version: 66.07
glider: 511
mission: 5
dive: 276
start: 1 15 111 2 2 29
data:
$ID,511
$MISSION,5
$DIVE,276
$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,440
$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,-47676.027
$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,2595
$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,20
$R_STBD_OVSHOOT,24
$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,275
$AR_SAMPLENUM,1
$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
$GPS1,150111,015314,1754.975,12756.163,105,2.2,124,-2.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.3
$GPS2,150111,020134,1754.976,12756.059,13,2.2,32,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,-0.215
$KALMAN_X,-610257.2,302.2,215.0,644614.8,-3772.7
$KALMAN_Y,618835.9,-373.5,-1211.1,-916279.4,11288.2
$MHEAD_RNG_PITCHd_Wd,182.0,19392,-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,27,-0.58,-146.0,0.0,0.0,0,89,0.00,0.00,-60.42,0.000,2,0.000,0.000,41,2167,2685,0,0,0,0,0,0
$GC,92,-0.58,-146.0,3.1,-3.1,6,127,10.10,2.28,-17.95,0.000,4,0.246,0.069,2400,745,3486,0,0,0,0,0,0
$GC,289,-0.58,-146.0,45.7,-19.8,27,294,0.00,2.20,0.00,0.000,6,0.000,0.051,2392,2154,3488,0,0,0,0,0,0
$GC,549,-0.58,-146.0,109.1,-23.8,52,553,0.00,2.22,0.00,0.000,4,0.000,0.057,2388,744,3489,0,0,0,0,0,0
$GC,619,-0.58,-146.0,123.7,-19.5,59,623,0.00,2.28,0.00,0.000,6,0.000,0.053,2382,2170,3489,0,0,0,0,0,0
$GC,881,-0.58,-146.0,179.7,-19.7,83,885,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,746,3489,0,0,0,0,0,0
$GC,991,-0.58,-146.0,198.9,-15.5,94,997,0.12,2.20,0.00,0.000,6,0.164,0.049,2405,2159,3489,0,0,0,0,0,0
$GC,1254,-0.58,-146.0,232.1,-12.3,108,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2159,3490,0,0,0,0,0,0
$GC,1565,-0.58,-146.0,266.3,-10.1,123,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2156,3490,0,0,0,0,0,0
$GC,1873,-0.58,-146.0,296.4,-9.7,138,1877,0.00,2.22,0.00,0.000,4,0.000,0.058,2404,742,3490,0,0,0,0,0,0
$GC,1905,-0.58,-146.0,299.5,-9.3,139,1909,0.00,2.25,0.00,0.000,6,0.000,0.052,2402,2171,3491,0,0,0,0,0,0
$GC,2215,-0.58,-146.0,327.9,-9.3,147,2219,0.00,2.22,0.00,0.000,4,0.000,0.067,2392,3566,3489,0,0,0,0,0,0
$GC,2234,-0.58,-146.0,329.5,-8.4,147,2238,0.00,2.17,0.00,0.000,6,0.000,0.044,2392,2152,3489,0,0,0,0,0,0
$GC,2582,-0.58,-146.0,363.0,-9.5,156,2586,0.00,2.15,0.00,0.000,4,0.000,0.054,2392,754,3489,0,0,0,0,0,0
$GC,2719,-0.58,-146.0,376.2,-9.8,159,2723,0.00,2.20,0.00,0.000,6,0.000,0.053,2391,2157,3487,0,0,0,0,0,0
$GC,3045,-0.58,-146.0,407.1,-9.2,167,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2157,3485,0,0,0,0,0,0
$GC,3370,-0.58,-146.0,436.3,-8.6,175,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2157,3483,0,0,0,0,0,0
$GC,3695,-0.58,-146.0,461.4,-7.8,183,3699,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,750,3480,0,0,0,0,0,0
$GC,3736,-0.58,-146.0,465.0,-8.5,183,3741,0.00,2.22,0.00,0.000,6,0.000,0.055,2396,2159,3479,0,0,0,0,0,0
$GC,4066,-0.58,-146.0,493.7,-8.9,192,4070,0.00,2.25,0.00,0.000,4,0.000,0.058,2391,744,3474,0,0,1,0,0,0
$GC,4098,-0.58,-146.0,496.8,-9.5,192,4103,0.00,2.25,-0.10,0.000,6,0.000,0.058,2390,2161,3498,0,0,0,0,0,0
$GC,4434,-0.58,-146.0,525.0,-8.2,201,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2162,3496,0,0,0,0,0,0
$GC,4758,-0.58,-146.0,550.0,-7.5,209,4763,0.00,2.25,0.00,0.000,4,0.000,0.058,2391,750,3493,0,0,0,0,0,0
$GC,4829,-0.58,-146.0,555.6,-8.2,210,4833,0.00,2.22,0.00,0.000,6,0.000,0.051,2391,2166,3492,0,0,0,0,0,0
$GC,5169,-0.58,-146.0,581.6,-7.7,219,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2167,3490,0,0,0,0,0,0
$GC,5493,-0.58,-146.0,606.5,-7.8,227,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2167,3491,0,0,0,0,0,0
$GC,5818,-0.58,-146.0,633.8,-8.5,235,5823,0.00,2.25,0.00,0.000,4,0.000,0.057,2391,743,3485,0,0,0,0,0,0
$GC,5869,-0.58,-146.0,638.7,-9.0,236,5873,0.00,2.22,0.00,0.000,6,0.000,0.052,2390,2160,3484,0,0,0,0,0,0
$GC,6187,-0.58,-146.0,665.7,-8.4,244,6190,0.00,2.22,0.00,0.000,4,0.000,0.054,2396,751,3481,0,0,1,0,0,0
$GC,6227,-0.58,-146.0,669.1,-8.0,244,6233,0.00,2.22,0.00,0.000,6,0.000,0.051,2390,2164,3485,0,0,0,0,0,0
$GC,6558,-0.58,-146.0,692.4,-6.7,253,6562,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,751,3480,0,0,0,0,0,0
$GC,6585,-0.58,-146.0,694.2,-6.9,253,6589,0.00,2.25,0.00,0.000,6,0.000,0.051,2390,2165,3481,0,0,0,0,0,0
$GC,6925,-0.58,-146.0,712.5,-5.2,262,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2165,3478,0,0,0,0,0,0
$GC,7250,-0.58,-146.0,729.6,-5.5,270,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2165,3476,0,0,0,0,0,0
$GC,7575,-0.58,-146.0,750.3,-6.6,278,7579,0.00,2.25,0.00,0.000,4,0.000,0.054,2391,744,3475,0,0,0,0,0,0
$GC,7639,-0.58,-146.0,755.1,-7.6,279,7643,0.00,2.25,0.00,0.000,6,0.000,0.052,2391,2163,3474,0,0,0,0,0,0
$GC,7988,-0.58,-146.0,777.8,-6.5,288,7992,0.00,2.30,0.00,0.000,4,0.000,0.069,2381,3575,3473,0,0,0,0,0,0
$GC,8024,-0.58,-146.0,780.4,-7.2,288,8030,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,2149,3472,0,0,1,0,0,0
$GC,8354,-0.58,-146.0,802.4,-6.6,297,8358,0.00,2.20,0.00,0.000,4,0.000,0.056,2381,755,3471,0,0,0,0,0,0
$GC,8410,-0.58,-146.0,806.1,-6.6,298,8413,0.00,2.25,0.00,0.000,6,0.000,0.052,2381,2166,3471,0,0,0,0,0,0
$GC,8727,-0.58,-146.0,827.8,-7.0,306,8731,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,762,3469,0,0,0,0,0,0
$GC,8750,-0.58,-146.0,829.6,-8.2,306,8754,0.00,2.22,0.00,0.000,6,0.000,0.054,2381,2159,3469,0,0,0,0,0,0
$GC,9089,-0.58,-146.0,854.6,-7.3,315,9093,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,754,3468,0,0,0,0,0,0
$GC,9131,-0.58,-146.0,857.8,-7.7,316,9135,0.00,2.22,0.00,0.000,6,0.000,0.052,2381,2159,3467,0,0,0,0,0,0
$GC,9458,-0.58,-146.0,880.0,-6.7,324,9462,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,751,3467,0,0,0,0,0,0
$GC,9495,-0.58,-146.0,882.8,-7.6,324,9501,0.10,2.28,0.00,0.000,6,0.163,0.052,2405,2171,3466,0,0,0,0,0,0
$GC,9826,-0.58,-146.0,899.7,-5.1,333,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2171,3466,0,0,0,0,0,0
$GC,10151,-0.58,-146.0,916.8,-5.3,341,10155,0.00,2.25,0.00,0.000,4,0.000,0.056,2408,756,3465,0,0,0,0,0,0
$GC,10174,-0.58,-146.0,918.1,-5.3,341,10178,0.00,2.22,0.00,0.000,6,0.000,0.052,2412,2156,3465,0,0,0,0,0,0
$GC,10513,-0.58,-146.0,938.2,-6.1,350,10518,0.00,2.22,0.00,0.000,4,0.000,0.058,2408,763,3467,0,0,1,0,0,0
$GC,10688,-0.58,-146.0,948.5,-6.7,353,10693,0.00,2.25,0.00,0.000,6,0.000,0.054,2408,2172,3464,0,0,0,0,0,0
$GC,11019,-0.58,-146.0,967.6,-5.8,362,11023,0.00,2.25,0.00,0.000,4,0.000,0.057,2408,760,3462,0,0,0,0,0,0
$GC,11036,-0.58,-146.0,968.7,-6.4,362,11041,0.00,2.25,0.00,0.000,6,0.000,0.054,2408,2160,3462,0,0,0,0,0,0
$GC,11386,-0.58,-146.0,989.9,-6.2,371,11390,0.00,2.10,0.00,0.000,3,0.000,0.071,2408,3435,3461,0,0,0,0,0,0
$STATE,11390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11390,begin apogee
$GC,11398,-0.28,0.0,990.1,6.2,371,11527,0.25,0.00,125.68,1.355,6,0.111,0.000,2498,2025,2890,0,0,0,0,0,0
$STATE,11530,end apogee,CONTROL_FINISHED_OK
$STATE,11530,begin climb
$GC,11533,0.58,146.0,996.9,0.0,374,11675,0.77,2.50,132.98,1.319,4,0.067,0.060,2791,626,2295,0,0,1,0,0,0
$GC,11748,0.58,146.0,985.1,12.2,379,11753,0.00,2.35,0.00,0.000,6,0.000,0.055,2791,2027,2284,0,0,0,0,0,0
$GC,12070,0.58,146.0,945.3,12.3,387,12074,0.00,2.35,0.00,0.000,4,0.000,0.072,2791,3447,2279,0,0,0,0,0,0
$GC,12149,0.58,146.0,934.7,14.7,388,12153,0.00,2.22,0.00,0.000,6,0.000,0.050,2802,2033,2279,0,0,1,0,0,0
$GC,12484,0.58,146.0,893.7,12.4,397,12488,0.00,2.35,0.00,0.000,4,0.000,0.071,2802,3443,2277,0,0,0,0,0,0
$GC,12540,0.58,146.0,886.0,13.7,398,12545,0.12,2.25,0.00,0.000,6,0.218,0.051,2789,2031,2276,0,0,0,0,0,0
$GC,12854,0.58,146.0,850.1,11.4,406,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2025,2274,0,0,0,0,0,0
$GC,13178,0.58,146.0,814.4,10.9,414,13182,0.00,2.33,0.00,0.000,4,0.000,0.071,2785,3442,2274,0,0,0,0,0,0
$GC,13225,0.58,146.0,808.5,13.2,415,13229,0.00,2.25,0.00,0.000,6,0.000,0.051,2794,2029,2275,0,0,0,0,0,0
$GC,13552,0.58,146.0,771.8,11.0,423,13556,0.00,2.35,0.00,0.000,4,0.000,0.070,2794,3444,2274,0,0,0,0,0,0
$GC,13602,0.58,146.0,765.7,12.0,424,13606,0.00,2.22,0.00,0.000,6,0.000,0.051,2804,2030,2274,0,0,0,0,0,0
$GC,13919,0.58,146.0,728.7,11.8,432,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2024,2273,0,0,0,0,0,0
$GC,14245,0.58,146.0,690.7,11.5,440,14249,0.00,2.35,0.00,0.000,4,0.000,0.069,2804,3443,2272,0,0,0,0,0,0
$GC,14318,0.58,146.0,680.8,13.7,441,14323,0.12,2.22,0.00,0.000,6,0.214,0.051,2788,2023,2273,0,0,1,0,0,0
$GC,14654,0.58,146.0,644.8,10.5,450,14658,0.00,2.35,0.00,0.000,4,0.000,0.071,2787,3443,2270,0,0,0,0,0,0
$GC,14687,0.58,146.0,641.1,11.4,450,14691,0.00,2.25,0.00,0.000,6,0.000,0.051,2796,2022,2273,0,0,0,0,0,0
$GC,15017,0.58,146.0,606.0,10.4,458,15021,0.00,2.38,0.00,0.000,4,0.000,0.071,2796,3443,2271,0,0,0,0,0,0
$GC,15067,0.58,146.0,600.3,11.1,459,15072,0.00,2.25,0.00,0.000,6,0.000,0.050,2806,2023,2272,0,0,0,0,0,0
$GC,15385,0.58,146.0,568.2,10.1,467,15389,0.00,2.35,0.00,0.000,4,0.000,0.070,2806,3442,2272,0,0,0,0,0,0
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$STATE,23186,end climb,SURFACE_DEPTH_REACHED
$STATE,23186,begin surface coast
$FINISH,0.7,1.022550
$STATE,23234,end surface coast,CONTROL_FINISHED_OK
$STATE,23234,begin surface
$SM_CCo,23254,70.60,0.545,0,0,1097,440.06
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$IRIDIUM_FIX,1749.63,12756.08,090712,131355
$TT8_MAMPS,0.057525
$HUMID,1078644506
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,26.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8435040256
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52570587136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,57.845
$10V_AH,9.9,39.246
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.325,202.325,387.550,70.600,0.000,30.254,35.339,264.568,0.000,0.000,35.585,1843.764,18336.822,575.679,2755.715,307.035,33.360,1895.938,0.000,2343.401,0.000,0.544,0.000
$DEVICE_MAMPS,246.207,72.098,1354.522,544.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,613.613,0.000,0.000,0.000,0.000,0.000,0.000,21880.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.894,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,33412,911
$CAP_FILE_SIZE,193135,0
$CFSIZE,260165632,234164224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,150111,083237,1752.801,12757.010,30,0.9,30,-2.0