version: 66.07
glider: 511
mission: 5
dive: 301
start: 1 21 111 20 11 27
data:
$ID,511
$MISSION,5
$DIVE,301
$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,450
$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,-48374.73
$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,2010
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$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,300
$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
$GPS1,210111,195854,1748.795,12744.701,35,1.7,35,-2.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,6
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.4
$GPS2,210111,201032,1748.791,12744.519,15,1.6,15,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.101,-0.190
$KALMAN_X,-602413.8,-658.2,-35.9,617984.2,3632.2
$KALMAN_Y,651334.8,-233.5,-1015.4,-960585.6,6215.5
$MHEAD_RNG_PITCHd_Wd,210.0,369026,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-70.38,0.000,2,0.000,0.000,51,1984,2909,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.7,-3.6,7,130,10.23,2.40,-11.60,0.000,4,0.250,0.073,2384,3429,3485,0,0,0,0,0,0
$GC,264,-0.58,-146.0,46.2,-20.2,24,269,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,2004,3487,0,0,0,0,0,0
$GC,524,-0.58,-146.0,110.6,-25.9,49,528,0.00,2.15,0.00,0.000,4,0.000,0.049,2384,601,3487,0,0,0,0,0,0
$GC,580,-0.58,-146.0,122.7,-19.9,55,584,0.00,2.20,0.00,0.000,6,0.000,0.048,2375,2014,3486,0,0,0,0,0,0
$GC,842,-0.58,-146.0,175.0,-19.4,79,846,0.00,2.25,0.00,0.000,4,0.000,0.061,2364,3423,3488,0,0,0,0,0,0
$GC,884,-0.58,-146.0,182.7,-16.3,83,889,0.15,2.17,0.00,0.000,6,0.156,0.038,2409,1992,3488,0,0,0,0,0,0
$GC,1151,-0.58,-146.0,217.5,-12.9,102,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1988,3488,0,0,0,0,0,0
$GC,1460,-0.58,-146.0,253.9,-10.5,117,1464,0.00,2.28,0.00,0.000,4,0.000,0.063,2392,3420,3489,0,0,0,0,0,0
$GC,1601,-0.58,-146.0,266.6,-8.0,123,1605,0.00,2.10,0.00,0.000,6,0.000,0.037,2396,2010,3487,0,0,0,0,0,0
$GC,1929,-0.58,-146.0,301.9,-11.2,139,1933,0.00,2.15,0.00,0.000,4,0.000,0.048,2396,601,3492,0,0,0,0,0,0
$GC,1956,-0.58,-146.0,305.1,-11.2,139,1960,0.00,2.17,0.00,0.000,6,0.000,0.048,2391,2011,3489,0,0,0,0,0,0
$GC,2296,-0.58,-146.0,341.2,-10.2,148,2300,0.00,2.25,0.00,0.000,4,0.000,0.058,2382,3422,3487,0,0,0,0,0,0
$GC,2337,-0.58,-146.0,345.4,-10.1,148,2342,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,2009,3487,0,0,0,0,0,0
$GC,2667,-0.58,-146.0,377.8,-9.7,157,2671,0.00,2.28,0.00,0.000,4,0.000,0.065,2373,3421,3485,0,0,0,0,0,0
$GC,2710,-0.58,-146.0,381.9,-9.4,157,2716,0.12,2.15,0.00,0.000,6,0.150,0.038,2411,2012,3483,0,0,0,0,0,0
$GC,3040,-0.58,-146.0,405.9,-7.0,166,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2007,3487,0,0,0,0,0,0
$GC,3365,-0.58,-146.0,428.8,-7.4,174,3369,0.00,2.28,0.00,0.000,4,0.000,0.066,2404,3421,3480,0,0,0,0,0,0
$GC,3422,-0.58,-146.0,433.3,-8.4,175,3426,0.00,2.15,0.00,0.000,6,0.000,0.039,2405,2006,3480,0,0,0,0,0,0
$GC,3735,-0.58,-146.0,457.7,-7.5,183,3739,0.00,2.28,0.00,0.000,4,0.000,0.065,2397,3417,3477,0,0,0,0,0,0
$GC,3762,-0.58,-146.0,459.6,-6.7,183,3766,0.00,2.15,0.00,0.000,6,0.000,0.040,2397,2016,3475,0,0,0,0,0,0
$GC,4098,-0.58,-146.0,480.2,-5.9,192,4102,0.00,2.30,-0.10,0.000,4,0.000,0.082,2388,3415,3497,0,0,1,0,0,0
$GC,4163,-0.58,-146.0,484.8,-7.0,193,4167,0.00,2.17,0.00,0.000,6,0.000,0.045,2388,2007,3497,0,0,0,0,0,0
$GC,4507,-0.58,-146.0,513.9,-8.8,202,4511,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,591,3494,0,0,0,0,0,0
$GC,4539,-0.58,-146.0,517.0,-10.0,202,4543,0.00,2.25,0.00,0.000,6,0.000,0.054,2381,2006,3493,0,0,0,0,0,0
$GC,4874,-0.58,-146.0,547.4,-9.1,211,4878,0.00,2.28,0.00,0.000,4,0.000,0.064,2376,3425,3491,0,0,0,0,0,0
$GC,4965,-0.58,-146.0,555.5,-8.9,213,4970,0.12,2.17,0.00,0.000,6,0.147,0.042,2408,2004,3490,0,0,0,0,0,0
$GC,5289,-0.58,-146.0,577.5,-6.7,221,5293,0.00,2.33,0.00,0.000,4,0.000,0.069,2398,3424,3489,0,0,0,0,0,0
$GC,5316,-0.58,-146.0,579.5,-6.9,221,5320,0.00,2.20,0.00,0.000,6,0.000,0.042,2398,2007,3487,0,0,0,0,0,0
$GC,5656,-0.58,-146.0,600.5,-6.1,230,5660,0.00,2.30,0.00,0.000,4,0.000,0.068,2389,3420,3485,0,0,0,0,0,0
$GC,5688,-0.58,-146.0,602.7,-5.7,230,5692,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,2010,3484,0,0,0,0,0,0
$GC,6018,-0.58,-146.0,626.6,-7.5,238,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2008,3482,0,0,0,0,0,0
$GC,6343,-0.58,-146.0,651.7,-7.7,246,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2007,3480,0,0,0,0,0,0
$GC,6669,-0.58,-146.0,676.7,-7.6,254,6673,0.00,2.33,0.00,0.000,4,0.000,0.071,2392,3422,3477,0,0,0,0,0,0
$GC,6725,-0.58,-146.0,680.9,-7.3,255,6729,0.00,2.20,0.00,0.000,6,0.000,0.047,2388,2006,3478,0,0,0,0,0,0
$GC,7038,-0.58,-146.0,702.7,-6.8,263,7042,0.00,2.35,0.00,0.000,4,0.000,0.071,2390,3421,3478,0,0,0,0,0,0
$GC,7075,-0.58,-146.0,705.0,-7.1,263,7080,0.00,2.17,0.00,0.000,6,0.000,0.045,2389,2011,3476,0,0,0,0,0,0
$GC,7406,-0.58,-146.0,728.2,-7.4,272,7410,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,602,3475,0,0,0,0,0,0
$GC,7438,-0.58,-146.0,730.9,-7.5,272,7442,0.00,2.22,0.00,0.000,6,0.000,0.052,2389,2012,3475,0,0,1,0,0,0
$GC,7769,-0.58,-146.0,756.6,-7.7,280,7773,0.00,2.33,0.00,0.000,4,0.000,0.068,2387,3425,3473,0,0,0,0,0,0
$GC,7819,-0.58,-146.0,760.4,-7.7,281,7824,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2008,3473,0,0,0,0,0,0
$GC,8137,-0.58,-146.0,782.2,-6.6,289,8141,0.00,2.30,0.00,0.000,4,0.000,0.067,2389,3424,3471,0,0,0,0,0,0
$GC,8165,-0.58,-146.0,784.0,-7.0,289,8169,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,2008,3471,0,0,0,0,0,0
$GC,8499,-0.58,-146.0,805.6,-6.4,298,8504,0.00,2.33,0.00,0.000,4,0.000,0.066,2389,3422,3470,0,0,0,0,0,0
$GC,8550,-0.58,-146.0,808.7,-6.7,299,8554,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2008,3469,0,0,0,0,0,0
$GC,8868,-0.58,-146.0,827.1,-5.7,307,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2003,3469,0,0,0,0,0,0
$GC,9192,-0.58,-146.0,844.9,-5.4,315,9196,0.00,2.33,0.00,0.000,4,0.000,0.067,2388,3428,3466,0,0,0,0,0,0
$GC,9243,-0.58,-146.0,847.8,-5.5,316,9247,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,2011,3466,0,0,0,0,0,0
$GC,9561,-0.58,-146.0,866.3,-6.2,324,9565,0.00,2.33,0.00,0.000,4,0.000,0.067,2389,3423,3466,0,0,0,0,0,0
$GC,9588,-0.58,-146.0,868.0,-6.7,324,9592,0.00,2.22,0.00,0.000,6,0.000,0.047,2389,2008,3466,0,0,0,0,0,0
$GC,9927,-0.58,-146.0,891.2,-7.0,333,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2004,3465,0,0,0,0,0,0
$GC,10253,-0.58,-146.0,915.0,-7.4,341,10257,0.00,2.33,0.00,0.000,4,0.000,0.067,2394,3425,3464,0,0,0,0,0,0
$GC,10308,-0.58,-146.0,919.1,-7.2,342,10312,0.00,2.22,0.00,0.000,6,0.000,0.048,2388,2002,3461,0,0,0,0,0,0
$GC,10620,-0.58,-146.0,941.0,-7.0,350,10624,0.00,2.35,0.00,0.000,4,0.000,0.071,2389,3420,3464,0,0,0,0,0,0
$GC,10643,-0.58,-146.0,942.7,-7.0,350,10647,0.00,2.22,0.00,0.000,6,0.000,0.048,2389,2003,3463,0,0,0,0,0,0
$GC,10987,-0.58,-146.0,965.2,-6.4,359,10991,0.00,2.35,0.00,0.000,4,0.000,0.069,2389,3421,3462,0,0,0,0,0,0
$GC,11019,-0.58,-146.0,967.3,-6.5,359,11023,0.00,2.22,0.00,0.000,6,0.000,0.048,2389,2004,3462,0,0,0,0,0,0
$GC,11354,-0.58,-146.0,987.1,-5.8,368,11358,0.00,2.35,0.00,0.000,4,0.000,0.067,2389,3421,3461,0,0,0,0,0,0
$GC,11377,-0.58,-146.0,988.4,-5.4,368,11381,0.00,2.20,0.00,0.000,6,0.000,0.048,2389,2008,3459,0,0,1,0,0,0
$STATE,11430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11430,begin apogee
$GC,11436,-0.28,0.0,991.5,5.7,370,11565,0.35,0.00,126.68,1.359,6,0.129,0.000,2496,2104,2890,0,0,0,0,0,0
$STATE,11569,end apogee,CONTROL_FINISHED_OK
$STATE,11569,begin climb
$GC,11571,0.58,146.0,995.1,0.0,373,11713,0.77,2.50,134.30,1.319,4,0.078,0.069,2771,3489,2294,0,0,0,0,0,0
$GC,11741,0.58,146.0,986.8,12.4,377,11746,0.00,2.35,0.00,0.000,6,0.000,0.049,2781,2099,2290,0,0,1,0,0,0
$GC,12064,0.58,146.0,946.5,12.4,385,12068,0.00,2.30,0.00,0.000,4,0.000,0.060,2798,671,2282,0,0,0,0,0,0
$GC,12095,0.58,146.0,942.4,11.6,385,12100,0.00,2.30,0.00,0.000,6,0.000,0.055,2792,2082,2280,0,0,0,0,0,0
$GC,12431,0.58,146.0,902.2,11.9,394,12435,0.00,2.33,0.00,0.000,4,0.000,0.071,2792,3498,2281,0,0,0,0,0,0
$GC,12500,0.58,146.0,893.1,12.8,395,12504,0.00,2.22,0.00,0.000,6,0.000,0.049,2800,2080,2278,0,0,1,0,0,0
$GC,12840,0.58,146.0,850.6,12.6,404,12844,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,680,2277,0,0,0,0,0,0
$GC,12857,0.58,146.0,847.9,13.0,404,12862,0.15,2.28,0.00,0.000,6,0.200,0.055,2774,2097,2276,0,0,0,0,0,0
$GC,13202,0.58,146.0,808.3,11.4,413,13206,0.00,2.30,0.00,0.000,4,0.000,0.072,2778,3499,2276,0,0,0,0,0,0
$GC,13258,0.58,146.0,801.5,11.8,414,13262,0.00,2.22,0.00,0.000,6,0.000,0.051,2787,2093,2276,0,0,1,0,0,0
$GC,13571,0.58,146.0,766.8,10.8,422,13575,0.00,2.33,0.00,0.000,4,0.000,0.070,2787,3504,2275,0,0,0,0,0,0
$GC,13593,0.58,146.0,764.2,11.3,422,13597,0.00,2.25,0.00,0.000,6,0.000,0.051,2797,2081,2273,0,0,1,0,0,0
$GC,13933,0.58,146.0,726.9,10.9,431,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2075,2274,0,0,0,0,0,0
$GC,14258,0.58,146.0,693.2,10.6,439,14262,0.00,2.22,0.00,0.000,4,0.000,0.060,2807,681,2274,0,0,0,0,0,0
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$STATE,23024,end climb,SURFACE_DEPTH_REACHED
$STATE,23024,begin surface coast
$FINISH,0.9,1.022831
$STATE,23057,end surface coast,CONTROL_FINISHED_OK
$STATE,23057,begin surface
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$AR_CDRIVE_FREE,8434384896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409958400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,62.115
$10V_AH,9.8,42.222
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354860
$DATA_FILE_SIZE,30017,882
$CAP_FILE_SIZE,200440,0
$CFSIZE,260165632,231997440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,220111,024137,1747.287,12742.428,195,2.0,195,-2.0