version: 66.07
glider: 511
mission: 5
dive: 337
start: 2 1 111 4 13 21
data:
$ID,511
$MISSION,5
$DIVE,337
$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,-49514.746
$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,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,336
$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
$GPS1,010211,035108,1800.660,12620.201,104,1.5,104,-2.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.3
$GPS2,010211,041226,1800.418,12620.278,13,1.5,13,-2.0
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.170,0.131
$KALMAN_X,-557964.3,85.2,177.1,426541.7,106.2
$KALMAN_Y,627023.4,-6.4,-15.3,-915991.0,-3338.9
$MHEAD_RNG_PITCHd_Wd,309.6,219432,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.58,-146.0,0.0,0.0,0,100,0.00,0.00,-70.65,0.000,2,0.000,0.000,27,2049,2952,0,0,0,0,0,0
$GC,104,-0.58,-146.0,4.3,-4.9,7,131,10.43,2.30,-10.07,0.000,4,0.252,0.078,2387,3466,3486,0,0,0,0,0,0
$GC,184,-0.58,-146.0,32.6,-24.7,15,189,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2060,3488,0,0,0,0,0,0
$GC,444,-0.58,-146.0,89.1,-20.4,40,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2053,3488,0,0,0,0,0,0
$GC,699,-0.58,-146.0,143.0,-20.9,64,703,0.00,2.20,0.00,0.000,4,0.000,0.056,2387,645,3486,0,0,0,0,0,0
$GC,754,-0.58,-146.0,153.6,-17.3,69,760,0.00,2.22,0.00,0.000,6,0.000,0.050,2377,2063,3488,0,0,0,0,0,0
$GC,1015,-0.58,-146.0,199.4,-18.1,94,1019,0.00,2.25,0.00,0.000,4,0.000,0.066,2367,3470,3488,0,0,0,0,0,0
$GC,1047,-0.58,-146.0,204.7,-15.3,95,1052,0.12,2.17,0.00,0.000,6,0.160,0.042,2397,2056,3489,0,0,0,0,0,0
$GC,1362,-0.58,-146.0,244.0,-12.0,110,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2052,3489,0,0,0,0,0,0
$GC,1671,-0.58,-146.0,278.5,-10.8,125,1675,0.00,2.20,0.00,0.000,4,0.000,0.054,2401,643,3489,0,0,0,0,0,0
$GC,1704,-0.58,-146.0,281.9,-10.0,126,1708,0.00,2.22,0.00,0.000,6,0.000,0.048,2395,2064,3487,0,0,0,0,0,0
$GC,2017,-0.58,-146.0,314.4,-10.4,138,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2064,3488,0,0,0,0,0,0
$GC,2342,-0.58,-146.0,345.7,-9.6,146,2346,0.00,2.25,0.00,0.000,4,0.000,0.066,2386,3470,3487,0,0,0,0,0,0
$GC,2374,-0.58,-146.0,348.7,-9.3,146,2378,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,2055,3490,0,0,0,0,0,0
$GC,2705,-0.58,-146.0,380.9,-9.6,154,2709,0.00,2.28,0.00,0.000,4,0.000,0.066,2375,3470,3485,0,0,0,0,0,0
$GC,2732,-0.58,-146.0,383.6,-9.9,154,2736,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,2057,3486,0,0,0,0,0,0
$GC,3067,-0.58,-146.0,417.3,-10.2,163,3071,0.00,2.22,0.00,0.000,4,0.000,0.059,2375,645,3484,0,0,0,0,0,0
$GC,3094,-0.58,-146.0,420.3,-10.5,163,3099,0.12,2.22,0.00,0.000,6,0.150,0.051,2403,2061,3484,0,0,0,0,0,0
$GC,3434,-0.58,-146.0,446.8,-7.4,172,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2061,3481,0,0,0,0,0,0
$GC,3760,-0.58,-146.0,466.9,-5.5,180,3764,0.00,2.33,0.00,0.000,4,0.000,0.070,2399,3474,3482,0,0,0,0,0,0
$GC,3797,-0.58,-146.0,468.9,-5.3,180,3802,0.00,2.17,0.00,0.000,6,0.000,0.044,2399,2060,3476,0,0,1,0,0,0
$GC,4128,-0.58,-146.0,490.7,-6.9,189,4132,0.00,2.30,0.00,0.000,4,0.000,0.070,2389,3472,3477,0,0,1,0,0,0
$GC,4155,-0.58,-146.0,492.8,-7.2,189,4159,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,2058,3477,0,0,0,0,0,0
$GC,4490,-0.58,-146.0,517.9,-7.6,198,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2056,3475,0,0,0,0,0,0
$GC,4815,-0.58,-146.0,542.1,-7.4,206,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2057,3472,0,0,0,0,0,0
$GC,5140,-0.58,-146.0,567.3,-8.0,214,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2056,3469,0,0,0,0,0,0
$GC,5465,-0.58,-146.0,592.1,-7.4,222,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2054,3465,0,0,0,0,0,0
$GC,5790,-0.58,-146.0,614.6,-6.9,230,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2052,3465,0,0,0,0,0,0
$GC,6115,-0.58,-146.0,637.3,-7.0,238,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2051,3463,0,0,0,0,0,0
$GC,6440,-0.58,-146.0,660.1,-7.0,246,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2051,3461,0,0,0,0,0,0
$GC,6765,-0.58,-146.0,680.7,-6.2,254,6769,0.00,2.30,0.00,0.000,4,0.000,0.067,2380,3473,3458,0,0,0,0,0,0
$GC,6811,-0.58,-146.0,683.6,-5.5,255,6815,0.00,2.22,0.00,0.000,6,0.000,0.048,2380,2062,3458,0,0,0,0,0,0
$GC,7133,-0.58,-146.0,703.0,-6.2,263,7137,0.00,2.22,0.00,0.000,4,0.000,0.056,2381,647,3458,0,0,0,0,0,0
$GC,7189,-0.58,-146.0,706.9,-7.6,264,7193,0.00,2.28,0.00,0.000,6,0.000,0.057,2378,2059,3456,0,0,0,0,0,0
$GC,7506,-0.58,-146.0,730.3,-7.6,272,7510,0.00,2.28,0.00,0.000,4,0.000,0.067,2367,3469,3453,0,0,0,0,0,0
$GC,7556,-0.58,-146.0,734.5,-8.7,273,7561,0.12,2.22,0.00,0.000,6,0.146,0.049,2403,2046,3455,0,0,0,0,0,0
$GC,7875,-0.58,-146.0,755.0,-6.4,281,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2042,3452,0,0,0,0,0,0
$GC,8199,-0.58,-146.0,774.8,-6.2,289,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2042,3450,0,0,0,0,0,0
$GC,8524,-0.58,-146.0,797.7,-7.3,297,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2042,3448,0,0,0,0,0,0
$GC,8850,-0.58,-146.0,823.7,-8.1,305,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2042,3447,0,0,0,0,0,0
$GC,9174,-0.58,-146.0,846.4,-6.6,313,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2040,3446,0,0,0,0,0,0
$GC,9500,-0.58,-146.0,864.9,-5.4,321,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2041,3445,0,0,0,0,0,0
$GC,9825,-0.58,-146.0,881.5,-5.1,329,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2040,3445,0,0,0,0,0,0
$GC,10150,-0.58,-146.0,896.6,-4.6,337,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2040,3443,0,0,0,0,0,0
$GC,10475,-0.58,-146.0,910.0,-3.8,345,10479,0.00,2.38,0.00,0.000,4,0.000,0.076,2401,3466,3442,0,0,0,0,0,0
$GC,10507,-0.58,-146.0,911.3,-3.8,345,10511,0.00,2.22,0.00,0.000,6,0.000,0.048,2400,2056,3442,0,0,0,0,0,0
$GC,10838,-0.58,-146.0,923.8,-3.7,353,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2051,3439,0,0,0,0,0,0
$GC,11163,-0.58,-146.0,937.1,-4.0,361,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2049,3440,0,0,0,0,0,0
$GC,11488,-0.58,-146.0,951.3,-4.5,369,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2051,3439,0,0,0,0,0,0
$GC,11813,-0.58,-146.0,968.0,-5.4,377,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2051,3438,0,0,0,0,0,0
$GC,12137,-0.58,-146.0,987.0,-6.1,385,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2051,3439,0,0,0,0,0,0
$STATE,12217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12217,begin apogee
$GC,12222,-0.28,0.0,992.1,6.2,387,12347,0.30,0.00,122.38,1.355,6,0.126,0.000,2496,2138,2888,0,0,0,0,0,0
$STATE,12349,end apogee,CONTROL_FINISHED_OK
$STATE,12349,begin climb
$GC,12351,0.58,146.0,997.3,0.0,390,12496,0.82,2.50,134.77,1.319,4,0.077,0.058,2791,735,2294,0,0,1,0,0,0
$GC,12556,0.58,146.0,987.3,12.4,395,12561,0.00,2.33,0.00,0.000,6,0.000,0.055,2790,2122,2284,0,0,1,0,0,0
$GC,12875,0.58,146.0,948.1,12.5,403,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2122,2280,0,0,0,0,0,0
$GC,13199,0.58,146.0,909.2,11.7,411,13203,0.00,2.25,0.00,0.000,4,0.000,0.061,2801,718,2279,0,0,0,0,0,0
$GC,13222,0.58,146.0,906.5,10.6,411,13226,0.00,2.30,0.00,0.000,6,0.000,0.056,2801,2136,2278,0,0,0,0,0,0
$GC,13562,0.58,146.0,866.2,11.8,420,13566,0.00,2.33,0.00,0.000,4,0.000,0.070,2801,3547,2278,0,0,0,0,0,0
$GC,13683,0.58,146.0,850.5,12.1,422,13688,0.15,2.25,0.00,0.000,6,0.207,0.051,2776,2133,2276,0,0,0,0,0,0
$GC,14019,0.58,146.0,813.7,10.9,431,14023,0.00,2.25,0.00,0.000,4,0.000,0.062,2786,725,2276,0,0,0,0,0,0
$GC,14069,0.58,146.0,807.9,10.4,432,14073,0.00,2.28,0.00,0.000,6,0.000,0.057,2785,2131,2275,0,0,0,0,0,0
$GC,14387,0.58,146.0,771.2,11.3,440,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2131,2274,0,0,0,0,0,0
$GC,14712,0.58,146.0,736.0,10.7,448,14716,0.00,2.33,0.00,0.000,4,0.000,0.071,2785,3547,2275,0,0,0,0,0,0
$GC,14769,0.58,146.0,729.5,11.0,449,14773,0.00,2.22,0.00,0.000,6,0.000,0.050,2796,2127,2275,0,0,1,0,0,0
$GC,15082,0.58,146.0,695.9,10.6,457,15083,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2124,2273,0,0,0,0,0,0
$GC,15407,0.58,146.0,660.5,10.9,465,15411,0.00,2.25,0.00,0.000,4,0.000,0.060,2806,725,2274,0,0,0,0,0,0
$GC,15439,0.58,146.0,656.8,10.9,465,15444,0.12,2.28,0.00,0.000,6,0.199,0.055,2778,2133,2272,0,0,0,0,0,0
$GC,15770,0.58,146.0,623.9,9.7,473,15774,0.00,2.30,0.00,0.000,4,0.000,0.071,2778,3542,2272,0,0,0,0,0,0
$GC,15825,0.58,146.0,618.3,9.6,474,15829,0.00,2.22,0.00,0.000,6,0.000,0.050,2786,2127,2272,0,0,1,0,0,0
$GC,16138,0.58,146.0,591.0,8.5,482,16142,0.00,2.22,0.00,0.000,4,0.000,0.060,2795,726,2272,0,0,0,0,0,0
$GC,16235,0.58,146.0,582.6,8.8,484,16239,0.00,2.25,0.00,0.000,6,0.000,0.054,2800,2129,2272,0,0,0,0,0,0
$GC,16553,0.58,146.0,553.5,9.4,492,16554,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2126,2271,0,0,0,0,0,0
$GC,16878,0.58,146.0,518.1,11.3,500,16879,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2128,2271,0,0,0,0,0,0
$GC,17203,0.58,146.0,490.8,7.5,508,17207,0.00,2.28,0.00,0.000,4,0.000,0.059,2807,726,2271,0,0,0,0,0,0
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$STATE,23879,end climb,SURFACE_DEPTH_REACHED
$STATE,23880,begin surface coast
$FINISH,1.0,1.022864
$STATE,23902,end surface coast,CONTROL_FINISHED_OK
$STATE,23902,begin surface
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$TCM_TEMP,25.40
$XPDR_PINGS,3
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$AR_CDRIVE_FREE,8433238016
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52259258368
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,68.634
$10V_AH,9.8,46.932
$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
$DEVICE_SECS,19.925,162.550,447.475,35.500,0.000,83.210,139.042,753.489,0.750,0.000,14.870,1733.858,19510.797,599.241,2946.239,438.919,33.368,1746.177,0.000,2019.130,0.000,0.545,0.000
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$SENSOR_SECS,604.238,0.000,0.000,0.000,0.000,0.000,0.000,23131.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.474,0.000,0.000
$MEM,354784
$DATA_FILE_SIZE,30043,895
$CAP_FILE_SIZE,189092,0
$CFSIZE,260165632,228925440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,010211,105507,1801.914,12617.333,85,1.4,97,-2.0