version: 66.07
glider: 511
mission: 5
dive: 329
start: 1 29 111 21 5 58
data:
$ID,511
$MISSION,5
$DIVE,329
$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,-49303.617
$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,43
$R_STBD_OVSHOOT,20
$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,328
$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
$GPS1,290111,205654,1745.270,12631.534,66,0.9,66,-2.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-71.6
$GPS2,290111,210502,1745.231,12631.505,11,1.4,11,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.205,0.066
$KALMAN_X,-562256.9,114.0,-434.8,450885.6,2695.0
$KALMAN_Y,641911.5,112.2,1356.0,-960490.2,-9041.3
$MHEAD_RNG_PITCHd_Wd,289.8,244972,-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,-70.68,0.000,2,0.000,0.000,41,2034,2962,0,0,0,0,0,0
$GC,102,-0.58,-146.0,4.4,-5.3,7,130,9.98,2.33,-10.25,0.000,4,0.242,0.074,2385,3472,3488,0,0,0,0,0,0
$GC,254,-0.58,-146.0,46.1,-20.4,23,259,0.00,2.17,0.00,0.000,6,0.000,0.046,2385,2078,3490,0,0,0,0,0,0
$GC,514,-0.58,-146.0,105.6,-21.4,48,518,0.00,2.22,0.00,0.000,4,0.000,0.050,2385,642,3490,0,0,0,0,0,0
$GC,560,-0.58,-146.0,114.6,-17.2,52,566,0.00,2.25,0.00,0.000,6,0.000,0.051,2376,2064,3490,0,0,0,0,0,0
$GC,820,-0.58,-146.0,167.5,-20.9,77,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2064,3490,0,0,0,0,0,0
$GC,1084,-0.58,-146.0,210.0,-14.4,99,1088,0.00,2.22,0.00,0.000,4,0.000,0.059,2366,3474,3491,0,0,0,0,0,0
$GC,1139,-0.58,-146.0,218.1,-14.9,101,1144,0.12,2.17,0.00,0.000,6,0.153,0.038,2400,2048,3491,0,0,0,0,0,0
$GC,1459,-0.58,-146.0,254.5,-12.1,117,1463,0.00,2.15,0.00,0.000,4,0.000,0.050,2401,646,3493,0,0,0,0,0,0
$GC,1525,-0.58,-146.0,262.3,-11.0,120,1529,0.00,2.22,0.00,0.000,6,0.000,0.050,2394,2063,3492,0,0,0,0,0,0
$GC,1854,-0.58,-146.0,296.6,-10.2,136,1858,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,3475,3491,0,0,0,0,0,0
$GC,1946,-0.58,-146.0,305.9,-9.6,139,1950,0.00,2.17,0.00,0.000,6,0.000,0.041,2385,2057,3491,0,0,0,0,0,0
$GC,2268,-0.58,-146.0,339.7,-10.0,147,2272,0.00,2.15,0.00,0.000,4,0.000,0.049,2386,651,3491,0,0,0,0,0,0
$GC,2322,-0.58,-146.0,345.2,-9.1,148,2326,0.00,2.22,0.00,0.000,6,0.000,0.050,2381,2063,3490,0,0,0,0,0,0
$GC,2640,-0.58,-146.0,374.7,-9.4,156,2644,0.00,2.22,0.00,0.000,4,0.000,0.058,2371,3472,3490,0,0,0,0,0,0
$GC,2658,-0.58,-146.0,376.8,-10.7,156,2663,0.12,2.12,0.00,0.000,6,0.144,0.041,2407,2061,3489,0,0,1,0,0,0
$GC,3003,-0.58,-146.0,403.6,-7.7,165,3007,0.00,2.30,0.00,0.000,4,0.000,0.067,2400,3469,3487,0,0,1,0,0,0
$GC,3031,-0.58,-146.0,405.7,-8.3,165,3035,0.00,2.17,0.00,0.000,6,0.000,0.043,2400,2062,3487,0,0,0,0,0,0
$GC,3365,-0.58,-146.0,434.0,-8.7,174,3369,0.00,2.30,0.00,0.000,4,0.000,0.068,2390,3467,3486,0,0,0,0,0,0
$GC,3398,-0.58,-146.0,436.8,-8.3,174,3402,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,2054,3485,0,0,0,0,0,0
$GC,3728,-0.58,-146.0,465.0,-8.8,182,3732,0.00,2.30,0.00,0.000,4,0.000,0.069,2382,3470,3481,0,0,0,0,0,0
$GC,3755,-0.58,-146.0,467.8,-10.2,182,3759,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,2050,3482,0,0,0,0,0,0
$GC,4095,-0.58,-146.0,498.0,-8.2,191,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2053,3480,0,0,0,0,0,0
$GC,4420,-0.58,-146.0,522.5,-7.8,199,4424,0.00,2.28,0.00,0.000,4,0.000,0.062,2370,3470,3477,0,0,0,0,0,0
$GC,4440,-0.58,-146.0,524.2,-8.7,199,4444,0.00,2.17,0.00,0.000,6,0.000,0.044,2370,2059,3478,0,0,0,0,0,0
$GC,4784,-0.58,-146.0,555.0,-9.1,208,4786,0.12,0.00,0.00,0.000,6,0.154,0.000,2406,2054,3475,0,0,0,0,0,0
$GC,5109,-0.58,-146.0,577.5,-6.8,216,5113,0.00,2.35,0.00,0.000,4,0.000,0.074,2402,3470,3473,0,0,0,0,0,0
$GC,5155,-0.58,-146.0,580.6,-6.1,217,5159,0.00,2.22,0.00,0.000,6,0.000,0.046,2402,2054,3472,0,0,0,0,0,0
$GC,5478,-0.58,-146.0,600.6,-6.0,225,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2059,3469,0,0,0,0,0,0
$GC,5803,-0.58,-146.0,618.1,-5.4,233,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2054,3467,0,0,0,0,0,0
$GC,6127,-0.58,-146.0,637.0,-6.1,241,6131,0.00,2.35,0.00,0.000,4,0.000,0.071,2394,3470,3466,0,0,0,0,0,0
$GC,6159,-0.58,-146.0,639.2,-7.3,241,6164,0.00,2.17,0.00,0.000,6,0.000,0.043,2395,2053,3463,0,0,0,0,0,0
$GC,6490,-0.58,-146.0,662.1,-7.1,249,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2048,3462,0,0,0,0,0,0
$GC,6815,-0.58,-146.0,685.5,-7.1,257,6819,0.00,2.33,0.00,0.000,4,0.000,0.067,2386,3470,3461,0,0,0,0,0,0
$GC,6838,-0.58,-146.0,687.2,-7.8,257,6842,0.00,2.22,0.00,0.000,6,0.000,0.048,2386,2056,3458,0,0,0,0,0,0
$GC,7177,-0.58,-146.0,711.7,-7.2,266,7182,0.00,2.30,0.00,0.000,4,0.000,0.065,2377,3468,3459,0,0,0,0,0,0
$GC,7215,-0.58,-146.0,714.3,-6.8,266,7220,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,2061,3458,0,0,0,0,0,0
$GC,7545,-0.58,-146.0,736.4,-6.6,275,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2062,3456,0,0,0,0,0,0
$GC,7870,-0.58,-146.0,759.2,-7.3,283,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2057,3456,0,0,0,0,0,0
$GC,8195,-0.58,-146.0,783.3,-7.2,291,8199,0.00,2.22,0.00,0.000,4,0.000,0.055,2377,658,3454,0,0,0,0,0,0
$GC,8218,-0.58,-146.0,785.0,-7.7,291,8223,0.12,2.25,0.00,0.000,6,0.151,0.050,2405,2066,3454,0,0,0,0,0,0
$GC,8559,-0.58,-146.0,802.0,-4.8,300,8563,0.00,2.30,0.00,0.000,4,0.000,0.067,2397,3471,3452,0,0,0,0,0,0
$GC,8591,-0.58,-146.0,803.9,-6.5,300,8595,0.00,2.20,0.00,0.000,6,0.000,0.046,2397,2055,3451,0,0,0,0,0,0
$GC,8922,-0.58,-146.0,822.1,-5.8,308,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2050,3450,0,0,0,0,0,0
$GC,9246,-0.58,-146.0,842.4,-6.4,316,9250,0.00,2.33,0.00,0.000,4,0.000,0.066,2388,3467,3449,0,0,0,0,0,0
$GC,9283,-0.58,-146.0,844.8,-6.7,316,9287,0.00,2.20,0.00,0.000,6,0.000,0.046,2387,2064,3449,0,0,0,0,0,0
$GC,9618,-0.58,-146.0,866.3,-6.4,325,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2059,3447,0,0,0,0,0,0
$GC,9943,-0.58,-146.0,887.4,-6.4,333,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2060,3447,0,0,0,0,0,0
$GC,10268,-0.58,-146.0,908.1,-6.3,341,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2060,3447,0,0,0,0,0,0
$GC,10593,-0.58,-146.0,927.5,-6.0,349,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2060,3446,0,0,0,0,0,0
$GC,10918,-0.58,-146.0,948.4,-6.7,357,10922,0.00,2.33,0.00,0.000,4,0.000,0.069,2385,3470,3444,0,0,0,0,0,0
$GC,10950,-0.58,-146.0,950.7,-7.3,357,10954,0.00,2.20,0.00,0.000,6,0.000,0.048,2379,2060,3444,0,0,0,0,0,0
$GC,11280,-0.58,-146.0,974.6,-7.5,365,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2056,3443,0,0,0,0,0,0
$STATE,11522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11522,begin apogee
$GC,11528,-0.28,0.0,992.9,7.6,371,11654,0.38,0.00,122.82,1.355,6,0.130,0.000,2497,2133,2891,0,0,0,0,0,0
$STATE,11655,end apogee,CONTROL_FINISHED_OK
$STATE,11655,begin climb
$GC,11657,0.58,146.0,998.2,0.0,374,11802,0.80,2.55,134.77,1.319,4,0.075,0.067,2775,3527,2293,0,0,0,0,0,0
$GC,11858,0.58,146.0,988.8,12.1,379,11862,0.00,2.28,0.00,0.000,6,0.000,0.048,2785,2134,2288,0,0,1,0,0,0
$GC,12180,0.58,146.0,950.8,12.0,387,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2126,2282,0,0,0,0,0,0
$GC,12506,0.58,146.0,911.2,12.3,395,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2130,2278,0,0,0,0,0,0
$GC,12830,0.58,146.0,870.7,12.5,403,12834,0.00,2.28,0.00,0.000,4,0.000,0.061,2796,725,2279,0,0,0,0,0,0
$GC,12872,0.58,146.0,865.5,11.5,404,12876,0.00,2.25,0.00,0.000,6,0.000,0.056,2796,2126,2276,0,0,0,0,0,0
$GC,13199,0.58,146.0,826.3,11.9,412,13204,0.00,2.33,0.00,0.000,4,0.000,0.071,2795,3540,2275,0,0,0,0,0,0
$GC,13268,0.58,146.0,817.4,13.9,413,13273,0.12,2.25,0.00,0.000,6,0.206,0.050,2778,2128,2274,0,0,0,0,0,0
$GC,13609,0.58,146.0,782.9,9.9,422,13613,0.00,2.35,0.00,0.000,4,0.000,0.071,2778,3546,2274,0,0,0,0,0,0
$GC,13646,0.58,146.0,778.8,10.7,422,13651,0.00,2.25,0.00,0.000,6,0.000,0.050,2787,2130,2274,0,0,0,0,0,0
$GC,13976,0.58,146.0,744.4,10.6,431,13980,0.00,2.25,0.00,0.000,4,0.000,0.061,2797,723,2274,0,0,0,0,0,0
$GC,14082,0.58,146.0,732.5,11.0,433,14086,0.00,2.25,0.00,0.000,6,0.000,0.056,2798,2129,2272,0,0,0,0,0,0
$GC,14395,0.58,146.0,698.5,10.6,441,14399,0.00,2.33,0.00,0.000,4,0.000,0.069,2798,3546,2272,0,0,0,0,0,0
$GC,14484,0.58,146.0,688.2,11.6,443,14489,0.12,2.25,0.00,0.000,6,0.206,0.050,2780,2123,2273,0,0,0,0,0,0
$GC,14812,0.58,146.0,656.4,9.9,451,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2118,2272,0,0,0,0,0,0
$GC,15136,0.58,146.0,622.5,10.5,459,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2118,2271,0,0,0,0,0,0
$GC,15461,0.58,146.0,589.3,10.1,467,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2123,2272,0,0,0,0,0,0
$GC,15787,0.58,146.0,560.7,8.4,475,15791,0.00,2.22,0.00,0.000,4,0.000,0.060,2789,721,2271,0,0,0,0,0,0
$GC,15829,0.58,146.0,557.4,6.9,476,15833,0.00,2.28,0.00,0.000,6,0.000,0.055,2786,2131,2270,0,0,0,0,0,0
$GC,16155,0.58,146.0,532.3,7.4,484,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2131,2270,0,0,0,0,0,0
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$STATE,23381,end climb,SURFACE_DEPTH_REACHED
$STATE,23381,begin surface coast
$FINISH,0.9,1.022674
$STATE,23414,end surface coast,CONTROL_FINISHED_OK
$STATE,23414,begin surface
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$IRIDIUM_FIX,1733.79,12634.56,240712,080849
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$TCM_TEMP,25.60
$XPDR_PINGS,0
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$AR_CDRIVE_FREE,8433565696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52260175872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,67.267
$10V_AH,9.8,45.827
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.550,189.000,398.050,67.875,0.000,28.867,36.574,272.663,0.000,0.000,13.072,1775.434,18770.695,608.752,2505.608,324.787,33.363,1815.250,0.000,2126.532,0.000,0.543,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,5.376,0.000,0.000
$MEM,354516
$DATA_FILE_SIZE,33333,898
$CAP_FILE_SIZE,184700,0
$CFSIZE,260165632,229535744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,300111,033924,1745.548,12628.869,34,1.4,52,-2.0