version: 66.07
glider: 511
mission: 5
dive: 291
start: 1 18 111 23 57 37
data:
$ID,511
$MISSION,5
$DIVE,291
$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,-48063.145
$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,2589
$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,2100
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,290
$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
$GPS1,180111,231106,1742.950,12803.379,47,1.2,47,-1.9
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.0
$GPS2,180111,235643,1742.733,12803.044,13,1.2,18,-1.9
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.152,0.136
$KALMAN_X,-615568.4,-410.0,2887.2,660079.2,-4261.2
$KALMAN_Y,643917.2,-661.8,-2004.6,-962937.7,3864.8
$MHEAD_RNG_PITCHd_Wd,50.2,8420,-10.9,-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,-0.59,-128.6,0.0,0.0,0,88,0.00,0.00,-60.75,0.000,2,0.000,0.000,26,2165,2690,0,0,0,0,0,0
$GC,92,-0.61,-146.0,3.1,-2.9,6,123,10.38,0.00,-18.88,0.000,6,0.253,0.000,2382,2163,3488,0,0,0,0,0,0
$GC,310,-0.61,-146.0,57.4,-29.2,27,314,0.00,2.35,0.00,0.000,4,0.000,0.061,2383,684,3490,0,0,0,0,0,0
$GC,356,-0.61,-146.0,70.3,-23.7,31,362,0.00,2.22,0.00,0.000,6,0.000,0.049,2370,2098,3490,0,0,0,0,0,0
$GC,616,-0.61,-146.0,135.2,-21.5,56,620,0.00,2.22,0.00,0.000,4,0.000,0.059,2375,677,3490,0,0,0,0,0,0
$GC,672,-0.61,-146.0,145.9,-17.7,61,677,0.00,2.22,0.00,0.000,6,0.000,0.051,2365,2101,3493,0,0,0,0,0,0
$GC,932,-0.61,-146.0,193.7,-17.9,86,936,0.00,2.22,0.00,0.000,4,0.000,0.059,2367,685,3490,0,0,0,0,0,0
$GC,996,-0.61,-146.0,204.9,-17.2,91,1002,0.12,2.22,0.00,0.000,6,0.165,0.050,2388,2109,3492,0,0,0,0,0,0
$GC,1311,-0.61,-146.0,251.3,-13.4,107,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2110,3490,0,0,0,0,0,0
$GC,1620,-0.61,-146.0,286.8,-11.1,122,1624,0.00,2.25,0.00,0.000,4,0.000,0.060,2389,676,3490,0,0,0,0,0,0
$GC,1647,-0.61,-146.0,290.1,-11.5,123,1652,0.00,2.22,0.00,0.000,6,0.000,0.050,2378,2096,3490,0,0,0,0,0,0
$GC,1984,-0.61,-146.0,330.4,-11.9,134,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2095,3489,0,0,0,0,0,0
$GC,2308,-0.61,-146.0,361.9,-9.3,142,2313,0.00,2.28,0.00,0.000,4,0.000,0.068,2372,3512,3488,0,0,0,0,0,0
$GC,2391,-0.61,-146.0,369.7,-8.5,143,2397,0.00,2.20,0.00,0.000,6,0.000,0.044,2371,2095,3487,0,0,0,0,0,0
$GC,2722,-0.61,-146.0,401.0,-9.9,152,2726,0.00,2.20,0.00,0.000,4,0.000,0.063,2372,691,3486,0,0,0,0,0,0
$GC,2768,-0.61,-146.0,406.0,-10.6,153,2772,0.00,2.22,0.00,0.000,6,0.000,0.052,2365,2112,3485,0,0,1,0,0,0
$GC,3090,-0.61,-146.0,441.7,-11.5,161,3094,0.00,2.22,0.00,0.000,4,0.000,0.066,2354,3509,3482,0,0,0,0,0,0
$GC,3140,-0.61,-146.0,447.7,-11.1,162,3145,0.12,2.20,0.00,0.000,6,0.149,0.048,2389,2105,3480,0,0,0,0,0,0
$GC,3463,-0.61,-146.0,476.1,-8.3,170,3467,0.00,2.20,0.00,0.000,4,0.000,0.055,2390,684,3479,0,0,0,0,0,0
$GC,3537,-0.61,-146.0,482.2,-7.9,171,3541,0.00,2.25,0.00,0.000,6,0.000,0.054,2383,2100,3478,0,0,0,0,0,0
$GC,3872,-0.61,-146.0,508.6,-7.8,180,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2098,3475,0,0,0,0,0,0
$GC,4197,-0.61,-146.0,535.9,-8.7,188,4201,0.00,2.28,0.00,0.000,4,0.000,0.065,2383,685,3472,0,0,1,0,0,0
$GC,4220,-0.61,-146.0,538.1,-9.8,188,4224,0.00,2.28,0.00,0.000,6,0.000,0.055,2375,2103,3472,0,0,0,0,0,0
$GC,4559,-0.61,-146.0,569.6,-9.4,197,4563,0.00,2.28,0.00,0.000,4,0.000,0.065,2375,686,3468,0,0,0,0,0,0
$GC,4596,-0.61,-146.0,573.3,-10.2,197,4601,0.00,2.28,0.00,0.000,6,0.000,0.056,2375,2103,3468,0,0,0,0,0,0
$GC,4927,-0.61,-146.0,603.5,-9.1,206,4931,0.00,2.28,0.00,0.000,4,0.000,0.066,2365,3507,3465,0,0,0,0,0,0
$GC,4963,-0.61,-146.0,607.0,-8.7,206,4969,0.00,2.22,0.00,0.000,6,0.000,0.049,2365,2095,3465,0,0,0,0,0,0
$GC,5294,-0.61,-146.0,635.8,-8.5,215,5298,0.00,2.20,0.00,0.000,4,0.000,0.055,2365,683,3463,0,0,0,0,0,0
$GC,5363,-0.61,-146.0,642.1,-9.6,216,5368,0.12,2.28,0.00,0.000,6,0.152,0.056,2394,2098,3462,0,0,0,0,0,0
$GC,5703,-0.61,-146.0,663.3,-6.1,225,5707,0.00,2.30,0.00,0.000,4,0.000,0.067,2386,3513,3460,0,0,0,0,0,0
$GC,5730,-0.61,-146.0,665.1,-6.9,225,5734,0.00,2.20,0.00,0.000,6,0.000,0.043,2381,2082,3459,0,0,0,0,0,0
$GC,6066,-0.61,-146.0,688.4,-7.3,234,6070,0.00,2.33,0.00,0.000,4,0.000,0.066,2375,3517,3457,0,0,0,0,0,0
$GC,6098,-0.61,-146.0,691.0,-7.9,234,6102,0.00,2.17,0.00,0.000,6,0.000,0.043,2375,2098,3456,0,0,0,0,0,0
$GC,6428,-0.61,-146.0,719.0,-8.7,242,6432,0.00,2.20,0.00,0.000,4,0.000,0.055,2375,696,3455,0,0,0,0,0,0
$GC,6484,-0.61,-146.0,724.2,-9.6,243,6488,0.00,2.25,0.00,0.000,6,0.000,0.054,2366,2101,3454,0,0,0,0,0,0
$GC,6801,-0.61,-146.0,751.9,-8.7,251,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2105,3452,0,0,0,0,0,0
$GC,7126,-0.61,-146.0,780.3,-8.8,259,7130,0.00,2.28,0.00,0.000,4,0.000,0.066,2357,3514,3450,0,0,0,0,0,0
$GC,7168,-0.61,-146.0,783.9,-8.2,260,7173,0.12,2.20,0.00,0.000,6,0.153,0.044,2391,2103,3449,0,0,0,0,0,0
$GC,7496,-0.61,-146.0,806.7,-6.8,268,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2098,3446,0,0,0,0,0,0
$GC,7821,-0.61,-146.0,827.5,-6.3,276,7825,0.00,2.20,0.00,0.000,4,0.000,0.055,2392,691,3447,0,0,0,0,0,0
$GC,7848,-0.61,-146.0,829.4,-7.4,276,7852,0.00,2.25,0.00,0.000,6,0.000,0.050,2388,2105,3446,0,0,0,0,0,0
$GC,8184,-0.61,-146.0,850.0,-6.0,285,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2105,3445,0,0,0,0,0,0
$GC,8508,-0.61,-146.0,868.9,-5.8,293,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2104,3443,0,0,0,0,0,0
$GC,8833,-0.61,-146.0,887.9,-6.0,301,8838,0.00,2.30,0.00,0.000,4,0.000,0.067,2378,3507,3441,0,0,0,0,0,0
$GC,8857,-0.61,-146.0,889.4,-7.1,301,8861,0.00,2.20,0.00,0.000,6,0.000,0.047,2378,2098,3443,0,0,0,0,0,0
$GC,9196,-0.61,-146.0,911.1,-6.5,310,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2094,3442,0,0,0,0,0,0
$GC,9521,-0.61,-146.0,931.0,-6.0,318,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2094,3440,0,0,0,0,0,0
$GC,9847,-0.61,-146.0,949.7,-5.7,326,9851,0.00,2.22,0.00,0.000,4,0.000,0.058,2378,691,3440,0,0,0,0,0,0
$GC,9884,-0.61,-146.0,952.0,-5.3,326,9889,0.00,2.25,0.00,0.000,6,0.000,0.051,2373,2098,3440,0,0,0,0,0,0
$GC,10214,-0.61,-146.0,972.5,-6.3,335,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2100,3439,0,0,0,0,0,0
$STATE,10496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10496,begin apogee
$GC,10502,-0.28,0.0,991.7,7.0,342,10624,0.40,0.00,119.32,1.364,6,0.133,0.000,2498,2100,2892,0,0,0,0,0,0
$STATE,10648,end apogee,CONTROL_FINISHED_OK
$STATE,10648,begin climb
$GC,10650,0.61,146.0,996.3,0.0,345,10792,0.80,2.55,131.77,1.326,4,0.079,0.067,2794,659,2294,0,0,0,0,0,0
$GC,10879,0.61,146.0,984.3,10.9,350,10883,0.00,2.35,0.00,0.000,6,0.000,0.054,2794,2068,2285,0,0,0,0,0,0
$GC,11228,0.61,146.0,944.2,11.6,359,11232,0.00,2.33,0.00,0.000,4,0.000,0.070,2794,3480,2280,0,0,0,0,0,0
$GC,11297,0.61,146.0,935.1,12.8,360,11301,0.00,2.28,0.00,0.000,6,0.000,0.054,2805,2071,2279,0,0,0,0,0,0
$GC,11641,0.61,146.0,892.5,12.5,369,11645,0.00,2.30,0.00,0.000,4,0.000,0.068,2805,3480,2277,0,0,0,0,0,0
$GC,11674,0.61,146.0,888.1,13.6,369,11678,0.00,2.28,0.00,0.000,6,0.000,0.055,2814,2072,2277,0,0,0,0,0,0
$GC,12004,0.61,146.0,842.4,14.0,377,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2068,2276,0,0,0,0,0,0
$GC,12329,0.61,146.0,795.3,14.7,385,12333,0.00,2.33,0.00,0.000,4,0.000,0.072,2826,646,2276,0,0,0,0,0,0
$GC,12358,0.61,146.0,791.1,14.2,385,12363,0.15,2.30,0.00,0.000,6,0.208,0.056,2791,2070,2274,0,0,0,0,0,0
$GC,12694,0.61,146.0,749.6,11.9,394,12698,0.00,2.33,0.00,0.000,4,0.000,0.071,2790,3480,2273,0,0,0,0,0,0
$GC,12804,0.61,146.0,735.5,12.2,396,12809,0.00,2.28,0.00,0.000,6,0.000,0.057,2799,2066,2273,0,0,0,0,0,0
$GC,13149,0.61,146.0,698.4,10.6,405,13153,0.00,2.33,0.00,0.000,4,0.000,0.074,2807,650,2273,0,0,0,0,0,0
$GC,13172,0.61,146.0,695.7,9.3,405,13176,0.00,2.28,0.00,0.000,6,0.000,0.057,2810,2072,2272,0,0,0,0,0,0
$GC,13516,0.61,146.0,657.5,11.4,414,13520,0.00,2.33,0.00,0.000,4,0.000,0.070,2810,3488,2272,0,0,0,0,0,0
$GC,13622,0.61,146.0,643.2,12.8,416,13626,0.00,2.33,0.00,0.000,6,0.000,0.058,2818,2060,2272,0,0,0,0,0,0
$GC,13935,0.61,146.0,604.2,11.9,424,13937,0.15,0.00,0.00,0.000,6,0.221,0.000,2786,2054,2272,0,0,0,0,0,0
$GC,14260,0.61,146.0,573.7,8.8,432,14264,0.00,2.35,0.00,0.000,4,0.000,0.072,2787,3480,2272,0,0,0,0,0,0
$GC,14331,0.61,146.0,566.9,9.7,433,14335,0.00,2.28,0.00,0.000,6,0.000,0.058,2794,2068,2272,0,0,0,0,0,0
$GC,14670,0.61,146.0,534.6,9.6,442,14674,0.00,2.33,0.00,0.000,4,0.000,0.074,2805,653,2271,0,0,0,0,0,0
$GC,14726,0.61,146.0,528.9,9.7,443,14730,0.00,2.30,0.00,0.000,6,0.000,0.057,2805,2075,2271,0,0,0,0,0,0
$GC,15039,0.61,146.0,497.4,9.9,451,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2069,2270,0,0,0,0,0,0
$GC,15364,0.61,146.0,466.6,9.0,459,15368,0.00,2.30,0.00,0.000,4,0.000,0.070,2806,3480,2271,0,0,0,0,0,0
$GC,15539,0.61,146.0,447.9,10.5,462,15544,0.00,2.25,0.00,0.000,6,0.000,0.056,2815,2063,2271,0,0,1,0,0,0
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$STATE,21587,end climb,SURFACE_DEPTH_REACHED
$STATE,21587,begin surface coast
$FINISH,0.9,1.009964
$STATE,21612,end surface coast,CONTROL_FINISHED_OK
$STATE,21612,begin surface
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$10V_AH,9.9,40.902
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354896
$DATA_FILE_SIZE,30045,834
$CAP_FILE_SIZE,215506,0
$CFSIZE,260165632,232919040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190111,060216,1745.551,12804.824,108,3.7,127,-2.0