version: 66.07
glider: 511
mission: 5
dive: 305
start: 1 22 111 23 38 58
data:
$ID,511
$MISSION,5
$DIVE,305
$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,-48504.402
$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,36
$R_STBD_OVSHOOT,23
$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,304
$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
$GPS1,220111,232630,1745.717,12734.569,35,2.0,35,-2.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-73.0
$GPS2,220111,233804,1745.708,12734.414,9,2.6,28,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.189,-0.103
$KALMAN_X,-597030.1,-488.1,-614.8,595489.4,5906.5
$KALMAN_Y,655331.2,-90.4,-731.1,-970692.2,3451.5
$MHEAD_RNG_PITCHd_Wd,243.5,352527,-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,-70.40,0.000,2,0.000,0.000,50,2003,2917,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.8,-4.1,7,130,10.23,2.20,-11.48,0.000,4,0.250,0.064,2397,601,3487,0,0,0,0,0,0
$GC,302,-0.58,-146.0,50.2,-17.5,28,307,0.00,2.22,0.00,0.000,6,0.000,0.051,2389,2008,3489,0,0,0,0,0,0
$GC,562,-0.58,-146.0,113.5,-25.0,53,566,0.00,2.25,0.00,0.000,4,0.000,0.059,2378,3424,3487,0,0,0,0,0,0
$GC,617,-0.58,-146.0,126.8,-22.2,58,622,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,2010,3489,0,0,0,0,0,0
$GC,877,-0.58,-146.0,177.8,-17.3,83,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2005,3490,0,0,0,0,0,0
$GC,1128,-0.58,-146.0,221.8,-16.3,101,1132,0.00,2.28,0.00,0.000,4,0.000,0.061,2367,3427,3493,0,0,0,0,0,0
$GC,1194,-0.58,-146.0,231.1,-13.1,104,1199,0.12,2.17,0.00,0.000,6,0.156,0.041,2401,2012,3489,0,0,0,0,0,0
$GC,1523,-0.58,-146.0,266.6,-10.5,120,1527,0.00,2.25,0.00,0.000,4,0.000,0.064,2392,3419,3491,0,0,0,0,0,0
$GC,1555,-0.58,-146.0,270.4,-11.4,121,1559,0.00,2.17,0.00,0.000,6,0.000,0.041,2393,1999,3491,0,0,0,0,0,0
$GC,1890,-0.58,-146.0,305.3,-9.9,136,1894,0.00,2.28,0.00,0.000,4,0.000,0.065,2383,3418,3491,0,0,0,0,0,0
$GC,1913,-0.58,-146.0,307.7,-9.7,136,1916,0.00,2.17,0.00,0.000,6,0.000,0.042,2383,2006,3491,0,0,0,0,0,0
$GC,2256,-0.58,-146.0,344.5,-10.8,145,2260,0.00,2.30,0.00,0.000,4,0.000,0.065,2373,3429,3489,0,0,1,0,0,0
$GC,2307,-0.58,-146.0,349.8,-9.5,146,2312,0.10,2.17,0.00,0.000,6,0.157,0.042,2400,2010,3492,0,0,0,0,0,0
$GC,2630,-0.58,-146.0,377.4,-8.7,154,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2010,3488,0,0,0,0,0,0
$GC,2955,-0.58,-146.0,405.9,-8.6,162,2959,0.00,2.28,0.00,0.000,4,0.000,0.068,2400,3418,3485,0,0,0,0,0,0
$GC,3025,-0.58,-146.0,411.1,-7.4,163,3029,0.00,2.17,0.00,0.000,6,0.000,0.043,2400,2011,3485,0,0,0,0,0,0
$GC,3365,-0.58,-146.0,436.0,-7.2,172,3369,0.00,2.28,0.00,0.000,4,0.000,0.068,2400,3420,3483,0,0,0,0,0,0
$GC,3411,-0.58,-146.0,439.0,-6.6,173,3415,0.00,2.20,0.00,0.000,6,0.000,0.042,2403,1994,3482,0,0,0,0,0,0
$GC,3733,-0.58,-146.0,461.3,-7.1,181,3737,0.00,2.30,0.00,0.000,4,0.000,0.065,2393,3422,3482,0,0,0,0,0,0
$GC,3769,-0.58,-146.0,464.0,-6.9,181,3776,0.00,2.15,0.00,0.000,6,0.000,0.041,2392,2007,3480,0,0,1,0,0,0
$GC,4100,-0.58,-146.0,491.0,-8.5,190,4104,0.00,2.30,0.00,0.000,4,0.000,0.064,2388,3424,3477,0,0,0,0,0,0
$GC,4161,-0.58,-146.0,496.1,-8.2,191,4166,0.00,2.17,-0.10,0.000,6,0.000,0.040,2388,2008,3498,0,0,0,0,0,0
$GC,4511,-0.58,-146.0,522.5,-7.3,200,4515,0.00,2.28,0.00,0.000,4,0.000,0.061,2379,3419,3496,0,0,0,0,0,0
$GC,4581,-0.58,-146.0,527.6,-6.7,201,4585,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,2004,3496,0,0,0,0,0,0
$GC,4921,-0.58,-146.0,556.2,-8.8,210,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2000,3493,0,0,0,0,0,0
$GC,5246,-0.58,-146.0,584.7,-8.6,218,5250,0.00,2.30,0.00,0.000,4,0.000,0.063,2376,3420,3490,0,0,0,0,0,0
$GC,5335,-0.58,-146.0,591.9,-7.6,220,5339,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,2016,3490,0,0,0,0,0,0
$GC,5661,-0.58,-146.0,618.5,-8.2,228,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2006,3487,0,0,0,0,0,0
$GC,5987,-0.58,-146.0,644.7,-8.0,236,5991,0.00,2.30,0.00,0.000,4,0.000,0.063,2376,3422,3485,0,0,0,0,0,0
$GC,6032,-0.58,-146.0,648.2,-7.2,237,6037,0.10,2.20,0.00,0.000,6,0.157,0.043,2404,2007,3482,0,0,0,0,0,0
$GC,6355,-0.58,-146.0,666.5,-5.6,245,6359,0.00,2.30,0.00,0.000,4,0.000,0.062,2396,3418,3481,0,0,0,0,0,0
$GC,6383,-0.58,-146.0,668.3,-6.4,245,6387,0.00,2.20,0.00,0.000,6,0.000,0.043,2396,2005,3480,0,0,0,0,0,0
$GC,6722,-0.58,-146.0,690.0,-6.7,254,6726,0.00,2.28,0.00,0.000,4,0.000,0.063,2387,3421,3480,0,0,0,0,0,0
$GC,6759,-0.58,-146.0,692.9,-8.0,254,6764,0.00,2.20,0.00,0.000,6,0.000,0.043,2387,2004,3480,0,0,0,0,0,0
$GC,7090,-0.58,-146.0,718.0,-7.8,263,7094,0.00,2.30,0.00,0.000,4,0.000,0.063,2377,3429,3478,0,0,0,0,0,0
$GC,7145,-0.58,-146.0,722.9,-8.9,264,7149,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,2007,3478,0,0,0,0,0,0
$GC,7462,-0.58,-146.0,748.6,-8.1,272,7466,0.00,2.30,0.00,0.000,4,0.000,0.061,2367,3421,3477,0,0,0,0,0,0
$GC,7522,-0.58,-146.0,754.0,-9.6,273,7527,0.12,2.22,0.00,0.000,6,0.150,0.044,2402,1997,3475,0,0,0,0,0,0
$GC,7872,-0.58,-146.0,778.7,-7.2,282,7876,0.00,2.33,0.00,0.000,4,0.000,0.064,2394,3421,3475,0,0,0,0,0,0
$GC,7904,-0.58,-146.0,781.1,-7.8,282,7908,0.00,2.20,0.00,0.000,6,0.000,0.045,2394,2010,3475,0,0,0,0,0,0
$GC,8239,-0.58,-146.0,805.2,-7.1,291,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2005,3473,0,0,0,0,0,0
$GC,8564,-0.58,-146.0,826.3,-6.3,299,8568,0.00,2.30,0.00,0.000,4,0.000,0.064,2389,3419,3472,0,0,0,0,0,0
$GC,8606,-0.58,-146.0,829.0,-6.9,300,8610,0.00,2.22,0.00,0.000,6,0.000,0.046,2385,2003,3471,0,0,0,0,0,0
$GC,8933,-0.58,-146.0,849.2,-6.2,308,8937,0.00,2.33,0.00,0.000,4,0.000,0.064,2375,3426,3470,0,0,0,0,0,0
$GC,8965,-0.58,-146.0,851.2,-5.5,308,8969,0.00,2.22,0.00,0.000,6,0.000,0.044,2375,2007,3473,0,0,0,0,0,0
$GC,9300,-0.58,-146.0,872.8,-6.4,317,9304,0.00,2.30,0.00,0.000,4,0.000,0.064,2374,3418,3468,0,0,0,0,0,0
$GC,9357,-0.58,-146.0,876.3,-5.9,318,9362,0.10,2.22,0.00,0.000,6,0.156,0.045,2402,2004,3468,0,0,0,0,0,0
$GC,9671,-0.58,-146.0,891.4,-4.7,326,9675,0.00,2.33,0.00,0.000,4,0.000,0.064,2394,3420,3467,0,0,0,0,0,0
$GC,9708,-0.58,-146.0,893.2,-4.5,326,9713,0.00,2.22,0.00,0.000,6,0.000,0.046,2394,2009,3467,0,0,0,0,0,0
$GC,10039,-0.58,-146.0,911.0,-5.6,335,10043,0.00,2.30,0.00,0.000,4,0.000,0.065,2385,3422,3467,0,0,0,0,0,0
$GC,10071,-0.58,-146.0,913.2,-7.8,335,10075,0.00,2.22,0.00,0.000,6,0.000,0.046,2385,2007,3466,0,0,0,0,0,0
$GC,10401,-0.58,-146.0,935.6,-7.0,343,10405,0.00,2.30,0.00,0.000,4,0.000,0.065,2375,3420,3466,0,0,0,0,0,0
$GC,10434,-0.58,-146.0,937.9,-7.3,343,10438,0.00,2.22,0.00,0.000,6,0.000,0.048,2375,2010,3466,0,0,0,0,0,0
$GC,10764,-0.58,-146.0,963.3,-7.6,351,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2007,3465,0,0,0,0,0,0
$GC,11089,-0.58,-146.0,986.5,-7.0,359,11094,0.00,2.30,0.00,0.000,4,0.000,0.066,2375,3417,3463,0,0,0,0,0,0
$STATE,11138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11138,begin apogee
$GC,11146,-0.28,0.0,990.0,6.7,360,11275,0.35,0.00,126.47,1.355,6,0.128,0.000,2491,2090,2892,0,0,0,0,0,0
$STATE,11279,end apogee,CONTROL_FINISHED_OK
$STATE,11279,begin climb
$GC,11281,0.58,146.0,994.7,0.0,363,11424,0.80,2.50,133.45,1.316,4,0.081,0.057,2780,691,2293,0,0,0,0,0,0
$GC,11484,0.58,146.0,984.1,10.8,367,11488,0.00,2.35,0.00,0.000,6,0.000,0.054,2780,2089,2285,0,0,1,0,0,0
$GC,11814,0.58,146.0,944.4,12.0,375,11818,0.00,2.33,0.00,0.000,4,0.000,0.069,2780,3498,2280,0,0,0,0,0,0
$GC,11856,0.58,146.0,938.9,13.6,376,11861,0.00,2.20,0.00,0.000,6,0.000,0.049,2791,2090,2280,0,0,1,0,0,0
$GC,12184,0.58,146.0,897.6,12.7,384,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2085,2278,0,0,0,0,0,0
$GC,12508,0.58,146.0,856.1,12.9,392,12512,0.00,2.35,0.00,0.000,4,0.000,0.069,2790,3505,2277,0,0,0,0,0,0
$GC,12535,0.58,146.0,852.3,14.2,392,12539,0.00,2.22,0.00,0.000,6,0.000,0.050,2801,2094,2277,0,0,1,0,0,0
$GC,12870,0.58,146.0,810.2,12.1,401,12874,0.00,2.35,0.00,0.000,4,0.000,0.069,2802,3502,2276,0,0,0,0,0,0
$GC,12893,0.58,146.0,807.1,13.3,401,12898,0.15,2.22,0.00,0.000,6,0.212,0.050,2777,2088,2276,0,0,1,0,0,0
$GC,13238,0.58,146.0,774.4,9.2,410,13242,0.00,2.25,0.00,0.000,4,0.000,0.061,2786,678,2274,0,0,0,0,0,0
$GC,13307,0.58,146.0,768.1,9.3,411,13312,0.00,2.28,0.00,0.000,6,0.000,0.054,2786,2094,2274,0,0,0,0,0,0
$GC,13647,0.58,146.0,735.2,9.8,420,13651,0.00,2.33,0.00,0.000,4,0.000,0.069,2786,3497,2271,0,0,0,0,0,0
$GC,13711,0.58,146.0,728.1,11.1,421,13715,0.00,2.25,0.00,0.000,6,0.000,0.050,2797,2081,2274,0,0,0,0,0,0
$GC,14056,0.58,146.0,691.4,10.5,430,14060,0.00,2.35,0.00,0.000,4,0.000,0.069,2797,3499,2273,0,0,0,0,0,0
$GC,14130,0.58,146.0,682.8,11.9,431,14134,0.12,2.20,0.00,0.000,6,0.213,0.049,2779,2086,2273,0,0,1,0,0,0
$GC,14465,0.58,146.0,651.6,9.5,440,14469,0.00,2.25,0.00,0.000,4,0.000,0.059,2791,687,2272,0,0,0,0,0,0
$GC,14545,0.58,146.0,643.5,10.9,441,14549,0.00,2.28,0.00,0.000,6,0.000,0.054,2788,2098,2273,0,0,0,0,0,0
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$STATE,22616,end climb,SURFACE_DEPTH_REACHED
$STATE,22616,begin surface coast
$FINISH,1.1,1.022836
$STATE,22649,end surface coast,CONTROL_FINISHED_OK
$STATE,22649,begin surface
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$IRIDIUM_FIX,1738.31,12738.81,170712,111156
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$TCM_TEMP,25.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8434286592
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409204736
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,62.843
$10V_AH,9.8,42.843
$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
$DEVICE_SECS,19.975,220.925,390.975,71.650,0.000,30.721,34.257,463.616,0.000,0.000,32.661,1800.228,17852.684,585.346,2801.041,387.896,33.366,1884.444,0.000,2267.146,0.000,0.543,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,3.026,0.000,0.000
$MEM,354932
$DATA_FILE_SIZE,30049,874
$CAP_FILE_SIZE,197330,0
$CFSIZE,260165632,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,230111,060044,1745.155,12731.960,93,2.8,112,-2.0