version: 66.07
glider: 511
mission: 5
dive: 339
start: 2 1 111 18 11 11
data:
$ID,511
$MISSION,5
$DIVE,339
$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,-49544.734
$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,21
$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,338
$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
$GPS1,010211,175636,1804.410,12616.168,49,1.7,49,-2.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-72.9
$GPS2,010211,181014,1804.358,12616.211,12,1.3,12,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.133,0.169
$KALMAN_X,-556266.6,185.5,-620.4,418495.7,2449.1
$KALMAN_Y,622984.1,505.0,215.8,-905401.2,-5271.3
$MHEAD_RNG_PITCHd_Wd,323.7,211203,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,31,-0.58,-146.0,0.0,0.0,0,104,0.00,0.00,-70.70,0.000,2,0.000,0.000,35,2039,2957,0,0,0,0,0,0
$GC,108,-0.58,-146.0,4.2,-4.8,7,135,10.27,2.30,-10.30,0.000,4,0.249,0.068,2385,3479,3486,0,0,0,0,0,0
$GC,238,-0.58,-146.0,42.0,-22.0,21,242,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2076,3487,0,0,0,0,0,0
$GC,499,-0.58,-146.0,101.3,-22.3,45,503,0.00,2.22,0.00,0.000,4,0.000,0.052,2386,647,3488,0,0,0,0,0,0
$GC,541,-0.58,-146.0,110.4,-20.6,49,545,0.00,2.22,0.00,0.000,6,0.000,0.050,2376,2060,3487,0,0,0,0,0,0
$GC,802,-0.58,-146.0,168.2,-21.8,73,806,0.00,2.25,0.00,0.000,4,0.000,0.061,2366,3473,3487,0,0,0,0,0,0
$GC,853,-0.58,-146.0,178.6,-18.8,78,858,0.12,2.17,0.00,0.000,6,0.157,0.042,2403,2060,3487,0,0,0,0,0,0
$GC,1111,-0.58,-146.0,212.7,-12.0,97,1115,0.00,2.17,0.00,0.000,4,0.000,0.051,2400,648,3488,0,0,0,0,0,0
$GC,1222,-0.58,-146.0,225.5,-10.4,102,1226,0.00,2.22,0.00,0.000,6,0.000,0.051,2399,2061,3488,0,0,0,0,0,0
$GC,1551,-0.58,-146.0,262.8,-11.6,118,1555,0.00,2.20,0.00,0.000,4,0.000,0.058,2392,3472,3488,0,0,0,0,0,0
$GC,1611,-0.58,-146.0,270.0,-11.4,120,1616,0.00,2.17,0.00,0.000,6,0.000,0.042,2392,2057,3488,0,0,0,0,0,0
$GC,1925,-0.58,-146.0,306.0,-11.4,135,1929,0.00,2.17,0.00,0.000,4,0.000,0.050,2392,645,3488,0,0,0,0,0,0
$GC,1976,-0.58,-146.0,311.3,-9.3,136,1980,0.00,2.22,0.00,0.000,6,0.000,0.050,2391,2061,3491,0,0,0,0,0,0
$GC,2293,-0.58,-146.0,341.9,-9.8,144,2297,0.00,2.22,0.00,0.000,4,0.000,0.060,2389,3477,3487,0,0,0,0,0,0
$GC,2343,-0.58,-146.0,347.0,-9.4,145,2347,0.00,2.17,0.00,0.000,6,0.000,0.043,2389,2060,3487,0,0,0,0,0,0
$GC,2666,-0.58,-146.0,379.8,-10.0,153,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2059,3486,0,0,0,0,0,0
$GC,2990,-0.58,-146.0,409.5,-8.5,161,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2059,3485,0,0,0,0,0,0
$GC,3315,-0.58,-146.0,433.7,-7.5,169,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2059,3483,0,0,0,0,0,0
$GC,3641,-0.58,-146.0,459.6,-7.9,177,3645,0.00,2.28,0.00,0.000,4,0.000,0.068,2387,3468,3480,0,0,0,0,0,0
$GC,3673,-0.58,-146.0,462.1,-7.5,177,3677,0.00,2.20,0.00,0.000,6,0.000,0.045,2386,2060,3479,0,0,0,0,0,0
$GC,4003,-0.58,-146.0,487.3,-7.9,185,4007,0.00,2.20,0.00,0.000,4,0.000,0.051,2389,646,3477,0,0,0,0,0,0
$GC,4026,-0.58,-146.0,489.3,-9.0,185,4030,0.00,2.22,0.00,0.000,6,0.000,0.048,2386,2063,3477,0,0,0,0,0,0
$GC,4371,-0.58,-146.0,521.7,-9.7,194,4375,0.00,2.25,0.00,0.000,4,0.000,0.064,2389,3473,3475,0,0,0,0,0,0
$GC,4398,-0.58,-146.0,524.5,-9.1,194,4402,0.00,2.20,0.00,0.000,6,0.000,0.046,2386,2059,3475,0,0,0,0,0,0
$GC,4733,-0.58,-146.0,552.3,-7.5,203,4737,0.00,2.20,0.00,0.000,4,0.000,0.051,2387,648,3472,0,0,0,0,0,0
$GC,4779,-0.58,-146.0,555.5,-6.9,204,4783,0.00,2.25,0.00,0.000,6,0.000,0.054,2387,2058,3472,0,0,0,0,0,0
$GC,5101,-0.58,-146.0,575.8,-6.5,212,5105,0.00,2.28,0.00,0.000,4,0.000,0.065,2386,3469,3469,0,0,0,0,0,0
$GC,5175,-0.58,-146.0,580.8,-6.5,213,5179,0.00,2.20,0.00,0.000,6,0.000,0.047,2386,2056,3468,0,0,0,0,0,0
$GC,5515,-0.58,-146.0,606.6,-7.6,222,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2055,3466,0,0,0,0,0,0
$GC,5839,-0.58,-146.0,630.8,-7.5,230,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2055,3465,0,0,0,0,0,0
$GC,6164,-0.58,-146.0,657.1,-8.3,238,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2055,3462,0,0,0,0,0,0
$GC,6490,-0.58,-146.0,680.5,-6.7,246,6494,0.00,2.33,0.00,0.000,4,0.000,0.073,2384,3466,3460,0,0,0,0,0,0
$GC,6517,-0.58,-146.0,682.5,-6.8,246,6521,0.00,2.22,0.00,0.000,6,0.000,0.049,2384,2061,3460,0,0,0,0,0,0
$GC,6852,-0.58,-146.0,703.3,-6.0,255,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2060,3461,0,0,0,0,0,0
$GC,7178,-0.58,-146.0,725.0,-6.9,263,7182,0.00,2.25,0.00,0.000,4,0.000,0.054,2384,652,3456,0,0,0,0,0,0
$GC,7205,-0.58,-146.0,727.3,-8.7,263,7209,0.00,2.22,0.00,0.000,6,0.000,0.050,2381,2060,3456,0,0,0,0,0,0
$GC,7544,-0.58,-146.0,754.6,-8.3,272,7548,0.00,2.28,0.00,0.000,4,0.000,0.058,2380,640,3454,0,0,0,0,0,0
$GC,7576,-0.58,-146.0,757.2,-8.6,272,7580,0.00,2.25,0.00,0.000,6,0.000,0.050,2378,2065,3454,0,0,0,0,0,0
$GC,7911,-0.58,-146.0,784.7,-8.1,281,7916,0.00,2.25,0.00,0.000,4,0.000,0.067,2368,3464,3451,0,0,0,0,0,0
$GC,7976,-0.58,-146.0,789.9,-8.2,282,7981,0.12,2.20,0.00,0.000,6,0.146,0.049,2404,2054,3451,0,0,0,0,0,0
$GC,8322,-0.58,-146.0,808.6,-5.2,291,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2050,3450,0,0,0,0,0,0
$GC,8647,-0.58,-146.0,824.2,-4.7,299,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2051,3448,0,0,0,0,0,0
$GC,8972,-0.58,-146.0,841.4,-5.3,307,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2051,3446,0,0,0,0,0,0
$GC,9297,-0.58,-146.0,856.3,-4.4,315,9301,0.00,2.35,0.00,0.000,4,0.000,0.074,2404,3466,3446,0,0,0,0,0,0
$GC,9320,-0.58,-146.0,857.3,-3.7,315,9324,0.00,2.20,0.00,0.000,6,0.000,0.048,2404,2059,3445,0,0,0,0,0,0
$GC,9660,-0.58,-146.0,871.7,-4.3,324,9664,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,651,3445,0,0,0,0,0,0
$GC,9688,-0.58,-146.0,873.1,-5.1,324,9692,0.00,2.22,0.00,0.000,6,0.000,0.053,2403,2058,3445,0,0,0,0,0,0
$GC,10024,-0.58,-146.0,889.9,-5.2,333,10028,0.00,2.33,0.00,0.000,4,0.000,0.072,2404,3472,3444,0,0,0,0,0,0
$GC,10066,-0.58,-146.0,892.0,-5.0,334,10070,0.00,2.22,0.00,0.000,6,0.000,0.047,2404,2057,3444,0,0,0,0,0,0
$GC,10394,-0.58,-146.0,911.2,-5.8,342,10398,0.00,2.25,0.00,0.000,4,0.000,0.057,2406,647,3443,0,0,0,0,0,0
$GC,10412,-0.58,-146.0,912.3,-5.8,342,10416,0.00,2.25,0.00,0.000,6,0.000,0.051,2404,2060,3443,0,0,0,0,0,0
$GC,10757,-0.58,-146.0,931.7,-5.7,351,10761,0.00,2.33,0.00,0.000,4,0.000,0.070,2403,3467,3442,0,0,0,0,0,0
$GC,10895,-0.58,-146.0,939.7,-5.8,354,10899,0.00,2.20,0.00,0.000,6,0.000,0.047,2403,2059,3441,0,0,0,0,0,0
$GC,11217,-0.58,-146.0,957.8,-5.7,362,11221,0.00,2.35,0.00,0.000,4,0.000,0.071,2403,3466,3440,0,0,0,0,0,0
$GC,11485,-0.58,-146.0,971.8,-5.3,367,11490,0.00,2.20,0.00,0.000,6,0.000,0.048,2404,2062,3440,0,0,0,0,0,0
$GC,11817,-0.58,-146.0,989.4,-5.4,375,11821,0.00,2.28,0.00,0.000,4,0.000,0.060,2404,656,3439,0,0,0,0,0,0
$STATE,11829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11829,begin apogee
$GC,11837,-0.28,0.0,990.1,5.3,375,11961,0.25,0.00,121.57,1.355,6,0.117,0.000,2488,2126,2892,0,0,0,0,0,0
$STATE,11963,end apogee,CONTROL_FINISHED_OK
$STATE,11963,begin climb
$GC,11965,0.58,146.0,995.2,0.0,378,12107,0.77,2.47,134.20,1.320,4,0.071,0.065,2780,729,2294,0,0,1,0,0,0
$GC,12370,0.58,146.0,960.2,11.7,387,12375,0.00,2.33,0.00,0.000,6,0.000,0.059,2780,2139,2281,0,0,0,0,0,0
$GC,12688,0.58,146.0,925.2,10.7,395,12693,0.00,2.33,0.00,0.000,4,0.000,0.071,2780,3542,2278,0,0,0,0,0,0
$GC,12716,0.58,146.0,921.7,12.7,395,12720,0.00,2.22,0.00,0.000,6,0.000,0.050,2790,2130,2278,0,0,1,0,0,0
$GC,13051,0.58,146.0,885.3,10.6,404,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2124,2277,0,0,0,0,0,0
$GC,13376,0.58,146.0,850.8,10.6,412,13380,0.00,2.25,0.00,0.000,4,0.000,0.061,2801,720,2276,0,0,0,0,0,0
$GC,13418,0.58,146.0,846.3,10.1,413,13423,0.00,2.25,0.00,0.000,6,0.000,0.058,2801,2131,2275,0,0,1,0,0,0
$GC,13745,0.58,146.0,808.1,12.1,421,13749,0.00,2.30,0.00,0.000,4,0.000,0.070,2801,3541,2275,0,0,0,0,0,0
$GC,13856,0.58,146.0,793.0,14.7,423,13861,0.15,2.22,0.00,0.000,6,0.207,0.052,2776,2131,2275,0,0,1,0,0,0
$GC,14206,0.58,146.0,756.0,10.0,432,14209,0.00,2.33,0.00,0.000,4,0.000,0.071,2777,3540,2274,0,0,0,0,0,0
$GC,14252,0.58,146.0,750.9,10.5,433,14257,0.00,2.22,0.00,0.000,6,0.000,0.051,2785,2133,2274,0,0,1,0,0,0
$GC,14580,0.58,146.0,717.5,9.9,441,14584,0.00,2.30,0.00,0.000,4,0.000,0.062,2796,714,2273,0,0,0,0,0,0
$GC,14751,0.58,146.0,699.4,9.5,444,14755,0.00,2.30,0.00,0.000,6,0.000,0.057,2798,2130,2272,0,0,0,0,0,0
$GC,15082,0.58,146.0,664.0,10.7,452,15086,0.00,2.33,0.00,0.000,4,0.000,0.070,2792,3541,2271,0,0,0,0,0,0
$GC,15146,0.58,146.0,656.4,11.5,453,15151,0.12,2.25,0.00,0.000,6,0.208,0.050,2779,2130,2272,0,0,0,0,0,0
$GC,15491,0.58,146.0,625.0,8.8,462,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2125,2271,0,0,0,0,0,0
$GC,15816,0.58,146.0,597.3,8.4,470,15820,0.00,2.35,0.00,0.000,4,0.000,0.071,2778,3540,2271,0,0,0,0,0,0
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$STATE,23944,end climb,SURFACE_DEPTH_REACHED
$STATE,23944,begin surface coast
$FINISH,0.9,1.010009
$STATE,23977,end surface coast,CONTROL_FINISHED_OK
$STATE,23977,begin surface
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$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52259094528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,68.974
$10V_AH,9.8,47.293
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.600,212.200,418.500,56.350,0.000,51.347,115.868,439.311,0.750,0.000,13.854,1886.536,18901.059,580.836,3089.559,411.488,33.360,1971.621,0.000,2480.403,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,12.333,0.000,0.000
$MEM,354784
$DATA_FILE_SIZE,33437,906
$CAP_FILE_SIZE,206072,0
$CFSIZE,260165632,228749312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,020211,005701,1806.112,12614.402,240,1.7,240,-2.1