version: 66.07
glider: 511
mission: 5
dive: 241
start: 1 5 111 13 16 47
data:
$ID,511
$MISSION,5
$DIVE,241
$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,-46659.551
$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,31
$R_STBD_OVSHOOT,21
$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,240
$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
$GPS1,050111,123625,1803.699,12712.542,60,1.8,60,-2.0
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-64.7
$GPS2,050111,131552,1804.256,12712.521,14,2.5,33,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.007
$KALMAN_X,-516706.8,18.9,1727.1,474323.3,-13893.7
$KALMAN_Y,539590.4,-29.3,-528.5,-820927.6,2663.6
$MHEAD_RNG_PITCHd_Wd,94.0,95238,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-80.62,0.000,2,0.000,0.000,23,2140,2691,0,0,0,0,0,0
$GC,113,-0.58,-146.0,3.4,-3.0,16,149,10.35,2.28,-17.40,0.000,4,0.247,0.075,2459,754,3489,0,0,0,0,0,0
$GC,225,-0.58,-146.0,23.1,-14.8,40,230,0.00,2.20,0.00,0.000,6,0.000,0.051,2452,2145,3491,0,0,0,0,0,0
$GC,430,-0.58,-146.0,54.3,-15.7,63,434,0.00,2.25,0.00,0.000,4,0.000,0.067,2443,3555,3490,0,0,0,0,0,0
$GC,499,-0.58,-146.0,64.7,-13.5,70,503,0.00,2.15,0.00,0.000,6,0.000,0.044,2443,2149,3489,0,0,0,0,0,0
$GC,760,-0.58,-146.0,103.9,-15.3,94,764,0.00,2.20,0.00,0.000,4,0.000,0.058,2443,745,3489,0,0,0,0,0,0
$GC,816,-0.58,-146.0,111.5,-11.7,100,820,0.10,2.22,0.00,0.000,6,0.172,0.051,2460,2152,3490,0,0,0,0,0,0
$GC,1077,-0.58,-146.0,139.0,-11.3,124,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2152,3489,0,0,0,0,0,0
$GC,1331,-0.58,-146.0,162.3,-8.5,148,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2156,3489,0,0,0,0,0,0
$GC,1586,-0.58,-146.0,181.6,-6.9,172,1590,0.00,2.22,0.00,0.000,4,0.000,0.067,2459,3555,3490,0,0,0,0,0,0
$GC,1647,-0.58,-146.0,185.4,-6.5,178,1651,0.00,2.15,0.00,0.000,6,0.000,0.042,2459,2137,3489,0,0,0,0,0,0
$GC,1906,-0.58,-146.0,203.6,-7.8,200,1910,0.00,2.17,0.00,0.000,4,0.000,0.058,2459,738,3493,0,0,0,0,0,0
$GC,1942,-0.58,-146.0,206.8,-8.4,201,1948,0.00,2.17,0.00,0.000,6,0.000,0.050,2458,2146,3489,0,0,0,0,0,0
$GC,2257,-0.58,-146.0,233.3,-8.3,217,2261,0.00,2.28,0.00,0.000,4,0.000,0.070,2451,3559,3489,0,0,0,0,0,0
$GC,2284,-0.58,-146.0,235.5,-8.2,218,2288,0.00,2.15,0.00,0.000,6,0.000,0.041,2451,2146,3488,0,0,0,0,0,0
$GC,2608,-0.58,-146.0,261.0,-7.6,234,2612,0.00,2.20,0.00,0.000,4,0.000,0.058,2451,739,3487,0,0,0,0,0,0
$GC,2640,-0.58,-146.0,263.7,-8.1,235,2644,0.00,2.22,0.00,0.000,6,0.000,0.052,2450,2145,3487,0,0,0,0,0,0
$GC,2954,-0.58,-146.0,288.7,-8.1,250,2958,0.00,2.22,0.00,0.000,4,0.000,0.064,2447,3559,3484,0,0,0,0,0,0
$GC,2983,-0.58,-146.0,290.9,-7.7,251,2987,0.00,2.15,0.00,0.000,6,0.000,0.042,2447,2146,3485,0,0,0,0,0,0
$GC,3299,-0.58,-146.0,316.7,-8.1,262,3303,0.00,2.20,0.00,0.000,4,0.000,0.051,2447,735,3484,0,0,0,0,0,0
$GC,3377,-0.58,-146.0,323.4,-7.9,263,3381,0.00,2.22,0.00,0.000,6,0.000,0.056,2448,2147,3483,0,0,0,0,0,0
$GC,3708,-0.58,-146.0,347.7,-7.3,271,3712,0.00,2.22,0.00,0.000,4,0.000,0.064,2447,3556,3482,0,0,0,0,0,0
$GC,3749,-0.58,-146.0,350.7,-6.7,271,3754,0.00,2.15,0.00,0.000,6,0.000,0.043,2447,2145,3482,0,0,1,0,0,0
$GC,4079,-0.58,-146.0,372.6,-6.4,280,4083,0.00,2.17,0.00,0.000,4,0.000,0.051,2447,738,3480,0,0,0,0,0,0
$GC,4147,-0.58,-146.0,377.3,-5.7,281,4151,0.00,2.22,0.00,0.000,6,0.000,0.054,2448,2150,3479,0,0,0,0,0,0
$GC,4492,-0.58,-146.0,397.2,-5.7,290,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2154,3477,0,0,0,0,0,0
$GC,4817,-0.58,-146.0,413.9,-5.0,298,4821,0.00,2.28,-0.10,0.000,4,0.000,0.072,2447,732,3495,0,0,1,0,0,0
$GC,4841,-0.58,-146.0,415.3,-5.2,298,4845,0.00,2.22,0.00,0.000,6,0.000,0.053,2447,2149,3495,0,0,0,0,0,0
$GC,5181,-0.58,-146.0,429.9,-4.1,307,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2150,3495,0,0,0,0,0,0
$GC,5506,-0.58,-146.0,443.6,-4.3,315,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2150,3493,0,0,0,0,0,0
$GC,5831,-0.58,-146.0,459.9,-5.2,323,5835,0.00,2.22,0.00,0.000,4,0.000,0.064,2447,3555,3491,0,0,0,0,0,0
$GC,5863,-0.58,-146.0,461.4,-3.9,323,5867,0.00,2.17,0.00,0.000,6,0.000,0.044,2447,2134,3492,0,0,0,0,0,0
$GC,6193,-0.58,-146.0,480.7,-6.1,331,6197,0.00,2.15,0.00,0.000,4,0.000,0.053,2447,744,3488,0,0,0,0,0,0
$GC,6299,-0.58,-146.0,488.9,-7.7,333,6303,0.00,2.20,0.00,0.000,6,0.000,0.053,2447,2142,3488,0,0,0,0,0,0
$GC,6648,-0.58,-146.0,515.8,-7.9,342,6652,0.00,2.30,0.00,0.000,4,0.000,0.065,2447,3562,3485,0,0,0,0,0,0
$GC,6915,-0.58,-146.0,537.6,-7.5,347,6919,0.00,2.17,0.00,0.000,6,0.000,0.044,2449,2141,3484,0,0,0,0,0,0
$GC,7245,-0.58,-146.0,559.5,-6.3,355,7249,0.00,2.30,0.00,0.000,4,0.000,0.068,2447,3561,3481,0,0,0,0,0,0
$GC,7448,-0.58,-146.0,573.4,-7.6,359,7452,0.00,2.20,0.00,0.000,6,0.000,0.043,2447,2137,3480,0,0,0,0,0,0
$GC,7792,-0.58,-146.0,601.3,-8.8,368,7796,0.00,2.30,0.00,0.000,4,0.000,0.065,2448,3561,3478,0,0,0,0,0,0
$GC,7847,-0.58,-146.0,606.5,-9.6,369,7851,0.00,2.15,0.00,0.000,6,0.000,0.043,2447,2145,3478,0,0,0,0,0,0
$GC,8164,-0.58,-146.0,637.8,-9.9,377,8168,0.00,2.28,0.00,0.000,4,0.000,0.066,2447,3558,3479,0,0,0,0,0,0
$GC,8358,-0.58,-146.0,656.3,-9.3,381,8362,0.00,2.20,0.00,0.000,6,0.000,0.044,2448,2138,3475,0,0,0,0,0,0
$GC,8670,-0.58,-146.0,679.4,-7.0,389,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2135,3474,0,0,0,0,0,0
$GC,8996,-0.58,-146.0,700.2,-6.3,397,9000,0.00,2.30,0.00,0.000,4,0.000,0.067,2447,3558,3473,0,0,0,0,0,0
$GC,9151,-0.58,-146.0,711.2,-7.9,400,9156,0.00,2.20,0.00,0.000,6,0.000,0.044,2447,2135,3471,0,0,0,0,0,0
$GC,9500,-0.58,-146.0,738.8,-8.4,409,9505,0.00,2.30,0.00,0.000,4,0.000,0.067,2448,3556,3470,0,0,0,0,0,0
$GC,9555,-0.58,-146.0,743.8,-9.0,410,9559,0.00,2.17,0.00,0.000,6,0.000,0.045,2448,2143,3469,0,0,0,0,0,0
$GC,9868,-0.58,-146.0,771.0,-8.8,418,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2138,3468,0,0,0,0,0,0
$GC,10193,-0.58,-146.0,799.1,-8.7,426,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2139,3467,0,0,0,0,0,0
$GC,10518,-0.58,-146.0,827.8,-8.8,434,10522,0.00,2.30,0.00,0.000,4,0.000,0.067,2448,3557,3466,0,0,0,0,0,0
$GC,10568,-0.58,-146.0,832.5,-9.0,435,10572,0.00,2.17,0.00,0.000,6,0.000,0.045,2447,2148,3467,0,0,0,0,0,0
$GC,10890,-0.58,-146.0,859.4,-8.3,443,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2145,3469,0,0,0,0,0,0
$GC,11215,-0.58,-146.0,884.9,-7.7,451,11219,0.00,2.33,0.00,0.000,4,0.000,0.070,2447,3557,3464,0,0,0,0,0,0
$GC,11257,-0.58,-146.0,888.1,-7.6,452,11261,0.00,2.20,0.00,0.000,6,0.000,0.047,2449,2138,3463,0,0,0,0,0,0
$GC,11584,-0.58,-146.0,912.2,-7.4,460,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2136,3462,0,0,0,0,0,0
$GC,11908,-0.58,-146.0,934.9,-6.9,468,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2134,3462,0,0,0,0,0,0
$GC,12233,-0.58,-146.0,957.7,-7.1,476,12237,0.00,2.35,0.00,0.000,4,0.000,0.070,2447,3556,3458,0,0,0,0,0,0
$GC,12265,-0.58,-146.0,960.2,-7.5,476,12270,0.00,2.20,0.00,0.000,6,0.000,0.048,2448,2144,3459,0,0,0,0,0,0
$GC,12596,-0.58,-146.0,985.4,-7.9,484,12600,0.00,2.33,0.00,0.000,4,0.000,0.069,2447,3556,3460,0,0,0,0,0,0
$GC,12639,-0.58,-146.0,988.9,-8.1,484,12644,0.00,2.22,0.00,0.000,6,0.000,0.048,2447,2141,3460,0,0,0,0,0,0
$STATE,12683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12683,begin apogee
$GC,12688,-0.28,0.0,992.5,8.0,486,12814,0.30,0.00,122.53,1.356,6,0.067,0.000,2577,2033,2892,0,0,0,0,0,0
$STATE,12816,end apogee,CONTROL_FINISHED_OK
$STATE,12816,begin climb
$GC,12819,0.58,146.0,998.9,0.0,489,12957,0.70,2.55,129.27,1.323,4,0.051,0.068,2848,3448,2297,0,0,1,0,0,0
$GC,13072,0.58,146.0,973.3,18.7,494,13078,0.00,2.25,0.00,0.000,6,0.000,0.048,2853,2057,2288,0,0,1,0,0,0
$GC,13403,0.58,146.0,915.4,17.6,503,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2051,2281,0,0,0,0,0,0
$GC,13728,0.58,146.0,859.4,17.0,511,13732,0.00,2.33,0.00,0.000,4,0.000,0.069,2854,3459,2280,0,0,0,0,0,0
$GC,13760,0.58,146.0,853.3,18.9,511,13764,0.00,2.22,0.00,0.000,6,0.000,0.048,2863,2048,2279,0,0,0,0,0,0
$GC,14095,0.58,146.0,794.9,17.3,520,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2278,0,0,0,0,0,0
$GC,14419,0.58,146.0,741.8,16.0,528,14424,0.00,2.25,0.00,0.000,4,0.000,0.061,2874,628,2277,0,0,0,0,0,0
$GC,14447,0.58,146.0,737.3,16.5,528,14452,0.15,2.28,0.00,0.000,6,0.222,0.055,2841,2053,2278,0,0,0,0,0,0
$GC,14782,0.58,146.0,690.5,13.6,537,14787,0.00,2.30,0.00,0.000,4,0.000,0.062,2850,629,2275,0,0,0,0,0,0
$GC,14814,0.58,146.0,686.0,14.1,537,14818,0.00,2.28,0.00,0.000,6,0.000,0.056,2853,2053,2274,0,0,0,0,0,0
$GC,15145,0.58,146.0,641.3,13.2,545,15149,0.00,2.30,0.00,0.000,4,0.000,0.070,2850,3463,2274,0,0,0,0,0,0
$GC,15270,0.58,146.0,622.0,15.1,547,15275,0.00,2.28,0.00,0.000,6,0.000,0.050,2859,2034,2276,0,0,0,0,0,0
$GC,15605,0.58,146.0,576.3,13.1,556,15609,0.00,2.35,0.00,0.000,4,0.000,0.068,2860,3457,2274,0,0,0,0,0,0
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$STATE,22124,end climb,SURFACE_DEPTH_REACHED
$STATE,22124,begin surface coast
$FINISH,1.2,1.022642
$STATE,22170,end surface coast,CONTROL_FINISHED_OK
$STATE,22170,begin surface
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$XPDR_PINGS,1
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53609365504
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.2,50.937
$10V_AH,10.0,33.827
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.500,184.200,331.725,182.400,0.000,144.601,184.532,1557.839,0.250,0.000,37.552,1922.719,17305.605,647.797,4334.904,522.869,33.355,2022.212,0.000,2520.056,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.235,0.000,0.000
$MEM,355080
$DATA_FILE_SIZE,33443,978
$CAP_FILE_SIZE,224890,0
$CFSIZE,260165632,237535232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050111,193124,1803.910,12713.549,37,1.8,54,-2.0