version: 66.07
glider: 511
mission: 5
dive: 243
start: 1 6 111 2 20 56
data:
$ID,511
$MISSION,5
$DIVE,243
$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,-46700.133
$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,22
$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,242
$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
$GPS1,060111,015406,1805.612,12714.689,119,1.1,130,-2.1
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.1
$GPS2,060111,022002,1805.958,12714.912,21,1.3,21,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,0.096
$KALMAN_X,-525731.8,394.7,1858.3,487008.0,-16114.9
$KALMAN_Y,539474.6,255.2,-201.5,-818243.9,850.4
$MHEAD_RNG_PITCHd_Wd,65.6,92402,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,101,0.00,0.00,-71.00,0.000,2,0.000,0.000,37,2137,2743,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.1,-2.2,14,134,10.55,0.00,-16.27,0.000,6,0.254,0.000,2454,2137,3489,0,0,0,0,0,0
$GC,331,-0.58,-146.0,43.8,-15.4,48,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2137,3488,0,0,0,0,0,0
$GC,586,-0.58,-146.0,85.3,-17.5,72,590,0.00,2.20,0.00,0.000,4,0.000,0.058,2451,739,3488,0,0,0,0,0,0
$GC,628,-0.58,-146.0,91.8,-13.5,76,632,0.00,2.17,0.00,0.000,6,0.000,0.053,2447,2139,3488,0,0,1,0,0,0
$GC,889,-0.58,-146.0,127.9,-15.0,100,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2139,3488,0,0,0,0,0,0
$GC,1143,-0.58,-146.0,157.7,-11.0,124,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2139,3489,0,0,0,0,0,0
$GC,1398,-0.58,-146.0,183.5,-10.0,148,1402,0.00,2.22,0.00,0.000,4,0.000,0.058,2447,736,3488,0,0,0,0,0,0
$GC,1471,-0.58,-146.0,190.6,-9.6,155,1477,0.00,2.20,0.00,0.000,6,0.000,0.051,2445,2149,3488,0,0,0,0,0,0
$GC,1728,-0.58,-146.0,214.3,-9.2,173,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2151,3488,0,0,0,0,0,0
$GC,2037,-0.58,-146.0,241.6,-8.4,188,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2151,3488,0,0,0,0,0,0
$GC,2346,-0.58,-146.0,264.1,-6.9,203,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2151,3487,0,0,0,0,0,0
$GC,2655,-0.58,-146.0,287.2,-7.5,218,2659,0.00,2.22,0.00,0.000,4,0.000,0.058,2445,739,3486,0,0,0,0,0,0
$GC,2697,-0.58,-146.0,290.5,-7.6,220,2702,0.00,2.20,0.00,0.000,6,0.000,0.051,2445,2150,3485,0,0,0,0,0,0
$GC,3044,-0.58,-146.0,315.0,-6.9,232,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2150,3484,0,0,0,0,0,0
$GC,3368,-0.58,-146.0,336.6,-6.3,240,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2150,3481,0,0,0,0,0,0
$GC,3694,-0.58,-146.0,354.1,-5.2,248,3698,0.00,2.25,0.00,0.000,4,0.000,0.056,2445,727,3478,0,0,0,0,0,0
$GC,3716,-0.58,-146.0,355.4,-5.3,248,3721,0.00,2.25,0.00,0.000,6,0.000,0.053,2446,2146,3481,0,0,0,0,0,0
$GC,4056,-0.58,-146.0,378.0,-7.2,257,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2147,3483,0,0,0,0,0,0
$GC,4381,-0.58,-146.0,400.8,-6.8,265,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2146,3475,0,0,0,0,0,0
$GC,4706,-0.58,-146.0,419.7,-5.5,273,4708,0.00,0.00,-0.10,0.000,6,0.000,0.000,2445,2146,3496,0,0,0,0,0,0
$GC,5031,-0.58,-146.0,439.1,-6.0,281,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2146,3496,0,0,0,0,0,0
$GC,5356,-0.58,-146.0,456.3,-5.0,289,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2146,3492,0,0,0,0,0,0
$GC,5681,-0.58,-146.0,472.7,-5.0,297,5685,0.00,2.28,0.00,0.000,4,0.000,0.067,2445,3565,3491,0,0,0,0,0,0
$GC,5708,-0.58,-146.0,474.0,-4.0,297,5713,0.00,2.22,0.00,0.000,6,0.000,0.045,2445,2138,3491,0,0,0,0,0,0
$GC,6044,-0.58,-146.0,489.9,-5.2,306,6048,0.00,2.17,0.00,0.000,4,0.000,0.054,2448,734,3489,0,0,0,0,0,0
$GC,6094,-0.58,-146.0,493.7,-6.0,307,6099,0.00,2.25,0.00,0.000,6,0.000,0.051,2445,2155,3489,0,0,0,0,0,0
$GC,6412,-0.58,-146.0,522.2,-9.5,315,6416,0.00,2.25,0.00,0.000,4,0.000,0.067,2445,3552,3485,0,0,0,0,0,0
$GC,6471,-0.58,-146.0,527.8,-9.8,316,6475,0.00,2.17,0.00,0.000,6,0.000,0.042,2444,2144,3487,0,0,0,0,0,0
$GC,6784,-0.58,-146.0,551.6,-6.9,324,6788,0.00,2.30,0.00,0.000,4,0.000,0.069,2445,3560,3484,0,0,0,0,0,0
$GC,6826,-0.58,-146.0,554.2,-6.3,325,6830,0.00,2.17,0.00,0.000,6,0.000,0.041,2445,2146,3484,0,0,0,0,0,0
$GC,7152,-0.58,-146.0,574.9,-6.9,333,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2138,3483,0,0,0,0,0,0
$GC,7477,-0.58,-146.0,602.7,-8.8,341,7481,0.00,2.33,0.00,0.000,4,0.000,0.071,2445,3556,3479,0,0,0,0,0,0
$GC,7585,-0.58,-146.0,612.3,-8.9,343,7589,0.00,2.17,0.00,0.000,6,0.000,0.044,2445,2138,3481,0,0,0,0,0,0
$GC,7933,-0.58,-146.0,639.4,-7.8,352,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2135,3478,0,0,0,0,0,0
$GC,8258,-0.58,-146.0,666.0,-8.3,360,8262,0.00,2.17,0.00,0.000,4,0.000,0.055,2445,750,3476,0,0,0,0,0,0
$GC,8290,-0.58,-146.0,668.7,-8.4,360,8295,0.00,2.20,0.00,0.000,6,0.000,0.054,2445,2143,3476,0,0,0,0,0,0
$GC,8625,-0.58,-146.0,695.2,-7.9,369,8629,0.00,2.28,0.00,0.000,4,0.000,0.068,2445,3555,3479,0,0,0,0,0,0
$GC,8735,-0.58,-146.0,704.2,-9.3,371,8740,0.00,2.20,0.00,0.000,6,0.000,0.045,2445,2143,3475,0,0,0,0,0,0
$GC,9080,-0.58,-146.0,728.9,-7.1,380,9084,0.00,2.30,0.00,0.000,4,0.000,0.066,2445,3558,3473,0,0,0,0,0,0
$GC,9126,-0.58,-146.0,732.3,-7.2,381,9130,0.00,2.17,0.00,0.000,6,0.000,0.044,2445,2143,3472,0,0,0,0,0,0
$GC,9448,-0.58,-146.0,753.8,-6.8,389,9452,0.00,2.30,0.00,0.000,4,0.000,0.067,2445,3555,3471,0,0,0,0,0,0
$GC,9503,-0.58,-146.0,758.1,-7.7,390,9507,0.00,2.20,0.00,0.000,6,0.000,0.044,2445,2140,3470,0,0,0,0,0,0
$GC,9820,-0.58,-146.0,781.9,-7.9,398,9824,0.00,2.22,0.00,0.000,4,0.000,0.056,2445,735,3469,0,0,0,0,0,0
$GC,9838,-0.58,-146.0,783.6,-9.4,398,9842,0.00,2.22,0.00,0.000,6,0.000,0.051,2445,2148,3472,0,0,0,0,0,0
$GC,10182,-0.58,-146.0,811.4,-8.2,407,10186,0.00,2.28,0.00,0.000,4,0.000,0.069,2445,3554,3467,0,0,0,0,0,0
$GC,10218,-0.58,-146.0,814.5,-9.6,407,10224,0.00,2.20,0.00,0.000,6,0.000,0.046,2445,2142,3467,0,0,0,0,0,0
$GC,10549,-0.58,-146.0,839.6,-7.6,416,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2143,3467,0,0,0,0,0,0
$GC,10873,-0.58,-146.0,864.3,-7.7,424,10877,0.00,2.30,0.00,0.000,4,0.000,0.068,2446,3557,3466,0,0,0,0,0,0
$GC,10951,-0.58,-146.0,870.5,-7.6,425,10955,0.00,2.20,0.00,0.000,6,0.000,0.047,2445,2151,3466,0,0,0,0,0,0
$GC,11286,-0.58,-146.0,897.0,-8.2,434,11290,0.00,2.33,0.00,0.000,4,0.000,0.071,2441,3555,3464,0,0,0,0,0,0
$GC,11374,-0.58,-146.0,904.6,-9.4,436,11379,0.00,2.22,0.00,0.000,6,0.000,0.047,2445,2140,3464,0,0,0,0,0,0
$GC,11701,-0.58,-146.0,930.0,-7.7,444,11705,0.00,2.35,0.00,0.000,4,0.000,0.069,2445,3562,3462,0,0,0,0,0,0
$GC,11765,-0.58,-146.0,935.1,-6.9,445,11770,0.00,2.20,0.00,0.000,6,0.000,0.046,2445,2143,3462,0,0,0,0,0,0
$GC,12109,-0.58,-146.0,961.9,-7.8,454,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2139,3461,0,0,0,0,0,0
$GC,12434,-0.58,-146.0,987.4,-7.8,462,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2138,3461,0,0,0,0,0,0
$STATE,12473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12473,begin apogee
$GC,12479,-0.28,0.0,990.6,7.9,463,12604,0.32,0.00,122.62,1.356,6,0.067,0.000,2582,2028,2892,0,0,0,0,0,0
$STATE,12607,end apogee,CONTROL_FINISHED_OK
$STATE,12607,begin climb
$GC,12609,0.58,146.0,996.6,0.0,466,12747,0.68,2.42,129.80,1.319,4,0.051,0.057,2851,657,2294,0,0,0,0,0,0
$GC,12993,0.58,146.0,949.8,16.8,474,12998,0.00,2.25,0.00,0.000,6,0.000,0.054,2852,2045,2281,0,0,1,0,0,0
$GC,13328,0.58,146.0,891.1,17.6,483,13332,0.00,2.30,0.00,0.000,4,0.000,0.068,2847,3456,2277,0,0,0,0,0,0
$GC,13430,0.58,146.0,871.8,18.9,485,13434,0.00,2.20,0.00,0.000,6,0.000,0.048,2861,2053,2275,0,0,0,0,0,0
$GC,13742,0.58,146.0,819.0,16.4,493,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2048,2275,0,0,0,0,0,0
$GC,14067,0.58,146.0,767.8,15.4,501,14071,0.00,2.25,0.00,0.000,4,0.000,0.059,2871,638,2274,0,0,0,0,0,0
$GC,14122,0.58,146.0,759.0,15.9,502,14127,0.15,2.28,0.00,0.000,6,0.219,0.054,2839,2054,2274,0,0,0,0,0,0
$GC,14436,0.58,146.0,714.6,14.3,510,14440,0.00,2.30,0.00,0.000,4,0.000,0.070,2838,3456,2273,0,0,0,0,0,0
$GC,14537,0.58,146.0,698.3,15.5,512,14541,0.00,2.20,0.00,0.000,6,0.000,0.049,2847,2046,2273,0,0,0,0,0,0
$GC,14854,0.58,146.0,654.4,13.7,520,14858,0.00,2.28,0.00,0.000,4,0.000,0.060,2858,631,2273,0,0,0,0,0,0
$GC,14966,0.58,146.0,638.7,13.9,522,14970,0.00,2.28,0.00,0.000,6,0.000,0.055,2857,2043,2271,0,0,0,0,0,0
$GC,15310,0.58,146.0,592.7,13.2,531,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2043,2271,0,0,0,0,0,0
$GC,15635,0.58,146.0,551.1,12.5,539,15639,0.00,2.25,0.00,0.000,4,0.000,0.058,2868,640,2271,0,0,0,0,0,0
$GC,15777,0.58,146.0,534.2,11.3,542,15782,0.12,2.25,0.00,0.000,6,0.215,0.054,2841,2054,2272,0,0,0,0,0,0
$GC,16104,0.58,146.0,500.5,10.5,550,16109,0.00,2.28,0.00,0.000,4,0.000,0.059,2850,635,2270,0,0,0,0,0,0
$GC,16136,0.58,146.0,496.9,11.3,550,16140,0.00,2.25,0.00,0.000,6,0.000,0.054,2844,2047,2270,0,0,0,0,0,0
$GC,16467,0.58,146.0,464.5,9.6,558,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2047,2270,0,0,0,0,0,0
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$STATE,22049,end climb,SURFACE_DEPTH_REACHED
$STATE,22049,begin surface coast
$FINISH,0.8,1.022655
$STATE,22081,end surface coast,CONTROL_FINISHED_OK
$STATE,22082,begin surface
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$HUMID,1078680635
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$TCM_TEMP,25.70
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8384806912
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,53506605056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.1,51.308
$10V_AH,9.9,34.192
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,643.567,0.000,0.000,0.000,0.000,0.000,0.000,22050.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.397,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,33406,957
$CAP_FILE_SIZE,194086,0
$CFSIZE,260165632,237367296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060111,083301,1806.355,12717.554,37,1.5,37,-2.1