version: 66.07
glider: 511
mission: 5
dive: 304
start: 1 22 111 16 55 52
data:
$ID,511
$MISSION,5
$DIVE,304
$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,-48471.113
$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,47
$R_STBD_OVSHOOT,25
$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,303
$AR_SAMPLENUM,2
$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
$GPS1,220111,163015,1745.229,12737.998,102,7.4,121,-2.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-69.1
$GPS2,220111,165458,1745.084,12737.706,15,6.4,34,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,0.036
$KALMAN_X,-599569.5,276.2,-105.6,602456.1,1758.5
$KALMAN_Y,656990.7,-553.2,-1391.1,-972408.1,7758.2
$MHEAD_RNG_PITCHd_Wd,281.6,358428,-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,-70.45,0.000,2,0.000,0.000,33,1987,2934,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.0,-4.8,7,130,10.23,2.30,-10.88,0.000,4,0.249,0.070,2388,3424,3488,0,0,0,0,0,0
$GC,241,-0.58,-146.0,43.3,-21.8,22,245,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2021,3489,0,0,0,0,0,0
$GC,502,-0.58,-146.0,108.1,-23.2,46,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2015,3489,0,0,0,0,0,0
$GC,757,-0.58,-146.0,159.3,-19.3,70,760,0.00,2.22,0.00,0.000,4,0.000,0.060,2377,3424,3489,0,0,0,0,0,0
$GC,807,-0.58,-146.0,168.3,-16.9,75,813,0.00,2.17,0.00,0.000,6,0.000,0.042,2378,2012,3490,0,0,0,0,0,0
$GC,1076,-0.58,-146.0,213.7,-16.0,97,1080,0.00,2.25,0.00,0.000,4,0.000,0.061,2367,3418,3490,0,0,0,0,0,0
$GC,1126,-0.58,-146.0,222.1,-15.7,99,1131,0.12,2.15,0.00,0.000,6,0.160,0.043,2401,2011,3490,0,0,0,0,0,0
$GC,1451,-0.58,-146.0,260.4,-10.9,115,1455,0.00,2.15,0.00,0.000,4,0.000,0.050,2402,600,3490,0,0,0,0,0,0
$GC,1501,-0.58,-146.0,265.8,-10.5,117,1505,0.00,2.17,0.00,0.000,6,0.000,0.048,2401,2010,3490,0,0,0,0,0,0
$GC,1825,-0.58,-146.0,296.1,-9.4,133,1829,0.00,2.22,0.00,0.000,4,0.000,0.058,2392,3418,3490,0,0,0,0,0,0
$GC,1952,-0.58,-146.0,308.0,-9.1,136,1956,0.00,2.15,0.00,0.000,6,0.000,0.041,2392,2005,3493,0,0,0,0,0,0
$GC,2283,-0.58,-146.0,345.0,-11.3,144,2287,0.00,2.28,0.00,0.000,4,0.000,0.065,2383,3421,3489,0,0,0,0,0,0
$GC,2314,-0.58,-146.0,348.7,-10.8,144,2318,0.00,2.15,0.00,0.000,6,0.000,0.041,2383,2009,3488,0,0,0,0,0,0
$GC,2649,-0.58,-146.0,382.6,-9.4,153,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2008,3487,0,0,0,0,0,0
$GC,2974,-0.58,-146.0,410.0,-8.2,161,2978,0.00,2.28,0.00,0.000,4,0.000,0.066,2374,3423,3484,0,0,0,0,0,0
$GC,3025,-0.58,-146.0,414.3,-8.3,162,3029,0.10,2.20,0.00,0.000,6,0.156,0.043,2402,2002,3484,0,0,0,0,0,0
$GC,3343,-0.58,-146.0,436.9,-7.0,170,3346,0.00,2.30,0.00,0.000,4,0.000,0.064,2393,3422,3479,0,0,0,0,0,0
$GC,3375,-0.58,-146.0,438.9,-6.4,170,3379,0.00,2.20,0.00,0.000,6,0.000,0.042,2393,1996,3481,0,0,0,0,0,0
$GC,3710,-0.58,-146.0,463.4,-7.7,179,3714,0.00,2.33,0.00,0.000,4,0.000,0.068,2382,3420,3478,0,0,0,0,0,0
$GC,3788,-0.58,-146.0,470.8,-9.3,180,3792,0.00,2.17,0.00,0.000,6,0.000,0.044,2385,2011,3478,0,0,0,0,0,0
$GC,4118,-0.58,-146.0,501.6,-9.1,188,4123,0.00,2.28,0.00,0.000,4,0.000,0.067,2376,3421,3475,0,0,0,0,0,0
$GC,4164,-0.58,-146.0,505.7,-9.0,189,4168,0.00,2.15,0.00,0.000,6,0.000,0.041,2382,2007,3474,0,0,0,0,0,0
$GC,4486,-0.58,-146.0,531.9,-7.7,197,4490,0.00,2.25,0.00,0.000,4,0.000,0.061,2367,3423,3471,0,0,0,0,0,0
$GC,4550,-0.58,-146.0,536.5,-7.2,198,4555,0.12,2.17,0.00,0.000,6,0.149,0.041,2402,2006,3470,0,0,0,0,0,0
$GC,4900,-0.58,-146.0,556.7,-6.2,207,4904,0.00,2.28,0.00,0.000,4,0.000,0.061,2394,3422,3467,0,0,0,0,0,0
$GC,4955,-0.58,-146.0,560.4,-6.1,208,4959,0.00,2.15,0.00,0.000,6,0.000,0.041,2394,2008,3465,0,0,0,0,0,0
$GC,5273,-0.58,-146.0,582.6,-6.9,216,5277,0.00,2.28,0.00,0.000,4,0.000,0.061,2385,3411,3464,0,0,0,0,0,0
$GC,5315,-0.58,-146.0,585.6,-6.5,217,5319,0.00,2.15,0.00,0.000,6,0.000,0.041,2385,2005,3465,0,0,0,0,0,0
$GC,5642,-0.58,-146.0,607.0,-6.4,225,5646,0.00,2.25,0.00,0.000,4,0.000,0.061,2375,3415,3462,0,0,0,0,0,0
$GC,5678,-0.58,-146.0,609.6,-6.9,225,5684,0.00,2.15,0.00,0.000,6,0.000,0.041,2375,2010,3462,0,0,0,0,0,0
$GC,6009,-0.58,-146.0,634.0,-7.6,234,6013,0.10,2.28,0.00,0.000,4,0.168,0.062,2393,3414,3460,0,0,0,0,0,0
$GC,6052,-0.58,-146.0,637.0,-6.2,235,6056,0.00,2.15,0.00,0.000,6,0.000,0.042,2393,2006,3459,0,0,0,0,0,0
$GC,6378,-0.58,-146.0,658.4,-6.4,243,6382,0.00,2.28,0.00,0.000,4,0.000,0.063,2384,3424,3457,0,0,0,0,0,0
$GC,6438,-0.58,-146.0,662.5,-6.9,244,6442,0.00,2.17,0.00,0.000,6,0.000,0.042,2384,2008,3457,0,0,0,0,0,0
$GC,6787,-0.58,-146.0,688.4,-7.8,253,6792,0.00,2.28,0.00,0.000,4,0.000,0.061,2374,3414,3453,0,0,0,0,0,0
$GC,6842,-0.58,-146.0,693.0,-9.0,254,6846,0.00,2.15,0.00,0.000,6,0.000,0.042,2374,2010,3455,0,0,0,0,0,0
$GC,7155,-0.58,-146.0,720.7,-8.9,262,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2006,3452,0,0,0,0,0,0
$GC,7480,-0.58,-146.0,747.8,-8.1,270,7484,0.00,2.30,0.00,0.000,4,0.000,0.062,2364,3422,3451,0,0,0,0,0,0
$GC,7544,-0.58,-146.0,753.1,-8.2,271,7549,0.12,2.17,0.00,0.000,6,0.150,0.044,2399,2010,3452,0,0,0,0,0,0
$GC,7890,-0.58,-146.0,774.5,-6.0,280,7894,0.00,2.28,0.00,0.000,4,0.000,0.064,2392,3418,3448,0,0,0,0,0,0
$GC,7944,-0.58,-146.0,778.1,-6.7,281,7948,0.00,2.20,0.00,0.000,6,0.000,0.044,2392,2006,3448,0,0,0,0,0,0
$GC,8257,-0.58,-146.0,799.3,-7.1,289,8261,0.00,2.28,0.00,0.000,4,0.000,0.063,2383,3411,3447,0,0,0,0,0,0
$GC,8285,-0.58,-146.0,801.4,-7.7,289,8289,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,2004,3447,0,0,0,0,0,0
$GC,8624,-0.58,-146.0,824.9,-6.8,298,8628,0.00,2.30,0.00,0.000,4,0.000,0.064,2378,3421,3446,0,0,0,0,0,0
$GC,8681,-0.58,-146.0,828.7,-6.0,299,8685,0.00,2.20,0.00,0.000,6,0.000,0.045,2374,2016,3446,0,0,0,0,0,0
$GC,8995,-0.58,-146.0,847.2,-5.7,307,8999,0.00,2.30,0.00,0.000,4,0.000,0.066,2365,3414,3444,0,0,0,0,0,0
$GC,9037,-0.58,-146.0,849.7,-5.6,308,9042,0.12,2.20,0.00,0.000,6,0.150,0.046,2405,1998,3444,0,0,0,0,0,0
$GC,9365,-0.58,-146.0,865.5,-4.9,316,9369,0.00,2.33,0.00,0.000,4,0.000,0.065,2391,3418,3443,0,0,0,0,0,0
$GC,9397,-0.58,-146.0,867.2,-5.1,316,9401,0.00,2.22,0.00,0.000,6,0.000,0.047,2391,2006,3443,0,0,0,0,0,0
$GC,9733,-0.58,-146.0,886.5,-5.9,325,9737,0.00,2.30,0.00,0.000,4,0.000,0.064,2382,3419,3442,0,0,0,0,0,0
$GC,9783,-0.58,-146.0,889.6,-6.6,326,9787,0.00,2.20,0.00,0.000,6,0.000,0.047,2382,2010,3442,0,0,0,0,0,0
$GC,10105,-0.58,-146.0,909.2,-6.0,334,10109,0.00,2.30,0.00,0.000,4,0.000,0.065,2372,3418,3441,0,0,0,0,0,0
$GC,10165,-0.58,-146.0,913.1,-6.3,335,10169,0.12,2.20,0.00,0.000,6,0.149,0.046,2407,2010,3441,0,0,0,0,0,0
$GC,10515,-0.58,-146.0,929.5,-4.6,344,10519,0.00,2.30,0.00,0.000,4,0.000,0.065,2398,3415,3440,0,0,0,0,0,0
$GC,10542,-0.58,-146.0,931.2,-5.7,344,10546,0.00,2.22,0.00,0.000,6,0.000,0.047,2398,2004,3440,0,0,0,0,0,0
$GC,10882,-0.58,-146.0,949.9,-5.8,353,10886,0.00,2.33,0.00,0.000,4,0.000,0.064,2389,3418,3439,0,0,0,0,0,0
$GC,10919,-0.58,-146.0,952.3,-6.7,353,10925,0.00,2.22,0.00,0.000,6,0.000,0.047,2389,2004,3440,0,0,0,0,0,0
$GC,11250,-0.58,-146.0,975.5,-7.3,362,11254,0.00,2.30,0.00,0.000,4,0.000,0.064,2381,3413,3439,0,0,0,0,0,0
$GC,11295,-0.58,-146.0,979.0,-8.5,363,11299,0.00,2.22,0.00,0.000,6,0.000,0.047,2380,2007,3439,0,0,0,0,0,0
$STATE,11453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11453,begin apogee
$GC,11459,-0.28,0.0,991.0,7.6,367,11583,0.38,0.00,121.38,1.355,6,0.130,0.000,2498,2104,2892,0,0,0,0,0,0
$STATE,11584,end apogee,CONTROL_FINISHED_OK
$STATE,11585,begin climb
$GC,11587,0.58,146.0,996.5,0.0,370,11729,0.77,2.50,133.20,1.318,4,0.079,0.058,2781,698,2295,0,0,1,0,0,0
$GC,11784,0.58,146.0,988.5,10.8,374,11788,0.00,2.33,0.00,0.000,6,0.000,0.054,2782,2078,2288,0,0,1,0,0,0
$GC,12119,0.58,146.0,950.4,11.5,383,12124,0.00,2.38,0.00,0.000,4,0.000,0.071,2780,3500,2282,0,0,0,0,0,0
$GC,12203,0.58,146.0,939.6,13.0,384,12208,0.00,2.22,0.00,0.000,6,0.000,0.049,2792,2098,2281,0,0,0,0,0,0
$GC,12533,0.58,146.0,898.3,12.7,393,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2091,2280,0,0,0,0,0,0
$GC,12858,0.58,146.0,857.1,12.6,401,12863,0.00,2.33,0.00,0.000,4,0.000,0.068,2792,3498,2275,0,0,0,0,0,0
$GC,12918,0.58,146.0,848.6,14.0,402,12922,0.00,2.25,0.00,0.000,6,0.000,0.049,2802,2089,2277,0,0,0,0,0,0
$GC,13267,0.58,146.0,802.9,13.0,411,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2082,2276,0,0,0,0,0,0
$GC,13593,0.58,146.0,764.7,11.3,419,13597,0.00,2.35,0.00,0.000,4,0.000,0.069,2802,3502,2276,0,0,0,0,0,0
$GC,13615,0.58,146.0,761.9,10.9,419,13620,0.15,2.22,0.00,0.000,6,0.205,0.050,2778,2089,2276,0,0,0,0,0,0
$GC,13960,0.58,146.0,730.6,9.1,428,13964,0.00,2.35,0.00,0.000,4,0.000,0.071,2777,3501,2275,0,0,0,0,0,0
$GC,14015,0.58,146.0,724.8,10.4,429,14019,0.00,2.20,0.00,0.000,6,0.000,0.050,2786,2088,2276,0,0,1,0,0,0
$GC,14333,0.58,146.0,691.6,10.7,437,14337,0.00,2.33,0.00,0.000,4,0.000,0.070,2786,3499,2274,0,0,0,0,0,0
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$STATE,23215,end climb,SURFACE_DEPTH_REACHED
$STATE,23215,begin surface coast
$FINISH,0.8,1.004026
$STATE,23249,end surface coast,CONTROL_FINISHED_OK
$STATE,23249,begin surface
$SM_CCo,23266,82.78,0.550,0,0,1055,450.12
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$IRIDIUM_FIX,1738.31,12735.63,170712,111144
$TT8_MAMPS,0.056758
$HUMID,1078657410
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.80
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8434253824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409401344
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,62.674
$10V_AH,9.8,42.743
$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
$DEVICE_SECS,20.200,229.075,371.950,82.775,0.000,81.452,110.520,984.049,0.250,0.000,37.328,1870.662,18331.967,589.484,3453.081,581.280,33.363,1959.954,0.000,2431.841,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,604.088,0.000,0.000,0.000,0.000,0.000,0.000,22834.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,15.473,0.000,0.000
$MEM,354908
$DATA_FILE_SIZE,33375,895
$CAP_FILE_SIZE,218807,0
$CFSIZE,260165632,231731200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,220111,232630,1745.717,12734.569,35,2.0,35,-2.0