version: 66.07
glider: 511
mission: 5
dive: 313
start: 1 25 111 6 19 27
data:
$ID,511
$MISSION,5
$DIVE,313
$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,-48719.801
$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,2040
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$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,312
$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
$GPS1,250111,055401,1740.206,12713.166,73,0.9,73,-1.9
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.7
$GPS2,250111,061832,1740.212,12712.998,13,1.8,13,-1.9
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.210,-0.047
$KALMAN_X,-584668.8,-83.5,-862.2,545863.4,5903.5
$KALMAN_Y,661113.2,343.5,-416.3,-987434.9,1797.4
$MHEAD_RNG_PITCHd_Wd,259.3,317884,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,32,-0.58,-146.0,0.0,0.0,0,104,0.00,0.00,-70.03,0.000,2,0.000,0.000,37,2038,2889,0,0,0,0,0,0
$GC,107,-0.58,-146.0,3.5,-3.2,7,137,10.38,2.28,-12.12,0.000,4,0.254,0.065,2394,620,3488,0,0,0,0,0,0
$GC,294,-0.58,-146.0,50.5,-20.4,27,299,0.00,2.22,0.00,0.000,6,0.000,0.051,2386,2041,3489,0,0,0,0,0,0
$GC,555,-0.58,-146.0,115.5,-25.9,52,559,0.00,2.25,0.00,0.000,4,0.000,0.061,2374,3451,3489,0,0,0,0,0,0
$GC,597,-0.58,-146.0,124.7,-19.6,56,601,0.00,2.17,0.00,0.000,6,0.000,0.039,2371,2027,3489,0,0,0,0,0,0
$GC,859,-0.58,-146.0,175.4,-19.4,80,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2022,3489,0,0,0,0,0,0
$GC,1120,-0.58,-146.0,221.8,-17.1,99,1124,0.00,2.25,0.00,0.000,4,0.000,0.061,2365,3449,3490,0,0,0,0,0,0
$GC,1143,-0.58,-146.0,225.8,-15.9,100,1147,0.12,2.15,0.00,0.000,6,0.156,0.041,2399,2043,3490,0,0,0,0,0,0
$GC,1469,-0.58,-146.0,263.3,-10.4,116,1473,0.00,2.25,0.00,0.000,4,0.000,0.064,2390,3454,3490,0,0,0,0,0,0
$GC,1511,-0.58,-146.0,267.6,-9.8,118,1515,0.00,2.15,0.00,0.000,6,0.000,0.041,2390,2040,3489,0,0,0,0,0,0
$GC,1859,-0.58,-146.0,306.7,-11.3,134,1863,0.00,2.17,0.00,0.000,4,0.000,0.050,2389,621,3489,0,0,0,0,0,0
$GC,1910,-0.58,-146.0,312.5,-11.0,135,1914,0.00,2.22,0.00,0.000,6,0.000,0.048,2381,2043,3489,0,0,0,0,0,0
$GC,2227,-0.58,-146.0,347.9,-10.7,143,2231,0.00,2.20,0.00,0.000,4,0.000,0.059,2371,3452,3488,0,0,0,0,0,0
$GC,2310,-0.58,-146.0,356.8,-10.3,144,2315,0.12,2.17,0.00,0.000,6,0.146,0.041,2407,2032,3487,0,0,0,0,0,0
$GC,2641,-0.58,-146.0,381.7,-7.1,152,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2036,3486,0,0,0,0,0,0
$GC,2965,-0.58,-146.0,406.2,-7.7,160,2970,0.00,2.28,0.00,0.000,4,0.000,0.068,2404,3446,3483,0,0,0,0,0,0
$GC,3020,-0.58,-146.0,410.6,-7.5,161,3024,0.00,2.17,0.00,0.000,6,0.000,0.043,2404,2038,3482,0,0,0,0,0,0
$GC,3334,-0.58,-146.0,435.9,-8.1,169,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2037,3480,0,0,0,0,0,0
$GC,3658,-0.58,-146.0,459.9,-7.2,177,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2037,3477,0,0,0,0,0,0
$GC,3983,-0.58,-146.0,484.0,-7.7,185,3988,0.00,2.33,-0.10,0.000,4,0.000,0.081,2399,3458,3497,0,0,1,0,0,0
$GC,4031,-0.58,-146.0,488.2,-8.8,186,4035,0.00,2.20,0.00,0.000,6,0.000,0.041,2399,2025,3497,0,0,0,0,0,0
$GC,4358,-0.58,-146.0,516.0,-8.3,194,4362,0.00,2.33,0.00,0.000,4,0.000,0.067,2389,3458,3494,0,0,0,0,0,0
$GC,4385,-0.58,-146.0,518.3,-8.4,194,4389,0.00,2.17,0.00,0.000,6,0.000,0.040,2390,2039,3493,0,0,0,0,0,0
$GC,4720,-0.58,-146.0,545.9,-8.1,203,4724,0.00,2.28,0.00,0.000,4,0.000,0.065,2382,3451,3491,0,0,0,0,0,0
$GC,4743,-0.58,-146.0,548.0,-8.5,203,4747,0.00,2.15,0.00,0.000,6,0.000,0.041,2382,2036,3490,0,0,0,0,0,0
$GC,5082,-0.58,-146.0,578.6,-9.1,212,5086,0.00,2.17,0.00,0.000,4,0.000,0.051,2382,641,3488,0,0,0,0,0,0
$GC,5110,-0.58,-146.0,581.4,-10.4,212,5114,0.00,2.20,0.00,0.000,6,0.000,0.047,2381,2042,3488,0,0,0,0,0,0
$GC,5445,-0.58,-146.0,608.3,-7.8,221,5449,0.00,2.25,0.00,0.000,4,0.000,0.063,2371,3453,3485,0,0,0,0,0,0
$GC,5528,-0.58,-146.0,615.0,-8.0,222,5534,0.12,2.17,0.00,0.000,6,0.143,0.041,2407,2042,3488,0,0,0,0,0,0
$GC,5859,-0.58,-146.0,635.4,-6.2,231,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2036,3482,0,0,0,0,0,0
$GC,6183,-0.58,-146.0,655.2,-6.1,239,6187,0.00,2.28,0.00,0.000,4,0.000,0.065,2401,3448,3480,0,0,0,0,0,0
$GC,6210,-0.58,-146.0,656.9,-6.5,239,6215,0.00,2.15,0.00,0.000,6,0.000,0.042,2401,2038,3480,0,0,0,0,0,0
$GC,6546,-0.58,-146.0,676.5,-5.7,248,6550,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,3449,3478,0,0,0,0,0,0
$GC,6592,-0.58,-146.0,679.3,-6.0,249,6596,0.00,2.17,0.00,0.000,6,0.000,0.043,2393,2041,3478,0,0,0,0,0,0
$GC,6915,-0.58,-146.0,698.0,-5.8,257,6919,0.00,2.28,0.00,0.000,4,0.000,0.065,2384,3448,3476,0,0,0,0,0,0
$GC,6962,-0.58,-146.0,700.9,-6.0,258,6966,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,2037,3476,0,0,0,0,0,0
$GC,7289,-0.58,-146.0,721.3,-6.3,266,7293,0.00,2.30,0.00,0.000,4,0.000,0.064,2377,3454,3475,0,0,0,0,0,0
$GC,7316,-0.58,-146.0,723.1,-6.3,266,7321,0.00,2.17,0.00,0.000,6,0.000,0.043,2376,2036,3472,0,0,0,0,0,0
$GC,7651,-0.58,-146.0,746.8,-7.3,275,7655,0.00,2.30,0.00,0.000,4,0.000,0.065,2367,3454,3472,0,0,0,0,0,0
$GC,7697,-0.58,-146.0,750.5,-8.1,276,7702,0.12,2.17,0.00,0.000,6,0.146,0.044,2403,2045,3471,0,0,0,0,0,0
$GC,8021,-0.58,-146.0,771.2,-6.4,284,8025,0.00,2.30,0.00,0.000,4,0.000,0.065,2395,3454,3470,0,0,0,0,0,0
$GC,8048,-0.58,-146.0,773.1,-6.7,284,8052,0.00,2.22,0.00,0.000,6,0.000,0.043,2395,2027,3470,0,0,0,0,0,0
$GC,8387,-0.58,-146.0,795.4,-6.5,293,8392,0.00,2.30,0.00,0.000,4,0.000,0.064,2391,3448,3469,0,0,0,0,0,0
$GC,8425,-0.58,-146.0,797.8,-7.8,293,8430,0.00,2.20,0.00,0.000,6,0.000,0.044,2391,2037,3466,0,0,0,0,0,0
$GC,8755,-0.58,-146.0,819.2,-6.5,302,8759,0.00,2.30,0.00,0.000,4,0.000,0.065,2389,3448,3468,0,0,0,0,0,0
$GC,8782,-0.58,-146.0,821.3,-7.0,302,8786,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,2042,3467,0,0,0,0,0,0
$GC,9118,-0.58,-146.0,844.6,-7.1,311,9122,0.00,2.33,0.00,0.000,4,0.000,0.067,2389,3452,3467,0,0,0,0,0,0
$GC,9154,-0.58,-146.0,847.3,-7.5,311,9160,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,2033,3465,0,0,0,0,0,0
$GC,9485,-0.58,-146.0,870.4,-7.1,320,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2028,3465,0,0,0,0,0,0
$GC,9810,-0.58,-146.0,892.2,-6.6,328,9814,0.00,2.30,0.00,0.000,4,0.000,0.066,2389,3444,3464,0,0,0,0,0,0
$GC,9860,-0.58,-146.0,895.4,-6.9,329,9864,0.00,2.22,0.00,0.000,6,0.000,0.046,2389,2032,3464,0,0,0,0,0,0
$GC,10183,-0.58,-146.0,914.9,-5.9,337,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2027,3464,0,0,0,0,0,0
$GC,10508,-0.58,-146.0,933.6,-5.8,345,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2027,3462,0,0,0,0,0,0
$GC,10832,-0.58,-146.0,953.2,-6.1,353,10836,0.00,2.33,0.00,0.000,4,0.000,0.067,2389,3448,3461,0,0,0,0,0,0
$GC,10879,-0.58,-146.0,956.1,-5.4,354,10883,0.00,2.22,0.00,0.000,6,0.000,0.046,2389,2033,3461,0,0,0,0,0,0
$GC,11206,-0.58,-146.0,976.0,-6.0,362,11210,0.00,2.35,0.00,0.000,4,0.000,0.067,2389,3452,3461,0,0,0,0,0,0
$GC,11229,-0.58,-146.0,977.5,-6.2,362,11233,0.00,2.22,0.00,0.000,6,0.000,0.046,2389,2040,3461,0,0,0,0,0,0
$STATE,11444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11445,begin apogee
$GC,11450,-0.28,0.0,990.5,6.0,368,11578,0.32,0.00,125.47,1.356,6,0.125,0.000,2494,2115,2892,0,0,0,0,0,0
$STATE,11590,end apogee,CONTROL_FINISHED_OK
$STATE,11590,begin climb
$GC,11592,0.58,146.0,994.8,0.0,371,11732,0.80,0.00,133.95,1.318,6,0.075,0.000,2771,2116,2293,0,0,0,0,0,0
$GC,12052,0.58,146.0,957.1,11.1,383,12056,0.00,2.33,0.00,0.000,4,0.000,0.071,2773,3513,2282,0,0,0,0,0,0
$GC,12126,0.58,146.0,948.0,12.0,384,12131,0.00,2.25,0.00,0.000,6,0.000,0.050,2783,2110,2281,0,0,0,0,0,0
$GC,12461,0.58,146.0,910.0,11.2,393,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2104,2278,0,0,0,0,0,0
$GC,12786,0.58,146.0,875.9,10.2,401,12790,0.00,2.33,0.00,0.000,4,0.000,0.071,2783,3516,2277,0,0,0,0,0,0
$GC,12865,0.58,146.0,866.7,13.0,402,12869,0.00,2.22,0.00,0.000,6,0.000,0.049,2793,2106,2277,0,0,1,0,0,0
$GC,13200,0.58,146.0,830.1,10.8,411,13204,0.00,2.35,0.00,0.000,4,0.000,0.070,2793,3514,2276,0,0,0,0,0,0
$GC,13227,0.58,146.0,826.5,13.5,411,13231,0.00,2.25,0.00,0.000,6,0.000,0.049,2800,2103,2276,0,0,0,0,0,0
$GC,13562,0.58,146.0,785.8,12.2,420,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2096,2275,0,0,0,0,0,0
$GC,13887,0.58,146.0,748.4,11.5,428,13891,0.00,2.33,0.00,0.000,4,0.000,0.067,2804,3514,2274,0,0,0,0,0,0
$GC,13979,0.58,146.0,736.8,12.8,430,13984,0.15,2.22,0.00,0.000,6,0.206,0.049,2779,2104,2278,0,0,1,0,0,0
$GC,14302,0.58,146.0,706.3,9.2,438,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2098,2273,0,0,0,0,0,0
$GC,14627,0.58,146.0,677.5,8.9,446,14631,0.00,2.35,0.00,0.000,4,0.000,0.070,2779,3514,2273,0,0,0,0,0,0
$GC,14698,0.58,146.0,670.6,11.8,447,14702,0.00,2.25,0.00,0.000,6,0.000,0.050,2786,2101,2273,0,0,0,0,0,0
$GC,15038,0.58,146.0,639.8,8.7,456,15042,0.00,2.35,0.00,0.000,4,0.000,0.068,2788,3511,2273,0,0,0,0,0,0
$GC,15057,0.58,146.0,638.1,8.3,456,15061,0.00,2.22,0.00,0.000,6,0.000,0.049,2798,2103,2273,0,0,1,0,0,0
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$STATE,23531,end climb,SURFACE_DEPTH_REACHED
$STATE,23531,begin surface coast
$FINISH,1.0,1.022888
$STATE,23565,end surface coast,CONTROL_FINISHED_OK
$STATE,23565,begin surface
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$HUMID,1078643216
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$TCM_TEMP,25.90
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8433827840
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52408680448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,64.390
$10V_AH,9.8,44.003
$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
$DEVICE_SECS,19.900,202.575,379.025,81.900,0.000,138.423,318.411,609.993,0.500,0.000,15.679,1799.254,19103.990,606.736,3267.711,389.370,33.365,1829.932,0.000,2154.124,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,4.090,0.000,0.000
$MEM,354788
$DATA_FILE_SIZE,30059,890
$CAP_FILE_SIZE,198697,0
$CFSIZE,260165632,231030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,250111,125707,1739.452,12710.626,105,1.5,105,-1.9