version: 66.07
glider: 511
mission: 5
dive: 270
start: 1 13 111 9 36 43
data:
$ID,511
$MISSION,5
$DIVE,270
$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,-47487.543
$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,2600
$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,2160
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,269
$AR_SAMPLENUM,0
$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
$GPS1,130111,085807,1801.762,12747.596,54,1.8,54,-2.0
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.6
$GPS2,130111,093547,1801.990,12747.535,16,2.4,35,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.120,-0.178
$KALMAN_X,-607544.2,225.1,656.6,626748.1,-5652.1
$KALMAN_Y,595806.1,577.9,-844.8,-881596.3,7557.3
$MHEAD_RNG_PITCHd_Wd,148.1,39192,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-85.10,0.000,2,0.000,0.000,33,2165,2776,0,0,0,0,0,0
$GC,115,-0.58,-146.0,3.8,-4.1,9,146,10.07,2.22,-14.45,0.000,4,0.245,0.066,2408,755,3488,0,0,0,0,0,0
$GC,211,-0.58,-146.0,29.3,-20.4,19,216,0.00,2.22,0.00,0.000,6,0.000,0.055,2400,2157,3489,0,0,0,0,0,0
$GC,408,-0.58,-146.0,80.3,-27.6,37,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2157,3489,0,0,0,0,0,0
$GC,663,-0.58,-146.0,145.5,-21.5,61,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2157,3488,0,0,0,0,0,0
$GC,918,-0.58,-146.0,195.1,-16.2,85,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2157,3489,0,0,0,0,0,0
$GC,1166,-0.58,-146.0,230.2,-13.0,99,1170,0.00,2.28,0.00,0.000,4,0.000,0.066,2390,3576,3489,0,0,0,0,0,0
$GC,1180,-0.58,-146.0,232.0,-12.4,99,1186,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,2158,3489,0,0,0,0,0,0
$GC,1495,-0.58,-146.0,272.3,-12.7,115,1499,0.00,2.17,0.00,0.000,4,0.000,0.057,2391,752,3487,0,0,0,0,0,0
$GC,1588,-0.58,-146.0,283.7,-12.2,119,1592,0.00,2.22,0.00,0.000,6,0.000,0.051,2390,2169,3489,0,0,0,0,0,0
$GC,1934,-0.58,-146.0,326.5,-12.5,131,1938,0.00,2.25,0.00,0.000,4,0.000,0.058,2390,748,3488,0,0,0,0,0,0
$GC,1998,-0.58,-146.0,334.4,-11.4,132,2002,0.00,2.22,0.00,0.000,6,0.000,0.053,2390,2160,3488,0,0,0,0,0,0
$GC,2342,-0.58,-146.0,370.4,-9.8,141,2346,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,753,3486,0,0,1,0,0,0
$GC,2379,-0.58,-146.0,373.9,-9.4,141,2384,0.00,2.20,0.00,0.000,6,0.000,0.054,2390,2161,3485,0,0,0,0,0,0
$GC,2709,-0.58,-146.0,399.9,-7.7,150,2713,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,751,3483,0,0,0,0,0,0
$GC,2732,-0.58,-146.0,401.7,-8.6,150,2736,0.00,2.22,0.00,0.000,6,0.000,0.057,2389,2158,3483,0,0,0,0,0,0
$GC,3072,-0.58,-146.0,428.6,-8.1,159,3076,0.00,2.25,0.00,0.000,4,0.000,0.059,2390,743,3480,0,0,0,0,0,0
$GC,3131,-0.58,-146.0,433.8,-8.3,160,3135,0.00,2.25,0.00,0.000,6,0.000,0.055,2390,2163,3477,0,0,0,0,0,0
$GC,3480,-0.58,-146.0,463.2,-8.6,169,3482,0.00,0.00,-0.10,0.000,6,0.000,0.000,2390,2164,3497,0,0,0,0,0,0
$GC,3805,-0.58,-146.0,491.2,-8.5,177,3809,0.00,2.28,0.00,0.000,4,0.000,0.062,2390,742,3495,0,0,0,0,0,0
$GC,3841,-0.58,-146.0,494.4,-8.5,177,3847,0.00,2.25,0.00,0.000,6,0.000,0.054,2390,2158,3495,0,0,0,0,0,0
$GC,4172,-0.58,-146.0,520.1,-7.7,186,4176,0.00,2.25,0.00,0.000,4,0.000,0.061,2390,749,3491,0,0,0,0,0,0
$GC,4217,-0.58,-146.0,523.9,-8.4,187,4222,0.00,2.25,0.00,0.000,6,0.000,0.058,2389,2168,3490,0,0,0,0,0,0
$GC,4539,-0.58,-146.0,550.7,-8.4,195,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2169,3488,0,0,0,0,0,0
$GC,4865,-0.58,-146.0,578.0,-8.3,203,4869,0.00,2.25,0.00,0.000,4,0.000,0.056,2389,748,3485,0,0,0,0,0,0
$GC,4892,-0.58,-146.0,580.5,-9.4,203,4896,0.00,2.22,0.00,0.000,6,0.000,0.051,2390,2165,3485,0,0,0,0,0,0
$GC,5227,-0.58,-146.0,606.7,-7.7,212,5231,0.00,2.28,0.00,0.000,4,0.000,0.068,2389,3578,3482,0,0,0,0,0,0
$GC,5249,-0.58,-146.0,608.5,-8.0,212,5253,0.00,2.15,0.00,0.000,6,0.000,0.042,2389,2152,3482,0,0,1,0,0,0
$GC,5589,-0.58,-146.0,634.3,-7.5,221,5593,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,752,3479,0,0,0,0,0,0
$GC,5653,-0.58,-146.0,639.2,-6.6,222,5657,0.00,2.20,0.00,0.000,6,0.000,0.051,2389,2161,3478,0,0,0,0,0,0
$GC,5998,-0.58,-146.0,660.8,-5.8,231,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2161,3476,0,0,0,0,0,0
$GC,6322,-0.58,-146.0,679.7,-5.9,239,6326,0.00,2.20,0.00,0.000,4,0.000,0.054,2394,756,3474,0,0,0,0,0,0
$GC,6340,-0.58,-146.0,680.8,-6.4,239,6344,0.00,2.25,0.00,0.000,6,0.000,0.051,2389,2168,3474,0,0,0,0,0,0
$GC,6684,-0.58,-146.0,702.1,-6.1,248,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2169,3471,0,0,0,0,0,0
$GC,7010,-0.58,-146.0,721.3,-5.9,256,7014,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,755,3468,0,0,0,0,0,0
$GC,7037,-0.58,-146.0,723.1,-6.9,256,7041,0.00,2.25,0.00,0.000,6,0.000,0.052,2389,2168,3468,0,0,0,0,0,0
$GC,7376,-0.58,-146.0,745.6,-7.0,265,7380,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,752,3466,0,0,0,0,0,0
$GC,7404,-0.58,-146.0,747.8,-8.4,265,7408,0.00,2.25,0.00,0.000,6,0.000,0.051,2389,2163,3467,0,0,0,0,0,0
$GC,7738,-0.58,-146.0,773.4,-7.7,274,7742,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,749,3463,0,0,0,0,0,0
$GC,7761,-0.58,-146.0,775.5,-9.3,274,7765,0.00,2.25,0.00,0.000,6,0.000,0.052,2390,2156,3465,0,0,0,0,0,0
$GC,8101,-0.58,-146.0,801.8,-7.5,283,8105,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,756,3464,0,0,0,0,0,0
$GC,8124,-0.58,-146.0,803.6,-8.5,283,8128,0.00,2.22,0.00,0.000,6,0.000,0.053,2389,2165,3464,0,0,0,0,0,0
$GC,8463,-0.58,-146.0,826.8,-6.6,292,8468,0.00,2.30,0.00,0.000,4,0.000,0.070,2389,3575,3464,0,0,0,0,0,0
$GC,8491,-0.58,-146.0,828.5,-5.8,292,8495,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2160,3462,0,0,0,0,0,0
$GC,8831,-0.58,-146.0,849.4,-6.0,301,8835,0.00,2.22,0.00,0.000,4,0.000,0.056,2389,747,3460,0,0,0,0,0,0
$GC,8878,-0.58,-146.0,852.3,-6.4,302,8882,0.00,2.25,0.00,0.000,6,0.000,0.054,2389,2163,3458,0,0,0,0,0,0
$GC,9205,-0.58,-146.0,870.5,-5.5,310,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2163,3459,0,0,0,0,0,0
$GC,9529,-0.58,-146.0,887.1,-5.0,318,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2163,3458,0,0,0,0,0,0
$GC,9854,-0.58,-146.0,903.9,-5.3,326,9858,0.00,2.25,0.00,0.000,4,0.000,0.056,2389,756,3457,0,0,0,0,0,0
$GC,9886,-0.58,-146.0,906.0,-6.8,326,9890,0.00,2.22,0.00,0.000,6,0.000,0.053,2389,2159,3458,0,0,0,0,0,0
$GC,10217,-0.58,-146.0,925.9,-6.3,334,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2159,3457,0,0,0,0,0,0
$GC,10542,-0.58,-146.0,947.1,-6.5,342,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2159,3455,0,0,0,0,0,0
$GC,10867,-0.58,-146.0,966.7,-5.9,350,10871,0.00,2.25,0.00,0.000,4,0.000,0.057,2389,756,3455,0,0,0,0,0,0
$GC,10904,-0.58,-146.0,968.9,-5.9,350,10910,0.00,2.25,0.00,0.000,6,0.000,0.054,2389,2164,3454,0,0,0,0,0,0
$GC,11235,-0.58,-146.0,987.3,-5.4,359,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2165,3453,0,0,0,0,0,0
$STATE,11315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11315,begin apogee
$GC,11321,-0.28,0.0,991.4,5.3,361,11447,0.38,0.00,123.35,1.358,6,0.120,0.000,2511,2026,2893,0,0,0,0,0,0
$STATE,11450,end apogee,CONTROL_FINISHED_OK
$STATE,11450,begin climb
$GC,11453,0.58,146.0,994.3,0.0,364,11591,0.80,0.00,134.38,1.318,6,0.067,0.000,2797,2025,2294,0,0,0,0,0,0
$GC,11881,0.58,146.0,948.4,14.3,375,11885,0.00,2.33,0.00,0.000,4,0.000,0.069,2796,3441,2281,0,0,0,0,0,0
$GC,11918,0.58,146.0,942.7,14.3,375,11923,0.00,2.25,0.00,0.000,6,0.000,0.050,2808,2032,2280,0,0,1,0,0,0
$GC,12248,0.58,146.0,895.8,14.0,384,12252,0.00,2.35,0.00,0.000,4,0.000,0.069,2807,3444,2278,0,0,0,0,0,0
$GC,12349,0.58,146.0,880.6,13.9,386,12354,0.12,2.25,0.00,0.000,6,0.223,0.050,2790,2026,2278,0,0,0,0,0,0
$GC,12663,0.58,146.0,844.2,11.3,394,12667,0.00,2.35,0.00,0.000,4,0.000,0.069,2789,3447,2275,0,0,0,0,0,0
$GC,12710,0.58,146.0,838.4,12.0,395,12714,0.00,2.28,0.00,0.000,6,0.000,0.051,2798,2023,2276,0,0,0,0,0,0
$GC,13037,0.58,146.0,800.2,11.7,403,13041,0.00,2.33,0.00,0.000,4,0.000,0.070,2798,3441,2274,0,0,0,0,0,0
$GC,13092,0.58,146.0,793.2,12.8,404,13096,0.00,2.25,0.00,0.000,6,0.000,0.051,2808,2025,2278,0,0,0,0,0,0
$GC,13409,0.58,146.0,754.4,12.3,412,13413,0.00,2.33,0.00,0.000,4,0.000,0.068,2809,3444,2273,0,0,0,0,0,0
$GC,13441,0.58,146.0,749.8,13.6,412,13446,0.12,2.25,0.00,0.000,6,0.225,0.051,2792,2033,2274,0,0,0,0,0,0
$GC,13772,0.58,146.0,711.6,11.2,420,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2026,2272,0,0,0,0,0,0
$GC,14097,0.58,146.0,676.2,10.8,428,14101,0.00,2.30,0.00,0.000,4,0.000,0.069,2792,3440,2273,0,0,0,0,0,0
$GC,14204,0.58,146.0,663.3,13.4,430,14208,0.00,2.25,0.00,0.000,6,0.000,0.051,2800,2032,2273,0,0,0,0,0,0
$GC,14553,0.58,146.0,624.6,11.1,439,14557,0.00,2.35,0.00,0.000,4,0.000,0.069,2800,3445,2272,0,0,0,0,0,0
$GC,14612,0.58,146.0,617.3,12.3,440,14617,0.00,2.28,0.00,0.000,6,0.000,0.050,2812,2021,2273,0,0,0,0,0,0
$GC,14961,0.58,146.0,578.2,11.0,449,14963,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2017,2272,0,0,0,0,0,0
$GC,15286,0.58,146.0,543.4,10.7,457,15290,0.00,2.35,0.00,0.000,4,0.000,0.069,2812,3444,2271,0,0,0,0,0,0
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$STATE,22465,end climb,SURFACE_DEPTH_REACHED
$STATE,22465,begin surface coast
$FINISH,1.1,1.022628
$STATE,22477,end surface coast,CONTROL_FINISHED_OK
$STATE,22477,begin surface
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$TCM_TEMP,26.10
$XPDR_PINGS,4
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$AR_CDRIVE_FREE,8435204096
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52654669824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.0,56.709
$10V_AH,9.8,38.395
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.010,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,30052,862
$CAP_FILE_SIZE,212392,0
$CFSIZE,260165632,234704896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,130111,155507,1801.227,12749.729,47,1.0,47,-2.0