version: 66.07
glider: 511
mission: 5
dive: 308
start: 1 23 111 20 8 15
data:
$ID,511
$MISSION,5
$DIVE,308
$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,586.50275
$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,-48567.902
$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,29
$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,307
$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
$GPS1,230111,193132,1743.492,12726.690,71,1.7,72,-2.0
$_CALLS,5
$_XMS_NAKs,28
$_XMS_TOUTs,1
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.2
$GPS2,230111,200720,1743.353,12726.177,11,1.6,11,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.148,-0.156
$KALMAN_X,-591994.8,-504.2,-546.3,576131.0,5085.7
$KALMAN_Y,657346.4,-185.4,-1103.3,-976629.8,5099.7
$MHEAD_RNG_PITCHd_Wd,225.6,339182,-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,-69.88,0.000,2,0.000,0.000,45,2000,2913,0,0,0,0,0,0
$GC,103,-0.58,-146.0,3.8,-4.0,7,130,10.25,2.28,-11.50,0.000,4,0.250,0.070,2385,3420,3485,0,0,0,0,0,0
$GC,320,-0.58,-146.0,58.4,-20.5,30,325,0.00,2.17,0.00,0.000,6,0.000,0.041,2385,2011,3486,0,0,0,0,0,0
$GC,580,-0.58,-146.0,122.9,-22.3,55,584,0.00,2.17,0.00,0.000,4,0.000,0.055,2384,599,3489,0,0,0,0,0,0
$GC,632,-0.58,-146.0,133.1,-18.0,60,636,0.00,2.20,0.00,0.000,6,0.000,0.048,2375,2010,3488,0,0,0,0,0,0
$GC,892,-0.58,-146.0,181.7,-16.4,84,896,0.00,2.28,0.00,0.000,4,0.000,0.063,2364,3424,3486,0,0,0,0,0,0
$GC,957,-0.58,-146.0,191.6,-14.5,90,963,0.10,2.15,0.00,0.000,6,0.170,0.038,2391,1999,3487,0,0,0,0,0,0
$GC,1212,-0.58,-146.0,223.8,-12.8,106,1216,0.00,2.28,0.00,0.000,4,0.000,0.061,2385,3422,3487,0,0,0,0,0,0
$GC,1267,-0.58,-146.0,231.1,-11.8,108,1271,0.00,2.15,0.00,0.000,6,0.000,0.042,2385,2008,3487,0,0,0,0,0,0
$GC,1583,-0.58,-146.0,271.8,-12.6,123,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2007,3487,0,0,0,0,0,0
$GC,1911,-0.58,-146.0,309.7,-11.2,137,1915,0.00,2.25,0.00,0.000,4,0.000,0.061,2374,3415,3487,0,0,0,0,0,0
$GC,1953,-0.58,-146.0,314.7,-11.7,138,1957,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,2003,3487,0,0,0,0,0,0
$GC,2280,-0.58,-146.0,354.9,-12.0,146,2284,0.00,2.15,0.00,0.000,4,0.000,0.049,2375,587,3485,0,0,0,0,0,0
$GC,2322,-0.58,-146.0,359.8,-10.9,147,2326,0.00,2.22,0.00,0.000,6,0.000,0.048,2374,2017,3483,0,0,0,0,0,0
$GC,2648,-0.58,-146.0,392.6,-9.6,155,2653,0.10,2.22,0.00,0.000,4,0.170,0.058,2393,3420,3483,0,0,0,0,0,0
$GC,2777,-0.58,-146.0,403.5,-8.1,157,2783,0.00,2.17,0.00,0.000,6,0.000,0.042,2393,2009,3482,0,0,0,0,0,0
$GC,3108,-0.58,-146.0,430.7,-8.0,166,3112,0.00,2.25,0.00,0.000,4,0.000,0.061,2393,3418,3476,0,0,0,0,0,0
$GC,3149,-0.58,-146.0,434.1,-8.2,166,3155,0.00,2.17,0.00,0.000,6,0.000,0.044,2391,2007,3478,0,0,0,0,0,0
$GC,3480,-0.58,-146.0,461.1,-8.6,175,3482,0.00,0.00,-0.10,0.000,6,0.000,0.000,2392,2004,3497,0,0,0,0,0,0
$GC,3805,-0.58,-146.0,491.3,-9.6,183,3809,0.00,2.28,0.00,0.000,4,0.000,0.067,2390,3415,3495,0,0,0,0,0,0
$GC,3841,-0.58,-146.0,494.6,-8.9,183,3846,0.00,2.20,0.00,0.000,6,0.000,0.045,2390,2005,3494,0,0,0,0,0,0
$GC,4172,-0.58,-146.0,521.7,-7.9,192,4176,0.00,2.28,0.00,0.000,4,0.000,0.067,2382,3412,3491,0,0,0,0,0,0
$GC,4214,-0.58,-146.0,525.2,-8.3,193,4218,0.00,2.20,0.00,0.000,6,0.000,0.046,2382,2010,3491,0,0,0,0,0,0
$GC,4541,-0.58,-146.0,552.3,-8.3,201,4545,0.00,2.33,0.00,0.000,4,0.000,0.069,2377,3418,3488,0,0,1,0,0,0
$GC,4578,-0.58,-146.0,555.7,-9.0,201,4583,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,2001,3488,0,0,0,0,0,0
$GC,4908,-0.58,-146.0,585.8,-9.1,210,4913,0.10,2.30,0.00,0.000,4,0.160,0.062,2393,3419,3485,0,0,0,0,0,0
$GC,4938,-0.58,-146.0,588.2,-7.6,210,4942,0.00,2.22,0.00,0.000,6,0.000,0.047,2394,2004,3484,0,0,0,0,0,0
$GC,5273,-0.58,-146.0,612.2,-6.9,219,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2004,3482,0,0,0,0,0,0
$GC,5597,-0.58,-146.0,633.5,-6.6,227,5601,0.00,2.28,0.00,0.000,4,0.000,0.063,2384,3417,3479,0,0,0,0,0,0
$GC,5639,-0.58,-146.0,636.5,-7.7,228,5644,0.00,2.22,0.00,0.000,6,0.000,0.049,2384,2003,3478,0,0,0,0,0,0
$GC,5967,-0.58,-146.0,660.0,-7.1,236,5971,0.00,2.30,0.00,0.000,4,0.000,0.071,2381,3415,3477,0,0,0,0,0,0
$GC,6026,-0.58,-146.0,664.3,-7.2,237,6030,0.00,2.20,0.00,0.000,6,0.000,0.048,2382,2014,3477,0,0,0,0,0,0
$GC,6375,-0.58,-146.0,688.7,-7.0,246,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2014,3474,0,0,0,0,0,0
$GC,6700,-0.58,-146.0,712.0,-7.1,254,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2014,3472,0,0,0,0,0,0
$GC,7025,-0.58,-146.0,735.9,-7.4,262,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2014,3470,0,0,0,0,0,0
$GC,7350,-0.58,-146.0,758.0,-6.8,270,7354,0.00,2.33,0.00,0.000,4,0.000,0.072,2378,3415,3467,0,0,0,0,0,0
$GC,7393,-0.58,-146.0,760.8,-6.2,271,7397,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,2005,3467,0,0,0,0,0,0
$GC,7719,-0.58,-146.0,782.5,-6.6,279,7724,0.00,2.30,0.00,0.000,4,0.000,0.064,2365,3417,3467,0,0,0,0,0,0
$GC,7742,-0.58,-146.0,784.2,-7.2,279,7747,0.12,2.20,0.00,0.000,6,0.146,0.044,2405,2002,3466,0,0,0,0,0,0
$GC,8088,-0.58,-146.0,804.0,-5.9,288,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1998,3465,0,0,0,0,0,0
$GC,8412,-0.58,-146.0,824.7,-6.4,296,8416,0.00,2.33,0.00,0.000,4,0.000,0.067,2403,3422,3461,0,0,0,0,0,0
$GC,8462,-0.58,-146.0,827.9,-6.1,297,8466,0.00,2.22,0.00,0.000,6,0.000,0.045,2404,2003,3463,0,0,0,0,0,0
$GC,8785,-0.58,-146.0,847.6,-5.9,305,8789,0.00,2.33,0.00,0.000,4,0.000,0.066,2404,3415,3462,0,0,0,0,0,0
$GC,8808,-0.58,-146.0,849.1,-5.8,305,8812,0.00,2.20,0.00,0.000,6,0.000,0.045,2404,2009,3462,0,0,0,0,0,0
$GC,9147,-0.58,-146.0,867.4,-5.3,314,9151,0.00,2.33,0.00,0.000,4,0.000,0.067,2403,3423,3461,0,0,0,0,0,0
$GC,9180,-0.58,-146.0,869.1,-6.1,314,9184,0.00,2.22,0.00,0.000,6,0.000,0.044,2404,2000,3461,0,0,0,0,0,0
$GC,9510,-0.58,-146.0,885.4,-4.9,322,9514,0.00,2.22,0.00,0.000,4,0.000,0.058,2404,609,3460,0,0,0,0,0,0
$GC,9529,-0.58,-146.0,886.5,-5.3,322,9533,0.00,2.25,0.00,0.000,6,0.000,0.051,2404,2018,3464,0,0,0,0,0,0
$GC,9874,-0.58,-146.0,903.8,-5.3,331,9877,0.00,2.28,0.00,0.000,4,0.000,0.067,2403,3415,3459,0,0,0,0,0,0
$GC,9924,-0.58,-146.0,906.7,-6.4,332,9928,0.00,2.20,0.00,0.000,6,0.000,0.046,2404,2008,3458,0,0,0,0,0,0
$GC,10246,-0.58,-146.0,926.6,-6.3,340,10250,0.00,2.30,0.00,0.000,4,0.000,0.067,2399,3416,3458,0,0,0,0,0,0
$GC,10288,-0.58,-146.0,929.4,-6.8,341,10293,0.00,2.20,0.00,0.000,6,0.000,0.046,2405,2001,3455,0,0,0,0,0,0
$GC,10615,-0.58,-146.0,952.1,-7.0,349,10619,0.00,2.33,0.00,0.000,4,0.000,0.067,2404,3419,3460,0,0,0,0,0,0
$GC,10882,-0.58,-146.0,969.9,-7.2,354,10887,0.00,2.20,0.00,0.000,6,0.000,0.049,2404,2021,3455,0,0,0,0,0,0
$STATE,11211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11211,begin apogee
$GC,11216,-0.28,0.0,990.8,6.1,363,11344,0.28,0.00,125.10,1.357,6,0.100,0.000,2500,2090,2892,0,0,0,0,0,0
$STATE,11348,end apogee,CONTROL_FINISHED_OK
$STATE,11348,begin climb
$GC,11350,0.58,146.0,997.6,0.0,366,11492,0.75,2.55,133.68,1.318,4,0.067,0.067,2775,3491,2294,0,0,0,0,0,0
$GC,11649,0.58,146.0,971.5,14.1,372,11655,0.00,2.25,0.00,0.000,6,0.000,0.048,2785,2090,2284,0,0,1,0,0,0
$GC,11980,0.58,146.0,929.9,12.5,381,11984,0.00,2.30,0.00,0.000,4,0.000,0.061,2796,672,2281,0,0,0,0,0,0
$GC,11998,0.58,146.0,927.4,12.2,381,12002,0.00,2.30,0.00,0.000,6,0.000,0.055,2796,2091,2279,0,0,0,0,0,0
$GC,12342,0.58,146.0,882.1,13.1,390,12346,0.00,2.30,0.00,0.000,4,0.000,0.068,2796,3495,2277,0,0,0,0,0,0
$GC,12436,0.58,146.0,868.4,13.8,392,12441,0.12,2.22,0.00,0.000,6,0.214,0.050,2779,2084,2277,0,0,1,0,0,0
$GC,12763,0.58,146.0,829.2,11.7,400,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2079,2278,0,0,0,0,0,0
$GC,13088,0.58,146.0,792.0,11.2,408,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2080,2276,0,0,0,0,0,0
$GC,13414,0.58,146.0,758.9,9.7,416,13418,0.00,2.25,0.00,0.000,4,0.000,0.062,2788,675,2275,0,0,0,0,0,0
$GC,13464,0.58,146.0,754.1,9.0,417,13468,0.00,2.28,0.00,0.000,6,0.000,0.056,2788,2082,2274,0,0,0,0,0,0
$GC,13786,0.58,146.0,724.5,9.3,425,13790,0.00,2.33,0.00,0.000,4,0.000,0.070,2788,3505,2273,0,0,0,0,0,0
$GC,13823,0.58,146.0,720.5,11.0,425,13828,0.00,2.25,0.00,0.000,6,0.000,0.051,2799,2083,2274,0,0,1,0,0,0
$GC,14153,0.58,146.0,685.0,11.2,434,14157,0.00,2.28,0.00,0.000,4,0.000,0.060,2810,672,2273,0,0,0,0,0,0
$GC,14208,0.58,146.0,678.4,12.4,435,14213,0.12,2.30,0.00,0.000,6,0.199,0.056,2781,2100,2270,0,0,0,0,0,0
$GC,14522,0.58,146.0,646.3,9.8,443,14526,0.00,2.30,0.00,0.000,4,0.000,0.071,2780,3496,2272,0,0,0,0,0,0
$GC,14565,0.58,146.0,641.8,10.5,444,14569,0.00,2.22,0.00,0.000,6,0.000,0.052,2786,2086,2274,0,0,1,0,0,0
$GC,14892,0.58,146.0,610.5,9.5,452,14896,0.00,2.25,0.00,0.000,4,0.000,0.062,2797,683,2272,0,0,0,0,0,0
$GC,14937,0.58,146.0,605.6,9.7,453,14941,0.00,2.28,0.00,0.000,6,0.000,0.055,2794,2092,2271,0,0,0,0,0,0
$GC,15259,0.58,146.0,571.9,10.6,461,15263,0.00,2.33,0.00,0.000,4,0.000,0.068,2798,3505,2271,0,0,0,0,0,0
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$STATE,23091,end climb,SURFACE_DEPTH_REACHED
$STATE,23091,begin surface coast
$FINISH,0.9,1.022432
$STATE,23144,end surface coast,CONTROL_FINISHED_OK
$STATE,23144,begin surface
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$IRIDIUM_FIX,1738.31,12727.49,180712,141437
$TT8_MAMPS,0.056758
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$TCM_TEMP,25.90
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8434155520
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52409204736
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,63.445
$10V_AH,9.8,43.223
$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
$DEVICE_SECS,19.825,225.750,391.575,152.450,0.000,151.757,220.099,1350.368,0.250,0.000,13.412,1853.622,18379.605,699.838,3888.661,636.985,33.361,2036.814,0.000,2377.698,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,10.545,0.000,0.000
$MEM,354840
$DATA_FILE_SIZE,33349,896
$CAP_FILE_SIZE,228407,0
$CFSIZE,260165632,231399424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,240111,024120,1742.567,12723.730,196,3.3,215,-2.0