version: 66.07
glider: 511
mission: 5
dive: 322
start: 1 27 111 21 5 1
data:
$ID,511
$MISSION,5
$DIVE,322
$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,-49032.613
$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,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,321
$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
$GPS1,270111,204527,1736.120,12649.680,106,2.2,125,-1.9
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.4
$GPS2,270111,210406,1736.162,12649.581,58,1.3,68,-1.9
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.200,0.079
$KALMAN_X,-565711.1,-394.5,-106.5,485858.4,4289.0
$KALMAN_Y,657666.6,242.5,-149.9,-991648.4,-1870.1
$MHEAD_RNG_PITCHd_Wd,293.4,280211,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,108,0.00,0.00,-80.38,0.000,2,0.000,0.000,32,2054,2656,0,0,0,0,0,0
$GC,112,-0.58,-146.0,3.1,-2.7,8,147,10.40,2.38,-19.48,0.000,4,0.253,0.077,2384,3472,3487,0,0,0,0,0,0
$GC,278,-0.58,-146.0,36.6,-21.1,26,282,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2056,3488,0,0,0,0,0,0
$GC,539,-0.58,-146.0,92.1,-19.4,50,543,0.00,2.20,0.00,0.000,4,0.000,0.054,2387,646,3488,0,0,0,0,0,0
$GC,645,-0.58,-146.0,111.8,-17.5,61,649,0.00,2.22,0.00,0.000,6,0.000,0.048,2377,2062,3488,0,0,0,0,0,0
$GC,906,-0.58,-146.0,164.8,-18.8,85,910,0.00,2.20,0.00,0.000,4,0.000,0.058,2367,3472,3488,0,0,0,0,0,0
$GC,980,-0.58,-146.0,178.3,-16.4,92,986,0.12,2.17,0.00,0.000,6,0.155,0.038,2407,2042,3488,0,0,0,0,0,0
$GC,1237,-0.58,-146.0,213.2,-11.7,112,1241,0.00,2.12,0.00,0.000,4,0.000,0.049,2402,657,3488,0,0,0,0,0,0
$GC,1283,-0.58,-146.0,219.1,-11.6,114,1287,0.00,2.17,0.00,0.000,6,0.000,0.048,2395,2061,3488,0,0,0,0,0,0
$GC,1607,-0.58,-146.0,258.3,-11.8,130,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2061,3488,0,0,0,0,0,0
$GC,1916,-0.58,-146.0,293.8,-10.8,145,1920,0.00,2.20,0.00,0.000,4,0.000,0.057,2386,3476,3488,0,0,0,0,0,0
$GC,1944,-0.58,-146.0,296.8,-11.3,146,1948,0.00,2.12,0.00,0.000,6,0.000,0.036,2385,2055,3487,0,0,0,0,0,0
$GC,2279,-0.58,-146.0,330.0,-9.3,156,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2051,3487,0,0,0,0,0,0
$GC,2605,-0.58,-146.0,359.3,-9.1,164,2609,0.00,2.22,0.00,0.000,4,0.000,0.056,2375,3472,3488,0,0,0,0,0,0
$GC,2659,-0.58,-146.0,364.7,-10.0,165,2663,0.00,2.15,0.00,0.000,6,0.000,0.041,2375,2053,3485,0,0,0,0,0,0
$GC,2972,-0.58,-146.0,398.3,-10.7,173,2976,0.00,2.15,0.00,0.000,4,0.000,0.048,2375,659,3483,0,0,0,0,0,0
$GC,3009,-0.58,-146.0,402.4,-10.9,173,3015,0.12,2.20,0.00,0.000,6,0.153,0.047,2402,2063,3483,0,0,0,0,0,0
$GC,3340,-0.58,-146.0,426.5,-6.8,182,3344,0.00,2.20,0.00,0.000,4,0.000,0.057,2394,3472,3478,0,0,0,0,0,0
$GC,3428,-0.58,-146.0,432.7,-7.4,184,3432,0.00,2.15,0.00,0.000,6,0.000,0.039,2394,2059,3483,0,0,0,0,0,0
$GC,3755,-0.58,-146.0,460.1,-9.1,192,3759,0.00,2.25,0.00,0.000,4,0.000,0.058,2388,3470,3477,0,0,0,0,0,0
$GC,3815,-0.58,-146.0,466.1,-10.0,193,3819,0.00,2.12,0.00,0.000,6,0.000,0.041,2386,2057,3477,0,0,1,0,0,0
$GC,4128,-0.58,-146.0,492.5,-7.9,201,4133,0.00,2.22,-0.10,0.000,4,0.000,0.064,2386,647,3497,0,0,0,0,0,0
$GC,4165,-0.58,-146.0,495.8,-8.3,201,4171,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,2063,3497,0,0,0,0,0,0
$GC,4495,-0.58,-146.0,522.4,-8.3,210,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2063,3495,0,0,0,0,0,0
$GC,4820,-0.58,-146.0,550.5,-8.5,218,4824,0.00,2.22,0.00,0.000,4,0.000,0.061,2371,3467,3492,0,0,0,0,0,0
$GC,4890,-0.58,-146.0,556.1,-8.1,219,4894,0.12,2.17,0.00,0.000,6,0.143,0.045,2407,2070,3490,0,0,0,0,0,0
$GC,5230,-0.58,-146.0,575.5,-5.7,228,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2069,3489,0,0,0,0,0,0
$GC,5556,-0.58,-146.0,594.1,-5.7,236,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2069,3484,0,0,0,0,0,0
$GC,5880,-0.58,-146.0,612.8,-5.9,244,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2069,3484,0,0,0,0,0,0
$GC,6205,-0.58,-146.0,636.3,-7.5,252,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2067,3481,0,0,0,0,0,0
$GC,6530,-0.58,-146.0,659.1,-6.8,260,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2066,3479,0,0,0,0,0,0
$GC,6855,-0.58,-146.0,679.6,-6.1,268,6859,0.00,2.30,0.00,0.000,4,0.000,0.066,2399,3472,3477,0,0,0,0,0,0
$GC,6902,-0.58,-146.0,682.7,-6.7,269,6906,0.00,2.17,0.00,0.000,6,0.000,0.043,2399,2050,3476,0,0,0,0,0,0
$GC,7229,-0.58,-146.0,704.4,-6.9,277,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2046,3475,0,0,0,0,0,0
$GC,7554,-0.58,-146.0,726.9,-6.8,285,7558,0.00,2.30,0.00,0.000,4,0.000,0.064,2391,3463,3474,0,0,0,0,0,0
$GC,7604,-0.58,-146.0,730.3,-7.0,286,7608,0.00,2.17,0.00,0.000,6,0.000,0.044,2391,2054,3472,0,0,0,0,0,0
$GC,7922,-0.58,-146.0,752.4,-7.1,294,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2048,3472,0,0,0,0,0,0
$GC,8247,-0.58,-146.0,773.6,-6.2,302,8251,0.00,2.33,0.00,0.000,4,0.000,0.065,2382,3470,3470,0,0,0,0,0,0
$GC,8274,-0.58,-146.0,775.4,-6.2,302,8278,0.00,2.20,0.00,0.000,6,0.000,0.044,2382,2061,3469,0,0,0,0,0,0
$GC,8610,-0.58,-146.0,794.9,-5.8,311,8614,0.00,2.30,0.00,0.000,4,0.000,0.066,2373,3467,3469,0,0,0,0,0,0
$GC,8643,-0.58,-146.0,796.8,-5.7,311,8648,0.10,2.20,0.00,0.000,6,0.156,0.046,2399,2052,3467,0,0,0,0,0,0
$GC,8974,-0.58,-146.0,813.3,-5.0,319,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2046,3467,0,0,0,0,0,0
$GC,9299,-0.58,-146.0,831.5,-5.8,327,9303,0.00,2.30,0.00,0.000,4,0.000,0.065,2392,3464,3466,0,0,0,0,0,0
$GC,9331,-0.58,-146.0,833.6,-6.1,327,9335,0.00,2.22,0.00,0.000,6,0.000,0.046,2392,2051,3465,0,0,0,0,0,0
$GC,9662,-0.58,-146.0,856.2,-7.0,335,9666,0.00,2.30,0.00,0.000,4,0.000,0.065,2382,3470,3464,0,0,0,0,0,0
$GC,9689,-0.58,-146.0,858.3,-7.5,335,9693,0.00,2.22,0.00,0.000,6,0.000,0.045,2382,2051,3467,0,0,0,0,0,0
$GC,10024,-0.58,-146.0,881.0,-6.5,344,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2043,3461,0,0,0,0,0,0
$GC,10349,-0.58,-146.0,900.5,-5.9,352,10353,0.00,2.33,0.00,0.000,4,0.000,0.065,2373,3464,3462,0,0,0,0,0,0
$GC,10396,-0.58,-146.0,903.5,-7.5,353,10401,0.10,2.20,0.00,0.000,6,0.156,0.046,2400,2052,3460,0,0,0,0,0,0
$GC,10724,-0.58,-146.0,919.6,-4.8,361,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2045,3461,0,0,0,0,0,0
$GC,11049,-0.58,-146.0,935.0,-4.7,369,11053,0.00,2.33,0.00,0.000,4,0.000,0.066,2393,3464,3460,0,0,0,0,0,0
$GC,11072,-0.58,-146.0,936.2,-5.5,369,11077,0.00,2.20,0.00,0.000,6,0.000,0.048,2393,2056,3460,0,0,0,0,0,0
$GC,11413,-0.58,-146.0,954.4,-5.5,378,11417,0.00,2.30,0.00,0.000,4,0.000,0.067,2384,3466,3460,0,0,0,0,0,0
$GC,11449,-0.58,-146.0,956.5,-6.5,378,11455,0.00,2.20,0.00,0.000,6,0.000,0.048,2380,2059,3460,0,0,0,0,0,0
$GC,11780,-0.58,-146.0,976.7,-6.2,387,11784,0.00,2.33,0.00,0.000,4,0.000,0.067,2373,3465,3459,0,0,0,0,0,0
$GC,11803,-0.58,-146.0,978.1,-5.6,387,11807,0.00,2.22,0.00,0.000,6,0.000,0.048,2374,2060,3458,0,0,0,0,0,0
$STATE,12019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12019,begin apogee
$GC,12024,-0.28,0.0,992.3,6.6,393,12154,0.40,0.00,126.47,1.361,6,0.133,0.000,2498,2133,2889,0,0,0,0,0,0
$STATE,12163,end apogee,CONTROL_FINISHED_OK
$STATE,12163,begin climb
$GC,12165,0.58,146.0,996.4,0.0,396,12307,0.77,2.47,132.93,1.322,4,0.079,0.057,2781,738,2294,0,0,1,0,0,0
$GC,12373,0.58,146.0,985.7,12.4,400,12378,0.00,2.35,0.00,0.000,6,0.000,0.054,2782,2130,2285,0,0,0,0,0,0
$GC,12703,0.58,146.0,946.6,11.6,409,12707,0.00,2.33,0.00,0.000,4,0.000,0.071,2782,3542,2281,0,0,0,0,0,0
$GC,12792,0.58,146.0,935.4,12.9,411,12796,0.00,2.22,0.00,0.000,6,0.000,0.049,2793,2133,2280,0,0,1,0,0,0
$GC,13119,0.58,146.0,895.1,12.5,419,13123,0.00,2.25,0.00,0.000,4,0.000,0.060,2803,726,2277,0,0,0,0,0,0
$GC,13169,0.58,146.0,888.5,13.3,420,13173,0.00,2.25,0.00,0.000,6,0.000,0.054,2803,2131,2276,0,0,0,0,0,0
$GC,13491,0.58,146.0,845.1,13.6,428,13495,0.00,2.30,0.00,0.000,4,0.000,0.070,2803,3542,2275,0,0,0,0,0,0
$GC,13546,0.58,146.0,836.7,13.9,429,13551,0.15,2.22,0.00,0.000,6,0.210,0.050,2779,2133,2276,0,0,0,0,0,0
$GC,13860,0.58,146.0,800.0,11.3,437,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2128,2275,0,0,0,0,0,0
$GC,14186,0.58,146.0,765.5,10.4,445,14190,0.00,2.25,0.00,0.000,4,0.000,0.061,2788,723,2273,0,0,0,0,0,0
$GC,14236,0.58,146.0,760.1,9.8,446,14240,0.00,2.28,0.00,0.000,6,0.000,0.056,2788,2130,2274,0,0,0,0,0,0
$GC,14558,0.58,146.0,726.1,10.6,454,14562,0.00,2.33,0.00,0.000,4,0.000,0.071,2788,3545,2273,0,0,0,0,0,0
$GC,14609,0.58,146.0,719.9,12.6,455,14613,0.00,2.22,0.00,0.000,6,0.000,0.051,2798,2128,2277,0,0,1,0,0,0
$GC,14926,0.58,146.0,682.9,11.7,463,14930,0.00,2.33,0.00,0.000,4,0.000,0.070,2798,3537,2273,0,0,0,0,0,0
$GC,14981,0.58,146.0,675.8,13.0,464,14986,0.12,2.25,0.00,0.000,6,0.212,0.051,2782,2127,2273,0,0,0,0,0,0
$GC,15300,0.58,146.0,643.4,9.8,472,15304,0.00,2.35,0.00,0.000,4,0.000,0.071,2780,3543,2270,0,0,0,0,0,0
$GC,15350,0.58,146.0,638.2,9.7,473,15354,0.00,2.22,0.00,0.000,6,0.000,0.051,2789,2122,2273,0,0,1,0,0,0
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$STATE,23415,end climb,SURFACE_DEPTH_REACHED
$STATE,23415,begin surface coast
$FINISH,0.9,1.022911
$STATE,23454,end surface coast,CONTROL_FINISHED_OK
$STATE,23454,begin surface
$SM_CCo,23481,172.43,0.554,0,0,499,586.99
$SM_GC,1.74,0.00,0.00,172.43,0.000,0.000,0.554,43,2052,499,-7.95,-0.23,586.99
$IRIDIUM_FIX,1729.26,12650.84,220712,151508
$TT8_MAMPS,0.058292
$HUMID,1078644506
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.50
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8403091456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52408516608
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,66.024
$10V_AH,9.8,44.941
$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
$DEVICE_SECS,20.125,210.950,371.975,172.425,0.000,150.108,185.565,278.196,0.750,0.000,70.069,1805.986,18912.902,690.595,2976.714,379.794,33.365,1965.214,0.000,2234.858,0.000,0.543,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,593.459,0.000,0.000,0.000,0.000,0.000,0.000,22731.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,7.989,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,30063,878
$CAP_FILE_SIZE,200320,0
$CFSIZE,260165632,230109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,280111,034100,1736.415,12646.321,53,1.2,53,-1.9