version: 66.07
glider: 511
mission: 5
dive: 293
start: 1 19 111 13 30 9
data:
$ID,511
$MISSION,5
$DIVE,293
$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,-48123.363
$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,25
$R_STBD_OVSHOOT,18
$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,292
$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
$GPS1,190111,130355,1745.394,12802.436,40,1.5,40,-2.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.9
$GPS2,190111,132914,1745.401,12802.214,12,1.6,12,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T3
$TGT_LATLONG,1747.259,12803.491
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.167,0.136
$KALMAN_X,-614133.8,-123.7,1545.1,658264.8,-4827.2
$KALMAN_Y,640709.3,273.9,1027.4,-958786.2,-3450.4
$MHEAD_RNG_PITCHd_Wd,52.7,4112,-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,26,-0.58,-146.0,0.0,0.0,0,108,0.00,0.00,-80.38,0.000,2,0.000,0.000,26,2077,2648,0,0,0,0,0,0
$GC,112,-0.58,-146.0,3.1,-2.3,8,150,10.10,2.33,-20.05,0.000,4,0.245,0.080,2395,690,3489,0,0,0,0,0,0
$GC,178,-0.58,-146.0,17.1,-23.7,15,183,0.00,2.25,0.00,0.000,6,0.000,0.051,2387,2108,3490,0,0,0,0,0,0
$GC,374,-0.58,-146.0,62.7,-23.8,34,378,0.00,2.25,0.00,0.000,4,0.000,0.065,2376,3517,3489,0,0,0,0,0,0
$GC,398,-0.58,-146.0,68.2,-24.1,36,402,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,2104,3490,0,0,0,0,0,0
$GC,659,-0.58,-146.0,135.0,-24.8,60,663,0.00,2.22,0.00,0.000,4,0.000,0.063,2376,688,3492,0,0,0,0,0,0
$GC,723,-0.58,-146.0,146.5,-17.4,66,729,0.12,2.22,0.00,0.000,6,0.169,0.048,2399,2108,3493,0,0,0,0,0,0
$GC,985,-0.58,-146.0,186.4,-14.8,91,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2108,3490,0,0,0,0,0,0
$GC,1233,-0.58,-146.0,225.4,-14.2,107,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2108,3490,0,0,0,0,0,0
$GC,1543,-0.58,-146.0,262.9,-10.8,122,1547,0.00,2.25,0.00,0.000,4,0.000,0.064,2402,689,3490,0,0,0,0,0,0
$GC,1621,-0.58,-146.0,270.9,-9.1,125,1625,0.00,2.22,0.00,0.000,6,0.000,0.050,2399,2108,3490,0,0,0,0,0,0
$GC,1955,-0.58,-146.0,305.9,-10.9,140,1960,0.00,2.25,0.00,0.000,4,0.000,0.067,2397,3519,3490,0,0,0,0,0,0
$GC,2015,-0.58,-146.0,312.1,-9.6,141,2020,0.00,2.20,0.00,0.000,6,0.000,0.045,2397,2093,3490,0,0,0,0,0,0
$GC,2364,-0.58,-146.0,344.2,-9.1,150,2368,0.00,2.22,0.00,0.000,4,0.000,0.063,2397,694,3489,0,0,0,0,0,0
$GC,2428,-0.58,-146.0,350.2,-9.0,151,2432,0.00,2.22,0.00,0.000,6,0.000,0.052,2391,2102,3488,0,0,0,0,0,0
$GC,2777,-0.58,-146.0,381.9,-9.1,160,2781,0.00,2.22,0.00,0.000,4,0.000,0.064,2381,3510,3485,0,0,0,0,0,0
$GC,2823,-0.58,-146.0,386.4,-9.1,161,2827,0.00,2.17,0.00,0.000,6,0.000,0.048,2381,2104,3484,0,0,0,0,0,0
$GC,3145,-0.58,-146.0,418.6,-10.2,169,3149,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,683,3482,0,0,0,0,0,0
$GC,3196,-0.58,-146.0,424.3,-10.8,170,3200,0.00,2.25,0.00,0.000,6,0.000,0.053,2377,2100,3482,0,0,0,0,0,0
$GC,3517,-0.58,-146.0,454.5,-8.9,178,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2100,3482,0,0,0,0,0,0
$GC,3843,-0.58,-146.0,481.5,-8.6,186,3847,0.00,2.28,0.00,0.000,4,0.000,0.067,2376,686,3477,0,0,1,0,0,0
$GC,3861,-0.58,-146.0,483.6,-10.1,186,3865,0.00,2.25,0.00,0.000,6,0.000,0.054,2377,2099,3476,0,0,0,0,0,0
$GC,4205,-0.58,-146.0,516.1,-9.6,195,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2099,3474,0,0,0,0,0,0
$GC,4530,-0.58,-146.0,544.9,-8.6,203,4534,0.00,2.28,0.00,0.000,4,0.000,0.067,2377,3514,3474,0,0,0,0,0,0
$GC,4576,-0.58,-146.0,549.0,-9.3,204,4580,0.00,2.22,0.00,0.000,6,0.000,0.051,2378,2093,3470,0,0,0,0,0,0
$GC,4898,-0.58,-146.0,576.5,-8.2,212,4902,0.00,2.20,0.00,0.000,4,0.000,0.057,2378,695,3467,0,0,0,0,0,0
$GC,4967,-0.58,-146.0,582.1,-8.2,213,4971,0.00,2.28,0.00,0.000,6,0.000,0.057,2378,2102,3467,0,0,0,0,0,0
$GC,5311,-0.58,-146.0,608.1,-7.7,222,5315,0.00,2.28,0.00,0.000,4,0.000,0.066,2369,3511,3464,0,0,0,0,0,0
$GC,5353,-0.58,-146.0,611.5,-8.1,222,5360,0.12,2.25,0.00,0.000,6,0.146,0.049,2403,2083,3463,0,0,0,0,0,0
$GC,5685,-0.58,-146.0,631.8,-6.0,231,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2081,3460,0,0,0,0,0,0
$GC,6009,-0.58,-146.0,651.3,-5.9,239,6013,0.00,2.20,0.00,0.000,4,0.000,0.056,2404,691,3459,0,0,0,0,0,0
$GC,6041,-0.58,-146.0,653.3,-5.8,239,6045,0.00,2.28,0.00,0.000,6,0.000,0.058,2404,2103,3459,0,0,0,0,0,0
$GC,6372,-0.58,-146.0,673.1,-6.0,247,6376,0.00,2.28,0.00,0.000,4,0.000,0.067,2396,3517,3458,0,0,0,0,0,0
$GC,6409,-0.58,-146.0,675.4,-7.2,247,6414,0.00,2.15,0.00,0.000,6,0.000,0.043,2396,2100,3455,0,0,1,0,0,0
$GC,6739,-0.58,-146.0,697.8,-6.8,256,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2093,3452,0,0,0,0,0,0
$GC,7064,-0.58,-146.0,720.3,-6.9,264,7068,0.00,2.22,0.00,0.000,4,0.000,0.056,2396,694,3451,0,0,0,0,0,0
$GC,7106,-0.58,-146.0,723.3,-7.8,265,7110,0.00,2.25,0.00,0.000,6,0.000,0.050,2387,2111,3448,0,0,0,0,0,0
$GC,7433,-0.58,-146.0,745.0,-6.4,273,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3449,0,0,0,0,0,0
$GC,7758,-0.58,-146.0,765.5,-6.4,281,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3445,0,0,0,0,0,0
$GC,8084,-0.58,-146.0,784.5,-5.6,289,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3447,0,0,0,0,0,0
$GC,8408,-0.58,-146.0,801.7,-5.2,297,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2109,3445,0,0,0,0,0,0
$GC,8733,-0.58,-146.0,819.5,-5.7,305,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3442,0,0,0,0,0,0
$GC,9058,-0.58,-146.0,840.6,-6.6,313,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3443,0,0,0,0,0,0
$GC,9383,-0.58,-146.0,861.1,-6.2,321,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3445,0,0,0,0,0,0
$GC,9708,-0.58,-146.0,880.8,-6.1,329,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2110,3439,0,0,0,0,0,0
$GC,10033,-0.58,-146.0,900.5,-6.0,337,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2109,3440,0,0,0,0,0,0
$GC,10358,-0.58,-146.0,921.0,-6.4,345,10362,0.00,2.28,0.00,0.000,4,0.000,0.068,2381,3509,3440,0,0,0,0,0,0
$GC,10395,-0.58,-146.0,923.6,-7.0,345,10400,0.00,2.20,0.00,0.000,6,0.000,0.047,2381,2097,3438,0,0,0,0,0,0
$GC,10725,-0.58,-146.0,945.7,-6.7,354,10729,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,692,3439,0,0,0,0,0,0
$GC,10752,-0.58,-146.0,947.7,-7.9,354,10756,0.00,2.25,0.00,0.000,6,0.000,0.052,2377,2100,3439,0,0,0,0,0,0
$GC,11092,-0.58,-146.0,972.2,-7.5,363,11096,0.00,2.33,0.00,0.000,4,0.000,0.069,2368,3499,3439,0,0,0,0,0,0
$GC,11124,-0.58,-146.0,974.9,-7.9,363,11128,0.12,2.20,0.00,0.000,6,0.149,0.046,2403,2096,3441,0,0,0,0,0,0
$STATE,11377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11377,begin apogee
$GC,11381,-0.28,0.0,991.5,6.5,370,11504,0.30,0.00,120.05,1.359,6,0.128,0.000,2501,2091,2893,0,0,0,0,0,0
$STATE,11508,end apogee,CONTROL_FINISHED_OK
$STATE,11508,begin climb
$GC,11510,0.58,146.0,997.6,0.0,373,11652,0.75,2.55,132.43,1.323,4,0.074,0.061,2781,663,2295,0,0,1,0,0,0
$GC,11694,0.58,146.0,991.1,9.5,377,11698,0.00,2.35,0.00,0.000,6,0.000,0.053,2781,2066,2287,0,0,1,0,0,0
$GC,12043,0.58,146.0,950.7,12.1,386,12047,0.00,2.33,0.00,0.000,4,0.000,0.070,2781,3483,2282,0,0,0,0,0,0
$GC,12159,0.58,146.0,934.4,13.9,388,12164,0.00,2.25,0.00,0.000,6,0.000,0.052,2791,2071,2281,0,0,1,0,0,0
$GC,12499,0.58,146.0,889.2,13.3,397,12503,0.00,2.33,0.00,0.000,4,0.000,0.069,2791,3485,2279,0,0,0,0,0,0
$GC,12522,0.58,146.0,885.8,14.2,397,12526,0.00,2.25,0.00,0.000,6,0.000,0.054,2802,2067,2279,0,0,1,0,0,0
$GC,12862,0.58,146.0,839.7,13.5,406,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2063,2276,0,0,0,0,0,0
$GC,13186,0.58,146.0,797.7,12.7,414,13190,0.00,2.33,0.00,0.000,4,0.000,0.070,2802,3486,2276,0,0,0,0,0,0
$GC,13279,0.58,146.0,784.8,15.6,416,13284,0.15,2.25,0.00,0.000,6,0.217,0.054,2779,2076,2276,0,0,1,0,0,0
$GC,13602,0.58,146.0,748.3,11.2,424,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2069,2275,0,0,0,0,0,0
$GC,13926,0.58,146.0,712.2,11.0,432,13931,0.00,2.33,0.00,0.000,4,0.000,0.071,2778,3481,2275,0,0,0,0,0,0
$GC,13982,0.58,146.0,705.5,11.9,433,13986,0.00,2.28,0.00,0.000,6,0.000,0.054,2787,2066,2275,0,0,0,0,0,0
$GC,14295,0.58,146.0,673.8,9.4,441,14299,0.00,2.33,0.00,0.000,4,0.000,0.070,2787,3483,2274,0,0,0,0,0,0
$GC,14322,0.58,146.0,670.9,10.2,441,14326,0.00,2.25,0.00,0.000,6,0.000,0.054,2797,2067,2274,0,0,0,0,0,0
$GC,14662,0.58,146.0,638.5,9.5,450,14666,0.00,2.33,0.00,0.000,4,0.000,0.069,2797,3481,2277,0,0,0,0,0,0
$GC,14684,0.58,146.0,636.0,11.0,450,14689,0.12,2.25,0.00,0.000,6,0.216,0.054,2781,2067,2274,0,0,1,0,0,0
$GC,15025,0.58,146.0,602.5,9.9,459,15029,0.00,2.35,0.00,0.000,4,0.000,0.071,2781,3480,2273,0,0,0,0,0,0
$GC,15099,0.58,146.0,594.3,10.5,460,15103,0.00,2.28,0.00,0.000,6,0.000,0.054,2791,2067,2271,0,0,0,0,0,0
$GC,15433,0.58,146.0,558.8,10.6,469,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2061,2273,0,0,0,0,0,0
$GC,15758,0.58,146.0,527.6,9.4,477,15762,0.00,2.35,0.00,0.000,4,0.000,0.070,2789,3482,2273,0,0,0,0,0,0
$GC,15827,0.58,146.0,520.4,10.2,478,15832,0.00,2.28,0.00,0.000,6,0.000,0.053,2800,2064,2273,0,0,0,0,0,0
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$STATE,22860,end climb,SURFACE_DEPTH_REACHED
$STATE,22860,begin surface coast
$FINISH,1.3,1.022805
$STATE,22893,end surface coast,CONTROL_FINISHED_OK
$STATE,22894,begin surface
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$IRIDIUM_FIX,1738.31,12801.43,140712,070727
$TT8_MAMPS,0.057525
$HUMID,1078681926
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$TCM_TEMP,25.80
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8434647040
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52569833472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,60.586
$10V_AH,9.9,41.131
$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,19.450,181.350,346.750,89.225,0.000,53.610,83.905,1130.006,0.500,0.000,14.835,1752.604,18407.586,572.767,3289.796,492.958,33.364,1776.547,0.000,2117.869,0.000,0.544,0.000
$DEVICE_MAMPS,244.673,125.788,1359.124,554.541,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,599.182,0.000,0.000,0.000,0.000,0.000,0.000,22477.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.448,0.000,0.000
$MEM,355012
$DATA_FILE_SIZE,30061,888
$CAP_FILE_SIZE,197066,0
$CFSIZE,260165632,232738816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,190111,195557,1747.098,12804.854,74,2.2,93,-2.0