version: 66.07
glider: 511
mission: 5
dive: 344
start: 2 3 111 5 46 21
data:
$ID,511
$MISSION,5
$DIVE,344
$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,-49686.766
$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,2586
$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,2050
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,19
$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,343
$AR_SAMPLENUM,1
$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
$GPS1,030211,050636,1812.646,12606.443,42,1.3,53,-2.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,8
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.6
$GPS2,030211,054526,1812.388,12606.384,12,1.5,12,-2.1
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.199,0.082
$KALMAN_X,-550334.8,-170.6,-451.7,395701.5,3524.0
$KALMAN_Y,612912.6,-122.1,-503.1,-879098.8,-2451.6
$MHEAD_RNG_PITCHd_Wd,294.5,192321,-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,26,-0.58,-146.0,0.0,0.0,0,88,0.00,0.00,-60.05,0.000,2,0.000,0.000,31,2037,2610,0,0,0,0,0,0
$GC,92,-0.58,-146.0,3.0,-2.4,6,129,9.98,2.33,-20.88,0.000,4,0.241,0.074,2386,3451,3486,0,0,0,0,0,0
$GC,255,-0.58,-146.0,39.1,-24.4,24,259,0.00,2.17,0.00,0.000,6,0.000,0.045,2387,2050,3489,0,0,0,0,0,0
$GC,521,-0.58,-146.0,99.8,-21.8,49,525,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,627,3489,0,0,0,0,0,0
$GC,548,-0.58,-146.0,106.3,-21.8,51,553,0.00,2.22,0.00,0.000,6,0.000,0.051,2377,2051,3489,0,0,0,0,0,0
$GC,809,-0.58,-146.0,160.4,-19.5,76,813,0.00,2.25,0.00,0.000,4,0.000,0.064,2366,3469,3489,0,0,0,0,0,0
$GC,833,-0.58,-146.0,165.3,-20.2,78,837,0.12,2.17,0.00,0.000,6,0.165,0.042,2398,2043,3489,0,0,0,0,0,0
$GC,1104,-0.58,-146.0,207.1,-14.7,101,1108,0.00,2.20,0.00,0.000,4,0.000,0.057,2399,633,3489,0,0,0,0,0,0
$GC,1131,-0.58,-146.0,211.7,-14.7,102,1136,0.00,2.22,0.00,0.000,6,0.000,0.048,2396,2057,3489,0,0,0,0,0,0
$GC,1451,-0.58,-146.0,253.3,-12.3,118,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2057,3489,0,0,0,0,0,0
$GC,1760,-0.58,-146.0,289.7,-12.2,133,1764,0.00,2.25,0.00,0.000,4,0.000,0.068,2390,3460,3489,0,0,0,0,0,0
$GC,1816,-0.58,-146.0,296.4,-11.3,135,1820,0.00,2.17,0.00,0.000,6,0.000,0.043,2386,2050,3489,0,0,0,0,0,0
$GC,2147,-0.58,-146.0,331.9,-10.5,144,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2049,3487,0,0,0,0,0,0
$GC,2472,-0.58,-146.0,364.9,-10.1,152,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2049,3487,0,0,0,0,0,0
$GC,2798,-0.58,-146.0,394.5,-8.8,160,2802,0.00,2.30,0.00,0.000,4,0.000,0.068,2390,3455,3485,0,0,0,0,0,0
$GC,2825,-0.58,-146.0,396.8,-7.9,160,2829,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,2049,3485,0,0,0,0,0,0
$GC,3160,-0.58,-146.0,425.8,-8.8,169,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2049,3481,0,0,0,0,0,0
$GC,3485,-0.58,-146.0,454.3,-8.8,177,3489,0.00,2.30,0.00,0.000,4,0.000,0.071,2390,3460,3480,0,0,0,0,0,0
$GC,3545,-0.58,-146.0,459.4,-8.4,178,3549,0.00,2.17,0.00,0.000,6,0.000,0.044,2390,2047,3478,0,0,0,0,0,0
$GC,3894,-0.58,-146.0,487.7,-8.1,187,3898,0.00,2.20,0.00,0.000,4,0.000,0.058,2390,631,3477,0,0,0,0,0,0
$GC,3931,-0.58,-146.0,490.8,-8.3,187,3937,0.00,2.25,0.00,0.000,6,0.000,0.053,2390,2051,3477,0,0,0,0,0,0
$GC,4262,-0.58,-146.0,516.8,-7.9,196,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2047,3475,0,0,0,0,0,0
$GC,4587,-0.58,-146.0,540.4,-7.1,204,4591,0.00,2.28,0.00,0.000,4,0.000,0.066,2390,3463,3472,0,0,0,0,0,0
$GC,4647,-0.58,-146.0,544.7,-7.5,205,4651,0.00,2.20,0.00,0.000,6,0.000,0.047,2390,2053,3471,0,0,0,0,0,0
$GC,4960,-0.58,-146.0,568.2,-7.7,213,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2052,3468,0,0,0,0,0,0
$GC,5285,-0.58,-146.0,592.4,-7.5,221,5289,0.00,2.33,0.00,0.000,4,0.000,0.073,2390,3467,3465,0,0,0,0,0,0
$GC,5327,-0.58,-146.0,595.4,-6.9,222,5331,0.00,2.22,0.00,0.000,6,0.000,0.048,2390,2050,3466,0,0,0,0,0,0
$GC,5654,-0.58,-146.0,618.6,-7.0,230,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2050,3464,0,0,0,0,0,0
$GC,5979,-0.58,-146.0,642.4,-7.5,238,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2050,3461,0,0,0,0,0,0
$GC,6304,-0.58,-146.0,668.5,-8.0,246,6308,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,632,3458,0,0,0,0,0,0
$GC,6338,-0.58,-146.0,671.2,-7.6,246,6342,0.00,2.25,0.00,0.000,6,0.000,0.050,2390,2054,3458,0,0,0,0,0,0
$GC,6669,-0.58,-146.0,694.4,-6.6,254,6673,0.00,2.30,0.00,0.000,4,0.000,0.069,2390,3459,3456,0,0,0,0,0,0
$GC,6696,-0.58,-146.0,696.0,-5.7,254,6700,0.00,2.22,0.00,0.000,6,0.000,0.050,2390,2050,3456,0,0,0,0,0,0
$GC,7036,-0.58,-146.0,716.5,-6.2,263,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2050,3453,0,0,0,0,0,0
$GC,7361,-0.58,-146.0,738.9,-7.2,271,7365,0.00,2.28,0.00,0.000,4,0.000,0.057,2390,628,3451,0,0,0,0,0,0
$GC,7388,-0.58,-146.0,741.1,-7.7,271,7392,0.00,2.28,0.00,0.000,6,0.000,0.053,2387,2051,3451,0,0,0,0,0,0
$GC,7724,-0.58,-146.0,764.0,-6.8,280,7728,0.00,2.30,0.00,0.000,4,0.000,0.068,2390,3454,3449,0,0,0,0,0,0
$GC,7747,-0.58,-146.0,765.7,-6.9,280,7751,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,2032,3446,0,0,0,0,0,0
$GC,8086,-0.58,-146.0,787.6,-6.4,289,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2027,3447,0,0,0,0,0,0
$GC,8411,-0.58,-146.0,809.6,-7.0,297,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2026,3445,0,0,0,0,0,0
$GC,8737,-0.58,-146.0,831.9,-6.6,305,8741,0.00,2.35,0.00,0.000,4,0.000,0.070,2390,3453,3444,0,0,0,0,0,0
$GC,8764,-0.58,-146.0,833.7,-6.2,305,8768,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,2048,3444,0,0,0,0,0,0
$GC,9099,-0.58,-146.0,854.6,-6.1,314,9103,0.00,2.20,0.00,0.000,4,0.000,0.056,2390,647,3442,0,0,0,0,0,0
$GC,9127,-0.58,-146.0,856.4,-7.9,314,9131,0.00,2.25,0.00,0.000,6,0.000,0.052,2390,2051,3443,0,0,0,0,0,0
$GC,9462,-0.58,-146.0,876.7,-6.1,323,9466,0.00,2.33,0.00,0.000,4,0.000,0.070,2393,3462,3440,0,0,0,0,0,0
$GC,9485,-0.58,-146.0,878.0,-5.7,323,9489,0.00,2.20,0.00,0.000,6,0.000,0.046,2389,2044,3442,0,0,1,0,0,0
$GC,9826,-0.58,-146.0,896.1,-5.1,332,9830,0.00,2.22,0.00,0.000,4,0.000,0.056,2390,646,3441,0,0,0,0,0,0
$GC,9848,-0.58,-146.0,897.4,-6.4,332,9852,0.00,2.22,0.00,0.000,6,0.000,0.051,2388,2049,3441,0,0,0,0,0,0
$GC,10193,-0.58,-146.0,912.7,-4.2,341,10197,0.00,2.33,0.00,0.000,4,0.000,0.070,2390,3457,3443,0,0,0,0,0,0
$GC,10226,-0.58,-146.0,914.0,-4.4,341,10230,0.00,2.20,0.00,0.000,6,0.000,0.046,2390,2042,3439,0,0,0,0,0,0
$GC,10557,-0.58,-146.0,927.8,-4.3,349,10561,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,647,3442,0,0,0,0,0,0
$GC,10589,-0.58,-146.0,929.5,-6.3,349,10593,0.00,2.25,0.00,0.000,6,0.000,0.051,2393,2051,3439,0,0,0,0,0,0
$GC,10925,-0.58,-146.0,945.3,-4.9,358,10929,0.00,2.33,0.00,0.000,4,0.000,0.071,2390,3455,3438,0,0,0,0,0,0
$GC,10948,-0.58,-146.0,946.5,-5.4,358,10952,0.00,2.20,0.00,0.000,6,0.000,0.047,2390,2048,3440,0,0,0,0,0,0
$GC,11288,-0.58,-146.0,963.7,-5.1,367,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2040,3435,0,0,0,0,0,0
$GC,11613,-0.58,-146.0,979.8,-4.8,375,11617,0.00,2.25,0.00,0.000,4,0.000,0.058,2390,641,3436,0,0,0,0,0,0
$GC,11636,-0.58,-146.0,981.2,-5.1,375,11641,0.00,2.25,0.00,0.000,6,0.000,0.051,2390,2055,3440,0,0,0,0,0,0
$STATE,11816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11816,begin apogee
$GC,11822,-0.28,0.0,990.5,5.1,380,11947,0.32,0.00,122.03,1.353,6,0.127,0.000,2493,2121,2894,0,0,0,0,0,0
$STATE,11956,end apogee,CONTROL_FINISHED_OK
$STATE,11956,begin climb
$GC,11959,0.58,146.0,994.1,0.0,383,12101,0.82,2.50,132.68,1.320,4,0.084,0.068,2777,3529,2295,0,0,0,0,0,0
$GC,12174,0.58,146.0,981.0,12.3,388,12178,0.00,2.30,0.00,0.000,6,0.000,0.049,2787,2119,2288,0,0,1,0,0,0
$GC,12514,0.58,146.0,943.1,11.0,397,12518,0.00,2.28,0.00,0.000,4,0.000,0.059,2797,707,2282,0,0,0,0,0,0
$GC,12541,0.58,146.0,939.9,11.1,397,12545,0.00,2.30,0.00,0.000,6,0.000,0.055,2800,2123,2280,0,0,0,0,0,0
$GC,12877,0.58,146.0,899.3,12.6,406,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2123,2282,0,0,0,0,0,0
$GC,13201,0.58,146.0,856.8,13.2,414,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2122,2278,0,0,0,0,0,0
$GC,13526,0.58,146.0,813.9,13.2,422,13530,0.00,2.33,0.00,0.000,4,0.000,0.071,2793,3534,2277,0,0,0,0,0,0
$GC,13563,0.58,146.0,808.6,14.4,422,13568,0.15,2.25,0.00,0.000,6,0.203,0.051,2773,2118,2278,0,0,0,0,0,0
$GC,13899,0.58,146.0,771.3,10.9,431,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2112,2276,0,0,0,0,0,0
$GC,14224,0.58,146.0,737.5,10.4,439,14228,0.00,2.25,0.00,0.000,4,0.000,0.061,2782,708,2275,0,0,0,0,0,0
$GC,14275,0.58,146.0,731.7,10.9,440,14279,0.00,2.30,0.00,0.000,6,0.000,0.056,2782,2127,2274,0,0,0,0,0,0
$GC,14592,0.58,146.0,695.4,11.4,448,14596,0.00,2.33,0.00,0.000,4,0.000,0.071,2778,3533,2274,0,0,0,0,0,0
$GC,14642,0.58,146.0,689.4,12.3,449,14647,0.00,2.25,0.00,0.000,6,0.000,0.051,2792,2108,2274,0,0,1,0,0,0
$GC,14965,0.58,146.0,653.3,11.0,457,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2101,2273,0,0,0,0,0,0
$GC,15289,0.58,146.0,620.1,9.6,465,15294,0.00,2.25,0.00,0.000,4,0.000,0.060,2803,700,2273,0,0,0,0,0,0
$GC,15368,0.58,146.0,612.8,8.6,466,15372,0.12,2.28,0.00,0.000,6,0.198,0.055,2774,2124,2272,0,0,0,0,0,0
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$STATE,23844,end climb,SURFACE_DEPTH_REACHED
$STATE,23844,begin surface coast
$FINISH,0.9,1.022811
$STATE,23877,end surface coast,CONTROL_FINISHED_OK
$STATE,23877,begin surface
$SM_CCo,23904,87.22,0.555,0,0,1056,450.36
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$IRIDIUM_FIX,1805.50,12604.98,280712,232318
$TT8_MAMPS,0.056758
$HUMID,1078692248
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$TCM_TEMP,25.30
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,8392835072
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52258734080
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,69.912
$10V_AH,9.9,47.834
$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,19.325,207.850,374.925,87.225,0.000,135.613,182.611,1535.499,0.500,0.000,14.407,1841.170,19276.223,586.987,3921.129,686.640,33.367,1870.458,0.000,2257.742,0.000,0.546,0.000
$DEVICE_MAMPS,240.838,116.584,1352.988,554.541,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.986,0.000,0.000
$MEM,354776
$DATA_FILE_SIZE,33377,911
$CAP_FILE_SIZE,224736,0
$CFSIZE,260165632,228282368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,030211,123315,1813.309,12602.704,347,4.8,366,-2.1