,0,0
$GC,444,-0.58,-146.0,57.8,-17.9,67,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2148,3489,0,0,0,0,0,0
$GC,699,-0.58,-146.0,103.2,-17.9,91,703,0.00,2.20,0.00,0.000,4,0.000,0.056,2446,739,3491,0,0,1,0,0,0
$GC,769,-0.58,-146.0,113.7,-13.3,98,773,0.00,2.20,0.00,0.000,6,0.000,0.052,2447,2148,3489,0,0,0,0,0,0
$GC,1029,-0.58,-146.0,149.9,-11.7,122,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2148,3489,0,0,0,0,0,0
$GC,1284,-0.58,-146.0,177.4,-9.1,146,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2148,3490,0,0,0,0,0,0
$GC,1539,-0.58,-146.0,196.9,-7.2,170,1543,0.00,2.25,0.00,0.000,4,0.000,0.067,2445,3556,3492,0,0,0,0,0,0
$GC,1571,-0.58,-146.0,199.2,-6.0,173,1576,0.00,2.15,0.00,0.000,6,0.000,0.042,2445,2141,3489,0,0,0,0,0,0
$GC,1835,-0.58,-146.0,217.9,-7.7,187,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2140,3489,0,0,0,0,0,0
$GC,2144,-0.58,-146.0,243.6,-8.3,202,2147,0.00,2.17,0.00,0.000,4,0.000,0.053,2445,738,3487,0,0,0,0,0,0
$GC,2212,-0.58,-146.0,249.6,-8.2,205,2216,0.00,2.20,0.00,0.000,6,0.000,0.053,2446,2144,3488,0,0,0,0,0,0
$GC,2536,-0.58,-146.0,274.1,-7.1,221,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2144,3488,0,0,0,0,0,0
$GC,2846,-0.58,-146.0,292.8,-5.4,236,2850,0.00,2.22,0.00,0.000,4,0.000,0.058,2444,741,3486,0,0,1,0,0,0
$GC,2897,-0.58,-146.0,295.9,-5.8,238,2901,0.00,2.22,0.00,0.000,6,0.000,0.054,2445,2149,3486,0,0,0,0,0,0
$GC,3217,-0.58,-146.0,317.1,-7.2,248,3221,0.00,2.22,0.00,0.000,4,0.000,0.058,2445,740,3485,0,0,0,0,0,0
$GC,3258,-0.58,-146.0,320.4,-7.8,249,3262,0.00,2.22,0.00,0.000,6,0.000,0.056,2444,2151,3484,0,0,0,0,0,0
$GC,3586,-0.58,-146.0,339.4,-5.0,257,3590,0.00,2.25,0.00,0.000,4,0.000,0.064,2445,3559,3486,0,0,0,0,0,0
$GC,3631,-0.58,-146.0,342.2,-5.6,258,3635,0.00,2.15,0.00,0.000,6,0.000,0.042,2445,2146,3480,0,0,0,0,0,0
$GC,3954,-0.58,-146.0,363.8,-7.0,266,3957,0.00,2.17,0.00,0.000,4,0.000,0.051,2445,736,3482,0,0,0,0,0,0
$GC,4004,-0.58,-146.0,367.5,-7.1,267,4008,0.00,2.22,0.00,0.000,6,0.000,0.054,2445,2151,3481,0,0,0,0,0,0
$GC,4326,-0.58,-146.0,386.7,-5.5,275,4330,0.00,2.22,0.00,0.000,4,0.000,0.064,2445,3557,3479,0,0,0,0,0,0
$GC,4358,-0.58,-146.0,388.3,-4.8,275,4363,0.00,2.15,-0.10,0.000,6,0.000,0.043,2445,2145,3499,0,0,0,0,0,0
$GC,4689,-0.58,-146.0,403.7,-4.7,283,4693,0.00,2.17,0.00,0.000,4,0.000,0.051,2445,728,3501,0,0,0,0,0,0
$GC,4720,-0.58,-146.0,405.7,-6.1,283,4725,0.00,2.22,0.00,0.000,6,0.000,0.054,2445,2150,3495,0,0,0,0,0,0
$GC,5051,-0.58,-146.0,428.1,-7.0,291,5055,0.00,2.22,0.00,0.000,4,0.000,0.057,2445,736,3496,0,0,0,0,0,0
$GC,5318,-0.58,-146.0,445.4,-7.5,296,5323,0.00,2.20,0.00,0.000,6,0.000,0.054,2450,2142,3495,0,0,0,0,0,0
$GC,5648,-0.58,-146.0,468.3,-7.3,305,5652,0.00,2.22,0.00,0.000,4,0.000,0.058,2445,731,3492,0,0,0,0,0,0
$GC,5679,-0.58,-146.0,471.1,-8.9,305,5684,0.00,2.20,0.00,0.000,6,0.000,0.051,2445,2143,3492,0,0,0,0,0,0
$GC,6014,-0.58,-146.0,499.3,-8.8,314,6018,0.00,2.25,0.00,0.000,4,0.000,0.066,2442,3557,3490,0,0,0,0,0,0
$GC,6074,-0.58,-146.0,504.8,-9.4,315,6078,0.00,2.17,0.00,0.000,6,0.000,0.043,2445,2132,3489,0,0,0,0,0,0
$GC,6423,-0.58,-146.0,533.9,-8.2,324,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2127,3488,0,0,0,0,0,0
$GC,6748,-0.58,-146.0,560.4,-8.1,332,6752,0.00,2.33,0.00,0.000,4,0.000,0.065,2445,3562,3486,0,0,0,0,0,0
$GC,6841,-0.58,-146.0,568.6,-9.5,334,6845,0.00,2.17,0.00,0.000,6,0.000,0.042,2445,2137,3485,0,0,0,0,0,0
$GC,7168,-0.58,-146.0,596.1,-8.2,342,7172,0.00,2.30,0.00,0.000,4,0.000,0.068,2445,3560,3483,0,0,0,0,0,0
$GC,7214,-0.58,-146.0,600.0,-9.5,343,7218,0.00,2.17,0.00,0.000,6,0.000,0.042,2445,2134,3483,0,0,0,0,0,0
$GC,7535,-0.58,-146.0,625.9,-8.1,351,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2133,3481,0,0,0,0,0,0
$GC,7860,-0.58,-146.0,652.3,-8.3,359,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2133,3479,0,0,0,0,0,0
$GC,8186,-0.58,-146.0,681.2,-8.9,367,8190,0.00,2.30,0.00,0.000,4,0.000,0.066,2445,3555,3477,0,0,0,0,0,0
$GC,8296,-0.58,-146.0,690.9,-8.3,369,8300,0.00,2.15,0.00,0.000,6,0.000,0.044,2445,2147,3477,0,0,0,0,0,0
$GC,8640,-0.58,-146.0,715.7,-7.0,378,8644,0.00,2.20,0.00,0.000,4,0.000,0.054,2445,746,3476,0,0,0,0,0,0
$GC,8687,-0.58,-146.0,719.1,-6.9,379,8691,0.00,2.20,0.00,0.000,6,0.000,0.050,2445,2150,3475,0,0,0,0,0,0
$GC,9013,-0.58,-146.0,741.0,-6.8,387,9017,0.00,2.22,0.00,0.000,4,0.000,0.055,2445,737,3474,0,0,0,0,0,0
$GC,9049,-0.58,-146.0,743.7,-7.6,387,9055,0.00,2.20,0.00,0.000,6,0.000,0.050,2445,2146,3474,0,0,0,0,0,0
$GC,9380,-0.58,-146.0,767.1,-7.2,396,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2146,3472,0,0,0,0,0,0
$GC,9705,-0.58,-146.0,792.6,-7.8,404,9709,0.00,2.30,0.00,0.000,4,0.000,0.069,2445,3552,3468,0,0,0,0,0,0
$GC,9852,-0.58,-146.0,805.1,-8.5,407,9856,0.00,2.17,0.00,0.000,6,0.000,0.047,2445,2146,3469,0,0,0,0,0,0
$GC,10164,-0.58,-146.0,829.8,-7.9,415,10168,0.00,2.30,0.00,0.000,4,0.000,0.069,2445,3558,3468,0,0,0,0,0,0
$GC,10206,-0.58,-146.0,833.3,-8.9,416,10210,0.00,2.17,0.00,0.000,6,0.000,0.045,2445,2145,3467,0,0,0,0,0,0
$GC,10533,-0.58,-146.0,858.5,-7.8,424,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2143,3467,0,0,0,0,0,0
$GC,10857,-0.58,-146.0,883.1,-7.5,432,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2143,3466,0,0,0,0,0,0
$GC,11182,-0.58,-146.0,906.3,-7.1,440,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2142,3465,0,0,0,0,0,0
$GC,11507,-0.58,-146.0,929.4,-7.2,448,11511,0.00,2.33,0.00,0.000,4,0.000,0.070,2445,3554,3463,0,0,0,0,0,0
$GC,11558,-0.58,-146.0,933.4,-7.5,449,11562,0.00,2.22,0.00,0.000,6,0.000,0.047,2445,2139,3463,0,0,0,0,0,0
$GC,11880,-0.58,-146.0,957.3,-7.7,457,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2136,3462,0,0,0,0,0,0
$GC,12205,-0.58,-146.0,983.6,-8.2,465,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2136,3461,0,0,0,0,0,0
$STATE,12284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12284,begin apogee
$GC,12290,-0.28,0.0,990.5,8.3,467,12416,0.32,0.00,123.53,1.354,6,0.072,0.000,2574,2039,2890,0,0,0,0,0,0
$STATE,12419,end apogee,CONTROL_FINISHED_OK
$STATE,12419,begin climb
$GC,12421,0.58,146.0,997.6,0.0,470,12559,0.70,2.45,129.48,1.315,4,0.052,0.057,2851,656,2294,0,0,0,0,0,0
$GC,12813,0.58,146.0,952.7,15.7,478,12819,0.00,2.25,0.00,0.000,6,0.000,0.055,2852,2041,2283,0,0,0,0,0,0
$GC,13143,0.58,146.0,898.2,16.4,487,13147,0.00,2.33,0.00,0.000,4,0.000,0.067,2852,3456,2276,0,0,0,0,0,0
$GC,13180,0.58,146.0,891.6,17.0,487,13185,0.00,2.20,0.00,0.000,6,0.000,0.048,2862,2057,2278,0,0,0,0,0,0
$GC,13510,0.58,146.0,835.4,16.9,496,13514,0.00,2.30,0.00,0.000,4,0.000,0.067,2862,3469,2276,0,0,0,0,0,0
$GC,13523,0.58,146.0,832.8,17.0,496,13528,0.15,2.22,0.00,0.000,6,0.232,0.049,2840,2048,2276,0,0,0,0,0,0
$GC,13873,0.58,146.0,780.2,14.8,505,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2041,2274,0,0,0,0,0,0
$GC,14198,0.58,146.0,735.6,13.3,513,14202,0.00,2.30,0.00,0.000,4,0.000,0.068,2840,3456,2274,0,0,0,0,0,0
$GC,14259,0.58,146.0,727.0,13.4,514,14263,0.00,2.22,0.00,0.000,6,0.000,0.050,2849,2036,2274,0,0,0,0,0,0
$GC,14608,0.58,146.0,680.6,13.3,523,14612,0.00,2.33,0.00,0.000,4,0.000,0.069,2849,3458,2273,0,0,0,0,0,0
$GC,14663,0.58,146.0,672.5,14.2,524,14667,0.00,2.22,0.00,0.000,6,0.000,0.050,2859,2037,2273,0,0,0,0,0,0
$GC,14976,0.58,146.0,629.9,13.6,532,14977,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2035,2269,0,0,0,0,0,0
$GC,15301,0.58,146.0,580.7,15.3,540,15305,0.00,2.33,0.00,0.000,4,0.000,0.068,2858,3460,2271,0,0,0,0,0,0
$GC,15393,0.58,146.0,565.4,15.3,542,15398,0.15,2.22,0.00,0.000,6,0.227,0.050,2834,2048,2272,0,0,0,0,0,0
$GC,15716,0.58,146.0,523.3,12.8,550,15719,0.00,2.33,0.00,0.000,4,0.000,0.069,2836,3456,2271,0,0,0,0,0,0
$GC,15845,0.58,146.0,508.0,10.3,552,15849,0.00,2.22,0.00,0.000,6,0.000,0.050,2845,2044,2271,0,0,0,0,0,0
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$STATE,21614,end climb,SURFACE_DEPTH_REACHED
$STATE,21614,begin surface coast
$FINISH,1.3,1.023023
$STATE,21643,end surface coast,CONTROL_FINISHED_OK
$STATE,21643,begin surface
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$TCM_TEMP,25.50
$XPDR_PINGS,1
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$AR_CDRIVE_FREE,8385003520
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53788213248
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,50.030
$10V_AH,10.0,33.084
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354944
$DATA_FILE_SIZE,33384,926
$CAP_FILE_SIZE,212134,0
$CFSIZE,260165632,237936640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,040111,164821,1804.308,12707.804,74,7.0,93,-2.0